Double-intelligent-robot light control cooperation underwater pipeline external detection system and method

Abstract

According to the double-intelligent-robot light-control cooperative underwater pipeline external detection system and method, a pair of robot devices is ingeniously used for underwater pipeline external detection, the robot devices are connected through a zero-buoyancy cable, and on the basis, charging devices are arranged on the robot devices, so that when the robot devices work, the underwater pipeline external detection is carried out through the charging devices; wherein one robot device floats on the water surface for standby and charging, the other robot device sinks in water for pipeline external detection work through buoyancy regulation and control of the buoyancy assembly, the two robot devices cooperate with each other, the working continuity of underwater pipeline external detection is improved, meanwhile, the communication units of the pair of robot devices are in communication connection, and the communication efficiency is improved. According to the scheme, the robot device floating on the water surface for standby can forward information and provide communication capability compensation for the underwater robot device when the communication signal between the underwater robot device and the control center is weak, and the scheme is flexible and reliable to implement and high in cruising ability of detection work.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater pipeline external inspection robots and inspection systems, and in particular to a dual-intelligent robot light-driving collaborative underwater pipeline external detection system and method. Background Art

[0002] During the operation of submarine pipelines, due to changes in external factors, potential hazards threatening the pipeline safety may occur. Therefore, in-situ hazard treatment is required during operation and maintenance. The main purpose of submarine pipeline external inspection is to master the external conditions of the pipeline, and the main contents include the burial depth, route, orientation of the submarine pipeline, and the scouring conditions around the pipeline, etc. There are two types of previous submarine pipeline external detection systems: one is the engineering geophysical exploration method, which uses equipment such as shallow profilers and side-scan sonar systems for conventional submarine pipeline external detection. However, for submarine pipelines buried deeper or under complex geological conditions, some geophysical exploration systems may not be able to directly detect the specific location and burial depth of the pipeline. The other detection method is diving detection, which can be specifically performed by divers or remotely operated vehicles (ROVs) to execute underwater detection tasks. However, the manual method is accompanied by certain safety risks, and traditional ROVs are limited by the endurance, operation distance, and complex underwater environmental conditions, making it difficult to achieve remote real-time data transmission. Based on this, how to improve the reliability, convenience, and data transmission timeliness of submarine pipeline external inspection is a research topic with very positive practical significance. Summary of the Invention

[0003] In view of this, the purpose of the present invention is to propose a dual-intelligent robot light-driving collaborative underwater pipeline external detection system and method with reliable implementation, flexible application, and convenient data transmission.

[0004] In order to achieve the above technical objectives, the technical solutions adopted by the present invention are as follows:

[0005] A dual-intelligent robot light-controlling collaborative underwater pipeline external detection system, comprising a pair of robot devices, the pair of robot devices are electrically connected through a zero-buoyancy cable; the robot device comprises a body frame and a power supply component, a buoyancy component, a moving component, an adsorption component, a sensor group, a detection component and a control module all arranged on the body frame, the power supply component is electrically connected to the control module and provides electrical energy, the control module is connected to a communication unit, and the control modules of the pair of robot devices are communicatively connected through the communication unit; the zero-buoyancy cable is respectively connected to the control modules of the pair of robot devices, the buoyancy component is used to provide the buoyancy adjustment required for the robot device to lift underwater, the moving component is used to drive the robot device to move, the adsorption component is used to assist the robot device to attach to the outer surface of the pipeline, and the detection component is used to detect the outside of the pipeline; one or more of the buoyancy component, the moving component, the adsorption component, the sensor group, and the detection component are also connected to the control module, and are controlled by the control module.

[0006] As a possible implementation manner, further, the front end of the body frame of the present solution is also provided with a cleaning component, the cleaning component is used to clean the surface of the pipeline, and the cleaning component includes a cleaning brush head arranged at the front end of the body frame.

