Pipeline inspection robot for seawater isobaric compressed air energy storage system

Abstract

The invention relates to the technical field of underwater robots, and particularly discloses a pipeline inspection robot for a seawater isobaric compressed air energy storage system. The tail fin is arranged at the rear end of the driving control system; the detection unit is in signal connection with the driving control system, and the detection unit is used for detecting the pipeline; the two flapping wing units are arranged on the left side and the right side of the driving control system, and each flapping wing unit comprises a side fin, a first fluid prestress composite body, a first artificial muscle body, a second fluid prestress composite body and a second artificial muscle body. According to the pipeline inspection robot for the seawater isobaric compressed air energy storage system, the side fins can rapidly jump between the two stable configurations and self-hold, the moving posture or parking can be maintained without continuous driving, the inspection energy consumption can be reduced, the robot adapts to complex water conditions, and the structural damage risk in the inspection process is reduced.

Description

Technical Field

[0001] This invention relates to the field of underwater robot technology, and in particular to a pipeline inspection robot for a seawater isobaric compressed air energy storage system. Background Technology

[0002] Underwater robots are key equipment for the development and operation of aquatic resources. Specifically, against the backdrop of large-scale renewable energy development, Underwater Compressed Air Energy Storage (UW-CAES) has become an important long-term energy storage technology for handling fluctuating power sources such as offshore wind power. This system relies on the hydrostatic pressure of the water depth to maintain the pressure of the stored gas, and energy transfer is achieved through underwater gas pipelines connecting the surface compression / heat exchange device and the subsea gas storage unit. These pipelines operate in complex marine environments characterized by high salinity, high pressure, variable flow velocity, and sediment deposition, facing risks of failure such as vibration and fatigue, adhesion and corrosion, sedimentation and blockage, and seal degradation. The cumulative effects of dynamic flow-induced loads and low-frequency disturbances can also lead to structural performance degradation. Therefore, conducting regular inspections of the UW-CAES gas pipelines is crucial for ensuring the safe and stable operation of the energy storage system.

[0003] Current underwater inspection robots, such as the manta ray-inspired submersible based on solar energy harvesting disclosed in Chinese Patent Publication No. CN117262164A, refer to paragraph

[0044] of the specification: the biomimetic pectoral fin is a flapping fin with both active and passive properties, possessing a fin-ray effect. It includes a drive module and a pectoral fin main skeleton module for performing actions. The drive module controls the pectoral fin main skeleton module to rotate around a vertical direction perpendicular to the symmetry plane of the fish-shaped main body, thereby achieving overall pitch control. The drive module also controls the pectoral fin main skeleton to flap up and down, completing the flapping or gliding posture control of the pectoral fin. The pectoral fin main skeleton module constitutes the support of the biomimetic pectoral fin. Its active motion module is controlled by the drive module to complete the action, and its passive deformation module is linked with the variable form of the active motion module to complete the deformation control of the pectoral fin posture. It is known that its flapping fin adjusts its attitude by driving the main skeleton of the pectoral fin. The adjustment or maintenance of the flapping fin's movement attitude requires continuous driving of the main skeleton of the pectoral fin. Therefore, the inspection energy consumption is high, it cannot adapt to complex water conditions, and there is a risk of structural damage during the inspection process. Summary of the Invention

[0004] The purpose of this invention is to provide a pipeline inspection robot for a seawater isobaric compressed air energy storage system. The side fins can quickly transition between two stable configurations and maintain their position. It can maintain its motion posture or stop without continuous drive, thereby reducing inspection energy consumption, adapting to complex water conditions, and reducing the risk of structural damage during the inspection process.

[0005] To achieve the above objectives, the present invention provides a pipeline inspection robot for a seawater isobaric compressed air energy storage system, comprising: Drive and control system; The tail fin is located at the rear end of the drive and control system; The detection unit is connected to the drive and control system and is used to detect the pipeline. The flapping wing unit has two components and is located on the left and right sides of the drive and control system. The flapping wing unit includes a side fin, a first fluid prestressed composite, a first artificial muscle, a second fluid prestressed composite, and a second artificial muscle. The first fluid prestressed composite is connected to the upper surface of the side fin in the front-back direction, the first artificial muscle is connected to the upper surface of the side fin in the left-right direction, the second fluid prestressed composite is connected to the lower surface of the side fin in the left-right direction, and the second artificial muscle is connected to the lower surface of the side fin in the front-back direction. The drive control system controls the bending moments generated by the first and second artificial muscle bodies to counteract the pre-strain energy stored in the first and second fluid pre-stressed composites, enabling the side fins to rapidly transition between two stable configurations. The drive control system also controls the first and second artificial muscle bodies to not generate bending moments, releasing the pre-strain energy stored in the first and second fluid pre-stressed composites, allowing the side fins to maintain a stable configuration.

