An amphibious inspection robot for offshore wind power

Abstract

The present invention belongs to the field of water and air amphibious inspection technology and discloses an amphibious inspection robot for offshore wind power, comprising variable-force propellers and a bionic tail. The variable-force propellers are mounted on all four sides of the robot, each driven by a separate motor to rotate, improving the robot's maneuverability and flexibility. The variable-force propellers consist of four blades mounted on a central bevel gear. The rotation of the central bevel gear adjusts the blade tilt angle, resolving the thrust differences and navigation instability caused by the robot switching between aerial and underwater working environments. The bionic tail is mounted on the robot's tail. During underwater navigation, the two bionic tails will swing synchronously with the ocean current, increasing the robot's navigation stability.

Description

Technical Field

[0001] The present invention belongs to the technical field of water and air amphibious inspection, and in particular relates to a water and air 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 the development of new energy. Compared with traditional onshore wind power, offshore wind power has higher potential and advantages, but its equipment maintenance and inspection face special challenges. There are more abundant and high-speed wind resources at sea, which makes the blade structures of offshore wind power equipment more susceptible to the influence of environmental media, resulting in wear, sand holes and fine cracks. At the same time, underwater structures are easily corroded by seawater, resulting in defects, cracks and erosion, causing accident losses. For a long time, the market demand for wind power pile inspection robots has been increasing. However, most of the current wind power pile inspection robots can only inspect a certain part of the wind power equipment, and there are technical limitations. Therefore, an amphibious robot capable of detecting underwater wind power piles and aerial wind blades has come into being.

[0003] Currently, most wind turbine pile inspection robots can only inspect a specific part of a wind turbine, which presents technical limitations. For example, Chinese invention patent application number 202210255666.6 provides an underwater robot for underwater inspection of offshore wind turbine single piles; Chinese invention patent application number 202211000642.2 provides an underwater robot-based method and system for detecting scour of offshore wind turbine pile foundations; and Chinese invention patent application number 202311290021.7 provides an offshore wind turbine inspection robot.

[0004] Through the above analysis, the problems and defects of the existing technology are as follows:

[0005] (1) The existing inspection method is mainly to send technicians to conduct underwater inspections by diving. When it is necessary to inspect the upper part of the wind turbine, technicians are required to climb to the designated location and conduct a wide range of inspections. The weather at sea changes rapidly, and the waves and currents under the sea greatly increase the safety risks of the inspection. At the same time, the inspection cost is also quite expensive.

[0006] (2) Currently, offshore wind power inspection robots can only inspect a certain part of the wind power equipment. In addition, the inspection robot is large in size and mass, making it difficult to achieve flexible maneuverability. There are technical limitations. Considering that there are many narrow areas in the underwater pile foundation and the aerial wind blades, and the inspection process of the wind blades is dynamic, this will affect the inspection efficiency of offshore wind power. It may even be impossible to complete the inspection work comprehensively, resulting in structural defects that cannot be detected, causing accident losses. Summary of the Invention

[0007] In response to 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] The robot's main frame is used to integrate modular components;

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

[0011] Four variable-force propellers provide the robot with thrust to navigate freely in the air and underwater. Each propeller is equipped with a dual power source to drive the blades and adjust their tilt angle.

[0012] The core module is located in the center of the robot's main frame and is used to control the robot's intelligent navigation and detection functions. It is also responsible for managing and providing energy for the robot's inspection work, and transmits detection signals to the control platform to achieve real-time dynamic monitoring of the inspection process.

[0013] The camera is set at the front end of the robot and is used for image recognition and transmission during the robot's inspection work. The camera is rotatable and can achieve all-round detection.

[0014] An LED light array is placed on the robot's front handlebars to illuminate its inspection work. A bionic tail wing is placed on both sides of the robot's tail. When an external load acts on the inspection robot, it can swing in response to external forces such as wind or ocean currents, maintaining the robot's stability by balancing the force.

