Robot for water tunnel inspection and system thereof

Abstract

In some embodiments, there is provided a robot for water tunnel inspection, comprising (a) a housing comprising an upper housing and a lower housing; wherein the sizes and shapes of the upper shell and the lower shell are configured to be matched with each other, so that a closed cavity is jointly defined in the upper shell and the lower shell; (b) a camera system configured to capture an image or video of a field of view of the ambient environment; (c) an illumination system configured to at least partially provide illumination for the field of view; (d) a propulsion system configured to provide a propulsion force to the underwater robot; and (e) a control system configured to provide power and control operation of the robot, where the robot is configured to float on the water surface and the center of gravity is located lower than the geometric center. Other example embodiments are described herein. In some embodiments, the robot provides safe and efficient tunnel inspection without manual operation.

Description

Technical Field

[0001] The present application relates to devices and systems for inspecting tunnels. More specifically, the present disclosure relates to robots and systems for water tunnel inspection. Background Art

[0002] Underground water tunnels (water tunnels) are an integral part of urban infrastructure, responsible for ensuring that effluent from wastewater treatment plants is safely discharged into the environment without causing harm to public health or ecosystems. If water tunnels are not functioning properly, untreated sewage may foul waterways, pollute the surrounding environment, and pose a significant risk to human and animal health. In addition, underground water tunnels are a key component of water resource management, ensuring that treated sewage is efficiently distributed to its destination while minimizing the impact on the environment. Therefore, proper maintenance and regular inspections of underground water tunnels are essential to ensure their effective operation and promote the importance of innovation and engineering solutions for environmental sustainability.

[0003] Prior to the development of technology, humans (i.e., manual inspection) were the primary means of inspecting underground water tunnels. This process is extremely dangerous as individuals need to be lowered into the tunnel using a safety line connection to visually inspect any problems. However, this method is very risky due to unknown conditions in the tunnel, such as the presence of hazardous gases or volatile water flows, and the difficulty of escaping in an emergency. As technology has advanced, attempts have been made to use remotely controlled vehicles for water tunnel inspections, but various problems have been encountered in long tunnel inspections due to the harsh environment and unknown conditions in water tunnels, such as poor lighting and impurities. There are also limited entry points, etc. Therefore, there is a great need for alternative solutions that can ensure the safety and efficiency of tunnel inspections without the need for human intervention during the inspection process. Summary of the invention

[0004] In view of the foregoing background, in certain embodiments, an object is to provide a tumbler-style robotic inspection system that is a cutting-edge solution specifically designed to address the challenges of inspecting water tunnels. In certain embodiments, the system consists of or includes a tumbler-style robot designed to move seamlessly in high-speed water flow, and a release and retrieval system. During the inspection process, the robot is released from the entry point using the release and retrieval system.

[0005] Accordingly, in one aspect, a robot for water tunnel inspection is provided, comprising:

[0006] A housing, a camera system, an illumination system, a propulsion system, and a control system. The housing includes an upper housing and a lower housing. The sizes and shapes of the upper housing and the lower housing are arranged to match each other so as to define a closed cavity therein. The camera system is configured to capture an image or video of a field of view of a surrounding environment. The illumination system is configured to at least partially illuminate the field of view. The propulsion system is configured to provide propulsion to the robot in water. The control system is configured to provide power and control operations of the robot. The robot is configured to float on water and the position of the center of gravity is lower than the geometric center, so that during operation, at least a portion of the upper housing remains substantially above the water surface and at least a portion of the lower housing remains substantially underwater.

[0007] In another aspect, there is provided a system for water tunnel inspection, the system comprising a robot according to any one of the preceding claims; and a release and retrieval system configured to release the robot to the water tunnel and retrieve the robot from the water tunnel.

[0008] Other example embodiments will be described below.

[0009] The present disclosure has many advantages. In certain embodiments, the provided device and system thereof are designed to work autonomously without human operation, because the device and system thereof can operate in a harsh underground water tunnel environment and provide accurate and detailed inspection data without putting any human life at risk.

[0010] In certain embodiments, the provided device and its system provide a unique design that ensures stability, with a curved structure that prevents the device from getting stuck in tunnels or sediments and a low center of gravity that prevents the device from flipping over even in unknown environments. In certain embodiments, the camera system module features a panoramic camera and a pan-tilt stabilizer that provide high-resolution video recording of the tunnel, while the camera's triple stabilization system ensures stable video capture.

[0011] In certain embodiments, once the inspection is completed, the robot is retrieved using a retrieval system where it can be recovered for the next mission.

[0012] In certain embodiments, the tumbler robot and its inspection system provide a comprehensive and efficient solution for water tunnel inspection that is safer, more reliable, and less time-consuming than traditional inspection methods.

[0013] In certain embodiments, the tumbler robot and its inspection system represent a breakthrough solution for water tunnel inspection, utilizing innovative and efficient data collection capabilities without the need for human operators or wired connections. In certain embodiments, the seamless integration of system modules effectively overcomes the limitations of traditional inspection methods while improving the safety and efficiency of inspections. In certain embodiments, the system's reliable and efficient inspection capabilities enable early identification of potential problems, facilitating timely maintenance and minimizing the risk of environmental hazards. With its groundbreaking design and advanced features, in certain embodiments, the tumbler robot inspection system sets a new standard for inspection technology, paving the way for a safer, cleaner, and healthier environment in cities and beyond.

[0014] In certain embodiments, the robot's internal components work together to enable the tumbler-like robot to perform efficient and reliable inspections in a water tunnel environment, thereby providing valuable data and aiding in the maintenance and safety of critical infrastructure.

[0015] In certain embodiments, a release and retrieval (RR) system is provided to ensure successful robotic tunnel inspections by enabling safe and efficient operation of a tumbler-style robot used for water tunnel inspections. The RR system enables the robot to safely descend into a tunnel for inspection and then be retrieved to the surface upon completion. By implementing a robust and reliable RR system, in certain embodiments, the robot can be used to collect accurate and high-quality data to identify defects or problems in the tunnel, ultimately ensuring safe and efficient operation of the wastewater treatment facility. The system ensures that the robot is able to operate in a controlled and safe manner, thereby minimizing the risk of damage to the robot or the tunnel itself. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a perspective view of an example tumbler-type robot according to an example embodiment.

[0017] Figure 2 is based on Figure 1 A top view of a tumbler-style robot of the same example embodiment.

[0018] Figure 3 is based on Figure 1 A bottom view of the tumbler-style robot of the same example embodiment.

[0019] Figure 4 is based on Figure 1 A left view of the tumbler-style robot of the same example embodiment.

[0020] Figure 5 is based on Figure 1 A front view of a tumbler-style robot of the same example embodiment.

[0021] Figure 6 is based on Figure 1 A perspective view of the interior of a tumbler-style robot of the same example embodiment.

[0022] Figure 7 is based on Figure 1 A top view of the interior of a tumbler-style robot of the same example embodiment.

[0023] Figure 8 is based on Figure 1 A front view of the interior of a tumbler-style robot of the same example embodiment.

[0024] Fig. 9 is based on Figure 1 A left side view of the interior of the tumbler-style robot of the same example embodiment.

[0025] Fig.10 is based on Figure 1 A perspective view of the main metal structure of the tumbler-type robot of the same example embodiment.

[0026] Fig.11 is based on Figure 1 A top view of the main metal structure of the tumbler-style robot of the same example embodiment showing the pan-tilt stabilizer connector mounted horizontally on the bulkhead.

