Foldable mobile clear-making detection device and method based on rotational flow field

Abstract

The invention discloses a foldable mobile cleaning detection device and method based on a rotational flow field. The movable folding component is installed on the top of the cleaning component, the detection component is connected to the inner top face of the cleaning component, the cleaning component is used for generating a clean water flow field, the one-way top cover is installed on the top of the water locking cover, and the water injection pump penetrates through a sealing hole in the water locking cover and then is connected with four horizontal tangential water injection openings of the four-way rotational flow generator. The four-way rotational flow generator is connected with the guide vanes through bearings and connected with the single-way top cover through the supporting columns, the underwater push rod is installed on the single-way top cover and used for pushing the hexagonal holder to move up and down, and then the unfolding and closing states of the water locking cover are changed through the framework. According to the invention, a stable clear water boundary is formed by designing a special swirling flow field, direct optical observation is carried out through the clear water flow field, rapid movement detection of the robot in a low-visibility water area is realized, and excellent detection stability and high-efficiency maneuverability are achieved.

Description

Technical Field

[0001] The present invention belongs to the technical field of underwater robot detection, and particularly relates to a foldable mobile water-clearing detection device and method based on a swirling flow field. Background Art

[0002] With the continuous increase in the development and utilization of water resources by humans, the demand for observing underwater resources, maintaining underwater equipment, and overhauling underwater facilities is growing day by day. In a clear water environment, an underwater robot can effectively observe and operate through a vision system. However, in a turbid water environment, due to extremely low visibility, traditional visual positioning methods are difficult to accurately identify the specific conditions of the operation position and operation area, which limits the application efficiency of underwater robots in such environments. In current underwater operation practices, for positions with less water volume, maintenance and repair are often carried out by draining the turbid water or manual exploration. However, for deep water environments and those occasions where personnel operation conditions are not available or the water body cannot be drained, there is currently no mature and effective solution. Underwater operations in these environments face multiple challenges such as low visibility, high water pressure, and complex water flows, and traditional vision and sonar technologies are limited under these conditions.

[0003] In recent years, the research on underwater detection technology has mainly focused on vision and image processing technology. Existing research mainly focuses on vision image processing algorithms for underwater detection, and the detection tools largely rely on the stability of the detection algorithms. In waters with low visibility, it is impossible to provide a satisfactory practical tool for the continuous detection application of underwater robots. Summary of the Invention

[0004] In order to solve the problems in the background art, the purpose of the present invention is to provide a foldable mobile water-clearing detection device and method based on a swirling flow field.

[0005] The technical solution adopted by the present invention is as follows:

[0006] I. A foldable mobile water-clearing detection device based on a swirling flow field:

[0007] It includes a water-clearing component, a mobile folding component, and a detection component; the mobile folding component is installed on the top of the water-clearing component, and the mobile folding component is used to control the unfolding and closing states of the water-locking cover in the water-clearing component. The outer periphery of the water-clearing component is connected to the framework of the mobile folding component, and the detection component is connected to the inner top surface of the water-clearing component. The water-clearing component is used to generate a clear water flow field, thereby realizing stable optical observation of the detection component underwater.

[0008] The water-clearing component includes a water injection pump, a four-way swirling generator, a support column, a guide vane, a water-locking cover, and a single-pass top cover;

[0009] The single-pass top cover is installed on the top of the water-lock cover. Four sealing holes are evenly spaced on the wall of the foldable water-lock cover. The four-way swirl generator is located inside the water-lock cover. Four horizontal tangential water injection ports are arranged on the outer periphery of the four-way swirl generator. One end of each of the four water pumps passes through the sealing holes on the water-lock cover and is respectively connected to the four horizontal tangential water injection ports of the four-way swirl generator. Bearings and guide vanes are arranged inside the four-way swirl generator. The inner ring and the outer ring of the bearing are respectively connected to the bottom of the guide vane and the cross-shaped bottom plate at the bottom of the four-way swirl generator. Four vertical support columns are evenly spaced on the outer periphery of the upper surface of the four-way swirl generator, and the tops of the support columns are connected to the lower surface of the single-pass top cover.

[0010] A single-pass drainage pipe for discharging turbid water is connected to the single-pass top cover. The water pump is used to pump clean water into the four-way swirl generator. The clean water pushes the guide vane to rotate, thereby forming a negative-pressure clean water flow field inside the water purification component. A mobile folding component and a detection component are connected to the single-pass top cover.