[0015] The two compensating propellers on the bionic tail are each equipped with an independent power source. When the external load is too large, the robot's stability and flexible maneuverability during navigation are achieved by providing compensation force. The wireless charging port 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 robot's navigation mode is affected by the inspection scenario. During aerial inspections, it is only affected by wind. The variable-force propeller blades can achieve free navigation in the air with a small tilt angle, thus conducting a comprehensive inspection of the wind turbine's aerial structure.

[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 is symmetrically arranged at the tail of the inspection robot, connected to and mounted on the robot base via a rotating rod. When there is a sea current or wind current passing by, the bionic tail can respond around the rotating rod, thereby maintaining the stability of the inspection robot's navigation.

[0027] Each bionic tail wing is equipped with two compensating propellers, which are driven by separate independent motors and installed on the compensating propeller base. The compensating propeller base protects the compensating propellers and the independent motors.

[0028] When the external load is too large, the inspection robot may become unstable and shake. At this time, the core module calculates the compensation force required to maintain the stability of the robot and provides it through the compensating propeller to intelligently maintain the stability of the inspection robot and provide the inspection robot with adaptability to multiple inspection scenarios.

[0029] 1. In combination with the above technical solutions and the technical problems solved, the advantages and positive effects of the technical solutions to be protected by the present invention are analyzed from the following aspects:

[0030] 1. The present invention provides an amphibious inspection robot for offshore wind power, which has the function of amphibious navigation. When the inspection scene changes, the inspection robot can quickly adjust the inclination angle of the blades, thereby obtaining the thrust required for navigation in the inspection scene under the premise of low energy consumption, ensuring that the inspection robot can complete the inspection work stably and efficiently.

[0031] 2. The present invention obtains an amphibious inspection robot for offshore wind power. Its bionic tail adopts the bionic principle of fish fins, has the function of maintaining the stability of the inspection scene, can respond to the generation of external loads in real time, ensure the maintenance of the stability of the inspection robot, and the compensation force generated by the compensating propeller can increase the scene 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 in bad weather or bad sea conditions.

[0032] 3. The water-air amphibious inspection robot for offshore wind power obtained by the present invention can fully control the inspection robot to navigate smoothly in the air and underwater, and has the advantages of small size and light weight. It can detect the narrow area of ​​the wind blade, which improves the flexibility of the inspection robot in the inspection process. It is equipped with an embedded edge computing module, realizes autonomous path planning, AI image recognition and optimization functions, reduces the frequency of human-computer interaction, increases the inspection efficiency and work completion of the inspection robot, and improves the intelligence level of the inspection.

[0033] 4. The present invention obtains an amphibious inspection robot for offshore wind power, which adopts a modular mounting 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 is achieved with a compact structure, excellent controllability and stable working performance.

[0034] 5. The 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-term remote inspection.

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

[0036] 7. The present invention provides an amphibious inspection robot for offshore wind power, in which a bionic tail wing is installed at the tail of the robot. When the inspection robot is navigating underwater, the two bionic tail wing will swing synchronously with the action of the ocean current, thereby increasing the navigation stability of the robot. Two propellers are installed on the bionic tail wing, and the propellers are driven by separate independent motors to provide the robot with compensation force to balance the complex underwater forces, thereby effectively improving the stability of the inspection robot and ensuring that the inspection robot can efficiently perform inspections of wind power components under the premise of flexible navigation and manipulation.

[0037] Second, as auxiliary evidence for the inventiveness of the present invention's claims, it is also reflected in the following important aspects:

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

[0039] The technology of this invention is expected to become the core equipment for intelligent operation and maintenance of offshore wind power, adapting to my country's intelligent operation and maintenance market, creating multiple commercial value points such as equipment manufacturing, technical services, and data operations, and promoting the industry to upgrade to digitalization, intelligence, and unmanned operations; it is reflected in the fact that inspection robots greatly reduce the operation and maintenance costs of offshore wind power and improve inspection efficiency. Traditional offshore wind power inspections are highly dependent on large operation and maintenance ships, and their rental and operating costs are very high. Inspection robots can independently or remotely control high-risk, high-intensity, and repetitive tasks, significantly reducing high-risk operations that require climbing, diving, or exposure to harsh sea conditions and the corresponding costs, improving the overall safety level of the offshore wind power industry, and having significant social value; it has the ability to create new service models and revenue sources, and the accumulated marine environmental data is of extremely high value, which can be used to develop predictive maintenance models, optimize wind farm design, provide risk assessment basis, etc., and the inspection robots 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 this invention fills the technical gap in the industry at home and abroad:

[0041] This invention proposes and realizes for the first time a practical amphibious inspection robot that is optimized for full-structure water and air inspection of offshore wind power plants. The inspection robot breaks through the limitations of a single operating domain and can independently complete full-range, high-precision inspection tasks from underwater to aerial operating areas without changing platforms or relying on large mother ships. It realizes a truly "cross-media, full-structure, integrated" intelligent inspection, filling the gap in mature application products in this sub-sector at home and abroad.

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

[0043] People have longed for an efficient means to simultaneously detect critical structural damage such as cracks in offshore wind turbine blades and corrosion in pile foundation structures. Traditional methods are extremely costly and have incomplete coverage areas, making it difficult to obtain high-resolution, close-range, comprehensive data. Inspection robots can quickly respond to hidden and sudden defects. Defects in underwater structures or blade roots are highly concealed and may be missed by traditional regular inspections. Sudden failures require rapid confirmation due to the influence of severe weather at sea, but responses are often delayed due to factors such as weather and ship scheduling.

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

[0045] At present, it is generally believed that achieving efficient underwater navigation and stable aerial flight at the same time will lead to an overly complex and bulky structure, redundant control systems, reduced reliability, and a sharp increase in costs, ultimately sacrificing single performance (such as underwater endurance or aerial maneuverability), and the overall benefit is not as good as using multiple single-function platforms; the technical solution of the present invention, through the innovative variable-force propeller and bionic tail structure design, highly integrates multi-energy composite technology, and achieves a comprehensive efficiency of 1+1>2 while ensuring that the basic inspection operation performance requirements are met underwater and in the air. The full-structure coverage capability, rapid response capability, and reduced dependence on the mother ship brought by the inspection robot result in comprehensive operation and maintenance cost-effectiveness and safety improvement, which far outweigh the slight sacrifice in the performance of a single platform, and completely breaks the prejudice that "amphibious equals low efficiency / high cost". BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 3D schematic diagram of the structure of an amphibious inspection robot for offshore wind power in an embodiment of the present invention;

[0047] Figure 2 3D schematic diagram of the variable force propeller of the amphibious inspection robot for offshore wind power in an embodiment of the present invention;

[0048] Figure 3 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 This is a structural diagram of a bionic tail wing of an amphibious inspection robot for offshore wind power in an embodiment of the present invention;

[0050] Figure 5 This 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 module; 4. Robot main frame; 5. Variable force propeller; 6. Camera; 7. LED light; 8. Bionic tail; 9. Robot base; 10. Wireless charging port; 11. Propeller cap; 12. Rotating shell; 13. Blade; 14. Rotating flange; 15. Fastening screw; 16. Bearing seat; 17. Pressing screw; 18. Center bevel gear; 19. Elastic washer; 20. Auxiliary motor; 21. Sealing ring; 22. O-ring; 23. Sealing gasket; 24. Main rotating motor; 25. Bearing; 26. Tail plate; 27. Compensating propeller; 28. Compensating propeller base; 29. ​​Rotating rod; 30. Independent motor. DETAILED DESCRIPTION

