Underwater facility troubleshooting equipment

Abstract

The embodiment of the invention provides an underwater facility troubleshooting device. The underwater facility troubleshooting device comprises a device body, a propelling device, an environment monitoring device and an inertial sensor used for sensing the operation pose of the device body. The propelling device, the monitoring device and the inertial sensor are all mounted on the equipment body; the two sides of the middle section of the equipment body are provided with inwards-concave obstacle avoidance parts used for advancing and obstacle avoidance in the corner scene. When the underwater facility troubleshooting equipment passes through the corner, the turning angle of the underwater facility troubleshooting equipment reaches a specific angle and the middle section area runs to the right-angle corner, the concave obstacle avoidance part reserves a space for the right-angle corner through the concave structure, so that the probability of interference and collision with the right-angle corner is reduced, and the underwater facility troubleshooting equipment passes through the corner area as far as possible under the condition that the size space of the corner is limited.

Description

Technical Field

[0001] The present disclosure relates to the technical field of water quality monitoring, and in particular to underwater facility inspection equipment. Background Art

[0002] Water quality inspection and monitoring is one of the important tasks of environmental authorities at all levels. In order to detect water pollution and water quality fraud at the source and to ensure the safety and efficiency of water quality monitoring, environmental authorities have begun to use underwater facility inspection equipment to inspect suspicious underwater sewage facilities.

[0003] In actual situations, suspicious underwater sewage facilities are mostly sewage pipes, sewage culverts and other facilities with small cross-sectional dimensions (in most cases, they can be understood as longitudinal sections), and the aforementioned facilities may also have corner connections due to topography and other reasons. In order to be able to realize the suspicious inspection of the aforementioned sewage facilities with small cross-sectional dimensions, it is necessary to allow the underwater facility inspection equipment to enter the interior of the aforementioned sewage facilities as much as possible for inspection. In order to overcome the problem that the underwater facility inspection equipment cannot pass through due to the corners of the sewage facilities, the solution in the prior art is to reduce the size of the underwater facility inspection equipment as much as possible (that is, reduce the length and width of the underwater facility inspection equipment). However, due to the size limitations of various existing detection equipment, underwater facility inspection equipment power equipment and other hardware devices, it is difficult to achieve further miniaturization of the robot, and it is difficult to achieve the convenient and quick passage of the underwater facility inspection equipment in the corner area using the existing structural design. Summary of the invention

[0004] In order to solve the problem that existing underwater facility inspection equipment has difficulty passing through corner areas, the embodiments of the present disclosure provide a new underwater facility shooting equipment.

[0005] The underwater facility inspection equipment provided by the embodiment of the present disclosure includes an equipment body, a propulsion device, an environmental monitoring device and an inertial sensor for sensing the operating posture of the equipment body; the propulsion device, the monitoring device and the inertial sensor are all installed on the equipment body;

[0006] Concave obstacle avoidance parts for traveling and avoiding obstacles in corner scenes are arranged on both sides of the middle section of the device body.

[0007] Optionally, the concave obstacle avoidance portion is a concave arc-shaped portion, and the bottom of the arc of the concave obstacle avoidance portion is located in the middle of the length direction of the device body.

[0008] Optionally, the propulsion device includes at least three vertical thrusters;

[0009] The at least three vertical thrusters are installed on the equipment body in a manner that the rotation axes are vertically arranged, and the rotation centers of any three vertical thrusters are not coplanar.

[0010] Optionally, the propulsion device includes four vertical thrusters;

[0011] The arrangement positions of the four vertical thrusters are connected to form a rectangle, and the projection of the center of gravity of the inspection equipment is located within the rectangle.

