Cluster type deepwater constrained environment detection and maintenance bionic robot snake

Abstract

The invention discloses a cluster type deepwater constrained environment detection and maintenance bionic robot snake, and relates to the technical field of underwater exploration equipment, the cluster type deepwater constrained environment detection and maintenance bionic robot snake comprises a remote control submersible platform and a bionic robot snake, the remote control submersible platform comprises a balance frame, a power device, a propulsion system, a central control system, an illumination system and a storage bin, the bionic robot snake comprises a plurality of cluster type single bionic robot snakes capable of cooperatively working, and the multiple single bionic robot snakes are connected to form a main operation section. Through cooperative work of the bionic robot snake main operation section connected with the remote control submersible platform and all the dispersed single bionic robot snakes or auxiliary operation sections, efficient detection and maintenance work in a complex underwater environment can be achieved, the robot can flexibly cope with complex deepwater constrained environments such as narrow pipelines and seabed engineering facilities, and the robot can be widely applied to the field of underwater detection and maintenance. And multi-point simultaneous operation is realized, and the detection and maintenance efficiency is greatly improved.

Description

Technical Field

[0001] The invention relates to the technical field of underwater survey equipment, and in particular to the technical field of special underwater robots and bionic robots. Background Art

[0002] Bionic snake robots are robots with the posture and capabilities of snakes in nature. Their length far exceeds their diameter, and they have high flexibility and degrees of freedom. They are suitable for inspection and maintenance in small spaces or complex constrained environments. Generally, they adopt a modular orthogonal joint structure, which is composed of multiple two-degree-of-freedom orthogonal joint modules connected in series, and can achieve a variety of movement gaits such as winding, crawling and rolling. For example, a new type of snake-like robot consists of 11 two-degree-of-freedom orthogonal joints, each of which is driven by a small servo, and can achieve three-dimensional high-bionic movement. The advantages of this structure are high flexibility and strong adaptability, but the requirements for the control system are high. However, the existing bionic snake robot technology mainly focuses on the design and application of single-body snake robots. In the process of exploring the ocean and conducting underwater experiments, single-body bionic snake robots sometimes cannot meet the operational requirements.

[0003] Underwater environment detection or equipment maintenance is usually carried out manually or using underwater robots. The safety and accuracy of manual detection are usually difficult to guarantee, and traditional underwater operation equipment such as remotely operated vehicles (ROVs) and autonomous underwater vehicles (AUVs) have limitations in flexibility and adaptability. It is difficult for them to perform effective detection and maintenance work in complex underwater environments, especially in deepwater constrained environments such as underwater pipelines and seabed facilities.

[0004] In order to adapt to the complex underwater environment and meet the actual operational needs, it is necessary to comprehensively consider flexibility and system practicality. Therefore, it is necessary to develop a detection and maintenance equipment that can adapt to the complex underwater environment. Summary of the invention

[0005] In order to solve the above technical problems, the present invention provides a cluster-type deep-water constrained environment detection and maintenance bionic robot snake, which is used to perform environmental detection on underwater constrained environments or maintain seabed buildings and industrial equipment, so as to reduce the risks of manual diving operations, break through the defects of traditional single underwater robots in terms of endurance, operating environment, anti-interference ability, operation complexity and operation accuracy, and improve the efficiency and practicality of trial operations.

