An underwater detection instrument

Abstract

This invention relates to the field of underwater structure inspection equipment, specifically an underwater inspection instrument. It includes a diving unit, which in turn includes a water pump. The upper end of the water pump has a cleaning unit for removing underwater debris, and the front end of the water pump has a detection unit for observing cracks. The detection unit includes an outer casing, which is fixedly connected to the front end of the water pump. A water supply pipe is fixedly connected inside the outer casing, and the water pump and cleaning unit are fixedly connected via the water supply pipe. An auxiliary unit is located inside the outer casing, and a protective unit for protecting the camera system is located on one side of the detection unit. This invention utilizes the suction generated by the rotating blades at the isolation plate location. Clean water is introduced into the outer casing from a distance through the water inlet pipe. The clean water continuously diffuses outward from the gaps between the outer casing and the surface of the underwater bridge, preventing water containing mud and dust from entering the outer casing. This ensures the camera is in a clean water environment, resulting in clearer images and further improving the accuracy of the inspection.

Description

Technical Field

[0001] This invention relates to the field of underwater construction inspection equipment technology, specifically an underwater inspection instrument. Background Technology

[0002] An underwater inspection instrument is specifically designed for detecting cracks in underwater environments. Equipped with a high-resolution camera and illumination equipment, it can capture and transmit images of underwater cracks in real time. These images can then be used for subsequent crack analysis and measurement.

[0003] Traditional underwater inspection instruments typically use principles such as sound waves, optics, and electrochemistry to detect underwater targets. For example, underwater crack detection equipment equipped with cameras takes images of preset locations on underwater structures and transmits them to a terminal for analysis to obtain crack data. However, underwater structures are submerged in water for extended periods, leading to the growth of moss or the accumulation of mud on their surfaces. Some tiny cracks are covered by these deposits, preventing the captured images from showing the cracks and ultimately resulting in inaccurate detection.

[0004] In view of this, the present invention proposes an underwater detection instrument that solves the above-mentioned technical problems. Summary of the Invention

[0005] The purpose of this section is to outline some aspects of embodiments of the present invention and to briefly describe some preferred embodiments. Simplifications or omissions may be made in this section, as well as in the abstract and title of this application, to avoid obscuring the purpose of these documents; however, such simplifications or omissions should not be construed as limiting the scope of the invention.

[0006] An underwater inspection device includes a diving unit, which includes a water pump. The upper end of the water pump is provided with a cleaning unit for removing underwater debris, and the front end of the water pump is provided with a detection unit for observing cracks. The detection unit includes an outer cover, which is fixedly connected to the front end of the water pump. A water supply pipe is fixedly connected inside the outer cover. The water pump and the cleaning unit are fixedly connected through the water supply pipe. An auxiliary unit is provided inside the outer cover, and a protective unit for protecting the camera system is provided on one side of the detection unit.

[0007] The auxiliary unit includes a fan blade, with a rotating shaft fixedly connected to one end of the fan blade near the water pump. An isolation plate is provided on one side of the fan blade, and the isolation plate is fixedly connected inside the outer cover. The rotating shaft slides through the isolation plate and extends into the water supply pipe at one end of the rotating shaft near the water pump. A turbine blade is fixedly connected to one end of the rotating shaft near the water pump, and the turbine blade is fixedly connected to the water supply pipe by a bracket.

[0008] As a preferred embodiment of the underwater detection instrument provided by the present invention, the diving unit further includes symmetrical side guards, which are fixedly connected to each other by a connecting frame. The water pump is fixedly connected to the middle of the connecting frame, and an external cable is fixedly connected to the rear end of the water pump. A propulsion system is arranged around the water pump and is fixedly connected to the connecting frame.

[0009] As a preferred embodiment of the underwater detection device provided by the present invention, the detection unit includes a mounting plate, which is fixedly connected to the inner wall of the outer cover. The lower end of the mounting plate extends to the axis of the outer cover. A protective cylinder is fixedly connected to the lower end of the mounting plate away from the water pump, and a camera is fixedly connected inside the protective cylinder.

[0010] As a preferred embodiment of the underwater detector provided by the present invention, the cleaning unit includes a fixing plate, which is fixedly connected to the water pump. An L-shaped water guide pipe is rotatably connected to the fixing plate, and a brush head is fixedly connected to one end of the L-shaped water guide pipe away from the fixing plate.