[0012] Optionally, the propulsion device includes a horizontal propeller and a horizontal propulsion direction adjustment mechanism;

[0013] The horizontal propeller is installed on the equipment body through a vertically arranged swing limit rotating shaft;

[0014] The horizontal propulsion direction adjustment mechanism includes a lead screw, a slider, a connecting rod and a driving motor for driving the lead screw to rotate;

[0015] The slider is threadedly connected to the lead screw; one end of the connecting rod is hingedly connected to the slider via a first vertical hinge shaft, and the other end is hingedly connected to the horizontal propeller via a second vertical hinge shaft;

[0016] The second vertical hinge shaft is staggered with the swing limit rotating shaft, so that the slider, the lead screw, the connecting rod and the horizontal propeller form a crank slider mechanism.

[0017] Optionally, the number of the horizontal thrusters is two;

[0018] The two horizontal thrusters are respectively arranged at the head end and the tail end of the equipment body, and both form a crank slider mechanism with the slider and the lead screw through the corresponding second vertical hinge shaft, the corresponding connecting rod and the corresponding first vertical hinge shaft;

[0019] When the driving motor drives the lead screw to rotate and drives the slider to translate, the two horizontal thrusters swing in opposite directions.

[0020] Optionally, an internal water channel is provided in the equipment body; the internal water channel includes a first drainage outlet provided relative to the horizontal thruster, and a second drainage outlet provided on the side wall of the concave obstacle avoidance portion.

[0021] Optionally, the device body further includes a device bearing portion arranged at the head end and the tail end;

[0022] A third drain port communicating with the internal waterway is provided on the side of the equipment carrying portion.

[0023] Optionally, the environmental monitoring device includes at least one of the following: a scanning sonar, an image acquisition device, a water pressure detection sensor, and a flow rate sensor.

[0024] Optionally, it also includes a water sample collection device; the water sample collection device is arranged on the equipment body.

[0025] In the present implementation scheme, concave obstacle avoidance parts are provided on both sides of the middle of the equipment body of the under-tree facility inspection equipment. When the underwater facility inspection equipment passes a corner, when its turning angle reaches a specific angle and the middle area runs to a right-angle corner, the concave obstacle avoidance part uses a concave structure to leave space for the right-angle corner, thereby reducing the probability of interference and collision with the right-angle corner, and passing through the corner area as much as possible under the condition of limited space at the corner. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or the prior art, the following briefly introduces the drawings required for use in the embodiments or the prior art description. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative labor, including

[0028] Figure 1 It is a schematic diagram of the appearance and structure of the underwater facility inspection equipment provided by an embodiment of the present disclosure;

[0029] Figure 2 is a schematic diagram of a partial internal structure of an underwater facility photographing device according to some embodiments of the present disclosure;

[0030] Figure 3 Another partial internal structure diagram of the underwater facility inspection equipment in some embodiments of the present disclosure

[0031] Among them: 11-equipment body, 111-upper shell, 112-lower shell, 113-main support component, 114-recessed obstacle avoidance part, 115-second drainage outlet, 121-vertical thruster, 122-horizontal thruster, 123-screw, 124-slider, 125-connecting rod, 131-sonar, 132-image acquisition device, 133-water pressure monitoring sensor, 134-flow rate sensor, 14-water sample collection device. DETAILED DESCRIPTION

[0032] Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although certain embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be construed as being limited to the embodiments described herein, which are instead provided to provide a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are only for exemplary purposes and are not intended to limit the scope of protection of the present disclosure.

[0033] The term "including" and its variations used in this document are open inclusions, i.e., "including but not limited to". The term "based on" means "based at least in part on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one other embodiment"; the term "some embodiments" means "at least some embodiments". Relevant definitions of other terms will be given in the following description. In this document, relational terms such as "first" and "second" are merely used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply these entities or operations.