[0006] In order to achieve the above-mentioned purpose, the present invention specifically adopts the following technical solutions: A clustered bionic robot snake for deep-water constrained environment detection and maintenance includes a remote-controlled submersible platform and a bionic robot snake. The remote-controlled submersible platform includes a balance frame, a power unit, a propulsion system, a central control system, a lighting system and a storage bin. The bionic robot snake includes a plurality of clustered single bionic robot snakes that can work in coordination, wherein the plurality of single bionic robot snakes are connected to form a main operation section. The main operation section of the bionic robot snake is connected to the remote-controlled submersible platform through an interface. The central control system includes a central processing unit, a sensor module, a navigation and positioning device and a communication module. The central processing unit is responsible for processing data from the sensor module and the navigation and positioning device and transmitting the data to a host computer. The central processing unit can send control instructions to one or more bionic robot snakes through the communication module according to user input. Furthermore, the balance frame of the remote controlled submersible platform includes wall panels, buoyancy devices and counterweights. The wall panels are made of waterproof and corrosion-resistant lightweight composite materials, including a bottom wall panel and two side wall panels. The bottom wall panel has a plurality of reserved screw holes. The two side wall panels are perpendicular to the bottom wall panel and parallel to each other. There are four buoyancy devices, two of which are arranged at the front end of the balance frame and two are arranged at the rear end of the balance frame. The buoyancy device includes a sponge and a fairing. The fairing wraps the sponge inside. The counterweights are made of high-density alloy material and are fixed on the reserved screw holes of the bottom wall panel. Furthermore, the power device includes a battery compartment, a lithium battery and a battery compartment bracket. The battery compartment is made of lightweight aluminum alloy material and consists of a removable cover and a battery compartment body. The battery compartment cover is fixed to the battery compartment body by cup head hexagonal self-tapping screws and sealing rings. The lithium battery can be replaced by removing the battery compartment cover. The battery support bracket consists of an upper bracket and a lower bracket. Furthermore, the propulsion system includes a power steering waterproof motor and a propeller propeller, the propeller propeller is connected to the waterproof motor and driven to rotate by the waterproof motor, the propeller propeller includes a longitudinal propeller propeller and a lateral propeller propeller, the longitudinal propeller propeller is located between the front and rear buoyancy devices, and can achieve variable speed floating or sinking, and the lateral propeller propeller can achieve horizontal movement and rotation around the vertical direction through the speed difference. Furthermore, the lighting system includes an LED light group and a power controller. The LED light group is composed of multiple high-brightness LED lights, which can provide sufficient lighting for the clustered bionic robot snakes to work together underwater. The power controller is responsible for adjusting the brightness and switch status of the LED light group to adapt to different underwater lighting requirements. Furthermore, the storage bin can store no more than 6 individual bionic robot snakes, and the robot snake storage bin can realize portable storage and power supply for the individual bionic robot snakes. Furthermore, the single bionic robot snake comprises an independent driving device, a sensor array, a navigation and positioning device, a quick docking interface and a communication module for inter-cluster communication and instruction and data transmission. The body of the single bionic robot snake is composed of multiple joints, each of which is equipped with a flexible driving segment. The joints are equipped with three driving motors, and the motors can drive three driving wires to tighten or relax. The motors and driving wires can jointly realize multi-degree-of-freedom bionic motion of the single bionic robot snake. Furthermore, the quick docking interface is magnetic and can realize the quick docking of multiple single bionic robot snakes according to task requirements and operating instructions.

[0007] Furthermore, the clustered bionic single robot snakes can also be connected head to tail to form an auxiliary operation segment, and the auxiliary operation segment can be composed of two or more of the single bionic robot snakes. The auxiliary operation segment can assist the bionic robot snake main operation segment to work collaboratively.

