UUV (Unmanned Underwater Vehicle) main thruster with visual angle-adjustable visual fault diagnosis device and detection method

Abstract

The invention discloses a UUV (Unmanned Underwater Vehicle) main propeller with an adjustable visual angle visual fault diagnosis device and a detection method, relates to the UUV main propeller with the fault diagnosis device and the detection method, and aims to solve the problems that the maintenance cost is greatly increased due to the fact that the UUV main propeller is inconvenient to overhaul and the troubleshooting and repairing time of equipment faults is prolonged. A propeller is arranged at the tail end of the vehicle body, the arc-shaped cover is rotationally connected and installed on the vehicle body through a hinge, the fixing plate is installed in the vehicle body in the length direction of the vehicle body, the control element installation mechanism is installed in the vehicle body, and the position of the control element installation mechanism corresponds to the position of the arc-shaped cover. The two detection head adjusting mechanisms are symmetrically mounted at the tail end of the aircraft main body, the detection head adjusting mechanisms are arranged close to the propellers, and each detection head adjusting mechanism is provided with a visual detection probe. The invention belongs to the technical field of UUV fault detection.

Description

Technical Field

[0001] The present invention relates to a UUV main propeller with a fault diagnosis device and a detection method, and in particular to a UUV main propeller with an adjustable viewing angle visual fault diagnosis device and a detection method. The present invention belongs to the technical field of UUV fault detection. Background Art

[0002] With the increasing application of UUV main propulsion systems in deep-sea exploration, underwater engineering operations, and other scenarios, the main propulsion systems of UUVs, as core power components, are facing increasingly severe fault detection challenges. However, most current UUV main propulsion system designs have significant deficiencies in their condition monitoring and maintenance technologies, particularly in the structure of the probe adjustment and maintenance controller. The propellers, drive shafts and other components of the main thruster have multi-curved surfaces and high-speed rotation characteristics. Traditional fixed detection probes cannot effectively cover high-prone fault areas such as the blade roots and shaft connections, resulting in difficulty in timely detection of fine cracks or wear; the dynamic characteristics of the main thruster during operation, such as water flow disturbances and high-speed rotation of components, make the fixed-view detection device prone to problems such as image blur and feature loss, seriously affecting the accuracy of damage identification; UUVs usually need to operate for a long time in complex underwater environments, and main thruster failures are difficult to avoid. However, the lack of devices that facilitate the maintenance of the control system makes the maintenance process complicated and time-consuming when the equipment fails, requiring professionals to perform complex disassembly and inspection; due to the inconvenience of maintenance, the time for troubleshooting and repairing equipment failures is extended, resulting in a significant increase in maintenance costs. In addition, frequent maintenance may also affect the service life of the UUV.

[0003] These issues have led to main thruster failures becoming the primary cause of UUV operation interruptions. Traditional detection methods are no longer able to meet the high reliability requirements of long-duration missions such as submarine pipeline inspections and cross-sea bridge pier testing. Therefore, developing dedicated main thruster fault detection devices with dynamic detection coverage and support for rapid maintenance has become a key breakthrough in improving UUV operational efficiency. Summary of the Invention

[0004] The purpose of the present invention is to solve the problem that the UUV main thruster is inconvenient to repair, the time for troubleshooting and repairing equipment failures is prolonged, and the maintenance cost is greatly increased, and further to provide a detection method of an adjustable-angle visual fault diagnosis device and a UUV main thruster with an adjustable-angle visual fault diagnosis device.

[0005] The technical solution of the present invention is: A UUV main propulsion system with an adjustable viewing angle visual fault diagnosis device includes a vehicle body, an arc-shaped cover, a handle, a fixing plate, a propeller, two fixing ears, and a plurality of fastening screws. The tail end of the vehicle body is provided with a propeller, the arc-shaped cover is rotatably connected and mounted on the vehicle body through a hinge, and a fixing ear is respectively mounted on the arc-shaped cover and the vehicle body, and the two fixing ears are connected by a plurality of fastening screws. The fixing plate is mounted inside the vehicle body along the length direction of the vehicle body. It also includes a control element mounting mechanism, two detection head adjustment mechanisms and two visual detection probes; The control element mounting mechanism is installed in the aircraft body, and the position of the control element mounting mechanism is set corresponding to the arc cover. The two detection head adjustment mechanisms are symmetrically installed on the tail end of the aircraft body, and the detection head adjustment mechanism is set close to the propeller. A visual detection probe is installed on each detection head adjustment mechanism.

[0006] Furthermore, the detection head adjustment mechanism includes a fixing frame, a detection head angle adjustment assembly, a mounting box, a gear ring, a bending rod, a waterproof motor, a connecting plate 1, a rotating gear, a pin 1, a connecting rod, a pin 2, a connecting plate 2 and two connecting blocks. One end of the mounting box passes through the aircraft body and is installed on one side of the fixed plate, and the shell of the waterproof motor is fixedly installed in the mounting box, and the output end of the waterproof motor shaft is fixedly connected to one end of the bent rod, and the other end of the bent rod is fixedly installed with a rotating gear, which is arranged in the gear ring and meshes with the teeth on the inner circle surface of the gear ring. The gear ring is installed in the mounting box, and the eccentric position of the rotating gear is fixedly installed with a pin shaft 1, which is rotatably connected to one end of the connecting rod, and the other end of the connecting rod is rotatably connected to the pin shaft 2. The connecting plate 1 and the connecting plate 2 are arranged opposite to each other, and the connecting plate 1 and the connecting plate 2 are fixedly connected by two connecting blocks. A slide is processed on the mounting box, one of the connecting blocks is arranged in the slide and slides in the slide, and the connecting plate 1 is arranged on the outside of the mounting box, and the visual detection probe is installed on the connecting plate 1 through the detection head angle adjustment assembly and the fixing bracket. The connecting plate 2 is processed with a slide groove, and the pin shaft 2 is inserted in the slide groove and slides in the slide groove.

