Underwater intelligent inspection robot for water conveyance tunnel and intelligent inspection method thereof

Abstract

The invention relates to the technical field of tunnel disease detection, in particular to a water conveyance tunnel underwater intelligent inspection robot and an intelligent inspection method thereof, and the robot comprises a robot platform which is used for executing any maneuvering mode of advancing, retreating, ascending and descending in a target water conveyance tunnel; the navigation and positioning equipment is used for generating a navigation track and positioning information; the muon detection equipment is used for generating a surrounding rock density distribution image and leakage channel data; the sonar detection equipment is used for generating a three-dimensional point cloud image of the water conveyance tunnel; the laser scanning equipment is used for generating a three-dimensional high-resolution point cloud image of the cave wall; the data fusion equipment is used for performing feature fusion processing on the data to generate a tunnel comprehensive state image and a tunnel data report; and the communication control equipment is used for adjusting the advancing direction and the movement speed of the robot platform according to the real-time instruction, the navigation track and the positioning information. Therefore, the problems of high detection cost, high difficulty, low efficiency and the like of the leakage channel of the water delivery tunnel are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of tunnel disease detection, and in particular to an underwater intelligent inspection robot for a water conveyance tunnel equipped with muon imaging detection technology and an intelligent inspection method thereof. Background Art

[0002] Water transfer tunnels are the basic infrastructure of water resource allocation projects. However, during long-term operation, they are prone to form leakage channels due to pipeline damage and water seepage, which in turn leads to serious problems such as surface seepage and pipeline subsidence, posing a major threat to urban safety and social development.

[0003] Among the related technologies, water tunnel management and maintenance are difficult, and traditional detection still has the following limitations: manual detection after emptying is economically costly; the tunnel top and tunnel shoulders are difficult to approach, which poses a risk of missed detection; the tunnel is dark, humid, and poorly ventilated, which poses a high risk to personal safety; the filling and discharging process may affect the safety of the tunnel structure, etc. Therefore, underwater robot detection technology is urgently needed to comprehensively and accurately detect leakage channels and structural defects in water tunnels. Summary of the invention

[0004] The present invention provides an underwater intelligent inspection robot for a water conveyance tunnel and an intelligent inspection method thereof, so as to solve the problems of high cost, great difficulty and low efficiency in detecting leakage channels of water conveyance tunnels.

[0005] A first aspect of the present invention provides an underwater intelligent inspection robot for a water conveyance tunnel, comprising: a robot platform, for executing at least one of an advance maneuvering mode, a retreat maneuvering mode, an ascending maneuvering mode, and a descending maneuvering mode in a target water conveyance tunnel according to a target inspection task; a navigation and positioning device, the navigation and positioning device being arranged on the robot platform, for generating a navigation trajectory and positioning information of the robot platform for navigation and positioning; a muon detection device, the muon detection device being arranged on the robot platform, for collecting muon signals inside the target water conveyance tunnel, so as to generate a surrounding rock density distribution image and leakage channel data of the target water conveyance tunnel according to the muon signals; a sonar detection device, the sonar detection device being arranged on the front end of the robot platform, for transmitting and receiving multiple sound wave beams to obstacles and terrain inside the target water conveyance tunnel, so as to generate a three-dimensional point cloud image of the water conveyance tunnel; and a sonar detection device being arranged on the front end of the robot platform, for transmitting and receiving multiple sound wave beams to obstacles and terrain inside the target water conveyance tunnel, so as to generate a three-dimensional point cloud image of the water conveyance tunnel. an optical scanning device, wherein the laser scanning device is arranged at the rear end of the robot platform, and is used to scan the tunnel wall of the target water conveyance tunnel to generate a three-dimensional high-resolution point cloud image of the tunnel wall; a data fusion device, wherein the data fusion device is arranged on the robot platform, and is used to perform feature fusion processing on the surrounding rock density distribution image, the leakage channel data, the three-dimensional point cloud image of the water conveyance tunnel, and the three-dimensional high-resolution point cloud image of the tunnel wall to generate a tunnel comprehensive status image and a tunnel data report; a communication control device, wherein the communication control device is arranged inside the robot platform, and is used to receive and send the navigation trajectory, the positioning information, the tunnel data report, and the tunnel comprehensive status image to a ground control center, and receive real-time instructions sent by the ground control center to adjust the travel direction and movement speed of the robot platform according to the real-time instructions, the navigation trajectory, and the positioning information.