[0011] As a preferred embodiment of the underwater detection instrument provided by the present invention, a telescopic pipe is fixedly connected to the L-shaped water guide pipe, and the water supply pipe is fixedly connected to the L-shaped water guide pipe through the telescopic pipe.

[0012] As a preferred embodiment of the underwater detector provided by the present invention, a waterproof motor is fixedly connected to the fixed plate, and the output shaft of the waterproof motor is fixedly connected to one end of the L-shaped water guide pipe near the fixed plate. The waterproof motor causes the L-shaped water guide pipe to reciprocate and deflect at a preset angle.

[0013] As a preferred embodiment of the underwater detection instrument provided by the present invention, the protective unit includes a protective plate, the protective plate and the protective cylinder are slidably attached, a guide rail is provided above the protective plate, the guide rail is fixedly connected to the mounting plate by a bracket, the protective plate is slidably connected in the guide rail, a steel wire rope is fixedly connected to the upper end of the protective plate, one end of the steel wire rope extends out of the outer cover and is fixedly connected to the lifting rod after being guided by a guide wheel, and the guide wheel is fixedly connected to the outer cover.

[0014] As a preferred embodiment of the underwater detector provided by the present invention, the end of the water supply pipe away from the water pump extends vertically upward through the outer casing. A sliding ring is slidably connected inside the water supply pipe. A limiting ring is provided above the sliding ring. The limiting ring is fixedly connected inside the water supply pipe. A guide rod is fixedly connected to the lower end face of the limiting ring. The lower end of the guide rod extends downward and slides through the sliding ring. A spring is provided between the sliding ring and the limiting ring. The spring is nested on the guide rod. A lifting rod is fixedly connected to the sliding ring. The upper end of the lifting rod extends upward and slides through the limiting ring and the water supply pipe in sequence.

[0015] As a preferred embodiment of the underwater detector provided by the present invention, a water inlet pipe is fixedly connected to one end of the isolation plate away from the fan blade, and the other end of the water inlet pipe extends out of the outer cover and reaches the rear end of the water pump.

[0016] The beneficial effects of this invention are:

[0017] In this invention, a high-pressure water flow drives a turbine blade to rotate. The turbine blade's rotation, via a shaft, drives a fan blade, which in turn transports water from inside the outer casing to the outside. A water inlet pipe continuously draws in water from a distance, and this water, as it is transported outwards, is pushed onto the surface of the underwater bridge being inspected. This blows away dust from the bridge's surface, allowing the camera to capture a clearer image and improving inspection accuracy. Simultaneously, although the outer casing is very close to the underwater bridge's surface during inspection, some mud and dust can still enter, blurring the image captured by the camera. Therefore, the rotating fan blades create suction at the isolation plate, allowing the water inlet pipe to introduce clean water into the outer casing from a distance. This clean water diffuses outwards from the gap between the outer casing and the underwater bridge surface, preventing muddy water from entering the casing. This ensures the camera is in a clean water environment, resulting in clearer images and further improving inspection accuracy. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] in:

[0020] Figure 1 A schematic diagram of the overall structure of an underwater detection instrument;

[0021] Figure 2 for Figure 1 Enlarged schematic diagram of the connection structure at point A in the middle;

[0022] Figure 3 This is a schematic diagram of the connection structure between the diving unit and the cleaning unit in an underwater detection instrument.

[0023] Figure 4 This is a schematic diagram of the connection structure between the diving unit and the detection unit in an underwater detection instrument.

[0024] Figure 5 for Figure 5 Enlarged schematic diagram of the connection structure at point B;

[0025] Figure 6 for Figure 5 Enlarged schematic diagram of the connection structure at point C;

[0026] Figure 7 This is a schematic diagram of the connection structure of a detection unit, an auxiliary unit, and a protection unit in an underwater detection instrument.

[0027] Figure 8 for Figure 8 Enlarged schematic diagram of the connection structure at point D;

[0028] In the picture:

[0029] 1. Submersible unit; 11. Side guard plate; 12. Connecting frame; 13. Propulsion system; 14. Water pump; 15. External cable;

[0030] 2. Cleaning unit; 21. L-shaped water pipe; 22. Brush head; 23. Waterproof motor; 24. Fixing plate; 25. Telescopic pipe; 26. Water supply pipe;

[0031] 3. Detection unit; 31. Mounting plate; 32. Protective sleeve; 33. Outer cover; 34. Camera;

[0032] 4. Auxiliary unit; 41. Fan blade; 42. Shaft; 43. Turbine blade; 44. Water inlet pipe; 45. Isolation plate;

