Water quality multi-mode inspection robot and inspection system

Abstract

The water quality multi-mode inspection robot comprises a main body frame, a mechanical arm and waterproof air bags, the waterproof air bags are symmetrically arranged on the two sides of the main body frame, and the mechanical arm is fixed to the top of the main body frame. The main body frame is integrated with a multi-sensor fusion navigation system and an energy and communication system; the waterproof air bag is integrated with a dynamic buoyancy control system; the mechanical arm is integrated with a cooperative operation mechanical arm system and a multi-mode defect detection system. Therefore, multi-mode high-precision automatic inspection of hot spots, assembly falling and water quality of the fishing-light complementary photovoltaic power station can be realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of inspection robots, in particular to a water quality multi-modal inspection robot and an inspection system. BACKGROUND

[0002] With the rapid development of the "fish-light complementary" mode, the scale of water surface photovoltaic power stations is expanding, and the traditional manual inspection method is facing severe challenges: low detection efficiency, manual inspection requires boat operation, and the detection area per day is less than 1MW, and it is easily affected by weather; safety hazards are prominent, water operations have the risk of falling into the water, and cannot operate at night or in bad weather; single detection dimension, existing inspection robots mostly rely on visible light cameras, and cannot simultaneously detect hot spots, photovoltaic component loss and electrical performance degradation; poor environmental adaptability, conventional water robots lack wave compensation mechanisms, are prone to overturning in complex water areas, and have insufficient navigation accuracy (usually error > 1m), making it difficult to accurately locate faulty components; weak cooperative control, the lack of linkage algorithms between mechanical arm operation and robot movement leads to large shaking during the detection process, and the data distortion rate of thermal imaging instrument collection is more than 30%.

[0003] Therefore, how to realize high-precision automatic inspection of hot spots, component falling, and water quality multi-modal of fish-light complementary photovoltaic power stations has become a technical problem to be solved by those skilled in the art. SUMMARY

[0004] In order to solve the above technical problems, the present application provides a water quality multi-modal inspection robot and an inspection system for realizing high-precision automatic inspection of hot spots, component falling, and water quality multi-modal of fish-light complementary photovoltaic power stations.

[0005] In a first aspect, the present application provides a water quality multi-modal inspection robot, comprising: a main frame, a mechanical arm, and a waterproof airbag, the waterproof airbag is symmetrically arranged on both sides of the main frame, and the mechanical arm is fixed on the top of the main frame.

[0006] The main frame is integrated with a multi-sensor fusion navigation system, an energy and communication system,

[0007] The multi-sensor fusion navigation system comprises a positioning module, an obstacle avoidance module and a path planning module, the positioning module is used to realize simultaneous localization and map building in combination with an underwater sonar beacon; the obstacle avoidance module comprises at least three groups of waterproof ultrasonic waves, the waterproof ultrasonic waves are arranged in a 120° sector area, the obstacle avoidance module comprises a distance sensor, the distance sensor is located on one side of the waterproof ultrasonic wave, and the distance sensor is used for anti-collision; the path planning module is used to improve the smoothness of the planned path of the robot.

[0008] The energy and communication system comprises a dual-mode power supply module, an intelligent charging dock and a data transmission module; the dual-mode power supply module comprises a foldable solar panel and a piezoelectric fiber wave energy recovery device; the intelligent charging dock is magnetically coupled for wireless charging and supports automatic docking; the data transmission module adopts a dual-link redundancy of Internet of Things and mobile communication for key data block chain evidence;

[0009] The waterproof airbag is integrated with a dynamic buoyancy control system, the dynamic buoyancy control system comprises a double airbag execution module, an environment sensing module and an active compensation module; the double airbag execution module is used for real-time adjustment of the water injection amount of the waterproof airbag; the active compensation module is used for feeding forward control of the propeller to generate a reverse torque to reduce the roll angle fluctuation according to the predicted wave spectrum; the environment sensing module integrates an anemometer, a water flow sensor and a wave radar for building a wave prediction model;

[0010] The mechanical arm is integrated with a cooperative operation mechanical arm system, the cooperative operation mechanical arm system comprises a force feedback control module and a cavitation jet cleaning module; the force feedback control module adopts a strain gauge torque sensor for compliant control of the mechanical arm during contact detection; the cavitation jet cleaning module is provided with a nozzle for removing algae attachments on the surface of the photovoltaic module;

[0011] The end of the mechanical arm is integrated with a multi-modal defect detection system; the multi-modal defect detection system comprises a thermal spot detection module, a visual recognition module and an electrical detection module; the thermal spot detection module is used for carrying an infrared thermal imager for dual-mode verification with a non-contact temperature probe; the visual recognition module integrates a camera for missing photovoltaic module recognition; the electrical detection module is used for synchronizing inverter data through wireless communication to build a current-voltage characteristic curve anomaly detection model.

