Multi-motion-mode amphibious robot for dam defect detection

Abstract

The invention relates to the technical field of underwater robots, in particular to a multi-motion-mode amphibious robot for dam defect detection. A battery is arranged in the main body on the rear side of the sealed cabin; buoyancy blocks are arranged in the main body on the left side and the right side of the sealed cabin; a sensing auxiliary mechanism and a propelling mechanism are arranged on the main body; and a moving mechanism is arranged at the bottom of the main body. Manual operation is replaced by mechanical operation, the risk is reduced while the working efficiency is effectively improved, the robot can be arranged at any position of a dam body, and various scene operations such as autonomous cross-medium laying and recycling, underwater collision avoidance, in-situ fine detection and disturbance resistance can be achieved through paddle-wheel-foot multi-mode combined movement; the dam defect detection robot can meet the defect detection work requirements of most dams, overcomes the defects that a common underwater robot is complex to deploy and recycle, and underwater detection of a dam body easily causes sediments to influence optical detection, and solves the problems existing in the prior art.

Description

Technical Field

[0001] The invention relates to the technical field of underwater robots, in particular to an amphibious robot with multiple motion modes for dam defect detection. Background Art

[0002] There are nearly 100,000 reservoirs in my country. Under the influence of deep water pressure, dams will suffer structural damage such as erosion and cracks over time. Therefore, regular defect inspections of dam bodies are particularly important for the safe operation of dams.

[0003] Dam defect detection not only includes the detection of underwater dam bodies, but also the detection of above-water dam bodies. The detection of above-water dam bodies mainly relies on manual operation. However, manual operation has a high risk factor. On the one hand, it is due to the fact that the dam body has an inclined slope. On the other hand, as the water level of the reservoir drops, mosses and other plants will adhere to the slope of the dam body, making the slope of the dam body slippery and causing trouble for the movement of personnel. When conducting underwater dam body inspections, it is more dependent on inspectors wearing diving suits to perform underwater operations. Due to the limitations of the underwater environment, their means of exploration are very limited, especially when the water depth increases and the defect locations are widely distributed. The above manual inspection methods, whether it is above-water or underwater inspections, have the problems of high risk and low efficiency.

[0004] The propeller-propelled underwater robots manufactured for underwater inspection also have shortcomings during use, mainly manifested in a single deployment method. They can only be deployed on the relatively gentle slope of the dam body above water, and are prone to stir up sediments when conducting underwater inspections of the dam body, affecting optical perception and causing great problems for the accuracy and efficiency of inspections. Summary of the invention

[0005] In order to make up for the deficiencies of the prior art, the present invention provides an amphibious robot with multiple motion modes for dam defect detection. The robot has a compact and reasonable structural design and is easy to operate. Mechanical operation replaces manual operation, which effectively improves work efficiency while reducing risks. The robot can be deployed at any position on the dam body, and through the "paddle-wheel-foot" multi-mode combined motion, it can realize autonomous cross-medium deployment and recovery, underwater collision avoidance, in-situ fine detection, anti-disturbance and other scene operations, which can meet the needs of defect detection work on most dams, and make up for the shortcomings of ordinary underwater robots that are complicated to deploy and recover, and underwater detection of dam bodies easily stirs up sediments that affect optical detection. The robot has high versatility, is safe and efficient, and solves the problems existing in the prior art.

[0006] The technical solution adopted by the present invention to solve the above technical problems is:

[0007] A multi-motion mode amphibious robot for dam defect detection includes a main body, a sealed cabin is arranged inside the main body, a battery is arranged inside the main body at the rear side of the sealed cabin, buoyancy blocks are arranged inside the main body on the left and right sides of the sealed cabin, a sensing auxiliary mechanism is arranged on the main body, a propulsion mechanism is arranged on the main body, and a moving mechanism is arranged at the bottom of the main body.