[0027] Fig.12 is based on Figure 1 A right side view of the main metal structure of the tumbler-type robot of the same example embodiment.

[0028] Fig.13 is based on Figure 1 A top view of the lower housing of the tumbler-style robot of the same example embodiment shows that two metal connectors are designed to secure the partition in the lower housing.

[0029] Fig.14 is based on Figure 1 A bottom view of the lower housing of the tumbler-type robot of the same example embodiment.

[0030] Fig.15 is based on Figure 1 A three-dimensional view of the lower housing of the tumbler-type robot, the sealing rubber ring of the tumbler-type robot and the fiberglass board of the same example embodiment, with the bottom plate removed.

[0031] Fig.16 is a perspective view of an example LED module according to an example embodiment.

[0032] Fig.17 yes Fig.16 Exploded view of an example LED module.

[0033] Fig.18 is a perspective view of an example camera system according to an example embodiment.

[0034] Fig.19 is a perspective view of an underwater motor with a protective frame according to an example embodiment.

[0035] Fig. 20 is a perspective view of a RR system according to an example embodiment.

[0036] Fig.21 is based on Fig. 20 A stereoscopic view of the RR system of the same example embodiment.

[0037] Fig.22A is a perspective view of a slide rail track of a RR system according to an example embodiment.

[0038] Fig. 22B is a perspective view of a lift frame of a RR system according to an example embodiment.

[0039] Fig. 22C is a perspective view of a main frame of a RR system according to an example embodiment. DETAILED DESCRIPTION

[0040] definition

[0041] As used herein and in the claims, the terms "comprising" (or any related forms, such as "comprise" and "comprises"), "including" (or any related forms, such as "include" or "includes"), "containing" (or any related forms, such as "contain" or "contains") refer to the inclusion of the following elements but not the exclusion of other elements. It should be understood that for each embodiment, where the terms "comprising" (or any related forms, such as "comprise" and "comprises"), "including" (or any related forms, such as "include" or "includes"), or "containing" (or any related forms, such as "contain" or "contains") also include alternative embodiments in which the terms "comprising", "including" or "containing" are replaced with "consisting essentially of" or "consisting of". These alternative embodiments using "consisting of" or "consisting essentially of are understood to be narrower embodiments of the "comprising," "including," or "containing" embodiments.

[0042] For clarity, "comprises," "comprising," "containing," and "having" and any related forms are open terms that allow additional elements or features other than the specified essential elements, whereas "consisting of" is a closed term that is limited to the elements recited in the claim and does not include any elements, steps or ingredients not specified in a claim.

[0043] For clarity, "characterized by" or "characterized by" (together with their related forms as described above) does not limit or change the open or closed nature of the list of terms that follows it. For example, in a claim directed to "an apparatus comprising A, B, C and characterized by D, E, and F," elements D, E, and F are still open terms, and the claim is intended to include other elements due to the use of the word "comprising" preceding the claim.

[0044] As used herein, the singular forms "a / an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. When a range is mentioned in the specification, the range is understood to include every discrete point within the range. For example, 1-7 means 1, 2, 3, 4, 5, 6, and 7.

[0045] As used herein, the term "about" is understood to be within the normal tolerance range of the art and not exceeding ±10% of the specified value. By way of example only, about 50 means from 45 to 55, including all values ​​in between. As used herein, the phrase "about" a particular value also includes the particular value, for example, about 50 includes 50.

[0046] As used herein and in the claims, the term "substantially" or "substantially" or "essentially" or "substantially" means that the recited features, angles, shapes, states, structures, or values ​​need not be achieved exactly, but deviations or changes, including, for example, tolerances, measurement errors, measurement precision limitations, and other factors known to those skilled in the art, may occur in an amount that does not eliminate the effect that the feature is intended to provide. For example, an object having a "substantially" cylindrical shape means that the object has an exact cylindrical shape or an almost exact cylindrical shape. In another example, an object being "essentially" perpendicular to a surface means that the object is exactly perpendicular to the surface or almost exactly perpendicular to the surface, for example, with a deviation of 5%.

[0047] It should be understood that terms such as "top", "upper", "bottom", "lower", "middle", "side", "length", "inner", "outer", "interior", "exterior", "outer side", "vertical", "horizontal", etc. that may be used herein only describe reference points and do not limit the present invention to any particular orientation or configuration. Further, terms such as "first", "second", "third", etc. only identify one of the multiple parts, components and / or reference points disclosed herein, and also do not limit the present invention to any particular configuration or orientation.

[0048] As used herein and in the claims, the term "connected" means to directly or indirectly join or couple two or more elements or systems together physically, electronically, or functionally.

[0049] As used herein and in the claims, the term "attach" means to join or connect one object to another using some form of physical or mechanical connection, or to fasten such as by tying or gluing.

[0050] As used herein and in the claims, the term "secured" means to securely couple or connect one object to another object using some form of physical or mechanical connection, or to render one or more objects secure, stable, or stationary.

[0051] As used herein and in the claims, the terms "robot" or "tumbler robot" are interchangeable and refer to a device designed to move through a tunnel and autonomously perform inspection tasks, such as collecting images or videos of the tunnel's surroundings. In some examples, the robot is configured to float on water and has a low center of gravity that prevents it from flipping over and thus can be described as a tumbler.

[0052] As used herein and in the claims, the term "image" is a visual signal or information covering one or more moving pictures (videos) and / or one or more still pictures, etc. Signals or information representing images or videos are sometimes referred to herein as "imaging data" or "data". For clarity, data may also include other types of signals or information.

[0053] As used herein and in the claims, the term "camera" refers to a device that captures images and / or video and optionally records the captured images or video. In some examples, the camera includes a built-in image stabilization system or algorithm.

[0054] As used herein and in the claims, the term "center of gravity" is the point in an object or system where the weight of the object or system can be considered to be concentrated, determining the balance and stability of the object.

[0055] As used herein and in the claims, the term "electronic speed controller (ESC)" is a component that regulates the speed and / or direction of an electric motor, such as a submersible motor, based on signals received from a control system.

[0056] As used herein and in the claims, the term "geometric center" of an object or system is the point that represents the average position of all points in the object or system.

[0057] As used herein and in the claims, the term "tunnel" or "water tunnel" refers to a structure such as a pipe or passageway that can be used to transport water, wastewater, sewage, etc. In some examples, the tunnel can be underground. The term "water" refers to a liquid containing water, water bodies, etc., or wastewater that may or may not contain various pollutants and contaminants, and may include semi-solids or solids.

[0058] As used herein and in the claims, the term "operatively connected to" or "operatively connected to" refers to a functional or operational connection between two components or systems that allows the components or systems to work together or interact with each other in a particular manner. This connection can be direct or indirect.

[0059] As used herein and in the claims, "edge" refers to the boundary of a closed curve. In some examples, the edge of an opening refers to the physical boundary of the shell that forms the perimeter of the opening. Although the description mentions specific embodiments, the disclosure should not be construed as limited to the embodiments set forth herein.

[0060] As used herein, "adapted to" or "configured to" is meant to be open and inclusive language that does not exclude devices adapted or configured to perform additional tasks or steps.