[0007] Furthermore, the detection head angle adjustment assembly includes a rotating shaft, a rotating block, a fixing assembly and two probe fixing plates; the two probe fixing plates are fixedly installed on the fixing frame in relative parallel, and a plurality of fixing holes are processed radially on the probe fixing plates. The visual detection probe is rotatably connected and set on the two probe fixing plates through the rotating shaft, the rotating block is rotatably set on one end of the rotating shaft, and the fixing assembly is set on the rotating block. A plurality of positioning holes corresponding to the fixing holes are opened on the side of the visual detection probe, and the locking section of the fixing assembly is inserted into the corresponding fixing hole and the positioning hole of the visual detection probe.

[0008] Furthermore, the fixing assembly includes a fixing rod, a limiting plate, a spring and a pull rod; A circular mounting groove is processed at the eccentric part of the rotating block, and the limit plate and spring are arranged in the circular mounting groove. The limit plate is fixedly installed on the end face of the fixed rod. One end of the pull rod is inserted in the spring and fixed to the limit plate. The other end of the pull rod is arranged outside the rotating block, and a pull groove is processed on the pull rod.

[0009] Furthermore, the control element installation mechanism includes a line sealing assembly, a support plate, an installation cabin, a sealing cover plate, a control element removal assembly, a moving plate, a cabin seat, a control element body, a plurality of bolts 1 and a plurality of bolts 2, The installation cabin body and the cabin seat are connected as a whole. The cabin seat is fixed on the fixed plate by multiple bolts. The cabin seat is a cylinder with an open end. The support plate is installed in the installation cabin body. The control element removal assembly is installed on the support plate. A movable plate is provided on the upper end of the control element removal assembly. The upper end of the movable plate is fixedly connected to the control element body by screws. The sealing cover plate is sealed and fixed to the cabin seat by multiple bolts. The line sealing assembly is sealed and installed on the inner wall of the installation cabin.

[0010] Furthermore, the line sealing assembly includes at least one line body and at least one sealing head. The output end of the control component body is provided with a line body and is connected to the visual detection probe through the line body. A sealing groove is processed on the cabin seat. The sealing head is sealably inserted into the sealing groove on the side wall of the cabin seat. Each line body is correspondingly inserted into a sealing head.

[0011] Furthermore, the control element component removal assembly includes a knob, a screw and a T-block; One end of the screw is fixedly connected to the knob, and the screw is rotatably connected and inserted into the support plate. A T-slot is processed on the support plate, and the T-block is slidably set on the T-slot. The movable plate and the T-block are fixedly connected by screws, and the screw is inserted into the T-block and threadedly connected to the T-block.

[0012] Furthermore, the visual inspection probe includes an image preprocessing module, a feature extraction module, a target detection module, a three-dimensional reconstruction module, an environment adaptation module, a data fusion module, and a storage and transmission module; Image preprocessing module, used for denoising, contrast enhancement and normalization of main thruster images; Feature extraction module, used to extract multi-scale features from the preprocessed image; The target detection module analyzes the extracted features based on a deep learning algorithm or an adaptive matched filter algorithm, identifies the main thruster fault type, and generates a detection result; The 3D reconstruction module calculates the 3D coordinates and size information of the target through binocular vision or other stereo imaging technologies, and performs accurate 3D reconstruction of the target; Environmental adaptation module, which dynamically adjusts algorithm parameters according to the lighting conditions and background changes of the underwater environment to improve the robustness and accuracy of detection; The data fusion module fuses multi-source data to generate a more comprehensive description of the main thruster fault type, which is used for fault type identification in complex environments; The storage and transmission module is used to store the test results and related data locally or transmit them to external devices via wired / wireless means.

[0013] A detection method for a visual fault diagnosis device with adjustable viewing angle comprises the following steps: S1: When performing visual inspection on the main thruster, turn on the waterproof motor, and the waterproof motor drives the bent rod to rotate through the output end. The rotation of the bent rod drives the rotating gear to mesh and rotate around the inner teeth of the gear ring inside the gear ring. The rotation of the rotating gear drives the connecting rod to rotate around the pin shaft 1. At the same time, the pin shaft 2 cooperates with the sliding groove of the connecting plate 2 to make the pin shaft 2 slide in the sliding groove and drive the connecting plate 2 to slide left and right. The left and right sliding of the connecting plate 2 drives the connecting block to slide inside the slideway, and at the same time drives the connecting plate 1 to slide left and right. The left and right sliding of the connecting plate 1 drives the fixing frame to slide left and right. The left and right sliding of the fixing frame drives the visual inspection probe to move left and right, so as to perform visual inspection on the main thruster. The pull rod is driven to move through the pulling groove, and the pull rod drives the fixing rod to slide out of the fixing hole and compress the spring through the limit plate. At this time, the rotation of the rotating block can drive the rotating shaft to rotate, and the rotating shaft can drive the angle of the visual inspection probe to be preset. After the adjustment is completed, release the pull rod. At this time, the spring rebounds, thereby driving the fixing rod 1 to insert into another set of fixing holes and the positioning hole of the visual inspection probe to achieve locking of the visual inspection probe; S2: When performing maintenance on the control component body inside the cabin, first loosen the second bolt on the side of the sealing cover plate, remove the sealing cover plate, and then turn the knob. The knob drives the screw to rotate, and the rotation of the screw drives the T-block to slide inside the T-slot, thereby driving the control component body out of the installation cabin to perform maintenance on the control component body. By passing the circuit body connecting the control component body to the visual inspection probe through the sealing groove and then inserting it into the sealing groove through the sealing head on the surface of the circuit body, the problem of water entering the aircraft body can be avoided. S3: When performing visual inspection on the main thruster, the image preprocessing module serves as the front-end module of the system. The image preprocessing module performs denoising, contrast enhancement, and normalization operations on the collected main thruster images to improve image quality. The feature extraction module extracts key features, texture, edge, and shape features from the preprocessed images. The target detection module, based on the deep learning algorithm, uses the feature information provided by the feature extraction module to quickly identify the main thruster fault type and generate detection results. The three-dimensional reconstruction module combines binocular visual imaging technology and calculates the three-dimensional coordinates and size information of the target based on the output of the target detection module to achieve accurate modeling of the target. The environmental adaptation module dynamically adjusts the parameters of the image preprocessing and target detection modules according to the changes in the lighting and background of the underwater environment to ensure the stability and accuracy of the system in different environments. The data fusion module fuses multi-source data to further improve the accuracy and robustness of target recognition. The storage and transmission module is responsible for storing the detection results and related data locally or transmitting them to external devices via wired / wireless methods for subsequent analysis and recording.

