A split-type underwater pipeline inspection robot and its inspection method

Abstract

This application belongs to the technical field of underwater pipeline inspection robots, specifically disclosing a split-type underwater pipeline inspection robot and its inspection method. The inspection robot includes an inspection and adjustment cabin, a propulsion cabin, and an energy cabin, which are connected in series via flexible cables. A communication cable is connected to the end of the energy cabin opposite to the propulsion cabin. The inspection and adjustment cabin includes sensors and an attitude adjustment thruster. The sensors are used to detect underwater pipelines, and the attitude adjustment thruster is used to adjust the robot's attitude. The propulsion cabin includes a power thruster used to control the robot's forward and backward movement. The energy cabin provides energy to the inspection and adjustment cabin and the propulsion cabin. The inspection robot of this application can adapt to various shape changes in underwater pipelines, flexibly turning and maneuvering, and can efficiently and reliably perform underwater pipeline inspection.

Description

Technical Field

[0001] This application belongs to the field of underwater pipeline inspection robot technology, and more specifically, relates to a split-type underwater pipeline inspection robot and its inspection method. Background Technology

[0002] With the acceleration of urbanization and the continuous growth of the population, urban water supply systems are becoming increasingly large and complex, making the inspection and mapping of underwater pipelines particularly important. Underwater pipeline inspection robots, as an important tool in this field, undertake tasks such as regular inspection, fault diagnosis, and mapping of underwater pipelines.

[0003] However, with increasingly complex underwater pipeline layouts, traditional underwater pipeline robots face the challenge of insufficient flexibility. When robots need to perform inspections inside narrow or winding underwater pipelines, traditional integrated underwater robots often cannot turn or maneuver flexibly, making it difficult to pass through narrow and winding underwater pipelines. This results in low inspection efficiency and even situations where the intended task cannot be completed. Therefore, improvements are urgently needed. Summary of the Invention

[0004] In response to the deficiencies or improvement needs of existing technologies, this application provides a split-type underwater pipeline inspection robot and its inspection method, aiming to improve the problems of traditional underwater robots being unable to turn and maneuver flexibly and pass through narrow underwater pipelines.

[0005] This application provides a split-type underwater pipeline inspection robot, specifically comprising an inspection and attitude adjustment cabin, a propulsion cabin, and an energy cabin. The inspection and attitude adjustment cabin, propulsion cabin, and energy cabin are connected in series via flexible cables. A communication cable is connected to the end of the energy cabin opposite to the propulsion cabin.

[0006] The detection and attitude adjustment cabin includes sensors and attitude adjustment thrusters. The sensors are used to detect underwater pipes, and the attitude adjustment thrusters are used to adjust the attitude of the detection robot.

[0007] The propulsion compartment includes a power thruster used to control the forward and backward movement of the detection robot;

[0008] The energy module is used to provide energy to the detection and attitude adjustment module and the propulsion module.

[0009] Compared with existing technologies, the technical solution conceived in this application comprises three compartments—an attitude adjustment compartment, a propulsion compartment, and an energy compartment—flexibly connected by flexible cables. By separating the attitude adjustment power and the forward / backward movement power into different compartments, the robot's movement becomes extremely flexible. Furthermore, due to its three-compartment, flexible design, the robot's shape can be effectively controlled, resulting in a slender and flexible overall shape that adapts to various shapes in underwater pipelines. It is particularly suitable for efficient and reliable inspection of the internal conditions of small-diameter pipelines and various bends, valves, and other similar environments.

[0010] In particular, the inspection attitude adjustment cabin with attitude adjustment thruster can operate independently of the propulsion cabin, realizing the separate configuration of the inspection robot's attitude direction (up, down, left, right, etc.) and forward and backward propulsion. This configuration allows the inspection robot to flexibly adjust its running direction while changing its attitude. Especially in narrow pipes, it can quickly and accurately shuttle and actively reverse, realizing the inspection robot's flexible turning and maneuvering, so as to actively pass through narrow pipes, curved pipes, etc., and is applicable to pipe condition inspection in various situations such as still water environment and dynamic water environment.