[0008] Optionally, the perception auxiliary mechanism includes an imaging capture unit and a front environment capture unit respectively arranged in the middle of the front side wall of the main body, a bottom environment capture unit, an altimeter and a Doppler log are respectively arranged in the middle of the bottom of the main body, a USBL and a depth meter are respectively arranged in the middle of the top of the main body, and an inertial navigation is arranged in the sealed cabin of the main body.

[0009] Optionally, the imaging capture unit includes a first sonar and a second sonar; the front environment capture unit includes a network camera and an underwater light; and the bottom environment capture unit includes a network camera with its own light source.

[0010] Optionally, a strobe light is also included which is arranged on the top of the main body.

[0011] Optionally, the propulsion mechanism includes propulsion components respectively arranged on the side walls at the four corners of the main body, and several lifting components arranged in the main body, the propulsion components include water guide grooves respectively opened on the four corners of the side walls of the main body, and a vector propeller is installed in each water guide groove, and the lifting component includes several lifting holes vertically penetrating the main body, and a vertical propeller is installed in each lifting hole.

[0012] Optionally, the moving mechanism includes fixed frames respectively arranged at the front and rear ends of the bottom of the main body, and moving components are respectively provided on the left and right sides of each fixed frame, and the moving component includes a base segment, a femur and a tibia connected in sequence, and the base segment includes a base segment connecting frame arranged on the fixed frame, a base segment motor is provided at the outer end of the base segment connecting frame, and a base segment rotating frame is covered on the base segment motor, and the output shaft of the base segment motor moves downward through the base segment connecting frame and is connected to the base segment rotating frame, and a base segment pin is provided at the upper end of the base segment motor for engaging with the base segment rotating frame; the femur includes a femur connecting frame fixedly connected to the base segment rotating frame A tibia rotating frame is movably connected to the tibia connecting frame through a tibia motor arranged at its inner end, the output shaft of the tibia motor movably passes through the tibia rotating frame and is connected to the tibia connecting frame, and the tibia motor is clamped with the tibia connecting frame through a tibia pin; the tibia includes a tibia motor fixedly connected to the outer end of the tibia rotating frame, the inner end of a tibia rotating frame is movably clamped on the tibia rotating frame, the output shaft of the tibia motor movably passes through the tibia rotating frame and is connected to the tibia rotating frame, a tibia pin clamped with the tibia rotating frame is provided on the tibia motor, a supporting leg is provided at the outer end of the tibia rotating frame, and a walking part is provided in the tibia rotating frame.

[0013] Optionally, the walking member includes a walking motor clamped on one side of the tibia rotating frame, the output shaft of the walking motor is movably clamped on the inner wall of the other side of the tibia rotating frame, and a Mecanum wheel is provided on the output shaft of the walking motor.

[0014] Optionally, a sealing mechanism is provided on the base motor, femur motor, tibia motor and walking motor, and the sealing mechanism is sleeved on a sealing sleeve on the outside of the base motor, femur motor, tibia motor or walking motor, an outer end cover is provided at one end of the sealing sleeve, a threading screw is provided on the outer end cover, and an inner end cover is provided at the other end of the sealing sleeve, and the output end of the base motor, femur motor, tibia motor or walking motor is movably passed through the inner end cover and connected to the connecting flange.

[0015] Optionally, hanging rings are provided at the four corners of the top of the main body respectively.

[0016] Optionally, brackets are symmetrically arranged on the left and right sides of the top of the main body.

