Water level monitoring inspection robot dog for intelligent water conservancy

Abstract

The invention relates to a water level monitoring inspection robot dog for intelligent water conservancy, and relates to the technical field of inspection robot dogs. The robot dog comprises a robot dog body, a video monitor movably arranged on the robot dog body, four supporting legs arranged on the robot dog body, three feet arranged on the four supporting legs respectively, and a switching piece used for switching and adjusting the three feet. The cleaning piece and the damping piece are used for cleaning and damping the feet, the adjusting assembly, the cleaning assembly, the brushing assembly and the dedusting assembly are used for adjusting, cleaning, brushing and dedusting the video monitor, and the three feet are a bionic web foot, a nail foot and a silica gel foot. The video monitor has the purpose of automatic dust removal through the robot dog, the cleaning effect of the lens of the video monitor is guaranteed, the situation that when the robot dog monitors the water level, dust and stains attached to the surface of the lens lead to blurring of a shot water level image is avoided, deviation or abnormal fluctuation of water level monitoring data is prevented, and the water level monitoring accuracy of the robot dog is guaranteed.

Description

Technical Field

[0001] This application relates to the technical field of inspection robot dogs, and in particular to a water level monitoring and inspection robot dog for smart water conservancy. Background Technology

[0002] Robot dogs, also known as quadruped robots, are a type of legged robot. They resemble quadruped animals in appearance, can walk autonomously, and have biological-like attributes. They can walk in different geographical environments, perform a variety of complex movements, and can even traverse extreme environments inaccessible to humans with the help of legged motion controllers.

[0003] To ensure the safety of water conservancy facilities, rationally allocate water resources, protect the ecological environment, support flood control and drought relief efforts, and assist in the operation and management of water conservancy projects, it is often necessary to use robot dogs to monitor water levels at different locations. Robot dogs can adapt to complex terrain, accurately photograph and monitor water levels at different locations, and easily cross obstacles such as steep slopes and steps to reach monitoring points that are difficult for humans to reach quickly, thus completing the water level monitoring task.

[0004] Regarding the aforementioned technologies, the inventors believe that the following defects exist: When performing water level monitoring tasks, the robot dog needs to traverse irregular terrain such as steep slopes, steps, gravel, and inclines. These complex environments contain a large amount of dust, mud, leaves, and other impurities. When the robot dog moves, the lens is very likely to come into contact with these impurities, causing dust and stains to adhere. However, existing robot dogs have the disadvantage of not being easy to automatically remove dust. When the robot dog monitors the water level, the dust and stains attached to the lens surface will cause the captured water level image to be blurred, which will lead to deviations or abnormal fluctuations in the monitoring data, thus affecting the accuracy of the robot dog's water level monitoring. If the water level data is overestimated or underestimated, it will lead to incorrect early warning decisions, which will affect the timeliness and effectiveness of flood control measures and fail to meet the actual needs of water level monitoring. Summary of the Invention

[0005] To address the shortcomings of existing robotic dogs, such as the inconvenience of automatic dust removal, which causes dust and dirt adhering to the lens surface to blur the captured water level image when the robotic dog monitors water levels, leading to deviations or abnormal fluctuations in the monitoring data and affecting the accuracy of water level monitoring, this application provides a water level monitoring and inspection robotic dog for smart water conservancy.

[0006] The technical solution provided in this application for a water level monitoring and inspection robot dog for smart water conservancy is as follows: A water level monitoring and inspection robot dog for smart water conservancy includes a robot dog, a video monitor movably mounted on the robot dog, four support legs mounted on the robot dog, three feet respectively mounted on the four support legs, a switching component for switching and adjusting the three feet, a cleaning component and a shock-absorbing component for cleaning and damping the feet, and an adjustment component, a cleaning component, a wiping component and a dust removal component for adjusting, cleaning, wiping and dusting the video monitor. The three feet are a bionic webbed foot, a nail foot and a silicone foot, respectively. The adjustment assembly includes an adjustment block fixed to the video monitor and an adjustment component for swinging, rotating and raising / lowering the adjustment block; The cleaning assembly includes an atomizing nozzle movably mounted on the robot dog, a pressing component for pressing the atomizing nozzle, and a water storage component for storing water in the atomizing nozzle. The wiping assembly includes a water-absorbing block movably mounted on the robot dog, a buffer for cushioning the water-absorbing block, and a rotating component for driving the water-absorbing block to rotate. The dust removal assembly includes a blower hose fixed to the adjusting block, a venturi tube fixed to the robot dog, and a blower for blowing air into the blower hose and the venturi tube. The pressing and rotating components are both automatically driven by the adjusting component, the water storage component is automatically driven by the pressing component, and the cleaning component is automatically driven by the shock-absorbing component.