[0011] As a further preferred embodiment, the cabins of the detection and attitude adjustment cabin, propulsion cabin, and energy cabin are spherical in shape, and the connection points of the flexible cables with the cabins coincide with the axial direction of the cabins.

[0012] As a further preferred embodiment, the outer surface of the propulsion module is provided with a plurality of flow stabilizing channels evenly arranged circumferentially. The flow stabilizing channels are used to allow water flowing from the energy module to the propulsion module to pass through, so as to drive the detection and attitude adjustment module.

[0013] As a further preferred embodiment, a propulsion channel is provided through the propulsion compartment along the axial direction. Multiple propulsion channels are distributed circumferentially around the axis of the propulsion compartment, and the power thruster is fixedly installed in the propulsion channel.

[0014] As a further preferred embodiment, the attitude adjustment thruster is embedded in the body of the attitude adjustment cabin, and multiple attitude adjustment thrusters are evenly distributed along the circumference of the body of the attitude adjustment cabin.

[0015] As a further preferred embodiment, the detection and attitude adjustment cabin is provided with a through internal flow channel, the internal flow channel having a main port connected to the end of the detection and attitude adjustment cabin opposite to the propulsion cabin and a side port connected to the outer peripheral surface of the detection and attitude adjustment cabin, the attitude adjustment thruster being fixedly installed in the side port.

[0016] As a further preferred embodiment, the sensor includes one or more of a camera, a pressure sensor, and a voiceprint sensor.

[0017] As a further preferred embodiment, when the sensor includes a camera, the camera is positioned at the end of the attitude adjustment cabin away from the propulsion cabin, and the attitude adjustment cabin also includes a light source for providing illumination.

[0018] The detection method provided in the second aspect of this application adopts the following technical solution:

[0019] A detection method, employing any of the split-type underwater pipeline inspection robots described in the first aspect, includes the following steps:

[0020] The robot is propelled through the underwater pipeline by attitude adjustment thrusters and power thrusters, and the communication cable at the tail of the energy compartment is retracted and extended.

[0021] The underwater pipeline is detected by sensors in the attitude control cabin.

[0022] As a further preferred option, when moving the detection robot, the robot's speed is adjusted so that it moves in the direction of the water flow at a speed lower than the water flow velocity, thereby stabilizing the water flow in the stabilizing channel of the propulsion chamber and propelling the detection and attitude adjustment chamber.

[0023] In summary, compared with the prior art, the technical solutions conceived in this application have the following main technical advantages:

[0024] 1. This inspection robot features a three-compartment, split, flexible design, which effectively controls the shape of each compartment, resulting in a slender and flexible overall shape that can adapt to various shape changes in underwater pipelines. It is especially suitable for condition inspection of small-diameter pipelines and various bends, valves, and other environments.

[0025] 2. This inspection robot separates the attitude adjustment power and the forward and backward movement power into different compartments, which enables it to flexibly adjust its running direction while changing the robot's attitude, thus achieving flexible turning and maneuvering within the pipeline.

[0026] 3. This inspection robot has multiple flow stabilization channels designed on the outer surface of the propulsion compartment. When the inspection robot moves in the direction of the water flow at a speed lower than the water flow velocity, the water flow can generate a certain propulsion force. This allows the water flowing from the energy compartment to the propulsion compartment to propel the inspection and attitude adjustment compartment forward after passing through the flow stabilization channels. This ensures that the inspection and attitude adjustment compartment can move forward smoothly and drive the subsequent propulsion compartment and energy compartment to perform turning and changing direction. At the same time, it can reduce the power consumption of the inspection robot and improve energy efficiency. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the overall structure of a split-type underwater pipeline inspection robot provided in an embodiment of this application;

[0028] Figure 2 This is an exploded view of the detection robot provided in an embodiment of this application;

[0029] Figure 3 This is a schematic diagram of the propulsion module provided in the embodiments of this application;

[0030] Figure 4 This is a schematic flowchart of the detection method provided in the embodiments of this application.

