An underwater detection robot and detection method thereof for low-visibility water area

Abstract

An underwater inspection robot and its inspection method for use in low-visibility waters are disclosed, relating to the field of underwater inspection technology. This invention addresses the problem that existing underwater inspection robots are unable to detect underwater hazards in various types of buildings in low-visibility waters. The underwater inspection robot of this invention includes a transparent head, a shell, a pulsed high-intensity light, a camera, a buoyancy device, and a power unit. The shell is a hollow, sealed cavity. The transparent head is located at one end of the shell, and the camera is housed inside the shell and faces the transparent head. The pulsed high-intensity light is fixed to the top side of the shell's exterior, facing in front of the camera. The power unit is fixed to the bottom side of the shell's exterior to drive the shell's movement in the water. The buoyancy device is located inside the shell to adjust the shell's diving depth. A control mechanism is provided on the shell and electrically connected to the pulsed high-intensity light. This invention is used for underwater inspection.

Description

Technical Field

[0001] This invention relates to the field of underwater inspection technology, specifically to an underwater inspection robot and its inspection method that can be used in low-visibility waters. Background Technology

[0002] For the operation, management, and maintenance of various hydraulic structures in the field of water conservancy engineering, underwater hazard detection and troubleshooting are essential daily tasks. Current methods primarily rely on divers, but this approach is costly and poses inherent risks to divers due to the complexity of underwater conditions. Furthermore, divers cannot effectively detect hazards in water depths greater than 50 meters. Therefore, leveraging the rapid development of computer and information technology, the adoption of underwater inspection robots to replace manual labor for extended periods in highly complex and even dangerous waters is an inevitable trend.

[0003] Existing underwater inspection robots used in water conservancy engineering typically employ underwater cameras and underwater LED lights to record and transmit video images of the areas to be inspected. However, in low-visibility (murky) waters, recording and transmitting clear video images of the areas to be inspected, and conducting underwater hazard detection for various structures, presents difficulties. Therefore, developing an underwater inspection robot specifically for low-visibility waters to address the technical challenge of existing underwater inspection robots' inability to detect underwater hazards in various structures in low-visibility (murky) waters has become particularly necessary. Summary of the Invention

[0004] To address the problem that existing underwater inspection robots are unable to detect underwater hazards in various types of buildings in low-visibility waters, this invention proposes an underwater inspection robot and its inspection method that can be used in low-visibility waters.

[0005] The technical solution adopted by the present invention to solve the above-mentioned technical problems is as follows:

[0006] An underwater inspection robot for use in low-visibility waters includes a transparent head, a shell, a pulsed light, a camera, a buoyancy device, and a power unit. The shell is a hollow, sealed cavity. The transparent head is located at one end of the shell, and the camera is located inside the shell and faces the transparent head. The pulsed light is fixed to the top side of the shell and faces the front of the camera. The power unit is fixed to the bottom side of the shell to drive the shell to move in the water. The buoyancy device is located inside the shell to adjust the diving depth of the shell. A control mechanism is provided on the shell and is electrically connected to the pulsed light.

[0007] Furthermore, the control mechanism is used to adjust the wavelength range of the pulsed high-intensity lamp based on the depth, turbidity, and temperature information of the detected water area.

[0008] Furthermore, the control mechanism includes a detection module and a processing module;

[0009] The detection module is located on the outer wall of the housing and includes a depth sensor, a turbidity sensor, and a temperature sensor.

[0010] The processing module includes an evaluation unit and a control unit.

[0011] Furthermore, the power unit includes a steering motor, a connecting rod, and two pushing devices. The steering motor is vertically fixed inside the housing, and the output shaft of the steering motor passes through the bottom side wall of the housing and is vertically fixed to the middle of the connecting rod. The pushing devices are respectively located at both ends of the connecting rod.

[0012] Furthermore, the pushing device includes a motor housing, a cross, a fixing ring, a drive motor, and a turbine blade assembly. The motor housing is vertically fixed to the end of the connecting rod, the middle part of the cross is fixed to the rear end of the motor housing, the front end of the fixing ring is fitted and fixed to the outside of the cross, the drive motor is fixed inside the motor housing, and the output shaft of the drive motor passes through the middle part of the cross and is fixed to the center of the turbine blade assembly.

[0013] Furthermore, the buoyancy device is used to control the buoyancy of the hull to adjust the diving depth of the hull.