[0052] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0053] like Figure 1 、 Figure 2As shown, an embodiment of the present invention provides an amphibious inspection robot for offshore wind power, including a robot main frame distributed from top to bottom for integrating modular components, a solar panel 2 arranged on the top of the inspection robot, and enhancing endurance by converting solar energy into electrical energy, four variable force propellers 5 providing thrust for the inspection robot to freely navigate in the air and underwater, each variable force propeller 5 is independently provided with a dual power source for driving the rotation of the blades 13 and adjusting the tilt angle of the blades 13, a core module 3 arranged at the center of the robot main frame 4, for controlling and realizing functions such as intelligent navigation and detection of the robot, and at the same time being responsible for the management and provision of energy for the robot's inspection work, and transmitting the detection signal to the control platform to realize real-time dynamic monitoring of the inspection process, and a camera 6 is arranged on the machine The front end of the robot is used for image recognition and transmission of the robot's inspection work. The camera 6 is rotatably mounted to achieve all-round detection. The LED light 7 array is arranged on the front handle of the robot for lighting the robot's inspection work. The bionic tail 8 is arranged on both sides of the robot's tail. 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 force. The two compensating propellers 27 on the bionic tail 8 are respectively equipped with independent power sources. When the external load is too large, the stability and flexible maneuverability of the robot during navigation are achieved by providing compensation force. 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 scenes mainly include aerial inspection and underwater inspection. The navigation mode of the robot is affected by the inspection scene. During the aerial inspection, it is only affected by the wind force. The blades 13 of the variable force propeller 5 adopt a smaller inclination angle to achieve free navigation in the air, thereby performing a comprehensive inspection of the aerial structure of the wind turbine. When the inspection scene is switched to underwater, the thrust required for the navigation of the inspection robot changes. By increasing the inclination angle of the blades 13 of the variable force propeller 5, the robot can obtain greater thrust and 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 shake during underwater navigation. After the console or camera 6 captures the shaking of the robot, the compensation thrust is calculated through feedback. The compensation propeller 27 on the bionic tail wing 8 provides compensation force to offset the influence of external forces, thereby achieving stability control of the robot.

[0055] An embodiment of the present invention provides an energy management strategy for an amphibious inspection robot for offshore wind power. A removable battery is installed in the core module 3, and the energy for inspection can be directly provided by replacing the battery. The wireless charging interface 10 is installed at the tail of the robot base 9, and can automatically dock with the offshore power supply platform to realize the energy replenishment of the inspection robot. The solar panel 2 is arranged on the top of the robot main frame 4, which can convert the abundant solar energy resources at sea into the electrical energy required for inspection, realize endurance enhancement and unmanned intelligent operation and maintenance in the open sea, and provide energy guarantee for long-term remote inspection.

[0056] like Figure 5 As shown, the core module 3 provided by the embodiment of the present invention is equipped with an embedded edge computing module, which can realize intelligent path planning of the inspection robot and improve the inspection efficiency of the inspection robot. The AI ​​image recognition and optimization algorithm, after the camera captures the image of the wind blade or underwater base, will perform pre-processing of the image for noise reduction, defogging and effect enhancement, and then perform secondary processing of the image through grayscale, image segmentation and binarization, and finally extract the corresponding parameters to evaluate the crack and corrosion level, which effectively reduces the frequency of human-computer interaction and improves the intelligence level of inspection.

[0057] like Figure 3 As shown, the variable force propeller 5 array provided by the embodiment of the present invention is installed around the robot base. The main rotation motor 24 can be connected and fixed to the robot base 9 by the tightening screw 17, and the compression effect of each component of the variable force propeller 5 is achieved at the same time. The main rotation motor 24 serves as a power source to drive the rotating flange 14 to rotate. In addition to being used to install the bearing 25, the bearing seat 16 also has a supporting function for the rotating flange 14, and uses a sealing ring 21, an O-ring 22 and a sealing gasket 23 for sealing and compression. The fastening screw 15 connects the rotating flange 14 and the rotating shell 12 to realize the transmission of the rotational force. The four blades 13 are arranged in an array. On the rotating shell 12, it rotates along with the rotating shell 12 to obtain the thrust required for the robot's navigation. The four variable-force propellers 5 work together to realize the full-free navigation of the inspection robot in the air or underwater. The auxiliary motor 20 is installed on the rotating flange and is connected to the center bevel gear 18, which can drive the center bevel gear 18 to rotate. Since the four blades 13 are engaged with the center bevel gear 18, when the inspection scene is switched, the rotation of the center bevel gear 18 can be controlled to realize the intelligent adjustment of the inclination angle of the blade 13, thereby obtaining a thrust that is more suitable for free navigation in the inspection scene, and achieving intelligent control of the navigation stability and maneuverability of the inspection robot.