[0034] In order to solve the problem that the structural design of the existing underwater facility inspection equipment is difficult to achieve convenient and quick passage in the corner area, the disclosed embodiment provides an underwater facility inspection equipment with a new structure. The underwater facility inspection equipment provided by the disclosed embodiment can be used to inspect suspicious underwater facilities that affect water quality (the suspicious underwater facilities here can be equipment that changes water quality by discharging sewage or clean water), and can be specifically used for the inspection of the layout and location of underwater sewage facility networks with smaller cross-sectional dimensions such as sewage pipes and sewage culverts, as well as the inspection of masking facilities used to mask the aforementioned sewage pipe networks. Figure 1 Schematic diagram of the appearance of the underwater facility inspection device provided by the embodiment of the present disclosure. Figure 1 As shown, the underwater facility inspection equipment provided by the embodiment of the present disclosure includes an equipment body 11, a propulsion device and an environmental monitoring device.

[0035] From the appearance, the device body 11 includes an upper shell 111 and a lower shell 112, and the upper shell 111 and the lower shell 112 form the outer shell structure of the device body 11, so that a chamber is formed inside the device body 11 (it should be noted that the chamber may be a closed chamber, or it may be an open chamber, that is, the chamber has a connection hole or notch connected to the outside world). In addition, the device body 11 may also include an internal support beam plate arranged in the internal chamber, and the internal support beam plate may serve as a main support component 113 connecting the upper shell 111 and the lower shell 112, and may also serve as a bearing component for installing at least part of the aforementioned propulsion device or environmental monitoring device.

[0036] like Figure 1 As shown, the overall appearance of the equipment body 11 presents a long dumbbell-shaped structure, and its length direction is larger than its width direction. In practical applications, the length direction of the equipment body 11 is the moving direction of the underwater facility inspection equipment in most states, and the width direction is the direction perpendicular to the moving direction when the underwater facility inspection equipment moves forward normally. When the underwater facility shooting equipment needs to turn to avoid obstacles or needs to turn around, it has a certain displacement in the width direction.

[0037] See also Figure 1 , concave obstacle avoidance parts 114 are provided on both sides of the middle section of the equipment body 11. The middle section of the equipment body 11 mentioned above is the middle section in the length direction. The concave obstacle avoidance part 114 is a clearance area formed by the upper shell 111 and the lower shell 112 of the equipment body 11 being retracted in the middle section, which is used to avoid obstacles when the underwater facility inspection equipment is moving in a corner scene.

[0038] Assume that the corner scene is a right-angle corner scene or an acute-angle corner scene. Most of the underwater facility inspection equipment in the prior art has a convex structure in the middle side area (rather than a concave structure as in the present solution). Although the convex structure can increase the internal cavity volume of the middle area of ​​the underwater facility inspection equipment, it is more convenient to place heavier equipment in the center of the underwater facility inspection equipment while keeping the center of gravity and the geometric center of the equipment as close as possible to each other, so as to facilitate the kinematic control of the underwater facility inspection equipment. However, such a structure will also cause the outer side of the middle area to strictly limit the running trajectory of the underwater facility inspection equipment when it passes through the corner, and even make it impossible to pass through the corner area due to obstruction on the side of the middle area.

[0039] In this embodiment, recessed obstacle avoidance parts 114 are provided on both sides of the middle of the equipment body 11. When the underwater facility inspection equipment passes a corner, when its turning angle reaches 45 degrees and the middle area runs to a right-angle corner, the recessed obstacle avoidance part 114 leaves space for the right-angle corner through a recessed structure, thereby reducing the probability of interference and collision with the right-angle corner, and passing through the corner area as much as possible when the space at the corner is limited. In order to adapt to the aforementioned structure, in the embodiment of the present disclosure, only a few components of the aforementioned propulsion device and monitoring device are arranged according to the cavity size of the middle area of ​​the equipment body 11, and the components that cannot be placed in the middle area are arranged inside the cavity at both ends of the length direction of the equipment body 11.

[0040] In practical applications, when the size of the concave obstacle avoidance portion 114 is reasonably set, even if the length of the equipment body 11 is significantly increased relative to the existing underwater facility inspection equipment, the underwater facility inspection equipment can still pass through the corner area with a smaller cross-sectional size. Increasing the length of the underwater facility inspection equipment can increase the volume of the cavities at both ends of the equipment body 11, so that the volume of the cavities on both sides can accommodate the propulsion device and the monitoring equipment.