[0008] The beneficial effects of the present invention are as follows: 1. The clustered deep-water constrained environment detection and maintenance bionic robot snake of the present invention can realize efficient detection and maintenance operations in complex underwater environments through the coordinated work of the bionic robot snake main operation section connected to the remote-controlled submersible platform and each dispersed single bionic robot snake or auxiliary operation section, and can flexibly cope with complex deep-water constrained environments, such as narrow pipes, seabed gaps, etc., to achieve multi-point simultaneous operations, greatly improving the efficiency of detection and maintenance; its multi-joint structural design enables it to imitate the movement of biological snakes, flexibly shuttle in deep-water environments, and easily adapt to various complex terrains and space-constrained areas, effectively solving the problem that traditional detection equipment is difficult to enter or inconvenient to operate. The central processing unit, sensor module, navigation and positioning device and communication module integrated in the central control system can process sensor data and positioning information in real time, and transmit the data to the host computer to ensure the high accuracy and reliability of the detection process. At the same time, the central processing unit can accurately control the movement of the bionic robot snake according to user input to achieve accurate detection and maintenance operations. In addition, the remote-controlled submersible platform provides stable power support and central control management for the bionic robot snake, enabling it to operate safely and stably in deep-water environments, while the modular design of the bionic robot snake facilitates maintenance and replacement, further improving the reliability of the system. The present invention has a wide range of applications and can be applied to detection and maintenance tasks in various deep-water constrained environments such as submarine pipeline inspection, underwater archaeology, and marine resource exploration, and has important practical significance and broad application prospects.

[0009] 2. The propulsion system of the present invention drives the longitudinal and lateral propeller thrusters through a power-steering waterproof motor, thereby realizing efficient and flexible movement of the remote-controlled submersible platform in a deep-water environment. The longitudinal propeller thruster is located between the front and rear buoyancy devices, and can achieve precise floating or sinking operations through speed changes, effectively adapting to the operational requirements of different water depths. The lateral propeller thruster utilizes the speed difference to achieve horizontal movement and rotation around the vertical direction, further enhancing the maneuverability and controllability of the platform. This propulsion system design not only improves the movement flexibility and response speed of the submersible, but also enhances its adaptability in complex underwater environments, providing reliable power support for deep-water detection and maintenance tasks. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 is a schematic diagram of collaborative operation of a cluster of bionic robot snakes according to an embodiment of the present invention; Figure 2 is a schematic diagram of the structure of an embodiment of the present invention in a storage state; Figure 3 This is a schematic diagram of the structure of a clustered single-body bionic robot snake according to an embodiment of the present invention; Figure 4 A cross-sectional view of a clustered single-body bionic robot snake according to an embodiment of the present invention; Figure 5 It is a structural diagram of the main part of an embodiment of the present invention; Figure 6 Another structural diagram of the main part of an embodiment of the present invention; Figure 7 A schematic diagram of another collaborative operation of a swarm bionic robot snake according to an embodiment of the present invention; Figure 8 The collaborative operation technology roadmap of the embodiment of the present invention.

[0011] Figure numerals: 1. Remotely operated submersible platform; 2. Bionic robot snake cluster; 11. Balance frame; 12. Power unit; 13. Propulsion system; 14. Central control system; 15. Lighting system; 16. Storage compartment; 111. Wall panel; 112. Buoyancy device; 113. Counterweight; 131. Longitudinal propeller; 132. Lateral propeller; 21. Main operating section; 22. Single bionic robot snake; 221. Joint; 2211. Drive motor; 2212. Drive line channel; 222. Flexible drive section; 2221. Drive line; 223. Quick docking interface; 2231. Limiter; 2232. Permanent magnet; 23. Auxiliary operating section. DETAILED DESCRIPTION

[0012] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0013] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. 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.

[0014] The following is combined with Figure 1 To the attached Figure 8 , the specific embodiments of the present invention are described in detail. In the description of the present invention, it should be understood that the orientation or position relationship indicated by the terms "center", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc. is based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present invention 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 invention. In the description of the present invention, unless otherwise specified, the meaning of "multiple" is two or more.