[0007] By adopting the above technical solutions, when the robot dog monitors water levels at different locations, it will traverse different terrains, such as loose sand, hard surfaces, and icy / snowy areas. In loose sand, the robot dog's feet easily sink into the soft sand, making walking difficult. Using bionic webbed feet can increase the robot dog's buoyancy on sand. On hard surfaces such as cement or stone slabs, the surface is hard and smooth. Silicone feet, with their good elasticity and wear resistance, can provide stable grip on hard surfaces. In icy / snowy environments, the robot dog's feet are slippery, easily slipping, leading to instability or even falls. Using spiked feet can embed into ice or snow, providing strong grip. However, existing robot dogs have the drawback of not being able to easily switch foot types, limiting their movement performance when walking on different terrains. In loose sand, if the robot dog cannot switch to bionic webbed feet, it will become stuck in the sand and unable to move, preventing it from reaching the monitoring point. On hard surfaces, without silicone feet, the robot dog will slip due to insufficient grip, affecting its walking stability. In icy and snowy conditions, without spiked feet, it is very easy to slip and fall due to wetness, making it unable to complete the monitoring task and affecting the robot dog's walking speed. This, in turn, affects the robot dog's ability to photograph and monitor multiple water level monitoring points. At the same time, mud easily sticks to the soles of the robot dog's feet when walking on different road sections, especially after rain. This increases the weight of the robot dog's feet due to the mud, leading to increased power consumption and a decrease in the coefficient of friction of the robot dog's feet, causing slippage. In existing technologies, the cleaning of video monitoring camera lenses usually involves using a simple linearly moving cleaning cloth to clean the lens surface. This leaves small bumps, depressions, or stains on the lens surface that cannot be effectively cleaned, and water scratches, resulting in poor cleaning effect. This is not only inefficient but may also increase wear on the lens surface. The robot dog, in conjunction with a video monitor, can photograph and detect water levels at different locations. A switching mechanism allows the robot dog to switch between different foot configurations as it walks on different terrains, ensuring its speed and effectiveness in photographing and monitoring different water levels. Shock-absorbing components provide cushioning, while a cleaning component washes away dirt and debris. Adjustment, cleaning, wiping, and dust removal components allow for angle adjustment, cleaning and defogging, wiping and dewatering, and air blowing to remove dust, preventing blurry water level images captured by the video monitor and ensuring clear water level monitoring.

[0008] Optionally, the shock absorber includes four robotic feet mounted on the robot dog and damping shock absorbers fixed to the four robotic feet respectively. The four support feet are fixedly connected to the four damping shock absorbers respectively. Limiting grooves are formed on the inner side of each of the four robotic feet, and the four support feet are slidably connected to the four limiting grooves respectively.

[0009] By adopting the above technical solution, the shock absorber can provide shock absorption when the robot dog walks, and at the same time detect whether there is mud stuck on the soles of its feet. The four damping shock absorbers can provide damping and shock absorption when the robot dog's four supporting feet jump, run and walk.

[0010] Optionally, the switching component includes tripods rotatably mounted on four support legs and motors fixed on the four support legs respectively. The four tripods are fixedly connected to the output shafts of the four motors respectively, and the three legs are fixedly connected to the three ends of the tripods respectively.

[0011] By adopting the above technical solution, the switching device allows the robot dog to switch the foot position corresponding to different road sections when walking on them. The motor drives the tripod to rotate, and the position of the three feet on the tripod can be switched and adjusted. The video monitor can monitor the road surface that the robot dog is about to walk on. When it is detected that the robot dog is about to walk on a hard surface, the silicone foot can be turned down and the silicone foot can be automatically selected for walking. When it is detected that the robot dog is about to walk on loose sand, the bionic webbed foot can be turned down and the bionic webbed foot can be automatically selected for walking. When it is detected that the robot dog is about to walk on snow and ice, the spiked foot can be turned down and the spiked foot can be automatically selected for walking, ensuring the robot dog's efficiency in walking on different road sections.

[0012] Optionally, the cleaning component includes a water tank fixed to the robot dog, a water pump and a mud removal head, a cleaning pipe connected to the water tank, and distance sensors fixed to four support feet respectively. The cleaning pipe is fixedly connected to the inlet of the water pump, the mud removal head is connected to the cleaning pipe, and the four distance sensors are electrically connected to the water pump.

[0013] By adopting the above technical solution, when the shock absorber detects mud adhering to the sole of the foot, the cleaning component can rinse the sole of the foot. The distance sensor can detect the gap between the support foot and the machine foot. If a large amount of mud is adhering to the foot, the robot dog will lift the support foot, which will increase the tension of the damping shock absorber. The distance sensor will detect that the gap between the support foot and the machine foot has become larger, indicating that there are foreign objects or mud adhering to the foot. The distance sensor can control the water pump to start and drive the robot dog to move the support foot with foreign objects to the mud removal head outlet. The water pump can draw the cleaning fluid in the water tank into the cleaning pipe and the mud removal head, and spray the cleaning fluid on the sole of the foot. The spraying of the cleaning fluid can wash away the foreign objects or mud from the foot.

[0014] Optionally, the adjusting component includes an electric push rod fixed to the robot dog, a support plate fixed to the electric push rod, a drive motor fixed to the support plate, a rotating disk fixed to the drive motor, and a servo motor fixed to the rotating disk. The adjusting block is fixedly connected to the output shaft of the servo motor.

[0015] By adopting the above technical solution, the adjustment component can adjust the angle of the video monitor to achieve no blind spots in the shooting of different water level monitoring points. The servo motor can drive the adjustment block and the video monitor to swing in angle, thereby adjusting the angle of the video monitor. The drive motor can drive the rotating disk, servo motor, adjustment block and video monitor to rotate in angle, thereby increasing the monitoring range of the video monitor. The electric push rod can drive the support plate, drive motor, rotating disk, conical rack, servo motor, adjustment block and video monitor to move up and down in sequence, thereby moving the video monitor to the cleaning height and also to the monitoring height.

[0016] Optionally, the water storage component includes a water storage pipe connected to a water storage tank, a fixed pipe connected to the water storage pipe, and a compression spring fixed inside the fixed pipe. The compression spring is fixedly connected to the atomizing nozzle. A ball is movably connected inside both the fixed pipe and the atomizing nozzle. Both the fixed pipe and the water storage pipe are fixedly connected to the robot dog. The atomizing nozzle is slidably connected inside the fixed pipe and is connected to the fixed pipe.