[0031] In all the accompanying drawings, the same reference numerals are used to denote the same elements or structures, wherein:

[0032] 1. Attitude Adjustment Cabin; 1-1. Attitude Adjustment Thruster; 1-2. Inner Flow Channel; 1-3. Main Port; 1-4. Side Port; 1-5. Camera; 1-6. Light Source; 1-7. Acoustic Sensor; 1-8. Control Module; 2. Propulsion Cabin; 2-1. Power Thruster; 2-2. Flow Stabilizer; 2-3. Propulsion Channel; 3. Energy Cabin; 3-1. Lithium Battery; 3-2. Optical Module; 4. Flexible Cable; 5. Communication Cable. Detailed Implementation

[0033] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0034] The following is in conjunction with the appendix Figures 1-4 This application will be described in further detail.

[0035] This application discloses a split-type underwater pipeline inspection robot. (Refer to...) Figures 1-3 The split-type underwater pipeline inspection robot includes an inspection and attitude adjustment cabin 1, a propulsion cabin 2, and an energy cabin 3. The inspection and attitude adjustment cabin 1, propulsion cabin 2, and energy cabin 3 are connected in series by a flexible cable 4. The end of the energy cabin 3 facing away from the propulsion cabin 2 is connected to a communication cable 5. The inspection and attitude adjustment cabin 1 includes a sensor and an attitude adjustment thruster 1-1. The sensor is used to detect underwater pipelines, and the attitude adjustment thruster 1-1 is used to adjust the attitude of the inspection robot. The propulsion cabin 2 includes a power thruster 2-1, which 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 and attitude adjustment cabin 1 and the propulsion cabin 2.

[0036] Compared to traditional single-compartment integrated inspection robots, this inspection robot consists of three compartments—an inspection and attitude adjustment compartment 1, a propulsion compartment 2, and an energy compartment 3—flexibly connected by flexible cables 4. By separating the attitude adjustment power and the forward and backward movement power into different compartments, the robot's movement becomes extremely flexible. Furthermore, the three-compartment split design effectively controls the shape of each compartment, resulting in a slender and flexible overall shape that can adapt to various shapes of underwater pipelines, making it particularly suitable for small-diameter pipelines and various bends, valves, and other similar applications.

[0037] In particular, the inspection attitude adjustment chamber 1, equipped with the attitude adjustment thruster 1-1, can operate independently of the propulsion chamber 2, enabling separate configuration of the inspection robot's attitude direction (up, down, left, right, etc.) and forward and backward propulsion. This configuration allows the inspection robot to flexibly adjust its running direction while changing its attitude, especially in narrow pipes (e.g., by setting the maximum diameter of the chamber to 85mm to inspect pipes larger than 90mm in diameter), enabling it to quickly and accurately shuttle and actively reverse, achieving flexible turning and maneuvering, and actively navigating through narrow and curved pipes. Furthermore, due to the robot's flexibility, maneuverability, and miniaturization design, it is suitable for various environments, including still and flowing water, and for inspecting pipes with diameters from DN100 to DN400.

[0038] Furthermore, in special working conditions such as pipeline sidewall leakage detection and ultra-high-speed water flow pipeline detection, this inspection robot can quickly adjust and stabilize its posture (especially adjusting the robot's vertical, horizontal, and other travel angles) through the attitude adjustment thrusters 1-1 located in the head-mounted inspection attitude adjustment cabin 1, allowing the inspection robot to actively move, which helps the inspection robot escape from dangerous areas such as leak points. Meanwhile, the power thrusters 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 power thrusters 2-1 can propel the propulsion cabin 2 in the opposite direction, creating a balance between the propulsion cabin 2 and the inspection attitude adjustment cabin 1—the tension of the flexible cable 4, the impact force of the water flow, and the thrust of the propulsion cabin 2—ensuring stable operation of the inspection robot and preventing it from being swept away by the high-speed water flow and losing control.

