Split type underwater pipeline detection robot and detection method thereof

Abstract

The invention belongs to the technical field of underwater pipeline detection robots, and particularly discloses a split type underwater pipeline detection robot and a detection method thereof.The detection robot comprises a detection posture adjusting cabin, a propelling cabin and an energy cabin which are sequentially connected in series through flexible cables; the end, deviating from the propelling cabin, of the energy cabin is connected with a communication cable, the detecting and posture adjusting cabin comprises a sensor and a posture adjusting propeller, the sensor is used for detecting an underwater pipeline, and the posture adjusting propeller is used for adjusting the posture of the detecting robot; the propelling cabin comprises a power propeller which is used for controlling the detection robot to advance and retreat; the energy cabin is used for providing energy for the detecting and posture adjusting cabin and the propelling cabin. The detection robot can adapt to various shape changes of the underwater pipeline to conduct flexible turning and maneuvering, and detection of the underwater pipeline can be efficiently and reliably achieved.

Description

Technical Field

[0001] The present application belongs to the technical field of underwater pipeline inspection robots, and more specifically, relates to a split underwater pipeline inspection robot and an inspection method thereof. Background Art

[0002] With the acceleration of urbanization and the continuous growth of population, urban water supply systems are becoming increasingly large and complex, and the detection and mapping of underwater pipelines have become particularly important. As an important tool in this field, underwater pipeline inspection robots are responsible for regular inspection, fault diagnosis and mapping of underwater pipelines.

[0003] However, with the increasingly complex layout of underwater pipelines, traditional underwater pipeline robots face the challenge of insufficient flexibility. When the robot is required to inspect inside a narrow or curved underwater pipeline, the traditional integrated underwater robot often cannot flexibly turn and maneuver, and it is difficult to pass through narrow and curved underwater pipelines, resulting in low inspection efficiency and even failure to complete the scheduled task. Therefore, improvement is urgently needed. Summary of the invention

[0004] In response to the defects or improvement needs of the prior art, the present application provides a split underwater pipeline inspection robot and its inspection method, aiming to improve the problems that traditional underwater robots have difficulty in turning and maneuvering flexibly and passing through narrow underwater pipelines.

[0005] The present application provides a split underwater pipeline inspection robot, which specifically includes an inspection attitude adjustment cabin, a propulsion cabin and an energy cabin, wherein the inspection attitude adjustment cabin, the propulsion cabin and the energy cabin are sequentially connected in series through flexible cables, and a communication cable is connected to one end of the energy cabin away from the propulsion cabin, wherein: The detection and posture adjustment cabin includes a sensor and a posture adjustment propeller, wherein the sensor is used to detect underwater pipelines, and the posture adjustment propeller is used to adjust the posture of the detection robot; The propulsion cabin includes a power propeller, and the power propeller is used to control the forward and backward movement of the detection robot; The energy cabin is used to provide energy to the detection and attitude adjustment cabin and the propulsion cabin.

[0006] Through the above technical solutions conceived by the present application, compared with the prior art, the detection robot is composed of three cabins, namely, the detection attitude adjustment cabin, the propulsion cabin and the energy cabin, which are flexibly connected by flexible cables. By separately configuring the attitude adjustment power and the forward and backward movement power in different cabins, the movement of the detection robot is extremely flexible. And because the detection robot presents a three-cabin split flexible design, it can effectively control the size of a single cabin, making the overall appearance of the detection robot slender and flexible, and can adapt to various shape changes of underwater pipelines, especially suitable for efficient and reliable detection of pipe conditions in small-diameter pipelines and various elbows, valves and other environments.

[0007] In particular, the inspection attitude adjustment cabin with attitude adjustment propellers can be operated independently of the propulsion cabin, so as to realize the separate configuration of the inspection robot's attitude direction (up, down, left, right, etc.) and forward and backward propulsion. Such a configuration enables the inspection robot to flexibly adjust its running direction while changing its attitude, especially in narrow pipes. It can shuttle and actively reverse quickly and accurately, realizing the inspection robot's flexible turning and maneuvering, so as to actively pass through narrow pipes, curved pipes, and other pipes, and is commonly used for the inspection of pipe conditions in various situations such as static water environments and dynamic water environments.