[0006] Optionally, the robot platform comprises:

[0007] Robot body;

[0008] A propeller module, wherein the propeller module includes at least four propeller propellers, and the at least four propeller propellers are respectively arranged on both sides of the robot body, and are used to drive the robot body to perform at least one of an advance maneuvering mode, a retreat maneuvering mode, an ascending maneuvering mode, and a descending maneuvering mode according to the target inspection task;

[0009] A transmission module is connected to the propeller module and is used to transmit power to each propeller propeller so that the at least four propeller propellers can operate in a coordinated manner.

[0010] Optionally, the navigation and positioning device includes:

[0011] An inertial navigation module, the inertial navigation module is used to measure and calculate the acceleration and angular velocity of the robot platform, and determine the navigation trajectory according to the acceleration and the angular velocity, wherein the navigation trajectory includes the current position and motion state of the robot platform;

[0012] An underwater positioning module, the underwater positioning module is connected to the sonar detection device, and is used to receive a plurality of sound beams, and locate the robot platform according to the plurality of sound beams to obtain the positioning information.

[0013] Optionally, the muon detection device comprises:

[0014] A muon detection array, which is mounted on the back and wing top of the robot platform and is used to receive cosmic ray muon signals from multiple directions to generate optical signals according to the cosmic ray muon signals;

[0015] A signal acquisition module is coupled to both ends of the muon detection array and is used to collect the optical signal to generate the surrounding rock density distribution image and leakage channel data according to the optical signal.

[0016] Optionally, the data fusion device includes:

[0017] A data fusion module, for performing coordinate matching, image correction, feature extraction and feature fusion processing on the surrounding rock density distribution image, the leakage channel data, the three-dimensional point cloud image of the water conveyance tunnel and the three-dimensional high-resolution point cloud imaging of the tunnel wall by using a data fusion algorithm, so as to generate the tunnel comprehensive state image, wherein the tunnel comprehensive state image includes a high-resolution three-dimensional perspective image of the tunnel surrounding rock and a high-resolution three-dimensional perspective image of the tunnel wall;

[0018] The image processing module is used to analyze the high-resolution three-dimensional perspective image of the tunnel surrounding rock and the high-resolution three-dimensional perspective image of the tunnel wall to generate the tunnel data report.

[0019] Optionally, the communication control device includes:

[0020] a communication transmission module, the communication transmission module being connected to the ground control center, the navigation positioning device and the data fusion device respectively, and being used for receiving the navigation track, the positioning information, the tunnel comprehensive status image, the tunnel data report and the real-time instruction sent by the ground control center, and sending the navigation track, the positioning information, the tunnel comprehensive status image and the tunnel data report to the ground control center;

[0021] An autonomous control module, which is connected to the communication transmission module and is used to adjust the travel direction and movement speed of the robot platform according to the real-time instructions, the navigation trajectory and the positioning information.

[0022] The second aspect of the present invention provides an intelligent inspection method for an underwater intelligent inspection robot for a water conveyance tunnel, comprising the following steps: enabling a robot platform to perform at least one of the following maneuvers: advancing, retreating, ascending, and descending in a target water conveyance tunnel according to a target inspection task; monitoring the navigation trajectory and positioning information of the robot platform; receiving real-time instructions from a ground control center, and adjusting the travel direction and operating speed of the robot platform according to the real-time instructions, the navigation trajectory, and the positioning information; collecting muon signals inside the target water conveyance tunnel to generate surrounding rock density information according to the muon signals. distribution image and leakage channel data; monitor the obstacles and terrain inside the target water conveyance tunnel to generate a three-dimensional point cloud image of the water conveyance tunnel; perform laser scanning on the tunnel wall of the target water conveyance tunnel to generate a three-dimensional high-resolution point cloud image of the tunnel wall; perform feature fusion processing on the surrounding rock density distribution image, the leakage channel data, the three-dimensional point cloud image of the water conveyance tunnel, and the three-dimensional high-resolution point cloud image of the tunnel wall to obtain a comprehensive tunnel status image and a tunnel data report, and send the comprehensive tunnel status image and the tunnel data report to the ground control center.

[0023] A third aspect of the present invention provides an electronic device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the intelligent inspection method of the underwater intelligent inspection robot for a water tunnel as described in the above embodiment.

[0024] A fourth aspect of the present invention provides a computer program product, which, when executed by a processor, implements the intelligent inspection method of the underwater intelligent inspection robot for a water transfer tunnel as described above.

[0025] A fifth aspect of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, which, when executed by a processor, implements the intelligent inspection method of the underwater intelligent inspection robot for a water transfer tunnel as described above.

[0026] The underwater intelligent inspection robot and intelligent inspection method for water conveyance tunnels proposed in the embodiments of the present invention solve the problems of high cost, great difficulty and low efficiency in detecting leakage channels in water conveyance tunnels, and can plan the optimal path of the robot according to preset tasks and environmental conditions to ensure safe and fast browsing of the water conveyance tunnels.