[0012] Optionally, the robot further comprises a fishing net state monitoring claw, and a water quality sampler, and the mechanical arm is connected with the fishing net state monitoring claw and the water quality sampler through a detachable connection module.

[0013] Optionally, the propeller is provided with a protective cover, the protective cover is fixed to the outer periphery of the propeller, and the grid density of the protective cover is less than or equal to 5mm.

[0014] Optionally, the robot further comprises an acoustic fish driving device, the acoustic fish driving device is fixed to the main body frame, and the variable frequency sound wave emitted by the acoustic fish driving device is greater than or equal to 170Hz and less than or equal to 500Hz.

[0015] Optionally, the end of the mechanical arm is integrated with one or more of a light sensor, a fluorescence chlorophyll sensor and an electrochemical sensor.

[0016] Optionally, the robot further comprises a retractable stabilizing fin arranged on both sides of the body of the robot, the retractable stabilizing fin being automatically deployed when the wave height is greater than 2m.

[0017] Optionally, the area of the retractable stabilizing fin is greater than or equal to 0.8m 2 .

[0018] Optionally, the mechanical arm is integrated with a micro-resistance wire at the end of the mechanical arm, the heating temperature of the micro-resistance wire being less than or equal to 80℃.

[0019] Optionally, the mechanical arm comprises a six-degree-of-freedom mechanical arm.

[0020] Based on the same inventive concept, the present application also provides a water quality multi-modal inspection system, comprising the water quality multi-modal inspection robot according to the first aspect, the system further comprising a cloud photovoltaic health degree evaluation platform, the platform being configured to provide a photovoltaic component attenuation rate analysis report, and the platform being further configured to provide a priority suggestion for cleaning the robot based on the type of the pollutant.

[0021] Compared with the prior art, the technical solution provided by the embodiments of the present disclosure has the following advantages: the water quality multi-modal inspection robot and the inspection system provided by the present disclosure realize dynamic buoyancy self-adaption by double air bag pressure closed loop control and wave prediction compensation, so that the inclination of the robot is stabilized within ±3° under 1.5m wave height; the complex water area centimeter level navigation positioning error is less than 5cm by fusing RTK-GPS (Real-Time Kinematic Global Positioning System), IMU (Inertial Measurement Unit) and sonar SLAM (Simultaneous Localization and Mapping); multi-dimensional defect detection is realized by simultaneously performing infrared hot spot scanning (accuracy 0.5℃), electroluminescent detection, component missing identification and multi-spectral aging analysis; intelligent path planning is realized by optimizing RRT* (Rapidly-exploring Random Trees) algorithm based on photovoltaic array topology characteristics, the inspection efficiency is improved by 40%, and the obstacle avoidance response time is less than 200ms; the endurance time is extended to 72 hours by integrating solar wave energy dual-mode power supply system, the three-level fault tolerance mechanism is provided to ensure the safety of the equipment, the energy self-sufficiency and safety are ensured, and finally the hot spot, component falling and water quality multi-modal high-precision automatic inspection of the fish-light complementary photovoltaic power station are realized. BRIEF DESCRIPTION OF DRAWINGS

[0022] The accompanying drawings, which are incorporated herein and constitute part of the specification, illustrate embodiments consistent with the present disclosure and serve to explain the principles of the present disclosure together with the specification.

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or the prior art, the accompanying drawings required by the embodiments or the prior art description will be briefly introduced. Obviously, those skilled in the art can obtain other drawings according to these drawings without any creative effort.

[0024] Figure 1 Fig. 1 shows a front view of a water quality multi-modal inspection robot provided by an embodiment of the present disclosure;

[0025] Figure 2 Fig. 2 shows a side view of a water quality multi-modal inspection robot provided by an embodiment of the present disclosure; Figure 1 Fig. 3 shows a schematic diagram of the relative position relationship between the main body frame and the waterproof air bag;

[0026] Figure 3 Fig. 4 shows a schematic diagram of the connection relationship of a water quality multi-modal inspection system provided by an embodiment of the present disclosure. DETAILED DESCRIPTION

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or the prior art, the accompanying drawings required by the embodiments or the prior art description will be briefly introduced. Obviously, those skilled in the art can obtain other drawings according to these drawings without any creative effort.

[0028] In the following description, many specific details are set forth in order to provide a thorough understanding of the present disclosure, but the present disclosure can also be implemented in other ways different from those described herein; obviously, the embodiments in the specification are only some embodiments of the present disclosure, not all embodiments.