[0006] In some embodiments, the drive control system includes a housing, a control unit disposed on the housing, a fluid pump, a control valve, and a fluid pipe. The fluid pump is connected to the first fluid prestressed composite, the first artificial muscle, the second fluid prestressed composite, and the second artificial muscle respectively through the fluid pipe. The control valve is installed on the fluid pipe. Both the fluid pump and the control valve are signal-connected to the control unit. The tail fin is installed at the rear end of the housing, and the detection unit is installed on the lower surface of the housing.

[0007] In some embodiments, the flapping wing unit includes a bracket fixed to the side wall of the housing. The side fin, the first fluid prestressed composite, and the second fluid prestressed composite are installed inside the bracket. The left end of the first artificial muscle is fixed to the upper surface of the bracket, the right end of the first artificial muscle is fixed to the upper surface of the side fin, the front end of the second artificial muscle is fixed to the lower surface of the bracket, and the rear end of the second artificial muscle is fixed to the lower surface of the side fin.

[0008] In some embodiments, the first fluid prestressed composite and the second artificial muscle are disposed opposite to each other on the upper and lower sides of the side fin.

[0009] In some embodiments, both the first artificial muscle body and the second artificial muscle body include a woven mesh and an elastic bladder disposed within the woven mesh. The elastic bladder is connected to the fluid pump via the fluid tube, and the fluid pump is used to drive the elastic bladder to expand and contract via fluid.

[0010] In some embodiments, both the first artificial muscle body and the second artificial muscle body include a pressure sensor disposed within the elastic capsule, and the pressure sensor is signal-connected to the control unit.

[0011] In some embodiments, the control unit includes a processor, a sampling and filtering unit connected to the processor, an actuator drive unit, a diagnostic and safety management unit, and a communication and power management unit. The sampling and filtering unit is connected to the pressure sensor, and the actuator drive unit is connected to the fluid pump and the control valve.

[0012] In some embodiments, both the first fluid prestressed composite and the second fluid prestressed composite include a fluid layer and pre-stretched elastic layers disposed on the upper and lower sides of the fluid layer. The fluid layer has fluid channels, which are connected to the fluid pump through the fluid pipe. The fluid pump is used to drive the pre-stretched elastic layer to bend and rebound by fluid.

[0013] In some embodiments, the pre-stretched elastic layer has fiber strips extending in a direction perpendicular to the stretching direction of the pre-stretched elastic layer.

[0014] In some embodiments, the drive control system further includes a power supply unit disposed in the housing, the power supply unit supplying power to the control unit, the fluid pump and the control valve.

[0015] This invention provides a pipeline inspection robot for a seawater isobaric compressed air energy storage system. Compared with existing technologies, its advantages are as follows: The tail fin is located at the rear end of the drive and control system. The detection unit is connected to the drive and control system and is used to detect the pipeline. There are two flapping fin units located on the left and right sides of the drive and control system. Each flapping fin unit includes a side fin, a first fluid prestressed composite, a first artificial muscle, a second fluid prestressed composite, and a second artificial muscle. The first fluid prestressed composite is connected to the upper surface of the side fin in the front-back direction. The first artificial muscle is connected to the upper surface of the side fin in the left-right direction. The second fluid prestressed composite is connected to the lower surface of the side fin in the left-right direction. The second artificial muscle is connected to the lower surface of the side fin in the front-back direction. The drive and control system controls the bending moment generated by the first and second artificial muscles to counteract the prestrain energy stored in the first and second fluid prestressed composites, allowing the side fin to rapidly transition between two stable configurations. Alternatively, the drive and control system controls the first and second artificial muscles to not generate bending moments, and releases the prestrain energy stored in the first and second fluid prestressed composites, allowing the side fin to maintain a stable configuration. This allows the side fins to quickly transition between two stable configurations and maintain their position, maintaining motion or stopping without continuous drive. This reduces inspection energy consumption, adapts to complex water conditions, and reduces the risk of structural damage during inspection. Attached Figure Description

[0016] Figure 1 This is a first three-dimensional structural schematic diagram of a pipeline inspection robot for a seawater isobaric compressed air energy storage system provided in some embodiments of the present invention.

[0017] Figure 2 This is a second three-dimensional structural schematic diagram of a pipeline inspection robot for a seawater isobaric compressed air energy storage system provided in some embodiments of the present invention.

[0018] Figure 3 This is an enlarged schematic diagram of the internal structure of the pipeline inspection robot for a seawater isobaric compressed air energy storage system provided in some embodiments of the present invention.

[0019] Figure 4 This is a partially enlarged structural diagram of the first fluid prestressed composite of the pipeline inspection robot for a seawater isobaric compressed air energy storage system provided in some embodiments of the present invention.