[0011] The mobile folding component is mainly composed of an underwater push rod and a folding footrest. The folding footrest includes a hexagonal cloud platform, several first-section skeletons and several second-section skeletons. The hexagonal cloud platform is movably connected to the single-pass drainage pipe of the single-pass top cover. Several first-section skeletons are evenly spaced along the circumference of the hexagonal cloud platform and are hinged to the outer periphery of the hexagonal cloud platform. A second-section skeleton is hinged to the bottom end of each first-section skeleton, and the upper part of the second-section skeleton is connected to the outer periphery of the single-pass top cover through a hinge.

[0012] The base of the underwater push rod is fixedly installed on the single-pass top cover of the water purification component. The top of the telescopic underwater push rod is fixedly connected to the hexagonal cloud platform. The underwater push rod is used to push the hexagonal cloud platform to move up and down, thereby changing the unfolded and closed states of the water-lock cover through the first-section skeletons and the second-section skeletons.

[0013] The detection component is mainly composed of four underwater cameras. The four underwater cameras are evenly spaced along the circumference of the single-pass top cover and are installed on the lower surface of the single-pass top cover. The underwater cameras are used to achieve stable underwater optical observation in the clean water flow field.

[0014] The single-pass drainage pipe is vertically and fixedly connected to the middle of the single-pass top cover. The bottom end of the single-pass drainage pipe is conical, and the bottom end of the single-pass drainage pipe is located directly above the four-way swirl generator, so that the turbid water in the water-lock cover flows to the outside of the detection device through the single-pass drainage pipe under the negative pressure of the clean water flow field.

[0015] Universal wheels for movement are arranged at the bottom end of the second-section skeleton. When the water-lock cover is in the unfolded state, the height of the universal wheels is lower than the lower surface of the water-lock cover, so that the universal wheels drive the whole device to move.

[0016] II. A foldable mobile cleaning and detection method, comprising the following steps:

[0017] First, place the device in the folded state in the area to be detected, and control the underwater push rod in the mobile folding component to extend, so as to push the hexagonal cloud platform in the mobile folding component to rise along the single-pass drainage pipe on the single-pass top cover. The hexagonal cloud platform drives the first section of the skeleton on the mobile folding component to gather, and the second section of the skeleton hinged to the first section of the skeleton drives the water lock cover to unfold, so that the device is in the unfolded state;

[0018] Next, use the water injection pump in the cleaning component to pump clear water into the four-way swirl generator. The clear water pushes the guide vane to rotate, forming a swirling flow field in the annular circle of the four-way swirl generator. The turbid water in the water lock cover is discharged through the conical drain port above, forming a stable clear water boundary;

[0019] Then, turn on the underwater camera of the detection component to observe the clear water flow field formed inside the device after cleaning and the area to be detected. At the same time, the underwater robot pulls the device to move horizontally. At this time, the mobile cleaning and detection of the device is completed.

[0020] When the water lock cover is folded, the device in the folded state is convenient for the underwater robot to carry; when the device adsorbs and monitors the underwater wall surface, the water lock cover unfolds, so that the height of the universal wheel is lower than that of the water lock cover. At this time, the universal wheel can be used for movement, or the universal wheel can be adsorbed on the wall surface. The bottom gap of 2-5 mm between the universal wheel and the water lock cover can help the device to adsorb on the surface under the action of the swirling flow field.

[0021] The mobile folding component is used to control the ground clearance at the bottom of the device to be 2-5 mm, and the device can be horizontally moved at a speed of 0.02 m / s - 0.1 m / s by being pulled by the underwater robot. The water injection hole diameter of the cleaning component is 80 mm, the drainage hole diameter is 100 mm, and the total water injection flow rate is 30 L / s, which can achieve rapid cleaning within 30 s, and the percentage of clear water inside can reach 100%.

[0022] The present invention can perform rapid and continuous detection operations under water area conditions with low visibility. Compared with traditional underwater detection technologies, this device does not rely on the accuracy and stability of visual image processing algorithms. By designing a special eddy current flow field, a stable clear water boundary is formed, and direct optical observation is carried out through the clear water flow field, realizing rapid movement detection of robots in low visibility waters, and having excellent detection stability and high efficiency and mobility.

[0023] The beneficial effects of the present invention are:

[0024] 1. Compared with traditional underwater detection technologies, this device does not rely on the accuracy and stability of visual image processing algorithms. By designing a special swirling flow field to form a stable clear water boundary, direct optical observation is carried out through the clear water flow field, realizing rapid mobile detection of robots in low visibility waters, and having excellent detection stability and high mobility.