[0029] Figure 1 Fig. 1 shows a front view of a water quality multi-modal inspection robot provided by an embodiment of the present disclosure; Figure 2 Fig. 2 shows a side view of a water quality multi-modal inspection robot provided by an embodiment of the present disclosure; Figure 1 Fig. 3 shows a schematic diagram of the relative position relationship between the main body frame and the waterproof air bag, please refer to Figure 1 and Figure 2 The present disclosure provides a water quality multi-modal inspection robot 100, comprising: a main body frame 10, a mechanical arm 30, and a waterproof air bag 20, the waterproof air bag 20 is symmetrically arranged on both sides of the main body frame 10, and the mechanical arm 30 is fixed on the top of the main body frame 10.

[0030] The main body frame 10 is integrated with a multi-sensor fusion navigation system, an energy and communication system, the multi-sensor fusion navigation system comprising a positioning module, an obstacle avoidance module and a path planning module, the positioning module being used for realizing simultaneous localization and mapping in combination with an underwater sonar beacon; the obstacle avoidance module comprising at least three groups of waterproof ultrasonic waves, the waterproof ultrasonic waves being arranged along a 120° sector region at intervals, the obstacle avoidance module comprising a distance sensor, the distance sensor being located on one side of the waterproof ultrasonic waves, the distance sensor being used for anti-collision; the path planning module being used for improving the smoothness of the planned path of the robot.

[0031] The energy and communication system comprises a dual-mode power supply module, an intelligent charging dock and a data transmission module; the dual-mode power supply module comprising a foldable solar panel and a piezoelectric fiber wave energy recovery device; the intelligent charging dock being magnetically coupled for wireless charging and supporting automatic docking; the data transmission module adopting dual-link redundancy of Internet of Things and mobile communication for blockchain notarization of key data blocks. The waterproof air bag 20 is integrated with a dynamic buoyancy control system, the dynamic buoyancy control system comprising a double air bag execution module, an environment perception module and an active compensation module; the double air bag execution module being used for adjusting the water injection amount of the waterproof air bag 20 in real time; the active compensation module being used for feeding forward control of the propeller to generate a reverse torque to reduce the rolling angle fluctuation according to a predicted wave spectrum; the environment perception module integrating an anemometer, a water flow sensor and a wave radar, and being used for constructing a wave prediction model.

[0032] The mechanical arm 30 is integrated with a cooperative operation mechanical arm 30 system, the cooperative operation mechanical arm 30 system comprising a force feedback control module and a cavitation jet cleaning module; the force feedback control module adopting a strain gauge torque sensor, and being used for compliant control of the mechanical arm 30 during contact detection; the cavitation jet cleaning module being provided with a nozzle, and being used for removing algae attachments on the surface of the photovoltaic module.

[0033] The mechanical arm 30 is integrated with a multi-modal defect detection system at the end; the multi-modal defect detection system comprising a thermal spot detection module, a visual recognition module and an electrical detection module; the thermal spot detection module being used for carrying an infrared thermal imager, and cooperating with a non-contact temperature probe to perform dual-mode verification; the visual recognition module integrating a camera, and being used for missing photovoltaic module recognition; the electrical detection module being used for synchronizing inverter data through wireless communication, and constructing a current-voltage characteristic curve abnormality detection model.

[0034] Specifically, in an optional embodiment provided by the present disclosure, the water quality multi-modal inspection robot 100 comprises waterproof airbags 20 arranged symmetrically on both sides of the main body frame 10 in the same direction, and the waterproof airbags 20 are integrated with a dynamic buoyancy control system, which comprises a double airbag execution module, an environment perception module and an active compensation module. The double airbag execution module is equipped with a micro diaphragm pump and a linear actuator, and the flow rate of the micro diaphragm pump is 0.5 L / min, which is adjusted in real time by a PID++ algorithm to adjust the water injection amount of the waterproof airbag 20. Optionally, the range of the anemometer in the environment perception module is less than or equal to 20 m / s, and the accuracy of the water flow sensor in the environment perception module is less than ± 0.1 m / s. The specification of the wave radar is 24GHz FMCW (Frequency Modulated Continuous Wave). The ARIMA (Autoregressive Integrated Moving Average Model) wave prediction model is constructed by using the above-mentioned double airbag execution module, environment perception module and active compensation module, and the active compensation module predicts the wave motion trend in advance by 0.5 seconds according to the ARIMA wave prediction model, and the feedforward control of the propeller produces a reverse torque, so that the roll angle fluctuation is reduced by 60%; the feedforward control can control the action of the propeller according to the change of the predicted value or given value of the ARIMA wave prediction model, so as to improve the response rate of the water quality multi-modal inspection robot 100.

[0035] The water quality multi-modal inspection robot 100 comprises a main body frame 10, and the main body frame 10 is integrated with a multi-sensor fusion navigation system, which comprises a positioning module. The positioning module adopts an RTK-GPS and IMU tight coupling algorithm, and realizes SLAM mapping in combination with an underwater sonar beacon. The RTK-GPS is a real-time dynamic positioning technology based on carrier phase observation values, and the update frequency of the RTK-GPS is 10 Hz. The measurement frequency of the IMU is 75 kHz, which is only an example, and other measurement frequencies are also possible, and the present disclosure does not limit this. The SLAM mapping can realize that the water quality multi-modal inspection robot 100 obtains environmental information through the sensors (such as a laser radar, a camera, an IMU, etc.) carried by itself in an unknown environment, estimates the position and attitude of itself in the movement process, and constructs a surrounding environment map.