[0020] Figure 5 This is a partially enlarged structural diagram of the first artificial muscle body of the pipeline inspection robot for a seawater isobaric compressed air energy storage system provided in some embodiments of the present invention.

[0021] Figure 6 This is a schematic diagram illustrating the counter-clockwise rotation of a pipeline inspection robot for a seawater isobaric compressed air energy storage system, provided for some embodiments of the present invention.

[0022] Figure 7 This is a schematic diagram illustrating the clockwise rotation of a pipeline inspection robot for a seawater isobaric compressed air energy storage system, provided for some embodiments of the present invention.

[0023] Figure 8 This is a schematic diagram illustrating the forward movement of a pipeline inspection robot for a seawater isobaric compressed air energy storage system, as provided in some embodiments of the present invention.

[0024] Figure 9 This is a schematic diagram illustrating the backward movement of a pipeline inspection robot for a seawater isobaric compressed air energy storage system, provided in some embodiments of the present invention.

[0025] Figure 10 This is a schematic diagram showing the adjustment of the flapping wing unit of a pipeline inspection robot for a seawater isobaric compressed air energy storage system, provided for some embodiments of the present invention.

[0026] In the diagram: 1. Drive system; 11. Housing; 12. Control unit; 13. Fluid pump; 14. Control valve; 15. Fluid pipe; 16. Power supply unit; 17. Charging unit; 2. Tail fin; 3. Detection unit; 4. Flapping wing unit; 41. Side fin; 42. First fluid prestressed composite; 421. Fluid layer; 4211. Fluid cavity; 422. Pre-stretched elastic layer; 4221. Fiber strip; 43. First artificial muscle body; 431. Braided mesh; 432. Elastic capsule; 433. Pressure sensor; 44. Second fluid prestressed composite; 45. Second artificial muscle body; 46. Support. Detailed Implementation

[0027] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments.

[0028] It should be understood that in the description of this application, the terms "upper," "lower," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are used solely for the convenience of describing this application and for 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. Therefore, they should not be construed as limitations on this application. The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. That is, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. Furthermore, unless otherwise stated, "a plurality of" means two or more.

[0029] Furthermore, the technical features involved in the different embodiments of this application described below can be combined with each other as long as they do not conflict with each other.

[0030] like Figure 1 and Figure 2 As shown, the pipeline inspection robot for the seawater isobaric compressed air energy storage system provided in this embodiment of the invention includes a drive and control system 1, a tail fin 2, a detection unit 3, and a flapping wing unit 4.

[0031] The tail fin 2 is located at the rear end of the drive and control system 1. The detection unit 3 is connected to the drive and control system 1 and is used to detect the pipeline. Specifically, the detection unit 3 includes a camera and an ultrasonic sensor.

[0032] Two flapping wing units 4 are located on the left and right sides of the drive and control system 1. Each flapping wing unit 4 includes a side fin 41, a first fluid prestressed composite 42, a first artificial muscle body 43, a second fluid prestressed composite 44, and a second artificial muscle body 45. The first fluid prestressed composite 42 is connected to the upper surface of the side fin 41 in the front-back direction, the first artificial muscle body 43 is connected to the upper surface of the side fin 41 in the left-right direction, the second fluid prestressed composite 44 is connected to the lower surface of the side fin 41 in the left-right direction, and the second artificial muscle body 45 is connected to the lower surface of the side fin 41 in the front-back direction.

[0033] In this embodiment, the drive control system 1 controls the bending moment generated by the first artificial muscle body 43 and the second artificial muscle body 45 to counteract the pre-strain energy stored in the first fluid prestressed composite 42 and the second fluid prestressed composite 44, so that the side fin 41 can rapidly transition between two stable configurations; the drive control system 1 controls the first artificial muscle body 43 and the second artificial muscle body 45 to not generate bending moment, and the pre-strain energy stored in the first fluid prestressed composite 42 and the second fluid prestressed composite 44 is released, so that the side fin 41 can maintain its stable configuration.

[0034] Based on the above structural design, the side fin 41 can quickly transition between two stable configurations and maintain itself, maintaining its motion posture or stopping without continuous driving. This reduces inspection energy consumption, adapts to complex water conditions, and reduces the risk of structural damage during inspection.

[0035] like Figure 1 and Figure 3As shown, in some embodiments, the drive control system 1 includes a housing 11, a control unit 12 disposed on the housing 11, a fluid pump 13, a control valve 14, and a fluid pipe 15. The fluid pump 13 is connected to the first fluid prestressed composite 42, the first artificial muscle 43, the second fluid prestressed composite 44, and the second artificial muscle 45 respectively through the fluid pipe 15. The control valve 14 is installed on the fluid pipe 15. Both the fluid pump 13 and the control valve 14 are signal connected to the control unit 12. The tail fin 2 is installed at the rear end of the housing 11, and the detection unit 3 is installed on the lower surface of the housing 11.