[0014] Compared with the prior art, the present invention has the following effects: 1. The present invention is equipped with a visual detection probe that can swing left and right, which can significantly improve the detection capability of the UUV main propulsion system fault type. By adjusting the angle of the visual detection probe, the UUV can perform detection in a wider area, and can capture the rotation trajectory of the main propulsion system propeller in real time, reducing detection interruptions caused by environmental interference, and eliminating detection blind spots caused by fixation, so that it can adapt to most underwater environments for detection. In addition, through remote control and automated operation, the risk of divers directly participating in underwater operations is reduced, and the overall safety of operations is improved.

[0015] 2. This invention incorporates a component installation mechanism that allows maintenance personnel to quickly remove components from the bay, eliminating the need to operate within confined spaces. This significantly improves maintenance efficiency. The easily accessible components allow for easier inspection and repair, reducing maintenance difficulties caused by space constraints. This design also avoids disassembly of the entire device, reducing maintenance costs. Regular maintenance can promptly identify and resolve potential problems, extend the service life of electronic components, and reduce equipment downtime due to malfunctions.

[0016] 3. Through the optimization of image preprocessing and feature extraction modules, the present invention enables the system to more accurately identify the type of main thruster fault, reduce false detection and missed detection, and enhance environmental adaptability: the dynamic adjustment capability of the environmental adaptation module enables the system to maintain stable performance under different lighting and water quality conditions, and improve the accuracy of three-dimensional modeling: the three-dimensional reconstruction module can accurately reconstruct the three-dimensional model of the target based on the target detection results, provide richer information for subsequent analysis, and optimize data processing efficiency: the data fusion module further improves the reliability and accuracy of the detection results by integrating multi-source data, and supports real-time and reliability: the modular design and optimization of the system ensures real-time detection and data transmission in complex underwater environments.

[0017] 4. The modules in this invention work closely together to form an efficient and flexible system architecture, which not only improves the accuracy and efficiency of main thruster fault detection, but also enhances the overall adaptability and reliability of the system. This collaborative working approach provides strong support for the widespread application of UUVs in fields such as marine resource development, underwater engineering inspection, and environmental monitoring. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A perspective view of the present invention; Figure 2 A three-dimensional cutaway view of the left-right adjustment mechanism of the detection head of the present invention; Figure 3 A perspective view of the left-right adjustment mechanism of the detection head of the present invention; Figure 4 A perspective view of the connecting rod position of the present invention; Figure 5 is a three-dimensional cutaway view of the angle adjustment assembly of the detection head of the present invention; Figure 6 is an enlarged view of the fixing assembly of the present invention; Figure 7 A three-dimensional cutaway view of the control element mounting mechanism of the present invention; Figure 8 is a three-dimensional cutaway view of the circuit sealing assembly of the present invention; Figure 9 A three-dimensional cutaway view of a control element removal assembly according to the present invention; Figure 10 4 is a flowchart of the working process of the visual inspection device of the present invention.

[0019] In the figure: 1. Vehicle body; 2. Fastening screws; 3. Fixing ears; 4. Arc cover; 5. Handle; 6. Control element installation mechanism; 61. Bolt 1; 62. Line sealing assembly; 621. Line body; 622. Sealing head; 623. Sealing groove; 63. Support plate; 631. T-slot; 64. Mounting cabin; 65. Sealing cover; 66. Bolt 2; 67. Control element removal assembly; 671. Knob; 672. Screw; 673. T-block; 68. Moving plate; 69. Cabin seat; 610. Control element body; 7. Fixing plate; 8. Propeller; 9. Detection head left and right adjustment mechanism; 91. Fixing frame; 911. Connecting rod; 912. Pin 2; 913. Slide; 914. Connecting plate 2; 915 Connecting block; 92. Detection head angle adjustment assembly; 921. Fixing Fixed hole; 922, rotating shaft; 923, rotating block; 924, fixing assembly; 9241, fixing rod; 9242, circular mounting groove; 9243, limiting plate; 9244, spring; 9245, pull rod; 9246, pull groove; 925, probe fixing plate; 93, slide; 94, mounting box; 95, gear ring; 96, bending rod; 97, waterproof motor; 98, connecting plate one; 99, rotating gear; 910, pin one; 911, connecting rod; 912, pin two; 913, slide; 914, connecting plate two; 915, connecting block; 10, visual detection probe; 101, image preprocessing module; 102, feature extraction module; 103, target detection module; 104, 3D reconstruction module; 105, environmental adaptation module; 106, data fusion module; 107, storage and transmission module. DETAILED DESCRIPTION

[0020] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings herein can be arranged and designed in various different configurations.

[0021] Specific implementation method 1: Combination Figure 1 The present embodiment is described. The present embodiment is a UUV main propulsion system with an adjustable viewing angle visual fault diagnosis device, which includes a vehicle body 1, an arc-shaped cover 4, a handle 5, a fixing plate 7, a propeller 8, two fixing ears 3 and a plurality of fastening screws 2. The tail end of the vehicle body 1 is provided with a propeller 8, the arc-shaped cover 4 is rotatably connected and mounted on the vehicle body 1 through a hinge, and a fixing ear 3 is respectively mounted on the arc-shaped cover 4 and the vehicle body 1, and the two fixing ears 3 are connected by a plurality of fastening screws 2. The fixing plate 7 is mounted inside the vehicle body 1 along the length direction of the vehicle body 1. It also includes a control element mounting mechanism 6, two detection head adjustment mechanisms 9 and two visual detection probes 10; The control component mounting mechanism 6 is installed in the aircraft body 1, and the position of the control component mounting mechanism 6 is set corresponding to the arc cover 4. The two detection head adjustment mechanisms 9 are symmetrically installed on the tail end of the aircraft body 1, and the detection head adjustment mechanism 9 is set close to the propeller 8. A visual detection probe 10 is installed on each detection head adjustment mechanism 9.