[0007] As a possible implementation mode, further, the mobile component of this solution includes:

[0008] A propulsion mechanism, comprising one or more vertical propellers and one or more horizontal propellers, wherein the one or more vertical propellers are symmetrically arranged on both sides of the lower part of the body frame and are used to propel the robot device up and down in the vertical direction; and the one or more horizontal propellers are symmetrically arranged on both sides of the upper part of the body frame and are used to propel the robot device forward and backward along a preset direction of travel; wherein the horizontal propellers and the vertical propellers are both electrically connected to the control module and are controlled by the control module to start and stop.

[0009] The walking mechanism comprises two pairs of walking wheels which are rotatably connected to the front and rear ends of the machine frame through rotating shafts.

[0010] As a preferred implementation option, preferably, the cross-sectional profile of the traveling wheel described in this solution is an equilateral hexagonal shape.

[0011] As a possible implementation mode, further, the adsorption component described in this scheme is a magnetic block component arranged on the lower end surface of the body frame, and the magnetic block component generates magnetic attraction with the metal pipe to assist the robot device to adhere to the outer surface of the pipe.

[0012] As a possible implementation, further, the sensor group described in this solution includes one or more of a positioning sensor, a depth sensor, and a pressure sensor, all of which are connected to the control module.

[0013] As a possible implementation, further, the detection component described in this solution includes a camera and an illumination unit. The camera is a visible light camera. The illumination unit includes an LED light source disposed on the body frame and electrically connected to the control module. The LED light source is used for auxiliary illumination to provide light for the camera to collect images.

[0014] As a preferred implementation option, preferably, the power supply component described in this solution includes:

[0015] A solar charging panel assembly, disposed on the upper end face of the body frame;

[0016] Tempered glass, covering the upper end face of the solar charging panel assembly;

[0017] A storage battery, disposed within the body frame and electrically connected to the control module and the solar charging panel assembly respectively;

[0018] Among them, between a pair of the robot devices, power supply or charging can be performed with each other through the control module.

[0019] As a preferred implementation option, preferably, the buoyancy component described in this solution includes an airbag, a gas storage cylinder, and an electromagnetic valve. Compressed nitrogen is stored in the gas storage cylinder. The electromagnetic valve is respectively connected to the gas storage cylinder and the airbag to control the inflation and deflation of the airbag.

[0020] Based on the above, this solution also provides a method for dual-intelligent robot light-riding collaborative underwater pipeline external detection, which applies the above-mentioned dual-intelligent robot light-riding collaborative underwater pipeline external detection system, and includes the following steps:

[0021] S01. According to the position information of the pipeline to be detected, place a pair of the robot devices in the water area where the pipeline to be detected is located, and then use one of the robot devices as the detection end and the other robot device as the standby end floating on the water surface;

[0022] S02. Control the buoyancy component of the robot device used as the detection tool to reduce the buoyancy effect, so that the robot device sinks;

[0023] Control the moving component to adjust the attitude and / or the falling trajectory of the robot device, so that the robot device lands on the surface of the pipeline to be detected, and assist the robot device to adhere to the outer surface of the pipeline through the adsorption component;

[0024] The detection component is used to detect the outside of the pipeline to obtain detection data. At the same time, the sensor group senses and feeds back sensing information on the robot device itself or its surrounding environment;

[0025] Among them, both the detection data and the sensing information are sent to the background control center through the communication unit of the control component;

[0026] S03. The robot device as the standby end converts external solar energy through the power supply component, and then charges itself and / or charges the robot device as the detection end through a zero-buoyancy cable;

[0027] S04. Detect the power of a pair of the robot devices. When the power of the robot device as the detection end is lower than the preset value, detect the power of the robot device as the standby end.

[0028] When the power of the robot device as the standby end is higher than the preset value, set the current robot device as the detection end as the standby end, control its buoyancy component to increase the buoyancy effect through the control component thereon, so that the robot device floats to the water surface. At the same time, set the original robot device as the standby end as the detection end, and then execute S02;

[0029] When the power of the robot device as the standby end is less than the preset value, set the current robot device as the detection end as the standby end, and control its buoyancy component to increase the buoyancy effect through the control component thereon, so that the robot device floats to the water surface.

