Underwater detection and maintenance robot for bridge

Abstract

The invention provides an underwater detection and maintenance robot for a bridge, and relates to the technical field of underwater detection. The underwater detection and maintenance robot for the bridge comprises a rack, a power assembly, a cleaning assembly, a detection assembly and a lower computer. The power assembly comprises a lifting propelling mechanism, a horizontal propelling mechanism and a walking mechanism. The lifting propelling mechanism is provided with a plurality of vertical propellers, the horizontal propelling mechanism is provided with a plurality of horizontal propellers, propelling directions of the vertical propellers and the horizontal propellers are perpendicular to each other, and the traveling mechanism is arranged at the bottom of the rack and has a traveling direction parallel to the horizontal propelling direction. The cleaning assembly and the detection assembly are both arranged on the rack and used for cleaning and detecting the surface of the bridge. And each execution mechanism is connected with the lower computer. Through cooperative control of the propelling system and the walking mechanism, the robot can stably abut against and be attached to the surface of a pier in high-speed water flow for accurate detection and cleaning and can flexibly walk and move along the wall face, and efficient, stable and integrated detection and maintenance work is achieved.

Description

A bridge underwater inspection and maintenance robot Technical Field

[0001] This invention relates to the field of underwater inspection technology, and more specifically, to an underwater inspection and maintenance robot for bridges. Background Technology

[0002] As vital transportation infrastructure, the long-term safety and durability of underwater piers, abutments, and other structures of bridges directly impact the overall service life and public safety. These structures, constantly submerged or exposed to alternating wet and dry environments, are susceptible to erosion from water flow, sediment abrasion, harmful ion corrosion, and biofouling, leading to surface contamination, coating damage, and even structural cracks and corrosion. Therefore, regular and effective inspection and maintenance of underwater bridge structures, and the timely detection and resolution of potential hazards, are crucial for ensuring the safe operation of bridges.

[0003] Currently, the inspection and maintenance of underwater bridge structures mainly rely on manual operation by divers or the use of various underwater robots (ROVs). However, this method of operation by divers presents challenges such as high personal safety risks, severe limitations imposed by hydrological and meteorological conditions, low efficiency, and insufficient data objectivity.

[0004] 1. Existing underwater robots have significant limitations in their movement and operation modes, making it difficult to meet the demands for efficient, precise, and integrated inspection and maintenance of bridge piers in complex water flow environments. Specifically, single-propulsion underwater vehicles typically rely on multiple propellers for thrust and attitude adjustment, enabling hovering and limited maneuverability in the water. However, when facing complex water flow around bridge piers (flow velocities often exceeding 4 m / s), propeller thrust alone is insufficient for long-term stable docking and precise positioning of the robot relative to the pier surface. Water flow impacts can easily cause robot position drift or attitude instability, preventing its onboard sensors from continuously and accurately acquiring inspection information from fixed areas.

[0005] 2. Tracked crawling robots: They have poor underwater mobility and cannot flexibly adjust their working posture; a single tracked crawling robot will fall off when crawling on the surface of the pier.

[0006] 3. Limited Functionality and Insufficient Collaboration: Many existing devices are designed with limited functionality, focusing either on observation and detection or only capable of simple cleaning. They lack solutions that deeply integrate efficient cleaning, multimodal detection, and intelligent motion control. Each subsystem (motion, operation, control) often operates independently with poor collaboration, failing to achieve a coherent intelligent workflow that simultaneously cleans, detects, and analyzes.

[0007] Therefore, the industry urgently needs a robot that can attach to the surface of bridge piers in a stable posture in high-speed water flow to obtain accurate detection information; and can also move flexibly along the wall to achieve rapid switching between inspection and movement. Summary of the Invention

[0008] The purpose of this invention is to provide an underwater inspection and maintenance robot for bridges, which can attach to the surface of bridge piers in a stable posture in high-speed water flow to perform inspections and obtain accurate inspection information; it can also move flexibly along the wall to achieve rapid switching between inspection and movement.