[0017] By adopting the above technical solution, the water storage device can spray water to clean the video monitor, spraying the cleaning fluid onto the lens of the video monitor. When the pressing device is driven, a press can be formed through the connection and cooperation between the fixed tube, the compression spring, the two balls and the atomizing nozzle. When the cam presses the curved block and the atomizing nozzle frequently, the liquid in the water tank can be pressed into the water storage tube, the fixed tube and the atomizing nozzle in sequence through the action of air pressure. The atomizing nozzle can atomize the liquid and spray it onto the video monitor for cleaning.

[0018] Optionally, the pressing component includes a curved block fixed to the atomizing nozzle, a cam and a first bevel gear rotatably mounted on the robot dog, and a conical rack fixed to the rotating disk. The cam is in movable contact with the curved block, the cam is coaxially fixed with the first bevel gear, and the first bevel gear is in movable engagement with the conical rack.

[0019] By adopting the above technical solution, the pressing component, in conjunction with the water storage component, can spray cleaning fluid onto the video monitor in a measured amount, ensuring that the lens of the video monitor is sprayed with liquid. First, the adjusting component can move the video monitor to the cleaning height, so that the video monitor, the atomizing nozzle, and the fixed tube are at the same height. The conical rack is at the same height as the first and second bevel gears. When the adjusting component drives the video monitor to rotate towards the atomizing nozzle, it also drives the conical rack to rotate, which in turn meshes with the first bevel gear and causes it to rotate. This drives the cam to rotate frequently, which can press the curved block and thus frequently press the fixed tube. Through the air pressure of the fixed tube and the water storage component, the atomizing nozzle can atomize the liquid and spray it onto the video monitor.

[0020] Optionally, the blower includes a blower fixed to the robot dog and a two-position three-way solenoid valve fixed to the blower hose. The blower hose is connected to the air outlet of the blower, the venturi tube is connected to the two-position three-way solenoid valve, the venturi tube is connected to the mud removal head, and the four distance sensors are all electrically connected to the two-position three-way solenoid valve.

[0021] By adopting the above technical solution, the blower can blow air onto the video monitor and simultaneously blow away water from the cleaned soles. After the cleaning unit cleans the soles, the two-position three-way solenoid valve can close the blower hose and open the venturi tube. The fan can blow air through the blower hose and venturi tube into the descaling head. The venturi tube can increase the air pressure. After the robot dog's soles are cleaned, the descaling head can blow the pressurized air onto the soles, quickly blowing away any residual liquid. When the robot dog walks, the two-position three-way solenoid valve can control the opening of the blower hose and the closing of the venturi tube. The fan and blower hose can blow air onto the video monitor, minimizing the adhesion of dust and dirt to the video monitor.

[0022] Optionally, the rotating component includes a fixed gear, a movable gear, and a second bevel gear rotatably mounted on the robot dog. The fixed gear meshes with the movable gear, the movable gear is coaxially fixed with the second bevel gear, and the second bevel gear movably meshes with a conical rack.

[0023] By adopting the above technical solution, the rotating component can drive the water-absorbing block to rotate, thereby improving the uniformity of the water-absorbing block's cleaning of the video monitor. When the adjusting component drives the video monitor to rotate in the direction of the water-absorbing block, it will also drive the conical rack to rotate, which will then mesh with the second bevel gear and cause it to rotate. This will sequentially drive the movable gear, the fixed gear, the buffer component, and the water-absorbing block to rotate, thereby enhancing the effect of wiping the water off the video monitor when the absorbent block rotates.

[0024] Optionally, the buffer includes a telescopic spring fixed to a fixed gear, a fixed square rod fixed to the telescopic spring, and a support block fixed to the fixed square rod. The support block is movably connected to the water-absorbing block. A fixed square groove is provided on the fixed gear. The fixed square rod is slidably connected to the fixed square groove. The water-absorbing block is movably fitted with the video monitor.

[0025] By adopting the above technical solution, the buffer can make the water-absorbing block have a buffering translation effect. The water-absorbing block wipes the water on the video monitor. After the video sensor is sprayed, the adjusting component can drive the video monitor to rotate in the direction of the water-absorbing block. When the video monitor rotates, it will squeeze the water-absorbing block. The extension spring can make the water-absorbing block fit with the video monitor. Then, through the rotation of the video monitor, the water-absorbing block can wipe the video monitor and wipe the water off the video monitor.

