A high-mobility underwater autonomous inspection robot

Abstract

This invention provides a highly maneuverable underwater autonomous inspection robot, comprising a main frame, eight serrated propellers, a crash barrier, a wave energy receiving plate, and an X-shaped support. The eight serrated propellers form the power system, enabling multi-degree-of-freedom underwater maneuvering via eight independent drive motors. LED supplementary lighting and a high-definition camera work together to improve the clarity of underwater scene acquisition. The main frame houses a sealed control unit, power module, and communication module. A waterproof cover is located on the back, and a waterproof communication cable interface is located in the upper recessed area. The wave energy receiving plate converts wave energy into electrical energy to replenish power. Temperature sensors, water quality sensors, and sonar sensors work together to collect environmental data and conduct underwater environmental inspections. This invention exhibits strong underwater maneuverability and flexibility, adapting to complex underwater environments and improving operational efficiency.

Description

Technical Field

[0001] This invention relates to the field of underwater robot technology, and in particular to a highly maneuverable underwater autonomous inspection robot. Background Technology

[0002] As a major maritime power, my country is witnessing rapid advancements in marine resource development, port and shipping, underwater engineering construction, and marine environmental protection, driven by the continuous development of its marine economy. This has led to an increasing demand and complexity for underwater inspection operations. Underwater inspection targets primarily include subsea oil and gas pipelines, submarine cables, dam structures, nuclear power plant water intakes, and marine aquaculture facilities, encompassing a wide variety of types, extensive distribution, and complex operating environments. Underwater autonomous inspection robots, as a crucial component of intelligent marine equipment, can serve as a key support for ensuring the safety of marine engineering projects and improving operational efficiency, demonstrating broad application prospects. Currently, in practical applications, most underwater inspection operations rely on traditional methods, such as manual inspection by divers and the use of mounted remotely operated underwater robots. This results in high operational risks, low efficiency, high costs, and limitations in harsh environments. Traditional underwater inspection equipment still has shortcomings in meeting the demands of underwater inspection operations, such as insufficient mobility, short endurance, high equipment costs, and complex maintenance. Therefore, it is necessary to further strengthen technological research and development and innovation, improve the mobility, intelligence level and application effect of underwater inspection equipment, and promote the efficient and intelligent development of underwater inspection operations. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a highly mobile underwater autonomous inspection robot that addresses the shortcomings of the prior art and solves the problems in the background art.

[0004] To achieve the above objectives, the present invention provides the following technical solution: a highly maneuverable underwater autonomous inspection robot, comprising a main frame and a power system, characterized in that: the power system includes eight serrated propellers, which are symmetrically distributed around the front and rear perimeter of the main frame to reduce noise and improve the overall underwater maneuverability of the robot; the serrated propellers are fixed by a front X-shaped bracket and a rear X-shaped bracket, and are supported by eight cylindrical support structures; the front of the main frame is provided with a columnar structure and a frustum-shaped protrusion structure, which are integrally formed; the frustum-shaped protrusion structure is provided with a high-definition camera and an LED supplementary light, which are fixed to the front end of the frustum-shaped protrusion structure by the front X-shaped bracket; the main frame contains a control unit, a power module, and a communication module, which are fixed in the internal cavity of the main frame by brackets; wave energy receiving plates are provided on the left and right sides of the main frame to replenish the power module inside the main frame. The main frame has anti-collision bumpers on both sides, made of elastic material to mitigate underwater impact. A recessed area is located at the top of the main frame, housing a communication cable interface. This interface is sealed to the inner wall of the recessed area via a sealing ring. One end of the communication cable interface connects to an external communication cable, and the other end connects to a communication module inside the main frame. The communication cable interface uses a waterproof connector design to ensure stable data transmission in the underwater environment. A trapezoidal protrusion is integrally formed with the rear end of the main frame. Temperature, water quality, and sonar sensors are mounted on this protrusion, embedded in its surface through a waterproof seal to collect underwater environmental temperature, water quality parameters, and topographic data. A waterproof cover is located at the back of the main frame, sealingly connected to the rear end to protect internal electronic components from water pressure and immersion.

[0005] As a further aspect of the present invention: the sawtooth propellers of the power system are all controlled by independent drive motors inside the cylindrical support structure. The independent drive motors are connected to the control unit through wiring terminals. The control unit controls the speed and direction of the independent drive motors. The blades of the sawtooth propellers adopt a sawtooth structure design to improve underwater propulsion efficiency and reduce noise.

