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

Abstract

The present application relates to the technical field of tunnel disease detection, and particularly relates to a water conveying tunnel underwater intelligent inspection robot and an intelligent inspection method thereof, wherein the robot comprises: a robot platform, which is used for executing any one of the following modes of maneuvering in a target water conveying tunnel: advancing, retreating, ascending and descending; a navigation positioning device, which is used for generating a navigation track and positioning information; a muzi detection device, which is used for generating a surrounding rock density distribution image and leakage channel data; a sonar detection device, which is used for generating a three-dimensional point cloud image of the water conveying tunnel; a laser scanning device, which is used for generating a three-dimensional high-resolution point cloud image of a tunnel wall; a data fusion device, which is used for performing feature fusion processing on the aforementioned data to generate a tunnel comprehensive state image and a tunnel data report; and a communication control device, which is used for adjusting the advancing direction and movement speed of the robot platform according to real-time instructions, the navigation track and the positioning information. Thus, the problems of high cost, great difficulty and low efficiency in leakage channel detection of the water conveying tunnel are solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of tunnel disease detection, in particular to a water conveying tunnel underwater intelligent inspection robot loaded with mu imaging detection technology and an intelligent inspection method thereof. BACKGROUND

[0002] The water conveying tunnel is the infrastructure of water resource allocation engineering, but in the long-term operation, it is easy to form a leakage channel due to pipe damage and water seepage, and further cause serious problems such as surface water seepage and pipe settlement, which poses a major threat to city safety and social development.

[0003] In related technologies, the management and maintenance of the water conveying tunnel is difficult, and the traditional detection still has the following limitations: high economic cost after emptying for manual detection; difficult to approach the top and shoulder parts of the tunnel, with the risk of missing detection; high personal safety risk due to dark, humid and poor ventilation conditions in the tunnel; and the water filling and discharging process may affect the safety of the tunnel structure. Therefore, underwater robot detection technology is urgently needed to comprehensively and accurately detect the leakage channel and structural defects of the water conveying tunnel. SUMMARY

[0004] The present application provides a water conveying tunnel underwater intelligent inspection robot and an intelligent inspection method thereof to solve the problems of high cost, great difficulty and low efficiency in detecting the leakage channel of the water conveying tunnel.

[0005] The first aspect of the present application provides a kind of underwater intelligent inspection robot of water conveyance tunnel, comprising: robot platform, for at least one of the target water conveyance tunnel in target inspection task in the way of advancing, the way of retreating, the way of ascending, the way of descending at least one way of maneuvering;Navigation positioning equipment, the navigation positioning equipment is arranged on the robot platform, for generating the navigation trajectory and positioning information of the robot platform, for navigation and positioning;Mu detection equipment, the mu detection equipment is arranged on the robot platform, for collecting the mu signal inside the target water conveyance tunnel, to generate the surrounding rock density distribution image and leakage channel data of the target water conveyance tunnel according to the mu signal;Sonar detection equipment, the sonar detection equipment is arranged at the front end of the robot platform, for emitting and receiving multiple acoustic beams to the obstacles and terrain inside the target water conveyance tunnel, to generate water conveyance tunnel three-dimensional point cloud image;Laser scanning device, the laser scanning device is arranged at the rear end of the robot platform, for scanning the tunnel wall of the target water conveyance tunnel, to generate tunnel wall three-dimensional high-resolution point cloud imaging;Data fusion equipment, the data fusion equipment is arranged on the robot platform, for feature fusion processing to the surrounding rock density distribution image, the leakage channel data, the water conveyance tunnel three-dimensional point cloud image and the tunnel wall three-dimensional high-resolution point cloud imaging, to generate tunnel comprehensive state image and tunnel data report;Communication control equipment, the communication control equipment is arranged in the interior of the robot platform, for receiving and sending the navigation trajectory, the positioning information, the tunnel data report and the tunnel comprehensive state image to ground control center, and receiving the real-time instruction sent by the ground control center, to adjust the advancing direction and motion speed of the robot platform according to the real-time instruction, the navigation trajectory and the positioning information.