[0026] In summary, this application includes at least one of the following beneficial technical effects: 1. The blower directs airflow onto the video monitor, minimizing dust and dirt buildup and reducing cleaning frequency. The airflow also helps dissipate heat, preventing overheating and damage during continuous use. The adjustable mechanism allows for angle swinging and rotation, adapting to the shape and characteristics of the water level monitoring point. This flexible adjustment enables the robot to mimic professional inspectors, capturing diverse water level images. It accurately replicates actions like squatting, tilting back, bending, turning sideways, circling, tiptoeing, and lying prone, achieving comprehensive, blind-spot-free intelligent inspection of different water level monitoring points. Avoiding obstacles and traversing weeds to obtain clear water level images, the robot can successfully monitor complex water level points, enhancing its water level monitoring effectiveness. 2. When the video monitor's view is blurred, the adjusting mechanism, in conjunction with the water storage and pressing mechanisms, atomizes and sprays liquid onto the video monitor, ensuring that the lens is fully sprayed for atomized cleaning. After spraying the video sensor, the adjusting mechanism, in conjunction with the buffer and rotating mechanisms, wipes the water off the video monitor, ensuring that every part of the lens is cleaned. The water-absorbing block can clean the lens at multiple angles, mimicking a rubbing motion to improve the uniformity of cleaning. The rotating water-absorbing block can contact the lens surface at different angles. Ensuring more uniform cleaning intensity reduces scratches or residual stains caused by uneven cleaning. This allows the absorbent block to better adapt to the curvature of the lens surface, continuously adjusting its contact angle with the lens surface during movement to better remove stains and dust, improving cleaning effectiveness while reducing the risk of damage to the lens surface. This achieves the purpose of automatic dust removal for the robot dog, preventing dust and stains adhering to the lens surface from causing blurry water level images when the robot dog monitors water levels. It also prevents deviations or abnormal fluctuations in water level monitoring data, ensuring the accuracy of water level monitoring by the robot dog, avoiding overestimation or underestimation of water level data, and ensuring the timeliness and effectiveness of flood control measures. 3. The video monitor can monitor the surface the robot dog is about to walk on. A switching mechanism allows for switching between bionic webbed feet, spiked feet, and silicone feet. When walking on hard surfaces, the robot dog automatically uses silicone feet to ensure stable grip. When walking on loose sand, it automatically uses bionic webbed feet to ensure strong buoyancy. When walking on icy or slippery surfaces, it automatically uses spiked feet to ensure strong grip, ensuring efficient movement on different terrains. The shock-absorbing components provide damping and shock absorption during jumping, running, and walking, ensuring stability and minimizing the risk of falls. The system is designed to reduce vibration interference, lower the chance of damage to the robot dog, and prevent video sensors from shaking due to vibration when taking pictures and monitoring water levels. This improves the operator's visual feedback. When the shock absorber detects a large amount of mud adhering to the feet, it can work with the cleaning unit to clean the feet, washing away foreign objects or mud. This prevents the weight of foreign objects or mud from increasing the load on the mechanical feet and raising power consumption, thus ensuring the friction coefficient of the robot dog's feet and ensuring the efficiency and stability of the robot dog's water level monitoring. After the robot dog's feet are cleaned, the blower can blow pressurized air onto the feet to quickly blow away any residual liquid, preventing water stains on the feet from causing secondary mud or foreign objects to stick. This enhances the mud-proof effect of the feet, ensuring the robot dog's walking speed and the effectiveness of taking pictures and monitoring multiple water level points. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the overall structure of an embodiment of this application; Figure 2 The appearance diagram of the robot dog connection structure in the embodiments of this application; Figure 3 Cross-sectional view of the support leg connection structure in the embodiment of this application; Figure 4 The external view of the video monitor connection structure in the embodiments of this application; Figure 5 Cross-sectional view of the robot dog connection structure in this embodiment; Figure 6 This application provides a cross-sectional view of the water storage tank connection structure in an embodiment.

[0028] Reference numerals: 1. Robot dog; 2. Robot feet; 3. Video monitor; 4. Support foot; 5. Motor; 6. Tripod; 7. Feet; 8. Damping shock absorber; 9. Distance sensor; 10. Water tank; 11. Electric push rod; 12. Support plate; 13. Drive motor; 14. Rotating disk; 15. Servo motor; 16. Adjusting block; 17. Bevel rack; 18. Second bevel gear; 19. Movable gear; 20. Fixed gear ; 21. Telescopic spring; 22. Fixed square rod; 23. Support block; 24. Water suction block; 25. First bevel gear; 26. Cam; 27. Curved block; 28. Fixed tube; 29. ​​Compression spring; 30. Atomizing nozzle; 31. Sphere; 32. Water storage pipe; 33. Water pump; 34. Cleaning pipe; 35. Mud removal head; 36. Fan; 37. Blowing hose; 38. Two-position three-way solenoid valve; 39. Venturi tube; 40. Water inlet pipe. Detailed Implementation

[0029] The following is in conjunction with the appendix Figure 1-6 This application will be described in further detail.

[0030] This application discloses a water level monitoring and inspection robot dog for smart water conservancy, referring to... Figure 1 and Figure 2 The system includes a robot dog 1, a video monitor 3 movably mounted on the robot dog 1, four support legs 4 mounted on the robot dog 1, three feet 7 mounted on the four support legs 4 respectively, a switching component for switching and adjusting the three feet 7, a cleaning component and a shock-absorbing component for cleaning and damping the feet 7, and an adjustment component, a cleaning component, a wiping component, and a dust removal component for adjusting, cleaning, wiping, and dusting the video monitor 3. There are four sets of feet 7, with three feet 7 in each set. The three feet 7 are bionic webbed feet, spiked feet, and silicone feet, respectively. The adjustment component includes an adjustment block 16 fixed to the video monitor 3 and components for swinging, rotating, and raising / lowering the adjustment block 16. The adjustment component; the cleaning component includes an atomizing nozzle 30 movably mounted on the robot dog 1, a pressing component for pressing the atomizing nozzle 30, and a water storage component for storing water in the atomizing nozzle 30; the scrubbing component includes a water-absorbing block 24 movably mounted on the robot dog 1, a buffer component for cushioning the water-absorbing block 24, and a rotating component for rotating the water-absorbing block 24; the dust removal component includes a blower hose 37 fixed on the adjustment block 16, a venturi tube 39 fixed on the robot dog 1, and a blower component for blowing air into the blower hose 37 and the venturi tube 39; the pressing component and the rotating component are automatically driven by the adjustment component, the water storage component is automatically driven by the pressing component, and the cleaning component is automatically driven by the shock-absorbing component.