[0022] Specific implementation method 2: Combination Figure 2-Figure 4 This embodiment describes a UUV main propulsion device with an adjustable viewing angle visual fault diagnosis device. The detection head adjustment mechanism 9 includes a fixing frame 91, a detection head angle adjustment assembly 92, a mounting box 94, a gear ring 95, a bending rod 96, a waterproof motor 97, a connecting plate 1 98, a rotating gear 99, a pin 1 910, a connecting rod 911, a pin 2 912, a connecting plate 2 914 and two connecting blocks 915. One end of the mounting box 94 passes through the aircraft body 1 and is mounted on a side of the fixing plate 7. The housing of the waterproof motor 97 is fixedly mounted in the mounting box 94. The output end of the rotating shaft of the waterproof motor 97 is fixedly connected to one end of the bent rod 96. The other end of the bent rod 96 is fixedly mounted with a rotating gear 99. The rotating gear 99 is arranged in the gear ring 95 and meshes with the teeth on the inner circle surface of the gear ring 95. The gear ring 95 is mounted in the mounting box 94. A pin 910 is fixedly mounted on the eccentric position of the rotating gear 99. The pin 910 is rotatably connected to one end of the connecting rod 911. The other end of the connecting rod 911 is fixed to the pin 2 912 is rotatably connected. Connecting plate 1 98 and connecting plate 2 914 are arranged opposite each other and fixedly connected by two connecting blocks 915. A slideway 93 is machined on the installation box 94, and one connecting block 915 is disposed within and slides within the slideway 93. Connecting plate 1 98 is disposed outside the installation box 94. The visual inspection probe 10 is mounted on connecting plate 1 98 via the probe angle adjustment assembly 92 and the fixing bracket 91. A slide groove 913 is machined on connecting plate 2 914, and pin 2 912 is inserted into and slides within the slide groove 913. Other components and connection relationships are the same as those in the first embodiment.

[0023] When visual inspection of the main propeller is performed in this embodiment, the waterproof motor 97 is turned on and the output end is used to drive the curved rod 96 to rotate. The rotation of the curved rod 96 drives the rotating gear 99 to mesh and rotate around the inner teeth of the gear ring 95. The rotation of the rotating gear 99 drives the connecting rod 911 to rotate around the pin shaft 1 910. At the same time, the pin shaft 2 912 cooperates with the slide groove 913 inside the connecting plate 2 914 to drive the connecting plate 2 914 to slide left and right. The sliding of the connecting plate 2 914 drives the connecting block 915 to slide inside the slide 93, and at the same time drives the connecting plate 1 98 to slide left and right. The sliding of the connecting plate 1 98 drives the fixing frame 91 to slide left and right. The sliding of the fixing frame 91 drives the visual inspection probe 10 to move left and right, so as to perform visual inspection of the main propeller. By adopting the above-mentioned structure, the problem of the connecting rod 911 being stuck when the rotating gear 99 rotates can be avoided.

[0024] Specific implementation method three: Combination Figure 5 This embodiment describes a UUV main thruster with an adjustable viewing angle visual fault diagnosis device. The detection head angle adjustment assembly 92 includes a rotating shaft 922, a rotating block 923, a fixing assembly 924, and two probe fixing plates 925. The two probe fixing plates 925 are fixedly mounted on the fixing frame 91 in parallel with each other. The probe fixing plates 925 are radially processed with multiple fixing holes 921. The visual inspection probe 10 is rotatably connected and set on the two probe fixing plates 925 via the rotating shaft 922. The rotating block 923 is rotatably set on one end of the rotating shaft 922. The fixing assembly 924 is set on the rotating block 923. The side of the visual inspection probe 10 is provided with multiple positioning holes corresponding to the fixing holes 921. The locking section of the fixing assembly 924 is inserted into the corresponding fixing hole 921 and the positioning hole of the visual inspection probe 10. Other components and connection relationships are the same as those of the second specific embodiment.

[0025] In this embodiment, when adjusting the angle of the visual detection probe 10 by adopting the above-mentioned structure, the limiting effect of the fixing component 924 on the rotating block 923 is first released, and then the rotating shaft 922 can be driven to rotate by the rotating block 923. The rotation of the rotating shaft 922 can drive the angle of the visual detection probe 10 to be pre-set.

[0026] Specific implementation method four: Combination Figure 6 To illustrate this embodiment, a UUV main thruster with an adjustable viewing angle visual fault diagnosis device is provided in this embodiment, wherein the fixing assembly 924 includes a fixing rod 9241, a limiting plate 9243, a spring 9244 and a pull rod 9245; A circular mounting groove 9242 is machined into the eccentric portion of the rotating block 923. A stop plate 9243 and a spring 9244 are disposed within the circular mounting groove 9242. The stop plate 9243 is fixedly mounted on the end face of the fixed rod 9241. One end of a pull rod 9245 is inserted into the spring 9244 and secured to the stop plate 9243. The other end of the pull rod 9245 is positioned outside the rotating block 923 and is machined with a pull groove 9246. The remaining components and connections are identical to those of the second or third embodiment.

[0027] When visually detecting the main propulsion environment, the present embodiment turns on the waterproof motor 97, and the waterproof motor 97 drives the bent rod 96 to rotate through the output end. The rotation of the bent rod 96 drives the rotating gear 99 to mesh and rotate around the inner teeth of the gear ring 95 inside the gear ring 95. The rotation of the rotating gear 99 drives the connecting rod 911 to rotate around the pin shaft 1 910. At the same time, the pin shaft 2 912 cooperates with the slide groove 913 inside the connecting plate 2 914 to drive the connecting plate 2 914 to slide left and right. The sliding of the connecting plate 2 914 left and right drives the connecting block 915 to slide inside the slide 93, and at the same time drives the connecting plate 1 98 to slide left and right. The sliding of the connecting plate 1 98 left and right drives the fixing frame 91 to slide left and right. The fixing frame 91 slides left and right The visual inspection probe 10 is driven to move left and right so as to perform visual inspection on the main thruster. The pull rod 9245 is driven to move through the pull groove 9246. The pull rod 9245 drives the fixing rod 9241 to slide out from the inside of the fixing hole 921 and compresses the spring 9244 through the limit plate 9243. At this time, the rotation of the rotating block 923 can be used to drive the rotating shaft 922 to rotate, and the rotating shaft 922 can drive the angle of the visual inspection probe 10 to be pre-set. After the adjustment is completed, the pull rod 9245 is released. At this time, the spring 9244 rebounds, thereby driving the fixing rod 9241 to be inserted into another set of fixing holes 921 and the positioning hole of the visual inspection probe 10 to achieve locking of the visual inspection probe 10.