[0036] In this embodiment, the housing 11 serves as the support and connection base, providing mounting interfaces and sealing support for various components. The tail fin 2 is used to balance the center of gravity and buoyancy of the housing 11 and stabilize the swimming process. It suppresses lateral disturbances through rectification, making the overall attitude control smoother. The control unit 12 establishes an electrical control connection with the fluid pump 13 and the control valve 14 (including a throttle valve, a proportional valve, and a solenoid valve), achieving precise drive through PWM signals or switching signals. The control unit 12 also establishes an indirect control relationship with the fluid channels where the first artificial muscle body 43 and the second artificial muscle body 45 are located, adjusting the fluid pressure with the help of the fluid pump 13 and the control valve 14.

[0037] For example, the output end of the fluid pump 13 is connected to the main pressure supply line of the fluid pipe 15. The main pressure supply line extends through the distribution node to the actuation chambers of each first artificial muscle body 43 and second artificial muscle body 45. The control valve 14 is arranged in each branch passage to adjust the pressure change rate of each actuation chamber by throttling, opening or bypassing.

[0038] like Figure 1 and Figure 2 As shown, in some embodiments, the flapping wing unit 4 includes a bracket 46, which is fixed to the side wall of the housing 11. The side fin 41, the first fluid prestressed composite 42, and the second fluid prestressed composite 44 are installed inside the bracket 46. The left end of the first artificial muscle body 43 is fixed to the upper surface of the bracket 46, the right end of the first artificial muscle body 43 is fixed to the upper surface of the side fin 41, the front end of the second artificial muscle body 45 is fixed to the lower surface of the bracket 46, and the rear end of the second artificial muscle body 45 is fixed to the lower surface of the side fin 41.

[0039] In this embodiment, the first fluid prestressed composite 42, the first artificial muscle body 43, the second fluid prestressed composite 44, and the second artificial muscle body 45 are fixed by means of rivet fastening, adhesive bonding, and mechanical coupling of fasteners. By applying pre-tension to the first fluid prestressed composite 42 and the second fluid prestressed composite 44, an asymmetric mechanical residual stress field is formed on the central surface of the side fin 41, thereby obtaining bistable characteristics. When the first artificial muscle body 43 and the second artificial muscle body 45 are pressurized to the steady-state transition limit pressure threshold, the side fin 41 can be triggered to rapidly transition between two stable configurations, achieving high-response-speed morphological switching.

[0040] Specifically, bistable refers to an object or system existing in two states that can be maintained stably for a long period of time, and which can switch between the two stable states under specific conditions. In this embodiment, the flapping wing unit 4 possesses bistable characteristics by means of the first fluid prestressed composite 42 and the second fluid prestressed composite 44. It can maintain a certain stable state without continuous power supply. The periodic switching between the two stable states is achieved through fluid pressure regulation. Combined with the propulsion force generated by the movement of the side fin 41 and the stability of the tail fin 2, the two work together to reduce energy consumption while ensuring high efficiency of movement.

[0041] like Figure 1 and Figure 2 As shown, in some embodiments, the first fluid prestressed composite 42 and the second artificial muscle 45 are disposed opposite each other on the upper and lower sides of the side fin 41, and the first artificial muscle 43 and the second fluid prestressed composite 44 are disposed opposite each other on the upper and lower sides of the side fin 41. Specifically, the side fin 41 is made of a highly elastic composite material, which can generate efficient propulsion and directional control forces in water. The above structural arrangement is beneficial for controlling the deformation of the side fin 41.

[0042] like Figure 5 As shown, in some embodiments, both the first artificial muscle body 43 and the second artificial muscle body 45 include a woven mesh 431 and an elastic bladder 432 disposed within the woven mesh 431. The elastic bladder 432 is connected to a fluid pump 13 via a fluid pipe 15, and the fluid pump 13 is used to drive the elastic bladder 432 to extend and retract via fluid. An actuation cavity is formed inside the elastic bladder 432.

[0043] In this embodiment, the first artificial muscle body 43 and the second artificial muscle body 45 serve as actuating components. They achieve telescopic movement through the inflow and outflow of fluid, thereby causing the side fin 41 to undergo elastic deformation and driving the side fin 41 to switch between different modes to generate power.

[0044] Specifically, after the fluid is filled into the elastic bladder 432 through the fluid pipe 15, the elastic bladder 432 first undergoes volume expansion. Under the constraint of the radial expansion of the elastic bladder 432 by the woven mesh 431, the deformation of the elastic bladder 432 is restricted and converted into an axial elongation force. This axial elongation force counteracts the bending prestress energy generated on the side fin 41 by the first fluid prestressed composite 42 and the second fluid prestressed composite 44, enabling the flapping wing unit 4 to cross the transition point of the bistable configuration and quickly transition to another stable configuration.