[0027] It can detect the density distribution, rock structure and potential water leakage channels above the water transfer tunnel, as well as detect obstacles and terrain inside the tunnel, so as to avoid collisions and ensure safe operation; it collects data through various sensor systems (muon detection, sonar, laser scanning, etc.) and transmits it to the ground control center through underwater communication links to ensure that the operator can remotely monitor the robot's operating status and environmental conditions; it can perform high-precision scanning of the terrain and structure inside the tunnel, generate three-dimensional maps and digital models, and integrate data from various sensors to create a comprehensive status model of the water transfer tunnel, and perform real-time analysis and anomaly detection; based on the results of the comprehensive analysis, the robot generates detailed inspection reports and environmental assessments, including potential risks and recommended maintenance measures. This information provides decision support for managers and engineers and helps optimize the operation and maintenance strategies of the tunnel.

[0028] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0030] Figure 1 A schematic block diagram of an underwater intelligent inspection robot for a water tunnel provided by an embodiment of the present invention;

[0031] Figure 2 A schematic diagram of the actual structure of the underwater intelligent inspection robot for water conveyance tunnels provided by an embodiment of the present invention;

[0032] Figure 3 A schematic diagram of the specific structure of the underwater intelligent inspection robot for water conveyance tunnels provided in an embodiment of the present invention;

[0033] Figure 4 A flow chart of an intelligent inspection method for a water tunnel underwater intelligent inspection robot provided in an embodiment of the present invention;

[0034] Figure 5 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention.

[0035] Description of reference numerals:

[0036] 10- underwater intelligent inspection robot for water diversion tunnel, 101- robot platform, 1011- robot body, 1012- thruster module, 1013- transmission module, 102- navigation and positioning equipment, 1021- inertial navigation module, 1022- underwater positioning module, 103- muon detection equipment, 1031- muon detection array, 1032- signal acquisition module, 104- sonar detection equipment, 105- laser scanning equipment, 106- data fusion equipment, 1061- data fusion module, 1062- image processing module, 107- communication control equipment, 1071- communication transmission module and 1072- autonomous control module. DETAILED DESCRIPTION

[0037] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0038] The following describes the underwater intelligent inspection robot and intelligent inspection method of the water conveyance tunnel of the embodiment of the present invention with reference to the accompanying drawings. In view of the problems mentioned in the background technology center above, such as the difficulty in managing and maintaining the water conveyance tunnel, the high economic cost of manual inspection, the risk of missed inspection at the top and shoulder of the tunnel, the poor conditions in the tunnel and the high risk of personal safety, and the possibility that the filling and discharging process may affect the safety of the tunnel structure, the present invention provides an underwater intelligent inspection robot for the water conveyance tunnel equipped with muon imaging detection technology to solve the problems of high cost, difficulty and low efficiency in detecting leakage channels in the water conveyance tunnel.

[0039] Specifically, Figure 1 A schematic block diagram of an underwater intelligent inspection robot for a water conveyance tunnel provided in an embodiment of the present invention.

[0040] like Figure 1 As shown, the underwater intelligent inspection robot 10 for a water conveyance tunnel includes: a robot platform 101, a navigation and positioning device 102, a muon detection device 103, a sonar detection device 104, a laser scanning device 105, a data fusion device 106 and a communication control device 107.

[0041] Among them, the robot platform 101 is used to perform at least one of the following maneuvers in the target water conveyance tunnel according to the target inspection task: the advance maneuver mode, the retreat maneuver mode, the rise maneuver mode, and the fall maneuver mode. The navigation and positioning device 102 is set on the robot platform 101, and is used to generate the navigation trajectory and positioning information of the robot platform, so as to perform accurate navigation and positioning when the communication conditions in the tunnel are poor, so as to ensure that the robot can complete the target inspection task according to the predetermined route. The muon detection device 103 is set on the robot platform 101, and is used to collect the muon signal inside the target water conveyance tunnel, so as to generate the surrounding rock density distribution image and leakage channel data of the target water conveyance tunnel according to the muon signal. The sonar detection device 104 is set at the front end of the robot platform 101, and is used to transmit and receive multiple sound wave beams to the obstacles and terrain inside the target water conveyance tunnel, so as to generate a three-dimensional point cloud image of the water conveyance tunnel. The laser scanning device 105 is set at the rear end of the robot platform 101, and is used to scan the wall of the target water conveyance tunnel to generate a three-dimensional high-resolution point cloud imaging of the wall. The data fusion device 106 is arranged on the robot platform 101, and is used to perform feature fusion processing on the surrounding rock density distribution image, the leakage channel data, the three-dimensional point cloud image of the water conveyance tunnel, and the three-dimensional high-resolution point cloud imaging of the tunnel wall, so as to generate a tunnel comprehensive state image and a tunnel data report. The communication control device 107 is arranged inside the robot platform 101, and is used to receive and send navigation tracks, positioning information, tunnel data reports, and tunnel comprehensive state images to the ground control center, and receive real-time instructions sent by the ground control center, so as to adjust the travel direction and movement speed of the robot platform 101 according to the real-time instructions, navigation tracks, and positioning information.