[0017] The present invention adopts the above technical scheme, which has the advantages of compact and reasonable structural design, easy operation, mechanical operation instead of manual operation, effectively improving work efficiency while reducing risks. The robot can be deployed at any position of the dam body, and through the "paddle-wheel-foot" multi-mode combined movement, it can realize autonomous cross-medium deployment and recovery, underwater collision avoidance, in-situ fine detection, anti-disturbance and other scene operations, which can meet the defect detection work needs of most dams, make up for the shortcomings of ordinary underwater robots, such as complicated deployment and recovery, and underwater detection of dam bodies easily stirs up sediments that affect optical detection. It has high versatility and is safe and efficient. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0019] Figure 2 This is a schematic diagram of the three-dimensional structure of the present invention in an upward-looking state;

[0020] Figure 3 is a schematic diagram of the side structure of the mobile component;

[0021] Figure 4 is a schematic diagram of the three-dimensional structure of the mobile component;

[0022] Figure 5 It is a schematic diagram of the structure inside the main body;

[0023] Figure 6 for Figure 1 A side view structural schematic diagram of;

[0024] Figure 7 is a schematic diagram of the three-dimensional structure of the sealing mechanism;

[0025] In the figure, 1, main body; 2, sealed cabin; 3, battery; 4, buoyancy block; 5, imaging capture unit; 501, first sonar; 502, second sonar; 6, front environment capture unit; 601, network camera; 602, underwater light; 7, bottom environment capture unit; 701, network camera with built-in light source; 8, altimeter; 9, Doppler log; 10, USBL; 11, depth gauge; 12, inertial navigation; 13, strobe light; 14, water guide groove; 15, vector propeller; 16, lifting hole; 17, vertical propeller; 18, fixing frame; 19, base section; 1901, base section connection Frame; 1902, base section motor; 1903, base section rotating frame; 1904, base section pin; 20, thigh section; 2001, thigh section connecting frame; 2002, thigh section rotating frame; 2003, thigh section motor; 2004, thigh section pin; 21, tibia; 2101, tibia section motor; 2102, tibia section rotating frame; 2103, tibia section pin; 2104, supporting leg; 22, walking part; 2201, walking motor; 2202, Mecanum wheel; 23, sealing sleeve; 24, outer end cover; 25, threading screw; 26, inner end cover; 27, connecting flange; 28, lifting ring; 29, bracket. DETAILED DESCRIPTION

[0026] In order to clearly illustrate the technical features of the present solution, the present invention is described in detail below through specific implementation methods and in conjunction with the accompanying drawings. In the following description, many specific details are described to facilitate a full understanding of the present application. However, the present application can also be implemented in other ways different from those described herein. Therefore, the protection scope of the present application is not limited by the specific embodiments disclosed below.

[0027] In addition, in the description of the present application, it should be understood that the terms "center", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first" and "second" are used only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0028] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, they can be fixedly connected, detachably connected, or integrated. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to the specific circumstances. In the description of this specification, the descriptions with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" and the like mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0029] like Figure 1-7 As shown, in this embodiment, a multi-motion mode amphibious robot for dam defect detection includes a main body 1, a sealed cabin 2 is provided in the main body 1, a battery 3 is provided in the main body 1 at the rear side of the sealed cabin 2, buoyancy blocks 4 are provided in the main body 1 on the left and right sides of the sealed cabin 2, a sensing auxiliary mechanism is provided on the main body 1, a propulsion mechanism is provided on the main body 1, and a moving mechanism is provided at the bottom of the main body 1. The buoyancy block 4 provides a certain buoyancy for the robot, and can be made of materials with low density and low water absorption rate, so that the robot is more flexible in the water and reduces the support burden of the propeller and the moving components. The battery 3 supplies power to the propulsion mechanism, the moving mechanism and the sensing auxiliary mechanism to ensure their normal operation.

[0030] Optionally, the perception auxiliary mechanism includes an imaging capture unit 5 and a front environment capture unit 6 respectively arranged in the middle of the front side wall of the main body, a bottom environment capture unit 7, an altimeter 8 and a Doppler odometer 9 are respectively arranged in the middle of the bottom of the main body 1, a USBL 10 and a depth gauge 11 are respectively arranged in the middle of the top of the main body 1, and an inertial navigation 12 is arranged in the sealed cabin 2 of the main body 1.

