Ultra-long wading pipe gallery energy self-sustaining inspection robot and self-adaptive adjustment method

Abstract

The application belongs to the field of pipe gallery inspection robots, and discloses a super-long water-involved pipe gallery energy self-sustaining inspection robot and a self-adaptive adjusting method. The super-long water-involved pipe gallery energy self-sustaining inspection robot comprises a cabin body, a water flow power generation module, an energy storage module, a plurality of motion variable diameter modules, a plurality of power walking devices, a motion control module and an inspection module. The water flow power generation module comprises a water flow energy capturing device and a generator. The motion variable diameter module has multiple groups. Each group of motion variable diameter modules comprises a waterproof motor, a lead screw mechanism, a transmission rod and a rocker. Each power walking device is installed at one end of the rocker away from the cabin body and connected with the energy storage module, so as to move on the inner wall of the pipe gallery. The self-adaptive adjusting method comprises the following steps: 1) pipe gallery diameter self-adaptive adjustment; 2) pipe gallery water level self-adaptive adjustment. The application can realize water flow self-energy supply in the super-long distance inspection operation of the water-involved pipe gallery, and significantly improves the endurance capability in the super-long distance inspection operation of the water-involved pipe gallery.

Description

Technical Field

[0001] This invention belongs to the field of utility tunnel inspection robots, and more specifically, relates to an energy-self-sustaining inspection robot for ultra-long water-crossing utility tunnels and an adaptive adjustment method. Background Technology

[0002] Utility tunnels are long, narrow spaces used for passage, connection, and transition, playing a crucial role in municipal infrastructure and large-scale civil engineering projects. As a compact, elongated space, utility tunnels are used to centrally lay various pipelines and equipment such as electricity, communications, water supply, and gas. Regular inspections are essential to ensure their safe and stable operation. This is especially true for water-borne utility tunnels that are partially or completely submerged, where the internal environment is complex, visibility is poor, and inspections are extremely difficult.

[0003] Currently, the inspection of ultra-long underwater utility tunnels generally employs traditional underwater robots or unmanned surface vessels. While existing technologies are effective for short-distance inspections, they suffer from several insurmountable technical drawbacks when applied to ultra-long-distance (typically hundreds of meters to several kilometers) inspections: Most existing utility tunnel inspection robots are powered by built-in batteries, resulting in limited endurance that cannot meet the demands of long-distance, uninterrupted inspection tasks. While increasing battery capacity can extend endurance, this significantly increases the robot's weight and inertia, increasing energy consumption and complicating motion control. Wired power supply, although avoiding increased robot weight, poses a significant risk in ultra-long and structurally complex utility tunnels, where long cables are prone to entanglement, scraping, or jamming with pipes, supports, and other obstacles. This severely restricts the robot's freedom of movement and carries the risk of cable breakage or robot loss of control. Summary of the Invention

[0004] To address the aforementioned deficiencies or improvement needs of existing technologies, this invention provides an energy-self-sustaining inspection robot for ultra-long water-crossing pipeline corridors and an adaptive adjustment method. This enables self-powered operation using water flow during ultra-long-distance inspections of water-crossing pipeline corridors, significantly improving the robot's endurance in such operations. Furthermore, relying on the efficient power supply of water flow allows the robot to be equipped with inspection modules that offer higher power, greater precision, and more comprehensive inspection capabilities, thus enhancing the data accuracy of inspection operations. Additionally, based on multiple independent motion-adjustable diameter modules, the robot's cabin position can be adjusted to adapt to different water levels, thereby achieving sustained, efficient, and accurate detection of ultra-long water-crossing pipeline corridors.

[0005] To achieve the above objectives, according to one aspect of the present invention, an energy-self-sustaining inspection robot for ultra-long water-crossing pipe corridors is provided, comprising a cabin, a water flow power generation module, an energy storage module, multiple sets of motion diameter-changing modules, multiple power walking devices, a motion control module, and an inspection module, wherein: The water flow power generation module is installed on the cabin and includes a water flow energy capture device and a generator. The water flow energy capture device is located outside the cabin, and the generator and energy storage module are both located in a sealed cavity inside the cabin. The generator is connected to the energy storage module and the water flow energy capture device respectively. Each set of motion-adjustable modules includes a waterproof motor, a lead screw mechanism, a transmission rod, and a rocker arm. The waterproof motor and the lead screw mechanism are respectively located inside the cabin. The waterproof motor is connected to the energy storage module. The lead screw mechanism includes a lead screw and a transmission nut mounted on the lead screw. The transmission nut is hinged to one end of the transmission rod via a first hinge pin. The other end of the transmission rod is hinged to the rocker arm via a second hinge pin. The rocker arm is hinged to the cabin via a third hinge pin. The first, second, and third hinge pins are parallel to each other and are arranged in a triangle. Each of the aforementioned powered walking devices is mounted on the end of the rocker arm away from the cabin and connected to the energy storage module for movement on the inner wall of the tube gallery; The inspection module is installed on the cabin for inspecting the pipe gallery; The motion control module is electrically connected to each of the waterproof motors and each of the powered walking devices to adjust the angle of the rocker arm and the motion parameters of the powered walking devices.

[0006] Preferably, each of the rocker arms is a telescopic rod and includes multiple rod sections that are sleeved together; For any two adjacent rod sections, the rod section with the smaller diameter extends into the rod section with the larger diameter. The rod section with the larger diameter has a compression spring that applies elastic force to the end of the rod section with the smaller diameter.

[0007] Preferably, the power walking device is a tracked vehicle with a power drive device, and the tracked vehicle is hinged to the rocker arm through a fourth hinge axis, which is parallel to the third hinge axis; Alternatively, the powered walking device may include a power drive unit and walking wheels driven to rotate by the power drive unit.

[0008] Preferably, the inspection module includes a visible light sensor, a three-dimensional laser scanner, an X-ray detector, and an ultrasonic detector.