[0030] Adopting the above technical solution, compared with the prior art, the present invention has the following beneficial effects: This solution ingeniously uses a pair of robot devices to detect the outside of the underwater pipeline. The two are connected by a zero-buoyancy cable. On this basis, charging devices are deployed on both of the pair of robot devices, so that when they are working, one of the robot devices floats on the water surface for standby and charging, and the other robot device sinks into the water for external pipeline detection work through the buoyancy regulation of the buoyancy component. The two cooperate with each other, improving the work continuity of the external detection of the underwater pipeline. At the same time, the communication units of the pair of robot devices are communicatively connected to each other, so that the robot device floating on the water surface for standby can forward information for it when the communication signal between the underwater robot device and the control center is weak, providing communication capacity compensation. This solution is not only flexible and reliable in implementation, but also has strong detection work endurance. In addition, this system not only effectively extends the total duration of underwater operations, but also significantly improves the efficiency and reliability of external pipeline detection. Description of the Drawings

[0031] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0032] Figure 1 is one of the brief schematic examples of the connection between components and the control module on a pair of robot devices in the detection system of this solution;

[0033] Figure 2 is the state schematic of the detection implementation of the detection system of this solution in water;

[0034] Figure 3 is the three-dimensional perspective schematic diagram of the brief implementation structure of the robot device of the system of this solution;

[0035] Figure 4 is the two-dimensional perspective schematic diagram of the brief implementation structure of the robot device of the system of this solution;

[0036] Figure 5 is the brief schematic diagram of the charging component of the robot device of the system of this solution and its connection with the control module;

[0037] Figure 6 is the schematic diagram of the connection structure of some parts of the buoyancy component of the robot device of the system of this solution. Detailed implementation manners

[0038] The following will further describe the present invention in detail in conjunction with the drawings and embodiments. It should be specifically pointed out that the following embodiments are only used to illustrate the present invention, but do not limit the scope of the present invention. Similarly, the following embodiments are only some embodiments of the present invention rather than all embodiments. All other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0039] As Figures 1 to 6 shown in one of them, in the solution of this embodiment, a dual-intelligent robot light-riding collaborative underwater pipeline external detection system includes a pair of robot devices 20 and 30. The pair of robot devices 20 and 30 are electrically connected through a zero-buoyancy cable 1; the robot devices 20 and 30 include a body frame 21\31 and a power supply component, a buoyancy component, a moving component, an adsorption component, a sensor group, a detection component, and a control module 16 all arranged on the body frame 21\31.

[0040] Among them, the power supply component is electrically connected to the control module 16 and provides electrical energy. The control module 16 is connected to a communication unit 15. The control modules 16 of a pair of the robot devices 20 and 30 are communicatively connected through the communication unit 15; the zero-buoyancy cable 1 is respectively connected to the control modules 16 of a pair of the robot devices 20 and 30. The buoyancy component is used to provide the buoyancy adjustment required for the robot devices 20 and 30 to lift underwater. The moving component is used to drive the robot devices 20 and 30 to move. The adsorption component is used to assist the robot devices 20 and 30 to adhere to the outer surface of the pipeline. The detection component is used to detect the outside of the pipeline; one or more of the buoyancy component, the moving component, the adsorption component, the sensor group, and the detection component are also connected to the control module and are controlled by the control module 16 to work.

[0041] Among them, a winding component 6 can be arranged on the body frames 21 and 31 of the robot devices 20 and 30 to assist in winding the zero-buoyancy cable 1, so as to release the free length of the zero-buoyancy cable 1 according to the relative distance or the set distance between a pair of the robot devices 20 and 30. In this solution, when one of the robot devices is underwater, there may be a weak signal with the control center on the ship. Therefore, through the communication between a pair of robot devices, the robot device floating on the water can be used to transmit the collected information or data.

[0042] As an example of the communication method, the communication units can adopt wireless communication technologies, such as underwater laser communication, to achieve real-time, high-speed, and stable data transmission between a pair of robot devices.