[0039] Furthermore, in some embodiments, the detection robot maintains neutral buoyancy in the water, and the cabins (i.e., shell structures) of the attitude adjustment cabin 1, propulsion cabin 2, and energy cabin 3 are spherical, with the connection points of the flexible cable 4 to the cabins coinciding with the axial direction of the cabins.

[0040] This design gives the inspection robot with a spherical cabin excellent hydrodynamic and maneuverability, effectively reducing flow resistance in water and allowing it to maintain stability in complex water flow environments, minimizing the risk of getting stuck in underwater pipes. The spherical shape also provides good structural strength, enabling the robot to withstand external pressures in the underwater environment, especially in deep water or areas with strong currents. This improves the robot's lifespan and reliability under various extreme conditions. Furthermore, the rounded surface of the spherical cabin reduces the contact area with the pipe wall, making the robot less prone to getting stuck and facilitating its use.

[0041] Furthermore, in some embodiments, the attitude adjustment thruster 1-1 is embedded in the body of the attitude adjustment detection cabin 1, and the attitude adjustment thruster 1-1 does not protrude from the outer surface of the cabin. Multiple attitude adjustment thrusters 1-1 are evenly distributed along the circumference of the body of the attitude adjustment detection cabin 1.

[0042] Specifically, the cabin of the attitude adjustment cabin 1 is provided with a through internal flow channel 1-2. The internal flow channel 1-2 has a main port 1-3 connected to the end of the attitude adjustment cabin 1 opposite to the propulsion cabin 2, and a side port 1-4 connected to the outer peripheral surface of the cabin of the attitude adjustment cabin 1. The attitude adjustment thruster 1-1 is fixedly installed in the side port 1-4.

[0043] like Figure 1 As shown, in some specific embodiments, three side ports 1-4 are evenly arranged circumferentially on the outer peripheral surface of the attitude adjustment cabin 1. Each of the three side ports 1-4 contains an attitude adjustment thruster 1-1, and the three attitude adjustment thrusters 1-1 are integrated within the cabin of the attitude adjustment cabin 1 and share a main port 1-3. Preferably, the thrusting direction of the attitude adjustment thruster 1-1 is consistent with the opening direction of the side port 1-4 it is located in. In other embodiments, the number of side ports 1-4 and attitude adjustment thrusters 1-1 can also be four, five, etc.

[0044] Furthermore, in some embodiments, the sensor includes one or more of cameras 1-5, pressure sensors, and acoustic sensors 1-7. Preferably, in some embodiments, when the sensor includes cameras 1-5, the cameras 1-5 are disposed at the end of the attitude adjustment cabin 1 facing away from the propulsion cabin 2, and the attitude adjustment cabin 1 also includes light sources 1-6 for providing illumination.

[0045] like Figure 1 and Figure 2As shown, in some specific embodiments, the detection and attitude adjustment cabin 1 includes a cabin body, on which are mounted cameras 1-5, light sources 1-6, acoustic signature sensors 1-7, pressure sensors, and attitude adjustment thrusters 1-1. Cameras 1-5 are preferably binocular cameras, positioned at the front end of the detection and attitude adjustment cabin 1, used to capture and recognize images of the front of the detection robot and obtain depth information for the control terminal to perform 3D modeling of the internal environment of the pipeline. Light sources 1-6 are preferably ring light sources 1-6 (i.e., ring-shaped light-emitting devices, such as light-emitting diodes), also positioned at the front end of the detection and attitude adjustment cabin 1, used to provide illumination. Acoustic signature sensors 1-7 are used to acquire acoustic signatures inside the pipeline for diagnostic purposes, and are preferably positioned at the front end of the detection and attitude adjustment cabin 1. The attitude adjustment thrusters 1-1 are preferably positioned on the circumferential surface of the detection and attitude adjustment cabin 1, used to adjust the posture of the detection robot and for its steering. The pressure sensors are used to acquire pressure data inside the pipeline.