[0006] Optionally, the robot platform comprises:

[0007] Robot body;

[0008] Propeller module, the propeller module includes at least four propellers, the at least four propellers are arranged on both sides of the robot body respectively, for driving the robot body to execute at least one of the way of advancing, the way of retreating, the way of ascending, the way of descending according to the target inspection task;

[0009] Transmission module, the transmission module is connected with the propeller module, for transmitting power to each propeller, to make the at least four propellers operate in coordination.

[0010] Optionally, the navigation positioning equipment comprises:

[0011] an inertial navigation module, configured to measure and calculate 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 comprises a current position and a motion state of the robot platform;

[0012] an underwater positioning module, connected with the sonar detection device, configured to receive a plurality of sound beams, and position 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, mounted on a back and a wing top of the robot platform, configured to receive a plurality of cosmic ray muon signals in different directions to generate light signals according to the cosmic ray muon signals;

[0015] a signal acquisition module, coupled to two ends of the muon detection array, configured to acquire the light signals to generate the surrounding rock density distribution image and the leakage channel data according to the light signals.

[0016] Optionally, the data fusion device comprises:

[0017] a data fusion module, configured 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 conveying tunnel and the three-dimensional high-resolution point cloud imaging of the tunnel wall by using a data fusion algorithm to generate the tunnel comprehensive state image, wherein the tunnel comprehensive state image comprises a surrounding rock high-resolution three-dimensional perspective image of the tunnel and a tunnel wall high-resolution three-dimensional perspective image.

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

[0019] Optionally, the communication control device comprises:

[0020] a communication transmission module, connected with the ground control center, the navigation and positioning device and the data fusion device respectively, configured to receive the navigation trajectory, the positioning information, the tunnel comprehensive state image, the tunnel data report and real-time instructions sent by the ground control center, and send the navigation trajectory, the positioning information, the tunnel comprehensive state image and the tunnel data report to the ground control center.

[0021] An autonomous control module, connected with the communication transmission module, is configured to adjust the advancing direction and moving speed of the robot platform according to the real-time instruction, the navigation track and the positioning information.

[0022] The second aspect of the present application provides an intelligent inspection method of the underwater intelligent inspection robot of the water conveying tunnel, comprising the following steps: making the robot platform execute at least one of the maneuvering modes of advancing, retreating, ascending and descending in the target water conveying tunnel according to a target inspection task; monitoring the navigation track and the positioning information of the robot platform; receiving a real-time instruction from a ground control center, and adjusting the advancing direction and the moving speed of the robot platform according to the real-time instruction, the navigation track and the positioning information; collecting the muon signals inside the target water conveying tunnel to generate a surrounding rock density distribution image and leakage channel data according to the muon signals; monitoring the obstacles and the terrain inside the target water conveying tunnel to generate a three-dimensional point cloud image of the water conveying tunnel; performing laser scanning on the tunnel wall of the target water conveying tunnel to generate a three-dimensional high-resolution point cloud imaging of the tunnel wall; performing feature fusion processing on the surrounding rock density distribution image, the leakage channel data, the three-dimensional point cloud image of the water conveying tunnel and the three-dimensional high-resolution point cloud imaging of the tunnel wall to obtain a tunnel comprehensive state image and a tunnel data report, and sending the tunnel comprehensive state image and the tunnel data report to the ground control center.

[0023] The third aspect of the present application 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 realize the intelligent inspection method of the underwater intelligent inspection robot of the water conveying tunnel as described in the above embodiments.

[0024] The fourth aspect of the present application provides a computer program product, wherein the computer program / instruction is executed by the processor to realize the intelligent inspection method of the underwater intelligent inspection robot of the water conveying tunnel as described above.

[0025] The fifth aspect of the present application provides a computer readable storage medium, wherein the computer readable storage medium stores a computer program, and the program is executed by the processor to realize the intelligent inspection method of the underwater intelligent inspection robot of the water conveying tunnel as described above.