[0008] As a further preferred embodiment, the cabins of the detection and attitude adjustment cabin, the propulsion cabin and the energy cabin are spherical in shape, and the connection portion between the flexible cable and the cabin coincides with the axial direction of the cabin.

[0009] As a further preference, a plurality of flow stabilizing grooves are evenly arranged along the circumferential direction on the outer surface of the propulsion cabin, and the flow stabilizing grooves are used for allowing water flowing from the energy cabin to pass through the propulsion cabin to push the detection and attitude adjustment cabin.

[0010] As a further preferred embodiment, a propulsion channel is provided in the cabin body of the propulsion cabin along the axial direction, and a plurality of the propulsion channels are distributed circumferentially in the cabin body with the axis of the propulsion cabin as the center line, and the power propeller is fixedly arranged in the propulsion channel.

[0011] As a further preference, the attitude adjustment propeller is embedded in the cabin body of the attitude adjustment detection cabin, and a plurality of the attitude adjustment propellers are evenly distributed along the circumference of the cabin body of the attitude adjustment detection cabin.

[0012] As a further preferred embodiment, a through internal flow channel is provided in the cabin body of the detection and attitude adjustment cabin, and the internal flow channel has a main port connected to the end of the detection and attitude adjustment cabin facing away from the propulsion cabin, and a side port connected to the outer peripheral surface of the cabin body of the detection and attitude adjustment cabin, and the attitude adjustment propeller is fixedly installed in the side port.

[0013] As a further preference, the sensor includes one or more of a camera, a pressure sensor, and a voiceprint sensor.

[0014] As further preferred, when the sensor includes a camera, the camera is arranged at an end of the detection and attitude adjustment cabin away from the propulsion cabin, and the detection and attitude adjustment cabin also includes a light source for providing lighting.

[0015] A detection method provided in the second aspect of the present application adopts the following technical solution: A detection method, using any of the split underwater pipeline detection robots described in the first aspect to perform underwater pipeline detection, comprises the following steps: The detection robot is pushed to move in the underwater pipeline through the attitude adjustment thrusters and power thrusters, and the communication cables at the tail of the energy cabin are retracted and released; Detect underwater pipelines by detecting sensors in the attitude adjustment cabin.

[0016] As a further preferred embodiment, when moving the detection robot, the moving speed of the detection robot is adjusted so that the detection robot moves along the water flow direction at a speed lower than the water flow velocity, so that the water flow passing through the flow stabilization trough of the propulsion cabin stabilizes the propulsion cabin and pushes the detection posture adjustment cabin.

[0017] In general, the above technical solutions conceived by this application have the following technical advantages compared with the prior art: 1. This inspection robot has a three-cabin split flexible connection design, which can effectively control the size of a single cabin, making the overall appearance of the inspection robot slender and flexible, and can adapt to various shape changes of underwater pipelines, especially suitable for condition inspection in small-diameter pipelines and various elbows, valves and other environments.

[0018] 2. This inspection robot is configured with posture adjustment power and forward and backward movement power separately in different cabins, so that the inspection robot can flexibly adjust the running direction while changing its posture, thereby realizing flexible turning and maneuvering of the inspection robot in the pipeline.

[0019] 3. This detection robot is designed with multiple flow stabilization grooves on the outer surface of the propulsion cabin. When the detection robot moves along the water flow at a speed lower than the water flow velocity, the water flow can form a certain driving force, so that the water flow from the energy cabin to the propulsion cabin can push the detection attitude adjustment cabin forward after flowing through the flow stabilization groove, ensuring that the detection attitude adjustment cabin can move forward smoothly, and drive the subsequent propulsion cabin and energy cabin to turn and change direction, etc., and at the same time can reduce the power consumption of the detection robot and improve energy efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the overall structure of a split underwater pipeline inspection robot provided in an embodiment of the present application; Figure 2 is an exploded diagram of the detection robot provided in an embodiment of the present application; Figure 3 It is a structural schematic diagram of a propulsion cabin provided in an embodiment of the present application; Figure 4 It is a flow chart of the detection method provided in the embodiment of the present application.