[0009] Preferably, the outer side of the water flow energy capture device is provided with a grid-shaped protective cover to block debris in the water-crossing pipe gallery.

[0010] Preferably, the water-facing end of the cabin is streamlined, and the different functional compartments inside the cabin are provided with partitions to achieve sealing and isolation between the compartments and prevent water ingress.

[0011] Preferably, the motion control module is configured to send synchronization signals or differential signals to multiple sets of the motion diameter-changing modules: When sending a synchronization signal, multiple waterproof motors drive multiple rockers to rotate synchronously, changing the size of the envelope diameter formed by the power walking device at the tail end of multiple sets of motion diameter-changing modules, thereby realizing the diameter change of pipe corridors with different inner diameters and improving the adaptability to pipe corridors with different inner diameters. When sending differential signals, the attitude of each corresponding rocker arm is independently adjusted by each waterproof motor to adjust the height and attitude of the cabin in the pipe gallery section, thereby adapting to water level changes and conducting targeted inspections of anomalies in designated areas within the pipe gallery.

[0012] Preferably, the motion control strategy of the motion control module is as follows: 1) Real-time acquisition of the operating status of the hydroelectric power generation module, the water flow conditions in the pipeline corridor, and the operating parameters of the energy-self-sustaining inspection robot for ultra-long water-crossing pipeline corridors. Among these, the operating status of the hydroelectric power generation module includes the instantaneous power generation of the generator. P The water flow conditions in the utility tunnel include the current flow velocity of the water within the tunnel. v flow The operating parameters of the energy-self-sustaining inspection robot for ultra-long water-crossing utility tunnels, including the direction of water flow within the tunnel, include the robot's current inspection speed. v robot and target inspection speed v t ; 2) Calculate the additional power generation resistance generated when the hydroelectric power generation module generates electricity. F turbine : Set the inspection robot's direction of travel as positive. When an energy-powered self-sustaining inspection robot for ultra-long water-crossing pipelines travels against the current, or travels with the current flow rate... v flow Greater than the current inspection speed v robot And the absolute value of the speed difference between the two At that time, the water flow does positive work on the water flow energy capture device, and the generator of the ultra-long wading pipeline self-sustaining inspection robot is in an effective power generation state, with additional power generation resistance. F turbine The calculation formula is:

[0013] in, η The overall efficiency coefficient of the hydroelectric power generation module; δ The preset relative velocity dead zone threshold is used to prevent division-by-zero singularities. The water flow within the utility tunnel is relatively long, and the energy-sustaining inspection robot is designed for use with the downstream flow. v flow When the value is positive, the water flow in the utility tunnel is relatively long and the energy self-sufficient inspection robot is operating against the current. v flow The value of is negative; When the energy-sustaining inspection robot of the ultra-long water-crossing pipeline corridor is traveling downstream at the current inspection speed v robot Greater than or equal to the current flow velocity of the water v flow ,or At this time, the ultra-long water-crossing pipeline corridor energy-self-sustaining inspection robot is in a state of actively towing the water flow energy capture device or in a critical stress state. At this time, the motion control module controls the generator to enter the idling state and sets the power generation P=0, then the additional power generation resistance... F turbine =0; Calculate the energy-sustaining inspection robot for ultra-long water-filled utility tunnels at the target inspection speed. v t During navigation, the expected hydrodynamic force of water flow acting on the hull F dynamic : ; Calculate the compensation force for water flow disturbance F flow , F flow The theoretical thrust required by the propulsion system to maintain the target cruising speed due to external water flow interference is represented as follows: F flow = - F base - F dynamic ; in, ρ The density of the water flow within the pipe gallery; C d The drag coefficient of the hull section; A The cross-sectional area of ​​the water-facing side of the hull; v t Target inspection speed; F base This refers to the basic cruising thrust of the energy-self-sustaining inspection robot for ultra-long water-crossing pipeline corridors, which is also the minimum theoretical thrust required for the robot to maintain the target inspection speed. Furthermore: ; 3) Based on the PID control strategy, utilizing the additional power generation resistance... F turbine and water flow interference compensation force F flow The power output is dynamically gained and adjusted as a feedforward, and combined with speed error feedback, the target inspection speed is calculated and maintained. v t Total target thrust required F t : ; in, e(t) To address the real-time speed error of the energy-powered self-sustaining inspection robot for ultra-long water-covered utility tunnels, and e(t) = v t - v robot , K p 、K i 、K d These are the proportional, integral, and derivative gain coefficients of the PID controller, respectively. α and β These are the power generation resistance compensation coefficient of the hydroelectric power generation module and the water flow compensation coefficient within the pipe gallery, respectively. 4) The total target thrust F t The commands are converted into speed control commands for each power-driven walking device and sent to each power-driven walking device in real time.

[0014] Preferably, the operating parameters of the energy-self-sustaining inspection robot for ultra-long water-crossing pipelines also include the robot's attitude angles. The motion control strategy further includes an attitude closed-loop correction step: the motion control module calculates in real time the deviation between the current attitude angle and the preset attitude of the ultra-long water-crossing pipeline corridor energy-self-sustaining inspection robot, and generates a differential compensation command based on the deviation. This differential compensation command is then sent to the speed control commands of each waterproof motor and the power walking device to ensure the execution of the total target thrust. F t At the same time, it enables dynamic correction of the heading and attitude of the cabin during the journey.