[0045] When the fluid is discharged, the elastic bladder 432 gradually returns to its original shape under the constraint of the woven mesh 431 and its own elasticity, achieving axial retraction and allowing the flapping fin unit 4 to return to its previous stable configuration or complete the required elastic reset. During the process of fluid filling or discharging from the elastic bladder 432, the elastic bladder 432 forms a controllable axial expansion and contraction output, thereby driving the side fin 41 to complete deformation regulation and trigger the bistable configuration. Under the periodic operation of the fluid pump 13, the fluid continuously applies pressure modulation to the elastic bladder 432 through the fluid pipe 15, realizing a threshold trigger-instantaneous transition-self-holding action cycle for the side fin 41.

[0046] like Figure 5 As shown, in some embodiments, both the first artificial muscle body 43 and the second artificial muscle body 45 include a pressure sensor 433. The pressure sensor 433 is disposed within the elastic bladder 432 and is signal-connected to the control unit 12. Thus, the pressure sensor 433 is used to monitor the pressure state within the elastic bladder 432 in real time, ensuring the consistency of bistable switching and guaranteeing the reliability and stability of the entire machine operation.

[0047] In some embodiments, the control unit 12 includes a processor, a sampling and filtering unit connected to the processor, an actuator drive unit, a diagnostic and safety management unit, and a communication and power management unit. The sampling and filtering unit is connected to a pressure sensor, and the actuator drive unit is connected to a fluid pump and a control valve.

[0048] In this embodiment, the processor is a microcontroller (such as Atmega328p, STM32 series, etc.) or an embedded processor with equivalent computing power to execute the control algorithm, including bistable switching logic, actuation sequence scheduling, and pressure closed-loop control. The sampling and filtering unit samples, low-pass filters, compensates for drift, and detects errors in the real-time pressure signals from multiple pressure sensors 433, providing stable input for the control algorithm. The actuator drive unit outputs pulse width modulation (PWM) signals or switching drive signals to the fluid pump 13 and control valve 14 to achieve precise control of pressure supply, throttling, and depressurization. The diagnostic and safety management unit performs overpressure / underpressure protection, fluid leakage detection, critical sensor fault identification, actuator failure mode switching, and emergency venting strategies to ensure the safety and stability of bistable switching and inspection operations. The communication and power management unit establishes data communication links with the host computer, remote control terminal, or underwater acoustic communication node, while also managing power distribution, power consumption, and power supply to critical components.

[0049] In the above embodiments, the control unit 12 interacts with the host computer, remote control device or underwater acoustic communication module through the communication and power management unit, including issuing control commands and transmitting pressure status and diagnostic information.

[0050] In addition, the control unit 12 adopts a closed-loop mode and makes fine adjustments to the fluid pump 13 and control valve 14 based on the feedback of the pressure sensor 433 to ensure the accuracy and repeatability of bistable switching and independent control, thereby adapting to the operational needs of different stages in pipeline inspection.

[0051] like Figure 4 As shown, in some embodiments, both the first fluid prestressed composite 42 and the second fluid prestressed composite 44 include a fluid layer 421 and pre-stretched elastic layers 422 disposed on the upper and lower sides of the fluid layer 421. The fluid layer 421 has fluid channels 4211, which are connected to a fluid pump 13 via a fluid pipe 15. The fluid pump 13 is used to drive the pre-stretched elastic layer 422 to bend and rebound via fluid. The pre-stretched elastic layer 422 refers to an elastomer matrix composite layer treated with pre-stretching / pre-straining, and the fluid layer 421 is made of a flexible material. The first fluid prestressed composite 42 and the second fluid prestressed composite 44 are arranged on the upper and lower surfaces of the side fin 41 to produce asymmetric bistable characteristics. The pre-stretched elastic layer 422 is used to limit lateral deformation and provide bending rebound, the fluid layer 421 is used to load / unload pressure to facilitate morphological adjustment of the side fin 41, and flexible connections are used to reduce switching impact and maintain structural integrity.

[0052] like Figure 4 As shown, in some embodiments, the pre-stretched elastic layer 422 has fiber strips 4221, the extension direction of which is perpendicular to the stretching direction of the pre-stretched elastic layer 422.

[0053] In this embodiment, hydraulic work is applied to the fluid cavity 4211 of the fluid layer 421 through the fluid pipe 15. Since the fiber strips 4221 in the pre-stretched elastic layer 422 constrain the lateral expansion of the fluid cavity 4211 in both the thickness and width directions, its deformation is limited and converted into an effective bending moment input along the length of the first fluid prestressed composite 42 and the second fluid prestressed composite 44. This bending moment cancels out the pre-strain energy stored in the pre-stretched elastic layer 422, causing the side fin 41 to gradually flatten out its curved shape. Thus, the flapping wing unit 4 can reshape itself under the pressure change of the fluid cavity 4211; after pressure unloading, the bistable characteristics of the flapping wing unit 4 allow it to maintain its predetermined configuration within the corresponding stable range. The shape change of the flapping wing unit 4, in conjunction with the passive stabilizing effect of the tail fin 2, can generate matching propulsion pulses under the action of external water flow, improving propulsion efficiency and motion controllability.