[0021] Throughout the drawings, the same reference numerals are used to denote the same elements or structures, wherein: 1. Detection and attitude control cabin; 1-1. Attitude control thruster; 1-2. Inner flow channel; 1-3. Main port; 1-4. Side port; 1-5. Camera; 1-6. Light source; 1-7. Voiceprint sensor; 1-8. Control module; 2. Propulsion cabin; 2-1. Power thruster; 2-2. Flow stabilization trough; 2-3. Propulsion channel; 3. Energy cabin; 3-1. Lithium battery; 3-2. Optical module; 4. Flexible cable; 5. Communication cable. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0023] The following is combined with Figure 1-Figure 4 This application is described in further detail.

[0024] The present application embodiment discloses a split underwater pipeline inspection robot. Figure 1-Figure 3 The split underwater pipeline inspection robot includes an inspection attitude adjustment cabin 1, a propulsion cabin 2 and an energy cabin 3. The inspection attitude adjustment cabin 1, the propulsion cabin 2 and the energy cabin 3 are connected in series in sequence through a flexible cable 4. The end of the energy cabin 3 away from the propulsion cabin 2 is connected with a communication cable 5, wherein: the inspection attitude adjustment cabin 1 includes a sensor and an attitude adjustment propeller 1-1, the sensor is used to detect underwater pipelines, and the attitude adjustment propeller 1-1 is used to adjust the posture of the inspection robot; the propulsion cabin 2 includes a power propeller 2-1, and the power propeller 2-1 is used to control the forward and backward movement of the inspection robot; the energy cabin 3 is used to provide energy to the inspection attitude adjustment cabin 1 and the propulsion cabin 2.

[0025] Under this design, compared with the traditional single-cabin integrated inspection robot, this inspection robot is composed of three cabins, namely, the inspection attitude adjustment cabin 1, the propulsion cabin 2 and the energy cabin 3, which are flexibly connected by flexible cables 4. By separately configuring the attitude adjustment power and the forward and backward movement power in different cabins, the movement of the inspection robot is extremely flexible. And because this inspection robot presents a three-cabin split design, it can effectively control the size of a single cabin, making the overall appearance of the inspection robot slender and flexible, and can adapt to various shape changes of underwater pipelines, especially suitable for small-diameter pipelines and various elbows, valves and other working conditions.

[0026] In particular, the detection attitude adjustment cabin 1 with the attitude adjustment propeller 1-1 can be operated independently of the propulsion cabin 2, realizing the separate configuration of the attitude direction (up, down, left, right, etc.) and the forward and backward propulsion of the detection robot. Such a configuration enables the detection robot to flexibly adjust the running direction while changing the attitude, especially in narrow pipes (such as setting the maximum diameter of the cabin to 85mm to detect pipes with a diameter greater than 90mm), and can quickly and accurately shuttle and actively reverse, realizing the flexible turning and maneuvering of the detection robot, and actively passing through narrow pipes and curved pipes. At the same time, due to the flexible maneuverability and miniaturized design of the detection robot, the detection robot can be used in a variety of situations such as static water environment and dynamic water environment, and is suitable for the detection of pipes with calibers such as DN100-DN400.

[0027] In addition, in some special working conditions such as pipeline side wall leakage detection and ultra-high-speed water flow pipeline detection, the detection robot can quickly adjust and stabilize the robot's posture (especially adjust the robot's up and down, left and right travel angles) through the posture adjustment propeller 1-1 located in the detection posture adjustment cabin 1 at the head, so as to detect the robot's active displacement, which is conducive to the detection robot's escape from dangerous areas such as leaking points. The power propeller 2-1 in the propulsion cabin 2 can stabilize the robot's travel direction and stabilize the rear cabin; in particular, in high-speed water flow, the propulsion cabin 2 can be reversely propelled by the power propeller 2-1, so that the propulsion cabin 2 and the detection posture adjustment cabin 1 form a balance of the pulling force of the flexible cable 4-the impact force of the water flow-the thrust of the propulsion cabin 2, so that the detection robot runs smoothly and prevents the detection robot from being swept away by the high-speed water flow and losing control.

[0028] Furthermore, in some embodiments, the detection robot maintains neutral buoyancy in water, the cabins (i.e., the outer shell structure) of the detection attitude control cabin 1, the propulsion cabin 2, and the energy cabin 3 are spherical, and the connection part between the flexible cable 4 and the cabin coincides with the axial direction of the cabin.