[0028] Specific implementation method five: Combination Figure 7 This embodiment describes a UUV main propulsion system with an adjustable viewing angle visual fault diagnosis device. The control element mounting mechanism 6 includes a circuit sealing assembly 62, a support plate 63, an installation cabin 64, a sealing cover 65, a control element removal assembly 67, a movable plate 68, a cabin seat 69, a control element body 610, a plurality of bolts 1 61, and a plurality of bolts 2 66. The installation chamber 64 is integrally connected to the chamber seat 69. The chamber seat 69 is fixed to the fixed plate 7 via multiple bolts 61. The chamber seat 69 is a cylindrical body with one end open. The support plate 63 is mounted within the installation chamber 64. The control element removal assembly 67 is mounted on the support plate 63. A movable plate 68 is provided at the upper end of the control element removal assembly 67. The upper end of the movable plate 68 is fixedly connected to the control element body 610 via screws. The sealing cover 65 is sealed and fixed to the chamber seat 69 via multiple bolts 66. The circuit sealing assembly 62 is sealed and mounted on the inner wall of the installation chamber 64. The other components and connections are the same as those in the first embodiment.

[0029] In this embodiment, by adopting the above-mentioned technical solution, when maintaining and repairing the control component body 610 inside the aircraft body 1, first loosen the bolt 66 on the side of the sealing cover plate 65, remove the sealing cover plate 65 first, and then drive the control component body 610 out of the interior of the installation cabin 64 through the control component removal assembly 67 to perform maintenance and repair on the control component body 610.

[0030] Specific implementation method six: combination Figure 8 This embodiment describes a UUV main thruster with an adjustable-viewing-angle visual fault diagnosis device. The circuit sealing assembly 62 includes at least one circuit body 621 and at least one sealing head 622. The output end of the control unit body 610 is provided with the circuit body 621 and connected to the visual inspection probe 10 via the circuit body 621. A sealing groove 623 is machined in the cabin seat 69. The sealing head 622 is sealingly inserted into the sealing groove 623 on the side wall of the cabin seat 69. Each circuit body 621 is correspondingly inserted into a sealing head 622. The remaining components and connection relationships are the same as those in the fifth embodiment.

[0031] In this embodiment, by adopting the above-mentioned structure, the circuit body 621 connecting the control component body 610 and the visual detection probe 10 is passed through the sealing groove 623, and then the sealing head 622 on the surface of the circuit body 621 is inserted into the sealing groove 623, thereby avoiding the problem of water entering the installation chamber 64.

[0032] Specific implementation method seven: combination Figure 9 To illustrate this embodiment, a UUV main thruster with an adjustable viewing angle visual fault diagnosis device is provided in this embodiment, wherein the control element removal assembly 67 includes a knob 671, a screw 672 and a T-block 673; One end of screw 672 is fixedly connected to knob 671. Screw 672 is rotatably connected and inserted into support plate 63. Support plate 63 is machined with T-slot 631. T-block 673 is slidably mounted on T-slot 631. Moving plate 68 is fixedly connected to T-block 673 via screws. Screw 672 is inserted into T-block 673 and threadedly connected to T-block 673. The other components and connection relationships are the same as those in the fifth embodiment.

[0033] In this embodiment, the knob 671 is rotated by using the above structure, and the knob 671 drives the screw 672 to rotate. The rotation of the screw 672 drives the T-block 673 to slide inside the T-slot 674, thereby driving the control component body 610 to move out from the interior of the installation chamber 64.

[0034] Specific implementation method eight: combination Figure 1 and Figure 10 To illustrate this embodiment, a UUV main thruster with an adjustable viewing angle visual fault diagnosis device is provided in this embodiment, wherein the visual detection probe 10 includes an image preprocessing module 101, a feature extraction module 102, a target detection module 103, a three-dimensional reconstruction module 104, an environment adaptation module 105, a data fusion module 106, and a storage and transmission module 107; An image preprocessing module 101 is used to perform denoising, contrast enhancement and normalization processing on the main thruster image; A feature extraction module 102 is used to extract multi-scale features from the pre-processed image; The target detection module 103 analyzes the extracted features based on a deep learning algorithm or an adaptive matched filter algorithm, identifies the main thruster fault type, and generates a detection result; The 3D reconstruction module 104 calculates the 3D coordinates and size information of the target through binocular vision or other stereo imaging technology, and performs accurate 3D reconstruction of the target; The environmental adaptation module 105 dynamically adjusts the algorithm parameters according to the lighting conditions and background changes of the underwater environment to improve the robustness and accuracy of detection; The data fusion module 106 fuses multi-source data to generate a more comprehensive description of the main thruster fault type for fault type identification in complex environments; The storage and transmission module 107 is used to store the detection results and related data locally or transmit them to an external device via wired / wireless methods. Other components and connection relationships are the same as those of the first and third embodiments.