[0026] The underwater intelligent inspection robot of the water conveying tunnel and the intelligent inspection method thereof provided by the embodiments of the present application solve the problems of high cost, great difficulty and low efficiency in leakage channel detection of the water conveying tunnel, and can plan an optimal path of the robot according to a preset task and environmental conditions to ensure safe and rapid browsing of the water conveying tunnel.

[0027] The underwater intelligent inspection robot for water conveying tunnel can detect the density distribution, rock structure and potential water damage leakage channel above the water conveying tunnel, and detect obstacles and terrain in the tunnel, so as to avoid collision and ensure safe operation; the data collected by various sensor systems (muon detection, sonar, laser scanning, etc.) are transmitted to the ground control center through the underwater communication link, so that the operator can remotely monitor the running state and environmental condition of the robot; the terrain and structure in the tunnel can be scanned with high precision, three-dimensional map and digital model are generated, the data from various sensors are integrated, a comprehensive state model of the water conveying tunnel is created, and real-time analysis and anomaly detection are carried out; based on the results of comprehensive analysis, the robot generates a detailed inspection report and environmental evaluation, including potential risks and recommended maintenance measures, which provides decision support for managers and engineers, and helps to optimize the operation and maintenance strategy of the tunnel.

[0028] Additional aspects and advantages of the present application will be in part apparent and in part pointed out hereinafter. BRIEF DESCRIPTION OF DRAWINGS

[0029] The above and / or additional aspects and advantages of the present application will become apparent and be readily appreciated from the following description, taken in conjunction with the accompanying drawings, in which:

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

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

[0032] Figure 3 A schematic diagram of the specific structure of an underwater intelligent inspection robot for water conveying tunnel provided by an embodiment of the present application;

[0033] Figure 4 A flowchart of an intelligent inspection method of an underwater intelligent inspection robot for water conveying tunnel provided by an embodiment of the present application;

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

[0035] BRIEF DESCRIPTION OF DRAWINGS

[0036] 10-Underwater intelligent inspection robot for water conveyance tunnels, 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-Münite detection equipment, 1031-Münite 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 Implementation

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

[0038] The following description, with reference to the accompanying drawings, describes an underwater intelligent inspection robot for water conveyance tunnels and its intelligent inspection method, according to embodiments of the present invention. Addressing the issues mentioned in the background section regarding the difficulty of managing and maintaining water conveyance tunnels, the high cost of manual inspection, the risk of missed inspections at the tunnel roof and shoulders, poor internal conditions and high personal safety risks, and the potential impact of water filling and releasing processes on tunnel structural safety, the present invention provides an underwater intelligent inspection robot for water conveyance tunnels equipped with muon imaging detection technology to solve the problems of high cost, difficulty, and low efficiency in detecting leakage channels in water conveyance tunnels.

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

[0040] like Figure 1 As shown, the underwater intelligent inspection robot 10 for the 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 and control device 107.

[0041] The robot platform 101 is configured to perform at least one of the advancing, retreating, ascending, and descending maneuvers in the target water conveyance tunnel according to the target inspection task. The navigation positioning device 102 is arranged on the robot platform 101 and is configured to generate a navigation trajectory and positioning information of the robot platform, so as to perform accurate navigation and positioning in the tunnel when the communication condition is poor, and to ensure that the robot can complete the target inspection task according to the predetermined route. The muon detection device 103 is arranged on the robot platform 101 and is configured to collect a muon signal inside the target water conveyance tunnel, so as to generate a surrounding rock density distribution image and a leakage channel data of the target water conveyance tunnel according to the muon signal. The sonar detection device 104 is arranged at the front end of the robot platform 101 and is configured to emit and receive a plurality of sound 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 arranged at the rear end of the robot platform 101 and is configured to scan the tunnel wall of the target water conveyance tunnel, so as to generate a three-dimensional high-resolution point cloud imaging of the tunnel wall. The data fusion device 106 is arranged on the robot platform 101 and is configured 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 configured to receive and send the navigation trajectory, the positioning information, the tunnel data report, and the tunnel comprehensive state image to the ground control center, and to receive the real-time instructions sent by the ground control center, so as to adjust the advancing direction and the movement speed of the robot platform 101 according to the real-time instructions, the navigation trajectory, and the positioning information.

