Water-air amphibious inspection robot for offshore wind power

Abstract

The invention belongs to the technical field of water-air amphibious inspection, and discloses a water-air amphibious inspection robot for offshore wind power, the water-air amphibious inspection robot comprises variable force propellers and bionic empennages, the variable force propellers are mounted around the robot, each variable force propeller is driven to rotate by an independent motor, the maneuverability and flexibility of the robot are improved, and the robot can be driven by the bionic empennages to rotate. The variable force propeller is composed of four blades, the four blades are installed on a central bevel gear, the inclination angles of the blades are adjusted through rotation of the central bevel gear, and the problems of thrust difference and unstable navigation caused by switching of the aerial working environment and the underwater working environment of the robot can be solved. The bionic empennages are mounted at the tail of the robot, and the two bionic empennages can synchronously swing along with the action of ocean current in the underwater navigation process of the inspection robot, so that the navigation stability of the robot is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of amphibious inspection, and particularly relates to an amphibious inspection robot for offshore wind power. Background Art

[0002] With the vigorous development of new energy, the vast ocean has also become a site for new energy development. Compared with traditional onshore wind power, offshore wind power has higher potential and advantages, but its equipment maintenance and detection face special challenges. There are richer and faster wind resources at sea, which makes the blade structural components of offshore wind power equipment more vulnerable to the influence of environmental media, resulting in wear, sand holes and fine cracks. At the same time, underwater structural components are prone to seawater corrosion, resulting in defects, cracks and erosion, causing accident losses. For a long time, the market demand for wind power pile detection robots has been increasing day by day. However, most of the current wind power pile detection robots can only detect a certain part of the wind power equipment, and there are technical limitations. Therefore, an amphibious robot that can realize the detection of underwater wind power piles and aerial wind turbine blades has emerged as the times require.

[0003] Currently, most wind power pile detection robots can only detect a certain part of the wind power equipment, and there are technical limitations. For example, an underwater robot for underwater detection inside a single pile of offshore wind power provided in the Chinese invention patent application document with the patent application number 202210255666.6; a method and system for detecting scour of offshore wind power piles based on an underwater robot provided in the Chinese invention patent application document with the patent application number 202211000642.2; and an offshore wind power inspection robot provided in the Chinese invention patent application document with the patent application number 202311290021.7.

[0004] Through the above analysis, the problems and defects existing in the prior art are as follows:

[0005] (1) The existing inspection methods mainly rely on sending technicians to conduct underwater inspections by manual diving. When it is necessary to inspect the upper part of the fan, technicians also need to climb to the designated position to conduct various inspections with a large amount of content. The weather at sea changes rapidly, and the waves and currents underwater greatly increase the safety hazards of inspections. At the same time, the inspection cost is quite expensive.

[0006] (2) Currently, offshore wind power detection robots can only detect a certain part of the wind power equipment, and the volume and mass of the inspection robots are relatively large, making it difficult to achieve flexible maneuverability. There are technical limitations. Considering that there are many narrow areas in underwater piles and aerial wind turbine blades, and the inspection process of the wind turbine blades is dynamic, this will affect the inspection efficiency of offshore wind power, and even cause the defects of structural components to not be detected due to the inability to comprehensively complete the inspection work, resulting in accident losses. Summary of the Invention

[0007] In view of the problems existing in the prior art, the present invention provides an amphibious inspection robot for offshore wind power.

[0008] The present invention is implemented as follows. An amphibious inspection robot for offshore wind power includes:

[0009] A robot main body frame for integrating modular components;

[0010] Solar panels are arranged on the top of the inspection robot;

[0011] Four variable force propellers provide the thrust for the inspection robot to freely navigate in the air and underwater. Each variable force propeller is separately provided with a dual power source for driving the rotation of the propeller blades and adjusting the tilt angle of the propeller blades;

[0012] The core cabin is arranged at the central position of the robot main body frame for controlling the intelligent navigation and detection functions of the robot. At the same time, it is responsible for the management and supply of the energy for the robot inspection work, and transmits the detection signals to the control platform to realize the real-time dynamic monitoring of the inspection process;