[0015] According to another aspect of the present invention, an adaptive adjustment method for the energy-self-sustaining inspection robot for ultra-long water-crossing pipe corridors is also provided, comprising the following steps: 1) Adaptive adjustment of pipe rack diameter: The motion control module sends a synchronous control signal to drive the waterproof motor. The waterproof motor runs and drives the transmission rod to swing, so as to synchronously drive multiple sets of rockers outside the cabin to change the angle relative to the pipe rack, thereby uniformly increasing or decreasing the envelope diameter formed by all power walking devices to adapt to pipe racks of different sizes or irregular shapes. 2) Adaptive adjustment of water level in the utility tunnel: The motion control module sends differential control signals to drive each waterproof motor. The waterproof motors independently adjust each rocker arm via the transmission rod. By changing the angle of the rocker arm relative to the utility tunnel, the position and posture of the cabin in the utility tunnel can be adjusted, so that the energy self-sufficient inspection robot of the ultra-long water-crossing utility tunnel can actively adapt to the water level changes in the utility tunnel.

[0016] In summary, the technical solutions proposed in this invention, compared with the prior art, can achieve the following beneficial effects: 1) The ultra-long wading pipeline corridor energy-self-sustaining inspection robot of this invention features a water flow energy harvesting device located outside the cabin in its water flow power generation module, allowing it to directly contact the dynamic water flow within the pipeline corridor. By capturing the kinetic energy of the water flow and converting it into rotational mechanical energy of the water flow energy harvesting device, it further converts this energy into electrical energy via a generator connected to the device. This energy harvesting method utilizes the natural water flow environment of the wading pipeline corridor, achieving a direct conversion from environmental energy to operational energy. Because the generator is connected to an energy storage module, the system can store the generated electrical energy, thereby providing a continuous and stable energy supply to the motion control module, waterproof motor, power walking device, and inspection module. The energy storage module, acting as an energy transfer station, can alleviate the problem of unstable power generation caused by fluctuations in the natural water flow velocity. When the energy-powered self-sufficient inspection robot in ultra-long water-crossing pipeline corridors needs to perform high-intensity power output (such as climbing slopes or overcoming strong backflow), the energy storage module can work in conjunction with the generator set to ensure the instantaneous overload capacity of the power walking device; during the low-power cruise phase, excess energy is recycled back to the energy storage module, maintaining the stability of the overall energy flow and supporting the robot to perform tasks in ultra-long pipeline corridors without the need for external cables or frequent manual power replenishment.

[0017] Furthermore, the efficient self-powered power generation module of the water flow allows the equipment to carry more types of inspection equipment with higher frequency and higher precision, thus improving the accuracy of inspection operations. On the other hand, based on the self-powered power of water flow, it solves the problem of endurance in ultra-long-distance inspection operations using traditional energy supply methods (such as adding batteries), avoids the problems of increased robot weight and structural size caused by adding batteries, and avoids additional inspection energy loss and the problem of mismatch between pipe gallery size caused by excessive size.

[0018] 2) The ultra-long water-filled pipe gallery energy-self-sustaining inspection robot of the present invention features a multi-group configuration of motion diameter-changing modules, enabling the robot to adjust its envelope diameter in real time according to changes in the inner diameter of the pipe gallery. Furthermore, based on differential adjustment of the motion diameter-changing modules, the position and attitude of the cabin within the pipe gallery can be adjusted in real time, achieving self-adaptation to different water levels and providing a more stable operating platform for the inspection equipment, thereby improving the stability and accuracy of the inspection operation.

[0019] 3) The energy-powered self-sustaining inspection robot for ultra-long water-filled pipe corridors of this invention features a high reduction ratio and large thrust in the cooperation of the waterproof motor and lead screw mechanism in each set of motion diameter-changing modules. The lead screw mechanism includes a lead screw and a transmission nut, and this transmission method has extremely high self-locking and positioning accuracy. When the transmission nut drives the transmission rod to swing through the first hinge shaft, it can generate a huge radial expansion force with a small motor torque, thereby ensuring that the power walking device can be tightly pressed against the inner wall of the pipe corridor and generate sufficient friction.

[0020] 4) The ultra-long wading pipeline corridor energy-self-sustaining inspection robot of this invention features a first hinge shaft, a second hinge shaft, and a third hinge shaft that are parallel to each other and arranged in a triangular pattern. This geometric layout constitutes a stable transmission chain in mechanical terms. One end of the transmission rod is hinged to a transmission nut via the first hinge shaft, and the other end is hinged to a rocker arm via the second hinge shaft. The rocker arm is in turn hinged to the cabin via the third hinge shaft. This design can effectively decompose the reaction force from the inner wall of the pipeline corridor during diameter changes, avoiding transmission rod bending or lead screw jamming caused by uneven force distribution. The triangular distribution ensures that the rocker arm has good structural rigidity at different opening angles, enabling the powered walking device to maintain posture rigidity when dealing with uneven pipeline corridor walls or silt resistance, reducing the impact of vibration on the data acquisition of the inspection module.

[0021] 5) The ultra-long water-crossing pipeline corridor energy-powered self-sustaining inspection robot of this invention has a power-driven walking device installed at the end of a rocker arm away from the cabin. Supported by the rocker arm, the driving force is directly applied to the inner wall of the pipeline corridor. Because the device is connected to the energy storage module, it has independent driving capability and can achieve controlled movement. This distributed driving method improves the robot's traction performance under complex wall conditions. The motion control module electrically connects the waterproof motor and the power-driven walking device, enabling synchronous adjustment of the robot's geometric and dynamic parameters. Through the coordinated control of each group of waterproof motors, the angle of the rocker arm can be adjusted to achieve dynamic centering of the cabin on the central axis of the pipeline corridor; by adjusting the motion parameters (such as speed and torque) of the power-driven walking device, uniform speed inspection of the robot is achieved in variable flow environments. This dual adjustment of "mechanical variable diameter + power drive" greatly enhances the robot's ability to traverse irregular cross-section pipeline corridors and its trajectory control accuracy. Attached Figure Description

[0022] Figure 1This is a perspective view of the present invention; Figure 2 This is the front view of the present invention; Figure 3 This is a side view of the present invention; Figure 4 This is a top view of the present invention; Figure 5 This is an internal installation diagram of the cabin of the present invention.