[0014] Furthermore, the buoyancy device includes a partition, a suction pump, a first water pipe, and a second water pipe. The partition is fixed inside the shell, and the rear end face of the partition forms a water storage chamber with the inner side wall of the rear part of the shell. The suction pump is fixed to the other end of the shell. One end of the first water pipe is connected to one end of the suction pump, and the other end of the first water pipe is located outside the shell. One end of the second water pipe is connected to the other end of the suction pump, and the other end of the second water pipe is located inside the water storage chamber.

[0015] Furthermore, the shell is cylindrical in shape, and the transparent head is hemispherical in shape.

[0016] A detection method for underwater detection robots that can be used in low-visibility waters includes the following steps:

[0017] Step 1: During underwater inspection, first place the underwater inspection robot into the water area to be inspected, then start the suction pump to draw water into the water storage chamber through the first and second water pipes, causing the underwater inspection robot to sink.

[0018] Step Two: Once the underwater inspection robot reaches the designated depth, the two drive motors are activated. Each drive motor drives the turbine blade assembly to rotate, causing the turbine blade assembly to propel the water flow and thus move the underwater inspection robot in the water. Simultaneously, the steering motor can be controlled to deflect the two propulsion devices, allowing the underwater inspection robot to move and turn in the water, eventually reaching the designated position. The underwater inspection robot then performs inspections using a camera and supplements its illumination with a pulsed high-intensity light to achieve inspections in low-visibility waters.

[0019] Furthermore, during the underwater inspection process, the underwater inspection robot performs dimensionless processing on the water depth, turbidity, and temperature information obtained from the depth sensor, turbidity sensor, and temperature sensor, along with the wavelength of the pulsed high-intensity light, and correlates them to form a control coefficient. MJ Its correlation model is as follows:

[0020] (1)

[0021] In formula (1), α, β, γ The weight values ​​were set based on experience. R The water depth obtained by the depth sensor. T The turbidity is obtained from the turbidity sensor. N The temperature obtained by the temperature sensor. M The wavelength of the pulsed high-intensity light;

[0022] The control coefficients will be obtained next. MJ The data is transmitted to the judgment unit and compared with a preset threshold. If the adjustment coefficient is... MJ If the wavelength is outside the preset threshold range, a corresponding control command is generated, and the control unit adjusts the wavelength of the pulsed high-intensity lamp until the adjustment coefficient is reached. MJ Within a preset threshold, the pulsed light is kept within a certain range to ensure its penetration effect in water, enabling the camera to perform shooting and detection in low-visibility waters.

[0023] The beneficial effects of this invention compared to the prior art are:

[0024] This invention provides an underwater inspection robot and its inspection method that can be used in low-visibility waters. The wavelength range of the pulsed light can be adjusted according to the depth, temperature and turbidity of the water to ensure the penetration effect of the pulsed light in water, so that the camera can shoot and inspect in low-visibility waters. In addition, clear video images of the underwater parts to be inspected can be recorded and transmitted in low-visibility waters. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the overall structure of an underwater detection robot for low-visibility waters according to the present invention;

[0026] Figure 2 This is a schematic diagram of the power unit in this invention;

[0027] Figure 3 This is a schematic diagram of the pushing device in this invention;

[0028] Figure 4 This is a front sectional view of the pushing device in this invention;

[0029] Figure 5 This is a schematic diagram of the structure of the fixing ring, cross, and turbine blade assembly in this invention;

[0030] Figure 6 This is a schematic diagram of the internal structure of the shell in this invention;

[0031] Figure 7 This is a front sectional view of an underwater inspection robot for low-visibility waters according to the present invention.

[0032] In the attached diagram: 1. Transparent head; 2. Depth sensor; 3. Turbidity sensor; 4. Temperature sensor; 5. Housing; 6. First water pipe; 7. Pulsed high-intensity light; 8. Fixing ring; 9. Cross; 10. Motor housing; 11. Connecting rod; 12. Camera; 13. Steering motor; 14. Second water pipe; 15. Suction pump; 16. Baffle; 17. Drive motor; 18. Turbine blade assembly. Detailed Implementation

[0033] To make the technical problems solved, the technical solutions, and the beneficial effects of the present invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only for explaining the invention and are not intended to limit the invention.