[0013] A camera is arranged at the front end of the robot for image recognition and transmission during the robot inspection work. The camera is rotatably installed and can achieve omnidirectional detection;

[0014] An LED lamp array is arranged on the front handle of the robot for lighting during the robot inspection work. Bionic tail fins are arranged on both sides of the tail of the robot. When an external load acts on the inspection robot, it can swing in response to external forces such as wind or ocean currents, and maintain the stability of the robot by balancing the forces;

[0015] Two compensation propellers on the bionic tail fins are respectively equipped with independent power sources. When the external load is too large, the stability and flexible maneuverability control of the robot during navigation are realized by providing compensation forces. The wireless charging interface is arranged at the tail of the robot base, and the robot base is used to carry modular components.

[0016] Furthermore, the inspection scenarios mainly include aerial inspection and underwater inspection:

[0017] The navigation mode of the robot is affected by the inspection scenario. During aerial inspection, it is only affected by the wind force. The propeller blades of the variable force propellers can achieve free navigation in the air with a relatively small tilt angle, so as to comprehensively detect the aerial structure of the wind turbine;

[0018] When the inspection scene switches to underwater, the thrust required for the inspection robot to navigate changes. By increasing the inclination angle of the variable-force propeller blades, the robot can obtain greater thrust and achieve free navigation underwater. After the console or camera captures the robot's shaking, the compensation thrust is calculated through feedback, and the compensation propeller on the bionic tail provides compensation force to offset the influence of external forces.

[0019] Furthermore, the core module is equipped with a removable battery, which can directly provide inspection energy through battery replacement, and the wireless charging port is installed at the tail of the robot base;

[0020] Solar panels are arranged on the top of the robot's main frame, which can convert the abundant solar energy resources at sea into the electricity required for inspection.

[0021] Furthermore, the core module is equipped with an embedded edge computing module, which can realize intelligent path planning of the inspection robot;

[0022] After the camera captures the image of the wind blade or underwater base, the AI image recognition and optimization algorithm will pre-process the image by noise reduction, defogging and effect enhancement, and then perform secondary processing on the image through grayscale, image segmentation and binarization. Finally, the corresponding parameters will be extracted to evaluate the crack and corrosion level.

[0023] Furthermore, the variable force propeller array is installed around the robot base, and the main rotation motor can be connected and fixed to the robot base through tightening screws, while achieving the compression effect of various components of the variable force propeller. The main rotation motor serves as a power source to drive the rotating flange to rotate;

[0024] In addition to being used to install bearings, the bearing seat also supports the rotating flange and uses sealing rings, O-rings, and gaskets for sealing and compression. Tightening screws connect the rotating flange and the rotating shell to achieve the transmission of rotational force. The four blade arrays are arranged on the rotating shell and rotate with the rotating shell, thereby obtaining the thrust required for the robot's navigation.

[0025] Four variable-force propellers work together to enable the inspection robot to navigate with full freedom in the air or underwater. The auxiliary motor is installed on the rotating flange and connected to the center bevel gear, which can drive the center bevel gear to rotate. Since the four blades are engaged on the center bevel gear, when the inspection scene is switched, the rotation of the center bevel gear can be controlled to achieve intelligent adjustment of the blade tilt angle, thereby obtaining a thrust that is more suitable for free navigation in the inspection scene, thereby achieving intelligent control of the inspection robot's navigation stability and maneuverability.

[0026] Furthermore, the bionic tail fins are symmetrically arranged at the tail of the inspection robot and are connected by a rotating rod and installed on the robot base. When there is a sea current or wind current passing by, the bionic tail fins can respond around the rotating rod, thereby maintaining the stability of the inspection robot during navigation;

[0027] Two compensation propellers are arranged on each bionic tail fin. The compensation propellers are driven by independent motors equipped separately and are installed on the compensation propeller bases. The compensation propeller bases play a protective role for the compensation propellers and the independent motors;

[0028] When the external load is too large, the inspection robot may become unstable and shake. At this time, after the core module calculates the compensation force required to maintain the stability of the robot, it is provided by the compensation propellers, intelligently maintaining the stability of the inspection robot and providing the adaptability of the inspection robot to multiple inspection scenarios.