[0006] As a further aspect of the present invention: the high-definition camera works in conjunction with the LED fill light. The high-definition camera is used to collect visual image data of the underwater environment, and the LED fill light automatically adjusts its brightness according to the underwater light intensity to provide sufficient illumination in low-light and dark underwater environments, ensuring that the images collected by the high-definition camera are clear and distinguishable.

[0007] As a further aspect of the present invention: the wave energy receiving plate is electrically connected to the power module, the wave energy receiving plate converts the mechanical energy of underwater waves into electrical energy, the swing angle of the wave energy receiving plate can be adjusted by the control unit to adapt to underwater wave environments of different intensities, the power module adopts a large-capacity lithium battery pack and a charging management circuit, the power module is charged through a communication cable, and the power status of the power module is monitored in real time by the control unit.

[0008] As a further aspect of the present invention: the control unit is electrically connected to the power system, the high-definition camera, the temperature sensor, the water quality sensor, the sonar sensor and the communication module respectively. The control unit processes and analyzes the data collected by the high-definition camera, the temperature sensor, the water quality sensor and the sonar sensor to adjust the robot's motion posture and working mode.

[0009] Compared with the prior art, the beneficial effects of the present invention are:

[0010] 1. This highly maneuverable underwater autonomous inspection robot uses serrated propellers as its power core. Eight serrated propellers are symmetrically distributed around the front and rear of the main frame, enabling low-noise cruising during underwater operation, reducing the impact of noise on underwater organisms, making data collection more accurate, and the serrated design effectively improves propulsion efficiency and anti-cavitation performance, enabling more precise steering control and stable steering, and improving the overall flexibility of the robot underwater.

[0011] 2. This highly maneuverable underwater autonomous inspection robot adopts a frustum-shaped protrusion and cylindrical support structure at the front of the main frame, optimizing the overall hydrodynamic shape and reducing underwater resistance. This allows the robot to maintain a stable posture in complex flow fields, solving the technical problems of insufficient maneuverability and susceptibility to water flow interference in complex environments for traditional underwater equipment. It significantly improves the flexibility and environmental adaptability of inspection operations. The main frame is made of lightweight aluminum alloy material, which has high strength, low density and good corrosion resistance. The waterproof cover on the back is made of high-strength, corrosion-resistant engineering plastic, and the outer surface is also equipped with anti-slip textures to facilitate installation and disassembly by operators.

[0012] 3. This highly maneuverable underwater autonomous inspection robot is equipped with wave energy receiving plates on both sides of its main frame, reducing power loss due to water temperature differences. The wave energy receiving plates convert underwater wave kinetic energy into electrical energy and store it in the built-in power module, realizing energy recovery and reuse. Compared with the traditional underwater robot that relies entirely on the power supply mode of the built-in battery, this highly maneuverable underwater autonomous inspection robot significantly extends the endurance of a single operation and reduces the dependence on external charging and battery replacement. It is particularly suitable for long-distance and large-area underwater inspection scenarios, effectively improving the continuity and economy of operation, and solving the problems of short endurance and limited operating range of traditional equipment.

[0013] 4. This highly maneuverable underwater autonomous inspection robot employs a dedicated communication cable interface, enabling direct connection between the external communication cable and the internal communication module. Compared to traditional wireless communication methods, it provides a more stable and faster data transmission channel in underwater environments with high interference and high attenuation, effectively avoiding data packet loss and latency issues, and ensuring real-time and reliable transmission of inspection information such as high-definition video and sensor data. Furthermore, this communication cable interface design simplifies equipment deployment and maintenance processes, improves the overall reliability of the system, and solves the problems of traditional underwater communication being susceptible to environmental interference and unstable data transmission. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the external structure of the present invention.

[0015] Figure 2 This is a side view of the present invention.

[0016] Figure 3 This is a rear view of the present invention.

[0017] Figure 4 This is a schematic diagram of the internal connection structure of the present invention.

[0018] Figure 5 This is a schematic diagram of a single power system structure according to the present invention.