[0054] like Figure 2 and Figure 3 As shown, in some embodiments, the drive control system 1 further includes a power supply unit 16, which is disposed in the housing 11 and supplies power to the control unit 12, the fluid pump 13, and the control valve 14. The drive control system 1 also includes a charging unit 17 electrically connected to the power supply unit 16.

[0055] In this embodiment, the charging unit 17 is a magnetic wireless charging structure. During normal patrol, it extracts milliwatt-level trickle-feed energy from the leaked power frequency magnetic field of the submarine cable to maintain low-power loads such as standby monitoring, clock, and wake-up. When rapid recharging is required, the charging position utilizes a controllable magnetic attraction mechanism to achieve stable adsorption, thereby enhancing the magnetic coupling between the pickup coil and the submarine cable, increasing the equivalent mutual inductance, and achieving watt-level contactless docking charging and data write-back without contact with the conductor or relying on a specific single-core exposed section. The two operating modes can be seamlessly switched at the same location: in patrol mode, low damping is maintained to improve maneuverability; in docking mode, the magnetic attraction mechanism is used for positioning and the pickup coil is simultaneously tuned to the target frequency band to increase energy density and shorten recharging time.

[0056] In the above embodiment, the fluid pressure regulation process is as follows: the fluid pump 13 and control valve 14 deliver working fluid to the actuation chamber of the elastic capsule 432 of the first artificial muscle body 43 and the second artificial muscle body 45, and to the fluid channel 4211 of the fluid layer 421 of the first fluid prestressed composite 42 and the second fluid prestressed composite 44. The control unit 12 adjusts the pressure of the actuation chamber and the fluid channel 4211 according to a preset program or pressure feedback, thereby triggering the bistable transition of the flapping wing unit 4 by the axial extension and contraction of the first artificial muscle body 43 and the second artificial muscle body 45; at the same time, the first fluid prestressed composite 42 and the second fluid prestressed composite 44 generate controlled elastic bending deformation under pressure to drive the flapping wing unit 4 to flatten and fine-tune its attitude. This achieves periodic pulse propulsion and small-radius high-maneuverability operation.

[0057] Specifically, a pressure sensor 433 is used to provide real-time feedback on the pressure of the actuation chamber of the elastic bladder 432. The control unit 12 adjusts the pressure supply rhythm of the fluid pump 13 and the control valve 14 according to the feedback to achieve the switching of different operating modes.

[0058] like Figure 10 As shown, during the movement of the bistable flapping wing unit 4, the side fin 41 exhibits two mechanically stable configurations (steady state one and steady state two), corresponding to the two minimum points of the bistable energy potential well. When the first artificial muscle body 43 and the second artificial muscle body 45 expand, a bending moment is applied to the side fin 41, causing the side fin 41 structure to cross the energy potential barrier, achieving a steady-state instantaneous jump process. During this process, the end of the side fin 41 generates forward and reverse vortices, and the vortex dipole obtains explosive pulse thrust, exhibiting high sensitivity. When the control unit 12 switches to the reverse pressure regulation mode, the first artificial muscle body 43 and the second artificial muscle body 45 contract. Under the action of the residual mechanical stress of the pre-stretched elastic layer 422, deformation recovery drives the side fin 41 back to the initial steady state, achieving a rapid rebound bending action.

[0059] For ease of explanation, ΔP1, ΔP2, ΔP3, and ΔP4 are defined as the pressure differences in the actuation chambers of the elastic bladders 432 of the first artificial muscle body 43 on the left, the second artificial muscle body 45 on the left, the first artificial muscle body 43 on the right, and the second artificial muscle body 45 on the right, respectively, relative to the ambient pressure. P1 and P2 represent the pressures within the fluid channels 4211 of the fluid layers 421 of the first fluid prestressed composite 42 and the second fluid prestressed composite 44.

[0060] Start-up and switching process: The control unit 12 receives the start signal, the fluid pump 13 starts working, and the working fluid enters the actuation cavity of the elastic capsule 432 of the first artificial muscle body 43 and the second artificial muscle body 45 and the fluid channel 4211 of the fluid layer 421 of the first fluid prestressed composite 42 and the second fluid prestressed composite 44 through the fluid pipe 15. The pressure sensor 433 provides real-time feedback of each cavity ΔP1, ΔP2, ΔP3, ΔP4 to the control unit 12.

[0061] By adjusting the phase and dwell time of S0–S4, preset propulsion pulses and attitude maneuvers can be output while completing the four-state cycle.