[0035] Specific implementation method nine: combination Figures 1-10 This embodiment describes a calibration and testing device for a foot stress sensor based on a conductive polymer, and a detection method for the adjustable viewing angle visual fault diagnosis device, including the following steps: S1: When visually detecting the main thruster, turn on the waterproof motor 97. The waterproof motor 97 drives the bent rod 96 to rotate through the output end. The rotation of the bent rod 96 drives the rotating gear 99 to mesh and rotate around the inner teeth of the gear ring 95 inside the gear ring 95. The rotation of the rotating gear 99 drives the connecting rod 911 to rotate around the pin shaft 1 910. At the same time, the pin shaft 2 912 cooperates with the slide groove 913 of the connecting plate 2 914 to make the pin shaft 2 912 slide in the slide groove 913 and drive the connecting plate 2 914 to slide left and right. The sliding of the connecting plate 2 914 left and right drives the connecting block 915 to slide inside the slideway 93, and at the same time drives the connecting plate 1 98 to slide left and right. The sliding of the connecting plate 1 98 left and right drives the fixing frame 91 to slide left and right. The frame 91 slides left and right to drive the visual inspection probe 10 to move left and right, so as to perform visual inspection on the main thruster. The pull rod 9245 is driven to move through the pull groove 9246. The pull rod 9245 drives the fixing rod 9241 to slide out from the inside of the fixing hole 921 and compresses the spring 9244 through the limit plate 9243. At this time, the rotation of the rotating block 923 can drive the rotating shaft 922 to rotate, and the rotating shaft 922 can drive the angle of the visual inspection probe 10 to be pre-set. After the adjustment is completed, the pull rod 9245 is released. At this time, the spring 9244 rebounds, thereby driving the fixing rod 9241 to insert into another set of fixing holes 921 and the positioning hole of the visual inspection probe 10, so as to achieve locking of the visual inspection probe 10. S2: When performing maintenance on the control component body 610 inside the cabin seat 69, first loosen the second bolt 66 on the side of the sealing cover plate 65, remove the sealing cover plate 65, and then turn the knob 671. The knob 671 drives the screw 672 to rotate, and the rotation of the screw 672 drives the T-block 673 to slide inside the T-slot 631, thereby driving the control component body 610 out of the installation cabin 64 to perform maintenance on the control component body 610. By passing the circuit body 621 connecting the control component body 610 and the visual inspection probe 10 through the sealing groove 623 and then inserting it into the sealing groove 623 through the sealing head 622 on the surface of the circuit body 621, the problem of water entering the aircraft body 1 can be avoided. S3: When performing visual inspection on the main thruster, the image preprocessing module 101 serves as the front-end module of the system. The image preprocessing module 101 performs denoising, contrast enhancement, and normalization operations on the collected main thruster image to improve the image quality. The feature extraction module 102 extracts key features, texture, edge, and shape features from the preprocessed image. The target detection module 103 uses the feature information provided by the feature extraction module 102 based on the deep learning algorithm to quickly identify the main thruster fault type and generate the detection result. The 3D reconstruction module 104 combines binocular visual imaging technology to The output of the target detection module 103 is used to calculate the three-dimensional coordinates and size information of the target to achieve accurate modeling of the target. The environmental adaptation module 105 dynamically adjusts the parameters of the image preprocessing and target detection module 103 according to the changes in the lighting and background of the underwater environment to ensure the stability and accuracy of the system in different environments. The data fusion module 106 fuses multi-source data to further improve the accuracy and robustness of target recognition. The storage and transmission module 107 is responsible for storing the detection results and related data locally or transmitting them to external devices via wired / wireless methods to facilitate subsequent analysis and recording.

[0036] How it works When the present application is in use, when visually detecting the main propeller, the waterproof motor 97 is turned on, and the waterproof motor 97 drives the bent rod 96 to rotate through the output end. The rotation of the bent rod 96 drives the rotating gear 99 to mesh and rotate around the inner teeth of the gear ring 95 inside the gear ring 95. The rotation of the rotating gear 99 drives the connecting rod 911 to rotate around the pin shaft 1 910. At the same time, the pin shaft 2 912 cooperates with the slide groove 913 inside the connecting plate 2 914 to drive the connecting plate 2 914 to slide left and right. The connecting block 915 is driven to slide inside the slideway 93, and at the same time, the connecting plate 98 is driven to slide left and right. The sliding of the connecting plate 98 drives the fixing frame 91 to slide left and right. The sliding of the fixing frame 91 drives the visual inspection probe 10 to move left and right, so as to perform visual inspection on the main thruster. The pull rod 9245 is driven to move through the groove 9246. The pull rod 9245 drives the fixing rod 9241 to slide out from the inside of the fixing hole 921 and compresses the spring 9244 through the limit plate 9243. At this time, the main thruster can be visually inspected. The rotation of the rotating block 923 drives the rotating shaft 922 to rotate, and the rotating shaft 922 can drive the visual inspection probe 10 to a preset angle. After the adjustment is completed, the pull rod 9245 is released, and the spring 9244 rebounds, thereby driving the fixing rod 9241 to insert into another set of fixing holes 921 and the positioning hole of the visual inspection probe 10, thereby locking the visual inspection probe 10. When maintaining and repairing the control component body 610 inside the aircraft body 1, the bolt 66 on the side of the sealing cover 65 is first loosened, and the sealing cover 65 is first removed. The control component body 610 is then driven out of the interior of the installation chamber 64 by the control component removal assembly 67 to facilitate maintenance and repair of the control component body 610. The circuit body 621 connecting the control component body 610 and the visual inspection probe 10 is passed through the sealing groove 623 and then inserted into the sealing groove 623 through the sealing head 622 on the surface of the circuit body 621 to prevent water from entering the installation chamber 64.When performing visual inspection on the main thruster, the image preprocessing module 101 serves as the front-end module of the system. The image preprocessing module 101 performs denoising, contrast enhancement, normalization and other operations on the collected main thruster images to improve the image quality and provide clearer and easier-to-process images for subsequent modules. The feature extraction module 102 extracts key features from the preprocessed images, such as texture, edge and shape features. These features are the basis of target detection and recognition and can help the system locate and recognize targets more accurately. The target detection module 103 is based on a deep learning algorithm and uses the feature information provided by the feature extraction module 102 to quickly identify the main thruster fault type and generate a detection result. The 3D reconstruction module 104 combines binocular vision or other stereo imaging technologies to calculate the 3D coordinates and size information of the target based on the output of the target detection module 103, achieving accurate modeling of the target. The environmental adaptation module 105 dynamically adjusts the parameters of the image preprocessing and target detection module 103 according to changes in the lighting and background of the underwater environment, ensuring the stability and accuracy of the system in different environments. The data fusion module 106 fuses multi-source data to further improve the accuracy and robustness of target recognition. The storage and transmission module 107 is responsible for storing the detection results and related data locally or transmitting them to external devices via wired or wireless means for subsequent analysis and recording.