[0036] The multi-sensor fusion navigation system comprises an obstacle avoidance module, the obstacle avoidance module comprises waterproof ultrasonic waves, and three groups of waterproof ultrasonic waves are arranged in a fan-shaped area of 120 degrees in front of the main frame 10 along the direction of travel of the water quality multi-modal inspection robot 100. Optionally, the detection distance of the waterproof ultrasonic wave is greater than or equal to 0.2 m and less than or equal to 5 m, or the detection distance of the waterproof ultrasonic wave can be greater than or equal to 0.2 m and less than or equal to 3 m, and the like. The above are only examples, and the present disclosure does not limit this. The obstacle avoidance module further comprises a TOF (Time-of-Flight) laser sensor, and the TOF light sensor is located on one side or more sides of the main frame 10. The present disclosure does not limit this, and the lateral TOF laser sensor constitutes a collision avoidance network of the water quality multi-modal inspection robot 100.

[0037] The multi-sensor fusion navigation system comprises a path planning module, the path planning module adopts an improved RRT* algorithm to introduce photovoltaic array gridding constraints, and the smoothness of the planned path is improved by 35%.

[0038] The main frame 10 further integrates an energy and communication system, the energy and communication system comprises a dual-mode power supply module, optionally, the dual-mode power supply module adopts a 60W folding solar panel and a 1.5W piezoelectric fiber wave energy recovery device to supply power. The energy and communication system further comprises an intelligent charging dock, optionally, the efficiency of the magnetic coupling wireless charging of the intelligent charging dock can reach 92%, and automatic docking is supported, optionally, the positioning accuracy error of the automatic docking is less than ±2 cm. The energy and communication system further comprises a data transmission module, the data transmission module adopts a 5KM communication distance Internet of Things and 4G dual-link redundancy, and key data is stored in a block chain.

[0039] Please refer to Figure 1The water quality multi-modal inspection robot 100 comprises a mechanical arm 30 located on the top surface of the main body frame 10, and the mechanical arm 30 is integrated with a cooperative operation mechanical arm system. Optionally, the mechanical arm 30 comprises a six-degree-of-freedom mechanical arm, and of course, the mechanical arm 30 can also be of other types or degrees of freedom, which are not limited in the present disclosure. The six-degree-of-freedom mechanical arm provided in the embodiments of the present disclosure has a maximum load of 2 kg and a repeat positioning accuracy of less than ±0.1 mm. The above are only examples, and the maximum load and repeat positioning accuracy of the mechanical arm 30 can also be other values, which are not limited in the present disclosure. The cooperative operation mechanical arm system comprises a force feedback control module and a cavitation jet cleaning module. The force feedback control module adopts a strain gauge torque sensor to realize soft control of the mechanical arm 30 during contact detection. Optionally, the range of the strain gauge torque sensor is less than or equal to 10 N·m, or the range of the strain gauge torque sensor can be less than or equal to 9 N·m, 8 N·m, 7 N·m, 6 N·m, 5 N·m, 4 N·m, and the like, which are not limited in the present disclosure. The cavitation jet cleaning module can simultaneously remove algae attachments on the surface of the photovoltaic module during the inspection process of the water quality multi-modal inspection robot 100. The cavitation jet cleaning module comprises a nozzle. Optionally, the pressure of the nozzle is greater than or equal to 0.5 MPa and less than or equal to 3 MPa. Of course, the pressure of the nozzle can also be other numerical ranges, which are not limited in the present disclosure. The pressure of the nozzle is adjustable, and the user can adjust the pressure of the nozzle according to the density and firmness of the algae attachments on the surface of the photovoltaic module.

[0040] The mechanical arm 30 is integrated with a multi-modal defect detection system at the end. The multi-modal defect detection system comprises a hot spot detection module, which is equipped with an infrared thermal imager and cooperates with a non-contact temperature probe for double-mode verification. Optionally, the resolution of the infrared thermal imager is 160×120, which means that there are 160 pixels in the horizontal direction and 120 pixels in the vertical direction, and the total number of pixels is 160×120=19200. The multi-modal defect detection system further comprises a visual recognition module, which adopts an OpenMV (Open Machine Vision, machine vision framework) camera. The OpenMV camera is a programmable camera, which can realize the recognition logic of the water quality multi-modal inspection robot 100 through the MicroPython language combined with the improved YOLOv5s algorithm, and can improve the recognition accuracy of the missing photovoltaic module to more than 98% during the inspection process. Optionally, the OpenMV camera adopts a global shutter, which can expose all pixels in the image at the same time, thereby reducing motion blur and improving image quality. The multi-modal defect detection system further comprises an electrical detection module. Optionally, the voltage resolution error of the electrical detection module is within ±0.5%.