[0034] Specific implementation method one: Combining Figures 1 to 7 This embodiment describes an underwater inspection robot for use in low-visibility waters, comprising a transparent head 1, a shell 5, a pulsed high-intensity light 7, a camera 12, a buoyancy device, and a power unit. The shell 5 is a hollow, sealed cavity. The transparent head 1 is located at one end of the shell 5. The camera 12 is located inside the shell 5 and faces the transparent head 1. The pulsed high-intensity light 7 is fixed to the top side of the shell 5 and faces the front of the camera 12. The power unit is fixed to the bottom side of the shell 5 to drive the shell 5 to move in the water. The buoyancy device is located inside the shell 5 to adjust the diving depth of the shell 5. A control mechanism is provided on the shell 5, and the control mechanism is electrically connected to the pulsed high-intensity light 7.

[0035] The underwater inspection robot uses camera 12 to take pictures and conduct inspections, and at the same time uses pulsed high-intensity light 7 for supplemental lighting to achieve picture and inspection in low-visibility waters.

[0036] Specific Implementation Method Two: Combining Figure 1 This embodiment describes a control mechanism used to adjust the wavelength range of the pulsed high-intensity lamp 7 based on the depth, turbidity, and temperature information of the detected water area.

[0037] The undisclosed technical features in this embodiment are the same as those in Specific Embodiment 1.

[0038] The control mechanism is used to adjust the wavelength range of the pulsed light 7 according to the depth, temperature and turbidity of the water being detected, so as to ensure the penetration effect of the pulsed light in the water, enabling the camera 12 to take pictures and detect in low visibility waters.

[0039] Specific implementation method three: Combining Figure 1 This embodiment describes a control mechanism that includes a detection module and a processing module.

[0040] The detection module is located on the outer wall of the housing 5. The detection module includes a depth sensor 2, a turbidity sensor 3, and a temperature sensor 4.

[0041] The processing module includes an evaluation unit and a control unit.

[0042] The undisclosed technical features in this embodiment are the same as those in Specific Embodiment Two.

[0043] The detection module includes a depth sensor 2, a turbidity sensor 3, and a temperature sensor 4, which can be used to detect the depth, turbidity, and temperature of the water, respectively.

[0044] Specific implementation method four: Combination Figures 1 to 7 This embodiment describes a power device including a steering motor 13, a connecting rod 11, and two pushing devices. The steering motor 13 is vertically fixed inside the housing 5. The output shaft of the steering motor 13 passes through the bottom side wall of the housing 5 and is vertically fixed to the middle of the connecting rod 11. The pushing devices are respectively located at both ends of the connecting rod 11.

[0045] The undisclosed technical features in this embodiment are the same as those in Specific Embodiment 1.

[0046] Specific Implementation Method Five: Combining Figures 1 to 7 This embodiment describes a driving device comprising a motor housing 10, a cross 9, a fixing ring 8, a drive motor 17, and a turbine blade assembly 18. The motor housing 10 is vertically fixed to the end of the connecting rod 11. The middle part of the cross 9 is fixed to the rear end of the motor housing 10. The front end of the fixing ring 8 is fitted and fixed to the outside of the cross 9. The drive motor 17 is fixed inside the motor housing 10. The output shaft of the drive motor 17 passes through the middle part of the cross 9 and is fixed to the center of the turbine blade assembly 18.

[0047] The undisclosed technical features in this embodiment are the same as those in Specific Embodiment Four.

[0048] Once the underwater inspection robot reaches the designated depth, the two drive motors 17 are activated. The two drive motors 17 drive the turbine blade assembly 18 to rotate, causing the turbine blade assembly 18 to push the water flow, thereby propelling the underwater inspection robot to move in the water. At the same time, the steering motor 13 can be controlled to drive the two propulsion devices to deflect, causing the underwater inspection robot to move and turn in the water, thereby enabling the underwater inspection robot to reach the designated position.

[0049] Specific Implementation Method Six: Combination Figure 1 and Figure 7 This embodiment describes a buoyancy device used to control the buoyancy of the shell 5 in order to adjust the diving depth of the shell 5.

[0050] The undisclosed technical features in this embodiment are the same as those in Specific Embodiment 1.

[0051] The shell 5 is equipped with a buoyancy device, which is used to control the buoyancy of the underwater inspection robot and thus control the depth of the shell 5 in the water.