[0019] Reference numerals: 1. Main frame; 1-1. Columnar structure; 1-2. Frustum-shaped protrusion structure; 1-3. High-definition camera; 1-4. LED fill light; 1-5. Anti-collision bumper; 1-6. Wave energy receiving plate; 1-7. Cylindrical support structure; 2. Power system; 2-1. Serrated propeller; 3. Recessed area; 3-1. Communication cable interface; 3-2. External communication cable; 4. Trapezoidal protrusion structure; 4-1. Temperature sensor; 4-2. Water quality sensor; 4-3. Sonar sensor; 5. Control unit; 6. Power module; 7. Communication module; 8. Waterproof cover; 9-1. Front X-shaped bracket; 9-2. Rear X-shaped bracket; 10. Bracket; 11. Independent drive motor; 12. Sealing ring; 13. Waterproof sealing structure; 16. Wiring port. Detailed Implementation

[0020] This section will describe in detail specific embodiments of the present invention. Preferred embodiments of the present invention are shown in the accompanying drawings. The purpose of the drawings is to supplement the textual description with graphics, so that people can intuitively and vividly understand each technical feature and the overall technical solution of the present invention, but they should not be construed as limiting the scope of protection of the present invention.

[0021] Please see Figure 1-5 This invention provides a technical solution: a highly maneuverable underwater autonomous inspection robot. The robot's overall structure is based on a main frame 1, with external power, sensing, and protection structures, and internal control, power supply, and communication components. All components are stably connected via waterproof wires and a sealed structure, enabling the robot to perform stable and flexible inspection operations in underwater environments. The main frame 1 is a one-piece molded structure with high overall rigidity and good hydrodynamic performance, capable of withstanding conventional underwater pressure and external impacts. The front of the main frame 1 features a column structure 1-1 and a frustum-shaped protrusion structure 1-2, integrally molded with a smooth transition at the front end, which helps reduce underwater navigation resistance. A high-definition camera 1-3 and an LED supplementary light 1-4 are mounted at the front of the frustum-shaped protrusion structure 1-2, secured by a front X-shaped bracket 9-1 to ensure stability under water flow impacts. This allows for simultaneous underwater illumination and image acquisition, ensuring clear visual information even in dim underwater environments.

[0022] Furthermore, the power system 2 of the highly maneuverable underwater autonomous inspection robot is set in a symmetrical distribution around the front and rear of the main frame 1. The power system 2 includes eight serrated propellers 2-1, which are independently supported by eight cylindrical support structures 1-7. The cylindrical support structure 1-7 houses an independent drive motor 11, with a wiring port 16 on its outer wall for leading out internal wiring and achieving a sealed connection to prevent water from entering and causing circuit failures. The sawtooth propeller 2-1 is fixed to the main frame 1 via a front X-shaped bracket 9-1 and a rear X-shaped bracket 9-2, ensuring structural stability and reliability. This effectively improves the robot's underwater mobility, reduces operating noise, and enhances overall operational stability. The main frame 1 contains a sealed cavity, within which a control unit 5, a power module 6, and a communication module 7 are fixedly mounted via bracket 10. The control unit 5, as the core component, is electrically connected to the power system 2, high-definition camera 1-3, temperature sensor 4-1, water quality sensor 4-2, sonar sensor 4-3, and communication module 7, enabling signal reception and drive of the execution components. Module 6 provides stable power to the whole machine, adopts a large-capacity energy storage structure, and has complete electrical protection functions, which can support the robot to operate underwater for a long time. The communication module 7 is responsible for data interaction and connects to the external interface through internal wires to realize the stable transmission of inspection information and control commands. The upper part of the main frame 1 has a recessed area 3, in which a communication cable interface 3-1 is installed. The communication cable interface 3-1 is sealed to the inner wall of the recessed area 3 through a sealing ring 12. One end of the communication cable interface 3-1 is connected to the external communication cable 3-2, and the other end is connected to the internal communication module 7. It adopts a waterproof connector structure, which can maintain stable data transmission and charging connection in the underwater environment and ensure the long-term reliability of the signal and power supply links. A trapezoidal protrusion structure 4 is set on the upper back of the main frame 1, and the trapezoidal protrusion structure 4 is integrally formed with the back of the main frame 1. Temperature sensor 4-1, water quality sensor 4-2, and sonar sensor 4-3 are embedded in the surface of the trapezoidal protrusion structure 4. All three sensors are fixedly installed through the waterproof sealing structure 13, enabling stable underwater collection of ambient temperature, water quality parameters, and terrain information, providing comprehensive data support for robot inspection operations. A waterproof cover 8 is provided on the back of the main frame 1, which is sealed to the back of the main frame 1 to protect the internal electronic components and prevent damage to the components caused by water pressure, water, and impurities, without affecting the normal operation of the external sensing and data collection components.The main frame 1 has anti-collision bumpers 1-5 on both sides. These bumpers, made of elastic material, protrude from the outside of the main frame 1 and effectively absorb impact when the robot collides underwater, protecting the main structure and internal equipment. Wave energy receiving plates 1-6 are installed on both sides of the main frame 1. These plates are connected to the power module 6 via waterproof wires, converting the energy generated by underwater wave motion into electrical energy to replenish the power module 6, thus improving the robot's overall endurance. The control unit 5 can adjust the swing angle of the wave energy receiving plates 1-6 to adapt to different water flow environments, improving energy recovery. The sawtooth propeller 2-1 is driven by a corresponding independent drive motor 11, which is connected to the control unit 5 via a wiring port 16. The sawtooth propeller 2-1 uses a sawtooth design. The toothed structure improves propulsion efficiency while effectively reducing underwater operating noise. The high-definition camera 1-3 works in conjunction with the LED supplementary light 1-4, which provides illumination according to underwater lighting conditions, enabling the high-definition camera 1-3 to still collect clear image information in low light or dark environments. During operation, the temperature sensor 4-1, water quality sensor 4-2, and sonar sensor 4-3 continuously collect underwater environmental data. The relevant data is transmitted to the control unit 5 for aggregation and transmitted externally through the communication module 7 and communication cable interface 3-1. The power module 6 provides working power to all components of the highly maneuverable underwater autonomous inspection robot. The power module 6 is a replaceable module, and the control unit 5 monitors the power status of the power module 6 in real time to ensure stable and reliable power supply, enabling the robot to complete continuous and stable inspection tasks.