[0042] In some embodiments, the robotic platform 101 includes:

[0043] Robot body 1011;

[0044] The propeller module 1012 includes at least four propeller propellers, which are respectively arranged on both sides of the robot body 1011, and are used to drive the robot body 1011 to perform at least one of the forward maneuvering mode, the backward maneuvering mode, the ascending maneuvering mode, and the descending maneuvering mode according to the target inspection task;

[0045] The transmission module 1013 is connected to the propeller module 1012 and is used to transmit power to each propeller propeller so that at least four propeller propellers can operate in a coordinated manner.

[0046] like Figure 2 and 3As shown, in the actual implementation process, the robot platform 101 includes a robot body 1011, a thruster module 1012 and a transmission module 1013, wherein the robot body 1011 is used to carry navigation and positioning equipment 102, muon detection equipment 103, sonar detection equipment 104, laser scanning equipment 105, data fusion equipment 106 and communication control equipment 107 and sensors to perform underwater detection operations, the thruster module 1012 includes at least four propeller thrusters, which are used to drive the robot body 1011 to realize the single or combined maneuvering modes such as advance, retreat, rise and fall required for underwater inspection, and the transmission module 1013 is used for the transmission connection between each thruster component to realize the coordinated operation of each thruster.

[0047] Furthermore, at least four propeller thrusters can be installed on both sides of the robot body 1011 respectively, and connected to the robot body 1011 using a sleeve-type rotating shaft. The sleeve-type rotating shaft can enable the thruster module to have two degrees of freedom, vertical and horizontal. During operation, it can be rotated to the corresponding angle according to the requirements of the target inspection task to provide vector thrust for the robot body 1011. The propeller thruster should have the function of rotating the propeller forward and reverse, providing forward and reverse thrust to generate the thrust required for the robot platform 101 to move forward and backward, and support the robot platform 101 to realize single or combined maneuvering modes such as forward, backward, ascending and descending. The transmission module 1013 includes two sets of transmission shafts, which are respectively connected to the front and rear sets of thruster modules 1012. Under the control of the transmission shaft, the thruster can rotate around the transmission shaft in the vertical or horizontal direction of the center line of the fuselage to provide vector thrust in different directions, so as to realize coordinated operation between the propeller thrusters.

[0048] In some embodiments, the navigation and positioning device 102 includes:

[0049] An inertial navigation module 1021, which is used to measure and calculate the acceleration and angular velocity of the robot platform 101, and determine a navigation trajectory according to the acceleration and angular velocity, wherein the navigation trajectory includes the current position and motion state of the robot platform 101;

[0050] The underwater positioning module 1022 is connected to the sonar detection device 104 and is used to receive multiple sound beams and locate the robot platform 101 according to the multiple sound beams to obtain positioning information.

[0051] like Figure 2 and 3As shown, in the actual implementation process, the navigation and positioning device 102 includes: an inertial navigation module 1021 and an underwater positioning module 1022, wherein the inertial navigation module 1021 can be used to measure and calculate the acceleration and angular velocity of the underwater robot, and infer its current position and motion state, so as to achieve accurate navigation of the underwater robot when the communication conditions in the tunnel are poor; the underwater positioning module 1022 can receive multi-beam sonar signals for the position of the underwater robot relative to a fixed reference point, and can receive surrounding environment information detected by sonar to determine the position of the robot, so as to avoid the underwater robot from hitting a wall or touching the bottom.

[0052] In some embodiments, the muon detection device 103 includes:

[0053] The muon detection array 1031 is mounted on the back and the top of the wing of the robot platform 101, and is used to receive cosmic ray muon signals from multiple directions to generate optical signals according to the cosmic ray muon signals;

[0054] The signal acquisition module 1032 is coupled to both ends of the muon detection array 1031 and is used to collect optical signals to generate surrounding rock density distribution images and leakage channel data according to the optical signals.