[0043] As a possible implementation manner, further, a cleaning component 4 is further arranged at the front end of the body frames 21 and 31 of this solution. The cleaning component 4 is used to clean the surface of the pipeline. The cleaning component includes a cleaning brush head arranged at the front end of the body frames 21 and 31.

[0044] The moving component of this solution includes:

[0045] A propulsion mechanism, including more than one pair of vertical thrusters 8 and more than one pair of horizontal thrusters 6. More than one pair of vertical thrusters 8 are symmetrically arranged on both sides of the lower part of the body frames 21 and 31 and are used to propel the robot device to lift and lower in the vertical direction; more than one pair of horizontal thrusters 6 are symmetrically arranged on both sides of the upper part of the body frames 21 and 31 and are used to propel the robot devices 20 and 30 to move forward and backward along the preset traveling direction; among them, the horizontal thrusters 6 and the vertical thrusters 7 are both electrically connected to the control module 16 and are controlled by it to open and close.

[0046] The traveling mechanism includes two pairs of traveling wheels 5, which are respectively rotatably connected to both sides of the front and rear ends of the body frames 21 / 31 through rotating shafts. As a preferred implementation option, preferably, the cross-sectional profile of the traveling wheels 5 in this solution is an equilateral hexagon. The special shape of the hexagon can adapt to the shapes of different pipe outer walls, enhance the fitting ability, and improve the stability of the robot device during crawling.

[0047] In this solution, the vertical thruster can be controlled to realize the lifting movement during the movement of the underwater robot; the horizontal thruster can be controlled to realize the forward and backward movement during the movement of the underwater robot, and provide attitude adjustment for the robot device during asynchronous control.

[0048] Regarding the adsorption component, as a possible implementation manner, further, the adsorption component in this solution is a magnet block component 10 arranged on the lower end surface of the body frames 21 / 31. The magnet block component 10 generates magnetic suction force with the metal pipe to assist the robot devices 20 / 30 in attaching to the outer surface of the pipe. In this solution, the magnets of the magnet block component 10 can be permanent magnets or electromagnets. When it is an electromagnet, it is controlled to be energized through the control module 6 to realize the adjustment of magnetic force change.

[0049] In terms of the sensor group, as a possible implementation manner, further, the sensor group in this solution may include one or more of a positioning sensor, a depth sensor, and a pressure sensor, all of which are connected to the control module 16. Among them, the sensor group can be used to sense the surrounding environment, location, and forward distance of the robot device, providing necessary data support for the operation and control of the robot. Among them, the positioning sensor can be composed of multiple sensors such as an acoustic sensor and an inertial navigation system (INS), and can sense the position of the underwater robot; since the deployment of sensors is a common means, it will not be elaborated here.

[0050] In terms of detection and acquisition, as a possible implementation manner, further, the detection component in this solution includes a camera 3 and an illumination unit 2. The camera 3 is a visible light camera. The illumination unit 2 includes an LED light source arranged on the body frames 21 / 31 and electrically connected to the control module 16. The LED light source is used for auxiliary illumination to provide the light for the camera 3 to collect images.

[0051] In this solution, the visible light camera has a wide dynamic range and high sensitivity, can adapt to the changes of different underwater light environments, and can photograph the external situation of the pipe in all directions. The LED light source can be two narrow-band LED light sources, which are evenly distributed on both sides of the visible light camera and can provide clear and stable illumination for the camera.

[0052] For power supply, as a preferred implementation option, preferably, the power supply component described in this solution includes:

[0053] A solar charging panel assembly 12, disposed on the upper end surface of the body frame 21\31;

[0054] Tempered glass 13, covering the upper end surface of the solar charging panel assembly 12;

[0055] A storage battery 14, disposed within the body frame 21\31 and electrically connected to the control module 16 and the solar charging panel assembly 12 respectively;

[0056] Among them, between a pair of the robot devices 20, 30, power supply or charging can be performed mutually through the control module 16. In this solution, the solar charging panel is disposed on the upper surface of the carrier frame, capable of converting solar energy into electrical energy and storing it in the storage battery, and the storage battery provides electrical energy for each device of the robot body.