[0062] S0: The side fin 41 of the pipeline inspection robot is in steady state one. If necessary, the attitude can be slightly corrected first. At this time, the default is ΔP1=ΔP2=ΔP3=ΔP4=0.

[0063] like Figure 6 As shown, S1: The side fin 41 of the pipeline inspection robot switches between steady state one and steady state three. At this time, the pipeline inspection robot rotates counterclockwise.

[0064] Specifically, when ΔP1>0 is applied while ΔP2=0 and ΔP3=ΔP4=0 are maintained, the first artificial muscle 43 on the left side expands and elongates, driving the left lateral fin 41 to flatten and triggering a configurational transition, causing the lateral fin 41 to jump from steady state one to steady state three. Conversely, when ΔP2>0 is applied while ΔP1=0 and ΔP3=ΔP4=0 are maintained, the second artificial muscle 45 on the left side contracts and triggers a reverse deformation, causing the left lateral fin 41 to jump from steady state three back to steady state one. Under the periodic alternating action, the left lateral fin 41 continuously jumps between the two steady states, forming an asymmetric pulse vortex ring and outputting a counterclockwise yaw torque, thereby obtaining a stable counterclockwise rotational thrust to drive the pipeline inspection robot to achieve counterclockwise rotation.

[0065] like Figure 7 As shown, S2: The side fin 41 of the pipeline inspection robot switches between steady state one and steady state four. At this time, the pipeline inspection robot rotates clockwise.

[0066] Specifically, when the side fin 41 is in steady state one, pressure ΔP3>0 is first applied to the first artificial muscle body 43 on the right side, causing it to expand and elongate. While maintaining ΔP4=0 and ΔP1=ΔP2=0, the right side fin 41 is driven to flatten and trigger a configuration transition. Then, ΔP4>0 is applied to the second artificial muscle body 45 on the right side, while maintaining ΔP3=0 for the first artificial muscle body 43 on the right side, causing the right side fin 41 to contract axially and trigger reverse deformation, thus completing the transition from steady state four back to steady state one. During this transition, a pulse vortex biased to the right is formed, outputting a clockwise yaw torque and obtaining a clockwise rotational thrust, enabling the pipeline inspection robot to achieve clockwise rotational maneuvering.

[0067] like Figure 8 As shown, S3: The side fin 41 of the pipeline inspection robot switches between steady state one and steady state two. At this time, the pipeline inspection robot moves forward.

[0068] Specifically, when the side fins 41 are in steady state one, pressures ΔP1>0 and ΔP3>0 are first applied to the first artificial muscle body 43 on the left and right sides respectively, while maintaining ΔP2=ΔP4=0. The first artificial muscle body 43 on the left and right sides expands and contracts, driving the side fins 41 on both sides to flatten and triggering a morphological transition from steady state one to steady state two. Then, pressures ΔP2>0 and ΔP4>0 are applied to the second artificial muscle body 45 on the left and right sides respectively, while maintaining ΔP1=ΔP3=0, causing the side fins 41 on both sides to undergo opposite deformations and complete the transition from steady state two back to steady state one. During this round-trip transition, the side fins 41 on both sides each form instantaneous vortices in opposite directions, ultimately forming a backward vortex dipole, generating a net burst of propulsion pointing forward, enabling the robot to achieve forward propulsion maneuvers.

[0069] like Figure 9 As shown, S4: The side fin 41 of the pipeline inspection robot switches between steady state two and intermediate state. At this time, the pipeline inspection robot moves backward.

[0070] Specifically, when the side fins 41 are in steady state two, pressures ΔP2>0 and ΔP4>0 are first applied to the second artificial muscle body 45 on the left and right sides respectively, while maintaining ΔP1=ΔP3=0. After being pressurized, the second artificial muscle body 45 and the second artificial muscle body 45 on the right side undergo axial contraction, causing the side fins 41 on both sides to deform in the flattening direction and approach the jump point from steady state two to the intermediate state. Before the jump, ΔP2 and ΔP4 are released and kept at 0. The side fins 41 on both sides quickly return to steady state two due to the mechanical residual stress of their bistable structure. This periodic deformation of flattening and rebounding forms a continuous forward-inhaling and backward-exhaling vortex chain below the side fins 41 on both sides, thereby generating a net forward explosive thrust, enabling the robot to achieve stable backward maneuvering.

[0071] It should be noted that each of the above steps is controlled by a pressure closed-loop system to rapidly push the corresponding ΔPᵢ to the trigger threshold and automatically unload to the holding region / reset to zero after the transition is completed, avoiding antagonistic pressurization. The pressure sensor 433 records each ΔPᵢ curve and attitude / limit signal in real time to update the motion template, ensuring the repeatability and energy efficiency of the cycle.