[0029] Under this design, the detection robot with a spherical cabin has good fluid dynamics and maneuverability, which can effectively reduce the flow resistance of the detection robot in the water, so that the detection robot can maintain a stable posture in a complex water flow environment and reduce the occurrence of getting stuck in underwater pipes. The spherical cabin can provide the detection robot with good structural strength so that the detection robot can withstand the external pressure in the underwater environment, especially in deep water or turbulent tidal environments, which is conducive to improving the service life and reliability of the detection robot under various extreme conditions. At the same time, the surface of the cabin under the spherical structure is relatively round, and the contact area with the inner wall of the pipe is small, making the detection robot less likely to get stuck and more convenient to use.

[0030] Furthermore, in some embodiments, the attitude adjustment propeller 1-1 is embedded in the cabin body of the detection and attitude adjustment cabin 1, the attitude adjustment propeller 1-1 does not protrude from the outer surface of the cabin body, and there are multiple attitude adjustment propellers 1-1 evenly distributed along the circumference of the cabin body of the detection and attitude adjustment cabin 1.

[0031] Specifically, a through inner flow channel 1-2 is provided in the cabin body of the detection and attitude adjustment cabin 1, and the inner flow channel 1-2 has a main port 1-3 connected to the end of the detection and attitude adjustment cabin 1 facing away from the propulsion cabin 2, and a side port 1-4 connected to the outer peripheral surface of the cabin body of the detection and attitude adjustment cabin 1, and the attitude adjustment propeller 1-1 is fixedly installed in the side port 1-4.

[0032] like Figure 1 As shown, in some specific embodiments, three side ports 1-4 are evenly arranged along the circumferential direction on the outer peripheral surface of the detection and attitude adjustment cabin 1, and the three side ports 1-4 are each provided with an attitude adjustment propeller 1-1, and the three attitude adjustment propellers 1-1 are integrated in the cabin body of the detection and attitude adjustment cabin 1 and share a main port 1-3. Preferably, the propulsion direction of the attitude adjustment propeller 1-1 is consistent with the opening direction of the side port 1-4 where it is located. In addition, in some other embodiments, the number of the side ports 1-4 and the attitude adjustment propeller 1-1 can also be set to four, five, etc.

[0033] Further, in some embodiments, the sensor includes one or more of a camera 1-5, a pressure sensor, and a voiceprint sensor 1-7. Preferably, in some embodiments, when the sensor includes a camera 1-5, the camera 1-5 is arranged at one end of the detection and attitude adjustment cabin 1 away from the propulsion cabin 2, and the detection and attitude adjustment cabin 1 also includes a light source 1-6 for providing lighting.

[0034] like Figure 1 and Figure 2 As shown, in some specific embodiments, the detection and posture adjustment cabin 1 includes a cabin body, on which are arranged cameras 1-5, light sources 1-6, voiceprint sensors 1-7, pressure sensors and posture adjustment thrusters 1-1. Among them, the camera 1-5 is preferably a binocular camera, which is arranged at the front end of the detection and posture adjustment cabin 1, and is used to capture image recognition and obtain depth information in front of the detection robot, so as to provide the control terminal with three-dimensional modeling of the internal environment of the pipeline; the light source 1-6 is preferably an annular light source 1-6 (i.e., an annular light emitting device, such as a light emitting diode, etc.), which is also arranged at the front end of the detection and posture adjustment cabin 1 to provide lighting; the voiceprint sensor 1-7 is used to obtain the internal voiceprint of the pipeline for diagnosis, and is preferably arranged at the front end of the detection and posture adjustment cabin 1; the posture adjustment thruster 1-1 is preferably arranged on the circumferential surface of the detection and posture adjustment cabin 1, and is used to adjust the posture of the detection robot and to detect the steering of the robot; the pressure sensor is used to obtain the pressure data in the pipeline.