[0055] like Figure 2 and 3 As shown, in the actual implementation process, the muon detection device 103 includes a muon detection array 1031 and a signal acquisition module 1032, wherein the muon detection array 1031 can be composed of a multi-layer plastic scintillator array, which is orthogonal and connected and coupled in two layers, and is carried on the back and top of the wing of the robot platform 101, and is used to receive cosmic ray muon signals from multiple directions to generate optical signals based on the cosmic ray muon signals. The signal acquisition module 1032 is coupled to both ends of the plastic scintillator using optical glue, and is used to receive the optical signal generated by the plastic scintillator, so as to generate surrounding rock density distribution images and leakage channel data and other information based on the optical signals.

[0056] Furthermore, when cosmic muon rays penetrate the plastic scintillator, the scintillator is stimulated to fluoresce, that is, a light signal is generated. The light signal then reaches the signal acquisition module 1032 at both ends of the scintillator through direct radiation and reflection. The signal acquisition module 1032 converts the light signal into an electrical signal for output, and generates a surrounding rock density distribution image and leakage channel data through the electrical signal.

[0057] In some embodiments, the sonar detection device 104 may use a multi-beam sonar or a multi-beam radar.

[0058] like Figure 2 and 3As shown, in the actual implementation process, when the robot platform 101 is moving, the multi-beam sonar and multi-beam radar can simultaneously emit and receive multiple sound beams for all-round detection, and transmit the sonar signal to the underwater positioning module 1022 to provide the robot platform 101 with accurate underwater positioning and navigation functions, and by calculating the time delay and phase difference of the echo signal, the distance and direction between the receiver and the target can be determined, thereby supplementing the information of muon imaging and laser scanning, realizing the detection of structural problems such as the morphology, cracks, deformation, etc. of the water transfer tunnel, and generating a high-resolution three-dimensional point cloud image of the tunnel in all directions.

[0059] In some embodiments, the laser scanning device 105 may employ a laser scanner.

[0060] like Figure 2 and 3 As shown, in the actual implementation process, while the robot is moving, the laser scanner 701 can scan the wall of the target water supply tunnel to obtain three-dimensional high-resolution point cloud imaging of the tunnel. At the same time, the laser scanner can monitor the tiny deformations and cracks of the tunnel wall to provide important data support for tunnel structure assessment, which helps to timely discover and assess changes in the tunnel structure and safety hazards.

[0061] In some embodiments, the data fusion device 106 includes:

[0062] The data fusion module 1061 is used to perform coordinate matching, image correction, feature extraction and feature fusion processing on the surrounding rock density distribution image, the leakage channel data, the three-dimensional point cloud image of the water conveyance tunnel and the three-dimensional high-resolution point cloud imaging of the tunnel wall by using the data fusion algorithm to generate a comprehensive tunnel state image, wherein the comprehensive tunnel state image includes a high-resolution three-dimensional perspective image of the tunnel surrounding rock and a high-resolution three-dimensional perspective image of the tunnel wall;

[0063] The image processing module 1062 is used to analyze the high-resolution three-dimensional perspective image of the tunnel surrounding rock and the high-resolution three-dimensional perspective image of the tunnel wall to generate a tunnel data report.

[0064] like Figure 3As shown, in the actual execution process, the data fusion device 106 includes a data fusion module 1061 and an image processing module 1062, wherein the data fusion module 1061 can perform fusion processing such as coordinate matching, image correction and feature extraction on muon imaging, sonar data and laser point cloud data through a data fusion algorithm to generate a high-resolution three-dimensional stereoscopic perspective image of the tunnel surrounding rock and the tunnel wall, and transmit it to the image processing module 1062. The image processing module 1062 can realize rapid processing and analysis of the high-resolution three-dimensional stereoscopic perspective image of the tunnel surrounding rock and the tunnel wall to provide real-time data analysis and visualization results, and generate feedback or early warning in time, that is, to obtain a comprehensive tunnel status image and data report.

[0065] In some embodiments, the communication control device 107 includes:

[0066] The communication transmission module 107 is connected to the ground control center, the navigation and positioning device 102 and the data fusion device 106 respectively, and is used to receive the navigation track, positioning information, the tunnel comprehensive state image, the tunnel data report and the real-time instruction sent by the ground control center, and send the navigation track, positioning information, the tunnel comprehensive state image and the tunnel data report to the ground control center;

[0067] The autonomous control module 1072 is connected to the communication transmission module 1071 and is used to adjust the travel direction and movement speed of the robot platform 101 according to real-time instructions, navigation trajectory and positioning information.