[0025] 2. This invention can achieve rapid clear water formation within 30 seconds, the internal clear water percentage can reach 100%, and the moving speed can vary within the range of 0.02 m / s to 0.1 m / s. The gap at the bottom of the device is 2 - 5 mm, which can help the device adsorb on the surface under the action of the swirling flow field.

[0026] 3. This invention can control the folding angle to achieve different internal observation wide angles, can be conveniently carried by underwater robots in a folded and stored state, and can perform non-contact mobile detection on different shaped surfaces accompanied by underwater robots in different water depth environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is an exploded composition diagram of the foldable mobile clear water detection device using this invention;

[0028] Figure 2 It is the front view and working principle diagram of the foldable mobile clear water detection device using this invention;

[0029] Figure 3 It is the top view of the foldable mobile clear water detection device using this invention;

[0030] Figure 4 It is the bottom view of the foldable mobile clear water detection device using this invention;

[0031] Figure 5 It is the isometric view of the foldable mobile clear water detection device using this invention;

[0032] Figure 6 It is the storage schematic diagram of the foldable mobile clear water detection device using this invention.

[0033] In the figure: 1. Water injection pump; 2. Four-way swirling generator; 3. Support column; 4. Guide vane; 5. Water locking cover; 6. Underwater camera; 7. Underwater push rod; 8. Single-pass top cover; 9. Folding tripod. DETAILED DESCRIPTION OF THE INVENTION

[0034] The following will describe this invention in detail in combination with specific implementation cases. The following implementation cases will help those skilled in the art to further understand this invention, but do not limit this invention in any form.

[0035] As Figure 1As shown in the figure, it includes a water-clearing component, a movable folding component, and a detection component; the movable folding component is installed on the top of the water-clearing component. The movable folding component is used to control the unfolding and closing of the water-locking cover 5 in the water-clearing component. There is a connection between the outer periphery of the water-clearing component and the framework of the movable folding component. The detection component is connected to the inner top surface of the water-clearing component. The water-clearing component is used to generate a clear water flow field, thereby realizing stable optical observation of the detection component underwater.

[0036] The water-clearing component includes a water injection pump 1, a four-way swirl generator 2 with tangential water injection ports, support columns 3, guide vanes 4, a water-locking cover 5 with four sealing holes, and a single-pass top cover 8 with a conical drain port.

[0037] As Figures 3 - 4 As shown in the figure, the single-pass top cover 8 is installed on the top of the water-locking cover 5. Four sealing holes are evenly spaced on the wall surface of the foldable water-locking cover 5, and the four sealing holes are all at the same height. The four-way swirl generator 2 is located inside the water-locking cover 5. Four horizontal tangential water injection ports are symmetrically arranged along the center on the outer periphery of the four-way swirl generator 2. One end of each of the four water injection pumps 1 passes through the sealing holes on the water-locking cover 5 and is respectively connected to the four horizontal tangential water injection ports of the four-way swirl generator 2. The water injection pumps 1 are arranged along the tangential direction of the four-way swirl generator 2. A cross-shaped bottom plate is installed at the bottom of the four-way swirl generator 2. Bearings and guide vanes 4 are arranged inside the four-way swirl generator 2, and the inner ring and outer ring of the bearing are respectively connected to the bottom of the guide vane 4 and the cross-shaped bottom plate at the bottom of the four-way swirl generator 2. Four vertical support columns 3 are evenly spaced on the outer periphery of the upper surface of the four-way swirl generator 2, and the top of the support column 3 is fixedly connected to the lower surface of the single-pass top cover 8. A single-pass drain pipe for discharging turbid water is connected to the single-pass top cover 8. The water injection pump 1 is used to pump clear water into the four-way swirl generator 2. The clear water pushes the guide vane 4 to rotate, thereby forming a negative-pressure clear water flow field inside the water-clearing component; a movable folding component and a detection component are connected to the single-pass top cover 8.

[0038] Specifically, the female buckle on the upper circle of the fan surface of the water-locking cover 5 cooperates with the male buckle of the single-pass top cover 8 and is locked by six equally spaced hinges. The four reserved sealing holes on the water-locking cover 5 are used to pass through and fix the water injection pipes of the four-way swirl generator 2. The water injection pump 1 pumps clear water in four directions into the four-way swirl generator 2, forming four intersecting columnar clear water beams. The columnar clear water beams push the guide vane 4 to rotate counterclockwise, forming a swirl flow field in the annular cavity of the four-way swirl generator 2. The original turbid water inside the water-locking cover 5 is sucked into the four-way swirl generator 2 under the negative pressure effect of the swirl flow field and discharged from the conical drain port of the single-pass top cover 8. After stabilization, a clear water boundary is formed to isolate the turbid water outside.