[0042] In some embodiments, the robot platform 101 comprises:

[0043] a robot body 1011;

[0044] a thruster module 1012, the thruster module 1012 comprising at least four propeller thrusters arranged on both sides of the robot body 1011 respectively, and configured to drive the robot body 1011 to perform at least one of the advancing, retreating, ascending, and descending maneuvers according to the target inspection task;

[0045] a transmission module 1013 connected with the thruster module 1012 and configured to transmit power to each propeller thruster, so that the at least four propeller thrusters operate coordinately.

[0046] As Figure 2 and 3As shown, in actual execution, the robot platform 101 includes a robot body 1011, a thruster module 1012, and a transmission module 1013. The robot body 1011 is used to carry the navigation positioning device 102, the muon detection device 103, the sonar detection device 104, the laser scanning device 105, the data fusion device 106, the communication control device 107, and sensors for underwater detection operations. The thruster module 1012 includes at least four propeller thrusters for driving the robot body 1011 to achieve the required single or combined maneuvers such as forward, backward, upward, and downward movements for autonomous underwater inspection. The transmission module 1013 is used for transmission connection between each thruster component to achieve coordinated operation of each thruster.

[0047] Further, the at least four propeller thrusters can be installed on both sides of the robot body 1011 and connected to the robot body 1011 using a sleeve-type rotating shaft. The sleeve-type rotating shaft allows the thruster module to have vertical and horizontal degrees of freedom. During operation, the thruster module can be rotated to the corresponding angle as required by 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 backward to provide forward and backward thrust to generate the required thrust for the robot platform 101 to move forward and backward, supporting the robot platform 101 to achieve single or combined maneuvers such as forward, backward, upward, and downward movements. The transmission module 1013 includes two groups of transmission shafts connected to the front and rear thruster modules 1012. Under the control of the transmission shafts, the thrusters can rotate around the transmission shafts in the vertical or horizontal direction of the centerline of the body to provide vector thrust in different directions and achieve coordinated operation of the propeller thrusters.

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

[0049] An inertial navigation module 1021 for measuring and calculating the acceleration and angular velocity of the robot platform 101 and determining the navigation trajectory based on the acceleration and angular velocity, wherein the navigation trajectory includes the current position and motion state of the robot platform 101.

[0050] An underwater positioning module 1022 connected to the sonar detection device 104 for receiving multiple sound beams and positioning the robot platform 101 based on the multiple sound beams to obtain positioning information.

[0051] As Figure 2 and 3As shown, in actual operation, the navigation and positioning device 102 includes an inertial navigation module 1021 and an underwater positioning module 1022. 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 to achieve accurate navigation of the underwater robot when communication conditions are poor in the tunnel. The underwater positioning module 1022 can receive multibeam sonar signals to determine the position of the underwater robot relative to a fixed reference point, and can receive ambient information detected by sonar to determine the robot's location to avoid the underwater robot from hitting the wall or bottom.

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

[0053] Muon detector array 1031 is mounted on the back and top of the wings of robot platform 101 to receive cosmic ray muon signals from multiple directions, and to generate light signals based on 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 acquire optical signals to generate surrounding rock density distribution images and seepage channel data based on the optical signals.

[0055] like Figure 2 and 3 As shown, in actual operation, the muon detection device 103 includes a muon detection array 1031 and a signal acquisition module 1032. The muon detection array 1031 can be composed of a multi-layer plastic scintillator array, arranged in two orthogonal layers connected and coupled, and mounted on the back and top of the wings of the robot platform 101. It is used to receive cosmic ray muon signals from multiple directions and generate light signals based on the cosmic ray muon signals. The signal acquisition module 1032 is coupled to both ends of the plastic scintillator using optical adhesive and is used to receive the light signals generated by the plastic scintillator to generate information such as surrounding rock density distribution images and seepage channel data based on the light signals.