[0068] like Figure 3 As shown, in the actual execution process, the communication control device 107 includes a communication transmission module 1071 and an autonomous control module 1072, wherein the communication transmission module 1071 can use laser communication transmission or radio communication to receive navigation trajectory, positioning information, tunnel comprehensive status image, tunnel data report and real-time instructions sent by the ground control center, and send the navigation trajectory, positioning information, tunnel comprehensive status image and tunnel data report to the ground control center to ensure real-time data exchange and command transmission between the robot and the ground control center, so as to facilitate technical personnel to monitor and judge the position of the robot platform 101 in real time. The autonomous control module 1072 adjusts the travel direction and movement speed of the robot platform 101 according to the real-time instructions, navigation trajectory and positioning information, so as to realize the functions of processing sensor data, executing path planning, obstacle avoidance and avoiding obstacles, so as to ensure the safe operation of the underwater robot in a complex tunnel environment.

[0069] In some embodiments, it also includes: an energy management device, which is built into the robot platform 101 and is used to provide the power supply required by the robot platform 101 and various detection devices, while managing and allocating energy consumption to ensure the continuity of the robot's long-term underwater operation.

[0070] In the actual implementation process, the energy management equipment includes a high-energy lithium battery and a power dispatching module. The high-energy lithium battery can provide long-life power supply for each airborne device, and the power dispatching module can allocate rated power voltage and power requirements for the robot platform 101 and each detection equipment, so as to coordinate the normal operation of each device and apparatus.

[0071] In summary, the underwater intelligent inspection robot for water conveyance tunnels proposed in the embodiment of the present invention has the following beneficial effects:

[0072] (1) The robot can plan the optimal path based on the preset tasks and environmental conditions to ensure safe and fast navigation of the water tunnel;

[0073] (2) It can detect the density distribution, rock structure and potential water leakage channels above the water transfer tunnel, as well as detect obstacles and terrain inside the tunnel, thereby avoiding collisions and ensuring safe operation;

[0074] (3) Data collected by various sensor systems (muon detection, sonar, laser scanning, etc.) are transmitted to the ground control center through underwater communication links, ensuring that the operator can remotely monitor the robot's operating status and environmental conditions;

[0075] (4) Capable of high-precision scanning of the terrain and structures within the tunnel, generating three-dimensional maps and digital models, integrating data from various sensors, creating a comprehensive status model of the water transfer tunnel, and performing real-time analysis and anomaly detection;

[0076] (5) Based on the results of the comprehensive analysis, the robot generates detailed inspection reports and environmental assessments, including potential risks and recommended maintenance measures. This information provides decision support for managers and engineers, helping to optimize the tunnel's operation and maintenance strategies.

[0077] Next, the intelligent inspection method of the underwater intelligent inspection robot for a water conveyance tunnel proposed in accordance with an embodiment of the present invention will be described with reference to the accompanying drawings.

[0078] Figure 4 It is a flow chart of the intelligent inspection method of the underwater intelligent inspection robot for a water conveyance tunnel according to an embodiment of the present invention.

[0079] like Figure 4 As shown, the intelligent inspection method of the underwater intelligent inspection robot for a water conveyance tunnel comprises the following steps:

[0080] In step S401, the robot platform is caused to perform at least one of the maneuvers of advancing, retreating, ascending and descending in the target water diversion tunnel according to the target inspection task.

[0081] In step S402, the navigation trajectory and positioning information of the robot platform are monitored.

[0082] In step S403, the real-time command from the ground control center is received, and the travel direction and running speed of the robot platform are adjusted according to the real-time command, navigation trajectory and positioning information.

[0083] In step S404, muon signals inside the target water conveyance tunnel are collected to generate surrounding rock density distribution images and leakage channel data according to the muon signals.

[0084] In step S405, obstacles and terrain inside the target water conveyance tunnel are monitored to generate a three-dimensional point cloud image of the water conveyance tunnel.

[0085] In step S406, laser scanning is performed on the wall of the target water conveyance tunnel to generate a three-dimensional high-resolution point cloud image of the wall.

[0086] In step S407, feature fusion processing is performed on the surrounding rock density distribution image, leakage channel data, three-dimensional point cloud image of the water transfer tunnel, and three-dimensional high-resolution point cloud imaging of the tunnel wall to obtain a comprehensive tunnel status image and a tunnel data report, and the comprehensive tunnel status image and the tunnel data report are sent to the ground control center.

[0087] It should be noted that the aforementioned explanation of the embodiment of the underwater intelligent inspection robot for water conveyance tunnels is also applicable to the intelligent inspection method of the underwater intelligent inspection robot for water conveyance tunnels of this embodiment, and will not be repeated here.