[0029] I. Combining the above technical solutions and solved technical problems, the advantages and positive effects of the technical solution to be protected by the present invention are analyzed from the following aspects:

[0030] 1. The water-air amphibious inspection robot for offshore wind power obtained by the present invention has the function of water-air amphibious navigation. When the inspection scenario is changed, the inspection robot can quickly adjust the tilt angle of the propeller blades, so as to obtain the thrust required for navigation suitable for the inspection scenario on the premise of low energy consumption, ensuring that the inspection robot can complete the inspection work stably and efficiently.

[0031] 2. The water-air amphibious inspection robot for offshore wind power obtained by the present invention uses the fish fin bionic principle for its bionic tail fins and has the self-adaptive function of maintaining the stability of the inspection scenario. It can respond to external loads in real time to ensure the maintenance of the stability of the inspection robot. The compensation force generated by the compensation propellers can increase the scenario adaptability of the inspection robot, improve the stability and maneuverability of the inspection robot during the inspection process, and ensure that the inspection robot can complete the inspection work safely, smoothly and efficiently under bad weather or sea conditions.

[0032] 3. The water-air amphibious inspection robot for offshore wind power obtained by the present invention can comprehensively control the inspection robot to navigate smoothly in the air and underwater, and it has the advantages of small size and light weight. It can detect the narrow areas of the wind blades, improving the flexibility of the inspection robot during the inspection process. It is equipped with an embedded edge computing module, realizing functions such as autonomous path planning, AI image recognition and optimization, reducing the frequency of human-computer interaction, increasing the inspection efficiency and work completion degree of the inspection robot, and improving the inspection intelligent level.

[0033] 4. A water-air amphibious inspection robot for offshore wind power obtained by the present invention adopts a modular loading design. By considering the structural form of the robot body and the layout of functional systems such as the inspection system, the overall design of the robot with a compact structure, excellent control performance and stable working performance is realized.

[0034] 5. A water-air amphibious inspection robot for offshore wind power obtained by the present invention integrates multi-source functional components, enhances the endurance of the inspection robot, and provides guarantee for long-time remote inspection.

[0035] 6. A water-air amphibious inspection robot for offshore wind power obtained by the present invention adopts a streamlined and flattened design, with a simple and reasonable structure and good structural stability. It can still efficiently and stably complete the inspection work under the influence of wind waves, ocean currents, etc.

[0036] 7. A water-air amphibious inspection robot for offshore wind power obtained by the present invention has bionic tail fins installed at the tail of the robot. During the underwater navigation process of the inspection robot, the two bionic tail fins will swing synchronously under the action of the ocean current, increasing the navigation stability of the robot. Two propellers are installed on the bionic tail fins, and the propellers are driven by separate independent motors to provide a compensation force for the robot to balance the complex underwater forces, effectively improving the stability of the inspection robot and ensuring that the inspection robot can efficiently inspect the wind power components on the premise of flexible navigation and operation.

[0037] II. As the creative auxiliary evidence of the claims of the present invention, it is also reflected in the following important aspects:

[0038] (1) The expected benefits and commercial values after the transformation of the technical solution of the present invention are:

[0039] The technology of the present invention is expected to become the core equipment for the intelligent operation and maintenance of offshore wind power, adapting to the intelligent operation and maintenance market in China, creating multiple commercial value points such as equipment manufacturing, technical services, and data operation, and promoting the industry to upgrade towards digitalization, intelligentization, and unmannedization; it is reflected in that the inspection robot greatly reduces the operation and maintenance costs of offshore wind power and improves the inspection efficiency. The traditional offshore wind power inspection highly relies on large operation and maintenance ships, and their leasing and operation costs are very high. The inspection robot can independently or remotely control and complete high-risk, high-intensity, and repetitive work, significantly reducing the high-risk operations and corresponding costs that need to climb, dive, or be exposed to harsh sea conditions, and improving the overall safety level of the offshore wind power industry, with significant social value; it has the ability to create new service models and revenue sources. The accumulated ocean environment data has extremely high value and can be used to develop predictive maintenance models, optimize wind farm designs, provide risk assessment bases, etc. Moreover, the inspection robot can directly sell or lease the robot body and supporting systems to wind farms and third-party operation and maintenance companies.