[0031] Inertial navigation 12 is an EX3040 inertial navigation, which uses an accelerometer and a gyroscope to measure the acceleration and rotation rate of the robot. The displacement is obtained by integrating the acceleration twice, and the attitude angle is obtained by integrating the angular velocity once, thereby continuously updating the position, velocity and attitude of the carrier;

[0032] The altimeter 8 and the depth gauge 11 are used to provide information on the depth and distance to the bottom of the water;

[0033] The Doppler speed meter 9 is a DVL A1251 Doppler speed meter, which transmits high-frequency sound wave pulses to the seabed and receives echoes to calculate the speed relative to the seabed. It can correct the error accumulated over time in inertial navigation, thereby maintaining long-term high-precision navigation.

[0034] USBL10, also known as the ultra-short baseline positioning system, determines the absolute position of the robot by measuring the signal arrival time difference and other parameters. It can correct inertial navigation drift to ensure that the robot maintains an accurate position estimate.

[0035] Optionally, the imaging capture unit 5 includes a first sonar 501 and a second sonar 502; the front environment capture unit 6 includes a network camera 601 and an underwater light 602; and the bottom environment capture unit 7 includes a network camera 701 with its own light source.

[0036] The first sonar 501 is a DT360Xi-Specs sonar, which generates continuous 360° profile imaging by emitting overlapping narrow beams using high-frequency and low-power acoustic multi-beam technology; the second sonar 502 is an Oculus M750d sonar, which collects echoes from a single transmitted pulse and mathematically combines the data into an image, with a horizontal field of view of 130°;

[0037] The network camera 601 is a DeepSea HDMSC-4070-IP high-definition network camera, and the underwater light 602 is a deepseaLSL-2000 underwater light (201), which is used to optically perceive the environment in front of the subject;

[0038] The network camera 701 with its own light source is an Ocean To lols C7-30 light ring camera, which has its own light source and is used to detect the environment below the subject.

[0039] Optionally, a strobe light 13 is also included on the top of the main body 1. Through the strobe light 13, people can observe the position of the robot underwater near the water surface, especially when recovering.

[0040] Optionally, the propulsion mechanism includes propulsion components respectively arranged on the side walls at the four corners of the main body 1, and several lifting components arranged in the main body 1, the propulsion components include water guide grooves 14 respectively opened on the four corners of the side walls of the main body 1, and a vector propeller 15 is installed in each water guide groove 14, and the lifting components include several lifting holes 16 vertically penetrating the main body 1, and a vertical propeller 17 is installed in each lifting hole 16.

[0041] Optionally, the moving mechanism includes a fixed frame 18 respectively arranged at the front and rear ends of the bottom of the main body 1, and a moving component is respectively arranged on the left and right sides of each fixed frame 18, and the moving component includes a base segment 19, a femur 20 and a tibia 21 connected in sequence, the base segment 19 includes a base segment connecting frame 1901 arranged on the fixed frame 18, a base segment motor 1902 is provided at the outer end of the base segment connecting frame 1901, and a base segment rotating frame 1903 is covered on the base segment motor 1902, the output shaft of the base segment motor 1902 moves downward through the base segment connecting frame 1901 and is connected to the base segment rotating frame 1903, and the upper end of the base segment motor 1902 is provided with a base segment pin 1904 engaged with the base segment rotating frame 1903; the femur 20 includes a femur connecting frame 2001 fixedly connected to the base segment rotating frame 1903, and a femur rotating frame 2002 is connected to the base segment rotating frame 1903. The tibia 21 is movably connected to the tibia connecting frame 2001 through the femur motor 2003 arranged at its inner end, the output shaft of the femur motor 2003 movably passes through the femur rotating frame 2002 and is connected to the femur connecting frame 2001, and the femur motor 2003 is clamped with the femur connecting frame 2001 through the femur pin 2004; the tibia 21 includes a tibia motor 2101 fixedly connected to the outer end of the femur rotating frame 2002, the inner end of a tibia rotating frame 2102 is movably clamped on the femur rotating frame 2002, the output shaft of the tibia motor 2101 movably passes through the tibia rotating frame 2102 and is connected to the femur rotating frame 2002, a tibia pin 2103 clamped with the tibia rotating frame 2102 is provided on the tibia motor 2101, a support leg 2104 is provided at the outer end of the tibia rotating frame 2102, and a walking part 22 is provided in the tibia rotating frame 2102.