[0088] The intelligent inspection method of the underwater intelligent inspection robot for a water conveyance tunnel proposed in the embodiment of the present invention has the following beneficial effects:

[0089] (1) The robot can plan the optimal path based on the preset tasks and environmental conditions to ensure safe and fast navigation of the water tunnel;

[0090] (2) It can detect the density distribution, rock structure and potential water leakage channels above the water transfer tunnel, as well as detect obstacles and terrain inside the tunnel, thereby avoiding collisions and ensuring safe operation;

[0091] (3) Data collected by various sensor systems (muon detection, sonar, laser scanning, etc.) are transmitted to the ground control center through underwater communication links, ensuring that the operator can remotely monitor the robot's operating status and environmental conditions;

[0092] (4) Capable of high-precision scanning of the terrain and structures within the tunnel, generating three-dimensional maps and digital models, integrating data from various sensors, creating a comprehensive status model of the water transfer tunnel, and performing real-time analysis and anomaly detection;

[0093] (5) Based on the results of the comprehensive analysis, the robot generates detailed inspection reports and environmental assessments, including potential risks and recommended maintenance measures. This information provides decision support for managers and engineers, helping to optimize the tunnel's operation and maintenance strategies.

[0094] Figure 5 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. The electronic device may include:

[0095] A memory 501 , a processor 502 , and a computer program stored in the memory 501 and executable on the processor 502 .

[0096] When the processor 502 executes the program, the intelligent inspection method of the underwater intelligent inspection robot for the water conveyance tunnel provided in the above embodiment is implemented.

[0097] Furthermore, the electronic device further comprises:

[0098] The communication interface 503 is used for communication between the memory 501 and the processor 502 .

[0099] The memory 501 is used to store computer programs that can be executed on the processor 502 .

[0100] The memory 501 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0101] If the memory 501, the processor 502 and the communication interface 503 are implemented independently, the communication interface 503, the memory 501 and the processor 502 can be connected to each other through a bus and communicate with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 5 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0102] Optionally, in a specific implementation, if the memory 501, the processor 502 and the communication interface 503 are integrated on a chip, the memory 501, the processor 502 and the communication interface 503 can communicate with each other through an internal interface.

[0103] The processor 502 may be a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present invention.

[0104] An embodiment of the present invention further provides a computer program product, which, when executed by a processor, implements the intelligent inspection method of the underwater intelligent inspection robot for a water conveyance tunnel as described above.

[0105] An embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the intelligent inspection method of the underwater intelligent inspection robot for a water conveyance tunnel as described above.

[0106] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or N embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0107] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "N" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0108] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or N executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present invention includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present invention belong.

[0109] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purpose of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or N wirings (electronic devices), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways as necessary and then storing it in a computer memory.

[0110] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above embodiment, the N steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. If implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0111] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0112] In addition, each functional unit in each embodiment of the present invention may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0113] The storage medium mentioned above may be a read-only memory, a magnetic disk or an optical disk, etc. Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present invention. A person of ordinary skill in the art may change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. An underwater intelligent inspection robot for a water conveyance tunnel, characterized in that: include: A robot platform, used to perform at least one of an advance maneuvering mode, a retreat maneuvering mode, an ascending maneuvering mode, and a descending maneuvering mode in a target water conveyance tunnel according to a target inspection task; A navigation and positioning device, which is arranged on the robot platform and is used to generate a navigation trajectory and positioning information of the robot platform for navigation and positioning; A muon detection device, which is arranged on the robot platform and is used to collect muon signals inside the target water conveyance tunnel, so as to generate a surrounding rock density distribution image and leakage channel data of the target water conveyance tunnel according to the muon signals; A sonar detection device, which is arranged at the front end of the robot platform and is used to transmit and receive multiple sound wave beams to obstacles and terrain inside the target water conveyance tunnel to generate a three-dimensional point cloud image of the water conveyance tunnel; A laser scanning device, which is arranged at the rear end of the robot platform and is used to scan the wall of the target water conveyance tunnel to generate a three-dimensional high-resolution point cloud image of the wall; A data fusion device, which is arranged on the robot platform and is used to perform feature fusion processing on the surrounding rock density distribution image, the leakage channel data, the three-dimensional point cloud image of the water conveyance tunnel and the three-dimensional high-resolution point cloud imaging of the tunnel wall to generate a comprehensive tunnel status image and a tunnel data report; A communication control device, wherein the communication control device is arranged inside the robot platform, and is used to receive and send the navigation trajectory, the positioning information, the tunnel data report and the tunnel comprehensive status image to a ground control center, and receive real-time instructions sent by the ground control center to adjust the travel direction and movement speed of the robot platform according to the real-time instructions, the navigation trajectory and the positioning information.