[0040] (2) The technical solution of the present invention fills the technical gaps at home and abroad in the industry:

[0041] The present invention first proposes and implements a water-air amphibious inspection robot optimized for the full-structure water-air two-domain inspection of offshore wind power and with practical capabilities; the inspection robot breaks through the limitation of a single operation domain and can independently complete the full-range and high-precision inspection tasks within the operation area from underwater to air without replacing the platform or relying on a large mother ship, realizing the truly "cross-media, full-structure, integrated" intelligent inspection and filling the gaps in mature application products in this sub-field at home and abroad.

[0042] (3) The technical solution of the present invention solves the technical problems that people have always been eager to solve but have never succeeded in:

[0043] People have always been eager to have an efficient means to detect key structural damages such as wind blade cracks and pile foundation structure corrosion of offshore wind power at the same time. Traditional means are extremely costly and the covered areas are incomplete, making it difficult to obtain high-resolution and close-range comprehensive data; the inspection robot can quickly respond to hidden and sudden defects. Defects in parts such as underwater structures or blade roots are highly concealed and may be missed by traditional regular inspections. Affected by the harsh sea weather, sudden failures need to be quickly confirmed, but due to factors such as weather and ship scheduling, the response is often lagged.

[0044] (4) The technical solution of the present invention overcomes the technical prejudice:

[0045] Currently, it is generally believed that simultaneously achieving efficient underwater navigation and stable air flight will result in an overly complex and bulky structure, redundant control systems, reduced reliability, a sharp increase in costs, and ultimately sacrificing single performance (such as underwater endurance or air mobility), and the comprehensive benefits are not as good as using multiple single-function platforms; the technical solution of the present invention through innovative variable-force propeller and bionic tail fin structure designs, highly integrates multi-energy composite technologies, and realizes a comprehensive efficiency of 1 + 1 > 2 on the premise of ensuring that the underwater and air each meet the basic inspection operation performance requirements. The comprehensive operation and maintenance cost benefits and safety improvements brought by the full-structure coverage ability, quick response ability, and reduced dependence on the mother ship of the inspection robot far exceed the minor sacrifices of the single-platform performance, completely breaking the prejudice of "amphibious equals low efficiency / high cost". BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 is a three-dimensional structural schematic diagram of the water-air amphibious inspection robot for offshore wind power in an embodiment of the present invention;

[0047] Figure 2 is a three-dimensional structural schematic diagram of the variable-force propeller of the water-air amphibious inspection robot for offshore wind power in an embodiment of the present invention;

[0048] Figure 3 It is a cross-sectional view of a variable-force propeller of an amphibious inspection robot for offshore wind power in an embodiment of the present invention;

[0049] Figure 4 It is a structural diagram of a bionic tail fin of an amphibious inspection robot for offshore wind power in an embodiment of the present invention;

[0050] Figure 5 It is a flowchart of AI image recognition and optimization of an amphibious inspection robot for offshore wind power in an embodiment of the present invention;

[0051] In the figure: 1. Top cover; 2. Solar panel; 3. Core cabin; 4. Robot main body frame; 5. Variable-force propeller; 6. Camera; 7. LED lamp; 8. Bionic tail fin; 9. Robot base; 10. Wireless charging interface; 11. Propeller cap; 12. Rotating shell; 13. Blade; 14. Rotating flange; 15. Fastening screw; 16. Bearing seat; 17. Compression screw; 18. Central helical gear; 19. Elastic washer; 20. Auxiliary motor; 21. Sealing ring; 22. O-ring; 23. Gasket; 24. Main rotation motor; 25. Bearing; 26. Tail fin plate; 27. Compensation propeller; 28. Compensation propeller base; 29. Rotating rod; 30. Independent motor. Detailed implementation manners