[0061] Numbered Examples

[0062] 1. A robot for water tunnel inspection, comprising:

[0063] (a) a housing, comprising an upper housing and a lower housing;

[0064] wherein the size and shape of the upper shell and the lower shell are arranged to match each other so as to jointly define a closed cavity therein;

[0065] (b) a camera system configured to capture images or video of a field of view of a surrounding environment;

[0066] (c) an illumination system configured to at least partially illuminate the field of view;

[0067] (d) a propulsion system configured to provide propulsion to the robot in water; and

[0068] (e) a control system configured to provide power and control operations of the robot,

[0069] Therein, the robot is configured to float on the water surface and the center of gravity is located below the geometric center, so that during operation, at least a portion of the upper shell remains substantially above the water surface and at least a portion of the lower shell remains substantially underwater.

[0070] 2. The robot as described in Example 1 further includes an inertial measurement unit (IMU) operatively connected to the control system.

[0071] 3. A robot as described in any of the preceding embodiments, wherein the upper shell is at least partially transparent.

[0072] 4. A robot as described in any of the preceding embodiments, wherein the density of the lower shell is higher than the density of the upper shell.

[0073] 5. The robot as described in any of the preceding embodiments, wherein the camera system further comprises:

[0074] A panoramic camera that provides a panoramic image of the surrounding environment; and / or

[0075] Underwater sonar that captures underwater images.

[0076] 6. The robot as described in any of the preceding embodiments further comprises an image stabilization system operatively connected to the camera system to improve the stability of the image.

[0077] 7. The robot of embodiment 6, wherein the image stabilization system comprises:

[0078] an image stabilization module that stabilizes images from a panoramic camera; and / or

[0079] A gimbal stabilizer module is operatively connected to the panoramic camera.

[0080] 8. A robot as described in any of the preceding embodiments, wherein the control system further includes a power supply system and a processing unit.

[0081] 9. The robot of Example 8, wherein the power supply system comprises a rechargeable battery and a voltage regulator.

[0082] 10. The robot of any of the preceding embodiments, wherein the propulsion system further comprises an underwater motor attached to the lower housing.

[0083] 11. The robot of embodiment 10, wherein the underwater motor is operatively connected to an electronic speed controller.

[0084] 12. The robot as described in any of the preceding embodiments, further comprising a base plate sized and shaped to be attached to the housing.

[0085] 13. A robot as described in any of the preceding embodiments, wherein the lighting system further comprises a plurality of LED modules arranged on the base plate.

[0086] 14. The robot of embodiment 13, wherein the individual LED modules include an LED array, a heat sink, and a waterproof LED housing.

[0087] 15. A robot as described in any of the preceding embodiments, wherein the overall shape of the shell is substantially spherical.

[0088] 16. A tumbler-type robot for water tunnel inspection, comprising:

[0089] (a) a spherical shell, comprising an upper shell and a lower shell;

[0090] wherein the size and shape of the upper shell and the lower shell are arranged to match each other so as to jointly define a closed cavity therein;

[0091] (b) a camera system configured to capture images or video of a field of view of a surrounding environment:

[0092] (c) an illumination system configured to at least partially illuminate the field of view;

[0093] (d) a propulsion system configured to provide propulsion to the robot in water;

[0094] (e) a control system configured to provide power and control operations of the robot;

[0095] (f) an inertial measurement unit (IMU) operatively connected to the control system; and

[0096] (g) a base plate attached to the housing,

[0097] The camera system further comprises:

[0098] two panoramic cameras arranged orthogonally to provide panoramic images of the surrounding environment;

[0099] a gimbal stabilizer operatively connected to the two panoramic cameras; and

[0100] underwater sonar that captures underwater images;

[0101] Wherein, the lighting system further comprises a plurality of LED modules arranged on the base plate;

[0102] wherein the propulsion system further comprises two underwater motors attached to the lower housing; and

[0103] Therein, the robot is configured to float on the water surface and the center of gravity is located below the geometric center, so that during operation, at least a portion of the upper shell remains substantially above the water surface and at least a portion of the lower shell remains substantially underwater.

[0104] 17. A system for water tunnel inspection, comprising:

[0105] A robot as described in any of the preceding embodiments; and

[0106] A release and retrieval system is configured to release the robot into the water tunnel and retrieve the robot from the water tunnel.

[0107] 18. The system of embodiment 17, wherein the release and retraction system comprises:

[0108] a lifting frame configured to receive the robot;

[0109] A slide rail is configured to be fixed to a substrate;

[0110] a main frame configured to at least partially receive the lifting frame and be movable along the slide rail; and a winch system configured to be connectable to the robot,

[0111] Therein, the winch system is configured to release the robot into the water tunnel and retrieve the robot from the water tunnel.

[0112] 19. The system of embodiment 18, wherein the lifting frame is configured to be switchable between an upper position and a lower position relative to the main frame, so that the robot can be lifted from or lowered toward the water tunnel, respectively.

[0113] 20. The system of Example 17 or Example 18, wherein the main frame is configured to be switchable between a working position and a preparation position relative to the slide track, so that the robot moves closer to or farther away from the water tunnel, respectively.

[0114] Example

[0115] The examples of some embodiments of the present disclosure are described in more detail herein. The examples provided herein are for illustrative purposes only and are not intended to limit the scope of the present invention in any way. All references given below and elsewhere in this application are hereby included herein by reference.

[0116] System Architecture Overview

[0117] In some embodiments, the tumbler robot and its system are complex multifunctional systems designed to perform tunnel inspections, such as in underground water tunnels. In some embodiments, the tumbler robot and its system include various subsystems, including a structural shell, a lighting system, a camera system, a rotational stabilization system, a power supply system, a support design, and a release and retrieval (RR) system, etc.

[0118] Main subsystem description

[0119] In some embodiments, the structural housing is composed of an upper housing, a bottom plate with impact-resistant rubber, and a lower housing or includes an upper housing, a bottom plate, and a lower housing. These structures are used to protect the electronic components of the robot from water damage and collision. In some embodiments, the upper housing is made of a transparent and hard material (such as acrylic) to provide transparency and durability for the internal camera system. In some embodiments, the bottom plate is made of metal or alloy (such as aluminum alloy) to provide a lightweight but sturdy foundation for the placement of LED modules in the lighting system. In some embodiments, the lower housing is made of a metal or alloy such as stainless steel to provide the necessary strength and impact resistance to protect the electronic devices.

[0120] In some embodiments, the lighting system is configured to provide illumination for the camera system to capture high quality video footage. In some embodiments, the lighting system includes eight high power LED modules positioned substantially equidistantly around the perimeter of the robot on the base plate to provide uniform illumination across the field of view of the camera. In some embodiments, each LED module is embedded with a heat sink and connected to a heat sink to prevent heat transfer into the inspection robot.

[0121] In some embodiments, the camera system is configured to capture high-resolution video footage of the interior of the tunnel. In some embodiments, the camera system includes two high-resolution panoramic cameras that can provide a panoramic view without blind spots, a pan-tilt stabilizer, and underwater sonar that captures precise and detailed underwater images. This configuration ensures comprehensive video capture regardless of how harsh the tunnel conditions are.

[0122] In some embodiments, the rotational stabilization system is designed to account for the six degrees of freedom motion and sudden changes in speed due to the various bumps and collisions encountered in the tunnel. In some embodiments, the rotational stabilization system includes a triple stabilization system consisting of or including the camera's built-in video stabilization algorithm, a high-performance three-axis pan-tilt stabilizer algorithm, and an underwater propulsion system. The rotational stabilization system includes two underwater motors with electronic speed controllers (ESC), an inertial measurement unit (IMU), and an industrial computer to resist the yaw rotation of the tumbler robot and keep it stable in high-speed water flow.