[0042] Optionally, the walking member 22 includes a walking motor 2201 clamped on one side of the tibia rotating frame 2102, the output shaft of the walking motor 2201 is movably clamped on the inner wall of the other side of the tibia rotating frame 2102, and a Mecanum wheel 2202 is provided on the output shaft of the walking motor 2201.

[0043] Optionally, a sealing mechanism is provided on the base motor 1902, the femur motor 2003, the tibia motor 2101 and the walking motor 2201, and the sealing mechanism is sleeved on the sealing sleeve 23 on the outside of the base motor 1902, the femur motor 2003, the tibia motor 2101 or the walking motor 2201, and an outer end cover 24 is provided at one end of the sealing sleeve 23, and a threading screw 25 is provided on the outer end cover 24, and an inner end cover 26 is provided at the other end of the sealing sleeve 23, and the output ends of the base motor 1902, the femur motor 2003, the tibia motor 2101 and the walking motor 2201 are movably passed through the inner end cover 26 and connected to the connecting flange 27.

[0044] Optionally, the four corners of the top of the main body 1 are respectively provided with hanging rings 28. The hanging rings 28 are used for the recovery and deployment of the robot.

[0045] Optionally, brackets 29 are symmetrically provided on the left and right sides of the top of the main body 1. The brackets 29 on both sides can facilitate people to manually realize the recovery and deployment of the robot.

[0046] The robot has three motion modes: paddle motion mode, foot motion mode and wheel motion mode.

[0047] When moving in water, the robot adopts paddle-type motion, and can realize flexible three-dimensional motion in water through four vertical propellers 17 and four vector propellers 15. When moving in paddle-type motion, the four mobile components are all attached to the side of the underwater robot, and the mobile components are placed in the collision avoidance device at the front and rear of the robot by adjusting the joint angles of the coxa 19, femur 20 and tibia 21 to protect the front sensing auxiliary mechanism and the cable connection port at the rear.

[0048] When in the paddle-like motion state, the coxa 19 is parallel to the ground and points toward the head, the femur 20 is folded upward and backward, and the tibia 21 is folded forward in the same direction as the coxa 19, forming a Z-shape as a whole. The coxa 19 and the femur 20 are both straightened backward, and the tibia 21 is folded upward. By adjusting the posture as described above, collision avoidance in the underwater environment can be achieved to increase safety and improve the balance of the robot. When working at the bottom of the dam, in order to reduce the disturbance to the sediment at the bottom of the dam, foot-like motion is adopted to facilitate the optical perception and detection of the robot.

[0049] When the dam body moves on the water slope, wheeled movement is adopted. By retracting the tibia 21, the Mecanum wheel 2202 at the bend of the tibia 21 is in contact with the dam body. Due to the characteristics of the Mecanum wheel 2202, omnidirectional movement in the plane can be achieved. However, due to the large load during lateral movement, the wheeled movement is divided into two postures, including forward and oblique movement postures and lateral movement postures; when in the forward and oblique movement postures: the robot adopts the forward and oblique movement postures, the base segment 19 of the robot's front side moving component extends forward, the femur 20 is 45° forward and downward, and the femur 20 is folded inward. The posture of the rear side moving component is symmetrical with the posture of the front side moving component. At this time, forward and oblique movement can be achieved. When in the lateral movement leg posture: the robot adopts the lateral movement leg posture, the base segment of the robot moving component is 90° to the side with the main body, the femur 20 is 45° downward with the ground, and the tibia 21 is folded inward. At this time, lateral movement can be achieved. It has a compact and reasonable structural design and is easy to operate. It replaces manual operation with mechanical operation, effectively improving work efficiency while reducing risks. The robot can be deployed at any position on the dam body, and through the "paddle-wheel-foot" multi-mode combined movement, it can achieve autonomous cross-media deployment and recovery, underwater collision avoidance, in-situ fine detection, anti-disturbance and other scenario operations. It can meet the defect detection needs of most dams, and makes up for the shortcomings of ordinary underwater robots that are complicated to deploy and recover, and underwater inspection of dam bodies easily stirs up sediments that affect optical detection. It has high versatility, is safe and efficient, and solves the problems existing in the existing technology.