[0041] In addition, in order to enable the underwater facility inspection equipment to accurately control the propulsion device and ensure that it moves according to a reasonable planned path during movement without collision accidents (for example, the problem of collision with the corner when passing a right-angle corner mentioned in the previous article will not occur), the underwater facility inspection equipment may also include an inertial sensor, which is used to detect the movement displacement and rotation angle of the underwater facility inspection equipment, and reasonably adjust the operation state of the propulsion device through the movement displacement and rotation angle. In a specific implementation, the aforementioned inertial sensor is preferably arranged at the internal center position of the underwater facility inspection equipment, so as to be able to directly determine the overall posture of the underwater facility inspection equipment. Of course, the inertial sensor can also be arranged at other positions, but in this case, it is necessary to determine the actual operation posture of the underwater facility inspection equipment by means of coordinate transformation.

[0042] In practical applications, the underwater facility inspection equipment should also include a control device for realizing the control of the propulsion device, the environmental monitoring device and receiving the detection data of the inertial sensor. The control device can adopt various existing CPU architectures or PLC architectures, and the embodiments of the present disclosure do not specifically limit it. Considering that various existing MEMS inertial sensors have been commercialized on a large scale, the inertial sensors used in the underwater facility inspection equipment can also be directly installed on the control device to realize the modularization of the components and facilitate the inspection of the inspection equipment.

[0043] like Figure 1 As shown, in the embodiment of the present disclosure, the concave obstacle avoidance portion 114 disposed on both sides of the middle section of the equipment body 11 is a concave arc-shaped portion. And the bottom of the arc of the inner obstacle avoidance portion is located in the middle of the length direction of the equipment body 11. Because the concave arc-shaped portion has a smooth surface, and the arc-shaped structure has a diversion effect, the aforementioned structure can reduce the resistance of the underwater facility inspection equipment during operation. In addition, in actual situations, when the underwater facility inspection equipment passes through a corner area, the movement trajectory of the corner relative to the center line of the length direction of the facility inspection equipment under the tree is an arc. Setting the concave obstacle avoidance portion 114 to a reasonably shaped arc is more suitable for the appearance requirements of the underwater facility inspection equipment passing through the corner area, and increases the volume of the internal cavity of the equipment body 11 as much as possible (to facilitate the installation of devices such as propulsion devices, monitoring devices, power batteries, etc.).

[0044] The foregoing mainly introduces and analyzes the structure of the equipment body 11 of the underwater facility inspection equipment of the embodiment of the present disclosure, and the following mainly analyzes its propulsion device.

[0045] like Figure 1 As shown, the underwater facility inspection equipment in the embodiment of the present disclosure includes a vertical thruster 121 and a horizontal thruster 122 .

[0046] The vertical thruster 121 is a thruster installed on the equipment body 11 in a manner that the rotary shaft is arranged vertically. When the underwater facility inspection device is in a normal horizontal form underwater, the rotary shaft of the vertical thruster 121 is arranged vertically.

[0047] In the disclosed embodiment, the number of vertical thrusters 121 is four, and the four vertical thrusters 121 are arranged on the equipment body 11 in the form of four vertices of a rectangle, and the line connecting two vertical thrusters 121 is parallel to the length direction of the inspection equipment, and the line connecting two vertical thrusters 121 is perpendicular to the length direction of the inspection equipment. In addition, the center of gravity projection of the entire underwater facility inspection equipment is generally set at the center position formed by the four vertical thrusters 121. In actual applications, according to the environmental scenario, the four vertical thrusters 121 can be operated at different load powers respectively, changing the pitch angle and roll angle of the underwater facility inspection equipment, and realizing operation in a load environment as much as possible, and passing through a small space area.

