Self-adaptive attitude control underwater vehicle for disease detection of pressure water-passing tunnel structure and control method of self-adaptive attitude control underwater vehicle

Abstract

The invention relates to the technical field of pressure water-passing tunnel structure disease detection, and discloses a pressure water-passing tunnel structure disease detection self-adaptive attitude control underwater vehicle and a control method, the underwater vehicle comprises directional wheels, a propulsion module, a slide rail, an attitude adjustment module, an underwater detection module, a support and a tunnel lining structure; the method comprises the steps that after the underwater vehicle is started, the automatic control module conducts self-inspection, and initial attitude data are obtained through the attitude monitoring module for calibration; according to different conditions in the tunnel, the posture adjusting module adjusts the pressure levels of the water pressure bin and the air pressure bin; the automatic control module drives the underwater vehicle to advance by controlling the propulsion motor and the turbine; the visual detection device realizes multidirectional synchronous detection in the tunnel; and the automatic control module is connected with each component through an electronic circuit, and dynamically adjusts the gravity and buoyancy in the device according to the attitude monitoring data obtained by the attitude monitoring module. According to the invention, solid technical support is provided for tunnel structure disease detection work.

Description

Technical Field

[0001] The present invention relates to the technical field of structural defect detection for pressurized water tunnels, and in particular to an adaptive attitude-controlled submersible for structural defect detection for pressurized water tunnels and a control method thereof. Background Art

[0002] In recent years, my country has built more than 10,000 km of water diversion tunnels. After long-term use in water environments, the lining structure has problems such as block drop, misalignment and over-limit deformation under the combined effects of water flow impact erosion and original ground stress. The cost of water suspension and maintenance is huge, especially for long-term water diversion projects involving residents' daily water needs, and the social impact of water suspension and maintenance is immeasurable. Therefore, it is necessary to develop a method for detecting tunnel structure defects under pressurized water conditions. At present, tunnel structure defect detection under pressurized water conditions generally involves the detection sensor on a submersible. The commonly used submersible is generally a small submarine. The design of a small submarine is basically the same as that of a large submarine. However, for defect detection, the submarine needs to be in a relatively stable state in the water flow, and its spatial orientation with the tunnel structure maintains a relatively stable relative position relationship, so as to ensure that the data obtained by the visual, radar, laser and other sensors carried by the submersible has good stability, laying a high-quality data foundation for intelligent analysis methods such as deep learning.

[0003] Prior art 1, Chinese patent, application number 202311591827.X discloses a buffer top cover underwater robot, which relates to the field of underwater robot technology. The buffer top cover includes a cover body and a mounting structure. The cover body includes a relative top surface and a bottom surface. The top surface is inclined from the middle part toward both sides, and the distance from the bottom surface decreases, and the top surface is covered with pits; the mounting structure is connected to the cover body, and the mounting structure is used to be detachably connected to the underwater robot; the buffer top cover can be installed on the top of the underwater robot through the mounting structure for use. When the underwater robot works in a tunnel with water flow, the water flow can delay the separation of the water flow and the cover surface when passing through the pits on the surface of the cover body, although the motion response of the underwater robot in a turbulent environment will be smaller, the effect of stabilizing the underwater robot is achieved, the fatigue load at the umbilical cable of the underwater robot is reduced, the service life of the umbilical cable is extended, and the underwater robot's disease detection effect on the tunnel is improved. However, the cost of designing and maintaining the underwater robot is high, and the investment in research and development and maintenance is large.

[0004] Prior art 2, Chinese patent, application number 202210661761.6 discloses a method for intelligent detection of diseases in long-distance water diversion tunnels during operation, including an AUV underwater robot and an ROV underwater robot, including the following steps: at the entrance of the water diversion tunnel, the ROV underwater robot deploys the AUV underwater robot; the AUV underwater robot performs an acoustic 3D scan of the entire tunnel, and then performs a laser scan of the entire tunnel again, and uses a near optical detection component to photograph the disease points of the two scans, and matches and compares the video frames with the disease database; if there is still an abnormal situation where the type of disease cannot be determined after matching and comparison, the location of the abnormal situation is photographed and stored in the disease database; the ROV underwater robot is equipped with an AUV underwater machine and recovered by the console. Although a rapid census with acoustic detection as the main method and optical detection as the auxiliary method is adopted, the disease points in the census process can be inspected in detail by approaching optical photography and laser ranging at the same time as the rapid census. However, it is greatly affected by the fluctuation of water flow in the tunnel, and it is difficult to meet the requirements of navigation stability.

[0005] Prior art three, Chinese patent, application number 202410139477.1 discloses a water level adaptive surface disease detection device for water conveyance tunnels, specifically related to the field of water conveyance tunnel patrol inspection technology, through the sensor to sense the water level in the tunnel, can select a suitable detection mode, and through the detection module to collect optical information on the surface of the water conveyance tunnel, and then through the disease detection network to distinguish its surface diseases and record the disease information; the equipment is equipped with underwater and water image acquisition modules, disease detection modules, sensor modules, snorkeling modules, power modules and power storage bins on the support frame, and uses V-shaped water sails to reduce water flow resistance to achieve mobile detection in the tunnel; each module surface is attached with waterproof materials, suitable for the detection of circular water conveyance tunnel surface diseases, although different from the previous method of detection after pumping water, it can be applied to a variety of water level patrol detection, saving costs while improving detection efficiency. However, the detection is greatly affected by the harsh environment and has poor stability.

[0006] At present, the prior art one, prior art two and prior art three have the problems of high design and maintenance costs, large R&D and maintenance investment, and are greatly affected by water flow fluctuations in the tunnel. It is difficult to meet the requirements of navigation stability, and the detection is greatly affected by the harsh environment and has poor stability. Therefore, the present invention proposes a trackless wheeled adaptive attitude control submersible for structural disease detection of pressurized tunnels, so that the submersible can realize autonomous walking on the tunnel vault lining, and utilizes the lining structure to limit the navigation of the submersible to ensure the stability of the spatial position of the sensor module carried by the submersible. Summary of the invention

[0007] The main purpose of the present invention is to provide an adaptive attitude control submersible and a control method for detecting structural defects in a pressurized water tunnel, so as to solve the problems in the prior art of high design and maintenance costs, large R&D and maintenance investments, great influence of water flow fluctuations in the tunnel, difficulty in meeting the requirements of navigation stability, great influence of detection by harsh environments, and poor stability.

[0008] To achieve the above object, the present invention provides the following technical solutions:

[0009] An adaptive attitude control submersible for detecting structural defects of a pressurized water tunnel, the adaptive attitude control submersible for detecting structural defects of a pressurized water tunnel comprising: a directional wheel, a propulsion module, a slide rail, an attitude adjustment module, and an underwater detection module;

[0010] Among them, the directional wheels, propulsion module, slide rails, attitude adjustment module and underwater detection module are all arranged on the bracket, and the outermost layer is the tunnel lining structure; the directional wheels are cross-connected to the attitude adjustment modules in pairs through the bracket, and the connection is slidably connected by the slide rails. The propulsion module is connected at the intersection, and the slide rails extend toward the attitude adjustment module 4 through the bracket, and the underwater detection module is fixed at the intersection.

[0011] As a further improvement of the present invention, an underwater detection module includes: a visual detection device, a posture monitoring module, a laser detection device, a radar detection device, a sealed housing, and a sealed interface between the sensor and the housing;

[0012] Among them, the underwater detection module is fixed on the bracket by a slide rail, a sealed shell is arranged on the outside of the underwater detection module, the visual detection device is provided with cameras in multiple directions to realize multi-directional synchronous detection in the tunnel, the posture monitoring module is fixed inside the sealed shell through a mounting plate, a non-destructive detector is arranged inside the laser detection device, a data transmission and recording module is arranged on one side of the non-destructive detector, the radar detection device mounting bracket is fixed in the sealed shell, and the control ends of multiple sensors of the visual detection device, the posture monitoring module, the laser detection device, and the radar detection device are all electrically connected to the battery through the controller.

[0013] As a further improvement of the present invention, the posture adjustment module includes: a water pressure chamber, an air pressure chamber, water inlet and outlet holes, an air chamber piston, and air chamber inlet and outlet holes;

[0014] Among them, the water pressure chamber is located at the left and right ends of the attitude adjustment module, and water inlet and outlet holes are opened on both sides. The air pressure chamber inlet and outlet holes start from the top of the air pressure chamber. The air pressure chamber piston dynamically adjusts the air pressure by responding to the inlet and outlet of the gas in the air pressure chamber, thereby regulating the pressure levels of the water pressure chambers on both sides.