[0023] In all the accompanying drawings, the same reference numerals denote the same technical features, specifically: 3. Power walking device; 4. Motion control module; 5. Inspection module; 6. Cabin; 101. Water flow energy harvesting device; 102. Generator; 103. Protective cover; 104. Energy storage module; 201. Waterproof motor; 202. Lead screw; 203. Rocker arm; 204. Transmission rod; 205. Transmission nut. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0025] Reference Figures 1-5 The ultra-long water-crossing pipeline corridor energy-self-sustaining inspection robot includes a cabin 6, a water flow power generation module, an energy storage module 104, multiple sets of motion diameter-changing modules, multiple power walking devices 3, a motion control module 4, and an inspection module 5.

[0026] The water flow power generation module is installed on the cabin 6 and includes a water flow energy capture device 101 and a generator 102. The water flow energy capture device 101 is located outside the cabin 6, while the generator 102 and the energy storage module 104 are both located in a sealed cavity inside the cabin 6. The generator 102 is connected to the energy storage module 104 and the water flow energy capture device 101 respectively. The water flow energy capture device 101 can adopt a structure such as a water turbine or an oscillating hydrofoil.

[0027] Each set of motion diameter-changing modules is independently arranged. Each set of motion diameter-changing modules includes a waterproof motor 201, a lead screw mechanism, a transmission rod 204, and a rocker arm 203. The waterproof motor 201 and the lead screw mechanism are respectively located inside the cabin 6. The waterproof motor 201 is connected to the energy storage module 104. The lead screw mechanism includes a lead screw 202 and a transmission nut 205 mounted on the lead screw 202. The transmission nut 205 is hinged to one end of the transmission rod 204 through a first hinge pin. The other end of the transmission rod 204 is hinged to the rocker arm 203 through a second hinge pin. The rocker arm 203 is hinged to the cabin 6 through a third hinge pin. The first hinge pin, the second hinge pin, and the third hinge pin are parallel to each other and are triangularly distributed (the first hinge pin, the second hinge pin, and the third hinge pin are not shown in the figure).

[0028] The chamber 6 needs to avoid interfering with the swinging of the transmission rod 204 and the rocker arm 203. This can be achieved by providing clearance holes on the chamber 6, and then installing flexible seals at these holes to prevent water from entering. The flexible seals can be waterproof sleeves or bellows. A waterproof sleeve can be installed at the clearance hole and fixed to the rocker arm 203 (similar to a dust cover on a car's gear shift lever); alternatively, a bellows can be fitted onto the rocker arm 203, with one end sealed to the rocker arm 203 and the other end fixed to the edge of the clearance hole. The bellows also provides the same sealing effect as the waterproof sleeve, and neither method affects the normal swinging of the rocker arm.

[0029] Alternatively, if no clearance holes are provided on the cabin, the cabin 6 is made of non-magnetic material, with an inner magnetic component fixedly installed on the transmission nut. A guide rail is installed on the cabin 6, with its length direction aligned with that of the lead screw. An outer magnetic component is slidably installed on the guide rail. Both the inner and outer magnetic components contain multiple permanent magnets, and these permanent magnets are arranged in a Harbach array. The strong magnetic side of the Harbach array in the inner magnetic component faces the inner wall of the non-magnetic shell, while the strong magnetic side of the Harbach array in the outer magnetic component faces the outer wall of the non-magnetic shell. Through this arrangement, the inner and outer magnetic components achieve mutual coupling and convergence of magnetic field energy through the non-magnetic shell, thereby enhancing the radial magnetic attraction and axial pushing and pulling forces between them.

[0030] Preferably, there are three or more moving diameter change modules. The moving diameter change modules can be designed as four groups in a cross shape or as no less than five groups in a star shape, depending on different requirements.

[0031] Each of the powered walking devices 3 is mounted on the end of the rocker arm 203 away from the cabin 6 and connected to the energy storage module 104 for movement on the inner wall of the tube rack. Each powered walking device 3 has a drive motor and a walking component driven by the drive motor, which drives the walking component to move on the inner wall of the tube rack by rotating the drive motor.

[0032] The inspection module 5 is installed on the cabin 6 for inspecting the pipe gallery. The inspection module 5 can be equipped with its own DC power supply or can be electrically connected to the energy storage module 104.

[0033] The motion control module 4 is electrically connected to each of the waterproof motors 201 and each of the powered walking devices 3 to adjust the angle of the rocker arm 203 and the motion parameters of the powered walking devices 3. The motion parameters of the powered walking devices 3 include the rotational speed, angular acceleration, and output torque of each drive motor, and can also allow for a speed difference between multiple sets of powered walking devices, i.e., asymmetrical speed, to generate a corrective torque.

[0034] The cabin 6 serves as the load-bearing structure of the entire robot, providing structural support and an environmental barrier for the internal precision components. Both the generator 102 and the energy storage module 104 are located within a sealed cavity inside the cabin 6, a design that effectively isolates the electrical core from the external water-related environment. Through the volume design and pressure balance of the sealed cavity, stable operation of the internal electronic components is ensured within a specific temperature and humidity range. Simultaneously, the streamlined shape of the cabin 6 guides the flow field distribution, and, in conjunction with the installation position of the inspection module 5, allows the robot to maintain low water flow resistance during movement.

[0035] The inspection module 5 is mounted on the cabin 6, benefiting from the three-dimensional support system constructed by the aforementioned motion-diameter-changing module and the power walking device 3. Because the robot is in a state of multi-point pressure against the inner wall, its motion changes from a floating state affected by water flow disturbances to a mechanically constrained track-like state. This significantly improves the working environment of the inspection module 5, greatly reducing the roll, pitch, and heave of the cabin 6 caused by water flow disturbances, and providing a stable measurement platform for visible light imaging, laser scanning, or acoustic detection.