[0048] For example, if the underwater facility is a sewage pipe with a small cross-sectional size and is tilted upward relative to the horizontal plane, by adjusting the operating power of the four vertical thrusters 121, specifically making the downward drainage power of the two vertical thrusters 121 in front larger and the downward drainage power of the two vertical thrusters 121 in the back smaller, the underwater facility inspection equipment can be operated at an elevation angle. For another example, if the underwater facility is a duct whose cross-sectional height is much larger than the cross-sectional width, at this time, by adjusting the drainage power of the two vertical thrusters 121 on one side to be greater than the two vertical thrusters 121 on the other side, the underwater facility inspection equipment can enter the duct in a 90-degree roll.

[0049] Of course, in actual applications, in order to achieve the aforementioned operation of changing the yaw angle and the roll angle, the number of vertical thrusters 121 in the underwater facility inspection equipment is not limited to the aforementioned four, but can also be at least three. It should be noted that in order to achieve the aforementioned goal, when the number of vertical thrusters 121 is three, the rotation centers of the three vertical thrusters 121 are not coplanar. In other words, the three vertical thrusters 121 form a triangle on the horizontal projection plane. When the number of vertical thrusters 121 is three, the three vertical thrusters 121 cooperate with each other to still achieve pitch control and roll control of the inspection facility.

[0050] It should be noted that when actually performing pitch control and yaw control of the underwater facility shooting equipment, it is necessary to combine inertial sensors to monitor the attitude angle and acceleration of the underwater facility shooting equipment in real time.

[0051] The horizontal propeller 122 is a propeller that applies power in the horizontal direction when the inspection device is traveling in a normal posture (specifically, the rotation axis of the vertical propeller 121 is vertically arranged). Of course, when the shooting device is in other postures, the direction of the driving force applied to the inspection device by the horizontal propeller 122 will also change when it is running.

[0052] In practical applications, in order to realize the rotation of the inspection equipment in the horizontal direction and realize its turning, the propulsion device can also include a horizontal propulsion direction adjustment mechanism for realizing the change of the horizontal propulsion direction of the horizontal propeller 122. In a specific implementation, the horizontal propulsion direction adjustment mechanism is a swing mechanism, which can change the direction of the rotation axis of the horizontal propeller 122 by swinging drive.

[0053] Figure 2 Schematic diagram of the partial internal structure of the underwater facility shooting equipment in some embodiments of the present disclosure. Figure 2 As shown, the horizontal propeller 122 is installed on the equipment body 11 through a vertically arranged swing limit shaft, and the horizontal propeller 122 can rotate around the swing limit shaft to change the direction of its own rotation axis. The horizontal propulsion direction adjustment mechanism includes a lead screw 123, a slider 124, a connecting rod 125 and a driving motor for driving the lead screw 123 to rotate. The slider 124 is threadedly connected to the lead screw 123, one end of the connecting rod 125 is hingedly connected to the slider 124 through a first vertical hinge shaft, and the other end is hingedly connected to the horizontal propeller 122 through a second vertical hinge shaft, and the second vertical hinge shaft is staggered with the swing limit shaft. According to the above structure, the slider 124, the lead screw 123, the connecting rod 125 and the horizontal propeller 122 constitute a crank slider 124 mechanism. When the driving motor drives the lead screw 123 to rotate, the slider 124 can only translate relative to the lead screw 123 due to the rotation limit. During the translation of the slider 124, it drives the connecting rod 125 to swing, and then drives the horizontal propeller 122 to rotate relative to the swing limit shaft.

[0054] It should be noted that, in other embodiments, the horizontal propulsion direction adjustment mechanism is not limited to the aforementioned crank slider 124 mechanism, but may also be other types of structures, such as a double crank mechanism.