[0057] During the process of collaborative operation, a pair of the robot devices can communicate with each other to obtain the remaining power information of the other party. The surface robot can transmit power to the underwater operation robot through the zero-buoyancy cable connecting the two, ensuring the continuity of the operation. When the power of both robots is lower than the preset safety threshold, the surface robot remains in place for charging, while the underwater robot suspends the operation and floats to the water surface to charge using solar energy, effectively avoiding the risk of power exhaustion; as another situation, when both robots are charging on the water surface and the power reaches above the preset threshold, based on the intelligent preset judgment of the power information of each other, the robot device with more abundant power can be used as the detection end, and it is commanded to dive underwater to continue executing the established operation task.

[0058] In the face of bad weather conditions where solar charging cannot be utilized, the surface robot sends a warning signal to the on-board control center in real time through the communication device, ensuring that the operator can respond in a timely manner and take necessary recovery measures to ensure the safety of the robot.

[0059] In terms of buoyancy control, as a preferred implementation option, preferably, the buoyancy component described in this solution includes an airbag 11, a gas storage cylinder 17, and a solenoid valve 18. Compressed nitrogen is stored in the gas storage cylinder 17, and the solenoid valve 18 is respectively connected to the gas storage cylinder 17 and the airbag 11 for controlling the inflation and deflation of the airbag 11. As an example, the gas storage cylinder 17 is filled with compressed nitrogen, and its pressure reaches above 5 atmospheres. The robot controls the solenoid valve to change the flow direction of the compressed gas, realizing the commutation control of the gas.

[0060] Combined with Figures 1 to 6As shown in one of the above, based on the above, the solution of this embodiment further provides a method for externally detecting an underwater pipeline through collaborative light control by dual intelligent robots, which applies the above-mentioned dual intelligent robot collaborative light control underwater pipeline external detection system, and includes the following steps:

[0061] S01. According to the position information of the pipeline to be detected, a pair of the robot devices 20 and 30 are placed in the water area where the pipeline to be detected is located, and then one of the robot devices 30 is used as the detection end, and the other robot device 20 floats on the water surface as the standby end;

[0062] S02. The control component of the robot device 30 used as the detection tool controls its buoyancy component to reduce the buoyancy effect, so that the robot device sinks;

[0063] The mobile component is controlled to adjust the posture and / or falling trajectory of the robot device 30, so that the robot device 30 lands on the surface of the pipeline to be detected, and the adsorption component is used to assist the robot device 30 to adhere to the outer surface of the pipeline;

[0064] The external part of the pipeline is detected by the detection component to obtain detection data. At the same time, the sensor group senses and feeds back sensing information on the robot device itself or its surrounding environment;

[0065] Among them, both the detection data and the sensing information are sent to the background control center through the communication unit of the control component;

[0066] S03. The robot device 20 as the standby end converts external solar energy through the power supply component, and then charges itself and / or charges the robot device 30 as the detection end through the zero-buoyancy cable 1;

[0067] S04. The power of a pair of the robot devices 20 and 30 is detected. When the power of the robot device as the detection end is lower than the preset value, the power of the robot device as the standby end is detected.

[0068] When the power of the robot device as the standby end is higher than the preset value, the current robot device as the detection end is set as the standby end, and its buoyancy component is controlled by the control component on it to increase the buoyancy effect, so that the robot device floats to the water surface. At the same time, the original robot device as the standby end is set as the detection end, and then S02 is executed;

[0069] When the power of the robot device as the standby end is less than the preset value, the current robot device as the detection end is set as the standby end, and its buoyancy component is controlled by the control component on it to increase the buoyancy effect, so that the robot device floats to the water surface.