[0052] In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0053] Such as Figure 1 、 Figure 2As shown in the figure, an embodiment of the present invention provides an amphibious inspection robot for offshore wind power, which includes a robot main body frame distributed successively from top to bottom for integrating modular components. The solar panel 2 is arranged on the top of the inspection robot to enhance the endurance by converting solar energy into electrical energy. Four variable-force propellers 5 provide the thrust for the inspection robot to freely navigate in the air and underwater. Each variable-force propeller 5 is separately provided with a dual power source for driving the rotation of the propeller blade 13 and adjusting the tilt angle of the propeller blade 13. The core cabin 3 is arranged at the central position of the robot main body frame 4 for realizing the control of functions such as intelligent navigation and detection of the robot, and is also responsible for the management and supply of energy for the inspection work of the robot, and transmits the detection signals to the control platform to realize the real-time dynamic monitoring during the inspection process. The camera 6 is arranged at the front end position of the robot for image recognition and transmission during the inspection work of the robot. Among them, the camera 6 is rotatably installed to achieve all-round detection. The LED lamp 7 is arranged in an array on the front handle of the robot for lighting during the inspection work of the robot. The bionic tail fins 8 are arranged on both sides of the tail of the robot. When an external load acts on the inspection robot, they can swing in response to external forces such as wind or ocean current, and maintain the stability of the robot by balancing the forces. The two compensation propellers 27 on the bionic tail fins 8 are each equipped with an independent power source. When the external load is too large, the compensation force is provided to achieve the stability and flexible maneuverability control of the robot during navigation. The wireless charging interface 10 is arranged at the tail of the robot base, and the robot base 9 is used to carry modular components.

[0054] An embodiment of the present invention provides an amphibious inspection robot for offshore wind power. During the inspection of offshore wind power, the inspection scenarios mainly include aerial inspection and underwater inspection. The navigation mode of the robot is affected by the inspection scenarios. When conducting aerial inspection, it is only affected by the wind force. The propeller blade 13 of the variable-force propeller 5 can achieve free navigation in the air with a relatively small tilt angle, so as to comprehensively detect the aerial structure of the wind turbine. When the inspection scenario switches to underwater, the thrust required for the inspection robot to navigate changes. By increasing the tilt angle of the propeller blade 13 of the variable-force propeller 5, the robot can obtain greater thrust to achieve free navigation underwater. However, due to the effects of complex forces such as deep-sea waves and currents, the robot will become unstable and sway during underwater navigation. After the console or the camera 6 detects the sway of the robot, the compensation thrust is calculated through feedback, and the compensation force is provided by the compensation propellers 27 on the bionic tail fins 8 to offset the influence of external forces, realizing the stability control of the robot.

[0055] The energy management strategy of the water-air amphibious inspection robot for offshore wind power provided by the embodiments of the present invention is that a detachable battery is carried in the core cabin 3, and the replacement of the battery can directly provide the guarantee of inspection energy. The wireless charging interface 10 is installed at the tail of the robot base 9 and can be automatically docked with the offshore power supply platform to realize the replenishment of the energy of the inspection robot. The solar panels 2 are arranged on the top of the robot main body frame 4 and can convert the rich solar energy resources at sea into the electric energy required for inspection, realizing the enhancement of endurance and the intelligent operation and maintenance of unattended operation in the open sea, and providing energy guarantee for long-term remote inspection.