[0055] like Figure 2 As shown, the number of horizontal propellers 122 in the embodiment of the present disclosure is two. The two horizontal propellers 122 are respectively arranged at the head end and the tail end of the device body 11, and both form a crank slider 124 mechanism with the slider 124 and the lead screw 123 through the corresponding second vertical hinge shaft, the corresponding connecting rod 125 and the corresponding first vertical hinge shaft. In other words, when the driving motor drives the lead screw 123 to rotate, the two horizontal propellers 122 located at the head and tail ends of the device body 11 both swing horizontally.

[0056] In the embodiment of the present disclosure, when the driving motor drives the lead screw 123 to rotate and drives the slider 124 to translate, the swing directions of the two horizontal thrusters 122 are opposite. By setting the swing directions of the two horizontal thrusters 122 to swing in opposite directions, when the underwater facility inspection equipment needs to swing the horizontal thrusters 122 to achieve steering, the steering radius can be reduced to achieve faster steering in a narrow area.

[0057] like Figure 1 and Figure 2 As shown, the vertical propeller 121 and the horizontal propeller 122 are provided with a deflector. The deflector is used to protect the propeller blades, reduce the friction loss caused by water flow and gravel, and reduce the probability of damage to the blades.

[0058] Figure 3 FIG. 1 is another partial internal structure diagram of the underwater facility inspection device in some embodiments of the present disclosure. Figure 1-Figure 3 As shown, the equipment body 11 is provided with a second drain port 115 at the concave obstacle avoidance portion 114, which serves as a drain port for the internal waterway of the equipment body 11. In addition, the internal waterway also includes a first drain port provided relative to the horizontal propeller 122. When water is introduced from the first drain port when the horizontal propeller 122 is running, the water flow can be discharged from the second drain port 115. In a specific implementation, when the two horizontal propellers 122 rotate in opposite directions or when the rotation directions are the same but the power output is very different, the two horizontal propellers 122 rotate in opposite directions, so that water flows out from the second drain port 115, which can increase the lateral buffering force and prevent the underwater facility inspection equipment from directly hitting the corner side wall.

[0059] Furthermore, the device body 11 of the underwater suspicious facility inspection device includes a device bearing part arranged at the head end and the tail end (the device bearing part is the two ends of the aforementioned spindle-shaped structure). As shown in the figure, the side of the device bearing part is also provided with a third drain port connected to the internal waterway. The third drain port has the same function as the aforementioned second drain port 115.

[0060] As analyzed above, in the embodiments of the present disclosure, the underwater facility inspection equipment also needs to be equipped with an environmental monitoring device. In a specific implementation, the environmental monitoring device may include at least one of the following: a scanning sonar 131, an image acquisition device 132, a water pressure monitoring sensor 133, and a flow rate sensor 134. In a specific application, the underwater facility inspection equipment includes the aforementioned various environmental monitoring devices.

[0061] The scanning sonar 131 is arranged at the front end of the device body 11, and is used to perform sonar 131 scanning of the environment in front of the device (especially the front lower part) to form three-dimensional terrain data. The scanning sonar 131 can be installed at the front end of the device body 11 through a translation platform. Through the movement of the translation platform, the scanning sonar 131 can be extended and retracted relative to the device body 11, and the position of the sonar 131 can be changed.

[0062] The image acquisition device 132 includes a high-definition zoom camera and a lighting system, which are installed on the equipment body 11 through a rotating pan-tilt head. The high-definition zoom camera and the lighting system are arranged in a transparent protective cover to avoid the probability of collision and damage to the high-definition zoom camera and the lighting system.

[0063] The water pressure monitoring sensor is used to detect the water flow pressure and determine the water depth or the status of the suspicious underwater facilities. For example, when the suspicious underwater facility is an underwater drainage pipe, the water pressure information can be used to estimate whether the drainage pipe has problems such as blockage. As shown in the figure, the water pressure monitoring sensor is set at both ends of the equipment bearing part, which can also be used to detect whether the local water pressure is too high, and then determine whether there is a greater risk of side collision.