[0056] Furthermore, when cosmic muon rays penetrate the plastic scintillator, the scintillator is excited to emit fluorescence, that is, to generate a light signal. The light signal then reaches the signal acquisition module 1032 at both ends of the scintillator through direct and reflected light. The signal acquisition module 1032 converts the light signal into an electrical signal and outputs it. The electrical signal generates a surrounding rock density distribution image and seepage channel data.

[0057] In some embodiments, the sonar detection device 104 may be a multibeam sonar or a multibeam radar.

[0058] like Figure 2 and 3As shown, in actual execution, the multi-beam sonar and the multi-beam radar can simultaneously transmit and receive multiple sound beams for omnidirectional detection during the travel of the robot platform 101, and transmit the sonar signals to the underwater positioning module 1022 to provide accurate underwater positioning and navigation functions for the robot platform 101. By calculating the time delay and phase difference of the echo signals, the distance and direction between the receiver and the target can be determined, so as to supplement the information of the mu imaging and the laser scanning, realize the detection of the structure problems such as the form, cracks and deformation of the water conveying tunnel, and generate the omnidirectional high-resolution three-dimensional point cloud image of the tunnel.

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

[0060] As shown in Figure 2 and 3 As shown, in actual execution, the laser scanner 701 can scan the tunnel wall of the target water conveying tunnel to obtain three-dimensional high-resolution point cloud imaging of the tunnel during the travel of the robot, and at the same time, the laser scanner can monitor the slight deformation and cracks of the tunnel wall to provide important data support for tunnel structure evaluation, which helps to discover and evaluate the changes and safety hazards of the tunnel structure in a timely manner.

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

[0062] The data fusion module 1061 is configured 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 conveying tunnel and the three-dimensional high-resolution point cloud imaging of the tunnel wall by using a 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 configured 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] As shown in Figure 3As shown, in actual execution, the data fusion device 106 includes a data fusion module 1061 and an image processing module 1062. The data fusion module 1061 can perform coordinate matching, image correction, and feature extraction on muon imaging, sonar data, and laser point cloud data through data fusion algorithms to generate high-resolution three-dimensional perspective images of the tunnel surrounding rock and tunnel walls, and transmit them to the image processing module 1062. The image processing module 1062 can quickly process and analyze the high-resolution three-dimensional perspective images of the tunnel surrounding rock and tunnel walls to provide real-time data analysis and visualization results, and generate timely feedback or early warnings, that is, obtain comprehensive tunnel status images and data reports.

[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. It is used to receive navigation trajectory, positioning information, tunnel comprehensive status image, tunnel data report and real-time instructions sent by the ground control center, and to send the navigation trajectory, positioning information, tunnel comprehensive status image and 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 direction of travel and speed of the robot platform 101 according to real-time instructions, navigation trajectory and positioning information.

[0068] like Figure 3 As shown, in actual execution, the communication control device 107 includes a communication transmission module 1071 and an autonomous control module 1072. The communication transmission module 1071 can receive navigation trajectory, positioning information, tunnel comprehensive status image, tunnel data report and real-time instructions sent by the ground control center through laser communication or radio communication, 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 instruction transmission between the robot and the ground control center. This facilitates real-time monitoring and analysis of the robot platform 101's position by technicians. The autonomous control module 1072 adjusts the robot platform 101's direction of travel and speed according to real-time instructions, navigation trajectory and positioning information, thereby enabling functions such as processing sensor data, performing path planning, obstacle avoidance and obstacle avoidance, to ensure the safe operation of the underwater robot in complex tunnel environments.

[0069] In some embodiments, the energy management device is built into the robot platform 101 to provide the power supply required by the robot platform 101 and each detection device, while managing the distribution of energy consumption to ensure the continuity of the robot's long-term underwater operation.

[0070] In actual implementation, the energy management device includes a high-energy lithium battery and a power scheduling module. The high-energy lithium battery can provide long-lasting power supply for each on-board device, and the power scheduling module can allocate rated power voltage and power requirements for the robot platform 101 and each detection device to coordinate the normal operation of each device and apparatus.