[0015] Example 1: Figure 1 As shown, this embodiment provides Figure 1 As shown, an embodiment of a cluster-type deep-water constrained environment monitoring and maintenance bionic robot snake includes a remote-controlled submersible platform 1 and a bionic robot snake module. The remote-controlled submersible platform 1 includes a balance frame 11, a power device 12, a propulsion system 13, a central control system 14, a lighting system 15 and a storage compartment 16. The bionic robot snake module includes a bionic robot snake main operation section 21 and a bionic robot snake cluster 2 composed of a plurality of single bionic robot snakes 22. The bionic robot snake main operation section 21 is composed of a plurality of single bionic robot snakes 22 arranged in a head-to-tail order. The bionic robot snake 22 is connected to the remote-controlled submersible platform 1 to form the main body of the bionic robot snake 22. The main operating section 21 of the bionic robot snake 22 can be equipped with different end effectors according to the mission requirements to operate in a constrained environment. The remote-controlled submersible platform 1 of the main body of the bionic robot snake 22 relies on the balance frame 11 and the propulsion system 13 to ensure smooth operation and direction control in a deep-water environment. The remote-controlled submersible platform 1 has a storage compartment 16, which can supply power to the bionic robot snake cluster 2 and can carry and store a single bionic robot snake 22.

[0016] By combining the concepts of the remote-controlled submersible platform 1, the bionic robot snake 22, and the cluster robot, the robot's advantages of stability and precision can be fully utilized, and it can adapt to various complex underwater operating environment requirements, and can also work collaboratively in a constrained environment. In the cluster operation of this embodiment, the main operation section 21 and the remaining single bionic robot snakes 22 in the bionic robot snake cluster 2 are driven by a cluster control strategy, and are equipped with different end effectors to each undertake corresponding operating goals, and carry out operations such as gap environment detection, damage site identification, equipment surface cleaning, and sample collection. The cluster-type deep-water constrained environment monitoring and maintenance bionic robot snake can break through the limitations of the limited operating ability of single robots in complex environments and the insufficiency of the operational conditions of single robots to cope with complex operating environments, and integrate the characteristics of flexible operation of bionic robot snakes and strong operating ability of cluster robots. The cluster-type bionic robot snake is used to cooperate with the bionic robot snake formed by multiple single bionic robot snakes quickly approaching each other head to tail, and give full play to the advantages of the cluster-type deep-water constrained environment monitoring and maintenance bionic robot snake.

[0017] like Figure 2 The figure shows the storage posture of the clustered deep-water constrained environment monitoring and maintenance bionic robot snakes. The storage compartment 16 can carry multiple single bionic robot snakes 22. The remote-controlled diving platform 1 can carry multiple storage compartments 16 and multiple single bionic robot snakes 22 according to mission requirements. The overall power consumption of the remote-controlled diving platform 1 is provided by the power device 12, and the single bionic robot snakes 22 are powered by the storage compartment 16. The storage compartment 16 needs to be charged by a separate external power supply.

[0018] like Figure 3-4The figure shows a schematic diagram of the structure of a single bionic robot snake 22, which includes a plurality of single joints 221 and a flexible driving segment 222 and two quick docking interfaces 223 at both ends. The joints 221 are connected by the flexible driving segments 222. The single bionic robot snake 22 adopts a wire drive form. Each single bionic robot snake 22 is driven by three driving wires 2221. The driving wires 2221 pass through a plurality of single joints 221 and all the flexible driving segments 222. The driving wires 2221 are driven by motors 2211. The motors 2211 are located in the root single joints 221 of the single bionic robot snake 22. The end is limited to the extreme position by a stopper 2231. The stopper 2231 is located in the quick docking interface 223 of the head. The driving wires 2221 pass through a plurality of single joints 221 through driving wire channels 2212. Joint 221, when the motor 2211 rotates, it will drive the drive line 2221 to tighten or relax, the length of the drive line 2221 inside the drive line channel 2212 does not change, the motor 2211 can change the length of the drive line 2221 in the flexible drive section 222, the tightening or relaxation of the three drive lines 2221 can realize the multi-degree-of-freedom movement of the single bionic robot snake 22, the front and rear quick docking interfaces 223 have permanent magnets 2232 and multiple solenoids 2232, the outward ends of the front and rear permanent magnets 2232 are respectively N poles and S poles, two single bionic robot snakes 22 can be connected through the quick docking interface 223, and each single bionic robot snake 22 can be equipped with an end effector at the quick docking interface 223 to cooperate with the bionic robot snake main operation section 21 to carry out operations.