[0031] The shock absorber includes four robotic feet 2 mounted on the robot dog 1 and damping shock absorbers 8 fixed to the four robotic feet 2 respectively. The four support feet 4 are fixedly connected to the four damping shock absorbers 8 respectively. Limiting grooves are opened on the inner side of the four robotic feet 2. The four support feet 4 are slidably connected to the four limiting grooves respectively. The limiting grooves can limit the support feet 4 to prevent the support feet 4 from swinging randomly during shock absorption, so as to ensure the stability of the support feet 4 in shock absorption.

[0032] The switching device includes tripods 6 rotatably mounted on four support legs 4 and motors 5 fixed on the four support legs 4 respectively. The four tripods 6 are fixedly connected to the output shafts of the four motors 5 respectively, and the three feet 7 are fixedly connected to the three ends of the tripods 6 respectively.

[0033] The cleaning components include a water tank 10 fixed to the robot dog 1, a water pump 33, a mud removal head 35, a cleaning pipe 34 connected to the water tank 10, and distance sensors 9 fixed to four support feet 4 respectively. The cleaning pipe 34 is fixedly connected to the inlet of the water pump 33, the mud removal head 35 is connected to the cleaning pipe 34, the cleaning pipe 34 is fixedly connected to the robot dog 1, the outlet of the mud removal head 35 is located below the robot dog 1, the water tank 10 is connected to a water inlet pipe 40, and cleaning fluid can be added to the water tank 10 through the water inlet pipe 40. All four distance sensors 9 are electrically connected to the water pump 33.

[0034] The adjusting components include an electric push rod 11 fixed to the robot dog 1, a support plate 12 fixed to the electric push rod 11, a drive motor 13 fixed to the support plate 12, a rotating disk 14 fixed to the drive motor 13, and a servo motor 15 fixed to the rotating disk 14. The adjusting block 16 is fixedly connected to the output shaft of the servo motor 15.

[0035] The water storage component includes a water storage pipe 32 connected to the water storage tank 10, a fixed pipe 28 connected to the water storage pipe 32, and a compression spring 29 fixed inside the fixed pipe 28. The compression spring 29 is fixedly connected to the atomizing nozzle 30. A ball 31 is movably connected inside both the fixed pipe 28 and the atomizing nozzle 30. Both the fixed pipe 28 and the water storage pipe 32 are fixedly connected to the robot dog 1. The atomizing nozzle 30 is slidably connected inside the fixed pipe 28 and is connected to the fixed pipe 28.

[0036] The pressing component includes a curved block 27 fixed on the atomizing nozzle 30, a cam 26 and a first bevel gear 25 rotatably mounted on the robot dog 1, and a conical rack 17 fixed on the rotating disk 14. The cam 26 is in movable contact with the curved block 27, the cam 26 is coaxially fixed with the first bevel gear 25, and the first bevel gear 25 is movably meshed with the conical rack 17. The robot dog 1 has a dovetail groove, and the curved block 27 is slidably connected to the dovetail groove. The dovetail groove can limit the sliding of the curved block 27 to ensure the stability of the up and down sliding of the curved block 27. The curved block 27 is L-shaped.

[0037] The blower assembly includes a blower 36 fixed to the robot dog 1 and a two-position three-way solenoid valve 38 fixed to the blower hose 37. The blower hose 37 is connected to the air outlet of the blower 36, the venturi tube 39 is connected to the two-position three-way solenoid valve 38, the blower hose 37 is fixedly connected to the robot dog 1, the venturi tube 39 is connected to the mud removal head 35, and the four distance sensors 9 are all electrically connected to the two-position three-way solenoid valve 38. The air outlet of the blower hose 37 is located next to the video monitor 3.

[0038] The rotating components include a fixed gear 20, a movable gear 19, and a second bevel gear 18 rotatably mounted on the robot dog 1. The fixed gear 20 meshes with the movable gear 19, the movable gear 19 is coaxially fixed with the second bevel gear 18, and the second bevel gear 18 is movably meshed with the conical rack 17.

[0039] The buffer includes a telescopic spring 21 fixed to the fixed gear 20, a fixed square rod 22 fixed to the telescopic spring 21, and a support block 23 fixed to the fixed square rod 22. The support block 23 and the water-absorbing block 24 are movably connected by screws, which facilitates the disassembly, replacement, or cleaning of the water-absorbing block 24. The fixed gear 20 has a fixed square groove, and the fixed square rod 22 is slidably connected to the fixed square groove. The fixed square groove and the fixed square rod 22 allow the fixed gear 20 to rotate, which in turn drives the support block 23 and the water-absorbing block 24 to rotate. The water-absorbing block 24 is movably fitted with the video monitor 3.

[0040] The video monitor 3, water pump 33, four electric motors 5, four distance sensors 9, drive motor 13, electric push rod 11, servo motor 15, fan 36, and two-position three-way solenoid valve 38 are all electrically connected to the robot dog 1. The robot dog 1 can control the video monitor 3, water pump 33, four electric motors 5, four distance sensors 9, drive motor 13, electric push rod 11, servo motor 15, fan 36, and two-position three-way solenoid valve 38 to open and close at set times. The robot dog 1 can also control the opening time of the fan 36. The pressurized air blows on the soles of the feet for about half a minute, which can completely blow away the water stains on the soles of the feet. The robot dog 1 in this application is only suitable for use on sunny days.