[0056] As Figure 5 shown, an embedded edge computing module is carried in the core cabin 3 provided by the embodiments of the present invention, which can realize the intelligent path planning of the inspection robot and improve the inspection efficiency of the inspection robot. For the AI image recognition and optimization algorithm, after the camera captures the images of the wind turbine blades or the underwater base, the images will be preprocessed for noise reduction, defogging and effect enhancement, and then the images will be processed twice through grayscale conversion, image segmentation and binarization. Finally, the corresponding parameters will be extracted to evaluate the crack and corrosion grades, effectively reducing the frequency of human-computer interaction and improving the intelligent level of inspection.

[0057] As Figure 3 shown, the variable force propeller 5 arrays are installed around the robot base. The main rotation motor 24 can be connected and fixed to the robot base 9 through the pressing screw 17, and at the same time, the pressing effect of each component of the variable force propeller 5 is realized. The main rotation motor 24 serves as the power source to drive the rotation flange 14 to rotate. The bearing seat 16 not only is used for installing the bearing 25, but also has the supporting effect on the rotation flange 14, and the sealing ring 21, O-ring 22 and gasket 23 are used for sealing and pressing. The fastening screw 15 connects the rotation flange 14 and the rotation housing 12 to realize the transmission of the rotational force. The four propeller blades 13 are arranged in an array on the rotation housing 12 and rotate together with the rotation housing 12, thereby obtaining the thrust required for the robot to navigate. The four variable force propellers 5 work together to realize the full-degree-of-freedom navigation of the inspection robot in the air or underwater. The auxiliary motor 20 is installed on the rotation flange and is connected to the central bevel gear 18 and can drive the central bevel gear 18 to rotate. Since the four propeller blades 13 are engaged with the central bevel gear 18, when the inspection scenario is switched, the intelligent adjustment of the inclination angle of the propeller blades 13 can be realized by controlling the rotation of the central bevel gear 18, and the thrust more suitable for free navigation in the inspection scenario can be obtained, achieving the intelligent control of the navigation stability and maneuverability of the inspection robot.

[0058] As Figure 4As shown in the figure, the bionic tail fins 8 provided by the embodiments of the present invention are symmetrically arranged at the tail of the inspection robot, connected by a rotating rod 29 and installed on the robot base 9. When there is a sea current or a wind current passing by, the bionic tail fins 8 can respond around the rotating rod 29, so as to maintain the stability of the inspection robot during navigation. Two compensation propellers 27 are arranged on each bionic tail fin 8. The compensation propellers 27 are driven by independently equipped independent motors 30 and installed on the compensation propeller bases 28. The compensation propeller bases 28 play a role in protecting the compensation propellers 27 and the independent motors 30. When the external load is too large, the inspection robot may become unstable and shake. At this time, after calculating the compensation force required to maintain the stability of the robot, the core module 3 provides it through the compensation propellers 27, intelligently maintaining the stability of the inspection robot and providing the adaptability of the inspection robot to multiple inspection scenarios.

[0059] The bionic tail fins 8 in the present invention are symmetrically arranged and installed at the tail of the inspection robot. They can be freely deflected through the rotating rod 29, and their response mechanism is based on the aerodynamic / hydrodynamic coupling effect between the water flow or air flow force and the tail fin morphology. When the sea current or wind current disturbs the robot, the bionic tail fins will deflect naturally along the flow direction, causing the aerodynamic resistance at the tail to be redistributed, thereby generating a self-stabilizing guiding moment to guide the robot back to the original course and realizing the natural orientation function similar to that of fish tail fins.

[0060] To improve the adaptive control ability of the robot in a high-disturbance environment, two compensation propellers 27 are installed on each bionic tail fin 8, respectively fixed on the compensation propeller bases 28 and driven by independent motors 30. Under the control algorithm instructions of the core module 3, this structure can estimate the current disturbance direction and amplitude in real time according to the data fed back by the sensors, and then calculate the required compensation thrust vector. After receiving the control signal, the compensation propellers are quickly started, and the local reverse thrust is used to offset the yaw and shake caused by external disturbances.