[0019] like Figure 5-6As shown, the main part of the bionic robot snake includes a bionic robot snake main operation section 21 and a remote control submersible platform 1. The bionic robot snake main operation section 21 can be composed of multiple bionic robot snakes 22 connected end to end. The balance frame 11 includes a wall panel 111, a buoyancy device 112 and a counterweight block 113. The wall panel 111 is made of waterproof and corrosion-resistant lightweight composite material, and is composed of two left and right side wall panels and a bottom wall panel. The parallel side wall panels are perpendicular to the bottom wall panel. The buoyancy device 112 is located on the top of the remote control submersible platform 1. The bottom wall panel 111 has a plurality of reserved screw holes. The buoyancy device 112 is located on the top of the remote control submersible platform 1. The bottom wall panel 111 has a plurality of reserved screw holes. 12 includes two groups of buoyancy devices, each group is provided with 2, of which 2 are arranged at the front end of the balance frame 11, and 2 are arranged at the rear end of the balance frame 11. The buoyancy device 112 is composed of an internal dry sponge and an external fairing. The fairing is fixed to the inner side of the wall plate 111 by bolts, and the counterweight block 113 is fixed to the reserved screw hole on the bottom wall plate. The counterweight block 113 is made of high-density alloy material. The buoyancy device 112 and the counterweight block 113 are used to ensure the passive and stable floating or sinking of the remote control submersible platform 1 and the main operation section 21 of the bionic robot snake. The power device 12 is located at the bottom of the central control system 14 The power unit 12 is composed of a battery compartment, a lithium battery, and a battery compartment bracket. The battery compartment is fixed at the center of the remote control submersible platform 1. The battery compartment is made of lightweight aluminum alloy material and is composed of a detachable cover and a battery compartment body. The battery compartment bracket is composed of an upper bracket and a lower bracket. The battery compartment is fixed in the upper bracket and the lower bracket (the battery compartment, lithium battery, and battery compartment bracket structure are conventional settings and will not be described in detail). The lithium battery is electrically connected to the remote control submersible platform (1). The battery compartment cover needs to be removed to replace the internal lithium battery. The central control system 14 includes a central processing unit, a sensor module, a navigation positioning device, and a communication The communication module can process the data from the sensor module and the navigation and positioning device and transmit it to the host computer, can monitor the environment and posture of the remote-controlled submersible platform 1 and each single bionic robot snake 22 in real time, can transmit data between the host computer, the main part of the bionic robot snake and the clustered bionic robot snake 22, obtain the position coordinates of the bionic robot snake main operation section 21 and the relative position coordinates of each single bionic robot snake 22 in the cluster, can issue the operator's instructions to the bionic robot snake main operation section 21 and each dispersed single bionic robot snake 22 and ensure real-time feedback of information.

[0020] The propulsion system 13 includes a longitudinal propeller thruster 131, a lateral propeller thruster 132 and a waterproof motor. The propeller thruster is driven by the waterproof motor. The longitudinal propeller thruster 131 is located between the front and rear buoyancy devices 112 and can realize active variable speed floating or sinking. The lateral propeller thruster 132 can realize horizontal movement and vertical rotation through the speed difference. The lighting system 15 is located at the bottom of the front side of the remote control submersible platform 1. The left and right LED light groups are fixed on the inner side of the wall panel 111 and the brightness is adjustable. The power controller is set to adjust the brightness to meet different underwater lighting needs. The storage compartment 16 can store up to 6 single bionic robot snakes 22. The storage compartment 16 can be installed or added to the bottom of the remote-controlled submersible platform 1 as needed, and can realize portable storage and power supply for multiple single bionic robot snakes 22. The end of the bionic robot snake main operation section 21 can be equipped with an end effector through a quick interface 223, and can rely on the rigid joints 221 and flexible driving sections 222 of each single bionic robot snake 22 to achieve multi-directional and multi-degree-of-freedom flexible operation.