[0064] The flow velocity sensor 134 is used to detect the water flow velocity. In a specific implementation, the flow velocity sensor 134 can be an ADCP Doppler flow profiler, which generates an acoustic pulse wave signal to measure the Doppler frequency shift to obtain flow velocity information.

[0065] In some embodiments, the underwater suspicious facility inspection device may further include a water sample collection device 14, which is used to collect water samples according to needs during operation. As shown in the figure, the water sample collection device 14 is arranged at the tail end of the device body 11 in the embodiment of the present disclosure.

[0066] The above are only specific embodiments of the present disclosure, so that those skilled in the art can understand or implement the present disclosure. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure will not be limited to these embodiments herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An underwater facility inspection device, characterized in that: It includes a device body, a propulsion device, an environmental monitoring device and an inertial sensor for sensing the operating posture of the device body; the propulsion device, the monitoring device and the inertial sensor are all installed on the device body; Concave obstacle avoidance parts for traveling and avoiding obstacles in corner scenes are arranged on both sides of the middle section of the device body.

2. The troubleshooting device according to claim 1, characterized in that: The inwardly concave obstacle avoiding portion is an inwardly concave arc-shaped portion, and the arc bottom of the inwardly concave obstacle avoiding portion is located in the middle of the length direction of the device body.

3. The troubleshooting device according to claim 1 or 2, characterized in that: The propulsion device includes at least three vertical thrusters; The at least three vertical thrusters are installed on the equipment body in a manner that the rotation axes are vertically arranged, and the rotation centers of any three vertical thrusters are not coplanar.

4. The troubleshooting device according to claim 3, characterized in that: The propulsion device includes four vertical thrusters; The arrangement positions of the four vertical thrusters are connected to form a rectangle, and the projection of the center of gravity of the inspection equipment is located within the rectangle.

5. The troubleshooting device according to claim 1, characterized in that: The propulsion device comprises a horizontal propeller and a horizontal propulsion direction adjustment mechanism; The horizontal propeller is installed on the equipment body through a vertically arranged swing limit rotating shaft; The horizontal propulsion direction adjustment mechanism includes a lead screw, a slider, a connecting rod and a driving motor for driving the lead screw to rotate; The slider is threadedly connected to the lead screw; one end of the connecting rod is hingedly connected to the slider via a first vertical hinge shaft, and the other end is hingedly connected to the horizontal propeller via a second vertical hinge shaft; The second vertical hinge shaft is staggered with the swing limit rotating shaft, so that the slider, the lead screw, the connecting rod and the horizontal propeller form a crank slider mechanism.

6. The troubleshooting device according to claim 5, characterized in that: The number of the horizontal thrusters is two; The two horizontal thrusters are respectively arranged at the head end and the tail end of the equipment body, and both form a crank slider mechanism with the slider and the lead screw through the corresponding second vertical hinge shaft, the corresponding connecting rod and the corresponding first vertical hinge shaft; When the driving motor drives the lead screw to rotate and drives the slider to translate, the two horizontal thrusters swing in opposite directions.

7. The troubleshooting device according to claim 5 or 6, characterized in that: An internal waterway is arranged in the equipment body; the internal waterway comprises a first drainage outlet arranged relative to the horizontal thruster, and a second drainage outlet arranged on the side wall of the concave obstacle avoidance portion.

8. The troubleshooting device according to claim 7, characterized in that: The equipment body also includes equipment bearing parts arranged at the head end and the tail end; A third drain port communicating with the internal waterway is provided on the side of the equipment carrying portion.

9. The troubleshooting device according to claim 1 or 2, characterized in that: The environmental monitoring device includes at least one of the following: a scanning sonar, an image acquisition device, a water pressure detection sensor, and a flow rate sensor.

10. The troubleshooting device according to claim 1 or 2, characterized in that: Also included is a water sample collection device; The water sample collecting device is arranged on the equipment body.

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