[0072] In addition, the housing 11 is provided with a sealing structure at the connection between it and each component, which ensures good sealing of the device without affecting the movement of each component.

[0073] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and substitutions can be made without departing from the technical principles of the present invention, and these improvements and substitutions should also be considered within the scope of protection of the present invention.

Claims

1. A pipeline inspection robot for a seawater isobaric compressed air energy storage system, characterized in that, include: Drive and control system; The tail fin is located at the rear end of the drive and control system; The detection unit is connected to the drive and control system and is used to detect the pipeline. The flapping wing unit has two components and is located on the left and right sides of the drive and control system. The flapping wing unit includes a side fin, a first fluid prestressed composite, a first artificial muscle, a second fluid prestressed composite, and a second artificial muscle. The first fluid prestressed composite is connected to the upper surface of the side fin in the front-back direction, the first artificial muscle is connected to the upper surface of the side fin in the left-right direction, the second fluid prestressed composite is connected to the lower surface of the side fin in the left-right direction, and the second artificial muscle is connected to the lower surface of the side fin in the front-back direction. The drive control system controls the bending moment generated by the first artificial muscle body and the second artificial muscle body to counteract the pre-strain energy stored in the first fluid prestressed composite and the second fluid prestressed composite, so that the side fin can rapidly transition between two stable configurations. The drive and control system controls the first artificial muscle body and the second artificial muscle body to prevent them from generating bending moments, and releases the pre-strain energy stored in the first fluid prestressed composite and the second fluid prestressed composite, so that the side fins maintain a stable configuration.

2. The pipeline inspection robot for the seawater isobaric compressed air energy storage system according to claim 1, characterized in that, The drive and control system includes a housing, a control unit disposed in the housing, a fluid pump, a control valve, and a fluid pipe. The fluid pump is connected to the first fluid prestressed composite, the first artificial muscle, the second fluid prestressed composite, and the second artificial muscle respectively through the fluid pipe. The control valve is installed in the fluid pipe. Both the fluid pump and the control valve are signal connected to the control unit. The tail fin is installed at the rear end of the housing, and the detection unit is installed on the lower surface of the housing.

3. The pipeline inspection robot for the seawater isobaric compressed air energy storage system according to claim 2, characterized in that, The flapping wing unit includes a bracket fixed to the side wall of the shell. The side fin, the first fluid prestressed composite, and the second fluid prestressed composite are installed inside the bracket. The left end of the first artificial muscle is fixed to the upper surface of the bracket, the right end of the first artificial muscle is fixed to the upper surface of the side fin, the front end of the second artificial muscle is fixed to the lower surface of the bracket, and the rear end of the second artificial muscle is fixed to the lower surface of the side fin.

4. The pipeline inspection robot for a seawater isobaric compressed air energy storage system according to claim 2, characterized in that, The first fluid prestressed composite and the second artificial muscle are disposed opposite to each other on the upper and lower sides of the side fin.

5. The pipeline inspection robot for a seawater isobaric compressed air energy storage system according to claim 2, characterized in that, Both the first artificial muscle body and the second artificial muscle body include a woven mesh and an elastic bladder disposed within the woven mesh. The elastic bladder is connected to the fluid pump through the fluid pipe, and the fluid pump is used to drive the elastic bladder to expand and contract by fluid.

6. The pipeline inspection robot for a seawater isobaric compressed air energy storage system according to claim 5, characterized in that, Both the first artificial muscle and the second artificial muscle include a pressure sensor, which is located within the elastic capsule and is signal-connected to the control unit.

7. The pipeline inspection robot for a seawater isobaric compressed air energy storage system according to claim 6, characterized in that, The control unit includes a processor, a sampling and filtering unit connected to the processor, an actuator drive unit, a diagnostic and safety management unit, and a communication and power management unit. The sampling and filtering unit is connected to the pressure sensor, and the actuator drive unit is connected to the fluid pump and the control valve.

8. The pipeline inspection robot for a seawater isobaric compressed air energy storage system according to claim 2, characterized in that, Both the first fluid prestressed composite and the second fluid prestressed composite include a fluid layer and pre-stretched elastic layers disposed on the upper and lower sides of the fluid layer. The fluid layer has a fluid cavity, which is connected to the fluid pump through the fluid pipe. The fluid pump is used to drive the pre-stretched elastic layer to bend and rebound through fluid.

9. The pipeline inspection robot for a seawater isobaric compressed air energy storage system according to claim 8, characterized in that, The pre-stretched elastic layer contains fiber strips, and the extension direction of the fiber strips is perpendicular to the stretching direction of the pre-stretched elastic layer.

10. The pipeline inspection robot for a seawater isobaric compressed air energy storage system according to claim 2, characterized in that, The drive and control system also includes a power supply unit, which is located in the housing and supplies power to the control unit, the fluid pump and the control valve.

Images