[0052] Specific implementation method seven: Combining Figure 1 and Figure 7 This embodiment describes a floating device comprising a partition 16, a suction pump 15, a first water pipe 6, and a second water pipe 14. The partition 16 is fixedly connected inside the housing 5, and the rear end face of the partition 16 forms a water storage chamber with the inner side wall of the rear part of the housing 5. The suction pump 15 is fixedly connected to the other end of the housing 5. One end of the first water pipe 6 is connected to one end of the suction pump 15, and the other end of the first water pipe 6 is located outside the housing 5. One end of the second water pipe 14 is connected to the other end of the suction pump 15, and the other end of the second water pipe 14 is located inside the water storage chamber.

[0053] The undisclosed technical features in this embodiment are the same as those in Specific Embodiment Six.

[0054] The second water pipe 14 penetrates the side wall of the shell 5 and extends into the water storage chamber. When the water storage chamber is filled with water, the weight of the underwater detection robot is greater than the buoyancy, and the underwater detection robot can dive down to conduct detection. When the water storage chamber is drained, the buoyancy of the underwater detection robot is greater than the weight, and the underwater detection robot can float to the surface.

[0055] Specific implementation method eight: Combination Figure 1 and Figure 7 This embodiment describes a cylindrical shell 5 and a hemispherical transparent head 1.

[0056] The hemispherical transparent head 1 can reduce the forward drag of the underwater inspection robot when it is moving.

[0057] The undisclosed technical features in this embodiment are the same as those in Specific Embodiment 1.

[0058] Specific Implementation Method Nine: Combining Figures 1 to 7 This embodiment describes a detection method for an underwater detection robot applicable to low-visibility waters, comprising the following steps:

[0059] Step 1: During underwater inspection, first place the underwater inspection robot into the water area to be inspected, then start the suction pump 15 to suck water into the water storage chamber through the first water pipe 6 and the second water pipe 14, causing the underwater inspection robot to sink.

[0060] Step 2: Once the underwater inspection robot reaches the designated depth, the two drive motors 17 are activated. The two drive motors 17 drive the turbine blade assembly 18 to rotate, causing the turbine blade assembly 18 to push the water flow, thereby propelling the underwater inspection robot to move in the water. At the same time, the steering motor 13 can be controlled to drive the two propulsion devices to deflect, causing the underwater inspection robot to move and turn in the water, thus enabling the underwater inspection robot to reach the designated position. The underwater inspection robot takes pictures and conducts inspections through the camera 12, and at the same time uses the pulsed high-intensity light 7 for supplementary lighting to achieve picture and inspection in low-visibility waters.

[0061] Specific Implementation Method Ten: Combining Figures 1 to 7 This embodiment describes an underwater inspection robot that, during the imaging and inspection process, performs dimensionless processing on the water depth, turbidity, and temperature information acquired by the depth sensor 2, turbidity sensor 3, and temperature sensor 4, along with the wavelength of the pulsed high-intensity lamp 7, and correlates them to form a control coefficient. MJ Its correlation model is as follows:

[0062] (1)

[0063] In formula (1), α, β, γ The weight values ​​were set based on experience. R The water depth is obtained by depth sensor 2. T The turbidity is obtained by turbidity sensor 3. N The temperature obtained by temperature sensor 4, M The wavelength of pulsed high-intensity light 7;

[0064] The control coefficients will be obtained next. MJ The data is transmitted to the judgment unit and compared with a preset threshold. If the adjustment coefficient is... MJ If the wavelength is outside the preset threshold range, a corresponding control command is generated, and the control unit adjusts the wavelength of the pulsed high-intensity lamp 7 until the adjustment coefficient is reached. MJ Within a preset threshold, to ensure the penetration effect of pulsed light in water, enabling camera 12 to perform shooting and detection in low-visibility waters.

[0065] The undisclosed technical features in this embodiment are the same as those in specific embodiment nine.

[0066] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of this invention is defined by the appended claims and their equivalents.