[0037] Note that the above are only preferred embodiments of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments, and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments and may include many other equivalent embodiments without departing from the concept of the present invention. The scope of the present invention is determined by the scope of the appended claims.

Claims

1. A UUV main propulsion system with an adjustable viewing angle visual fault diagnosis device, comprising a vehicle body (1), an arc-shaped cover (4), a handle (5), a fixing plate (7), a propeller (8), two fixing ears (3) and a plurality of fastening screws (2); a propeller (8) is provided at the tail end of the vehicle body (1); the arc-shaped cover (4) is rotatably connected and mounted on the vehicle body (1) through a hinge; a fixing ear (3) is respectively mounted on the arc-shaped cover (4) and the vehicle body (1); the two fixing ears (3) are connected through a plurality of fastening screws (2); the fixing plate (7) is mounted inside the vehicle body (1) along the length direction of the vehicle body (1); Its characteristics are: It also includes a control element mounting mechanism (6), two detection head adjustment mechanisms (9) and two visual detection probes (10); A control element mounting mechanism (6) is mounted in the aircraft body (1), and the position of the control element mounting mechanism (6) is set corresponding to the arc cover (4). Two detection head adjustment mechanisms (9) are symmetrically mounted on the tail end of the aircraft body (1), and the detection head adjustment mechanisms (9) are set close to the propeller (8). A visual detection probe (10) is mounted on each detection head adjustment mechanism (9).

2. The UUV main propulsion system with an adjustable viewing angle visual fault diagnosis device according to claim 1, characterized in that: The detection head adjustment mechanism (9) includes a fixing frame (91), a detection head angle adjustment assembly (92), a mounting box (94), a gear ring (95), a bending rod (96), a waterproof motor (97), a connecting plate 1 (98), a rotating gear (99), a pin 1 (910), a connecting rod (911), a pin 2 (912), a connecting plate 2 (914) and two connecting blocks (915). One end of the mounting box (94) passes through the aircraft body (1) and is mounted on a side of the fixing plate (7). The housing of the waterproof motor (97) is fixedly mounted in the mounting box (94). The output end of the rotating shaft of the waterproof motor (97) is fixedly connected to one end of the bent rod (96). The other end of the bent rod (96) is fixedly mounted with a rotating gear (99). The rotating gear (99) is arranged in the gear ring (95) and meshes with the teeth on the inner circle surface of the gear ring (95). The gear ring (95) is mounted in the mounting box (94). The eccentric position of the rotating gear (99) is fixedly mounted with a pin shaft 1 (910). The pin shaft 1 (910) is rotatably connected to one end of the connecting rod (911). The other end of the connecting rod (911) is fixedly mounted with a pin shaft 2 (91 2) Rotational connection, connecting plate 1 (98) and connecting plate 2 (914) are arranged relative to each other, and connecting plate 1 (98) and connecting plate 2 (914) are fixedly connected by two connecting blocks (915), a slideway (93) is processed on the installation box (94), one of the connecting blocks (915) is arranged in the slideway (93) and slides in the slideway (93), connecting plate 1 (98) is arranged outside the installation box (94), the visual detection probe (10) is installed on connecting plate 1 (98) through the detection head angle adjustment component (92) and the fixing frame (91), a slideway (913) is processed on connecting plate 2 (914), and pin shaft 2 (912) is inserted in the slideway (913) and slides in the slideway (913).

3. The UUV main propulsion system with an adjustable viewing angle visual fault diagnosis device according to claim 2, characterized in that: The detection head angle adjustment assembly (92) includes a rotating shaft (922), a rotating block (923), a fixing assembly (924) and two probe fixing plates (925); the two probe fixing plates (925) are fixedly mounted on the fixing frame (91) in parallel relative to each other, a plurality of fixing holes (921) are processed radially on the probe fixing plates (925), the visual detection probe (10) is rotatably connected and arranged on the two probe fixing plates (925) through the rotating shaft (922), the rotating block (923) is rotatably arranged on one end of the rotating shaft (922), the fixing assembly (924) is arranged on the rotating block (923), a plurality of positioning holes corresponding to the fixing holes (921) are opened on the side of the visual detection probe (10), and a locking section of the fixing assembly (924) is inserted into the corresponding fixing holes (921) and the positioning hole of the visual detection probe (10).

4. The UUV main propulsion system with an adjustable viewing angle visual fault diagnosis device according to claim 2, characterized in that: The fixing assembly (924) includes a fixing rod (9241), a limiting plate (9243), a spring (9244) and a pull rod (9245); A circular mounting groove (9242) is machined at an eccentric portion of the rotating block (923), a limiting plate (9243) and a spring (9244) are arranged in the circular mounting groove (9242), the limiting plate (9243) is fixedly mounted on the end face of the fixed rod (9241), one end of the pull rod (9245) is inserted into the spring (9244) and fixed to the limiting plate (9243), the other end of the pull rod (9245) is arranged outside the rotating block (923), and a pull groove (9246) is machined on the pull rod (9245).

5. The UUV main propulsion system with an adjustable viewing angle visual fault diagnosis device according to claim 1, characterized in that: The control element mounting mechanism (6) includes a line sealing assembly (62), a support plate (63), a mounting chamber (64), a sealing cover plate (65), a control element removal assembly (67), a moving plate (68), a chamber seat (69), a control element body (610), a plurality of bolts (61) and a plurality of bolts (66). The installation cabin (64) is integrally connected to the cabin seat (69), and the cabin seat (69) is fixedly mounted on the fixed plate (7) by a plurality of bolts (61). The cabin seat (69) is a cylinder with an open end. The support plate (63) is mounted in the installation cabin (64), and the control element removal assembly (67) is mounted on the support plate (63). A movable plate (68) is provided at the upper end of the control element removal assembly (67), and the upper end of the movable plate (68) is fixedly connected to the control element body (610) by screws. The sealing cover plate (65) is sealed and fixed to the cabin seat (69) by a plurality of bolts (66). The line sealing assembly (62) is sealed and mounted on the inner wall of the installation cabin (64).