[0009] The embodiments of the present invention are implemented as follows: This application provides an underwater inspection and maintenance robot for bridges, comprising: a frame; a power assembly including a lifting propulsion mechanism, a horizontal propulsion mechanism, and a walking mechanism, wherein the lifting propulsion mechanism includes multiple vertical thrusters evenly spaced on the frame, all of which propel in the same direction; the horizontal propulsion mechanism includes multiple horizontal thrusters evenly spaced on the frame, all of which propel in the same direction; the propulsion direction of each vertical thruster is perpendicular to the propulsion direction of the horizontal thrusters; the walking mechanism is located at the bottom of the frame, and the walking direction of the walking mechanism is parallel to the propulsion direction of the horizontal thrusters; a cleaning assembly disposed on the frame for cleaning the bridge surface; an inspection assembly disposed on the frame for inspecting the bridge; and a lower-level machine, wherein the vertical thrusters, horizontal thrusters, walking mechanism, cleaning assembly, and inspection assembly are all connected to the lower-level machine.

[0010] In some embodiments of the present invention, both the vertical thruster and the horizontal thruster are propeller thrusters.

[0011] In some embodiments of the present invention, the above-mentioned walking mechanism is a tracked walking mechanism, the tracked walking mechanism is connected to a first driver, and the first driver is connected to the lower-level machine.

[0012] In some embodiments of the present invention, a buoyancy unit is provided on the frame.

[0013] In some embodiments of the present invention, the buoyancy part is located at the top of the frame, and a plurality of through holes are evenly spaced on the buoyancy part, and a plurality of vertical thrusters are correspondingly arranged in the plurality of through holes.

[0014] In some embodiments of the present invention, the cleaning assembly includes a cleaning disc rotatably mounted on the frame, a cleaning brush mounted on the cleaning disc, and a second driver connected to the cleaning disc for driving its rotation, the second driver being connected to the lower-level machine.

[0015] In some embodiments of the present invention, the detection component includes an image detection module and a sonar detection module, both of which are disposed at the bottom of the rack and are connected to the lower-level machine.

[0016] In some embodiments of the present invention, a water surface control station is also included, the water surface control station including a host computer, the host computer being communicatively connected to the slave computer.

[0017] In some embodiments of the present invention, an attitude sensor is also included, which is connected to the lower-level machine.

[0018] Compared to existing technologies, the embodiments of the present invention have at least the following advantages or beneficial effects: 1. The present invention can maintain a stable posture in a high-speed water flow environment, facilitating precise inspection and maintenance operations. The lifting propulsion mechanism utilizes multiple vertical thrusters to move in the water along a relatively vertical direction, while the horizontal propulsion mechanism utilizes multiple horizontal thrusters to move horizontally. This allows the robot to flexibly and precisely adjust its posture and position in three-dimensional space. Simultaneously, the walking mechanism's walking direction is parallel to the horizontal propulsion direction, enabling the robot to move to the corresponding pier position and adjust to the corresponding inspection surface. The walking mechanism then moves to fit against the pier surface. During this fitting process, the horizontal thrusters continue to operate, providing a horizontal thrust between the walking mechanism and the pier surface, ensuring the robot does not fall. As the walking mechanism gradually fits against the pier surface, the power of the horizontal thrusters gradually decreases, while the vertical thrusters are activated to continue ensuring the walking mechanism gradually fits against the pier surface. In this way, after the walking mechanism is fully in contact with the surface of the pier, the vertical thruster can provide a stable force, so that the robot is in a stable contact with the surface of the pier. This can effectively deal with the influence of high-speed water flow on the robot's posture, thereby improving the accuracy of the inspection components in obtaining detection information.

[0019] 2. When the above-mentioned walking mechanism is attached to the surface of the bridge pier, it can not only use the vertical thruster to approach and stabilize on the surface of the pier, but also reliably attach and move along the wall through the walking mechanism, thereby enabling it to quickly switch to different detection positions, enhancing the robot's mobility and improving detection efficiency.

[0020] 3. The cleaning and inspection components are integrated into the same frame and coordinated and controlled by a unified lower-level machine. This allows the robot to continuously complete the cleaning and multimodal inspection of the bridge pier surface in a single diving operation, avoiding the cumbersome process of multiple positioning and equipment replacement in traditional methods, and realizing efficient integrated inspection and maintenance operations.