[0123] In some embodiments, the power supply system provides power control for the tumbler robot. In some embodiments, the power supply system includes a rechargeable battery pack and a voltage regulator. In some embodiments, the battery pack provides energy for at least the lighting system and the rotational stabilization system of the robot. In some embodiments, the voltage regulator is responsible for distributing voltage from the battery pack to the subsystems of the tumbler robot.

[0124] In some embodiments, the above modules (including lighting system, camera system, rotational stabilization system, power supply system) are constructed and arranged to provide an optimal center of mass position to improve the control performance and anti-dumping ability of the robot. In some embodiments, a sealing rubber is optionally used to effectively seal the connection between the upper shell and the base plate to provide a watertight seal. In some embodiments, waterproof gaskets and sealants are optionally applied to the screw openings, and a pressure relief valve is used to control the pressure inside the robot and prevent damage due to potential battery pack failure. Waterproof connectors facilitate convenient data transmission and debugging processes. Mechanical fasteners are provided to ensure safety during the release and retrieval of the robot.

[0125] In some embodiments, the system provided includes a robot and additionally includes a RR system, thereby providing a safe and efficient means of lowering the robot into the tunnel for inspection and retrieving the robot to the ground. In some embodiments, the RR system includes a slide track, a main frame, a lifting frame, and a winch system. The structural components (slide track, main frame, lifting frame) provide a stable and firm platform for the vertical and horizontal movement of the robot, while the winch system provides the force required to release and retract the robot. In some embodiments, the RR system is designed to withstand the harsh environment of the tunnel while ensuring the safety of personnel and the environment.

[0126] Example 1

[0127] Figures 1 to 19 An example apparatus 1000 for water tunnel inspection is shown. The example robot 1000 includes various interconnected subsystems that cooperate to achieve efficient and innovative data collection when inspecting a water tunnel. The robot 1000 generally includes a housing 1100, a camera system 1600, a lighting system 1700, a propulsion system 1800, and a control system 1900. Figures 1 to 5 Different views of an overview of an example robot 1000 are shown. Figures 6 to 9 The internal components inside the robot 1000 are shown after the upper housing 1110 is removed. Figures 10 to 14 The upper housing 1110, camera system 1600, and control system 1900 are shown with support elements removed. Fig.15 The lower housing 1120 , the sealing rubber ring 1124 , and the fiberglass board 1300 of the tumbler-type robot are shown, with the bottom plate 1400 removed. Figures 16 to 19 Details of the LED module 1710, the camera system 1600, and the motor are shown separately. The details of each component will be described in more detail below.

[0128] case

[0129] Figures 1 to 5 A perspective view of the tumbler robot 1000 is shown. The housing 1100 is formed by an upper housing 1110 and a lower housing 1120, providing protection and support for the internal components of the robot (such as electronic components) to prevent water / moisture damage and collision, and also provides support for fixing or attaching various external components, such as the base plate 1400, the lighting system 1700, and the propulsion system 1800. The size and shape of the upper housing 1110 and the lower housing 1120 are set to be suitable for engaging with each other, thereby jointly defining a closed cavity. The closed cavity is a substantially watertight compartment for accommodating the internal components of the robot, such as the panoramic camera 1610 and the control system 1900 of the camera system 1600.

[0130] In the present example, the upper shell 1110 and the lower shell 1120 are generally hemispherical, thereby forming a generally spherical shell when the upper shell and the lower shell are connected to each other. The joining edges of the upper shell 1110 and the lower shell 1120 are configured to mate with each other. In the present example, the upper shell 1110 is made of acrylic and is substantially transparent, allowing the camera system 1600 disposed within the shell to capture images or videos of the field of view of the surrounding environment. The upper shell 1110 serves as a protective outer layer, protecting the internal components from external elements. In the present example, the lower shell 1120 is made of stainless steel. This combination of using a plastic upper shell 1110 and a metal lower shell 1120 causes the center of gravity of the entire shell to be closer to the lower shell 1120 than to the upper shell 1110, and therefore lower than the geometric center. Now refer to Fig.15 Additionally, the lower shell 1120 includes a sealing rubber ring 1124 along the open end to seal the joint edge between the upper shell 1110 and the lower shell 1120, thereby improving the waterproofness and protecting the internal components from potential damage caused by water penetration.

[0131] Reference now Figures 4 to 5 , the lower housing 1120 further includes a plurality of waterproof connectors 1121, which are arranged closer to the open end of the lower housing 1120 and are located below the base plate 1400 when installed. In this example, the lower housing 1120 of the robot accommodates three waterproof connectors 1121, which are evenly distributed and configured to be operatively and electronically connected to internal electronic components such as the control system 1900. These connectors 1121 are used to debug the collected data and transmit the collected data from the robot to an external device. This positioning of the waterproof connectors 1121 on the lower housing 1120 below the base plate 1400 facilitates convenient access and reliable data transmission from the robot 1000.

[0132] Reference now Fig.12 , shows a right side view of the metal structure of the tumbler robot 1000 (including the lower housing 1120). The lower housing 1120 further includes a pressure relief valve 1122, which is arranged closer to the open end of the lower housing 1120 and is located below the bottom plate 1400, facing parallel to the underwater motor 1810. The pressure relief valve 1122 controls the pressure inside the robot and prevents damage due to potential battery pack 1910 failure. The lower housing 1120 further includes an empty space 1123 designed to accommodate the underwater sonar 1620.

[0133] Reference now Figure 12 to Figure 14 , the lower housing 1120 further includes a lip 1128 extending horizontally away from the open end. The lip 1128 is configured to engage with the upper housing 1110 and attach or fix the bottom plate 1400, respectively.

[0134] Reference now Fig.13 , shows a top view of the lower housing 1120 of the tumbler robot, wherein the partition 1200 is removed. Two metal partition connectors 1126 are provided inside the lower housing 1120, and these metal partition connectors are configured to fix the partition 1200 to the lower housing 1120 to ensure the stability and integrity of the structure. An IMU connector 1011 configured to connect the IMU 1010 and an empty space 1127 are also provided inside the lower housing 1120.

[0135] Fig.14 A bottom view of the lower housing 1120 of the example robot 1000 is shown. Two underwater motor connectors 1125 are provided on the lower housing 1120, and the underwater motor connectors are configured to attach protective housings of underwater motors 1810, respectively.

[0136] Other support structures

[0137] Fig.10 and Fig.11 The main support structure of the tumbler robot is shown. In addition to the shell, the main support structure also includes a base plate 1400, a partition 1200, a plurality of heat sinks 1301, an underwater motor protection frame 1820, and a gimbal stabilizer connector 1521. In this example, these main support structures (except the upper shell 1110) are made of metal or alloy. Additionally, the main support structure includes a control system connector, which helps to stabilize the connection between the metal structure (partition 1200) and the control system 1900, so that the robot can operate stably. In this example, the control system connector is or includes an industrial computer connector, and the control system 1900 is or includes an industrial computer 1920. The careful design and arrangement of these main support structures ensure the structural integrity of the tumbler robot.