[0039] The movable folding component is mainly composed of an underwater push rod 7 and a folding tripod 9. The folding tripod 9 includes a hexagonal cloud platform, six first-section skeletons, and six second-section skeletons. The number of first-section skeletons is the same as that of the second-section skeletons. The hexagonal cloud platform is movably connected up and down to the single-pass drainage pipe of the single-pass top cover 8. The six first-section skeletons are evenly spaced along the circumference of the hexagonal cloud platform and are hinged to the outer periphery of the hexagonal cloud platform. A second-section skeleton is hinged to the bottom end of each first-section skeleton. The bottom end and the top end of the first-section skeleton are respectively hinged to the hexagonal cloud platform and the top end of the second-section skeleton to form a uniformly distributed six-support tripod. The upper part of the second-section skeleton is connected to the outer periphery of the single-pass top cover 8 through a hinge;

[0040] As Figure 2 shown, the base of the underwater push rod 7 is fixedly installed on the single-pass top cover 8 of the cleaning component. The top of the telescopic underwater push rod 7 is fixedly connected to the hexagonal cloud platform. The underwater push rod 7 is used to push the hexagonal cloud platform up and down, and then change the opening and closing state of the water-locking cover 5 through the first-section skeleton and the second-section skeleton.

[0041] The detection component is mainly composed of four underwater cameras 6. The four underwater cameras 6 are evenly spaced along the circumference of the single-pass top cover 8 and are installed on the lower surface of the single-pass top cover 8. The underwater cameras 6 are used to achieve stable optical observation underwater in the clear water flow field.

[0042] The four underwater cameras 6 form a camera array. The four underwater cameras 6 are respectively distributed in the four quadrants of the single-pass top cover 8 and are used to directly conduct optical observation of the clear water flow field inside the cleaning component after the cleaning work is completed.

[0043] A conical drain port and four horizontal tangential water injection ports are provided in the cleaning component. At the initial moment, the inside and outside of the cleaning component are filled with turbid water. The four water injection pumps 1 are used to pump high-velocity clear water into the four horizontal tangential water injection ports at the same time. The clear water is sprayed into the annular ring of the four-way swirl generator 2 through the water injection channel, impacting the fan blades of the guide vane 4 to drive the guide vane 4 to rotate counterclockwise around the base bearing, forming a high-velocity swirl flow field in the annular ring. The upper part of the annular ring is open, and the lower part has a grille. The surrounding turbid water is sucked into the annular ring area of the four-way swirl generator 2 under the negative pressure effect of the swirl flow field and is drained through the conical drain port above. After a period of time, the turbid water inside the water-locking cover 5 is completely drained, leaving only the clear water flow field, and a clear water boundary is formed to isolate the turbid water outside, quickly completing the cleaning work.

[0044] The single-pass drainage pipe is vertically and fixedly connected to the middle of the single-pass top cover 8, that is, the single-pass drainage pipe is coaxially arranged with the single-pass top cover 8. The bottom end of the single-pass drainage pipe is conical, and the bottom end of the single-pass drainage pipe is located directly above the four-way swirl generator 2. The bottom end of the single-pass drainage pipe serves as the conical drain port, so that the turbid water in the water-locking cover 5 flows to the outside of the detection device through the single-pass drainage pipe under the negative pressure of the clear water flow field.

[0045] A universal wheel for movement is provided at the bottom end of the second frame section, and the second frame section can be movably arranged on the outer peripheral surface of the water locking cover 5 relative to the water locking cover 5. When the water locking cover 5 is in the expanded state, the height of the universal wheel is lower than the lower surface of the water locking cover 5, so that the universal wheel drives the device to move as a whole. When the water locking cover 5 is in the closed state, the height of the universal wheel is higher than the lower surface of the water locking cover 5, and the device is locked and cannot move.