[0021] like Figure 7 The shown is Figure 1 The optimization of the clustered deep-water constrained environment monitoring and maintenance bionic robot snake embodiment shown includes a bionic robot snake main operation section 21, an auxiliary operation section 23 and a cluster of single bionic robot snakes 22. The bionic robot snake main operation section 21 is formed by multiple single bionic robot snakes 22 connected end to end, and is connected to the remote-controlled submersible platform 1 to form the main part of the bionic robot snake. The bionic robot snake auxiliary operation section 23 is formed by two or more single bionic robot snakes 22 connected end to end. The bionic robot snake's main operation section 21, auxiliary operation section 23 and single bionic robot snake 22 can be equipped with different end effectors according to task requirements to operate in a constrained environment. The remote-controlled submersible platform 1 can carry multiple storage bins 16 and multiple single bionic robot snakes 22 according to task requirements.

[0022] like Figure 8The collaborative operation technology roadmap of the embodiment of the present invention is combined with the attitude control strategy of the environment. First, the absolute coordinate system of the target working position is established, the position of the remote control submersible platform 1 is obtained, the actual task requirements and stability requirements are analyzed, and the number and form of the required single bionic snake robots 22 are determined. Then, the single bionic robot snake 22 in the standby state is separated from the storage bin. A plurality of bionic robot snakes 22 monomers are respectively composed of a main operation section 21 and a plurality of auxiliary operation sections 23. The main operation section is connected to the remote control platform to become the main part of the cluster bionic robot snake. The remaining single bionic robot snakes form a cluster with it, cooperate to reach the target position and cooperate to carry out the operation. When the task is completed or the power is about to run out, the main operation section and the auxiliary operation section 23 are quickly separated into multiple single bionic robot snakes. The central control system establishes a respective relative coordinate system based on each single snake robot, determines the relative distance and attitude of each single bionic robot snake 22, and each single bionic robot snake 22 returns to the storage bin 16 and enters the standby state.

[0023] The clustered deep-water constrained environment detection and maintenance bionic robot snake of the present invention can realize efficient detection and maintenance operations in complex underwater environments through the coordinated work of the bionic robot snake main operation section 21 connected to the remote-controlled submersible platform 1 and each dispersed single bionic robot snake 22 or auxiliary operation section 23, and can flexibly cope with complex deep-water constrained environments, such as narrow pipes, seabed gaps, etc., to achieve multi-point simultaneous operations, greatly improving the efficiency of detection and maintenance; its multi-joint 221 structural design enables it to imitate the movement of biological snakes, flexibly shuttle in deep-water environments, easily adapt to various complex terrains and space-constrained areas, and effectively solve the problem that traditional detection equipment is difficult to enter or inconvenient to operate. The central control system 14 integrates a central processing unit, a sensor module, a navigation and positioning device, and a communication module, which can process sensor data and positioning information in real time, and transmit the data to the host computer to ensure the high accuracy and reliability of the detection process. At the same time, the central processing unit can accurately control the movement of the bionic robot snake 22 according to user input to achieve accurate detection and maintenance operations. In addition, the remotely operated submersible platform 1 provides stable power support and central control management for the bionic robot snake 22, so that it can operate safely and stably in a deep-water environment, and the modular design of the bionic robot snake is convenient for maintenance and replacement, further improving the reliability of the system. The present invention has a wide range of applications and can be applied to detection and maintenance tasks in various deep-water constrained environments such as submarine pipeline detection, underwater archaeology, and marine resource exploration, and has important practical significance and broad application prospects.