[0138] Base Plate

[0139] Figures 1 to 7 , Figures 10 to 12The bottom plate 1400 is shown connected to the lower housing 1120 of the robot. In this example, the bottom plate 1400 is a generally annular metal sheet containing a plurality of holes to minimize weight while maintaining structural integrity. In this example, the bottom plate 1400 is made of an aluminum alloy. The size and shape of the bottom plate 1400 are arranged to match the outer edge near or at the open end of the lower housing 1120. The bottom plate 1400 further includes a mechanical fastener 1402 configured to be connected to a rope for the RR system. The bottom plate 1400 serves as a stable foundation, providing stability and support for the entire structure of the robot. In this example, an impact-resistant rubber ring 1401 is provided, which is attached around the outer edge of the bottom plate 1400, thereby providing additional protection for the robot 1000. The bottom plate 1400 contributes to the structural integrity of the robot and provides support for the lighting system 1700. The bottom plate 1400 also provides support for the lighting system 1700. In this example, the lighting system 1700 is disposed on the base plate 1400 .

[0140] Partition

[0141] Figure 7 , Figures 9 to 11 The bulkhead 1200 is shown, which is one of the internal components that provides structural support and organization for other internal components within the robot. In this example, the bulkhead 1200 is a flat metal sheet containing a plurality of holes, positioned horizontally inside the lower housing 1120 of the tumbler robot. In this example, the bulkhead 1200 is connected by two bulkhead connectors 1126 ( Fig.13 ) is secured to the lower housing 1120. The horizontally positioned shelf 1200 serves as a base reference point or support, ensuring a stable and level foundation for other systems or components within the robot. For example, the control system 1900 including the battery pack 1910 and the industrial computer 1920 is secured to the shelf 1200. The strategic positioning of the battery pack 1910 and the industrial computer 1920 on the shelf 1200 ensures that the weight distribution is centered directly below the geometric center of the robot, thereby promoting optimal stability and balance during operation. The shelf 1200 also helps organize and separate the internal components, ensuring an efficient layout of the internal components.

[0142] In this embodiment, the bulkhead 1200 further includes an empty space 1127 for accommodating the underwater sonar to facilitate the installation and placement of the underwater sonar. The bulkhead 1200 is further connected to the IMU connector 1011 ( Fig.13 ) connection, the IMU connector is configured and positioned to facilitate connection of the IMU 1010 to the partition 1200.

[0143] Fig.10 and Fig.11A top view of the metal structure of the tumbler robot 1000 is shown. The gimbal stabilizer connector 1521 is sized and shaped to connect to the gimbal stabilizer 1520 and is mounted horizontally on the bulkhead 1200 with an opening below for placing the underwater sonar. The gimbal stabilizer connector 1521 serves as a connecting element for the integrated gimbal stabilizer 1520, securely attaching the gimbal stabilizer to the bulkhead 1200 and therefore to the robot. Below the gimbal stabilizer connector 1521, there is a designated empty space 1123 that accommodates the placement of the underwater sonar, ensuring optimal positioning for capturing accurate underwater imaging data.

[0144] Other internal parts

[0145] Figures 6 to 11 Various views of the interior of the example robot 1000 are shown with the upper housing 1110 removed. In addition to the bulkhead 1200, the interior of the tumbler robot also includes various internal components, including a control system 1900, and a portion of the camera system 1600. For example, the internal components include a panoramic camera 1610, three batteries, two ESCs 1930 for the underwater motor 1810, an industrial computer 1920, an IMU 1010, etc. The details will be described in further detail below.

[0146] Camera system

[0147] Figures 6 to 9 and Fig.18 The camera system 1600 of the example robot 1000 is shown. In the present embodiment, the camera system 1600 includes one or more panoramic cameras 1610, which are connected via a panoramic camera connector 1611, which is further connected to a three-axis pan-tilt stabilizer 1520 to ensure stable and high-resolution image (or video) capture. In this example, the image capture is video capture. The camera system 1600 is operatively connected to the control system 1900. In some examples, the camera system 1600 is configured to capture clear 3k resolution video of the tunnel at about 60FPS. In some examples, the panoramic camera 1610 in the camera system 1600 includes a built-in stabilization algorithm and is considered to be an image stabilization module, i.e., part of the rotation stabilization system.

[0148] Reference now Figure 8, the gimbal stabilizer 1520 is connected to the bulkhead 1200 via a gimbal stabilizer connector 1521. In this example, the camera system 1600 includes two high-performance panoramic cameras 1610 strategically positioned to capture a wide field of view. To ensure stable footage, a gimbal stabilizer 1520 is used, which is connected to the panoramic camera 1610 via a panoramic camera connector 1611, ensuring a secure attachment while allowing smooth movement and adjustment. The gimbal stabilizer 1520 is located near the center of gravity of the robot, enhancing balance and minimizing camera vibration during operation. In some examples, the gimbal stabilizer 1520 is considered a gimbal stabilizer module, that is, part of the rotational stabilization system.

[0149] Reference now Fig. 9 , two panoramic cameras are orthogonally positioned to provide a comprehensive panoramic view to avoid blind spots. This configuration enables the robot to capture a wide range of visual data during the inspection process. The two panoramic cameras 1610 are connected to the pan-tilt stabilizer 1520 via a dedicated panoramic camera connector 1611, ensuring precise alignment and stability of the cameras during operation.

[0150] Reference now Fig.18 , showing details of the camera system 1600 of the tumbler robot. The top panoramic camera 1610 is seamlessly connected to the bottom panoramic camera 1610, and the top panoramic camera and the bottom panoramic camera together form an integrated imaging setup. The bottom panoramic camera is tightly attached to the pan-tilt stabilizer 1520 using a board connector (panoramic camera connector) 1611, ensuring stable positioning during operation. This integrated camera system 1600 enables the tumbler robot to capture panoramic images and maintain stable recording, thereby improving its inspection efficiency.

[0151] Underwater Sonar

[0152] Figures 3 to 5 An underwater sonar 1620 is shown positioned at the bottom of the lower housing 1120. Figure 3 The underwater sonar 1620 is shown to include a transmitting array 1621 and a receiving array 1622, which work together to accurately transmit and process sonar signals to provide high-quality underwater imaging. The underwater sonar 1620 can be considered as a part of the camera system 1600 to provide additional images, such as sonar images. The underwater sonar 1620 is operatively connected to the control system 1900. The body of the underwater sonar 1620 and its communication port 1623 realize underwater imaging capabilities. The underwater sonar 1620 is positioned directly below the lower shell 1120 of the robot (as an external component) to provide underwater image information. The underwater sonar 1620 is located directly below the robot, capturing accurate and detailed image information to thoroughly inspect the water tunnel.

[0153] Reference now Figure 5 , showing a front view of the tumbler-style robot. An underwater sonar system 1620 is positioned directly below the robot. The underwater sonar 1620 further includes a body 1620 and a communication port 1623. The body of the sonar 1620 captures sonar imaging data during the inspection operation. The communication port 1623 of the sonar 1623 serves as a seamless data transmission link between the sonar system and the industrial computer 1920 inside the robot.

[0154] Now refer back Figures 3 to 5 . Using a dedicated metal underwater sonar connector 1202 (received in the empty space 1123 Fig.14 ) The underwater sonar 1620 is firmly fixed to the bulkhead 1200 to improve the overall structural stability of the sensor. Waterproof connector 1203 ( Fig.14 ) is also operatively connected to the underwater sonar 1620 to ensure a reliable and watertight connection.

[0155] Lighting system

[0156] Figures 1 to 11 A lighting system 1700 of the robot 1000 is shown. The lighting system 1700 includes a plurality of light modules 1710 within the lighting system 1700 to ensure adequate illumination of the field of view, facilitating clear visibility of the camera system 1600 to capture high-resolution video frames. In this example, the light modules are LED modules 1710 and the lighting system 1700 is operatively connected to a control system 1900.