[0036] Based on the endurance provided by energy self-sufficiency, the inspection module 5 can perform long-cycle, high-frequency inspection tasks, realize continuous data collection throughout the entire pipeline corridor, and ensure the inspection accuracy of minor defects (such as cracks and leaks) on the inner wall of the pipeline corridor.

[0037] This invention enables an adaptive mobile inspection of an ultra-long water-crossing pipeline corridor energy-self-sustaining inspection robot with environmental awareness by combining hydropower generation, precision mechanical diameter change, distributed power walking, and intelligent motion control.

[0038] By employing a triangular hinge layout and lead screw 202 transmission, the problem of adapting to the variable cross-section of the pipeline in a water-filled environment is solved, ensuring the mechanical reliability of the mechanism. The layout of an external water flow energy harvesting device 101 and an internal generator 102 enables self-powered inspection operations over ultra-long distances in water-filled pipelines. The motion control module 4 provides efficient and intelligent control of the diameter-changing mechanism and the walking device, enabling the robot to intelligently optimize operating parameters based on dynamic changes in water level, flow velocity, and pipe diameter within the pipeline. This provides a platform for the inspection module 5 to perceive anomalies in the pipeline under complex water-filled environments, and provides a reliable technical means for long-term safe operation monitoring of water-filled pipelines. This invention proposes an intelligent, ultra-long water-filled pipeline energy-self-sustaining inspection robot capable of self-powering inspection operations in complex environments, maintaining high stability and adaptability.

[0039] Furthermore, each of the rocker arms 203 is a telescopic rod and includes multiple rod sections that are sleeved together; For any two adjacent rod sections, the rod section with the smaller diameter extends into the rod section with the larger diameter. The rod section with the larger diameter has a compression spring that applies elastic force to the end of the rod section with the smaller diameter.

[0040] The power walking device 3 is installed at one end of the rocker arm 203, close to the inner wall of the pipe gallery. When the angle of the rocker arm 203 changes, the length of the rocker arm 203 will also change accordingly.

[0041] The rocker arm 203 employs a telescopic rod structure, granting the powered walking device 3 radial freedom of extension and retraction. When the robot traverses water-filled pipe corridors with irregular cross-sections or deposits or attachments on the inner walls, the continuous elastic force provided by the compression spring allows the smaller diameter rod section to reciprocate axially relative to the larger diameter rod section. This structure enables the powered walking device 3 to conform to the minute undulations of the pipe corridor's inner wall in real time, achieving dynamic compensation for changes in the pipe corridor's inner diameter. Due to the elastic force, the normal pressure between the powered walking device 3 and the pipe corridor's inner wall can be maintained within a preset stable range, thereby improving the robot's traversal performance in complex wall environments.

[0042] The multi-link joint design improves the storage and expansion ratio of the rocker arm 203 within a limited space. During the adjustment of the three sets of motion diameter-changing modules by the motion control module 4, the telescopic rod structure provides additional displacement redundancy, which can alleviate the hard mechanical interference caused by the lead screw mechanism driven by the waterproof motor 201, enabling the robot to maintain a relatively stable trajectory under different water levels and flow rates.

[0043] Furthermore, the power walking device 3 is a tracked vehicle with a power drive device. The tracked vehicle is hinged to the rocker arm 203 through a fourth hinge axis, which is parallel to the third hinge axis. Alternatively, the powered walking device 3 may include a power drive device and walking wheels driven to rotate by the power drive device.

[0044] When the powered walking device 3 uses a tracked vehicle with a power drive, the large contact area between the track structure and the inner wall of the pipe gallery effectively reduces the ground pressure per unit area. In water-covered environments where the inner wall of the pipe gallery is often slippery, covered in silt, or has attached organisms, the larger contact area generates stronger static friction and adhesion, ensuring that the torque output by the power drive device can be converted into effective traction to propel the ultra-long water-covered pipe gallery energy-powered self-sustaining inspection robot. Furthermore, the three sets of tracked vehicles installed on the end of the rocker arm 203 furthest from the cabin 6 form a stable multi-point support system in space, providing structural support for the entire device's movement and inspection process inside the pipe gallery, ensuring the overall stability of the ultra-long water-covered pipe gallery energy-powered self-sustaining inspection robot.

[0045] The tracked structure of the tracked vehicle provides excellent ability to traverse gaps and protrusions, enabling the energy-sustaining inspection robot of ultra-long underwater utility tunnels to maintain a continuous trajectory when facing small foreign objects, construction joints, or uneven walls within the tunnel. Through continuous power output from the drive unit, the tracks smoothly conform to these irregular surfaces, preventing the robot from experiencing severe bumps or jamming due to localized obstacles. This provides a stable operating environment for the inspection module 5 mounted at the front of the cabin 6, and helps improve the data acquisition quality of the visible light sensor and 3D laser scanner.

[0046] When the powered walking device 3 adopts a structure including a power drive device and walking wheels, its mechanical structure is more streamlined and its mechanical transmission efficiency is higher. In the pipe gallery environment with relatively flat inner walls and fewer attachments, the walking wheels can achieve a higher inspection speed with lower rolling friction, thereby reducing the energy consumption obtained from the energy storage module 104.

[0047] Regardless of the structural form, the powered walking device 3 is uniformly controlled by the motion control module 4 through the power drive device and is electrically connected to the energy storage module 104. This independent power configuration allows the motion control module 4 to issue speed or torque control commands to the three sets of powered walking devices 3 respectively. When executing the motion control strategy, by adjusting the speed deviation of each set of power drive devices (differential compensation), dynamic correction can be achieved for the roll and heading deviations of the ultra-long water-crossing pipeline self-sustaining inspection robot in complex water environments, ensuring that the robot maintains the predetermined inspection speed and stable navigation attitude even when disturbed by water flow.