Claims

1. A detection method for underwater detection robots applicable to low-visibility waters, characterized in that: It is based on an underwater inspection robot that can be used in low visibility waters, including a transparent head (1), a shell (5), a pulsed light (7), a camera (12), a buoyancy device and a power unit. The shell (5) is a hollow sealed cavity. The transparent head (1) is provided at one end of the shell (5). The camera (12) is set inside the shell (5) and faces the transparent head (1). The pulsed light (7) is fixed to the top side of the shell (5) and faces the front of the camera (12). The power unit is fixed to the bottom side of the shell (5) to drive the shell (5) to move in the water. The buoyancy device is set inside the shell (5) to adjust the diving depth of the shell (5). The shell (5) is provided with a control mechanism, which is electrically connected to the pulsed light (7). The control mechanism is used to adjust the wavelength range of the pulsed high-intensity lamp (7) based on the depth, turbidity, and temperature information of the detected water area; The control mechanism includes a detection module and a processing module; The detection module is located on the outer wall of the housing (5). The detection module includes a depth sensor (2), a turbidity sensor (3), and a temperature sensor (4). The processing module includes an evaluation unit and a control unit; The power unit includes a steering motor (13), a connecting rod (11) and two pushing devices. The steering motor (13) is vertically fixed inside the housing (5). The output shaft of the steering motor (13) passes through the bottom side wall of the housing (5) and is vertically fixed to the middle of the connecting rod (11). The pushing devices are respectively set at both ends of the connecting rod (11). The driving device includes a motor housing (10), a cross (9), a fixing ring (8), a drive motor (17), and a turbine blade assembly (18). The motor housing (10) is vertically fixed to the end of the connecting rod (11). The middle part of the cross (9) is fixed to the rear end of the motor housing (10). The front end of the fixing ring (8) is fitted and fixed to the outside of the cross (9). The drive motor (17) is fixed inside the motor housing (10). The output shaft of the drive motor (17) passes through the middle part of the cross (9) and is fixed to the center of the turbine blade assembly (18). The floating device includes a partition (16), a suction pump (15), a first water pipe (6) and a second water pipe (14). The partition (16) is fixed inside the shell (5). The rear end face of the partition (16) and the inner side wall of the rear part of the shell (5) form a water storage chamber. The suction pump (15) is fixed to the other end of the shell (5). One end of the first water pipe (6) is connected to one end of the suction pump (15). The other end of the first water pipe (6) is located outside the shell (5). One end of the second water pipe (14) is connected to the other end of the suction pump (15). The other end of the second water pipe (14) is located inside the water storage chamber. The method includes the following steps: Step 1: During underwater inspection, first place the underwater inspection robot into the water area to be inspected, and then start the suction pump (15) to suck water into the water storage chamber through the first water pipe (6) and the second water pipe (14), so that the underwater inspection robot sinks. Step 2: When the underwater inspection robot reaches the designated depth, start the two drive motors (17). The two drive motors (17) drive the turbine blade assembly (18) to rotate, so that the turbine blade assembly (18) pushes the water flow, thereby pushing the underwater inspection robot to move in the water. At the same time, the steering motor (13) can be controlled to drive the two propulsion devices to deflect, so that the underwater inspection robot moves and turns in the water, thereby allowing the underwater inspection robot to reach the designated position. The underwater inspection robot takes pictures and detects through the camera (12), and at the same time uses the pulsed light lamp (7) for supplementary lighting to achieve the picture detection in low visibility waters. During the underwater inspection process, the underwater inspection robot performs dimensionless processing on the water depth, turbidity, and temperature information obtained by the depth sensor (2), turbidity sensor (3), and temperature sensor (4) and the wavelength of the pulsed high-intensity lamp (7), and correlates them to form a control coefficient. MJ Its correlation model is as follows: （1） In formula (1), α, β, γ The weight values ​​were set based on experience. R The water depth obtained by the depth sensor (2), T The turbidity is obtained by the turbidity sensor (3). N The temperature obtained by temperature sensor (4), M The wavelength of the pulsed high-intensity light lamp (7); The control coefficients will be obtained next. MJ The data is transmitted to the evaluation unit and compared with a preset threshold. If the adjustment coefficient... MJ If the wavelength is not within the preset threshold range, a corresponding control command is generated, and the control unit adjusts the wavelength of the pulsed high-intensity lamp (7) until the adjustment coefficient is adjusted. MJ Within a preset threshold, to ensure the penetration effect of pulsed light in water, so that the camera (12) can perform shooting and detection in low visibility waters.

2. The detection method for an underwater detection robot applicable to low-visibility waters according to claim 1, characterized in that: The shell (5) is cylindrical in shape, and the transparent head (1) is hemispherical in shape.

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