[0041] Thus, the water quality multi-modal inspection robot 100 provided by the present disclosure can make the water quality multi-modal inspection robot 100 have an inclination angle within ±3° under a 1.5-meter wave height through double air bag pressure closed-loop control and wave prediction compensation; realize complex water area centimeter-level navigation and positioning through fusion of RTK-GPS, IMU and sonar SLAM, and the positioning error is less than 5 cm; realize multi-dimensional defect detection through synchronous infrared hot spot scanning (accuracy 0.5°C), electroluminescent detection, component missing identification and multispectral aging analysis; realize intelligent path planning through RRT* algorithm based on photovoltaic array topology characteristics optimization, and the inspection efficiency is improved by 40%, and the obstacle avoidance response time is less than 200 ms; realize energy self-sufficiency through integration of solar energy-wave energy dual-mode power supply system, the endurance time is extended to 72 hours, and a three-level fault tolerance mechanism is provided to ensure equipment safety.

[0042] Please continue to refer to Figure 1 and Figure 2 The present disclosure provides a water quality multi-modal inspection robot 100, further comprising a fishing net state monitoring claw and a water quality sampler, and the mechanical arm 30 is connected to the fishing net state monitoring claw and the water quality sampler through a detachable connection module.

[0043] Specifically, in an optional embodiment provided by the present disclosure, the mechanical arm 30 can be connected to the fishing net state monitoring claw and the water quality sampler through a detachable connection module. The detachable connection module is a structure that can be easily disassembled and reassembled. Optionally, the detachable connection module includes bolts, screws, pins, wedges and the like, and the present disclosure does not limit the specific structure of the detachable connection module. In another optional embodiment provided by the present disclosure, the mechanical arm 30 can be replaced by the fishing net state monitoring claw and the water quality sampler, and the specific setting can be determined according to the actual situation, and the present disclosure does not limit this. Thus, the mechanical arm 30 is connected to the fishing net state monitoring claw and the water quality sampler through the detachable connection module, which can provide multiple forms of transformation and adapt to the monitoring needs of different scenes.

[0044] Please continue to refer to Figure 1 and Figure 2 The present disclosure provides a water quality multi-modal inspection robot 100, and a propeller peripheral protective cover is fixed to the outer periphery of the propeller, and the grid density of the protective cover is less than or equal to 5 mm.

[0045] Specifically, the propeller is provided with a protective cover, which can reduce the damage to fish. The mesh density of the protective cover is less than or equal to 5 mm. Alternatively, the mesh density of the protective cover can be less than or equal to 4 mm, or the mesh density of the protective cover can be less than or equal to 3 mm, or the mesh density of the protective cover can be less than or equal to 2 mm, or the mesh density of the protective cover can be less than or equal to 1 mm, and so on. The present disclosure does not limit the mesh density of the protective cover, as long as it is within the range of less than or equal to 5 mm. In this way, by providing the protective cover for the propeller, the damage to the fish population can be reduced, which is conducive to the sustainable development of the fishery.

[0046] Please continue to refer to Figure 1 and Figure 2 The present disclosure provides a water quality multi-modal inspection robot 100, further comprising an acoustic fish driving device fixed on the main body frame 10. The frequency-converted sound wave emitted by the acoustic fish driving device is greater than or equal to 170 Hz and less than or equal to 500 Hz.

[0047] Specifically, in an optional embodiment provided by the present disclosure, the acoustic fish driving device is fixed on the main body frame 10 and can be used to guide the fish population away from the work area. The frequency-converted sound wave emitted by the acoustic fish driving device is greater than or equal to 170 Hz and less than or equal to 500 Hz. Alternatively, the frequency-converted sound wave emitted by the acoustic fish driving device can be greater than or equal to 180 Hz and less than or equal to 450 Hz, or the frequency-converted sound wave emitted by the acoustic fish driving device can be greater than or equal to 200 Hz and less than or equal to 400 Hz, or the frequency-converted sound wave emitted by the acoustic fish driving device can be greater than or equal to 250 Hz and less than or equal to 350 Hz, and so on. The present disclosure does not limit the frequency of the frequency-converted sound wave emitted by the acoustic fish driving device, as long as it is within the range of greater than or equal to 170 Hz and less than or equal to 500 Hz. In this way, by adding the acoustic fish driving device, the fish population can be further guided away from the work area on the basis of reducing the damage to fish by the protective cover, which is conducive to the sustainable development of the fishery.

[0048] Please continue to refer to Figure 1 and Figure 2 The present disclosure provides a water quality multi-modal inspection robot 100, wherein the end of the mechanical arm 30 is integrated with one or more of a light sensor, a fluorescence chlorophyll sensor, and an electrochemical sensor.