[0070] The dual intelligent robot light-controlling collaborative underwater pipeline external detection system of this solution can be applied to submarine pipeline detection scenarios. Due to the complex situation of submarine pipelines, traditional geophysical exploration systems may not be able to directly detect the specific location and burial depth of the pipelines, and a single ROV is easily limited by its endurance, operating distance and underwater environmental conditions during operation. The following is a further explanation of this solution combined with an operation example, in which the robot device at the detection end is named Light Control 1, and the robot device at the standby end is named Light Control 2.

[0071] At the initial stage of the operation, the Light Rider 1 kept its airbag deflated, easily sank to the outside of the submarine pipeline, and used its motion device and cleaning device to move forward and clean the outside of the pipeline. At the same time, it used its sensor group to sense the outside of the pipeline and itself, collected external influences on the pipeline through detection components, and transmitted the real-time sensed and collected information on the external environment of the submarine pipeline to the control center on board.

[0072] At the same time, Guangyuzhe 2 is on standby on the water surface, controlling the electric valve in its buoyancy device to open in advance, filling the airbag with gas to ensure that Guangyuzhe 2 can float stably, and using the solar charging panels on its top to charge the battery, thereby storing sufficient energy for the upcoming mission.

[0073] Light Rider 1 identifies its location through positioning sensors and sends it to Light Rider 2 in real time through wireless communication. Light Rider 2 passively follows and moves on the water surface based on the received information, thereby maintaining vertical position synchronization with Light Rider 1 to ensure the efficiency and accuracy of collaborative operations.

[0074] During the operation, Guangyuzhe 2 transmits power to Guangyuzhe 1 through the zero-buoyancy cable connecting the two to ensure the continuity of the operation.

[0075] After a period of operation, when the power of Light Rider 1 drops below the preset threshold, Light Rider 1 sends a low-power signal to Light Rider 2 and opens its solenoid valve to allow compressed gas to flow from the gas cylinder to the airbag. The buoyancy gradually increases and rises to the surface, where it is charged using the solar charging panel on the top. After receiving the signal, Light Rider 2 quickly adjusts the solenoid valve to recycle the gas in the airbag to the gas tank, and gradually dives to the outside of the pipeline to take over the detection work of Light Rider 1. This cycle is repeated to ensure the uninterrupted progress of the detection task.

[0076] The above descriptions are only some embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Any equivalent device or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A dual intelligent robot light-controlling cooperative underwater pipeline external detection system, comprising a pair of robot devices, characterized in that: A pair of the robot devices are electrically connected via a zero-buoyancy cable; the robot device comprises a body frame and a power supply component, a buoyancy component, a moving component, an adsorption component, a sensor group, a detection component and a control module, all of which are arranged on the body frame; the power supply component is electrically connected to the control module and provides electrical energy; the control module is connected to a communication unit, and the control modules of the pair of the robot devices are communicatively connected via the communication unit; the zero-buoyancy cable is respectively connected to the control modules of the pair of the robot devices; the buoyancy component is used to provide the buoyancy adjustment required for the robot device to lift underwater; the moving component is used to drive the robot device to move; the adsorption component is used to assist the robot device to attach to the outer surface of the pipeline; and the detection component is used to detect the outside of the pipeline; one or more of the buoyancy component, the moving component, the adsorption component, the sensor group and the detection component are also connected to the control module and controlled by the control module.

2. The dual intelligent robot light-controlling cooperative underwater pipeline external detection system according to claim 1 is characterized in that: A cleaning assembly is also arranged at the front end of the body frame, and the cleaning assembly is used to clean the surface of the pipeline. The cleaning assembly comprises a cleaning brush head arranged at the front end of the body frame.

3. The dual intelligent robot light-controlling cooperative underwater pipeline external detection system according to claim 1 is characterized in that: The mobile assembly comprises: A propulsion mechanism, comprising one or more vertical propellers and one or more horizontal propellers, wherein the one or more vertical propellers are symmetrically arranged on both sides of the lower part of the body frame and are used to propel the robot device up and down in the vertical direction; and the one or more horizontal propellers are symmetrically arranged on both sides of the upper part of the body frame and are used to propel the robot device forward and backward along a preset direction of travel; wherein the horizontal propellers and the vertical propellers are both electrically connected to the control module and are controlled by the control module to start and stop. The walking mechanism comprises two pairs of walking wheels which are rotatably connected to the front and rear ends of the machine frame through rotating shafts.