[0035] Further, such as Figure 1 , Figure 3In some embodiments, a plurality of flow stabilizing grooves 2-2 are evenly arranged along the circumferential direction on the outer surface of the propulsion cabin 2 (the number can be three, four or five, etc., and the number can be set based on actual needs, cabin size specifications and other conditions). Preferably, the flow stabilizing groove 2-2 is a groove that runs through both ends of the axial direction, and the inner wall of the groove is an arc-shaped surface that extends in an arc shape toward the circumferential direction of the cabin to the outer surface of the cabin, wherein the minimum distance between the inner wall of the groove and the axis of the propulsion cabin 2 is less than the maximum outer diameter of the cabin of the detection and attitude adjustment cabin 1, so that the water flow from the energy cabin 3 to the propulsion cabin 2 can flow to the end face of the detection and attitude adjustment cabin 1 facing the propulsion cabin 2 after flowing through the flow stabilizing groove 2-2 to form a driving force. Preferably, the end face of the attitude adjustment cabin 1 facing the propulsion cabin 2 is a spherical surface.

[0036] Under this design, the design of the flow stabilizing groove 2-2 can help improve the flow state of water on the surface of the detection robot, thereby reducing the flow resistance, which is conducive to improving the movement speed and stability of the detection robot. In particular, when the detection robot moves along the water flow direction at a speed lower than the water flow velocity, under the shape and layout of the flow stabilizing groove 2-2, the water flow can form a certain driving force, so that the water flow from the energy cabin 3 to the propulsion cabin 2 can push the detection posture adjustment cabin 1 forward after flowing through the flow stabilizing groove 2-2, ensuring that the detection posture adjustment cabin 1 can move forward smoothly, and drive the subsequent propulsion cabin 2 and energy cabin 3 to perform operations such as turning and changing direction through the detection posture adjustment cabin 1. This design can effectively reduce the power consumption of the detection robot and improve energy efficiency.

[0037] Further, such as Figure 1 As shown, in some embodiments, a propulsion channel 2-3 is provided in the cabin of the propulsion cabin 2 in the axial direction, and a plurality of propulsion channels 2-3 are distributed circumferentially in the cabin with the axis of the propulsion cabin 2 as the center line (the number can be three, four or five, etc., and the number can be set based on actual needs, cabin size specifications and other conditions), and a plurality of power thrusters 2-1 are provided correspondingly, and the plurality of power thrusters 2-1 are fixedly provided in the plurality of propulsion channels 2-3 one by one. The power thrusters 2-1 can provide driving force for forward and backward movement, thereby realizing the forward and backward movement of the detection robot.

[0038] Further, such as Figure 1 and Figure 2 As shown, in some embodiments, the energy cabin 3 includes a cabin body and a battery module built into the cabin body, wherein the battery module includes but is not limited to selected lithium batteries 3-1, such as: the battery module includes three lithium batteries 3-1 arranged in the cabin body, and the three lithium batteries 3-1 are used to provide energy to sensors, thrusters and other components in the robot.

[0039] Furthermore, in some embodiments, the flexible cable 4 is an electrical cable, the communication cable 5 is a zero-buoyancy optical fiber cable, and an optical module 3-2 is also provided in the energy module. The optical module 3-2 is used to convert optical signals and electrical signals, thereby realizing signal conversion between the electrical cable and the zero-buoyancy optical fiber cable.

[0040] Furthermore, in some embodiments, a control module 1-8 (such as a control panel) is also provided in the detection and attitude adjustment cabin 1. The control module 1-8 is communicatively connected with various sensors, thrusters, light sources 1-6 and other devices through a flexible cable 4. The control module 1-8 is used to communicate with an external control terminal or other external devices through an optical module 3-2 and a communication cable.

[0041] It should be noted that quasi-spheroid is a term to describe the shape of an object, which refers to an object whose shape is similar to a sphere, but not completely a standard sphere. For example, a quasi-spheroid may be an approximate standard sphere whose difference from a standard sphere is less than a preset error. A quasi-spheroid may also be an ellipsoid, an oblate spheroid, an irregular spheroid or a polyhedron. Among them, ellipsoid: This is the most common quasi-spheroid shape, characterized by different lengths of two or three axes, but still maintaining symmetry as a whole. Oblate spheroid: This shape is flatter in two directions than in the third direction, similar to a squashed ball. Irregular spheroid: The shapes of these objects are close to spheres, but the surface may have uneven features. Polyhedron: Although polyhedrons usually have clear planes and angles, some polyhedrons (such as truncated octahedrons or truncated icosahedrons) can be very close to spheres.