[0048] As the end mechanism of the ultra-long water-crossing pipeline corridor energy-self-sustaining inspection robot, the powered walking device 3 directly interacts with the external environment. Its reliable connection with the end of the rocker arm 203 ensures the direct transmission of driving force. During long-term water-crossing inspection tasks, the powered walking device 3 can withstand the dynamic force of water flow and the reaction force of the inner wall, maintain the structural integrity of the system, and support the robot to complete ultra-long-distance energy-self-sustaining water-crossing pipeline corridor inspection operations.

[0049] Furthermore, the inspection module 5 includes a visible light sensor, a three-dimensional laser scanner, an X-ray detector, and an ultrasonic detector, and the types of sensors in the inspection module 5 can be increased or decreased according to the actual working environment.

[0050] The visible light sensor, as the basic sensing unit of inspection module 5, can acquire high-resolution color image data of the internal surface of the utility tunnel. During inspection operations, this sensor provides an intuitive visual reference for identifying visible cracks, leaks, deposits, and corrosion on the structural surface of the utility tunnel's inner wall.

[0051] By integrating a 3D laser scanner, the inspection module 5 is capable of acquiring high-precision spatial geometric information of the utility tunnel. During inspection operations, the scanner emits a laser beam and receives reflected signals to generate a 3D point cloud model of the inner wall of the utility tunnel, thereby accurately measuring the structural deformation, cross-sectional dimension changes, and the thickness and distribution patterns of silt deposits.

[0052] The introduction of X-ray inspection equipment enhances the internal defect identification capabilities of the inspection module 5, extending its detection capabilities from the surface to the interior of the structure. During inspection, the X-ray inspection equipment utilizes the penetrating properties of X-rays to see through the deep structure of the pipe gallery walls or internal pipelines, effectively identifying internal voids, steel reinforcement corrosion and fractures, and hidden structural defects, thus improving the early warning capability for hidden defects.

[0053] Ultrasonic testing instruments primarily utilize the propagation characteristics of sound waves in different media to detect the degree of wall thinning in pipe racks, the internal density of materials, and the extent of concrete spalling. In water-related environments, ultrasonic testing instruments can penetrate water to effectively identify structural anomalies below the water surface, complementing the other sensors mentioned above.

[0054] The inspection module 5 integrates a visible light sensor, a 3D laser scanner, an X-ray detector, and an ultrasonic detector, forming a multi-source scanning imaging system covering surface vision, spatial geometry, internal structure, and material properties. This allows the energy-self-sustaining inspection robot for ultra-long water-filled utility tunnels to comprehensively and accurately identify and assess various complex anomalies such as structural deformation, cracks, leaks, and deposits.

[0055] Because the working principles of different sensors are complementary, the inspection module 5 can use multi-source data for cross-verification. For example, structural deformations detected by a 3D laser scanner can be correlated with internal defects obtained by an X-ray detector, thereby significantly reducing the risk of missed detections or misjudgments that may occur with a single sensor, and significantly improving the data accuracy and reliability of the inspection results.

[0056] Furthermore, the outer side of the water flow energy capture device 101 is covered with a grid-shaped protective cover 103 to block debris in the pipe gallery, so as to prevent debris from entangled or jamming the water flow energy capture device 101.

[0057] In the complex aquatic environment of water-related pipe corridors, water flow often carries debris such as plastic film, fibrous fabric, branches, or other solid floating objects. The grid-shaped protective cover 103, through its specific gap design, constructs a mechanical barrier around the water flow energy capture device 101. When water flows through, the protective cover 103 can prevent debris larger than the grid gaps from entering the rotating area of ​​the water flow energy capture device 101. This design effectively reduces the probability of debris directly contacting the blades of the water flow energy capture device 101, thereby preventing mechanical failures caused by debris entanglement in the shaft or jamming of the blades, and ensuring the power generation stability of the water flow energy capture device 101.

[0058] The water flow energy harvesting device 101 is the first key component for harvesting water flow energy. Protected by the protective cover 103, the water flow energy harvesting device 101 can stably rotate and generate electricity under the action of water flow, transferring the water flow energy to the generator 102 and converting it into electrical energy stored in the energy storage module 104. This design ensures that the robot will not be interrupted by external interference when operating in water bodies with a lot of debris, providing a continuous power guarantee for the motion control module 4, the inspection module 5, and the powered walking device 3.

[0059] The grid-like design achieves its protective function while minimizing negative impacts on water flow. The open grid structure ensures sufficient water flow area, maintaining energy conversion efficiency at the design level and enabling the robot to complete long-distance, uninterrupted inspection tasks.

[0060] Furthermore, the water-facing end of the hull 6 is streamlined, and partitions are provided between different functional sections inside the hull 6 to achieve sealed isolation between the sections and prevent water ingress. The main body of the hull 6 can be designed as a cylinder or a cone.

[0061] The streamlined cylindrical cabin 6 design reduces travel resistance for the energy-sustaining inspection robot navigating long, water-filled pipe corridors. The streamlined design helps guide water flow, reducing pressure drag at the robot's front. Simultaneously, the cylindrical cabin 6's shape helps maintain stability in the middle section, reducing water flow detachment and vortex formation. This reduced resistance means that the power propulsion system 3 requires less energy from the energy storage module 104 to maintain the same inspection speed, further enhancing the system's endurance in long-distance inspection tasks and ensuring the robot can efficiently complete its missions.

[0062] The interior of cabin 6 is equipped with isolation panels between different functional sections. This feature creates independent safety zones within the system. When the robot encounters an emergency in an ultra-long, highly complex tunnel environment, causing a sealing failure or localized water ingress in one functional section, the isolation panels can prevent the water from spreading to other adjacent sections. This effectively ensures that core components such as motion control module 4 or generator 102 are not damaged simultaneously, reducing the probability of a single node failure causing the entire machine to fail.