[0033] 5. Protective unit; 51. Protective plate; 52. Guide rail; 53. Steel wire rope; 54. Guide wheel; 55. Lifting rod; 56. Limiting ring; 57. Sliding ring; 58. Guide rod; 59. Spring. Detailed Implementation

[0034] To make the objectives, features, and advantages of this invention more apparent and understandable, the technical solutions of the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described below are only some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention. Example

[0035] like Figure 1 , Figure 3 , Figure 4 , Figure 7 and Figure 8 As shown, an underwater inspection device includes a diving unit 1, which includes a water pump 14. The upper end of the water pump 14 is provided with a cleaning unit 2 for cleaning up the deposits in the water, and the front end of the water pump 14 is provided with an inspection unit 3 for observing cracks. The inspection unit 3 includes an outer cover 33, which is fixedly connected to the front end of the water pump 14. A water supply pipe 26 is fixedly connected inside the outer cover 33. The water pump 14 and the cleaning unit 2 are fixedly connected through the water supply pipe 26. An auxiliary unit 4 is provided inside the outer cover 33, and a protective unit 5 for protecting the camera system is provided on one side of the inspection unit 3.

[0036] The diving unit 1 also includes symmetrical side guard plates 11, which are fixedly connected to each other by a connecting frame 12. A water pump 14 is fixedly connected to the middle of the connecting frame 12, and an external cable 15 is fixedly connected to the rear end of the water pump 14. A propulsion system 13 is arranged around the water pump 14 and is fixedly connected to the connecting frame 12.

[0037] The auxiliary unit 4 includes a fan blade 41. A rotating shaft 42 is fixedly connected to one end of the fan blade 41 near the water pump 14. An isolation plate 45 is provided on one side of the fan blade 41. The isolation plate 45 is fixedly connected inside the outer cover 33. The rotating shaft 42 slides through the isolation plate 45 and extends into the water supply pipe 26. A turbine blade 43 is fixedly connected to one end of the rotating shaft 42 near the water pump 14. The turbine blade 43 is fixedly connected to the water supply pipe 26 by a bracket.

[0038] The end of the isolation plate 45 away from the fan blade 41 is fixedly connected to the water inlet pipe 44, and the other end of the water inlet pipe 44 extends out of the outer cover 33 and reaches the rear end of the water pump 14.

[0039] In this embodiment, the propulsion system 13 is operated by a positioning system. The propulsion system 13 consists of multiple propulsion blades distributed in multiple locations on the connecting frame 12, allowing the diving unit 1 to move in any direction. The side guard plate 11 is used to protect the propulsion system 13, and the external cable 15 is used to power the entire device.

[0040] When the high-pressure water flow through the water supply pipe 26, it causes the turbine blade 43 to rotate. When the turbine blade 43 rotates, it drives the shaft 42 to rotate. When the shaft 42 rotates, it drives the fan blade 41 to rotate. When the fan blade 41 rotates, it transports the water in the outer casing 33 to the outside, so that the water inlet pipe 44 continuously draws water from the far end. When the water in the outer casing 33 is transported outward, it is pushed onto the surface of the bridge being detected, so that the dust on the surface of the underwater bridge is blown away (before this, the cleaning unit 2 cleaned the surface of the underwater bridge, but at this time the nearby water was covered with a lot of mud and dust, and the mud and dust would quickly fall back onto the surface of the underwater bridge, causing some small cracks to be blocked), so that the camera 34 can capture a clearer picture of the underwater bridge.

[0041] It should also be noted that during the inspection, although the outer cover 33 is very close to the surface of the underwater bridge, some mud and dust can still enter the outer cover 33 (when the cleaning unit 2 cleans, mud and dust will be stirred up in the nearby water), making the image captured by the camera 34 blurry. Therefore, when the fan blade 41 rotates, it will generate suction at the isolation plate 45. The water inlet pipe 44 will introduce clean water into the outer cover 33 from the far end. The clean water will continuously diffuse outward from the gap between the outer cover 33 and the surface of the underwater bridge, preventing water with mud and dust from entering the outer cover 33. This will keep the camera 34 in a clean water environment, making the captured image clearer and improving the accuracy of the inspection.