4. The dual intelligent robot light-controlling cooperative underwater pipeline external detection system as claimed in claim 3 is characterized in that: The cross-sectional profile of the traveling wheel is an equilateral hexagonal shape.

5. The dual intelligent robot light-controlling cooperative underwater pipeline external detection system according to claim 1, characterized in that: The adsorption component is a magnetic block component arranged on the lower end surface of the body frame. The magnetic block component generates magnetic attraction with the metal pipe to assist the robot device to adhere to the outer surface of the pipe.

6. The dual intelligent robot light-controlling cooperative underwater pipeline external detection system according to claim 1, characterized in that: The sensor group includes: one or more of a positioning sensor, a depth sensor and a pressure sensor, all of which are connected to the control module.

7. The dual intelligent robot light-controlling cooperative underwater pipeline external detection system according to claim 1, characterized in that: The detection component includes a camera and a lighting unit. The camera is a visible light camera. The lighting unit includes an LED light source arranged on the body frame and electrically connected to the control module. The LED light source is used for auxiliary lighting to provide light for the camera to collect images.

8. The dual intelligent robot light-controlling cooperative underwater pipeline external detection system according to any one of claims 1 to 7, characterized in that: The power supply component comprises: A solar charging panel assembly is arranged on the upper end surface of the machine body frame; Tempered glass, covering the upper end surface of the solar charging panel assembly; A storage battery is arranged in the body frame and is electrically connected to the control module and the solar charging panel assembly respectively; Wherein, a pair of the robot devices can supply power or charge each other through the control module.

9. The dual intelligent robot light-controlling cooperative underwater pipeline external detection system as claimed in claim 8, characterized in that: The buoyancy assembly includes an air bag, a gas storage bottle and a solenoid valve. The gas storage bottle stores compressed nitrogen. The solenoid valve is connected to the gas storage bottle and the air bag respectively to control the inflation and deflation of the air bag.

10. A method for detecting the exterior of an underwater pipeline using dual intelligent robots and light control, which uses the dual intelligent robots and light control system for detecting the exterior of an underwater pipeline as claimed in any one of claims 1 to 9, characterized in that: It includes the following steps: S01. Based on the location information of the pipeline to be inspected, a pair of the robot devices are placed in the waters where the pipeline to be inspected is located, and then one of the robot devices is used as a detection end, and the other robot device is used as a standby end to float on the water surface; S02, controlling the buoyancy component of the robot device as the detection tool through the control component to reduce the buoyancy effect, so that the robot device sinks; Controlling the moving component to adjust the posture and / or falling trajectory of the robot device so that the robot device falls on the surface of the pipeline to be inspected, and assisting the robot device to adhere to the outer surface of the pipeline through the adsorption component; The detection component is used to detect the outside of the pipeline to obtain detection data, and at the same time, the sensor group is used to sense and feed back sensing information to the robot device itself or its surrounding environment; Wherein, the detection data and the sensing information are sent to the background control center through the communication unit of the control component; S03, the robot device as the standby end converts external solar energy through the power supply component, and then charges itself and / or charges the robot device as the detection end through the zero buoyancy cable; S04, detecting the power of a pair of robot devices, when the power of the robot device at the detection end is lower than a preset value, detecting the power of the robot device at the standby end, When the power of the robot device at the standby end is higher than the preset value, the robot device at the current detection end is set as the standby end, and the control component thereon controls its buoyancy component to increase the buoyancy effect, so that the robot device floats to the water surface, and at the same time, the robot device at the original standby end is set as the detection end, and then executes S02; When the power of the robot device at the standby end is less than a preset value, the robot device at the current detection end is set as the standby end, and its buoyancy component is controlled by the control component thereon to increase the buoyancy effect, so that the robot device floats to the water surface.

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