[0015] As a further improvement of the present invention, the propulsion module includes: an air chamber inlet and outlet hole, a high-pressure gas tank, a propulsion motor, a turbine, an automatic control module, a sealed inlet and outlet pipe, a counterweight module, a guide wing, and a gas compression extraction device;

[0016] Among them, the propulsion module is fixedly connected to the center of the X-shaped bracket, the air inlet and outlet holes of the air chamber are designed as standard interfaces, which are matched and connected with sealed inlet and outlet pipes through quick-connect joints, sealing rings, and fasteners; the automatic control module is connected to each component through electronic circuits; the high-pressure gas tank is connected to the gas compression and extraction device through sealed inlet and outlet pipes; the gas compression and extraction device controls the propulsion motor by receiving instructions sent by the automatic control module; the counterweight module is composed of multiple detachable counterweight blocks, each of which is fixed by snap-on; the guide wing is fixed to the outer casing of the propulsion module by means of a hinge; the turbine is installed at the tail.

[0017] To achieve the above object, the present invention also provides the following technical solutions:

[0018] A control method for an adaptive attitude-controlled submersible for detecting structural defects of a pressurized water tunnel, the adaptive attitude-controlled submersible for detecting structural defects of a pressurized water tunnel, the control method for an adaptive attitude-controlled submersible for detecting structural defects of a pressurized water tunnel, comprising:

[0019] After the submersible is started, the automatic control module performs self-checking, obtains initial attitude data through the attitude monitoring module, and performs calibration; according to different conditions in the tunnel, the attitude adjustment module adjusts the pressure levels of the water pressure chamber and the air pressure chamber;

[0020] The automatic control module drives the submersible forward by controlling the propulsion motor and turbine; the high-pressure gas tank is connected to the gas compression and extraction device through the sealed inlet and outlet pipes to provide propulsion power; the radar detection device locates the position of the submersible;

[0021] The visual inspection device is equipped with cameras in multiple directions to achieve multi-directional synchronous inspection in the tunnel; the laser inspection device measures and locates tunnel defects with high precision, and is equipped with a non-destructive detector inside, and a data transmission and recording module at the port; different sensors are installed in multiple devices, and key environmental data are collected and transmitted through the sealed interface between the sensor and the shell;

[0022] The automatic control module is connected to each component through electronic circuits, and dynamically adjusts the gravity and buoyancy in the device according to the attitude monitoring data obtained by the attitude monitoring module. According to the detection data and environmental feedback, the automatic control module adjusts the working status of the attitude adjustment module and the propulsion module in real time. When the detection task is completed, the automatic control module controls the submersible to return to the designated position and prepare for recovery.

[0023] As a further improvement of the present invention, when the gravity is significantly greater than the buoyancy, the air inlet and outlet holes of the air chamber begin to take in a large amount of air, the air pressure chamber stores the gas, and the air chamber piston moves to the left and right to discharge the excess water in the water pressure chamber, so that the buoyancy is equal to the gravity and the balance is maintained;

[0024] When the buoyancy is significantly greater than the gravity, a large amount of air is discharged from the air inlet and outlet holes of the air chamber, and the water in the tunnel enters the water pressure chamber from the water inlet and outlet holes. The air chamber piston moves to the middle, making the buoyancy equal to the gravity.

[0025] As a further improvement of the present invention, the process of the automatic control module performing self-checking includes:

[0026] Initial attitude data acquisition and calibration, the attitude monitoring module acquires the initial attitude data. The attitude monitoring module acquires the initial attitude data of the submersible through sensors such as gyroscopes, accelerometers and magnetometers. The data includes the pitch angle Pitch, roll angle Roll and yaw angle Yaw of the submersible;

[0027] Attitude data calibration, the calibration process includes zero bias calibration, scale factor calibration and cross-coupling calibration;

[0028] The attitude adjustment module keeps the submersible balanced by adjusting the pressure levels of the water pressure chamber and the air pressure chamber according to different conditions in the tunnel.

[0029] As a further improvement of the present invention, the attitude angle is calculated as:

[0030]

[0031] In the formula, a x , a y , a z Represents the acceleration component measured by the accelerometer, m x , m y , m z Represents the magnetic field component measured by the magnetometer.

[0032] As a further improvement of the present invention, the process of locating the position of the submersible by the radar detection device includes:

[0033] The acceleration and angular velocity data of the submersible are collected through the accelerometer and gyroscope. The accelerometer measures the three-axis acceleration and the gyroscope measures the three-axis angular velocity. The antenna array receives multi-band signals to obtain the azimuth, pitch angle and roll angle information.

[0034] Perform low-pass filtering on the collected acceleration and angular velocity data to remove high-frequency noise, and use a Butterworth filter or a Kalman filter for filtering; convert the collected acceleration and angular velocity data from the sensor coordinate system to the submersible coordinate system, and use a rotation matrix for coordinate conversion;

[0035] Using the initial acceleration and magnetometer data, calculate the initial attitude matrix;

[0036] Using the angular velocity data measured by the gyroscope, the change in attitude angle is calculated by integration;

[0037] Use Kalman filter to fuse inertial sensor data with external signal data;

[0038] Convert the updated quaternion into an attitude matrix to represent the attitude of the vehicle.

[0039] As a further improvement of the present invention, the process of high-precision measurement and positioning of tunnel defects by the laser detection device includes:

[0040] The laser detection device emits laser beams of different frequencies and receives reflected signals of different frequencies at the same time. Each channel is equipped with a photoelectric converter to capture and convert the reflected signal. The distance from the laser beam emitted to reflected is calculated based on the time difference between the emission and reception of the multi-frequency laser and the propagation speed of the laser in the air.

[0041] By analyzing the intensity and shape of multi-frequency reflection signals, the defective area on the tunnel wall is identified, and the reflection signals of normal areas are compared to identify the defective area; the specific location of the defective area in the tunnel is calculated by combining the position information of the submersible and the multi-frequency laser ranging data; three-dimensional reconstruction technology and data from multiple laser ranging points are used to perform three-dimensional modeling to restore the three-dimensional shape and location information of the defective area;

[0042] The detected disease data is recorded in real time through the built-in high-speed data recording module, and is classified and indexed; based on the received disease data, it is fed back to the automatic control module of the submersible in real time, and the automatic control module dynamically adjusts the attitude and propulsion direction of the submersible based on the feedback information.

[0043] The present invention has an adaptive attitude adjustment module, which enables the submersible to detect tunnel structural defects even in the presence of water flow, which not only reduces the economic losses to society, but also greatly improves the efficiency of defect detection. The attitude adjustment module enables the device to maintain flexibility and stability in complex tunnel structures, providing powerful conditions for tunnel defect detection and solving the problem of large errors in data collection results caused by unstable attitude. The trackless wheel type enables the submersible to move freely along the tunnel lining structure in irregular or narrow tunnel environments, improving the coverage and efficiency of detection. The anti-corrosion design is adopted to enable the device to better adapt to the working environment in the tunnel. The device adopts an "X"-shaped bracket to ensure the stability of the overall structure and provide reliable support for the operation of the submersible in complex tunnel environments. The propulsion module not only ensures the stable operation of the propulsion module by designing various components, the efficient power transmission mechanism, and the flexible counterweight design, but also greatly improves the adaptability and detection efficiency of the submersible in complex underwater environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 It is a functional module schematic diagram of an embodiment of an adaptive attitude control submersible for detecting structural defects of a pressurized tunnel according to the present invention;

[0045] Figure 2 A three-dimensional perspective structural schematic diagram of an embodiment of an adaptive attitude control submersible for detecting structural defects of a pressurized tunnel according to the present invention;

[0046] Figure 3 It is a schematic diagram of the structure of an underwater detection module of an embodiment of an adaptive attitude control submersible for detecting structural defects of a pressurized tunnel according to the present invention;

[0047] Figure 4 It is a structural schematic diagram of an attitude adjustment module of an embodiment of an adaptive attitude control submersible for detecting structural defects of a pressurized tunnel according to the present invention;

[0048] Figure 5 It is a schematic diagram of the propulsion module structure of an embodiment of the adaptive attitude control submersible for detecting structural defects of a pressurized tunnel according to the present invention;

[0049] Figure 6 It is a schematic diagram of the steps of an embodiment of a control method of an adaptive attitude control submersible for detecting structural defects of a pressurized tunnel according to the present invention;

[0050] Figure 7 It is a structural schematic diagram of an embodiment of an electronic device of the present invention;

[0051] Figure 8 It is a schematic structural diagram of an embodiment of the storage medium of the present invention. DETAILED DESCRIPTION

[0052] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0053] The terms "first", "second" and "third" in the present invention are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Therefore, the features defined as "first", "second" and "third" can explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "multiple" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined. All directional indications (such as up, down, left, right, front, back...) in the embodiments of the present invention are only used to explain the relative position relationship, movement, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication also changes accordingly. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally also includes steps or units that are not listed, or optionally also includes other steps or units inherent to these processes, methods, products or devices.