[0042] like Figure 1 , Figure 2 , Figure 4 and Figure 6 As shown, the detection unit 3 includes a mounting plate 31, which is fixedly connected to the inner wall of the outer cover 33. The lower end of the mounting plate 31 extends to the axis of the outer cover 33. A protective cylinder 32 is fixedly connected to the lower end of the mounting plate 31 away from the water pump 14. A camera 34 is fixedly connected inside the protective cylinder 32.

[0043] In this embodiment, the outer cover 33 is used to isolate the influence of external turbid water on the image captured by the camera 34. The camera 34 collects data on the surface of the bridge and transmits the data to the ground terminal. Users can observe whether there are cracks or other defects in the bridge through the image information.

[0044] like Figure 1 , Figure 3 and Figure 4 As shown, the cleaning unit 2 includes a fixing plate 24, which is fixedly connected to the water pump 14. An L-shaped water guide pipe 21 is rotatably connected to the fixing plate 24, and a brush head 22 is fixedly connected to the end of the L-shaped water guide pipe 21 away from the fixing plate 24.

[0045] After the diving unit 1 reaches the designated underwater position, the propulsion system 13 causes the scrubbing head 22 to press against the underwater bridge surface. The entire diving unit 1 then moves slowly upward along the bridge surface via the propulsion system 13. After the scrubbing head 22 contacts the bridge surface, it cleans the deposits on the underwater bridge surface, exposing the bridge body for easy observation of whether cracks or other defects have appeared on the bridge.

[0046] Furthermore, a telescopic pipe 25 is fixedly connected to the L-shaped water guide pipe 21, and the water supply pipe 26 is fixedly connected to the L-shaped water guide pipe 21 through the telescopic pipe 25.

[0047] After the water pump 14 draws in water, it discharges it from the water supply pipe 26, and then enters the L-shaped water guide pipe 21 through the telescopic pipe 25. The water is then sprayed out under high pressure from the scrubbing head 22 connected to the head of the L-shaped water guide pipe 21, which further improves the efficiency of the scrubbing head 22 in cleaning the attachments on the bridge surface and also improves the accuracy of observing bridge cracks.

[0048] Furthermore, a waterproof motor 23 is fixedly connected to the fixed plate 24. The output shaft of the waterproof motor 23 is fixedly connected to one end of the L-shaped water guide pipe 21 near the fixed plate 24. The waterproof motor 23 causes the L-shaped water guide pipe 21 to reciprocate and deflect at a preset angle.

[0049] After the waterproof motor 23 starts, it drives one end of the L-shaped water guide pipe 21 to reciprocate. The other end of the L-shaped water guide pipe 21 drives the brush head 22 to reciprocate around the waterproof motor 23 as the axis. This makes the brush head 22 clean a larger area on the bridge surface, further improving the efficiency of the brush head 22 in cleaning the attachments on the bridge surface and also improving the accuracy of observing bridge cracks.

[0050] In this embodiment, underwater bridges are submerged in water for a long time, and their surfaces will be covered with moss or mud. Traditional inspection instruments cannot observe cracks on the bridge body. The cleaning unit 2 uses high-pressure water and a scrubbing head 22 to clean away the attached substances on the bridge surface that needs to be inspected, thereby improving the accuracy of the inspection.

[0051] like Figure 1 , Figure 2 , Figure 4 , Figure 5 and Figure 6 As shown, the protective unit 5 includes a protective plate 51, which is slidably attached to the protective cylinder 32. A guide rail 52 is provided above the protective plate 51. The guide rail 52 is fixedly connected to the mounting plate 31 by a bracket. The protective plate 51 is slidably connected inside the guide rail 52. A steel wire rope 53 is fixedly connected to the upper end of the protective plate 51. One end of the steel wire rope 53 extends out of the outer cover 33 and is fixedly connected to the lifting rod 55 after being guided by the guide wheel 54. The guide wheel 54 is fixedly connected to the outer cover 33.

[0052] The end of the water supply pipe 26 away from the water pump 14 extends vertically upward through the outer cover 33. A sliding ring 57 is slidably connected inside the water supply pipe 26. A limiting ring 56 is provided above the sliding ring 57. The limiting ring 56 is fixedly connected inside the water supply pipe 26. A guide rod 58 is fixedly connected to the lower end face of the limiting ring 56. The lower end of the guide rod 58 extends downward and slides through the sliding ring 57. A spring 59 is provided between the sliding ring 57 and the limiting ring 56. The spring 59 is nested on the guide rod 58. A lifting rod 55 is fixedly connected to the sliding ring 57. The upper end of the lifting rod 55 extends upward and slides through the limiting ring 56 and the water supply pipe 26 in sequence.