[0041] The implementation principle of a water level monitoring and inspection robot dog for smart water conservancy in this application embodiment is as follows: (1) The two-position three-way solenoid valve 38 can control the opening and closing of the blower hose 37 and the venturi tube 39. When the robot dog 1 moves, the blower hose 37 can be driven to open and the venturi tube 39 can be closed. Then, the fan 36 and the blower hose 37 can blow the air onto the video monitor 3, which can minimize the adhesion of dust and dirt to the video monitor 3, reduce the probability of dirt sticking to the video monitor 3 and reduce the number of times the video monitor 3 needs to be cleaned. At the same time, the airflow can dissipate heat from the video monitor 3, preventing the video monitor 3 from being damaged due to excessive temperature during continuous use. The airflow can also dissipate heat from the robot dog 1. (2) The servo motor 15 can drive the adjustment block 16 and the video monitor 3 to swing in the angle in sequence, which can adjust the angle of the video monitor 3 and improve the monitoring range of the video monitor 3. The drive motor 13 can drive the rotating disk 14, the servo motor 15, the adjustment block 16 and the video monitor 3 to rotate in the angle in sequence, which can further improve the monitoring range of the video monitor 3. Then, by swinging and rotating the angle of the video monitor 3, it can be adjusted according to the shape and characteristics of the current water level monitoring point of the robot dog 1. By flexibly adjusting the video detector, the robot dog 1 can flexibly take pictures of the water level in a variety of ways, just like a professional inspector. The robot dog 1 can accurately reproduce the actions of the professional inspector, such as squatting, looking up, bending over, turning to the side, circling, tiptoeing and lying down, so as to realize the intelligent inspection and monitoring of different water level monitoring points in all dimensions and without dead angles. It can avoid obstacles, cross weeds to obtain clear water level pictures, and make the robot dog 1 able to take pictures and monitor complex water level monitoring points smoothly. The robot dog 1 has a good effect on water level monitoring. (3) When the video monitor 3 has a blurred view and detects stains adhering to it, the electric push rod 11 can sequentially drive the support plate 12, drive motor 13, rotating disk 14, conical rack 17, servo motor 15, adjusting block 16, and video monitor 3 downwards, moving the video monitor 3 to the cleaning height so that the video monitor 3 is at the same height as the atomizing nozzle 30 and the water absorption block 24, and the conical rack 17 is at the same height as the first bevel gear 25 and the second bevel gear 18. At this height, the drive motor 13 can sequentially drive the rotating disk 14, conical rack 17, servo motor 15, adjusting block 16, and video monitor 3 to rotate in the direction of the atomizing nozzle 30. When the conical rack 17 rotates in this direction, it will mesh with the first bevel gear 25 and rotate, which in turn will drive the cam 26 to rotate frequently. When the cam 26 rotates, it will... Pressing the curved block 27 allows for frequent pressing of the atomizing nozzle 30. A presser is formed through the connection and cooperation between the fixed tube 28, compression spring 29, two balls 31, and the atomizing nozzle 30. When the cam 26 frequently presses the curved block 27 and the atomizing nozzle 30, air pressure forces the liquid in the water tank 10 into the water storage pipe 32, fixed tube 28, and atomizing nozzle 30 sequentially. The atomizing nozzle 30 atomizes the liquid and sprays it onto the video monitor 3. Simultaneously, the rotation of the video monitor 3 ensures the liquid is evenly sprayed onto it. Furthermore, when the servo motor 15 drives the adjusting block 16 and the video monitor 3 to swing at an angle, the spray range of the atomizing nozzle 30 onto the video monitor 3 is further increased, ensuring that liquid is sprayed onto the lens of the video monitor 3, enabling atomized cleaning of the video monitor 3. (4) After spraying the video sensor, the drive motor 13 can sequentially drive the rotating disk 14, the conical rack 17, the servo motor 15, the adjusting block 16, and the video monitor 3 to rotate towards the water-absorbing block 24. When the video monitor 3 rotates, it will squeeze the water-absorbing block 24. The elastic force of the telescopic spring 21 can make the water-absorbing block 24 fit with the video monitor 3. Through the rotation of the video monitor 3, the water-absorbing block 24 can wipe the video monitor 3, which can wipe off the water on the video monitor 3. When the servo motor 15 drives the adjusting block 16 and the video monitor 3 to swing at an angle, the wiping range of the water-absorbing block 24 on the video monitor 3 can be further increased, ensuring that every position on the lens of the video monitor 3 can be wiped, ensuring the wiping effect of the video monitor 3. At the same time, when the conical rack 17 rotates in this direction, it will mesh with the second bevel gear 18 and make it rotate, which can then sequentially drive the movable gear 19, the fixed gear 20, the telescopic spring 21, and the fixed square The rod 22, support block 23, and absorbent block 24 rotate. When the absorbent block rotates, it can enhance the effect of wiping the video monitor 3 with water. Through the rotation and swing of the video monitor 3, the rotation of the absorbent block 24, and the buffer pressure, the absorbent block 24 can wipe the lens of the video monitor 3 at multiple angles. It can mimic the rubbing motion to wipe the lens of the video monitor 3, which can improve the uniformity of cleaning the video monitor 3. Because there are tiny bumps, depressions, or uneven distribution of dirt on the surface of the lens of the video monitor 3, simply relying on linear movement will lead to uneven cleaning force on the lens of the video monitor 3. When the absorbent block 24 rotates, it can contact the lens surface at different angles to ensure more uniform cleaning force and reduce scratches or residual dirt caused by uneven cleaning. It can also make the absorbent block 24 better adapt to the curvature of the lens surface and continuously adjust the contact angle with the lens surface during movement to better remove dirt and dust, improve the cleaning effect, and reduce the risk of damage to the lens surface. (5) When the video monitor 3 is needed to monitor the water level, the electric push rod 11 can sequentially drive the support plate 12, drive motor 13, rotating disk 14, conical rack 17, servo motor 15, adjusting block 16 and video monitor 3 to move upward. The video monitor 3 can be moved to the height of the water level detection, so that the conical rack 17 is separated from the first bevel gear 25 or the second bevel gear 18, so that when the video monitor 3 rotates or swings, it can drive the atomizing nozzle 30 to spray and the water suction block 24 to automatically ensure the accuracy of the video monitor 3 in monitoring the water level. (6) The motor 5 can drive the tripod 6 to rotate, and the position of the three feet 7 on the tripod 6 can be adjusted. The video monitor 3 can monitor the road surface that the robot dog 1 is about to walk on. When it is detected that the robot dog 1 is about to walk on a hard surface, the silicone feet can be turned downwards, so that the robot dog 1 can automatically use the silicone feet to walk on the hard surface, ensuring that the robot dog 1 can provide stable grip on the hard surface. When it is detected that the robot dog 1 is about to walk on loose sand, the bionic webbed feet can be turned downwards, so that the robot dog 1 can walk on the loose sand. When walking, the robot dog automatically selects bionic webbed feet to ensure strong buoyancy on loose sand. When it detects that the robot dog is about to walk on icy and snowy ground, it can turn its spiked feet downwards to ensure strong grip on icy and snowy or slippery surfaces. This ensures the robot dog's walking efficiency on different terrains. When switching the soles of its four feet, the robot dog switches them one by one to avoid falling due to instability during the foot switching process. (7) The four damping shock absorbers 8 can make the four supporting feet 4 of the robot dog 1 have the effect of damping shock absorption when jumping, running and walking, which can ensure the stability of the robot dog 1's movement, avoid falling and overturning as much as possible, reduce vibration interference, reduce the probability of damage to the robot dog 1, enhance terrain adaptability and task execution ability, prevent the video sensor from shaking due to vibration when taking pictures and monitoring the water level, and improve the operator's visual feedback effect. (8) The distance sensor 9 can detect the gap between the support foot 4 and the machine foot 2. When the robot dog 1 lifts the support foot 4, the spring force of the damping shock absorber 8 can bounce the distance between the support foot 4 and the three feet 7 and the machine foot 2 back to the initial state. If a lot of mud is stuck on the feet 7, it will increase the weight of the feet 7. Then, when the robot dog 1 lifts the support foot 4, it will increase the pulling force of the damping shock absorber 8. The distance sensor 9 will detect that the gap between the support foot 4 and the machine foot 2 has become farther, indicating that there are foreign objects or mud stuck on the feet 7. Then, the distance sensor 9 can control the water pump 33 to start and drive the robot dog 1 to move the support foot 4 with foreign objects stuck to it to the mud removal head 35. At the outlet, the cleaning fluid in the water storage tank 10 can be sequentially pumped into the cleaning pipe 34 and the mud removal head 35 by the water pump 33. The mud removal head 35 can spray the cleaning fluid onto the soles of the feet. The spraying of the cleaning fluid can clean the feet 7 and wash away foreign objects or mud, so as to avoid the increase in weight of foreign objects or mud, which would increase the load on the mechanical feet and increase power consumption. This ensures the friction coefficient of the soles of the robot dog 1 and ensures the efficiency and stability of the robot dog 1 in monitoring the water level. When foreign objects are stuck on the soles of the robot dog 1, the robot dog 1 can stop moving. When foreign objects are stuck on the soles of all four support feet 4 of the robot dog, they are cleaned one by one to prevent the robot dog from falling over due to instability during the cleaning process. (9) When foreign objects stick to the foot 7 of the mechanical dog, the distance sensor 9 will drive the two-position three-way solenoid valve 38 to switch to the open state, which can close the blower hose 37 and open the venturi tube 39. When the distance sensor 9 detects that there are no foreign objects or mud on the foot, the spraying of cleaning liquid can be stopped. Then the blower 36 can blow the air through the blower hose 37 and the venturi tube 39 into the mud removal head 35. The air pressure can be increased through the venturi tube 39. After the foot of the mechanical dog is cleaned, the mud removal head 35 can blow the pressurized air onto the foot, which can quickly blow away the liquid remaining on the foot to avoid the water stains on the foot causing secondary mud or foreign objects to stick, and enhance the mud-proof effect of the foot. (10) Compared with the prior art, the overall structure is simple and easy to use. It achieves the purpose of automatic dust removal of the robot dog 1, avoids the blurring of the water level image caused by dust and dirt on the lens surface when the robot dog 1 monitors the water level, prevents deviation or abnormal fluctuation of water level monitoring data, ensures the accuracy of water level monitoring by the robot dog 1, avoids overestimation or underestimation of water level data, ensures the timeliness and effectiveness of flood control measures, meets the actual needs of water level use, achieves the purpose of easy switching of the foot of the robot dog 1, enhances the movement performance of the robot dog 1 when walking on different road sections, ensures the walking speed of the robot dog 1 and the effect of the robot dog 1 taking pictures and monitoring multiple water level monitoring points.