[0050] The complete process of using the robot is as follows:

[0051] Deployment: Generally, the operator places the robot on the water slope of the dam body. At this time, the robot is in a wheeled motion state. The robot moves to the land-water junction of the dam body through wheeled motion and stops.

[0052] Crossing the medium and entering the water: After the robot moves to the land-water junction of the dam body, it switches from the wheeled motion state to the footed motion state. The reason is that the unfolded legs have a stronger ability to adjust the posture of the main body 1, which can ensure the stability of the robot during the cross-medium process. After the robot is converted to the footed motion state, it crosses the medium and enters the water by walking until the robot is completely immersed in the water.

[0053] Underwater facade detection: After the robot is completely immersed in water, it switches from the foot-type motion state to the paddle-type motion state. Through the four vertical thrusters 17 and four vector thrusters 15, the robot can perform flexible horizontal motion while maintaining the same depth. After scanning, detecting, and recording the facade at this depth, it gradually dives and repeats the previous scanning and detection steps.

[0054] Dam bottom inspection: After approaching the dam bottom, first use the imaging capture unit to scan and detect areas where defects may occur. After approaching, switch from the paddle motion state to the foot motion state. The reason is that the foot motion state causes less disturbance to the sediment at the dam bottom than the paddle motion state, which is conducive to the optical detection of the bottom environment capture unit. After reaching the suspected defect point, switch from the walking leg posture to the standing leg posture, and use the Ocean To lols C7-30 halo camera to detect the suspected defect point. After the inspection is completed, switch from the foot motion state to the paddle motion state, and repeat the inspection steps until all areas are inspected.

[0055] Floating: After all areas are inspected, the boat floats up through four vertical thrusters 17. When it is close to the water surface, it moves toward the dam bank through four vector thrusters 15. When approaching the dam bank, the boat keeps its head facing the dam bank because the front leg posture is forward in the paddle movement to avoid collision. When it switches to the foot posture when approaching the bank, it can just hold the dam bank, making it easier to cross the medium and get out of the water.

[0056] Recovery: After the robot moves to the water-land junction of the dam, it switches from the paddle-type motion state to the foot-type motion state, and uses its front feet to hold the dam as a fulcrum to move forward, completing the cross-medium exit from the water. After it is completely on shore, it switches from the foot-type motion state to the wheel-type motion state, moves to the deployment position, and completes the recovery.

[0057] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that the technical solutions described in the above embodiments can still be modified, or some or all of the technical features therein can be replaced by equivalents. These modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be included in the scope of the claims and description of the present invention. For those skilled in the art, any replacement, improvement or change made to the implementation mode of the present invention falls within the protection scope of the present invention.

[0058] The matters not described in detail in the present invention are all known technologies to those skilled in the art.

Claims

1. A multi-motion mode amphibious robot for dam defect detection, characterized in that: It includes a main body, a sealed cabin is arranged inside the main body, a battery is arranged inside the main body at the rear side of the sealed cabin, buoyancy blocks are arranged inside the main body at the left and right sides of the sealed cabin, a sensing auxiliary mechanism is arranged on the main body, a propulsion mechanism is arranged on the main body, and a moving mechanism is arranged at the bottom of the main body.