[0042] It should be noted that, for the flexible cable 4, the flexible cable 4 can be a cable with good bending performance and durability, usually composed of multiple independent wires arranged side by side in the same flexible sheath, and each wire can usually be used independently. Due to its softness, the flexible cable 4 can be flexibly used in a small space or dynamic environment, can withstand repeated bending without breaking easily, and ensure long-term stable electrical connection. A reliable electrical connection can be achieved between two adjacent cabins through the flexible cable 4, and when the detection robot passes through a curved pipeline (such as passing through elbows, tees, etc.), the flexible cable 4 between the cabins can adapt to the changes in the shape of the pipeline, and the detection robot can pass smoothly during the operation of the attitude adjustment thruster 1-1 and the power thruster 2-1.

[0043] It should be noted that zero-buoyancy fiber optic cable is a type of underwater communication cable, which is characterized by the fact that the buoyancy of the cable in water is zero, that is, the cable maintains neutral buoyancy in the water and will neither float up nor sink, thereby reducing the impact of water buoyancy and ensuring stability and reliability during underwater operations.

[0044] It should be noted that the “axial direction” described in this application refers to the central axis direction of the attitude control cabin 1, the propulsion cabin 2, and the energy cabin 3. Figure 1 As shown, when the detection and attitude control cabin 1, the propulsion cabin 2 and the energy cabin 3 are arranged in the same straight line, the direction indicated by arrow A is the axial direction. When the cabin body is ellipsoidal, the cabin bodies should be connected in series in the direction of the long axis of the cabin body. At this time, the long axis direction of the cabin body is the axial direction of each cabin.

[0045] It should be noted that underwater pipelines refer to pipeline systems used to transport liquids, gases or solid particles in underwater environments. Such pipelines are widely used in many industries, including energy, transportation, environmental monitoring, etc. Such as sewage discharge pipelines, oil pipelines, water supply pipelines, etc.

[0046] The present application also discloses a detection method, using any of the above-mentioned split underwater pipeline detection robots to perform underwater pipeline detection, referring to Figure 4 , the detection method comprises the following steps: The communication cable is connected to an external control terminal, the detection robot is pushed to move in the underwater pipeline by the attitude adjustment thruster 1-1 and the power thruster 2-1, and the communication cable 5 is retracted and released by an external retractable device.

[0047] The underwater pipeline is detected by detecting the sensor in the attitude adjustment cabin 1.

[0048] Preferably, when inspecting an underwater pipeline with a dynamic water flow inside, it is preferred to adjust the movement speed of the inspection robot so that the inspection robot moves along the direction of the water flow at a speed lower than the water flow velocity, and the water flow passing through the flow stabilization trough 2-2 of the propulsion cabin 2 stabilizes the propulsion cabin 2 and pushes the inspection posture adjustment cabin 1, so that the inspection robot moves forward stably.

[0049] The implementation principle of a detection robot in an embodiment of the present application is: when using the detection robot, after starting and placing the detection robot into an underwater pipeline, the data detected by the sensor is converted by the optical module 3-2 through the control module 1-8 and transmitted to the external control terminal, and the sensor data is processed by the control terminal to provide the operator with internal intelligence of the pipeline (relevant data information, visual information, etc.), so as to provide technical and data support for the detection and mapping of the underwater pipeline.

[0050] The operator can send control instructions to the detection robot and the external wire-reeling device through the operation control terminal. For example, the control instructions are sent to the detection robot through the operation control terminal, and the control instructions are converted by the optical module 3-2 to the control module 1-8, so that the control module 1-8 can control the operation state of the detection robot; for example, the control instructions are sent to the wire-reeling device through the operation control terminal to control the operation state of the wire-reeling device. The operation principle of the control module 1-8 and the control terminal is the existing technology, and no further elaboration is given here.

[0051] It should be understood that expressions such as "include" and "may include" used in this application indicate the existence of the disclosed functions, operations or constituent elements, and do not limit one or more additional functions, operations and constituent elements. In this application, terms such as "include" and / or "have" may be interpreted as indicating specific characteristics, numbers, operations, constituent elements, components or combinations thereof, but may not be interpreted as excluding the existence or possibility of adding one or more other characteristics, numbers, operations, constituent elements, components or combinations thereof.