[0157] Reference now Figure 2 , showing a top view of the tumbler robot. In this example, the tumbler robot includes eight LED modules 1710, each of which is evenly arranged on the upper surface of the base plate 1400 to provide uniform illumination to the surrounding environment. To prevent overheating and optimize performance, each LED module 1710 is equipped with a heat sink 1714 fixed on the bottom side of the base plate 1400 to efficiently dissipate the heat generated by the LED module 1710. This configuration enables the tumbler robot to provide consistent and very balanced lighting, thereby significantly improving its visibility during operational tasks.

[0158] Reference now Figure 4 , shows a left view of the tumbler robot. A heat sink 1301 is provided under each LED module 1710 to improve heat dissipation, ensure that the LED module 1710 works optimally and has a longer service life.

[0159] In this example, the heat sink 1301 ( Fig.15 ) is fixed on the bottom surface of the base plate 1400 and is juxtaposed with the corresponding LED module 1710 arranged on the opposite upper surface of the base plate 1400.

[0160] Reference now Fig.15 , shows a perspective view of the lower housing 1120 of the tumbler robot without the base plate 1400. The opposite ends of each heat sink 1301 are connected to the base plate 1400 by two fiberglass boards 1300. The heat sink 1301 acts as a stable mounting base for each LED module 1710, ensuring effective heat dissipation for optimal performance. The heat sink 1301 is firmly attached to the base plate 1400 using two fiberglass boards 1300, forming a sturdy structure that enables efficient heat transfer and heat dissipation.

[0161] Reference now Fig.16 and Fig.17 , shows an example LED module 1710 of the tumbler robot 1000. Each LED module 1710 includes a high-power LED array 1713, a heat sink 1714, and a waterproof LED housing 1716 with a glass cover 1712. The heat sink 1714 helps dissipate the heat generated by the LED array 1713, while the waterproof LED housing 1716 and the glass cover 1712 together provide protection for the LED module 1710 from water ingress, ensuring reliable operation in challenging environments. The high-power LED array 1713 provides powerful and efficient lighting for a variety of applications. To ensure optimal performance and service life, a heat sink 1714 is incorporated to additionally dissipate the heat generated during operation. Fig.17 An exploded view of an LED module 1710 is shown. An LED circuit board 1711 is firmly adhered to a glass cover 1712 to form an LED lamp. The components on the LED circuit board 1711 are directly attached to a heat sink 1714, while the LED lamp is protected by a waterproof LED housing 1716.

[0162] Propulsion system

[0163] Figure 1 , Figure 3 , Figures 4 to 6 , Figures 8 to 10 and Fig.19 Propulsion system 1800 is shown. Figure 1 A propulsion system 1800 is shown comprising two underwater motors 1810, each with a protective frame 1820 that work together to propel and stabilize the movement of the robot. A mechanical motor fastener 1402 ( Fig.10 ) to hold the components together. Together, these modular elements overcome the limitations of traditional inspection methods, ensuring safe and efficient inspections in water tunnels.

[0164] Reference now Figure 3 and Figure 5, respectively showing the bottom view and front view of the tumbler robot. Two underwater motors 1810 are symmetrically distributed under the lower housing 1120 of the tumbler robot and fixed by a protective frame 1820, ensuring stability and reliable performance in challenging underwater environments.

[0165] The two underwater motors 1810 are symmetrically placed on the lower housing 1120 and are oriented to extend away from the lower housing 1120 .

[0166] Reference now Fig.19 , shows a detailed view of an example underwater motor 1810 with a protective frame 1820 of a tumbler-style robot. The body of the underwater motor 1810 is protected by a metal protective frame 1820, which is connected to the lower housing 1120 via a motor connector 1814 to ensure structural stability. The body of the underwater motor 1810, including the rotor 1811 and the blades 1812, is received by a sturdy metal protective frame 1820. The protective frame 1820 ensures the structural stability and integrity of the underwater motor 1810, protecting the underwater motor from potential impacts and external forces. The protective frame 1820 is securely connected to the lower housing 1120 via a dedicated connector 1814, forming a reliable and rigid structure during operation.

[0167] Control System

[0168] Figure 6 and Figure 7 A control system 1900 is shown, which is configured to provide power and control operations of the robot 1000. In this example, the control system 1900 includes a power supply system 1940 and a processing unit that are electronically and operatively connected to each other and to other systems. In this example, the power supply system 1940 includes a rechargeable battery pack 1910 and a voltage regulator (not shown). The processing unit includes an industrial computer 1920. The battery pack 1910 and the industrial computer 1920 are positioned so that the total weight is concentrated closer to the lower portion of the robot and therefore below the geometric center. The voltage regulator is configured to distribute the voltage from the battery pack 1910 to the subsystems of the tumbler robot.

[0169] In this example, the battery pack 1910 accommodates three rechargeable batteries to supply necessary power to other systems such as the camera system 1600, the lighting system 1700, and the propulsion system 1800 for long-term operation. The rechargeable battery pack 1910 in the power supply system 1940 can support the robot to operate for a long time without external power supply. The power supply unit is also equipped with a battery connector to recharge the battery pack 1910 or allow the user to replace a discharged battery with a spare fully charged battery during long-term use.

[0170] The industrial computer 1920 is used as a central processing unit (e.g., a microprocessor, an ASIC, an FPGA, a GPU, a CPU, a processing core, etc.) to facilitate receiving, storing, processing and / or transmitting data (such as images, videos and / or data) and system control. For example, the operating system optionally integrates one or more wired or wireless communication interfaces, such as a local area network (LAN), USB, Wi-fi, Bluetooth, Zigbee, etc., for data transmission, debugging and / or system updates. For example, the processing unit further includes a non-transitory computer-readable medium for storing a computer-readable program so that when the computer-readable program is executed by the microprocessor or industrial computer 1920, the computer-readable program gives a signal and controls the robot's propulsion system 1800, the lighting system 1700 and / or the camera system 1600 to execute and operate. For example, the non-transitory computer-readable medium includes any known type of data storage and / or transmission medium, including magnetic media, optical media, random access memory (RAM), read-only memory (ROM), data cache, data objects, etc. In addition, the memory can reside in a single physical location, include one or more types of data storage, or be distributed on multiple physical systems in various forms. For example, the processing unit further includes one or more input / output (I / O) devices, one or more programming (e.g., I / O) interfaces, and one or more communication buses for interconnecting these and various other components. In some examples, one or more communication buses include circuits that interconnect and control communication between system components.

[0171] In this example, two electronic speed controllers (ESCs) 1930 are electrically connected to the control system 1900 and the underwater motor 1810 to operate and control the underwater motor 1810 so that the robot can move precisely and controllably in the water tunnel.

[0172] In this example, an inertial measurement unit (IMU) 1010 is provided and operatively connected to the control system 1900 to ensure accurate orientation and motion sensing capabilities, thereby improving the stability and maneuverability of the robot. For example, the IMU 1010 is configured to provide accurate orientation and motion data to the control system 1900 so as to operate the propulsion system 1800 in response to the orientation and motion data. In this example, the IMU 1010 is disposed near the underwater sonar and is connected to the bulkhead 1200 via an IMU connector 1011. The IMU 1010 is positioned near the center of gravity of the robot, enabling accurate motion sensing and accurate orientation determination. In some examples, the IMU 1010 is considered as part of a rotational stabilization system.