[0021] 4. The vertical thruster, horizontal thruster, walking mechanism, cleaning component, and detection component are all connected to the lower-level computer. The lower-level computer can integrate control algorithms to achieve coordination of motion, operation, and perception, which greatly reduces the complexity of operation, reduces the over-reliance on the experience of professional personnel, and is conducive to the standardization of the operation process and the objectivity of data collection. Attached Figure Description

[0022] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 is a structural schematic diagram of an embodiment of the present invention; Figure 2 is a three-dimensional contour diagram of an embodiment of the present invention in one direction; Figure 3 is a three-dimensional contour diagram of an embodiment of the present invention in another direction; Figure 4 is a three-dimensional contour diagram of an embodiment of the present invention in yet another direction; Figure 5 is a cross-sectional structural schematic diagram of an embodiment of the present invention; Figure 6 is a control block diagram of an embodiment of the present invention.

[0024] Icons: 1-Frame; 2-Vertical thruster; 3-Horizontal thruster; 4-Crawler travel mechanism; 5-First drive; 6-Buoyancy unit; 7-Through hole; 8-Cleaning disc; 9-Cleaning brush. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0026] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0027] In the description of the embodiments of the present invention, it should be noted that if terms such as "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of the invention is in use, they are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. Furthermore, terms such as "first," "second," and "third" are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0028] Furthermore, the use of terms such as "horizontal," "vertical," and "sag" does not imply that the component must be absolutely horizontal or suspended, but rather that it can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal relative to "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0029] In the description of the embodiments of the present invention, "multiple" means at least two.

[0030] In the description of the embodiments of the present invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in the present invention according to the specific circumstances.

[0031] Referring to Figures 1-6, this embodiment provides an underwater inspection and maintenance robot for bridges, including a frame 1, a power component, a cleaning component, a detection component, and a lower-level computer. The power component includes a lifting and propulsion mechanism, a horizontal propulsion mechanism, and a walking mechanism. The lifting and propulsion mechanism includes multiple vertical thrusters 2 evenly spaced on the frame 1, all propelling in the same direction. The horizontal propulsion mechanism includes multiple horizontal thrusters 3 evenly spaced on the frame 1, all propelling in the same direction. The propulsion direction of each vertical thruster 2 is perpendicular to the propulsion direction of the horizontal thruster 3. The walking mechanism is located at the bottom of the frame 1, and its walking direction is parallel to the propulsion direction of the horizontal thrusters 3. The cleaning component is located on the frame 1 and is used to clean the bridge surface. The detection component is located on the frame 1 and is used to inspect the bridge. The vertical thrusters 2, horizontal thrusters 3, walking mechanism, cleaning component, and detection component are all connected to the lower-level computer.

[0032] In this implementation case, to ensure the robot maintains a stable posture in a high-speed water flow environment and thus accurately performs inspection and maintenance operations, the lifting propulsion mechanism uses multiple vertical thrusters 2 to achieve vertical movement in the water, while the horizontal propulsion mechanism uses multiple horizontal thrusters 3 to achieve horizontal displacement. This allows the robot to flexibly and accurately adjust its posture and position in three-dimensional space. Simultaneously, the walking mechanism's direction of travel remains parallel to the horizontal propulsion direction, enabling the robot to reach the corresponding pier position and adjust to the target inspection surface. Then, the walking mechanism continues to move to conform to the pier surface. During the conformation process, the horizontal thrusters 3 continuously operate, providing horizontal thrust to the walking mechanism and the pier surface to prevent the robot from detaching. As the walking mechanism gradually conforms to the pier surface, the power of the horizontal thrusters 3 gradually decreases, while the vertical thrusters 2 are activated to further ensure the conformation effect between the walking mechanism and the pier surface. Once the walking mechanism is fully in contact with the surface of the bridge pier, the horizontal thruster 3 is completely shut off, while the vertical thruster 2 continues to work to provide a stabilizing force, keeping the robot in a stable contact with the surface of the bridge pier. This effectively resists the interference of high-speed water flow on the robot's posture, thereby improving the accuracy of the detection components in acquiring detection information.