[0042] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A water level monitoring and inspection robot dog for smart water conservancy, characterized in that: The device includes a robot dog (1), a video monitor (3) movably mounted on the robot dog (1), four support feet (4) mounted on the robot dog (1), three feet (7) respectively mounted on the four support feet (4), a switching component for switching and adjusting the three feet (7), a cleaning component and a shock-absorbing component for cleaning and damping the feet (7), and an adjustment component, a cleaning component, a brushing component and a dust removal component for adjusting, cleaning, wiping and dusting the video monitor (3). The three feet (7) are bionic webbed feet, nail feet and silicone feet, respectively. The adjustment assembly includes an adjustment block (16) fixed on the video monitor (3) and an adjustment component for swinging, rotating and raising / lowering the adjustment block (16); The cleaning assembly includes an atomizing nozzle (30) movably mounted on the robot dog (1), a pressing member for pressing the atomizing nozzle (30), and a water storage member for storing water in the atomizing nozzle (30). The wiping assembly includes a water-absorbing block (24) movably mounted on the robot dog (1), a buffer for cushioning the water-absorbing block (24), and a rotating component for rotating the water-absorbing block (24). The dust removal assembly includes a blower hose (37) fixed to the adjusting block (16), a venturi tube (39) fixed to the robot dog (1), and a blower for blowing air into the blower hose (37) and the venturi tube (39); The pressing and rotating components are both automatically driven by the adjusting component, the water storage component is automatically driven by the pressing component, and the cleaning component is automatically driven by the shock-absorbing component.