[0046] The water-locking cover 5 is composed of several sectors and can be expanded or closed. The height of the water-locking cover 5 is different in different states. The height of the water-locking cover 5 in the expanded state is less than that in the closed state. The hexagonal head of the folding tripod 9, the first frame, the second frame and the single-pass top cover 8 form a crank slider mechanism. When the underwater push rod 7 is extended, the hexagonal head is pushed upward along the single-pass drainage pipe of the single-pass top cover 8, the first frame is fully gathered, and the second frame is fully opened to drive the water-locking cover 5 to expand. Figure 5 When the underwater push rod 7 is shortened, the hexagonal platform is pulled downward along the single-pass drainage pipe of the single-pass top cover 8, the first section of the frame is fully unfolded, the second section of the frame is fully gathered and drives the water lock cover 5 to fold, as shown. Figure 6 When the device is unfolded, the first frame and the second frame are in line, and the universal wheel at the bottom of the second frame exceeds the fan-shaped lower circle height of the water-locking cover 5 to reach the lowest position, and can move in any horizontal direction. The crank slider mechanism enables the water-locking cover 5 of the cleaning component to be unfolded and folded, and the universal wheel at the end of the moving folding component frame can move in any horizontal direction.

[0047] The underwater push rod 7 has a certain thrust and stroke, which is used to achieve the stable lifting and lowering of the hexagonal pan head. The hexagonal pan head has 6 evenly distributed hinged ears, which are used to hinge the end of the first section skeleton, and the angle of the first section skeleton can be changed. The single-pass top cover 8 also has 6 evenly distributed hinged ears at corresponding positions, which are hinged to the middle of the second section skeleton, and the angle of the second section skeleton can be changed. The upper end of the second section skeleton is suspended and hinged with the first section skeleton, and the universal wheel is installed at the lower end to ensure movement close to the surface. When the water lock cover 5 is closed, the bottom surface of the water lock cover 5 is higher than the bottom of the universal wheel, which is used to maintain the gap from the wall and discharge turbid water. At the same time, it can help the device to be adsorbed on the surface under the action of the vortex flow field, ensuring the stable movement and operation of the device. The crank slider mechanism uses the hexagonal pan head as a slider to move up and down, thereby driving the first section skeleton to rotate. The first section skeleton drives the crank of the second section skeleton to swing up and down through the hinge action. The 6 groups of crank slider mechanisms constitute a parallel unfolding and folding structure.

[0048] An embodiment of the present invention comprises the following steps:

[0049] First, place the folded device (i.e., the device with the water-locking cover 5 in the closed state) in the area to be detected, and control the underwater push rod 7 in the moving folding component to extend, so as to push the hexagonal cloud platform in the moving folding component to rise along the single-pass drainage pipe on the single-pass top cover 8. The hexagonal cloud platform drives the first-section framework on the moving folding component to gather, and the second-section framework hinged to the first-section framework drives the water-locking cover 5 to unfold, so that the device is in the unfolded state;

[0050] Next, use the water injection pump 1 in the water-clearing component to pump high-flow rate clear water into the four water injection ports of the four-way swirl generator 2. The clear water pushes the guide vane 4 to rotate at a high speed, forming a high-flow rate swirling flow field in the annular circle of the four-way swirl generator 2. The turbid water in the water-locking cover 5 is discharged through the conical drainage port above and the bottom gap, forming a stable clear water boundary, and completing the water-clearing step;

[0051] Then, turn on the underwater camera 6 of the detection component to observe the clear water flow field formed inside the device after water-clearing and the area to be detected. At the same time, the underwater robot pulls the device to move horizontally. The universal wheels installed at the bottom of the device can achieve passive translation. At this time, the mobile water-clearing detection of the device is completed.

[0052] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A foldable mobile clear water generating and detecting device based on a swirling flow field, characterized in that: It includes a clear water generating component, a mobile folding component and a detecting component; the mobile folding component is installed on the top of the clear water generating component, and the mobile folding component is used to control the unfolding and closing states of the water locking cover (5) in the clear water generating component. The outer periphery of the clear water generating component is connected to the framework of the mobile folding component, and the detecting component is connected to the inner top surface of the clear water generating component. The clear water generating component is used to generate a clear water flow field, so as to realize stable optical observation of the detecting component underwater.