[0033] It should be noted that when the above-mentioned walking mechanism is attached to the surface of the bridge pier, it can achieve close and stable support with the help of the vertical thruster 2, and can also achieve reliable attachment and movement along the wall through the walking mechanism. This allows it to quickly switch to different detection positions, enhance the robot's mobility, and thus improve detection efficiency.

[0034] Referring to Figure 1, in this embodiment, the cleaning component and the detection component are integrated on the same frame 1 and coordinated and controlled by a unified lower computer, so that the robot can continuously complete the cleaning and multimodal detection of the bridge pier surface in a single diving operation, effectively avoiding the cumbersome process of multiple positioning and frequent equipment replacement in traditional operation methods, thereby realizing efficient integrated detection and maintenance operations.

[0035] The aforementioned vertical thruster 2, horizontal thruster 3, walking mechanism, cleaning component, and detection component are all connected to the lower-level computer. Through the control algorithm integrated in the lower-level computer, the coordinated linkage of motion, operation, and perception can be realized, which greatly reduces the complexity of operation and reduces the over-reliance on the experience of professional personnel, thereby helping to promote the standardization of work processes and ensure the objectivity of data collection.

[0036] Preferably, in this embodiment, both the vertical thruster 2 and the horizontal thruster 3 are propeller thrusters. Propeller thrusters are highly efficient and stable, providing the robot with strong and precise power underwater. The vertical propeller thruster can precisely adjust the robot's position in the vertical direction according to actual operational needs, enabling the robot to smoothly approach or move away from the bridge pier surface, creating favorable conditions for cleaning and inspection work. The horizontal propeller thruster can propel the robot to move flexibly in the horizontal direction, facilitating its rapid access to different inspection positions and further improving inspection efficiency.

[0037] Meanwhile, propeller thrusters have a relatively simple structure, making them easy to maintain and replace. This characteristic is especially important in the complex underwater environment. When a thruster malfunctions, it can be quickly repaired or replaced, reducing robot downtime and ensuring operational continuity. Furthermore, propeller thrusters produce less noise and cause less interference with the underwater environment, which helps improve the accuracy of detection data.

[0038] In actual operation, precise control of the propeller thrusters by the lower-level computer enables accurate robot movement and positioning. The thruster speed and direction are adjusted according to different inspection tasks and the actual conditions of the bridge piers, allowing the robot to efficiently and accurately complete inspection and maintenance work. Referring to Figures 1-3, preferably, in this embodiment, the aforementioned walking mechanism is a tracked walking mechanism 4, which is connected to a first driver 5, which is connected to the lower-level computer. The tracked walking mechanism 4 has good adaptability and stability in underwater environments. The first driver 5 can precisely control the rotation of the tracks, and the track speed and direction can be flexibly adjusted through commands from the lower-level computer. During underwater bridge pier inspection and maintenance operations, the tracked walking mechanism 4 enables the robot to move stably on the bridge pier surface, and even when encountering uneven surfaces, it can pass smoothly thanks to the grip of the tracks.

[0039] Referring to Figure 5, the connection between the first actuator 5 and the lower-level computer enables intelligent control of the tracked walking mechanism 4. The lower-level computer can adjust the track's operating status in real time according to the needs of the inspection task. For example, when approaching the inspection position of a bridge pier, the lower-level computer can control the first actuator 5 to reduce the track's speed, allowing the robot to more accurately locate the inspection position; conversely, when a rapid transfer to the next inspection area is needed, the driving force can be increased to make the track run faster. This allows the inspection components on the frame 1 to accurately reach the predetermined inspection position. This coordinated operation of the tracked walking mechanism 4, the first actuator 5, and the lower-level computer significantly improves the operational capability and efficiency of the bridge underwater inspection and maintenance robot in complex underwater environments, providing strong support for bridge inspection and maintenance work.

[0040] It is worth noting that the propeller and tracked walking mechanism 4 in this embodiment are both existing technologies, and will not be further described here. If there is any unclear point, please refer to the existing technology.