[0046] Furthermore, such as Figure 1 , Figure 3 In some embodiments, a plurality of flow stabilizing grooves 2-2 are uniformly arranged circumferentially on the outer surface of the propulsion chamber 2 (the number can be three, four, or five, etc., and can be set based on actual needs, chamber size specifications, etc.). Preferably, the flow stabilizing groove 2-2 is a groove extending through both ends along the axial direction. The inner wall of the groove is an arc-shaped surface extending circumferentially towards the outer surface of the chamber. The minimum distance between the inner wall of the groove and the axis of the propulsion chamber 2 is less than the maximum outer diameter of the detection and attitude adjustment chamber 1, so that the water flowing from the energy chamber 3 to the propulsion chamber 2 can flow to the end face of the detection and attitude adjustment chamber 1 facing the propulsion chamber 2 after passing through the flow stabilizing groove 2-2, thereby generating thrust. Preferably, the end face of the attitude adjustment chamber 1 facing the propulsion chamber 2 is spherical.

[0047] In this design, the flow stabilization channel 2-2 helps improve the flow state of water on the surface of the inspection robot, thereby reducing flow resistance. This is beneficial for improving the robot's movement speed and stability. In particular, when the inspection robot moves in the direction of the water flow at a speed lower than the water flow velocity, the shape and layout of the flow stabilization channel 2-2 can generate a certain propulsion force. This allows the water flowing from the energy compartment 3 to the propulsion compartment 2 to propel the inspection and attitude adjustment compartment 1 forward after passing through the flow stabilization channel 2-2. This ensures that the inspection and attitude adjustment compartment 1 can move forward smoothly, and through the inspection and attitude adjustment compartment 1, it can drive the subsequent propulsion compartment 2 and energy compartment 3 to perform turning and other operations. This design can effectively reduce the power consumption of the inspection robot and improve energy efficiency.

[0048] Furthermore, such as Figure 1As shown, in some embodiments, a propulsion channel 2-3 is axially arranged through the propulsion chamber 2. Multiple propulsion channels 2-3 are distributed circumferentially within the chamber, centered on the axis of the propulsion chamber 2 (the number can be three, four, or five, etc., depending on actual needs, chamber dimensions, etc.). Correspondingly, multiple power thrusters 2-1 are provided, and each power thruster 2-1 is fixedly installed within one of the multiple propulsion channels 2-3. The power thrusters 2-1 provide forward and backward driving force, thereby enabling the detection robot to move forward and backward.

[0049] Furthermore, such as Figure 1 and Figure 2 As shown, in some embodiments, the energy compartment 3 includes a compartment body and a battery module built into the compartment body. The battery module includes, but is not limited to, lithium batteries 3-1. For example, the battery module includes three lithium batteries 3-1 arranged in the compartment body. The three lithium batteries 3-1 are used to provide energy to the sensors, thrusters and other components in the robot.

[0050] Furthermore, in some embodiments, the flexible cable 4 is a cable, the communication cable 5 is a zero-buoyancy optical fiber cable, and the energy module is also provided with an optical module 3-2, which is used to convert optical signals and electrical signals, thereby realizing signal conversion between the cable and the zero-buoyancy optical fiber cable.

[0051] Furthermore, in some embodiments, the attitude adjustment cabin 1 is also equipped with a control module 1-8 (such as a control board). The control module 1-8 is connected to various sensors, thrusters, light sources 1-6 and other devices via flexible cables 4. The control module 1-8 is used to communicate with external control terminals or other external devices via optical modules 3-2 and communication cables.

[0052] It's important to note that spheroidal shape is a term used to describe the shape of an object, referring to an object whose shape resembles a sphere but is not exactly a perfect sphere. For example, a spheroidal shape can be an approximate standard sphere whose difference from the standard sphere is less than a predetermined error. Other spheroidal shapes include ellipsoids, oblate spheroids, irregular spheroids, and polyhedra. Among these, ellipsoids are the most common spheroidal shape, characterized by two or three axes of different lengths, yet maintaining overall symmetry. Oblate spheroids are flatter in two directions than in the third, resembling a flattened sphere. Irregular spheroids are objects whose shape is close to a sphere, but whose surfaces may have uneven features. Polyhedra, while typically having defined planes and angles, can be very close to a sphere (e.g., truncated octahedrons or truncated icosahedrons).