[0053] In this embodiment, when the device is not in operation, the protective plate 51 and the protective cylinder 32 are closed to prevent the camera 34 from being damaged or contaminated with dust, which could lead to inaccurate subsequent detection. When the device starts working, high-pressure water flows through the water supply pipe 26, causing the water flow to push the sliding ring 57 towards the limiting ring 56. At the same time, the sliding ring 57 compresses the spring 59. When the sliding ring 57 moves towards the limiting ring 56, it drives the lifting rod 55 to move upward. When the lifting rod 55 moves upward, it drives one end of the wire rope 53 to move upward. After being guided by the guide wheel 54, the end of the wire rope 53 drives the protective plate 51 to move upward in the guide rail 52, causing the protective plate 51 to leave the protective cylinder 32, allowing the camera 34 to perform image acquisition.

[0054] When the device finishes working, the water pump 14 stops working, and the high-pressure water flow in the water supply pipe 26 disappears. At this time, the spring 59 extends and drives the sliding ring 57 to slide and reset away from the limiting ring 56, and at the same time drives the lifting rod 55 to reset. At this time, the wire rope 53 is released, and the protective plate 51 slides and resets downward in the guide rail 52 under the action of gravity. Finally, the protective plate 51 and the protective cylinder 32 close again to protect the camera 34.

[0055] The workflow is as follows:

[0056] First, the positioning system controls the propulsion system 13 to reach the preset detection position. The propulsion system 13 causes the scrubbing head 22 to press against the underwater bridge surface, and the entire submersible unit 1 moves slowly upward along the bridge surface. After the scrubbing head 22 contacts the bridge surface, the waterproof motor 23 is activated to drive one end of the L-shaped water guide pipe 21 to reciprocate. The other end of the L-shaped water guide pipe 21 drives the scrubbing head 22 to reciprocate around the waterproof motor 23 as the axis, so that the scrubbing head 22 can clean a larger area on the bridge surface, improving the efficiency of the scrubbing head 22 in cleaning the attachments on the bridge surface. The water pump 14 draws in water and discharges it from the water supply pipe 26, then enters the L-shaped water guide pipe 21 through the telescopic pipe 25, and is then sprayed out at high pressure from the scrubbing head 22 connected to the head of the L-shaped water guide pipe 21, further improving the efficiency of the scrubbing head 22 in cleaning the attachments on the bridge surface and also improving the accuracy of observing bridge cracks. When the device starts working, the water pump 14 starts working, and high-pressure water will pass through the water supply pipe 26, causing the water flow to push the sliding ring 57 towards the limiting ring 56. At the same time, the sliding ring 57 compresses the spring 59. When the sliding ring 57 moves towards the limiting ring 56, the sliding ring 57 drives the lifting rod 55 to move upward. When the lifting rod 55 moves upward, it drives one end of the wire rope 53 to move upward. After being guided by the guide wheel 54, one end of the wire rope 53 drives the protective plate 51 to move upward in the guide rail 52, so that the protective plate 51 leaves the protective cylinder 32, allowing the camera 34 to perform image acquisition. During image acquisition, the high-pressure water flow in the water supply pipe 26 causes the turbine blade 43 to rotate. The rotation of the turbine blade 43 drives the rotating shaft 42, which in turn drives the fan blade 41. The fan blade 41 then pumps water from the outer casing 33 to the outside, causing the water inlet pipe 44 to continuously draw water in from the far end. This water flow from the outer casing 33 is pushed onto the surface of the underwater bridge being inspected, blowing away dust and allowing the camera 34 to capture a clearer image of the underwater bridge. Simultaneously, during inspection, the rotation of the fan blade 41 generates suction at the isolation plate 45, allowing the water inlet pipe 44 to pump clean water into the outer casing 33 from the far end. This clean water continuously diffuses outwards from the gap between the outer casing 33 and the surface of the underwater bridge, preventing muddy water from entering the outer casing 33. This ensures the camera 34 is in a clean water environment, resulting in clearer images and improved inspection accuracy.