[0063] By defining the geometry of cabin 6 and establishing an isolation mechanism for its internal sections, a low-flow-resistance, high-strength operating platform with multi-level protection capabilities has been constructed for the energy-self-sustaining inspection robot of ultra-long water-crossing pipeline corridors. This technical feature reduces operating power consumption while enhancing the system's hardware security and operational continuity, providing structural support for the stable execution of ultra-long-distance inspection tasks.

[0064] Furthermore, the motion diameter-changing module has multiple sets and they are evenly distributed circumferentially; the following example uses three sets. The motion control module 4 is configured to send synchronization signals or differential signals to the three sets of motion diameter-changing modules, and: When sending a synchronization signal, three waterproof motors 201 drive three rocker arms 203 to rotate synchronously to adapt to pipe racks with different inner diameters; When sending differential signals, the attitude of each rocker arm 203 is independently adjusted by the waterproof motor 201 to adjust the height and attitude of the cabin 6 in the pipe gallery section, thereby adapting to water level changes and conducting targeted inspections of anomalies in the set area within the pipe gallery.

[0065] The three sets of motion-adjustable modules are evenly distributed circumferentially (i.e., spaced 120 degrees apart), enabling the energy-self-sustaining inspection robot of the ultra-long wading pipeline to construct a stable triangular support plane inside the pipeline. This design ensures that the reaction force from the inner wall of the pipeline is evenly distributed circumferentially around the cabin 6, reducing torsional stress within the structure. When the robot is in operation, the evenly distributed support points help maintain the positional stability of cabin 6 at the center of the pipeline cross-section, providing a stable observation platform for the front-end inspection module 5.

[0066] When the motion control module 4 sends a synchronization signal to the three sets of motion diameter-changing modules, the three waterproof motors 201 drive the three rocker arms 203 to rotate or extend synchronously. This technical feature enables the robot's envelope diameter to be scaled up or down proportionally, allowing the device to adapt to pipe gallery environments with different inner diameters.

[0067] The motion control module 4's ability to send differential signals enables the robot to independently adjust each joystick 203. By independently adjusting the attitude of the joysticks 203 in different orientations, the height and horizontal position of the cabin 6 within the pipe gallery cross-section can be translated. This feature allows the energy-self-sustaining inspection robot for ultra-long wading pipe galleries to actively adapt to changes in water level within the gallery, ensuring that the cabin 6 and its onboard sensors can be positioned above or below the water surface, or at a specific detection depth, as needed. Differential adjustment allows the robot to fine-tune the roll, pitch, and other attitude angles of the cabin 6. When encountering asymmetrical water flow impacts or irregular wall interference, the system can maintain the horizontal steady state of the cabin 6 through differential compensation commands, ensuring the accuracy of inspection data acquisition.

[0068] The differential control mechanism further expands the operational boundaries of the inspection module 5. By actively adjusting the height and attitude of the cabin 6 in the cross-section, the robot can guide the inspection module 5 towards a designated area within the pipe gallery. This targeted position adjustment enables the inspection module 5, which integrates a visible light sensor, a 3D laser scanner, an X-ray detector, and an ultrasonic detector, to perform close-range, high-precision intelligent identification and assessment of anomalies at a better angle and distance.

[0069] Furthermore, the motion control strategy of the motion control module 4 is as follows: 1) Real-time acquisition of the operating status of the hydroelectric power generation module, the water flow conditions in the pipeline corridor, and the operating parameters of the energy-self-sustaining inspection robot for ultra-long water-crossing pipeline corridors. Among these, the operating status of the hydroelectric power generation module includes the instantaneous power generation of the generator. P The water flow conditions in the utility tunnel include the current flow velocity of the water within the tunnel. v flow The operating parameters of the energy-self-sustaining inspection robot for ultra-long water-crossing utility tunnels, including the direction of water flow within the tunnel, include the robot's current inspection speed. vrobot and target inspection speed v t ; 2) Calculate the additional power generation resistance generated when the hydroelectric power generation module generates electricity. F turbine : Set the inspection robot's direction of travel as positive. When an energy-powered self-sustaining inspection robot for ultra-long water-crossing pipelines travels against the current, or travels with the current flow rate... v flow Greater than the current inspection speed v robot And the absolute value of the speed difference between the two At that time, the water flow does positive work on the water flow energy capture device, and the generator of the ultra-long wading pipeline self-sustaining inspection robot is in an effective power generation state, with additional power generation resistance. F turbine The calculation formula is:

[0070] in, η The overall efficiency coefficient of the hydroelectric power generation module; before actual operation, the relationship between generator output power and mechanical resistance under different flow velocity ranges is determined through pool experiments or bench calibration experiments, establishing... η The preset parameter table or fitting curve; δ The preset relative velocity dead zone threshold is used to prevent division-by-zero singularities. v flow For directional quantities, the water flow within the utility tunnel is relatively long, and the energy-sustaining inspection robot for ultra-long water-crossing utility tunnels is for downstream applications. v flow When the value is positive, the water flow in the utility tunnel is relatively long and the energy self-sufficient inspection robot is operating against the current. v flow The value of is negative; When the energy-sustaining inspection robot of the ultra-long water-crossing pipeline corridor is traveling downstream at the current inspection speed v robot Greater than or equal to the current flow velocity of the water v flow ,or At this time, the ultra-long water-crossing pipeline corridor energy-self-sustaining inspection robot is in a state of actively towing the water flow energy capture device or in a critical stress state. At this time, the motion control module controls the generator to enter the idling state and sets the power generation P=0, then the additional power generation resistance... F turbine =0; Calculate the energy-sustaining inspection robot for ultra-long water-filled utility tunnels at the target inspection speed. vt During navigation, the expected hydrodynamic force of water flow acting on the hull F dynamic : ; Calculate the compensation force for water flow disturbance F flow , F flow The theoretical thrust required by the propulsion system to maintain the target cruising speed due to external water flow interference is represented as follows: F flow = - F base - F dynamic ; in, ρ The density of the water flow within the pipe gallery; C d The drag coefficient of the hull section; A The cross-sectional area of ​​the water-facing side of the hull; v t Target inspection speed; F base This refers to the basic cruising thrust of the energy-self-sustaining inspection robot for ultra-long water-crossing pipeline corridors, which is also the minimum theoretical thrust required for the robot to maintain the target inspection speed. Furthermore: ; 3) Based on the PID control strategy, utilizing the additional power generation resistance... F turbine and water flow disturbance compensation force F flow The power output is dynamically gained and adjusted as a feedforward, and combined with speed error feedback, the target inspection speed is calculated and maintained. v t Total target thrust required F t : ; in, e(t) To address the real-time speed error of the energy-powered self-sustaining inspection robot for ultra-long water-covered utility tunnels, and e(t) = v t - v robot , K p、K i 、K d These are the proportional, integral, and derivative gain coefficients of the PID controller, respectively. α and β These are the power generation resistance compensation coefficient of the hydroelectric power generation module and the water flow compensation coefficient within the pipe gallery, respectively. α and β The power generation resistance compensation coefficient of the water flow energy harvesting device was determined based on experimental results. α It is used to correct nonlinear drag deviations caused by water flow pulsation, blade stall, or electromagnetic load fluctuations. β The system can adjust the calculated flow disturbance compensation force based on test results under different corridor environments. F flow Perform parameter tuning.