[0053] It should be noted that the flexible cable 4 is a type of cable with good bending performance and durability. It typically consists of multiple independent wires arranged side-by-side within the same flexible sheath, and each wire can usually be used independently. Due to its flexibility, the flexible cable 4 can be used flexibly in confined spaces or dynamic environments, withstand repeated bending without easily breaking, and ensure a long-term stable electrical connection. Reliable electrical connections can be achieved between adjacent compartments via the flexible cable 4. Furthermore, when the inspection robot traverses curved pipes (such as through bends, tees, etc.), the flexible cable 4 between compartments can adapt to changes in the pipe shape, allowing the inspection robot to pass smoothly during the operation of the attitude adjustment thruster 1-1 and the power thruster 2-1.

[0054] It should be noted that zero-buoyancy fiber optic cable is a type of underwater communication cable. Its characteristic is that the cable has zero buoyancy in the water, meaning that the cable maintains neutral buoyancy in the water and will neither float nor sink, thereby reducing the impact of water buoyancy and ensuring stability and reliability during underwater operations.

[0055] It should be noted that the "axial direction" described in this application refers to the direction of the central axis of the attitude adjustment cabin 1, propulsion cabin 2, and energy cabin 3. Figure 1 As shown, when the attitude adjustment module 1, propulsion module 2, and energy module 3 are arranged in a straight line, the direction indicated by arrow A is the axial direction. When the module is ellipsoidal, the modules should be connected in series along their major axis, and in this case, the major axis of the module is the axial direction of each module.

[0056] It should be noted that underwater pipelines refer to pipeline systems used to transport liquids, gases, or solid particles in underwater environments. These pipelines are widely used in various industries, including energy, transportation, and environmental monitoring. Examples include sewage discharge pipelines, oil pipelines, and water supply pipelines.

[0057] This application also discloses a detection method, which uses any of the above-mentioned split-type underwater pipeline inspection robots to perform underwater pipeline inspection, referring to... Figure 4 The detection method includes the following steps:

[0058] The communication cable is connected to an external control terminal. The robot is propelled to move inside the underwater pipeline by the attitude adjustment thruster 1-1 and the power thruster 2-1. The communication cable 5 is wound up and down by an external cable winding and unwinding device.

[0059] The underwater pipeline was detected by sensors in attitude adjustment cabin 1.

[0060] Preferably, when inspecting an underwater pipe with dynamic water flow inside, the moving speed of the inspection robot is adjusted so that the inspection robot moves in the direction of the water flow at a speed lower than the water flow velocity. The water flow passing through the flow stabilization channel 2-2 of the propulsion chamber 2 stabilizes the propulsion chamber 2 and propels the inspection attitude adjustment chamber 1, so that the inspection robot moves forward stably.

[0061] The implementation principle of the inspection robot in this application embodiment is as follows: When using this inspection robot, after starting it and placing it into the 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. The control terminal processes the sensor data and provides the operator with internal information of the pipeline (related data information, visual information, etc.) to provide technical and data support for the inspection and mapping of underwater pipelines.

[0062] Operators can send control commands to the inspection robot and external wire take-up / delivery devices via the operation control terminal. For example, a control command sent to the inspection robot via the operation control terminal is converted by the optical module 3-2 and then sent to the control module 1-8, which controls the operation of the inspection robot. Similarly, a control command sent to the wire take-up / delivery device via the operation control terminal controls the operation of the device. The operating principles of the control module 1-8 and the control terminal are existing technologies and will not be elaborated upon here.

[0063] It should be understood that expressions such as "comprising" and "may include" as 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 "comprising" and / or "having" may be interpreted as indicating a specific characteristic, number, operation, constituent element, component, or combination thereof, but should not be interpreted as excluding the existence or possibility of adding one or more other characteristics, numbers, operations, constituent elements, components, or combinations thereof.