2. The multi-motion mode amphibious robot for dam defect detection according to claim 1 is characterized in that: The perception auxiliary mechanism includes an imaging capture unit and a front environment capture unit respectively arranged in the middle of the front side wall of the main body, a bottom environment capture unit, an altimeter and a Doppler odometer are respectively arranged in the middle of the bottom of the main body, a USBL and a depth meter are respectively arranged in the middle of the top of the main body, and an inertial navigation is arranged in the sealed cabin of the main body.

3. The multi-motion mode amphibious robot for dam defect detection according to claim 2 is characterized in that: The imaging capture unit includes a first sonar and a second sonar; the front environment capture unit includes a network camera and an underwater light; and the bottom environment capture unit includes a network camera with its own light source.

4. The multi-motion mode amphibious robot for dam defect detection according to claim 2, characterized in that: Also included is a strobe light set on top of the main body.

5. The multi-motion mode amphibious robot for dam defect detection according to claim 1, characterized in that: The propulsion mechanism includes propulsion components respectively arranged on the side walls at the four corners of the main body, and a plurality of lifting components arranged in the main body. The propulsion components include water guide grooves respectively opened on the four corners of the side walls of the main body, and a vector propeller is installed in each water guide groove. The lifting components include a plurality of lifting holes vertically penetrating the main body, and a vertical propeller is installed in each lifting hole.

6. The multi-motion mode amphibious robot for dam defect detection according to claim 1, characterized in that: The moving mechanism includes fixed frames respectively arranged at the front and rear ends of the bottom of the main body, and moving components are respectively arranged on the left and right sides of each fixed frame. The moving component includes a basal segment, a femur and a tibia connected in sequence. The basal segment includes a basal segment connecting frame arranged on the fixed frame, a basal segment motor is arranged at the outer end of the basal segment connecting frame, a basal segment rotating frame is covered on the basal segment motor, the output shaft of the basal segment motor moves downward through the basal segment connecting frame and is connected to the basal segment rotating frame, and a basal segment pin is arranged on the upper end of the basal segment motor to engage with the basal segment rotating frame; the femur includes a femur connecting frame fixedly connected to the basal segment rotating frame, a The femur rotating frame is movably connected to the femur connecting frame through a femur motor arranged at its inner end, the output shaft of the femur motor movably passes through the femur rotating frame and is connected to the femur connecting frame, and the femur motor is clamped with the femur connecting frame through a femur pin; the tibia includes a tibia motor fixedly connected to the outer end of the femur rotating frame, the inner end of a tibia rotating frame is movably clamped on the femur rotating frame, the output shaft of the tibia motor movably passes through the tibia rotating frame and is connected to the femur rotating frame, the tibia motor is provided with a tibia pin clamped with the tibia rotating frame, a supporting leg is provided at the outer end of the tibia rotating frame, and a walking part is provided in the tibia rotating frame.

7. The multi-motion mode amphibious robot for dam defect detection according to claim 6, characterized in that: The walking member comprises a walking motor clamped on one side of the tibia rotating frame, the output shaft of the walking motor is movably clamped on the inner wall of the other side of the tibia rotating frame, and a Mecanum wheel is arranged on the output shaft of the walking motor.

8. The multi-motion mode amphibious robot for dam defect detection according to claim 7, characterized in that: A sealing mechanism is provided on the base motor, femur motor, tibia motor and travel motor. The sealing mechanism is sleeved on a sealing sleeve outside the base motor, femur motor, tibia motor or travel motor. An outer end cover is provided at one end of the sealing sleeve, a threading screw is provided on the outer end cover, and an inner end cover is provided at the other end of the sealing sleeve. The output end of the base motor, femur motor, tibia motor or travel motor movably passes through the inner end cover and is connected to a connecting flange.

9. The multi-motion mode amphibious robot for dam defect detection according to claim 1, characterized in that: Hanging rings are correspondingly arranged at the four corners of the top of the main body.

10. The multi-motion mode amphibious robot for dam defect detection according to claim 1, characterized in that: Brackets are symmetrically arranged on the left and right sides of the top of the main body.

Images