[0071] In summary, the underwater intelligent inspection robot for water conveyance tunnel according to the embodiments of the present application has the following beneficial effects:

[0072] (1) The optimal path of the robot can be planned according to the preset tasks and environmental conditions to ensure safe and fast browsing of the water conveyance tunnel;

[0073] (2) The density distribution above the water conveyance tunnel, the rock structure and the potential water damage leakage channel can be detected, and the obstacles and terrain inside the tunnel can be detected to avoid collision and ensure safe operation;

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

[0075] (4) The terrain and structure inside the tunnel can be scanned with high precision to generate a three-dimensional map and a digital model, and the data from various sensors can be integrated to create a comprehensive state model of the water conveyance tunnel, and real-time analysis and anomaly detection can be performed;

[0076] (5) Based on the results of comprehensive analysis, the robot generates a detailed inspection report and environmental assessment, including potential risks and recommended maintenance measures, which provides decision support for managers and engineers to help optimize the operation and maintenance strategy of the tunnel.

[0077] Secondly, the intelligent inspection method of the underwater intelligent inspection robot for water conveyance tunnel according to the embodiments of the present application is described with reference to the accompanying drawings.

[0078] Figure 4 is a flowchart of the intelligent inspection method of the underwater intelligent inspection robot for water conveyance tunnel according to the embodiments of the present application.

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

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

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

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

[0083] In step S404, muon signals inside the target water conveyance tunnel are collected to generate a surrounding rock density distribution image 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, the walls of the target water conveyance tunnel are laser scanned to generate a three-dimensional high-resolution point cloud image of the walls.

[0086] In step S407, 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 walls are subjected to feature fusion processing to obtain a tunnel comprehensive state image and a tunnel data report, and the tunnel comprehensive state image and the tunnel data report are sent to the ground control center.

[0087] It should be noted that the foregoing explanation and description of the underwater intelligent inspection robot for water conveyance tunnels also apply to the intelligent inspection method of the underwater intelligent inspection robot for water conveyance tunnels of this embodiment, which will not be described here again.

[0088] The intelligent inspection method of the underwater intelligent inspection robot for water conveyance tunnels according to the embodiment of the present application has the following beneficial effects:

[0089] (1) The optimal path of the robot can be planned according to the preset task and environmental conditions to ensure safe and rapid browsing of the water conveyance tunnel;

[0090] (2) The density distribution above the water conveyance tunnel, the rock structure, and the potential water damage leakage channel can be detected, and the obstacles and terrain inside the tunnel can be detected, so as to avoid collision and ensure safe operation;

[0091] (3) The data collected by various sensor systems (muon detection, sonar, laser scanning, etc.) are transmitted to the ground control center through an underwater communication link, ensuring that the operator can remotely monitor the running state and environmental conditions of the robot;

[0092] (4) The robot can perform high-precision scanning of the terrain and structures within the tunnel, generating three-dimensional maps and digital models, and integrating data from various sensors to create a comprehensive state model of the water conveyance tunnel, and perform real-time analysis and anomaly detection.

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

[0094] Figure 5 The structure schematic diagram of the electronic equipment provided by the embodiment of the present application is provided. The electronic equipment can include:

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

[0096] The processor 502 implements the intelligent inspection method of the underwater intelligent inspection robot of the water conveyance tunnel provided in the above embodiment when executing the program.

[0097] Further, the electronic equipment further includes:

[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 the computer program executable on the processor 502.

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

[0101] If the memory 501, the processor 502 and the communication interface 503 are independently implemented, the communication interface 503, the memory 501 and the processor 502 can be connected to each other through a bus and complete the communication between 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, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For the convenience of representation, Figure 5 Only one thick line is used in the figure, but it does not mean that there is only one bus or 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 complete the communication among each other through an internal interface.

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

[0104] The embodiments of the present application also provide a computer program product, which stores a computer program / instruction, and the computer program / instruction is executed by a processor to implement the intelligent inspection method of the underwater intelligent inspection robot for water conveyance tunnel as above.