[0041] Referring to Figures 1, 3, and 4, in some embodiments of this example, the frame 1 is provided with a buoyancy section 6. Specifically, in this embodiment, the buoyancy section 6 is a cover structure that symmetrically covers the top of the frame 1. The buoyancy section 6 is made of a pressure-resistant buoyancy material (such as HCP50), which enables the robot body to exhibit zero buoyancy or slight negative buoyancy in water, enhancing underwater motion stability.

[0042] Please refer to Figures 1, 3 and 4. Specifically, in this embodiment, the buoyancy part 6 is located at the top of the frame 1. Multiple through holes 7 are evenly spaced on the buoyancy part 6, and multiple vertical thrusters 2 are correspondingly arranged in the multiple through holes 7.

[0043] The aforementioned vertical thruster 2 directly contacts the external water body through the through-hole 7, which guides the water flow and enables more efficient propulsion. During operation, the vertical thruster 2 generates upward or downward thrust, thus precisely controlling the robot's ascent and descent in the water. When the robot needs to float, the vertical thruster 2 generates upward thrust to overcome its own weight and the slight negative buoyancy, allowing the robot to move smoothly upward; when it needs to sink, the vertical thruster 2 generates downward thrust to assist the robot in quickly and accurately reaching the designated depth.

[0044] Furthermore, the multiple vertical thrusters 2 are evenly distributed on the buoyancy unit 6, which allows the robot to experience more uniform force in the vertical direction. In complex underwater environments, such as when the water flow is unstable or there are undercurrents, the multiple vertical thrusters 2 work together to better maintain the robot's vertical attitude, avoiding tilting or swaying, and further improving the stability and accuracy of the robot in underwater operations.

[0045] Furthermore, this combination of the vertical thruster 2 and the buoyancy unit 6 facilitates the installation, maintenance, and repair of the thrusters. When a vertical thruster 2 malfunctions, it can be easily disassembled and replaced through the through-hole 7 without requiring extensive disassembly of the entire robot structure, thus improving maintenance efficiency and reducing costs. Simultaneously, this design also contributes to improving the overall reliability of the robot, ensuring the smooth progress of underwater bridge inspection and maintenance.

[0046] Referring to Figures 1, 3, and 4, optionally, in this embodiment, there are four vertical thrusters 2, which are distributed in a rectangular manner at the four corners of the buoyancy section 6. There are two horizontal thrusters 3, which are located at the tail of the frame 1, on the side away from the cleaning components.

[0047] Referring to Figures 1, 2, and 3, specifically, in this embodiment, the cleaning assembly includes a cleaning disc 8 rotatably mounted on the frame 1. A cleaning brush 9 is mounted on the cleaning disc 8, and the cleaning disc 8 is connected to a second driver (not shown in the figures) for driving its rotation. The second driver is connected to a lower-level computer. There are often deposits on the surface of bridge piers. In order to accurately obtain detection information, it is often necessary to remove these deposits before the detection assembly can acquire the detection information.

[0048] As the robot moves along the surface of the bridge pier using its walking mechanism, the second actuator, upon receiving a command from the lower-level machine, quickly responds and drives the cleaning disc 8 to rotate at high speed. During rotation, the cleaning brushes 9 on the cleaning disc 8 make full contact with the underwater structure surface of the bridge, effectively removing algae, silt, dirt, and other impurities. The cleaning disc 8 is located in front of the inspection components, ensuring that the cleaned pier area is easily accessible for subsequent inspection components to acquire inspection information.

[0049] Please refer to Figure 5. Furthermore, the rotation of the cleaning disc 8 is precisely controlled by a lower-level computer. The lower-level computer can control the start and stop of the rotation of the cleaning disc 8 as needed.

[0050] Furthermore, in this embodiment, an auxiliary water spraying device (not shown in the figure) is provided on the cleaning disc 8. This spraying device is connected to a water supply system, and during the rotation of the cleaning disc 8, it sprays high-pressure water onto the bridge surface. This high-pressure water flow not only helps the cleaning brush 9 remove dirt more effectively but also washes away the removed impurities in a timely manner, preventing them from re-adhering to the bridge surface. Simultaneously, the direction and intensity of the water flow from the auxiliary spraying device can be adjusted by a lower-level computer to adapt to different cleaning scenarios.