[0064] It should be understood that the terms “center,” “upper,” “lower,” “front,” “rear,” “left,” “right,” “vertical,” “horizontal,” “inner,” “outer,” “clockwise,” “counterclockwise,” “axial,” “radial,” and “circumferential” indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0065] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0066] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0067] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A split-type underwater pipeline inspection robot, characterized in that, The inspection robot includes an inspection and adjustment cabin (1), a propulsion cabin (2), and an energy cabin (3). The inspection and adjustment cabin (1), the propulsion cabin (2), and the energy cabin (3) are connected in series via flexible cables (4). A communication cable (5) is connected to the end of the energy cabin (3) facing away from the propulsion cabin (2). The detection and attitude adjustment cabin (1) includes a sensor and an attitude adjustment thruster (1-1). The sensor is used to detect underwater pipes, and the attitude adjustment thruster (1-1) is used to adjust the attitude of the detection robot. The propulsion chamber (2) includes a power thruster (2-1), which is used to control the forward and backward movement of the detection robot; the outer surface of the propulsion chamber (2) is uniformly provided with a plurality of flow stabilizing channels (2-2) along the circumference, which are used to allow water flowing from the energy chamber (3) to the propulsion chamber (2) to pass through, so as to propel the detection attitude adjustment chamber (1); The energy compartment (3) is used to provide energy to the detection and attitude adjustment compartment (1) and the propulsion compartment (2).

2. The split-type underwater pipeline inspection robot as described in claim 1, characterized in that, The cabins of the detection and attitude adjustment cabin (1), propulsion cabin (2) and energy cabin (3) are spherical in shape, and the connection part of the flexible cable (4) with the cabin body coincides with the axial direction of the cabin body.

3. The split-type underwater pipeline inspection robot as described in claim 1, characterized in that, The propulsion compartment (2) has a propulsion channel (2-3) running through it along the axial direction. Multiple propulsion channels (2-3) are distributed around the circumference of the compartment with the axis of the propulsion compartment (2) as the center line. The power thruster (2-1) is fixedly installed in the propulsion channel (2-3).

4. The split-type underwater pipeline inspection robot as described in claim 1, characterized in that, The attitude adjustment thruster (1-1) is embedded in the body of the attitude adjustment cabin (1), and multiple attitude adjustment thrusters (1-1) are evenly distributed along the circumference of the body of the attitude adjustment cabin (1).

5. The split-type underwater pipeline inspection robot as described in claim 1, characterized in that, The detection and attitude adjustment cabin (1) has a through internal flow channel (1-2) in its cabin body. The internal flow channel (1-2) has a main port (1-3) connected to the end of the detection and attitude adjustment cabin (1) away from the propulsion cabin (2) and a side port (1-4) connected to the outer peripheral surface of the cabin body. The attitude adjustment thruster (1-1) is fixedly installed in the side port (1-4).

6. The split-type underwater pipeline inspection robot as described in any one of claims 1-5, characterized in that, The sensors include one or more of a camera (1-5), a pressure sensor, and a voiceprint sensor (1-7).

7. The split-type underwater pipeline inspection robot as described in claim 6, characterized in that, When the sensor includes a camera (1-5), the camera (1-5) is located 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 illumination.

8. A detection method, comprising using a split-type underwater pipeline inspection robot as described in any one of claims 1-7 for underwater pipeline inspection, characterized in that, Includes the following steps: The inspection robot is propelled to move inside the underwater pipe by the attitude adjustment thruster (1-1) and the power thruster (2-1), and the communication cable (5) at the tail of the energy compartment (3) is retracted and extended. The underwater pipeline is detected by detecting sensors in the attitude adjustment cabin (1).

9. The detection method as described in claim 8, characterized in that, When moving the detection robot, adjust the robot's speed so that it moves in the direction of the water flow at a speed lower than the water flow speed, so that the water flow through the stabilizing channel (2-2) of the propulsion chamber (2) stabilizes the propulsion chamber (2) and pushes the detection attitude adjustment chamber (1).

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