2. The foldable mobile cleaning detection device based on a swirling flow field according to claim 1, wherein: The clear water generating component includes a water injection pump (1), a four-way swirl generator (2), a support column (3), a guide vane (4), a water locking cover (5) and a single-pass top cover (8); The single-pass top cover (8) is installed on the top of the water locking cover (5). Four sealing holes are evenly spaced on the wall surface of the foldable water locking cover (5). The four-way swirl generator (2) is located inside the water locking cover (5). Four horizontal tangential water injection ports are provided on the outer periphery of the four-way swirl generator (2). One end of each of the four water injection pumps (1) passes through the sealing holes on the water locking cover (5) and is respectively connected to the four horizontal tangential water injection ports of the four-way swirl generator (2). Bearings and guide vanes (4) are arranged inside the four-way swirl generator (2), and the inner ring and outer ring of the bearing are respectively connected to the bottom of the guide vane (4) and the cross bottom plate at the bottom of the four-way swirl generator (2). Four vertical support columns (3) are evenly spaced on the outer periphery of the upper surface of the four-way swirl generator (2), and the top of the support column (3) is connected to the lower surface of the single-pass top cover (8). A single-pass drainage pipe for discharging turbid water is connected to the single-pass top cover (8). The water injection pump (1) is used to pump clear water into the four-way swirl generator (2), and the clear water pushes the guide vane (4) to rotate, thereby forming a negative-pressure clear water flow field inside the clear water generating component; the mobile folding component and the detecting component are connected to the single-pass top cover (8).

3. The foldable mobile sediment detection device based on a swirling flow field according to claim 2, wherein: The mobile folding component is mainly composed of an underwater push rod (7) and a folding tripod (9). The folding tripod (9) includes a hexagonal cloud platform, a plurality of first-section skeletons and a plurality of second-section skeletons. The hexagonal cloud platform is movably connected up and down to the single-pass drainage pipe of the single-pass top cover (8). A plurality of first-section skeletons are evenly spaced along the circumferential direction of the hexagonal cloud platform and are hinged to the outer periphery of the hexagonal cloud platform. One second-section skeleton is hinged to the bottom end of each first-section skeleton, and the upper part of the second-section skeleton is connected to the outer periphery of the single-pass top cover (8) through a hinge; The base of the underwater push rod (7) is fixedly installed on the single-pass top cover (8) of the clear water generating component. The top of the telescopic underwater push rod (7) is fixedly connected to the hexagonal cloud platform. The underwater push rod (7) is used to push the hexagonal cloud platform to move up and down, thereby changing the unfolding and closing states of the water locking cover (5) through the first-section skeletons and the second-section skeletons.

4. The foldable mobile sediment detection device based on a swirling flow field according to claim 2, wherein: The detecting component is mainly composed of four underwater cameras (6). The four underwater cameras (6) are evenly spaced along the circumferential direction of the single-pass top cover (8) and are installed on the lower surface of the single-pass top cover (8). The underwater cameras (6) are used to realize stable optical observation underwater in the clear water flow field.

5. The foldable mobile cleaning detection device based on a swirling flow field according to claim 2, wherein: The described single-pass drainage pipe is vertically and fixedly connected to the middle of the single-pass top cover (8). The bottom end of the single-pass drainage pipe is conical, and the bottom end of the single-pass drainage pipe is located directly above the four-way swirl generator (2), so that the turbid water in the water locking cover (5) flows out of the detection device through the single-pass drainage pipe under the negative pressure of the clear water flow field.

6. The foldable mobile sediment detection device based on a swirling flow field according to claim 3, characterized in that: The bottom end of the second section of the framework is provided with universal wheels for movement. When the water locking cover (5) is in the unfolded state, the height of the universal wheels is lower than the lower surface of the water locking cover (5), so that the universal wheel driving device moves as a whole.

7. A foldable mobile cleaning detection method applied to the device according to any one of claims 1-6, characterized in that, It includes the following steps: First, place the device in the folded state in the area to be detected, control the underwater push rod (7) in the mobile folding component to extend, so as to push the hexagonal cloud platform in the mobile folding component to rise along the single-pass drainage pipe on the single-pass top cover (8). The hexagonal cloud platform drives the first section of the framework on the mobile folding component to gather, and the second section of the framework hinged to the first section of the framework drives the water locking cover (5) to unfold, so that the device is in the unfolded state; Next, use the water injection pump (1) in the clear water generating component to pump clear water into the four-way swirl generator (2). The clear water pushes the guide vane (4) to rotate, and a swirl flow field is formed in the annular circle of the four-way swirl generator (2). The turbid water in the water locking cover (5) is discharged through the conical drain opening above, forming a stable clear water boundary; Then, turn on the underwater camera (6) of the detection component to observe the clear water flow field formed inside the device after clear water generation and the area to be detected. At the same time, the underwater robot traction device moves horizontally. At this time, the mobile clear water detection of the device is completed.

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