[0051] Specifically, the aforementioned auxiliary water spray device is an existing structure and will not be described further here. If there is anything unclear, please refer to existing technology.

[0052] Referring to Figure 5, preferably, in this embodiment, the detection components include an image detection module and a sonar detection module. Both the image detection module and the sonar detection module are located at the bottom of the frame 1 and are connected to the lower-level computer. The image detection module is mainly used to acquire intuitive image information of the bridge pier surface. It is equipped with a high-resolution camera, which can clearly capture the subtle conditions of the bridge pier surface under complex underwater lighting conditions, such as whether there are cracks, damage, or peeling. The sonar detection module uses ultrasonic technology to detect the internal and surrounding conditions of the bridge pier. It can detect whether there are cavities, defects, or other problems inside the bridge pier. The image detection module and the sonar detection module transmit the collected data to the lower-level computer in real time. After receiving the data, the lower-level computer performs preliminary analysis and processing.

[0053] Referring to Figure 5, this embodiment further includes a surface control station, which comprises a host computer and a slave computer. The host computer and slave computer are communicatively connected. In this embodiment, the host computer and slave computer are connected via a communication cable (not shown in the figure). The host computer receives the data initially processed by the slave computer and performs a more in-depth and comprehensive analysis. It possesses powerful data processing capabilities and intelligent algorithms, enabling high-precision identification and analysis of the bridge pier surface images provided by the image detection module, accurately determining the length, width, and depth of cracks, as well as the area and extent of damage and spalling. For the data detected internally by the sonar detection module, the host computer can construct a three-dimensional model of the bridge pier's interior, clearly presenting the location, size, and distribution of cavities and defects.

[0054] Meanwhile, operators at the surface control station can visually view these analysis results via a host computer and formulate corresponding maintenance plans based on the actual condition of the bridge piers. The host computer also supports remote operation, allowing operators to remotely control the underwater inspection and maintenance robot from the surface control station, adjusting its position, attitude, and inspection parameters to ensure the accuracy and comprehensiveness of the inspection work. Furthermore, the host computer can store and back up the inspection data and analysis results, facilitating subsequent research and comparative analysis, and providing strong data support for the long-term safety monitoring and maintenance of the bridge.

[0055] Referring to Figure 5, this embodiment further includes an attitude sensor, which is mounted on the frame 1 and connected to the lower-level computer. The attitude sensor can monitor the underwater inspection and maintenance robot's attitude information in real time, such as tilt angle and horizontal angle.

[0056] For example, when acquiring detection information, the lower-level computer receives attitude data from the attitude sensor, processes and analyzes it to obtain the robot's current attitude information. Based on this attitude information, the lower-level computer can obtain the robot's next adjustment information according to a preset program, thereby controlling the robot's power system, such as the vertical thruster 2, horizontal thruster 3, and walking mechanism, to adjust the robot's attitude to the required normal working posture. This ensures that the image detection module and sonar detection module can accurately acquire relevant data about the bridge piers, improving the efficiency and accuracy of the detection work. Simultaneously, the attitude sensor continuously provides attitude data, forming a closed-loop attitude control system that ensures the robot maintains a stable attitude throughout the entire detection process, successfully completing the bridge pier detection and maintenance tasks. Furthermore, the attitude sensor data is also transmitted to the upper-level computer's data storage unit for backup along with the detection data, providing crucial information for subsequent performance evaluation and optimization of the robot.

[0057] Furthermore, in this embodiment, a power supply (not shown in the figure) is also provided on the ground. The power supply is connected to the corresponding vertical thruster 2, horizontal thruster 3, first driver 5, second driver, lower-level machine, and other electrical components via waterproof cables (not shown in the figure) to supply power to these components. In addition, the waterproof cables and communication cables can be combined with tape or tubing to form a rope structure, enabling the robot to quickly retrieve items in case of malfunctions.

[0058] It should be noted that the electrical components or live parts in this embodiment are all sealed structures to avoid malfunctions after contact with water.