[0061] The compensation propeller bases 28 play a dual role of structural protection and stable load transfer. Their materials and structural designs take into account complex conditions such as underwater high pressure, corrosion and impact, and can effectively buffer the mechanical stress of the compensation propellers during rapid start and stop. When encountering sudden sea conditions, such as complex disturbances like vortices and oblique waves, the compensation propellers can quickly intervene and adjust, significantly improving the dynamic stability of the robot's navigation and the attitude recovery speed.

[0062] In terms of alternative designs, such as using a connecting rod or cam mechanism to replace the gear adjustment structure of the tail fin, the dynamic adjustment of the propeller thrust vector can be achieved through a mechanical angle control device, reducing the dependence on electronic control and enhancing mechanical robustness. In addition, bionic wing plates can also be installed on both sides or the bottom of the robot, which achieve a similar effect to the vertical stabilizer through a fluid coupling response method, realizing stable control under multi-directional disturbances, and providing support for autonomous operations in complex deep-sea terrains or wind power pile foundation environments.

[0063] The above is only the specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention shall be covered by the protection scope of the present invention.

Claims

1. An amphibious inspection robot for offshore wind power, characterized in that include: The robot's main frame is used to integrate various modular components; The solar panels installed on the top of the main frame are used to provide electrical energy supplement; Four variable-force propellers are arranged around the main frame, each of which includes a main power source for driving the blades to rotate and an auxiliary power source for adjusting the inclination angle of the blades; The core module, located in the center of the main frame, is used to perform navigation control, energy management, detection data processing, and communicate with remote platforms; A rotatable camera installed at the front end of the robot is used to obtain image information and support all-round image inspection; An LED light array is provided on the front handlebar for lighting support; The bionic tail fins, symmetrically arranged on both sides of the robot's tail, are connected to the robot base via a rotating rod and can deflect in response to external fluid loads to achieve dynamic stability. Two compensating propellers driven by independent power sources are set on each bionic tail to provide compensating thrust under external disturbance to maintain the navigation stability of the robot; The wireless charging port at the tail of the robot base is used to realize the energy replenishment function.

2. The inspection robot according to claim 1, characterized in that, The inspection robot has two navigation modes: aerial inspection and underwater inspection. In the aerial mode, the blades of the variable force propeller achieve the required thrust at a smaller inclination angle. In the underwater mode, the blade inclination angle is increased to obtain enhanced thrust to adapt to the underwater resistance environment.

3. The patrol robot according to claim 1, wherein The core module is provided with a detachable battery unit, which works in conjunction with the wireless charging interface to achieve energy replacement or remote charging functions.

4. The inspection robot according to claim 1, characterized in that, The core module is integrated with an embedded edge computing module, which is used to perform path planning, image preprocessing, target recognition and inspection and evaluation tasks.

5. The inspection robot according to claim 1, characterized in that, The camera achieves horizontal and pitch rotation adjustment through a universal structure, and has a high-resolution image acquisition function, which can support image noise reduction, segmentation and structural defect recognition.

6. The inspection robot according to claim 1, wherein The variable force propeller includes a main rotation motor, a rotating flange, a bearing seat, a rotating shell and a blade array. The blade array is installed on the rotating shell. The main rotation motor drives the rotating flange to rotate, and the auxiliary motor drives the central bevel gear to adjust the blade inclination angle.

7. The patrol robot according to claim 1, characterized in that The bionic tail is arranged at a symmetrical position on the tail of the robot and is mounted on the base through a rotating rod. It can be deflected under the action of sea current or wind current to form a stable guiding response.

8. The inspection robot according to claim 1, characterized in that The compensating propeller is installed on an independent compensating propeller base, which is used to protect the propeller structure and the motor and has impact resistance and sealing protection functions.

9. The patrol robot according to claim 1, characterized in that, The four variable force propellers are installed around the robot base at equal angles and fixed to the base through a fastening structure to achieve stable thrust output and overall navigation attitude control.

10. The inspection robot according to claim 1, characterized in that, The robot receives shaking signals fed back by cameras or inertial sensors through the core module, calculates the required compensation thrust, and outputs it in real time through the tail compensation propeller to dynamically suppress disturbances and maintain navigation stability.

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