2. The water level monitoring and inspection robot dog for smart water conservancy as described in claim 1, characterized in that: The shock absorber includes four machine feet (2) set on the robot dog (1) and damping shock absorbers (8) fixed on the four machine feet (2) respectively. The four support feet (4) are fixedly connected to the four damping shock absorbers (8) respectively. Limit grooves are opened on the inner side of the four machine feet (2), and the four support feet (4) are slidably connected to the four limit grooves respectively.

3. The water level monitoring and inspection robot dog for smart water conservancy as described in claim 1, characterized in that: The switching component includes a tripod (6) rotatably mounted on four support legs (4) and a motor (5) fixed on the four support legs (4). The four tripods (6) are fixedly connected to the output shafts of the four motors (5), and the three feet (7) are fixedly connected to the three ends of the tripods (6).

4. The water level monitoring and inspection robot dog for smart water conservancy according to claim 1, characterized in that: The cleaning components include a water tank (10) fixed on the robot dog (1), a water pump (33) and a mud removal head (35), a cleaning pipe (34) connected to the water tank (10), and distance sensors (9) fixed on four support feet (4). The cleaning pipe (34) is fixedly connected to the inlet of the water pump (33), the mud removal head (35) is connected to the cleaning pipe (34), and the four distance sensors (9) are electrically connected to the water pump (33).

5. The water level monitoring and inspection robot dog for smart water conservancy according to claim 1, characterized in that: The adjusting component includes an electric push rod (11) fixed on the robot dog (1), a support plate (12) fixed on the electric push rod (11), a drive motor (13) fixed on the support plate (12), a rotating disk (14) fixed on the drive motor (13), and a servo motor (15) fixed on the rotating disk (14). The adjusting block (16) is fixedly connected to the output shaft of the servo motor (15).

6. The water level monitoring and inspection robot dog for smart water conservancy according to claim 4, characterized in that: The water storage component includes a water storage pipe (32) connected to the water storage tank (10), a fixed pipe (28) connected to the water storage pipe (32), and a compression spring (29) fixed inside the fixed pipe (28). The compression spring (29) is fixedly connected to the atomizing nozzle (30). A ball (31) is movably connected inside both the fixed pipe (28) and the atomizing nozzle (30). Both the fixed pipe (28) and the water storage pipe (32) are fixedly connected to the robot dog (1). The atomizing nozzle (30) is slidably connected inside the fixed pipe (28). The atomizing nozzle (30) is connected to the fixed pipe (28).

7. A water level monitoring and inspection robot dog for smart water conservancy according to claim 5, characterized in that: The pressing component includes a curved block (27) fixed on the atomizing nozzle (30), a cam (26) rotatably mounted on the robot dog (1), a first bevel gear (25), and a conical rack (17) fixed on the rotating disk (14). The cam (26) is in movable contact with the curved block (27), the cam (26) is coaxially fixed with the first bevel gear (25), and the first bevel gear (25) is in movable meshing with the conical rack (17).

8. A water level monitoring and inspection robot dog for smart water conservancy according to claim 4, characterized in that: The blower includes a blower (36) fixed on the robot dog (1) and a two-position three-way solenoid valve (38) fixed on the blower hose (37). The blower hose (37) is connected to the air outlet of the blower (36). The venturi tube (39) is connected to the two-position three-way solenoid valve (38). The venturi tube (39) is connected to the mud removal head (35). All four distance sensors (9) are electrically connected to the two-position three-way solenoid valve (38).

9. A water level monitoring and inspection robot dog for smart water conservancy according to claim 1, characterized in that: The rotating component includes a fixed gear (20), a movable gear (19), and a second bevel gear (18) rotatably mounted on the robot dog (1). The fixed gear (20) meshes with the movable gear (19), the movable gear (19) is coaxially fixed with the second bevel gear (18), and the second bevel gear (18) movably meshes with a conical rack (17).

10. A water level monitoring and inspection robot dog for smart water conservancy according to claim 1, characterized in that: The buffer includes a telescopic spring (21) fixed on a fixed gear (20), a fixed square rod (22) fixed on the telescopic spring (21), and a support block (23) fixed on the fixed square rod (22). The support block (23) is movably connected to the water-absorbing block (24). A fixed square groove is provided on the fixed gear (20). The fixed square rod (22) is slidably connected to the fixed square groove. The water-absorbing block (24) is movably attached to the video monitor (3).

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