[0057] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0058] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of protection claimed by the present invention. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. An underwater detection device, comprising a diving unit (1), characterized in that, The diving unit (1) includes a water pump (14), the upper end of which is provided with a cleaning unit (2) for cleaning up the deposits in the water, the front end of which is provided with a detection unit (3) for observing cracks, the detection unit (3) includes an outer cover (33), the outer cover (33) is fixedly connected to the front end of the water pump (14), a water supply pipe (26) is fixedly connected inside the outer cover (33), the water pump (14) and the cleaning unit (2) are fixedly connected through the water supply pipe (26), an auxiliary unit (4) is provided inside the outer cover (33), and a protective unit (5) for protecting the camera system is provided on one side of the detection unit (3). The auxiliary unit (4) includes a fan blade (41), a rotating shaft (42) is fixedly connected to one end of the fan blade (41) near the water pump (14), an isolation plate (45) is provided on one side of the fan blade (41), the isolation plate (45) is fixedly connected inside the outer cover (33), the rotating shaft (42) slides through the isolation plate (45) and extends into the water supply pipe (26) at one end of the rotating shaft (42) near the water pump (14), a turbine blade (43) is fixedly connected to one end of the rotating shaft (42) near the water pump (14), and the turbine blade (43) is fixedly connected inside the water supply pipe (26) by a bracket; The protective unit (5) includes a protective plate (51), the protective plate (51) and the protective cylinder (32) are slidably attached, a guide rail (52) is provided above the protective plate (51), the guide rail (52) is fixedly connected to the mounting plate (31) by a bracket, the protective plate (51) is slidably connected in the guide rail (52), a steel wire rope (53) is fixedly connected to the upper end of the protective plate (51), one end of the steel wire rope (53) extends out of the outer cover (33) and is fixedly connected to the lifting rod (55) after being guided by the guide wheel (54), and the guide wheel (54) is fixedly connected to the outer cover (33); The end of the water supply pipe (26) away from the water pump (14) extends vertically upward through the outer cover (33). A sliding ring (57) is slidably connected inside the water supply pipe (26). A limiting ring (56) is provided above the sliding ring (57). The limiting ring (56) is fixedly connected inside the water supply pipe (26). A guide rod (58) is fixedly connected to the lower end face of the limiting ring (56). The lower end of the guide rod (58) extends downward and slides through the sliding ring (57). A spring (59) is provided between the sliding ring (57) and the limiting ring (56). The spring (59) is nested on the guide rod (58). A lifting rod (55) is fixedly connected to the sliding ring (57). The upper end of the lifting rod (55) extends upward and slides through the limiting ring (56) and the water supply pipe (26) in sequence.

2. The underwater detection instrument as described in claim 1, characterized in that, The diving unit (1) also includes symmetrical side guards (11), which are fixedly connected to each other by a connecting frame (12). The water pump (14) is fixedly connected in the middle of the connecting frame (12), and an external cable (15) is fixedly connected to the rear end of the water pump (14). A propulsion system (13) is arranged around the water pump (14), and the propulsion system (13) is fixedly connected to the connecting frame (12).

3. The underwater detection instrument as described in claim 1, characterized in that, The detection unit (3) includes a mounting plate (31), which is fixedly connected to the inner wall of the outer cover (33). The lower end of the mounting plate (31) extends to the axis of the outer cover (33). A protective cylinder (32) is fixedly connected to the lower end of the mounting plate (31) away from the water pump (14). A camera (34) is fixedly connected inside the protective cylinder (32).

4. The underwater detection instrument as described in claim 3, characterized in that, The cleaning unit (2) includes a fixing plate (24), which is fixedly connected to the water pump (14). An L-shaped water guide pipe (21) is rotatably connected to the fixing plate (24), and a brush head (22) is fixedly connected to one end of the L-shaped water guide pipe (21) away from the fixing plate (24).

5. The underwater detection instrument as described in claim 4, characterized in that, A telescopic pipe (25) is fixedly connected to the L-shaped water guide pipe (21), and the water supply pipe (26) is fixedly connected to the telescopic pipe (25) and the L-shaped water guide pipe (21).

6. The underwater detection instrument as described in claim 5, characterized in that, A waterproof motor (23) is fixedly connected to the fixed plate (24). The output shaft of the waterproof motor (23) is fixedly connected to one end of the L-shaped water guide pipe (21) near the fixed plate (24). The waterproof motor (23) causes the L-shaped water guide pipe (21) to reciprocate at a preset angle.

7. The underwater detection instrument as described in claim 1, characterized in that, The isolation plate (45) is fixedly connected to a water inlet pipe (44) at one end away from the fan blade (41), and the other end of the water inlet pipe (44) extends out of the outer cover (33) and reaches the rear end of the water pump (14).

Images