[0054] Reference to an "embodiment" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiment may be included in at least one embodiment of the present invention. The appearance of the phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0055] like Figure 1 and Figure 2 As shown, this embodiment provides an embodiment of an adaptive attitude control submersible for detecting structural defects of a pressurized water tunnel. In this embodiment, the adaptive attitude control submersible for detecting structural defects of a pressurized water tunnel specifically includes: a directional wheel 1, a propulsion module 2, a slide rail 3, an attitude adjustment module 4, an underwater detection module 5, a bracket 6, and a tunnel lining structure 7;

[0056] Among them, the directional wheel 1, the propulsion module 2, the slide rail 3, the attitude adjustment module 4 and the underwater detection module 5 are all arranged on the bracket 6, and the outermost layer is the tunnel lining structure 7; there are four directional wheels 1, which are cross-connected to the attitude adjustment module 4 in pairs through the bracket 6, and the connection is slidably connected by the slide rail 3. The intersection is connected to the propulsion module 2, and the slide rail 3 extends toward the attitude adjustment module 4 through the bracket 6, and the underwater detection module 5 is fixed at the intersection.

[0057] Preferably, the bracket 6 of this embodiment is in an "X" shape to play a supporting role. The bracket 6 is fixedly connected to the directional wheel 1, the propulsion module 2, the attitude adjustment module 4 and the underwater detection module 5. In order to achieve the overall stability of the device, multiple brackets 6 can be used for fixing; the directional wheel 1 contacts the tunnel lining structure 7 and is fixedly connected to the upper end of the bracket 6. The directional wheel 1 is designed as a trackless wheel. The directional wheel 1 receives the command of the automatic control module in the propulsion module 2, and changes the direction of the directional wheel 1 along the tunnel lining structure 7, so that the device can move flexibly on the tunnel wall with different curvatures; the submersible is equipped with four directional wheels 1, which are cross-connected to the attitude adjustment module 4 in pairs through the bracket 6. The main function of the directional wheel 1 is to provide the submersible with the ability to move in the underwater tunnel and help the submersible maintain a certain direction of travel, so that the submersible can move stably in the tunnel and can move as needed. The support 6 is the main structure of the submersible, responsible for supporting and connecting the modules. It ensures the relative position stability between the modules, so that the submersible can work as a whole. The propulsion module 2 is connected at the intersection of the directional wheel 1 to provide the submersible with forward power. By controlling the output of the propulsion module 2, the travel speed of the submersible can be adjusted to meet different detection needs. The slide rail 3 extends toward the attitude adjustment module 4 through the support to provide a sliding track for the attitude adjustment module 4. The design of the slide rail 3 enables the attitude adjustment module 4 to move up and down or left and right within a certain range, thereby adjusting the attitude of the submersible. The underwater detection module 5 is fixed at the intersection of the slide rail 3. It is the core functional component of the submersible. It uses advanced sensing technology and image processing technology to detect defects in underwater tunnel structures and collect relevant data.

[0058] In summary, the adaptive attitude adjustment module 4 of this embodiment enables the submersible to detect tunnel structural defects even in the presence of water flow, which not only reduces the economic losses to society, but also greatly improves the efficiency of defect detection; the attitude adjustment module 4 enables the device to maintain flexibility and stability in complex tunnel structures, provides powerful conditions for tunnel defect detection, and solves the problem of large errors in data collection results caused by unstable attitude; the trackless wheel type enables the submersible to move freely along the tunnel lining structure 7 in an irregular or narrow tunnel environment, thereby improving the coverage and efficiency of detection; the anti-corrosion design is adopted, so that the device can better adapt to the working environment in the tunnel; the device adopts an "X"-shaped bracket to ensure the stability of the overall structure and provide reliable support for the operation of the submersible in a complex tunnel environment; the propulsion module 2 not only ensures the stable operation of the propulsion module 2 by designing various components, the efficient power transmission mechanism, and the flexible counterweight design, but also greatly improves the adaptability and detection efficiency of the submersible in a complex underwater environment; the device of this embodiment has the advantages of high reliability and easy maintenance, providing solid technical support for tunnel structural defect detection.

[0059] Furthermore, if Figure 3 As shown, the underwater detection module 5 of this embodiment includes: a visual detection device 8, a posture monitoring module (gyroscope, rangefinder, etc.) 9, a laser detection device 10, a radar detection device 11, a sealed housing 12, and a sealed interface 13 between the sensor and the housing;

[0060] Among them, the underwater detection module 5 is fixed on the bracket 6 by the slide rail 3. According to the needs of the tunnel structure disease detection work, the slide rail 3 can reasonably adjust the position of the underwater detection module 5; the sealed shell 12 serves as a protective barrier for the entire module to ensure that the internal components are protected from the harsh underwater environment; the visual detection device 8 can be equipped with cameras in multiple directions according to the detection work to achieve the purpose of multi-directional synchronous detection in the tunnel. At the same time, the visual detection can also monitor the situation in the tunnel to avoid accidents of the device; the attitude monitoring module (gyroscope, rangefinder, etc.) 9 can reasonably adjust the angle of the device to assist the visual detection device 8 in shooting and detecting tunnel structure diseases, and the attitude monitoring module (gyroscope, rangefinder, etc.) 9 can also reasonably adjust the angle of the device to keep the device stable and avoid The device is prevented from tipping over in water, thereby improving the reliability of the device; the laser detection device 10 is mainly used for high-precision measurement and positioning of tunnel defects. A non-destructive detector is configured inside the laser detection device, and a data transmission recording module is provided at the port of the non-destructive detector. The radar detection device 11 ensures that the entire device can operate safely in a long tunnel to avoid collision with the tunnel, and can also accurately locate the position of the device in the long tunnel; different sensors are respectively provided in multiple devices. In order to extend the working life of the device in the tunnel, the sealing interface 13 between the sensor and the housing should meet the waterproof grade requirements, and is connected to the housing through a dedicated sealing interface to prevent moisture intrusion while collecting and transmitting key environmental data to ensure the integrity and continuity of module data acquisition.

[0061] Preferably, the underwater detection module 5 of this embodiment is connected and installed on the "X"-shaped bracket through the slide rail 3. The underwater detection module is composed of multiple sensors, including: a sealed shell 12, a visual detection device 8, a posture monitoring module 9 (gyroscope, rangefinder, etc.), a laser detection device 10, a radar detection device 11, and a sealed interface 13 between the sensor and the shell; the sealed shell 12 is made of high-strength corrosion-resistant material to protect the underwater detection module, and multiple sensors are integrated in the sealed shell. The visual detection device 8 is provided with cameras in multiple directions to realize multi-directional synchronous detection in the tunnel. The posture monitoring module 9 (gyroscope, rangefinder, etc.) is fixed to the sealed shell through a mounting plate. Inside the shell 12, a non-destructive detector is provided inside the laser detection device 10, and a data transmission and recording module is provided on one side of the non-destructive detector. The mounting bracket of the radar detection device 11 is fixed at an appropriate position in the sealed outer shell 12 to ensure that its detection range covers the required area. The sealing interface 13 between the sensor and the outer shell is made of a material with good elasticity and chemical corrosion resistance, such as silicone rubber, fluororubber, etc., to ensure that a good sealing effect can be maintained under long-term use; the control ends of multiple sensors such as the visual detection device 8, the posture monitoring module 9, the laser detection device 10, the radar detection device 11, etc. are all electrically connected to the battery through the controller to facilitate the operation of the device.

[0062] In summary, the visual inspection device 8 of this embodiment is equipped with cameras in multiple directions to realize multi-directional synchronous inspection in the tunnel, monitor the situation in the tunnel, and provide intuitive images of the interior of the tunnel, which is helpful to timely discover diseases and abnormal conditions, improve detection efficiency and accuracy, and reduce the possibility of missed detection and misjudgment; the posture monitoring module 9 (gyroscope, rangefinder, etc.) reasonably adjusts the angle of the device to assist the visual inspection device 8 in photographing and detecting tunnel structure diseases, maintains the stability of the device, avoids tipping over in the water, ensures the accuracy and reliability of the monitoring data, improves the stability and safety of the device, and extends its service life; the laser detection device 10 performs high-precision measurement and positioning of tunnel diseases, and is internally configured with a non-destructive detector to realize non-contact detection and avoid damage to the tunnel structure. , providing accurate information on the location and size of the defect, providing an important basis for repair and maintenance, reducing interference and damage to the tunnel structure, and protecting the safety of the tunnel; the radar detection device 11 ensures that the entire device can operate safely in a long tunnel, avoids collision with the tunnel, accurately locates the position of the device in a long tunnel, improves the navigation and positioning capabilities of the device in a complex environment, ensures the smooth progress of the detection work, and avoids the occurrence of safety accidents; the sealing interface 13 between the sealing housing 12 and the sensor housing is made of high-strength corrosion-resistant material to protect the internal components from the influence of the harsh underwater environment. The sealing interface meets the waterproof grade requirements to prevent moisture intrusion, ensure the long-term stable operation of the underwater detection module, protect the internal sensors and electronic equipment from damage, and extend the service life.