[0023] Furthermore, the eight sawtooth propellers 2-1 of the power system 2 operate synchronously under the drive of the independent drive motor 11. The sawtooth structure improves propulsion efficiency while reducing water flow noise, enabling the robot to move forward, backward, turn, and lateral in the water. The cylindrical support structure 1-7, together with the front X-shaped bracket 9-1 and the rear X-shaped bracket 9-2, ensures stable propeller operation. The wiring port 16 keeps the wiring sealed to prevent water from seeping in and affecting the motor operation. The high-definition camera 1-3 and the LED supplementary light 1-4 always work together. The LED supplementary light 1-4 provides illumination according to the underwater lighting conditions, enabling the high-definition camera 1-3 to continuously collect clear underwater images, providing intuitive visual basis for inspection operations. The front X-shaped bracket 9-1 ensures that the camera and lighting components do not shift under water flow disturbance, ensuring stable image acquisition.

[0024] Furthermore, temperature sensor 4-1, water quality sensor 4-2, and sonar sensor 4-3 collect underwater environmental data in real time and transmit the signals to control unit 5. Control unit 5 integrates various data and transmits the information outward through communication module 7 and communication cable interface 3-1, enabling external devices to obtain underwater temperature, water quality, and terrain information in real time. Waterproof sealing structure 13 ensures that the sensors do not get wet or fail during long-term underwater operation. Wave energy receiving plate 1-6 converts wave mechanical energy into electrical energy and transmits it to power module 6, extending the robot's operating time. Control unit 5 adjusts the angle of wave energy receiving plate 1-6 according to the water flow intensity to keep the energy recovery efficiency at a high level. Anti-collision bumper 1-5 absorbs the impact when the robot collides, protecting the main frame 1 and internal components. Waterproof cover 8 protects internal electronic components and reduces the impact of water pressure, silt, and impurities. Communication cable interface 3-1 in the recessed area 3 cooperates with sealing ring 12 to ensure continuous reliability of data and power supply links in complex underwater environments.