[0049] Specifically, in an optional embodiment provided by the present disclosure, the optical sensor is used to detect the dissolved oxygen in water, and the detection accuracy is ±0.1 mg / L; the fluorescence chlorophyll sensor is used to detect chlorophyll a in water, and the range is within the interval of 0-500 μg / L; and the electrochemical sensor is used to detect heavy metal ions in water. Optionally, a plurality of electrochemical sensors of the same type or different types can be integrated on a device in a certain manner to form an electrochemical sensor array, which can simultaneously detect a plurality of chemical substances or parameters to adapt to complex environmental monitoring. Optionally, the end of the mechanical arm 30 can also be integrated with a multispectral sensor with a wavelength range greater than or equal to 400 nm and less than or equal to 1000 nm. In this way, by integrating a plurality of types of sensors at the end of the mechanical arm 30, the monitoring of a plurality of indexes such as dissolved oxygen, chlorophyll a, heavy metal ions, etc. in water can be realized, and the monitoring range of water quality indexes can be increased.

[0050] Please refer to Figure 1 and Figure 2 The present disclosure provides a water quality multi-modal inspection robot 100, which further comprises a retractable stabilizing fin. The retractable stabilizing fin is arranged on both sides of the body of the water quality multi-modal inspection robot 100, and the retractable stabilizing fin is automatically unfolded when the wave height is greater than 2 m.

[0051] Specifically, in an optional embodiment provided by the present disclosure, when the wave height is less than or equal to 2 m, the retractable stabilizing fin is in a retracted state, and the water quality multi-modal inspection robot 100 is in a normal inspection mode. In this mode, the pressure sensor and the liquid level sensor data are fused to establish a pressure-float dynamic model of the waterproof air bag 20, so as to realize accurate control of the water injection amount error within ±5 mL, and the PID++ algorithm is used to stabilize the draft depth of the water quality multi-modal inspection robot 100 within a range of ±1 cm.

[0052] When the wave height is greater than 2 m, the retractable stabilizing fin is in an unfolded state, and at this time the water quality multi-modal inspection robot 100 is in an emergency sinking and floating mode. The semi-submersible navigation is realized through the rapid drainage of the waterproof air bag 20, at this time the draft depth of the water quality multi-modal inspection robot 100 is increased to 1.2 m, and the low-temperature operation guarantee is started at the same time. In this way, by adding the retractable stabilizing fin on both sides of the body of the water quality multi-modal inspection robot 100, the response measures in extreme environments can be improved, and the risk resistance can be improved.

[0053] Please refer to Figure 1 and Figure 2 The present disclosure provides a water quality multi-modal inspection robot 100, and the unfolding area of the retractable stabilizing fin is greater than or equal to 0.8 m 2 .

[0054] Specifically, in an optional embodiment provided by the present disclosure, the telescopic stabilizing fin is made of carbon fiber material, and can also be made of other material types, which is not limited in the present disclosure. The deployment area of the telescopic stabilizing fin is greater than or equal to 0.8 m 2 The telescopic stabilizing fin generates lift (or lateral force) through the action of water flow to maintain the posture stability of the water quality multi-modal inspection robot 100. When the deployment area of the telescopic stabilizing fin is less than 0.8 m 2 The deployment area of the telescopic stabilizing fin is too small, which directly leads to a decrease in the lift coefficient, cannot effectively offset the interference force of external sea currents and waves, and also reduces the fluid resistance, resulting in uneven distribution of resistance, increased energy consumption or vibration. Therefore, the deployment area of the telescopic stabilizing fin is set to be greater than or equal to 0.8 m 2 The lift coefficient can be improved, the resistance can be evenly distributed, the energy consumption can be reduced, the posture stability can be maintained, and the wind and wave resistance can be improved.

[0055] Please continue to refer to Figure 1 and Figure 2 The present disclosure provides a water quality multi-modal inspection robot 100, and a micro-resistance wire is integrated at the end of the mechanical arm 30. The heating temperature of the micro-resistance wire is less than or equal to 80℃.

[0056] Specifically, the micro-resistance wire integrated at the end of the mechanical arm 30 can be used for deicing. Further, a battery heating system can also be installed inside the water quality multi-modal inspection robot 100, for example, a 50W PTC (Positive Temperature Coefficient) ceramic sheet is used. The PTC ceramic is usually made of high-purity barium titanate doped with niobium, bismuth, antimony, lead, manganese, silicon and other oxides, and is sintered at 1300-1350℃. The resistance of the PTC ceramic is very small at room temperature, but it will suddenly increase by thousands to millions of times when the temperature rises to a certain temperature, and it will return to its original state when the temperature drops. This advantage is conducive to maintaining the temperature of the battery pack above 0℃ in a low-temperature operating state, ensuring the effective operation of the water quality multi-modal inspection robot 100. In this way, by integrating the micro-resistance wire at the end of the mechanical arm 30, deicing of the mechanical arm 30 and various sensors integrated thereon in a low-temperature operating state is achieved, and the safe and stable operation in a low-temperature state is achieved in combination with the internally installed battery heating system.