[0063] Furthermore, if Figure 4 As shown, the posture adjustment module 4 of this embodiment includes: a water pressure chamber 14, an air pressure chamber 15, a water inlet and outlet hole 16, an air chamber piston 17, and an air chamber inlet and outlet hole 18;

[0064] The water pressure chamber 14 is located at the left and right ends of the posture adjustment module, and has water inlet and outlet holes 16 on both sides. The air pressure chamber 15 has air inlet and outlet holes 18 at the top. The air pressure chamber piston 17 dynamically adjusts the air pressure by responding to the inlet and outlet of the air in the air pressure chamber 15, thereby regulating the pressure level of the water pressure chambers 14 on both sides.

[0065] Preferably, the posture adjustment module 4 of this embodiment reasonably adjusts the water pressure and air pressure according to different conditions in the tunnel to prevent the device from floating or sinking. During the movement of the device, the posture adjustment module 4 adjusts the gravity and buoyancy in the device according to the posture monitoring data obtained by the posture monitoring module 9, so that the device reaches an ideal detection posture; the automatic control module 22 controls the gas compression and extraction device, and the gas compression and extraction device controls the gas chamber piston 17. When the gravity is significantly greater than the buoyancy, the device begins to sink, the gas chamber inlet and outlet holes 18 begin to take in a large amount of air, and the air pressure chamber 15 stores gas. The air chamber piston 17 moves to the left and right sides to discharge the excess water in the water pressure chamber 14 from the water inlet and outlet holes 16, so that the buoyancy is equal to the gravity of the device, and the device remains balanced; when the buoyancy of the device is significantly greater than the gravity, the device begins to float, the air chamber inlet and outlet holes 18 exhaust a large amount of air, the water in the tunnel enters the water pressure chamber 14 from the water inlet and outlet holes 16, and the air chamber piston 17 moves to the middle, so that the buoyancy of the device is equal to the gravity.

[0066] In summary, the hydraulic chamber 14 of this embodiment is located at the left and right ends of the attitude adjustment module 4, and is connected to the water environment through the water inlet and outlet holes 16. According to the inlet and outlet of the gas in the air chamber 15, the amount of water in the hydraulic chamber 14 is dynamically adjusted, thereby changing the buoyancy of the submersible; buoyancy adjustment is the key to the attitude control of the submersible. The design of the hydraulic chamber 14 enables the submersible to quickly adjust the buoyancy as needed, maintain the stable suspension of the submersible in the tunnel, avoid floating or sinking, and ensure the smooth progress of the detection work; the top of the air chamber 15 is provided with an air chamber inlet and outlet hole 18, which is connected to the external environment. Through the response of the air chamber piston 17, the amount of gas in the air chamber 15 is dynamically adjusted, and the pressure level in the hydraulic chamber 14 is changed by adjusting the air pressure, so as to achieve a balance between buoyancy and gravity and maintain the stable attitude of the submersible; the water inlet and outlet holes 16 are located on both sides of the hydraulic chamber 14, allowing water to flow in and out. When the air pressure in the air chamber 15 adjusts the air pressure, the water volume is dynamically adjusted in cooperation with the hydraulic chamber 14. 6 enables the submersible to quickly adjust its buoyancy as needed, adapt to different water depths and tunnel conditions, maintain the submersible's stable suspension in the tunnel, and improve detection efficiency and accuracy; the air tank piston 17 moves in the air pressure tank, affecting the change of air pressure, and changes the amount of water in the water pressure tank 15 by movement, thereby adjusting the buoyancy. The air tank piston 17 is a key component connecting the air pressure tank 15 and the water pressure tank 14. Its movement realizes dynamic adjustment of buoyancy, ensuring that the submersible can maintain a stable suspension state at different water depths and postures; the automatic control module 22 and the gas compression and extraction device 26 control the gas compression and extraction device 26 according to the data obtained by the posture monitoring module 4, and realize the entry and exit of gas in the air pressure tank 15 by controlling the movement of the air tank piston 17. The introduction of the automatic control module 22 improves the intelligence and automation level of the submersible's posture adjustment, so that the submersible can quickly adjust its buoyancy according to real-time posture data and maintain an ideal detection posture.

[0067] Furthermore, if Figure 5 As shown, the propulsion module 2 of this embodiment includes: an air storage inlet and outlet hole 18, a high-pressure gas tank 19, a propulsion motor 20, a turbine 21, an automatic control module 22, a sealed inlet and outlet pipe 23, a counterweight module 24, a guide wing 25, and a gas compression extraction device 26;

[0068] Among them, the propulsion module 2 is fixedly connected to the center of the "X"-shaped bracket 6, the air inlet and outlet holes 18 of the air chamber are designed as standard interfaces, and are matched and connected with the sealed inlet and outlet air pipes 23 by quick-connect joints, sealing rings, and fasteners; the automatic control module 22 is connected to each component through an electronic circuit to ensure the stable operation and precise control of the module; the high-pressure gas tank 19 is connected to the gas compression and extraction device 26 through the sealed inlet and outlet air pipes 23; the gas compression and extraction device 26 controls the air chamber piston 17 in the attitude adjustment module 4 to extract and compress the gas by receiving the instructions sent by the automatic control module 22, and the automatic control module 22 controls the propulsion motor 20; the counterweight module 24 is composed of a plurality of detachable counterweight blocks 24, each counterweight block 24 is fixed by a snap-on type, and the counterweight block 24 must be made of corrosion-resistant material to adapt to the underwater environment; the guide wing 25 is fixedly installed on the outer casing of the propulsion module 2 by an articulated manner; the turbine 21 is installed at the tail of the device to ensure its stability and functionality.

[0069] Preferably, when the device of this embodiment works in a tunnel, the automatic control module 22 is connected to each component through an electronic circuit, the air inlet and outlet holes 18 of the air chamber start to take in air through the sealed air inlet and outlet pipes 23, a large amount of gas is stored in the high-pressure gas tank 19, and the automatic control module 22 cooperates with the posture adjustment module 4 to ensure the stability and precise control of the module. The automatic control module 22 sends a command to the gas compression extraction device 26, and then the gas compression extraction device 26 controls the air chamber piston 17 in the posture adjustment module 4 to adjust the pressure of the air pressure chamber 15 and the water pressure chamber 14, so that the device always maintains a stable balance in the water, driving the propulsion motor 20 to work. The entire propulsion module 2 is driven to drive the device to move; the guide wing 25 can reduce the resistance generated by the water flow when the device moves forward. The counterweight module 24 is composed of a plurality of detachable counterweight blocks, each of which is fixed by a snap-on method. The counterweight blocks are made of corrosion-resistant materials. The counterweight module 24 reasonably adjusts the counterweight blocks according to the tunnel conditions to adapt to the underwater environment; when the propulsion module 2 is working, the device generates power and starts to run, and the directional wheel 1 above the bracket 6 starts to slide along the tunnel lining structure 7 and receives the command sent by the automatic control module 22 to change direction. At the same time, the guide wing 25 reduces the driving resistance of the device, and the turbine 26 generates thrust for the device.

[0070] In summary, the gas inlet and outlet holes 18 and the sealed inlet and outlet pipes 23 of the gas chamber in this embodiment are designed as standard interfaces, which are convenient for quick connection and sealing, ensure the stability and safety of the gas inlet and outlet module, provide a stable gas source for the module, and ensure the sealing of the module, which is the basis for gas regulation and propulsion; the high-pressure gas tank 19 stores a large amount of gas, provides a gas source for the gas compression and extraction device 26, ensures the continuity of gas supply, and supports the long-term operation of the attitude adjustment module 4 and the propulsion module 2; the propulsion motor 20 receives the command of the automatic control module 22, drives the entire propulsion module 2 to drive the device to move, provides power for the submersible, and is the key to achieving the submersible movement and detection tasks; the turbine 21 is installed at the tail of the device to provide additional thrust, ensure the stability and functionality of the device, enhance the propulsion capability of the device, improve driving efficiency, and ensure stable operation in complex underwater environments; The automatic control module 22 is connected to each component through an electronic circuit to ensure the stable operation and precise control of the module, realize the intelligent control of the module, improve the detection accuracy and efficiency, and ensure the safety and stability of the submersible; the counterweight module 24 is composed of a plurality of detachable counterweight blocks 24, which are fixed by snap-on type and made of corrosion-resistant materials. The counterweight is reasonably adjusted according to the tunnel conditions to adapt to the underwater environment and ensure the balance and stability of the submersible; the guide wing 25 is fixedly installed on the outer shell of the propulsion module 2 in an articulated manner to reduce the resistance generated by the water flow, optimize the fluid mechanics properties of the submersible, reduce energy consumption, and improve driving efficiency; the gas compression and extraction device 26 receives the instructions of the automatic control module 22, controls the gas tank piston 17 in the attitude adjustment module 4 to extract and compress the gas, realizes the attitude adjustment and balance control of the submersible, and ensures the stable operation of the submersible in a complex underwater environment.