[0059] In operation, after the robot is submerged, the vertical thruster 2 can be activated via the lower-level computer to move the robot to the predetermined vertical position. Simultaneously, the horizontal thruster 3 is activated, moving the robot to the predetermined position, thus allowing the robot to reach the designated bridge pier location. Subsequently, the walking mechanism can be activated via the lower-level computer, bringing its front end into contact with the bridge pier surface. At this point, the power of the vertical thruster 2 is adjusted to maintain its vertical position stability. Under the action of the horizontal thruster 3, the robot begins to turn with the movement of the walking mechanism, its angle gradually changing from horizontal to vertical. During this process, as the angle changes, the horizontal thrust generated by the horizontal thruster 3 gradually decreases, while the horizontal thrust generated by the vertical thruster 2 gradually increases. Therefore, the power of the horizontal thruster 3 is gradually reduced until it stops completely. Simultaneously, the power of the vertical thruster 2 is increased to maintain a relatively stable horizontal thrust, thereby ensuring that the walking mechanism does not detach.

[0060] Once the walking mechanism is fully in contact with the bridge pier surface, the power of the vertical thruster 2 is kept constant to ensure the robot does not fall. Then, the second drive can be activated to operate the cleaning brush 9, cleaning the surface of the bridge pier in front. Simultaneously, the walking mechanism continues to move to the preset detection point and acquires corresponding detection information through the image detection module and sonar detection module. The image detection module and sonar detection module transmit the acquired detection information to the lower-level computer in real time. After receiving the data, the lower-level computer performs preliminary analysis and processing, and then transmits it to the upper-level computer for further processing, so as to obtain the detection data intuitively.

[0061] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A bridge underwater inspection and maintenance robot, characterized in that, include: A frame; a power assembly including a lifting and propulsion mechanism, a horizontal propulsion mechanism, and a traveling mechanism, wherein the lifting and propulsion mechanism includes multiple vertical propellers evenly spaced on the frame, all of which propel in the same direction; the horizontal propulsion mechanism includes multiple horizontal propellers evenly spaced on the frame, all of which propel in the same direction; the propulsion direction of each vertical propeller is perpendicular to the propulsion direction of the horizontal propeller; the traveling mechanism is located at the bottom of the frame, and the traveling direction of the traveling mechanism is parallel to the propulsion direction of the horizontal propellers; a cleaning assembly, located on the frame, for cleaning the bridge surface; The detection component, mounted on the frame, is used to detect the bridge; the lower-level machine, to which the vertical thruster, horizontal thruster, walking mechanism, cleaning component, and detection component are all connected.

2. The underwater inspection and maintenance robot for bridges according to claim 1, characterized in that, Both the vertical thruster and the horizontal thruster are propeller thrusters.

3. The underwater inspection and maintenance robot for bridges according to claim 1, characterized in that, The walking mechanism is a tracked walking mechanism, which is connected to a first driver, and the first driver is connected to the lower-level machine.

4. The underwater inspection and maintenance robot for bridges according to claim 1, characterized in that, The frame is equipped with a buoyancy unit.

5. The underwater inspection and maintenance robot for bridges according to claim 4, characterized in that, The buoyancy unit is located at the top of the frame, and multiple through holes are evenly spaced on the buoyancy unit. Multiple vertical thrusters are correspondingly arranged in the multiple through holes.

6. The underwater inspection and maintenance robot for bridges according to claim 1, characterized in that, The cleaning assembly includes a cleaning disc rotatably mounted on the frame, a cleaning brush mounted on the cleaning disc, and a second driver connected to the cleaning disc for driving its rotation. The second driver is connected to the lower-level machine.

7. The underwater inspection and maintenance robot for bridges according to claim 1, characterized in that, The detection component includes an image detection module and a sonar detection module, both of which are located at the bottom of the rack and are connected to the lower-level machine.

8. The underwater inspection and maintenance robot for bridges according to claim 7, characterized in that, It also includes a surface control station, which includes a host computer and is communicatively connected to the slave computer.

9. The underwater inspection and maintenance robot for bridges according to claim 1, characterized in that, It also includes an attitude sensor, which is connected to the lower-level machine.

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