[0057] Please continue to refer to Figure 3 and Figures 1 to 3 The present disclosure provides a water quality multi-modal inspection robot 100, and the mechanical arm 30 includes a six-degree-of-freedom mechanical arm.

[0058] Specifically, the six-degree-of-freedom mechanical arm refers to a mechanical arm 30 with 6 independent movement degrees of freedom, which can be divided into rotation, pitch, translation, elbow joint, wrist joint and wrist. Each joint can move freely within a certain range of motion, and the flexibility is relatively high. The six degrees of freedom are translation along the x-axis, y-axis and z-axis, and rotation around the x-axis, y-axis and z-axis. The first three degrees of freedom are used to determine the position, and the last three are used to determine the attitude. The combination of these degrees of freedom enables the mechanical arm 30 to perform complex grasping, manipulation and assembly operations in three-dimensional space. The disclosed embodiment can achieve 360° dead angle-free inspection of the water quality multi-modal inspection robot 100 in the water area by providing a six-degree-of-freedom mechanical arm on the main body frame 10, and improve the flexibility of the inspection.

[0059] ​ Fig. 1 shows a connection relationship diagram of a water quality multi-modal inspection system provided by an embodiment of the present disclosure. Please refer to ​ The present disclosure provides a water quality multi-modal inspection system 300, which includes the water quality multi-modal inspection robot 100 provided by the disclosed embodiment, and further includes a cloud photovoltaic health degree evaluation platform 200. The cloud photovoltaic health degree evaluation platform 200 is used to provide a photovoltaic module attenuation rate analysis report, and also provides a cleaning priority suggestion based on pollutant type identification.

[0060] Specifically, the cloud photovoltaic health degree evaluation platform 200 can be a digital twin platform, which is used to build a 1:1 virtual power station model of the photovoltaic module, map real-time data such as hot spot distribution and module health degree heat map, predict the service life of the module based on the LSTM (Long Short-Term Memory) network to provide predictive maintenance for the photovoltaic module in water, and can control the prediction error within ±3 days. In addition, the module attenuation rate analysis report provided by the platform can be accurate to each module in the photovoltaic module, is comprehensive and targeted; and can provide a cleaning priority suggestion for the photovoltaic module based on pollutant type identification. The cloud photovoltaic health degree evaluation platform 200 can also provide fishery value-added services, such as generating a fish school density distribution heat map by extending sensors such as sonar imaging and AI identification, to provide a reference for scientific breeding for fish farmers; and can provide an optimal baiting location recommendation for fish farmers based on a water quality-dissolved oxygen correlation model.

[0061] In an optional embodiment provided by the present disclosure, the water quality multi-modal inspection robot 100 adopts electric-thermal-optical three-mode data fusion, and proposes a multi-source data joint analysis framework based on deep learning: a hot spot confidence model is constructed by an infrared thermal imager (8-14 μm band) and component voltage data (synchronous inverter), visible light images (Sony IMX477) and multi-spectral data (AS7341 11 channels) are used for component aging index calculation; an electroluminescence night detection mode is introduced, and the mechanical arm 30 contacts the electrode to excite the component to emit light. A real-time image correction model based on IMU data is developed, and an affine transformation combined with a non-rigid registration technique is used, so that the temperature measurement error of the thermal imager under a 1.5° inclination is less than or equal to 0.3℃, and a vibration compensation imaging algorithm is realized. Further, through wave energy-solar energy collaborative management, a hybrid energy optimization scheduling algorithm is developed: for example, the solar panel adopts an MPPT (Maximum Power Point Tracking) algorithm (improved perturb and observe method), and the piezoelectric fiber array (PZT-5H material) realizes efficient collection of wave energy through a resonant circuit, so as to realize energy supply.

[0062] To enhance system adaptability and expand application scenarios, the embodiments of the present disclosure also provide a standardized waterproof connector (IP68 level) that supports replacement within 10 minutes, realizes quick replacement of the interface. In addition, a robot formation algorithm based on swarm intelligence is provided, and the master robot is equipped with high-precision sensors, and the slave robot extends the detection range.

[0063] In summary, the water quality multi-modal inspection robot and system provided by the present application realizes dynamic balance of buoyancy by Kalman filtering fusion of airbag pressure, IMU attitude and wave prediction data, proposes an electric-thermal-optical multi-modal joint detection algorithm, and reduces the false positive rate to below 2%; the cooperative optimization algorithm is used for path planning of the mechanical arm end and robot heading control, and the vibration amplitude in the detection process is less than 0.5 mm.