[0071] like Figure 6 As shown, this embodiment also provides an embodiment of a control method for an adaptive attitude control submersible for detecting structural defects of a pressurized tunnel. In this embodiment, the control method for an adaptive attitude control submersible for detecting structural defects of a pressurized tunnel is applied to the adaptive attitude control submersible for detecting structural defects of a pressurized tunnel in the above embodiment. The control method for an adaptive attitude control submersible for detecting structural defects of a pressurized tunnel specifically includes the following steps:

[0072] Step S1: After starting the submersible, the automatic control module performs self-checking, obtains initial attitude data through the attitude monitoring module, and performs calibration; according to different conditions in the tunnel, the attitude adjustment module adjusts the pressure levels of the water pressure chamber and the air pressure chamber;

[0073] When the gravity is obviously greater than the buoyancy, the air inlet and outlet holes of the air chamber begin to take in a large amount of air, the air is stored in the air pressure chamber, and the air chamber piston moves to the left and right to discharge the excess water in the water pressure chamber, so that the buoyancy is equal to the gravity and the balance is maintained;

[0074] When the buoyancy is significantly greater than the gravity, a large amount of air is exhausted from the air inlet and outlet holes of the air chamber, and the water in the tunnel enters the water pressure chamber from the water inlet and outlet holes. The piston of the air chamber moves toward the middle, making the buoyancy equal to the gravity.

[0075] Step S2: the automatic control module drives the submersible forward by controlling the propulsion motor and the turbine; the high-pressure gas tank is connected to the gas compression extraction device through the sealed inlet and outlet pipes to provide propulsion power; the radar detection device locates the position of the submersible;

[0076] Step S3: The visual inspection device is provided with cameras in multiple directions to realize multi-directional synchronous inspection in the tunnel; the laser inspection device performs high-precision measurement and positioning of tunnel defects, and is internally configured with a non-destructive detector, and a data transmission and recording module is provided at the port; different sensors are respectively provided in the multiple devices, and key environmental data are collected and transmitted through the sealed interface between the sensor and the housing;

[0077] Step S4: The automatic control module is connected to each component through electronic circuits, and dynamically adjusts the gravity and buoyancy in the device according to the attitude monitoring data obtained by the attitude monitoring module; according to the detection data and environmental feedback, the automatic control module adjusts the working status of the attitude adjustment module and the propulsion module in real time; when the detection task is completed, the automatic control module controls the submersible to return to the designated position and prepare for recovery.

[0078] Preferably, in step S1 of this embodiment, initialization and attitude adjustment, system self-check and calibration are performed to ensure that all components of the submersible work normally when it is started, and the initial attitude is accurate, laying the foundation for subsequent operations; attitude adjustment ensures that the submersible maintains balance in different underwater environments by dynamically adjusting the pressure levels of the water pressure chamber and the air pressure chamber to avoid floating or sinking. Significance: Ensure the stable operation of the submersible in a complex underwater environment, avoid detection failure or equipment damage caused by attitude problems; be able to automatically adjust the attitude according to different water depths and environmental conditions, and improve the adaptability and reliability of the equipment. Step S2 propulsion and navigation, through the automatic control module, accurately control the propulsion motor and turbine to ensure that the submersible moves efficiently in the tunnel; the radar detection device accurately locates the position of the submersible to avoid collision with the tunnel and ensure safe operation. Significance: Improve the movement efficiency of the submersible in the tunnel, shorten the detection time, and improve work efficiency; through precise navigation and positioning, avoid collision between the equipment and the tunnel, and ensure the safety of the equipment and the tunnel. Step S3: Detection and data collection. The visual detection device is equipped with cameras in multiple directions to achieve multi-directional synchronous detection in the tunnel, improving the detection coverage and accuracy. The laser detection device measures and locates tunnel defects with high precision to ensure the accuracy and reliability of the detection data. Through the sealed interface between the sensor and the shell, key environmental data is collected and transmitted to ensure the integrity and continuity of data collection. Significance: Through multi-directional and high-precision detection methods, the tunnel structure defects are comprehensively evaluated and detailed data support is provided. The complete collection and transmission of key environmental data in complex underwater environments is ensured to provide a reliable basis for subsequent analysis and decision-making. Step S4: Automatic control and feedback. The automatic control module dynamically adjusts the gravity and buoyancy in the device according to the attitude monitoring data to ensure that the submersible maintains an ideal attitude in a complex environment. According to the detection data and environmental feedback, the working state of the attitude adjustment module and the propulsion module is adjusted in real time to ensure the stable operation of the equipment under different conditions. When the detection task is completed, the automatic control module controls the submersible to return to the designated position and prepare for recovery to ensure the smooth completion of the task. Significance: Through automatic control and real-time feedback, the intelligence level of equipment is improved, human intervention is reduced, and work efficiency and safety are improved; the smooth completion of the detection task and the complete recovery of the equipment are ensured, and the reliability of the task and the durability of the equipment are improved.

[0079] In summary, the control method of the adaptive attitude control submersible for detecting structural defects of a pressurized tunnel in this embodiment realizes the stable operation, efficient detection and complete data collection of the equipment in a complex underwater environment through the above steps. The adaptability, stability and detection accuracy of the equipment are improved, achieving the important significance of comprehensively evaluating tunnel structural defects, ensuring tunnel safety and improving work efficiency.

[0080] Furthermore, the process of the automatic control module performing self-check in step S1 specifically includes the following steps:

[0081] Step S11: Acquisition and calibration of initial attitude data: the attitude monitoring module acquires initial attitude data. The attitude monitoring module acquires initial attitude data of the submersible through sensors such as gyroscopes, accelerometers and magnetometers. The data includes the pitch angle (Pitch), roll angle (Roll) and yaw angle (Yaw) of the submersible;

[0082] Attitude angle calculation:

[0083]

[0084] In the formula, a x , a y , a z Represents the acceleration component measured by the accelerometer, m x , m y , m z represents the magnetic field component measured by the magnetometer;

[0085] Step S12: attitude data calibration, the calibration process includes zero bias calibration, scale factor calibration and cross-coupling calibration;

[0086] Zero bias calibration

[0087] Accelerometer bias calibration:

[0088] Δa x =a x -a x0 ,Δa y =a y -a y0 ,Δa z =a z -a z0

[0089] Gyroscope bias calibration:

[0090] Δω x =ω x -ω x0 ,Δω y =ω y -ω y0 ,Δω z =ω z -ω z0

[0091] Magnetometer zero bias calibration:

[0092] Δm x =m x -m x0 ,Δm y =m y -m y0 ,Δm z =mz -m z0

[0093] In the formula, a x0 , a y0 , a z0 Represents the zero bias value of the accelerometer, ω x0 ,ω y0 ,ω z0 is the zero bias value of the gyroscope, m x0 ,m y0 ,m z0 is the zero bias value of the magnetometer;

[0094] Scale Factor Calibration

[0095] Accelerometer scale factor calibration:

[0096]

[0097] Gyroscope scale factor calibration:

[0098]

[0099] Magnetometer scale factor calibration:

[0100]

[0101] Where: S ax ,S ay ,S az is the scale factor of the accelerometer, S ωx ,S ωy ,S ωz is the scale factor of the gyroscope, S mx ,S my ,S mz is the scale factor of the magnetometer;

[0102] Cross-coupling calibration:

[0103] Accelerometer cross-coupling calibration:

[0104] a x" =a x′ -C xy ·a y′ -C xz ·a z′

[0105] a y″ =a y′ -C yx ·a x′ -C yz ·a z′

[0106] az″ =a z′ -C zx ·a x′ -C zy ·a y′

[0107] Gyroscope cross-coupling calibration:

[0108] ω x″ =ω x′ -C ωxy ·ω y′ -C ωxz ·ω z′

[0109] ω y" =ω y′ -C ωyx ·ω x′ -C ωyz ·ω z′

[0110] ω z″ =ω z′ -C ωzx ·ω x′ -C ωzy ·ω y′

[0111] Magnetometer cross-coupling calibration:

[0112] m x″ =m x′ -C mxy ·m y′ -C mxz ·m z′

[0113] m y″ =m y′ -C myx ·m x′ -C myz ·m z′

[0114] m z″ =m z′ -C mzx ·m x′ -C mzy ·m y′

[0115] Where: C xy ,C xz ,C yx ,C yz ,C zx ,C zy is the cross-coupling coefficient of the accelerometer, C ωxy ,Cωxz ,C ωyx ,C ωyz ,C ωzx ,C ·zy is the cross-coupling coefficient of the gyroscope, C mxy ,C mxz ,C myx ,C myz ,C mzx ,C mzy is the cross-coupling coefficient of the magnetometer;

[0116] Step S13: the attitude adjustment module adjusts the pressure levels of the water pressure chamber and the air pressure chamber according to different conditions in the tunnel to keep the submersible balanced;

[0117] Pressure regulation of hydraulic and air pressure chambers

[0118] Hydraulic tank pressure regulation:

[0119] ΔP 水 =ρ 水 ·g·Δh 水

[0120] Air pressure chamber pressure adjustment:

[0121] ΔP 气 =ρ 气 ·g·Δh 气

[0122] Where: 水 is the density of water, ρ 气 is the density of the gas, g is the acceleration due to gravity, Δh 水 is the height of the water level change in the hydraulic tank, Δh 气 It is the height to which the gas in the pressure chamber changes.

[0123] Preferably, in step S11 of this embodiment, the initial attitude data acquisition and calibration is performed by fusing the data of multiple sensors such as gyroscopes, accelerometers and magnetometers to obtain the initial attitude data of the submersible, ensuring the comprehensiveness and accuracy of the data; the pitch angle (Pitch), roll angle (Roll) and yaw angle (Yaw) of the submersible are calculated using mathematical formulas to provide basic data for subsequent calibration and adjustment. Significance: The accurate acquisition of the initial attitude data provides reliable basic data for subsequent calibration and adjustment, ensuring the stability of the attitude of the submersible at startup; through the fusion of multi-sensor data, the adaptability of the submersible to different environments is improved, and its operational stability in complex underwater environments is enhanced. Step S12 attitude data calibration is performed by calibrating the zero bias value of the accelerometer, gyroscope and magnetometer to eliminate the deviation of the sensor itself and improve the accuracy of the data; calibrate the scale factor of the sensor to ensure that the data output by the sensor is proportional to the actual physical quantity and improve the linearity of the data; calibrate the cross-coupling effect between sensors to eliminate the mutual interference between sensors and improve the independence and accuracy of the data. Significance: Through the calibration process, the accuracy of sensor data is significantly improved, ensuring the operational stability and accuracy of the submersible in various postures; the calibration process eliminates the errors and mutual interference of the sensors themselves, enhances the reliability and stability of the system, and ensures the safe operation of the submersible in complex environments. Step S13 The attitude adjustment module adjusts the pressure levels of the water pressure tank and the air pressure tank to keep the submersible balanced at different water depths and environmental pressures, ensuring the stability and operability of the submersible; according to different conditions in the tunnel, dynamically adjust the pressure of the water pressure tank and the air pressure tank to ensure the dynamic balance of the submersible in a complex underwater environment. Significance: Through pressure adjustment, the operational stability of the submersible at different water depths and environmental pressures is guaranteed, and the adaptability and operational flexibility of the submersible are improved; dynamic balance adjustment improves the safety of the submersible in a complex underwater environment, ensuring that the submersible can remain stable under various conditions, and avoiding potential risks caused by attitude imbalance.

[0124] In summary, the self-check process of this embodiment ensures the stability and accuracy of the submersible in a complex underwater environment through multi-sensor data fusion, accurate attitude angle calculation, comprehensive sensor calibration, and dynamic pressure regulation. It not only improves the operational performance and safety of the submersible, but also enhances its adaptability in different environments, providing a solid technical guarantee for the long-term stable operation of the submersible. Through the above complex equations and calibration process, the automatic control module can obtain accurate initial attitude data and perform calibration to ensure the stable operation of the submersible in the tunnel.

[0125] Furthermore, the process of locating the position of the submersible by the radar detection device in step S2 specifically includes the following steps:

[0126] Step S21: The acceleration and angular velocity data of the submersible are collected through the accelerometer and gyroscope. The accelerometer measures the three-axis acceleration (Ax, Ay, Az), and the gyroscope measures the three-axis angular velocity (ωx, ωy, ωz); the antenna array receives multi-band signals to obtain the azimuth angle (θ) and pitch angle and roll angle (ψ) information;

[0127] Step S22: low-pass filter the collected acceleration and angular velocity data to remove high-frequency noise, and use a Butterworth filter or a Kalman filter to perform filtering processing; convert the collected acceleration and angular velocity data from the sensor coordinate system to the submersible coordinate system, and use a rotation matrix to perform coordinate conversion;

[0128] Step S23: Calculate the initial attitude matrix (rotation matrix) using the initial acceleration and magnetometer data; the specific steps are as follows:

[0129] Calculate the initial pitch angle φ and roll angle ψ:

[0130]

[0131] Calculate the initial azimuth angle (θ):

[0132]

[0133] Convert the pitch angle, roll angle and azimuth angle into the initial attitude matrix (rotation matrix) R, M x ,M y ,M z It represents the three-axis magnetic field strength measured by the magnetometer, which represents the magnetic field strength on the X-axis, Y-axis and Z-axis respectively;

[0134] Step S24: using the angular velocity data measured by the gyroscope, calculate the change in attitude angle by integration; the specific steps are as follows:

[0135] Calculate the angular velocity increment:

[0136] Δθ=ω x Δt,Δφ=ω y Δt,Δψ=ω z Δt;

[0137] Update attitude angle:

[0138] θ new =θ old +Δθ,φ new =φ old +Δφ,ψ new =ψ old +Δψ

[0139] According to the angular velocity integration result, update the attitude represented by the quaternion. The specific steps are as follows:

[0140] Calculate the angular velocity quaternion:

[0141] q ω =[0,ω x ,ω y ,ω z ]

[0142] Calculate the quaternion increment:

[0143]

[0144] Update the quaternion:

[0145] q new =q old +Δq

[0146] Where Δθ, Δφ, Δψ represent the angular velocity increments, which represent the angular velocity changes on the X-axis, Y-axis, and Z-axis, respectively; Δt represents the time increment, which represents the time interval between two measurements; and q ω Represents the angular velocity quaternion, which is used to represent the quaternion form of angular velocity. Δq represents the quaternion increment, which represents the change of the quaternion. q old ,q new Represents the old quaternion and the new quaternion, which represent the quaternion before and after the update respectively;

[0147] Step S25: Use the Kalman filter to fuse the inertial sensor data with the external signal data. The specific steps are as follows:

[0148] Predict the current attitude quaternion based on the attitude quaternion and angular velocity data of the previous moment;

[0149] q pred =q old +Δq

[0150] Use external signal data (such as GPS, multi-band signals) to calculate the observed value, compare it with the predicted value, and update the attitude quaternion. ;

[0151] q new =q pred +K(z-Hq pred )

[0152] Where K is the Kalman gain, z is the observation value, H is the observation matrix; q pred Represents the predicted quaternion, which represents the quaternion at the current moment predicted based on the quaternion and angular velocity data at the previous moment;

[0153] Step S26: Convert the updated quaternion into an attitude matrix to represent the attitude of the submersible. The specific steps are as follows:

[0154] Convert the quaternion to a rotation matrix R:

[0155]

[0156] Extract the azimuth, pitch and roll angles from the rotation matrix as the final attitude solution result;

[0157] Compensate the zero bias of the gyroscope and accelerometer to improve the accuracy of attitude solution. The specific steps are as follows:

[0158] Calculate zero bias:

[0159]

[0160] Compensation zero offset:

[0161] v comp =ω-b gyro ; A comp =Ab acc

[0162] q x ,q y ,q z ,q w Represents the four components of the quaternion, representing the X, Y, Z and real part of the quaternion, b gyro ,b acc Represents the zero bias of the gyroscope and accelerometer, respectively, represents the initial deviation of the gyroscope and accelerometer, ω comp ,A comp represents the compensated angular velocity and acceleration, respectively represents the angular velocity and acceleration after zero bias compensation;

[0163] Through further filtering, the influence of sensor noise on attitude solution can be suppressed. Use low-pass filter or Kalman filter for noise suppression;

[0164] The calculated attitude information is displayed in real time in the monitoring system, and the attitude calculation results are stored in the data recorder for subsequent data analysis and processing.