[0058] like Figure 4As shown, the bionic tail 8 provided in an embodiment of the present invention is symmetrically arranged at the tail of the inspection robot, connected and installed on the robot base 9 through a rotating rod 29. When there is a current or wind current passing by, the bionic tail 8 can respond around the rotating rod 29, thereby maintaining the stability of the inspection robot's navigation. Two compensating propellers 27 are arranged on each bionic tail 8. The compensating propeller 27 is driven by a separately equipped independent motor 30 and installed on a compensating propeller base 28. The compensating propeller base 28 plays a protective role for the compensating propeller 27 and the independent motor 30. When the external load is too large, the inspection robot may become unstable and shake. At this time, the core module 3 calculates the compensation force required to maintain the stability of the robot and provides it through the compensating propeller 27, intelligently maintaining the stability of the inspection robot, and providing the inspection robot with adaptability to multiple inspection scenarios.

[0059] The bionic tail 8 in this invention is symmetrically mounted on the inspection robot's tail. It can be freely deflected by a rotating rod 29. Its response mechanism is based on the aerodynamic / hydrodynamic coupling effect between the force of water or air flow and the tail fin's morphology. When ocean currents or wind currents disturb the robot, the bionic tail fin naturally deflects in line with the flow, redistributing the aerodynamic drag on the tail. This generates a self-stabilizing steering torque, guiding the robot back to its original heading, achieving a natural orientation function similar to that of a fish's tail fin.

[0060] To enhance the robot's adaptive control capabilities in highly disturbed environments, each bionic tail wing 8 is equipped with two compensating propellers 27, each secured to a compensating propeller base 28 and driven by an independent motor 30. Under the control algorithm of the core module 3, this structure estimates the current disturbance direction and magnitude in real time based on sensor feedback, and then calculates the required compensating thrust vector. Upon receiving the control signal, the compensating propellers activate rapidly, counteracting the yaw and sway caused by external disturbances through localized reverse thrust.

[0061] The compensating propeller base 28 serves the dual functions of structural protection and stable load transfer. Its material and structural design take into account complex underwater conditions such as high pressure, corrosion, and impact, effectively buffering the mechanical stress of the compensating propeller during rapid startup and shutdown. When encountering complex disturbances such as whirlpools and oblique waves, the compensating propeller can quickly intervene and adjust, significantly improving the robot's dynamic stability and attitude recovery speed.

[0062] Alternative designs, such as replacing the tail's gear adjustment structure with a connecting rod or cam mechanism, could enable dynamic adjustment of the propeller thrust vector through a mechanical angle control device, reducing reliance on electronic control and enhancing mechanical robustness. Furthermore, bionic wing panels could be installed on the sides or bottom of the robot. These panels, through fluid-coupled response, act like vertical stabilizers, achieving stable control under multi-directional disturbances and supporting autonomous operations in complex deep-sea terrain or wind turbine pile foundation environments.

[0063] The above description is only a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications, equivalent substitutions and improvements made by any technician familiar with this technical field within the technical scope disclosed by the present invention and within the spirit and principles of the present invention should be covered by the scope of protection of the present invention.

Claims

1. A water-air 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 rear of the robot base is used to realize the energy replenishment function; The inspection robot has two navigation modes: aerial inspection and underwater inspection. In the aerial mode, the variable-force propeller blades 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. 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.

2. 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.

3. 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.

4. The inspection robot according to claim 1, characterized in that: 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.

5. The inspection 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.

6. 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.

7. The inspection 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.

8. The inspection robot according to claim 1, wherein: 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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