[0064] The above describes the technical background, design goals and implementation schemes of the present application, highlights its stability, detection accuracy and autonomy advantages in complex water environment, and has significant technical progress and industrial application value.

[0065] The above is only a specific embodiment of the present disclosure, enabling those skilled in the art to understand or implement the present disclosure. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure will not be limited to these embodiments described herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A water quality multimodal inspection robot, characterized in that, The robot comprises a main frame, a mechanical arm, and waterproof airbags symmetrically arranged on both sides of the main frame, and the mechanical arm is fixed on the top of the main frame. The main frame is integrated with a multi-sensor fusion navigation system, an energy and communication system, The multi-sensor fusion navigation system comprises a positioning module, an obstacle avoidance module, and a path planning module, the positioning module is used to realize simultaneous localization and mapping in combination with underwater sonar beacons; the obstacle avoidance module comprises at least three groups of waterproof ultrasonic waves, the waterproof ultrasonic waves are arranged along a 120° sector, the obstacle avoidance module comprises a distance sensor located on one side of the waterproof ultrasonic wave, and the distance sensor is used for anti-collision; the path planning module is used to improve the smoothness of the robot planning path; The energy and communication system comprises a dual-mode power supply module, an intelligent charging dock, and a data transmission module; the dual-mode power supply module comprises a foldable solar panel and a piezoelectric fiber wave energy recovery device; the intelligent charging dock is magnetically coupled for wireless charging and supports automatic docking; the data transmission module adopts a dual-link redundancy of Internet of Things and mobile communication for key data block chain notarization; The waterproof airbag is integrated with a dynamic buoyancy control system, the dynamic buoyancy control system comprises a double airbag execution module, an environment perception module, and an active compensation module; the double airbag execution module is used to adjust the water injection amount of the waterproof airbag in real time; the active compensation module is used to feed forward control the propeller to generate a reverse torque to reduce the roll angle fluctuation according to the predicted wave spectrum; and the environment perception module is integrated with an anemometer, a water flow sensor, and a wave radar for constructing a wave prediction model; The mechanical arm is integrated with a cooperative operation mechanical arm system, the cooperative operation mechanical arm system comprises a force feedback control module and a cavitation jet cleaning module; the force feedback control module adopts a strain gauge torque sensor for compliant control of the mechanical arm during contact detection; and the cavitation jet cleaning module is provided with a nozzle for removing algae attachments on the surface of the photovoltaic module; The end of the mechanical arm is integrated with a multi-modal defect detection system; the multi-modal defect detection system comprises a thermal spot detection module, a visual recognition module, and an electrical detection module; the thermal spot detection module is used to carry an infrared thermal imager for dual-mode verification with a non-contact temperature probe; the visual recognition module is integrated with a camera for photovoltaic module missing recognition; and the electrical detection module is used to synchronize inverter data through wireless communication to construct a current-voltage characteristic curve anomaly detection model. The robot further comprises a fishing net state monitoring claw and a water quality sampler, and the mechanical arm is connected with the fishing net state monitoring claw and the water quality sampler through a detachable connection module.

2. The water quality multi-modal inspection robot of claim 1, wherein, The propeller is provided with a protective cover, the protective cover is fixed on the outer periphery of the propeller, and the grid density of the protective cover is less than or equal to 5 mm.

3. The water quality multi-modal inspection robot of claim 1, wherein, The robot further comprises an acoustic fish driving device, the acoustic fish driving device is fixed on the main frame, and the variable frequency sound wave emitted by the acoustic fish driving device is greater than or equal to 170 Hz and less than or equal to 500 Hz.

4. The water quality multi-modal inspection robot of claim 1, wherein, ​ 5. The water quality multi-modal inspection robot of claim 1, wherein, The end of the mechanical arm is integrated with one or more of a light sensor, a fluorescence chlorophyll sensor, and an electrochemical sensor.

6. The water quality multi-modal inspection robot of claim 1, wherein, The robot further comprises retractable stabilizing fins arranged on both sides of the body of the robot, which automatically deploy when the wave height is greater than 2 m.

7. The water quality multi-modal inspection robot of claim 6, wherein, The deployable stabilizing fin has an area greater than or equal to 0.8 m 2 .

8. The water quality multi-modal inspection robot of claim 1, wherein, The end of the mechanical arm is integrated with a micro-resistance wire, which has a heating temperature less than or equal to 80℃.

9. The water quality multi-modal inspection robot of claim 1, wherein, The mechanical arm comprises a six-degree-of-freedom mechanical arm.

10. A water quality multi-modal inspection system, comprising: The system further comprises a cloud photovoltaic health assessment platform, which is configured to provide a photovoltaic module degradation rate analysis report and provide a priority suggestion for cleaning the robot based on the type of pollutants.

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