[0165] Preferably, in step S21 of this embodiment, data acquisition is performed by collecting the acceleration and angular velocity data of the submersible through an accelerometer and a gyroscope, and receiving multi-band signals through an antenna array to obtain azimuth, pitch angle and roll angle information. The significance achieved: providing basic data for attitude solution to ensure the comprehensiveness and accuracy of the data. Step S22 data filtering and coordinate conversion: low-pass filtering the collected acceleration and angular velocity data to remove high-frequency noise, and using a rotation matrix to convert the data from the sensor coordinate system to the submersible coordinate system. The significance achieved: improving the signal-to-noise ratio of the data, ensuring the stability and consistency of the data, and providing high-quality input data for subsequent attitude solution. Step S23 initial attitude matrix calculation: using the initial acceleration and magnetometer data, the initial attitude matrix (rotation matrix) is calculated, including the calculation of pitch angle, roll angle and azimuth. The significance achieved: providing an initial reference value for attitude solution to ensure that the starting point of attitude solution is accurate. Step S24: Calculation of attitude angle change and quaternion update. Using the angular velocity data measured by the gyroscope, the change in attitude angle is calculated by integration, and the attitude represented by the quaternion is updated. The significance achieved: Real-time update of the attitude information of the submersible to ensure the dynamic and real-time nature of attitude solution. Step S25: Kalman filter fusion data. Using the Kalman filter, the inertial sensor data is fused with the external signal data to predict the attitude quaternion at the current moment, and update it according to the observed value. The significance achieved: Improve the accuracy and stability of attitude solution, and reduce the influence of sensor noise and error. Step S26: Attitude matrix conversion and zero bias compensation. Convert the updated quaternion into an attitude matrix to represent the attitude of the submersible, and compensate for the zero bias of the gyroscope and accelerometer, and further filter to suppress sensor noise. The significance achieved: Ensure the accuracy and reliability of the attitude solution results, and improve the robustness and stability of the system.

[0166] In summary, the radar detection device of this embodiment can accurately and in real time locate the position and attitude of the submersible, ensuring the stable operation of the submersible in a complex environment. It not only improves the navigation accuracy and safety of the submersible, but also provides a reliable basis for subsequent data analysis and processing. Through the above steps, the attitude solution process of the submersible can achieve high-precision and high-reliability attitude information output, ensuring the stable operation of the submersible in a complex environment.

[0167] Furthermore, in step S3, the process of high-precision measurement and positioning of tunnel defects by the laser detection device specifically includes the following steps:

[0168] Step S31: The laser detection device emits laser beams of different frequencies and receives reflected signals of different frequencies at the same time. A photoelectric converter is set in each channel to capture and convert the reflected signals. The distance from the emission to the reflection of the laser beam is calculated based on the time difference between the emission and reception of the multi-frequency laser and the propagation speed of the laser in the air.

[0169] Step S32: by analyzing the intensity and shape of the multi-frequency reflection signal, the defective area on the tunnel wall is identified, and the reflection signal of the normal area is compared to identify the defective area; combining the position information of the submersible and the multi-frequency laser ranging data, the specific position of the defective area in the tunnel is calculated; three-dimensional reconstruction technology and the data of multiple laser ranging points are used to perform three-dimensional modeling to restore the three-dimensional shape and position information of the defective area;

[0170] Step S33: The detected disease data is recorded in real time through the built-in high-speed data recording module, and is classified and indexed; based on the received disease data, it is fed back to the automatic control module of the submersible in real time, and the automatic control module dynamically adjusts the attitude and propulsion direction of the submersible according to the feedback information.

[0171] Preferably, step S31 of this embodiment can penetrate the water vapor and dust in the tunnel by emitting laser beams of different frequencies to ensure measurement accuracy; laser beams of different frequencies have different penetration capabilities and reflection characteristics, providing richer disease information; each channel is equipped with a high-sensitivity photoelectric converter, which can quickly capture and convert reflection signals to improve the efficiency and accuracy of data acquisition; according to the time difference between multi-frequency laser emission and reception, combined with the propagation speed of the laser in the air, the distance from the laser beam from emission to reflection is calculated. Multi-frequency laser ranging technology cross-validates through reflection signals of different frequencies to improve the accuracy and reliability of ranging. Significance achieved: Ensure that the laser detection device can perform high-precision distance measurement in a complex environment, and provide accurate data support for disease identification and positioning; multi-frequency laser emission technology can adapt to the complex environment in the tunnel, such as water vapor and dust, to ensure the accuracy and stability of the measurement data. Step S32 Disease identification and three-dimensional positioning, by analyzing the intensity and shape of the multi-frequency reflection signal, identify the diseased area on the tunnel wall. Compare the reflection signal of the normal area to identify the diseased area. Machine learning algorithms, such as support vector machines (SVM) and convolutional neural networks (CNN), are used to improve the accuracy of disease identification; the specific location of the diseased area in the tunnel is calculated by combining the position information of the submersible and the multi-frequency laser ranging data; three-dimensional reconstruction technology is used to perform three-dimensional modeling through the data of multiple laser ranging points to accurately restore the three-dimensional shape and position information of the diseased area. Significance achieved: Through the analysis of multi-frequency reflection signals and machine learning algorithms, the diseased area on the tunnel wall can be accurately identified, providing accurate targets for repair work; through three-dimensional reconstruction technology, the three-dimensional shape and position information of the diseased area can be accurately restored, providing engineers with intuitive disease distribution maps, which is convenient for formulating repair plans. Step S33 data recording and real-time feedback, the detected disease data is recorded in real time through the built-in high-speed data recording module, and classified and indexed; the recording module uses a high-capacity storage chip, which can store a large amount of detection data, and compress and encrypt data to ensure the integrity and security of the data; according to the received disease data, real-time feedback is given to the automatic control module of the submersible. The automatic control module dynamically adjusts the attitude and propulsion direction of the submersible according to the feedback information to ensure the smooth progress of the detection task; the feedback mechanism adopts a closed-loop control system, which can quickly respond and adjust according to real-time data. Significance achieved: Through the high-speed data recording module, the integrity and security of the detection data are guaranteed, providing reliable data support for subsequent analysis and processing; through the real-time feedback mechanism, the attitude and propulsion direction of the submersible can be dynamically adjusted according to the disease data to ensure the smooth progress of the detection task and improve the detection efficiency and accuracy.

[0172] In summary, the laser detection device of this embodiment can achieve high-precision measurement and positioning of tunnel defects, ensuring stable operation and efficient detection of the submersible in a complex environment; specifically including high-precision distance measurement, accurate defect identification, three-dimensional visual positioning, data integrity and real-time feedback. It improves the accuracy and efficiency of detection, provides accurate data support and intuitive defect distribution maps for the repair of tunnel defects, and ensures the safe operation of the tunnel.

[0173] like Figure 7 As shown, this embodiment provides an embodiment of an electronic device. In this embodiment, the electronic device 26 includes a processor 261 and a memory 262 coupled to the processor 261 .

[0174] The memory 262 stores program instructions for implementing the adaptive attitude control submersible for detecting structural defects in a pressurized water tunnel in any of the above embodiments.

[0175] The processor 261 is used to execute the program instructions stored in the memory 262 to control the pressurized water tunnel structure defect detection adaptive attitude control submersible.

[0176] The processor 261 may also be referred to as a CPU (Central Processing Unit). The processor 261 may be an integrated circuit chip having signal processing capabilities. The processor 261 may also be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0177] Further, Figure 8 The schematic diagram of the structure of the storage medium of an embodiment of the present application is that the storage medium 27 of the embodiment of the present application stores program instructions 271 that can implement all the above methods, wherein the program instructions 271 can be stored in the above storage medium in the form of a software product, including several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) or a processor to execute all or part of the steps of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, or terminal devices such as a computer, a server, a mobile phone, and a tablet.

[0178] In the several embodiments provided by the present invention, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0179] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above integrated unit may be implemented in the form of hardware or in the form of software functional units. The above is only an implementation mode of the present invention, and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the present invention specification and drawings, or directly or indirectly used in other related technical fields, is also included in the patent protection scope of the present invention.

[0180] The specific implementation methods of the invention are described in detail above, but they are only examples, and the invention is not limited to the specific implementation methods described above. For those skilled in the art, any equivalent modification or substitution of the invention is also within the scope of the invention, therefore, the equalization, modification, improvement, etc. made without departing from the spirit and principle of the invention should be included in the scope of the invention.