[0024] It should be noted that the component connection relationships not specifically mentioned in this application are assumed to adopt the existing technology. Since they do not involve the invention and are widely used in the existing technology, the structural connection relationships are not described in detail.

Claims

1. Clustered deep-water constrained environment detection and maintenance bionic robot snake, characterized by: The invention comprises a remote-controlled submersible platform (1) and a bionic robot snake module. The remote-controlled submersible platform (1) comprises a balance frame (11), a power device (12), a propulsion system (13), a central control system (14), a lighting system (15) and a storage compartment (16). The bionic robot snake module comprises a plurality of clustered single bionic robot snakes (22) that can work in coordination. The plurality of single bionic robot snakes (22) are connected to form a main operation section (21). The main operation section (21) is connected to the remote-controlled submersible platform (1) via an interface. The central control system (14) comprises a central processing unit, a sensor module, a navigation and positioning device and a communication module. The central processing unit is responsible for processing data from the sensor module and the navigation and positioning device and transmitting the data to a host computer.

2. According to claim 1, the clustered deep-water constrained environment detection and maintenance bionic robot snake is characterized by: The balancing frame (11) comprises a wall panel (111), a buoyancy device (112) and a counterweight (113). The wall panel (111) is made of a waterproof, corrosion-resistant and lightweight composite material and comprises a bottom wall panel and two side wall panels. The bottom wall panel has a plurality of reserved screw holes. The two side wall panels are perpendicular to the bottom wall panel and parallel to each other. Four buoyancy devices (112) are provided, two of which are arranged at the front end of the balancing frame (11) and the other two are arranged at the rear end of the balancing frame (11). The buoyancy device (112) comprises a sponge and a fairing. The fairing wraps the sponge inside. The counterweight (113) is made of a high-density alloy material and is fixed on the reserved screw holes of the bottom wall panel.

3. The clustered deep-water constrained environment detection and maintenance bionic robot snake according to claim 2 is characterized in that: The propulsion system (13) comprises a power steering waterproof motor and a propeller propeller, wherein the propeller propeller is connected to the waterproof motor and driven to rotate by the waterproof motor, wherein the propeller propeller comprises a longitudinal propeller propeller (131) and a lateral propeller propeller (132), wherein the longitudinal propeller propeller (131) is located between the two buoyancy devices (112) at the front and rear ends.

4. The clustered deep-water constrained environment detection and maintenance bionic robot snake according to claim 1 is characterized in that: The storage bin (16) stores a plurality of individual bionic robot snakes (22), and the robot snake storage bin (16) stores and supplies power to the individual bionic robot snakes (22).

5. The clustered deep-water constrained environment detection and maintenance bionic robot snake according to claim 1 is characterized in that: The single bionic robot snake (22) comprises an independent driving device, a sensor array, a navigation and positioning device, a quick docking interface (223), and a communication module for inter-cluster communication and command and data transmission. The body of the single bionic robot snake (22) is composed of a plurality of joints (221), each joint (221) is equipped with a flexible driving section (222), a single joint (221) is equipped with three driving motors (2211), the ends of the driving lines (2221) are connected to driving lines (2221), the three driving motors (2211) drive the three driving lines (2221) to tighten or relax, and the driving motors (2211) in combination with the driving lines (2221) drive the joints (221) to move in multiple degrees of freedom.

6. The clustered deep-water constrained environment detection and maintenance bionic robot snake according to claim 5 is characterized in that: The quick docking interface (223) is magnetic, and multiple single bionic robot snakes (22) can be quickly docked through the quick docking interface (223) according to task requirements and operation instructions.

7. The clustered deep-water constrained environment detection and maintenance bionic robot snake according to claim 6 is characterized in that: A plurality of single bionic robot snakes (22) are connected to form an auxiliary operation section (23), wherein the auxiliary operation section (23) is composed of at least two of the single bionic robot snakes (22), and the auxiliary operation section (23) assists the bionic robot snake main operation section (21) in working in coordination.

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