[0173] Release and Retrieval (RR) System

[0174] Fig. 20 and Fig.21 and FIG. 22A to FIG. 22C An example configuration of the RR system is shown. The RR system includes a main frame, a lifting frame 2100, a slide rail track 2200, and a winch system 2400. The slide rail track 2200, the main frame 2300, and the lifting frame 2100 are designed to provide a stable and firm platform for the robot to move vertically, as well as to support the winch system 2400 to release and retract the robot. The design of the structure provides the necessary degrees of freedom for the robot to move horizontally, which is necessary for the successful release and retraction of the robot on the work platform.

[0175] Reference now Fig. 20 , Fig.21 and Fig. 22C , the main frame 2300 includes a vertical slide track 2310 and a winch receiving portion 2320 for mounting a winch system 2400. The vertical slide track 2310 is sized and shaped to receive at least a portion of the lifting frame 2100, so that the lifting frame 2100 can move or slide vertically within the vertical slide track 2310, thereby providing precise adjustment of the vertical release position of the robot. The main frame 2300 is also configured to be able to slide horizontally along the slide track, so that the horizontal release position of the robot can be adjusted, and can be switched between a working position and a ready position.

[0176] Reference now Fig. 20 , Fig.21 and Fig. 22B , the lifting frame 2100 includes a rectangular head portion 2110 and a triangular prism portion 2120. The size and shape of the lifting frame 2100 are configured to enable the lifting frame to switch between an upper position and a lower position relative to the main frame 2300, so that the robot can be lifted from the water tunnel or descended toward the water tunnel, respectively. The lifting frame 2100 is configured to receive the robot and provide flexibility to adjust the release height of the robot. In this example, the lifting frame 2100 is configured to be firmly fixed to the robot through a rope or line through a mechanical fastener during release or retrieval. In some examples, the rope is a floating nylon synthetic rope. The lifting frame 2100 is configured for the firm attachment and release of the tumbler robot. In order to ensure structural integrity and safety, the lifting frame 2100 is constructed using a stable triangular prism structure and is made of durable materials (such as metals or alloys, such as stainless steel) to ensure excellent structural integrity and safety. This construction choice ensures that the lifting frame can withstand the harsh conditions of its intended use and ensures the safety of the tumbler robot during deployment and retrieval.

[0177] Reference now Fig. 20 , Fig.21 and Fig. 22CThe winch system 2400 is disposed on the main frame 2300 away from the vertical sliding track 2310 and is configured to release the robot to and retrieve it from the water tunnel by controlling the winding state of the rope. The lifting frame 2100 can flexibly adjust the release height of the robot, which helps to efficiently deploy the robot. The winch system 2400 enables smooth and controlled movement of releasing and retrieving the robot. The winch system 2400 is made of durable materials to withstand long-term use and resist wear and tear, ensuring long-term reliability.

[0178] Reference now Fig. 20 , Fig.21 and Fig.22A The slide rail track 2200 is supported by a plurality of sleepers 2220 and fixed to a base such as the ground or a concrete platform with anchor bolts 2230 to ensure stability and reliability. For example, the anchor bolts 2230 are metal bolts, such as expansion screws.

[0179] Reference now Fig. 20 , showing the retracted state of the RR system. In the retracted state, the main frame 2300 is positioned in a ready position on the slide rail track 2200, away from the release site (near the water tunnel), and the robot (not shown) is firmly positioned in the upper position in the lifting frame 2100.

[0180] Reference now Fig.21 , showing the released state of the RR system. In the released state, the main frame 2300 is securely attached to the working position on the slide rail track 2200, and the robot (not shown) is securely positioned at the end of the lifting frame 2100, ready for deployment. The vertical movement of the robot is achieved by the lifting frame 2100 utilizing the vertical sliding track 2310 of the main frame 2300. Before the release or retraction operation, the horizontal movement is adjusted to ensure precise positioning. The winch system 2400 supports smooth and controlled movement of the system, thereby achieving reliable and controlled operation. The slide rail track 2200, fixed by metal bolts 2230 and sleepers 2220, maintains stability and firmness throughout the operation, ensuring safe and efficient operation of the system.

[0181] In some examples, the RR system further includes a crane and a forklift. The crane is configured to transport materials from the work site to the work area, while the forklift is configured to move materials within a substrate such as a cement platform.

[0182] General operation of robots and systems

[0183] The operation of the robot and its system will be described. In some examples, methods of using the robot and its system in water tunnel inspection are provided. In some examples, methods of water tunnel inspection are provided. Such operation and method generally include the following steps:

[0184] 1. Install the robot on the RR system in the retracted state;

[0185] 2. In the release state, releasing the robot from the RR system into the water tunnel, allowing the robot to operate in order to collect imaging data; and

[0186] 3. In the retracted state, the robot is retracted from the water tunnel by the RR system.

[0187] In some examples, the releasing and retracting steps are performed using a RR system.

[0188] RR system releases and retracts inspection robots

[0189] The detailed steps for releasing and retrieving the robot will be described. The general process includes the following steps: releasing the robot into the water, allowing the robot to complete its mission, and then retrieving the robot from the water, such as using a winch system 2400. In some examples, the release process includes the following steps:

[0190] 1. Use the lifting frame 2100 to lift the robot to the specified release height;

[0191] 2. The robot is lowered into the water via a winch system 2400, with the floating nylon synthetic rope providing the necessary buoyancy;

[0192] 3. Allow the robot to move freely to complete its mission while maintaining tension on the rope through the winch system 2400 to ensure control and stability;

[0193] 4. Once the mission is completed, the robot is retrieved by the winch system 2400 and the floating nylon synthetic rope is used to pull the robot back to the release height;

[0194] 5. The robot is lifted to the main frame 2300 by the lifting frame 2100, where it can be safely secured and prepared for the next mission.

[0195] By following these steps, the RR system can release and retrieve the inspection robot safely and efficiently, ensuring the success of the field trial.

[0196] In some examples, the process of releasing the robot further includes the following steps:

[0197] 1. When the main frame 2300 is in the ready position, position the robot in the upper position in the lifting frame 2100 and tie the rope to the ring;

[0198] 2. Move the main frame 2300 along the slide rails to the working position (close to the tunnel), lower the robot under the beam and release the robot to the required distance;

[0199] 3. Move the lifting frame 2100 to the lower position so that the rope is close to the beam, and fix the main frame 2300 to the base with screws;

[0200] 4. Release the robot to the lower position at the tunnel entrance (e.g., about 200 meters below the beam).

[0201] 5. Optionally record video during these processes to confirm the robot is in working order.

[0202] By following these steps, the robot can be deployed safely and efficiently, ensuring the success of the field trial.

[0203] In some examples, the process of retrieving the robot further includes the following steps: 1. After the inspection work is completed, the robot is slowly pulled back by retracting the rope through the winch system 2400;

[0204] 2. Optionally lower the lifting frame 2100 to the lower position

[0205] 3. Lift the lifting frame 2100 together with the robot to the upper position

[0206] 4. Release the main frame 2300 from the slide rails by removing the screws and move the main frame to the preparation position (away from the tunnel).

[0207] 5. Unleash robots for cleaning and data collection

[0208] By following these steps, the robot can be retrieved safely and efficiently, minimizing the possibility of any damage to the robot or injury to personnel involved in the operation.