Claims

1. An adaptive attitude control submersible for detecting structural defects in a pressurized water tunnel, characterized in that: The self-adaptive attitude control submersible for detecting structural defects in a pressurized water tunnel comprises: a directional wheel, a propulsion module, a slide rail, an attitude adjustment module, and an underwater detection module; Among them, the directional wheels, propulsion module, slide rails, attitude adjustment module and underwater detection module are all arranged on the bracket, and the outermost layer is the tunnel lining structure; the directional wheels are cross-connected to the attitude adjustment modules in pairs through the bracket, and the connection is slidably connected by the slide rails. The propulsion module is connected at the intersection, and the slide rails extend toward the attitude adjustment module 4 through the bracket, and the underwater detection module is fixed at the intersection.

2. The adaptive attitude control submersible for detecting structural defects in a pressurized water tunnel according to claim 1 is characterized in that: An underwater detection module, comprising: a visual detection device, a posture monitoring module, a laser detection device, a radar detection device, a sealed housing, and a sealed interface between the sensor and the housing; Among them, the underwater detection module is fixed on the bracket by a slide rail, a sealed shell is arranged on the outside of the underwater detection module, the visual detection device is provided with cameras in multiple directions to realize multi-directional synchronous detection in the tunnel, the posture monitoring module is fixed inside the sealed shell through a mounting plate, a non-destructive detector is arranged inside the laser detection device, a data transmission and recording module is arranged on one side of the non-destructive detector, the radar detection device mounting bracket is fixed in the sealed shell, and the control ends of multiple sensors of the visual detection device, the posture monitoring module, the laser detection device, and the radar detection device are all electrically connected to the battery through the controller.

3. The adaptive attitude control submersible for detecting structural defects in pressurized water tunnels according to claim 1 is characterized in that: The posture adjustment module includes: a water pressure chamber, an air pressure chamber, water inlet and outlet holes, an air chamber piston, and air chamber inlet and outlet holes; Among them, the water pressure chamber is located at the left and right ends of the attitude adjustment module, and water inlet and outlet holes are opened on both sides. The air pressure chamber inlet and outlet holes start from the top of the air pressure chamber. The air pressure chamber piston dynamically adjusts the air pressure by responding to the inlet and outlet of the gas in the air pressure chamber, thereby regulating the pressure levels of the water pressure chambers on both sides.

4. The adaptive attitude control submersible for detecting structural defects in a pressurized water tunnel according to claim 1, characterized in that: The propulsion module includes: air inlet and outlet holes, high-pressure gas tank, propulsion motor, turbine, automatic control module, sealed air inlet and outlet pipes, counterweight module, guide wing, and gas compression and extraction device; Among them, the propulsion module is fixedly connected to the center of the X-shaped bracket, the air inlet and outlet holes of the air chamber are designed as standard interfaces, which are matched and connected with sealed inlet and outlet pipes through quick-connect joints, sealing rings, and fasteners; the automatic control module is connected to each component through electronic circuits; the high-pressure gas tank is connected to the gas compression and extraction device through sealed inlet and outlet pipes; the gas compression and extraction device controls the propulsion motor by receiving instructions sent by the automatic control module; the counterweight module is composed of multiple detachable counterweight blocks, each of which is fixed by snap-on; the guide wing is fixed to the outer casing of the propulsion module by means of a hinge; the turbine is installed at the tail.

5. A control method for an adaptive attitude control submersible for detecting structural defects in a pressurized water tunnel, which is applied to the adaptive attitude control submersible for detecting structural defects in a pressurized water tunnel as claimed in any one of claims 1 to 4, characterized in that: The control method of the self-adaptive attitude control submersible for detecting structural defects in a pressurized water tunnel comprises: After the submersible is started, the automatic control module performs self-checking, obtains initial attitude data through the attitude monitoring module, and performs calibration; according to different conditions in the tunnel, the attitude adjustment module adjusts the pressure levels of the water pressure chamber and the air pressure chamber; The automatic control module drives the submersible forward by controlling the propulsion motor and turbine; the high-pressure gas tank is connected to the gas compression and extraction device through the sealed inlet and outlet pipes to provide propulsion power; the radar detection device locates the position of the submersible; The visual inspection device is equipped with cameras in multiple directions to achieve multi-directional synchronous inspection in the tunnel; the laser inspection device measures and locates tunnel defects with high precision, and is equipped with a non-destructive detector inside, and a data transmission and recording module at the port; different sensors are installed in multiple devices, and key environmental data are collected and transmitted through the sealed interface between the sensor and the shell; The automatic control module is connected to each component through electronic circuits, and dynamically adjusts the gravity and buoyancy in the device according to the attitude monitoring data obtained by the attitude monitoring module. According to the detection data and environmental feedback, the automatic control module adjusts the working status of the attitude adjustment module and the propulsion module in real time. When the detection task is completed, the automatic control module controls the submersible to return to the designated position and prepare for recovery.

6. The control method of the adaptive attitude control submersible for detecting structural defects of a pressurized water tunnel according to claim 5 is characterized in that: in, When gravity is significantly greater than buoyancy, the air inlet and outlet holes of the air chamber begin to take in a large amount of air, the air is stored in the air pressure chamber, and the air chamber piston moves to the left and right to discharge the excess water in the water pressure chamber, making the buoyancy equal to the gravity and maintaining balance; When the buoyancy is significantly greater than the gravity, a large amount of air is discharged from the air inlet and outlet holes of the air chamber, and the water in the tunnel enters the water pressure chamber from the water inlet and outlet holes. The air chamber piston moves to the middle, making the buoyancy equal to the gravity.

7. The control method of the adaptive attitude control submersible for detecting structural defects of a pressurized water tunnel according to claim 5 is characterized in that: The self-check process of the automatic control module includes: Initial attitude data acquisition and calibration, the attitude monitoring module acquires the initial attitude data. The attitude monitoring module acquires the initial attitude data of the submersible through the gyroscope, accelerometer and magnetometer. The data includes the pitch angle Pitch, roll angle Roll and yaw angle Yaw of the submersible; Attitude data calibration, the calibration process includes zero bias calibration, scale factor calibration and cross-coupling calibration; The attitude adjustment module keeps the submersible balanced by adjusting the pressure levels of the water pressure chamber and the air pressure chamber according to different conditions in the tunnel.

8. The control method of the adaptive attitude control submersible for detecting structural defects of a pressurized water tunnel according to claim 7 is characterized in that: Attitude angle calculation: In the formula, a x , a y , a z Represents the acceleration component measured by the accelerometer, m x , m y , m z Represents the magnetic field component measured by the magnetometer.

9. The control method of the adaptive attitude control submersible for detecting structural defects in a pressurized water tunnel according to claim 5 is characterized in that: The process of locating the position of the submarine by the radar detection device includes: The acceleration and angular velocity data of the submersible are collected through the accelerometer and gyroscope. The accelerometer measures the three-axis acceleration and the gyroscope measures the three-axis angular velocity. The antenna array receives multi-band signals to obtain the azimuth, pitch angle and roll angle information. Perform low-pass filtering on the collected acceleration and angular velocity data to remove high-frequency noise, and use a Butterworth filter or a Kalman filter for filtering; convert the collected acceleration and angular velocity data from the sensor coordinate system to the submersible coordinate system, and use a rotation matrix for coordinate conversion; Using the initial acceleration and magnetometer data, calculate the initial attitude matrix; Using the angular velocity data measured by the gyroscope, the change in attitude angle is calculated by integration; Use Kalman filter to fuse inertial sensor data with external signal data; Convert the updated quaternion into an attitude matrix, which represents the attitude of the vehicle.

10. The control method of the adaptive attitude control submersible for detecting structural defects of a pressurized tunnel according to claim 5, characterized in that: The process of using laser detection equipment to measure and locate tunnel defects with high precision includes: The laser detection device emits laser beams of different frequencies and receives reflected signals of different frequencies at the same time. Each channel is equipped with a photoelectric converter to capture and convert the reflected signal. The distance from the laser beam emitted to reflected is calculated based on the time difference between the emission and reception of the multi-frequency laser and the propagation speed of the laser in the air. By analyzing the intensity and shape of multi-frequency reflection signals, the defective area on the tunnel wall is identified, and the reflection signals of normal areas are compared to identify the defective area; the specific location of the defective area in the tunnel is calculated by combining the position information of the submersible and the multi-frequency laser ranging data; three-dimensional reconstruction technology and data from multiple laser ranging points are used to perform three-dimensional modeling to restore the three-dimensional shape and location information of the defective area; The detected disease data is recorded in real time through the built-in high-speed data recording module, and is classified and indexed; based on the received disease data, it is fed back to the automatic control module of the submersible in real time, and the automatic control module dynamically adjusts the attitude and propulsion direction of the submersible based on the feedback information.

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