[0105] The embodiments of the present application also provide a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the intelligent inspection method of the underwater intelligent inspection robot for water conveyance tunnel as above.

[0106] In the description of the present application, the description of the terms “one embodiment”, “some embodiments”, “an example”, “a specific example” or “some examples” means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present application, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in one or N embodiments or examples. In addition, the person skilled in the art can combine and combine the different embodiments or examples described in the present application and the features of the different embodiments or examples without contradiction.

[0107] In addition, the terms “first”, “second” are only used for description purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with “first”, “second” can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of “N” is at least two, for example, two, three, etc., unless otherwise specifically limited.

[0108] Any processes or methods described in the flowcharts or otherwise described herein can be understood as representing a module, segment, or portion of code that includes one or N executable instructions for implementing the specified logical function(s) or process(es), and the various embodiments of the application can include additional or fewer steps, operations, etc. as appropriate or desired for a given implementation, as will be understood by those skilled in the art.

[0109] The logic and / or steps represented in the flowcharts or otherwise described herein, for example, can be embodied in non-transitory computer-readable media, which can be executed by an instruction execution system, apparatus, or device, such as a computer-based system, processor, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For purposes of this specification, a "computer-readable medium" can be any apparatus that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. The computer-readable medium can be a computer- readable storage medium or a computer-readable communication medium. The computer-readable storage medium can be, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, and a portable compact disc read-only memory (CD-ROM). In this context, a computer-readable storage medium can also be any tangible apparatus that can contain or store a program for use by or in connection with an instruction execution system, apparatus, or device.

[0110] It should be understood that aspects of the application can be implemented in hardware, software, firmware or combinations thereof. In the above embodiments, the N steps or methods can be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. If implemented in hardware, and in another embodiment, any of the following technologies can be used: discrete logic circuitry having logic gates for implementing logic functions on data signals, application-specific integrated circuits having appropriate combinational logic gates, programmable gate arrays (PGA), field programmable gate arrays (FPGA), and so on, or a combination thereof.

[0111] Those skilled in the art of the present technology can understand that all or part of the steps carried out by the above-mentioned embodiment method can be completed by programs instructing related hardware, and the programs can be stored in a computer readable storage medium. When the program is executed, it includes one of the steps of the method embodiment or a combination thereof.

[0112] In addition, each functional unit in each embodiment of the present application can be integrated into one processing module, or each unit can exist physically alone, or two or more units can be integrated into one module. The integrated module can be realized in the form of hardware or in the form of a software functional module. When the integrated module is realized in the form of a software functional module and sold or used as an independent product, it can also be stored in a computer readable storage medium.

[0113] The storage medium mentioned above can be a read-only memory, a magnetic disk or an optical disk, etc. Although the embodiments of the present application have been shown and described above, it should be understood that the above-mentioned embodiments are exemplary and cannot be understood as limiting the present application, and those skilled in the art can make changes, modifications, replacements and variations to the above-mentioned embodiments within the scope of the present application.

Claims

1. An underwater intelligent inspection robot for water conveyance tunnel, characterized in that, The robot platform is used to perform at least one of the forward movement, the backward movement, the ascending movement and the descending movement in the target water tunnel according to a target inspection task. The navigation positioning device is arranged on the robot platform and is used to generate a navigation track and positioning information of the robot platform for navigation and positioning. The muon detection device is arranged on the robot platform and is used to collect muon signals inside the target water tunnel to generate a surrounding rock density distribution image and leakage channel data of the target water tunnel according to the muon signals. The sonar detection device is arranged at the front end of the robot platform and is used to emit and receive a plurality of sound beams to obstacles and terrains inside the target water tunnel to generate a three-dimensional point cloud image of the water tunnel. The laser scanning device is arranged at the rear end of the robot platform and is used to scan a tunnel wall of the target water tunnel to generate a three-dimensional high-resolution point cloud imaging of the tunnel wall. 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 tunnel and the three-dimensional high-resolution point cloud imaging of the tunnel wall to generate a tunnel comprehensive state image and a tunnel data report. The communication control device is arranged inside the robot platform and is used to receive and send the navigation track, the positioning information, the tunnel data report and the tunnel comprehensive state image to a ground control center and receive real-time instructions sent by the ground control center to adjust the traveling direction and motion speed of the robot platform according to the real-time instructions, the navigation track and the positioning information. The robot platform comprises:

2. The underwater intelligent inspection robot for water conveyance tunnel according to claim 1, characterized in that, a robot body; a propeller module comprising at least four propellers arranged on both sides of the robot body respectively and used to drive the robot body to perform at least one of the forward movement, the backward movement, the ascending movement and the descending movement according to the target inspection task; a transmission module connected with the propeller module and used to transmit power to each propeller to make the at least four propellers operate coordinately. The navigation positioning device comprises:

3. The underwater intelligent inspection robot for water conveyance tunnel according to claim 1, characterized in that, an inertial navigation module used to measure and calculate acceleration and angular velocity of the robot platform and determine the navigation track according to the acceleration and the angular velocity, wherein the navigation track comprises a current position and motion state of the robot platform; an underwater positioning module connected with the sonar detection device and used to receive a plurality of sound beams, position the robot platform according to the plurality of sound beams to obtain the positioning information. The muon detection device comprises:

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

5. The underwater intelligent inspection robot for water conveyance tunnel according to claim 1, characterized in that, The data fusion device comprises: A data fusion module is configured 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 a data fusion algorithm to generate the tunnel comprehensive state image, wherein the tunnel comprehensive state image comprises a tunnel surrounding rock high-resolution three-dimensional perspective image and a tunnel wall high-resolution three-dimensional perspective image; An image processing module is configured to analyze the tunnel surrounding rock high-resolution three-dimensional perspective image and the tunnel wall high-resolution three-dimensional perspective image to generate the tunnel data report.

6. The underwater intelligent inspection robot for water conveyance tunnel according to claim 1, characterized in that, The communication control device comprises: A communication transmission module is connected to the ground control center, the navigation and positioning device and the data fusion device to receive the navigation trajectory, the positioning information, the tunnel comprehensive state image, the tunnel data report and the real-time instructions sent by the ground control center, and to send the navigation trajectory, the positioning information, the tunnel comprehensive state image and the tunnel data report to the ground control center; An autonomous control module is connected to the communication transmission module to adjust the advancing direction and the movement speed of the robot platform according to the real-time instructions, the navigation trajectory and the positioning information.

7. An intelligent inspection method of an underwater intelligent inspection robot for a water conveyance tunnel, characterized by, The water conveyance tunnel underwater intelligent inspection robot of any one of claims 1-6 comprises the following steps: The robot platform performs at least one of the advancing, retreating, ascending and descending maneuvers in the target water conveyance tunnel according to the target inspection task; The navigation trajectory and the positioning information of the robot platform are monitored; The real-time instructions of the ground control center are received, and the advancing direction and the movement speed of the robot platform are adjusted according to the real-time instructions, the navigation trajectory and the positioning information; The muon signals inside the target water conveyance tunnel are collected to generate the surrounding rock density distribution image and the leakage channel data from the muon signals; The obstacles and the terrain inside the target water conveyance tunnel are monitored to generate the three-dimensional point cloud image of the water conveyance tunnel; The tunnel wall of the target water conveyance tunnel is scanned by laser to generate the three-dimensional high-resolution point cloud imaging of the tunnel wall; 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 are subjected to feature fusion processing to obtain the tunnel comprehensive state image and the tunnel data report, and the tunnel comprehensive state image and the tunnel data report are sent to the ground control center.

8. An electronic device, comprising: The water conveyance tunnel underwater intelligent inspection robot comprises: The memory, the processor and the computer program stored on the memory and executable on the processor, the processor executing the program to implement the intelligent inspection method of the underwater intelligent inspection robot for water conveyance tunnel as claimed in claim 7.

9. A computer program product, characterised in that, The computer program / instruction is executed by the processor to implement the intelligent inspection method of the underwater intelligent inspection robot for water conveyance tunnel as claimed in claim 7.

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

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