[0025] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. A highly maneuverable underwater autonomous inspection robot, comprising a main frame (1) and a power system (2), characterized in that: The power system (2) includes eight sawtooth propellers (2-1), which are symmetrically distributed around the front and rear of the main frame (1) to reduce noise and improve the overall underwater maneuverability of the machine. The sawtooth propellers (2-1) are fixed by a front X-shaped bracket (9-1) and a back X-shaped bracket (9-2). The sawtooth propellers (2-1) are supported by eight cylindrical support structures (1-7). Each cylindrical support structure (1-7) is provided with a wiring port (16). An independent drive motor (11) is installed inside the cylindrical support structure (1-7). The front of the main frame (1) is provided with a column structure (1-1) and a frustum-shaped protrusion structure (1-2). The main frame (1) and the frustum-shaped protrusion (1-2) are integrally formed. The frustum-shaped protrusion (1-2) is equipped with a high-definition camera (1-3) and an LED fill light (1-4). The high-definition camera (1-3) and the LED fill light (1-4) are fixed to the front end of the frustum-shaped protrusion (1-2) by a front X-shaped bracket (9-1). The main frame (1) is equipped with a control unit (5), a power module (6) and a communication module (7). The control unit (5), the power module (6) and the communication module (7) are fixed in the internal cavity of the main frame (1) by a bracket (10). Wave energy receiving plates (1-6) are provided on the left and right sides of the main frame (1). 6) The power module (6) is connected to the waterproof wire to supplement the power of the power module (6) inside the main frame (1). The control unit (5) controls the swing angle of the wave energy receiving plate (1-6) through the waterproof wire. The two sides of the main frame (1) are respectively provided with anti-collision bumpers (1-5). The anti-collision bumpers (1-5) are made of elastic material to mitigate the impact of underwater collisions. The upper part of the main frame (1) is provided with a recessed area (3). The communication cable interface (3-1) is provided in the recessed area (3). The communication cable interface (3-1) is sealed to the inner wall of the recessed area (3) through a sealing ring (12). One end of the communication cable interface (3-1) is connected to an external communication cable. (3-2) The communication cable interface (3-1) is connected to the communication module (7) inside the main frame (1) through the other end of the internal wire. The communication cable interface (3-1) adopts a waterproof connector design to achieve stable data transmission in the underwater environment. A trapezoidal protrusion structure (4) is provided on the upper rear of the main frame (1). The trapezoidal protrusion structure (4) is integrally formed with the rear end of the main frame (1). A temperature sensor (4-1), a water quality sensor (4-2), and a sonar sensor (4-3) are provided on the trapezoidal protrusion structure (4). The temperature sensor (4-1), the water quality sensor (4-2), and the sonar sensor (4-3) are all embedded in the surface of the trapezoidal protrusion structure (4) through a waterproof sealing structure (13).Used to collect underwater environmental temperature, water quality parameters, and topographic data, the main frame (1) is equipped with a waterproof cover (8) on its back. The waterproof cover (8) is sealed to the rear end face of the main frame (1) to protect the internal electronic components from water pressure and immersion.

2. The highly maneuverable underwater autonomous inspection robot according to claim 1, characterized in that: The sawtooth propellers (2-1) of the power system (2) are all controlled by independent drive motors (11) inside the cylindrical support structure (1-7). The independent drive motors (11) are connected to the control unit (5) through the wiring port (16). The control unit (5) controls the speed and direction of the independent drive motors (11). The blades of the sawtooth propellers (2-1) adopt a sawtooth structure design to improve underwater propulsion efficiency and reduce noise.

3. The highly maneuverable underwater autonomous inspection robot according to claim 1, characterized in that: The high-definition camera (1-3) works in conjunction with the LED fill light (1-4). The high-definition camera (1-3) is used to collect visual image data of the underwater environment, and the LED fill light (1-4) automatically adjusts its brightness according to the underwater light intensity to provide sufficient illumination in low light and dark underwater environments, ensuring that the images collected by the high-definition camera (1-3) are clear and distinguishable.

4. The highly maneuverable underwater inspection robot according to claim 1, characterized in that: The wave energy receiving plate (1-6) is connected to the power module (6) via a waterproof wire. The wave energy receiving plate (1-6) converts the mechanical energy of underwater waves into electrical energy. The swing angle of the wave energy receiving plate (1-6) is adjusted by the control unit (5) to adapt to underwater wave environments of different intensities. The power module (6) uses a large-capacity lithium battery pack and a charging management circuit. The power module (6) is charged via a communication cable (3-1). The power status of the power module (6) is monitored in real time by the control unit (5).

5. The highly maneuverable underwater autonomous inspection robot according to claim 1, characterized in that: The control unit (5) is electrically connected to the power system (2), the high-definition camera (1-3), the temperature sensor (4-1), the water quality sensor (4-2), the sonar sensor (4-3), and the communication module (7). The control unit (5) processes and analyzes the data collected by the high-definition camera (1-3), the temperature sensor (4-1), the water quality sensor (4-2), and the sonar sensor (4-3) to adjust the robot's motion posture and working mode.

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