2. The underwater intelligent inspection robot for water diversion tunnels according to claim 1 is characterized in that: The robot platform comprises: Robot body; A propeller module, wherein the propeller module includes at least four propeller propellers, and the at least four propeller propellers are respectively arranged on both sides of the robot body, and are used to drive the robot body to perform at least one of an advance maneuvering mode, a retreat maneuvering mode, an ascending maneuvering mode, and a descending maneuvering mode according to the target inspection task; A transmission module is connected to the propeller module and is used to transmit power to each propeller propeller so that the at least four propeller propellers can operate in a coordinated manner.

3. The underwater intelligent inspection robot for water diversion tunnels according to claim 1 is characterized in that: The navigation and positioning device comprises: An inertial navigation module, the inertial navigation module is used to measure and calculate the acceleration and angular velocity of the robot platform, and determine the navigation trajectory according to the acceleration and the angular velocity, wherein the navigation trajectory includes the current position and motion state of the robot platform; An underwater positioning module, the underwater positioning module is connected to the sonar detection device, and is used to receive a plurality of sound beams, and locate the robot platform according to the plurality of sound beams to obtain the positioning information.

4. The underwater intelligent inspection robot for water diversion tunnels according to claim 1 is characterized in that: The muon detection device comprises: A muon detection array, which is mounted on the back and wing top of the robot platform and is used to receive cosmic ray muon signals from multiple directions to generate optical signals according to the cosmic ray muon signals; A signal acquisition module is coupled to both ends of the muon detection array and is used to collect the optical signal to generate the surrounding rock density distribution image and leakage channel data according to the optical signal.

5. The underwater intelligent inspection robot for water diversion tunnels according to claim 1 is characterized in that: The data fusion device comprises: A data fusion module, for performing coordinate matching, image correction, feature extraction and feature fusion processing on the surrounding rock density distribution image, the leakage channel data, the three-dimensional point cloud image of the water conveyance tunnel and the three-dimensional high-resolution point cloud imaging of the tunnel wall by using a data fusion algorithm, so as to generate the tunnel comprehensive state image, wherein the tunnel comprehensive state image includes a high-resolution three-dimensional perspective image of the tunnel surrounding rock and a high-resolution three-dimensional perspective image of the tunnel wall; The image processing module is used to analyze the high-resolution three-dimensional perspective image of the tunnel surrounding rock and the high-resolution three-dimensional perspective image of the tunnel wall to generate the tunnel data report.

6. The underwater intelligent inspection robot for water diversion tunnels according to claim 1, characterized in that: The communication control device comprises: a communication transmission module, the communication transmission module being connected to the ground control center, the navigation positioning device and the data fusion device respectively, and being used for receiving the navigation track, the positioning information, the tunnel comprehensive status image, the tunnel data report and the real-time instruction sent by the ground control center, and sending the navigation track, the positioning information, the tunnel comprehensive status image and the tunnel data report to the ground control center; An autonomous control module, which is connected to the communication transmission module and is used to adjust the travel direction and movement speed of the robot platform according to the real-time instructions, the navigation trajectory and the positioning information.

7. An intelligent inspection method for a water tunnel underwater intelligent inspection robot, characterized in that: The underwater intelligent inspection robot for a water conveyance tunnel according to any one of claims 1 to 6 comprises the following steps: According to the target inspection task, the robot platform performs at least one of the following maneuvers: advancing, retreating, ascending, and descending in the target water diversion tunnel; Monitoring the navigation trajectory and positioning information of the robot platform; Receive real-time instructions from the ground control center, and adjust the travel direction and running speed of the robot platform according to the real-time instructions, the navigation trajectory and the positioning information; collecting muon signals inside the target water conveyance tunnel to generate surrounding rock density distribution images and leakage channel data according to the muon signals; Monitoring obstacles and terrain inside the target water conveyance tunnel to generate a three-dimensional point cloud image of the water conveyance tunnel; Performing laser scanning on the wall of the target water conveyance tunnel to generate a three-dimensional high-resolution point cloud image of the wall; The surrounding rock density distribution image, the leakage channel data, the three-dimensional point cloud image of the water transfer tunnel, and the three-dimensional high-resolution point cloud imaging of the tunnel wall are subjected to feature fusion processing to obtain a comprehensive tunnel status image and a tunnel data report, and the comprehensive tunnel status image and the tunnel data report are sent to the ground control center.

8. An electronic device, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the intelligent inspection method of the underwater intelligent inspection robot for a water conveyance tunnel as claimed in claim 7.

9. A computer program product, characterized in that When the computer program / instruction is executed by the processor, the intelligent inspection method of the underwater intelligent inspection robot for the water conveyance tunnel described in claim 7 is implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: The program is executed by a processor to implement the intelligent inspection method of the underwater intelligent inspection robot for a water conveyance tunnel as described in claim 7.

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