[0052] It should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0053] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0054] 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, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0055] It will be easily understood by those skilled in the art that the above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A split underwater pipeline inspection robot, characterized in that: The detection robot comprises a detection posture adjustment cabin (1), a propulsion cabin (2) and an energy cabin (3), wherein the detection posture adjustment cabin (1), the propulsion cabin (2) and the energy cabin (3) are sequentially connected in series via a flexible cable (4), and an end of the energy cabin (3) facing away from the propulsion cabin (2) is connected to a communication cable (5), wherein: The detection and posture adjustment cabin (1) comprises a sensor and a posture adjustment propeller (1-1), wherein the sensor is used to detect underwater pipelines, and the posture adjustment propeller (1-1) is used to adjust the posture of the detection robot; The propulsion cabin (2) comprises a power propeller (2-1), and the power propeller (2-1) is used to control the forward and backward movement of the detection robot; The energy cabin (3) is used to provide energy to the detection and posture adjustment cabin (1) and the propulsion cabin (2).

2. The split underwater pipeline inspection robot according to claim 1, characterized in that: The cabin bodies of the detection and attitude adjustment cabin (1), the propulsion cabin (2) and the energy cabin (3) are spherical, and the connection portion between the flexible cable (4) and the cabin body coincides with the axial direction of the cabin body.

3. The split underwater pipeline inspection robot according to claim 1, characterized in that: The outer surface of the propulsion cabin (2) is evenly provided with a plurality of flow stabilization grooves (2-2) along the circumferential direction, and the flow stabilization grooves (2-2) are used to allow water flowing from the energy cabin (3) to the propulsion cabin (2) to pass through, so as to propel the detection attitude adjustment cabin (1).

4. The split underwater pipeline inspection robot according to claim 1, characterized in that: A propulsion channel (2-3) is provided in the cabin body of the propulsion cabin (2) along the axial direction, and a plurality of the propulsion channels (2-3) are distributed circumferentially in the cabin body with the axis of the propulsion cabin (2) as the center line, and the power propeller (2-1) is fixedly arranged in the propulsion channel (2-3).

5. The split underwater pipeline inspection robot according to claim 1, characterized in that: The attitude adjustment propeller (1-1) is embedded in the cabin body of the attitude adjustment detection cabin (1), and a plurality of the attitude adjustment propellers (1-1) are evenly distributed along the circumference of the cabin body of the attitude adjustment detection cabin (1).

6. The split underwater pipeline inspection robot according to claim 3, characterized in that: A through inner flow channel (1-2) is provided in the body of the detection and attitude adjustment cabin (1); the inner flow channel (1-2) comprises a main port (1-3) connected to an end of the detection and attitude adjustment cabin (1) facing away from the propulsion cabin (2) and a side port (1-4) connected to the outer peripheral surface of the cabin of the detection and attitude adjustment cabin (1); the attitude adjustment propeller (1-1) is fixedly mounted in the side port (1-4).

7. The split underwater pipeline inspection robot according to any one of claims 1 to 6, characterized in that: The sensor includes one or more of a camera (1-5), a pressure sensor, and a voiceprint sensor (1-7).

8. The split underwater pipeline inspection robot according to claim 7, characterized in that: When the sensor includes a camera (1-5), the camera (1-5) is arranged at one end of the detection and posture adjustment cabin (1) facing away from the propulsion cabin (2), and the detection and posture adjustment cabin (1) also includes a light source (1-6) for providing lighting.

9. A detection method, using a split underwater pipeline detection robot as claimed in any one of claims 1 to 8 to perform underwater pipeline detection, characterized in that: The following steps are involved: The detection robot is pushed to move in the underwater pipeline by means of a posture adjustment propeller (1-1) and a power propeller (2-1), and a communication cable (5) at the rear of the energy cabin (3) is retracted and released; The underwater pipeline is detected by detecting the sensor in the attitude adjustment cabin (1).

10. The detection method according to claim 9, characterized in that: When the detection robot is moved, the moving speed of the detection robot is adjusted so that the detection robot moves along the water flow direction at a speed lower than the water flow velocity, so that the water flow passing through the flow stabilization groove (2-2) of the propulsion cabin (2) stabilizes the propulsion cabin (2) and pushes the detection posture adjustment cabin (1).

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