6. The UUV main propulsion system with an adjustable viewing angle visual fault diagnosis device according to claim 5, characterized in that: The line sealing assembly (62) includes at least one line body (621) and at least one sealing head (622). The output end of the control component body (610) is provided with the line body (621) and is connected to the visual detection probe (10) through the line body (621). A sealing groove (623) is processed on the cabin seat (69). The sealing head (622) is sealed and inserted into the sealing groove (623) on the side wall of the cabin seat (69). Each line body (621) is correspondingly inserted into a sealing head (622).

7. The UUV main propulsion system with an adjustable viewing angle visual fault diagnosis device according to claim 5, characterized in that: The control element removal assembly (67) includes a knob (671), a screw (672) and a T-block (673); One end of the screw rod (672) is fixedly connected to the knob (671), and the screw rod (672) is rotatably connected and inserted into the support plate (63). A T-shaped slot (631) is processed on the support plate (63), and the T-shaped block (673) is slidably set on the T-shaped slot (631). The movable plate (68) and the T-shaped block (673) are fixedly connected by screws, and the screw rod (672) is inserted into the T-shaped block (673) and is threadedly connected to the T-shaped block (673).

8. A UUV main propulsion system with an adjustable viewing angle visual fault diagnosis device according to claim 1 or 3, characterized in that: The visual detection probe (10) includes an image preprocessing module (101), a feature extraction module (102), a target detection module (103), a three-dimensional reconstruction module (104), an environment adaptation module (105), a data fusion module (106), and a storage and transmission module (107); An image preprocessing module (101) is used to perform denoising, contrast enhancement and normalization processing on the main thruster image; A feature extraction module (102) is used to extract multi-scale features from the pre-processed image; A target detection module (103) analyzes the extracted features based on a deep learning algorithm or an adaptive matched filter algorithm, identifies the main thruster fault type, and generates a detection result; A three-dimensional reconstruction module (104) calculates the three-dimensional coordinates and size information of the target through binocular vision or other stereo imaging technology, and performs accurate three-dimensional reconstruction of the target; An environmental adaptation module (105) dynamically adjusts algorithm parameters according to the lighting conditions and background changes of the underwater environment to improve the robustness and accuracy of detection; A data fusion module (106) fuses multi-source data to generate a more comprehensive description of the main thruster fault type for fault type identification in complex environments; The storage and transmission module (107) is used to store the detection results and related data locally or transmit them to an external device via a wired or wireless method.

9. A detection method using the adjustable viewing angle visual fault diagnosis device according to any one of claims 1 to 8, characterized in that: The steps include: S1: When visually detecting the main propeller, the waterproof motor (97) is turned on. The waterproof motor (97) drives the bent rod (96) to rotate through the output end. The rotation of the bent rod (96) drives the rotating gear (99) to mesh and rotate around the inner teeth of the gear ring (95) inside the gear ring (95). The rotation of the rotating gear (99) drives the connecting rod (911) to rotate around the pin shaft (910). At the same time, the pin shaft (912) cooperates with the slide groove (913) of the connecting plate (914) to make the pin shaft (912) slide in the slide groove (913) and drive the connecting plate (914) to slide left and right. The sliding of the connecting plate (914) drives the connecting block (915) to slide inside the slideway (93), and at the same time drives the connecting plate (98) to slide left and right. The sliding of the connecting plate (98) drives the fixing frame (91) to slide left and right. , the fixing frame (91) slides left and right to drive the visual inspection probe (10) to move left and right, so as to perform visual inspection on the main thruster, and the pull rod (9245) is driven to move through the pull groove (9246), and the pull rod (9245) drives the fixing rod (9241) to slide out from the inside of the fixing hole (921), and drives the spring (9244) to be compressed through the limit plate (9243). At this time, the rotation of the rotating block (923) can be used to drive the rotating shaft (922) to rotate, and the rotating shaft (922) can drive the angle of the visual inspection probe (10) to be pre-set. After the adjustment is completed, the pull rod (9245) is released, and the spring (9244) rebounds, thereby driving the fixing rod (9241) to be inserted into another set of fixing holes (921) and the positioning hole of the visual inspection probe (10), so as to achieve locking of the visual inspection probe (10); S2: When performing maintenance and repair on the control component body (610) inside the cabin seat (69), first loosen the second bolt (66) on the side of the sealing cover (65), remove the sealing cover (65), and then turn the knob (671). The knob (671) drives the screw (672) to rotate, and the rotation of the screw (672) drives the T-block (673) to slide inside the T-slot (631), thereby driving the control component body (610) to move out from the inside of the installation cabin (64) so ​​as to perform maintenance and repair on the control component body (610). By passing the circuit body (621) connecting the control component body (610) and the visual detection probe (10) out of the sealing groove (623), and then inserting the circuit body (621) into the sealing groove (623) through the sealing head (622) on the surface of the circuit body (621), the problem of water entering the aircraft body 1 can be avoided; S3: When visually inspecting the main thruster, the image preprocessing module (101) serves as the front-end module of the system. The image preprocessing module (101) performs denoising, contrast enhancement, and normalization operations on the collected main thruster image to improve the image quality. The feature extraction module (102) extracts key features, texture, edge, and shape features from the preprocessed image. The target detection module (103) uses the feature information provided by the feature extraction module (102) based on the deep learning algorithm to quickly identify the main thruster fault type and generate the inspection results. The three-dimensional reconstruction module (104) combines binocular visual imaging technology and The output of the target detection module (103) calculates the three-dimensional coordinates and size information of the target to achieve accurate modeling of the target. The environmental adaptation module (105) dynamically adjusts the parameters of the image preprocessing and target detection module (103) according to the changes in the lighting and background of the underwater environment to ensure the stability and accuracy of the system in different environments. The data fusion module (106) fuses multi-source data to further improve the accuracy and robustness of target recognition. The storage and transmission module (107) is responsible for storing the detection results and related data locally or transmitting them to external devices via wired / wireless methods for subsequent analysis and recording.

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