[0209] The exemplary embodiments of the present invention are thus fully described. Although the description refers to specific embodiments, it will be clear to those skilled in the art that the present invention can be implemented by changes in these specific details. Therefore, the present invention should not be interpreted as being limited to the embodiments set forth herein.

[0210] The devices, systems, and methods discussed in different figures and paragraphs may be added to or exchanged with other devices, systems, and methods in other figures or paragraphs. Further, data values ​​of specific numerical values ​​(such as specific quantities, numbers, categories, etc.) or other specific information should be interpreted as illustrative for discussing example embodiments. Such specific information is not provided to limit the example embodiments.

[0211] For example, in some embodiments, the lighting system includes eight LED modules, but different types of lighting elements, in different locations, other numbers (e.g., one, two, three, four, five, six, seven, eight, nine, ten, or more), sizes, and shapes (oval, circular, triangular) may be used.

[0212] For example, in some embodiments, the upper housing in the described examples is made of acrylic, but other types of durable transparent or translucent materials may also be used. For example, in some embodiments, the upper housing in the described examples is substantially transparent, but in other examples, only the area within the field of view of the panoramic camera is substantially transparent, while the remaining area may be translucent or opaque, colored or colorless, and may be made of a different material.

[0213] For example, in some embodiments, the robot is moved by underwater motors, but other forms of propulsion mechanisms may also be used.

[0214] For example, in some embodiments, the main frame is configured to be movable along a transverse axis relative to the slide rail, but according to actual needs, it can also be configured to be movable along multiple directions and axes.

[0215] For example, in some embodiments, the lifting frame is configured to be movable along a vertical axis relative to the main frame, but according to actual needs, it can also be configured to be movable along multiple directions and axes.

[0216] For example, in certain embodiments, the housing is generally spherical in shape, although other shapes with rounded edges (eg, oval, egg, pear, mushroom, etc.) may also be used.

[0217] For example, in some embodiments, the tumbler robot includes three waterproof connectors, but different types of connectors, in different locations, other numbers (e.g., one, two, three, four, five, six, seven, eight, nine, ten or more), sizes, and shapes (oval, circular, triangular) may be used.

[0218] For example, in certain embodiments, various major structural components are made of metals or alloys such as aluminum alloys or stainless steel, although other durable materials known in the art may also be used.

[0219] For example, in some embodiments, certain systems, such as the lighting systems in some examples, are operatively connected to the control system, but a separate power supply and control unit may alternatively be used.

[0220] For example, in some embodiments, the robot is released and retrieved by a RR system, but the robot can be used independently without the RR system, or other suitable systems can be used to retrieve and release the robot.

[0221] For example, in some embodiments, the lighting system is disposed on the bottom plate, but may also be disposed at other locations, such as directly on the upper shell or inside the cavity.

[0222] For example, in some embodiments, the base plate is annular, but other shapes such as oval, egg-shaped, etc. may also be used.

[0223] For example, in some embodiments, two panoramic cameras in an orthogonal arrangement are used, but different types of cameras, in different locations, other numbers (e.g., one, two, three, four, five, six, seven, eight, nine, ten, or more), sizes and shapes (elliptical, circular, triangular), and different arrangements may be used.

Claims

1. A robot for water tunnel inspection, comprising: (a) a housing, comprising an upper housing and a lower housing; wherein the size and shape of the upper shell and the lower shell are arranged to match each other so as to define a closed cavity therein; (b) a camera system configured to capture images or video of a field of view of a surrounding environment; (c) an illumination system configured to at least partially illuminate the field of view; (d) a propulsion system configured to provide propulsion to the robot in water; and (e) a control system configured to provide power and control operations of the robot, The robot is configured to float on the water surface and the center of gravity is located below the geometric center, so that during operation, at least a portion of the upper shell remains substantially above the water surface and at least a portion of the lower shell remains substantially underwater.

2. The robot of claim 1, further comprising an inertial measurement unit (IMU) operatively connected to the control system.

3. The robot according to claim 1, wherein: The upper housing is at least partially transparent.

4. The robot according to claim 1, wherein: The density of the lower shell is higher than the density of the upper shell.

5. The robot according to claim 1, wherein: The camera system further comprises: a panoramic camera, the panoramic camera providing a panoramic image of the surrounding environment; and / or An underwater sonar that captures underwater images.

6. The robot of claim 1, further comprising an image stabilization system operatively connected to the camera system to improve stability of the image.

7. The robot according to claim 6, wherein: The image stabilization system comprises: an image stabilization module that stabilizes images from the panoramic camera; and / or A gimbal stabilizer module is operatively connected to the panoramic camera.

8. The robot according to claim 1, wherein: The control system further includes a power supply system and a processing unit.

9. The robot according to claim 8, wherein: The power supply system includes a rechargeable battery and a voltage regulator.

10. The robot according to claim 1, wherein: The propulsion system further includes a submersible motor attached to the lower housing.

11. The robot according to claim 10, wherein: The submersible motor is operatively connected to an electronic speed controller.

12. The robot of claim 1, further comprising a base plate sized and shaped to attach to the housing.

13. The robot according to claim 12, wherein: The lighting system further includes a plurality of LED modules disposed on the base plate.

14. The robot according to claim 13, wherein: Individual LED modules include an LED array, a heat sink, and a waterproof LED housing.

15. The robot according to claim 1, wherein: The overall shape of the housing is substantially spherical.

16. A tumbler-type robot for water tunnel inspection, comprising: (a) a spherical shell, comprising an upper shell and a lower shell; wherein the size and shape of the upper shell and the lower shell are arranged to match each other so as to define a closed cavity therein; (b) a camera system configured to capture images or video of a field of view of a surrounding environment; (c) an illumination system configured to at least partially illuminate the field of view; (d) a propulsion system configured to provide propulsion to the robot in water; (e) a control system configured to provide power and control operations of the robot; (f) an inertial measurement unit (IMU) operatively connected to the control system; (g) a base plate attached to the housing, Wherein, the camera system further comprises: two panoramic cameras arranged orthogonally to provide panoramic images of the surrounding environment; a gimbal stabilizer operatively connected to the two panoramic cameras; and an underwater sonar that captures underwater images; Wherein, the lighting system further comprises a plurality of LED modules arranged on the base plate; Wherein, the propulsion system further comprises two underwater motors attached to the lower housing; and The robot is configured to float on the water surface and the center of gravity is located below the geometric center, so that during operation, at least a portion of the upper shell remains substantially above the water surface and at least a portion of the lower shell remains substantially underwater.

17. A system for water tunnel inspection, comprising: A robot as claimed in any preceding claim; as well as A release and retrieval system is configured to release the robot into the water tunnel and retrieve the robot from the water tunnel.

18. The system of claim 17, wherein: The release and retraction system comprises: a lifting frame configured to receive the robot; A slide rail is configured to be fixed to a substrate; a main frame configured to at least partially receive the lifting frame and movable along the slide rail track; and a winch system configured to be connectable to the robot, Wherein, the winch system is configured to release the robot into the water tunnel and retrieve the robot from the water tunnel.

19. The system of claim 18, wherein: The lifting frame is configured to be switchable between an upper position and a lower position relative to the main frame so that the robot is lifted from or lowered toward the water tunnel, respectively.

20. The system of claim 18, wherein: The main frame is configured to be switchable relative to the slide track between a working position and a preparation position so that the robot moves closer to or farther from the water tunnel, respectively.

Images