[0071] 4) The total target thrust F t The commands are converted into speed control commands for each power-driven walking device and sent to each power-driven walking device in real time.

[0072] It should be noted that step 3) above, controlling the generator to enter an idling state, is a conventional design approach in this field. The motion control module (usually a core controller such as a microcontroller, DSP, or PLC) mainly achieves the generator's "idling" through the following specific electrical or mechanical control methods: A) Disconnecting the load circuit (fully controlled rectifier / switch open-circuit control) – the most mainstream and direct method. The additional generating resistance (i.e., electromagnetic reverse torque) of the generator is essentially generated by the interaction between the induced current flowing through the stator windings and the rotor magnetic field. Without current, the electromagnetic resistance disappears instantly. The principle is as follows: The generator is usually not directly connected to the energy storage battery; it must pass through a fully controlled rectifier bridge (a multi-phase inverter / rectifier circuit composed of MOSFETs or IGBTs) or an electromechanical relay. When the motion control module calculates that idling is required, it sends a control signal to the rectifier drive circuit, turning off all power switches (triggered pulses turn them all off), or disconnecting the electronic switch connected in series in the circuit. At this time, the generator output is in a completely open-circuit state. Although the water flow still drives the external turbine to rotate, the output current I=0 due to the disconnected circuit. According to the formula P=UI=0, the generating power drops to zero, and the electromagnetic reverse resistance generated by the generator at this time… F turbine It also drops directly to zero. Only a tiny amount of mechanical friction remains inside the generator's bearings, allowing it to "idle" freely.

[0073] B) Excitation Control of the Electrically Excited Generator. If the generator used in this invention is an electrically excited (non-permanent magnet) generator, then idling control will be much easier. The principle is as follows: The electrically excited generator requires an external current to be supplied to the rotor (or stator excitation winding) to establish a magnetic field. Without excitation current, there is no magnetic field; without a magnetic field, the rotor will not cut magnetic lines of force when rotating, and therefore no induced electromotive force or electromagnetic resistance will be generated. The motion control module sends a PWM signal with a duty cycle of 0 to the excitation chopper circuit, completely cutting off the power supply to the excitation winding. The internal magnetic field of the generator disappears. Even if the external water flow capture device (turbine) rotates at high speed under the drag of the water flow, the generator will not generate any resistance or electrical energy, perfectly entering P=0 and... F turbine =0 is an idle state.

[0074] C) Physical disengagement of the mechanical clutch (mechanical isolation). While electrical open-circuiting is most common, mechanical methods are also used in certain heavy-duty scenarios or where the generator's rotational inertia needs to be completely eliminated. The principle is as follows: An electromagnetic or pneumatic clutch is installed between the turbine shaft outside the hull and the generator rotor shaft inside the hull. The motion control module sends a power-off (or power-on) signal to a relay connected to the electromagnetic clutch (which has an electromagnetic coil, a return spring, and an armature (the moving end with friction plates or gears)), completely disengaging the transmission gears or friction plates of the electromagnetic clutch. The external turbine rotates freely in the water flow (at which point it exerts only minimal water flow resistance on the robot), while the internal generator rotor remains completely stationary. Since the generator no longer rotates, its power output P=0, and it does not contribute any additional resistance to the overall movement of the machine due to power generation.

[0075] Furthermore, the operating parameters of the ultra-long water-crossing pipeline corridor energy self-sustaining inspection robot also include the robot's attitude angle. The purpose of adjusting the attitude angle is to provide the inspection equipment at the front end of the ultra-long water-crossing pipeline corridor energy self-sustaining inspection robot with a suitable attitude to ensure the accuracy of the inspection operation. The motion control strategy also includes a closed-loop attitude correction step: the motion control module 4 calculates in real time the deviation between the current attitude angle and the preset attitude of the energy-sustaining inspection robot for the ultra-long water-crossing pipeline corridor, and generates a differential compensation command based on the deviation. This differential compensation command is then sent to the speed control commands of each waterproof motor and the power walking device to ensure the execution of the total target thrust. F t At the same time, it enables dynamic correction of the heading and attitude of the cabin during the journey.

[0076] The differential (speed difference) of the power walking device is mainly used to correct the heading. The differential (swing angle difference) of the waterproof motor is mainly used to correct the center of gravity height or yaw attitude of the energy-sustaining inspection robot for ultra-long water-crossing pipe corridors.

[0077] The heading and attitude correction ensured that the robot's trajectory remained consistent with the centerline of the tunnel, enabling the visible light sensor and 3D laser scanner to cover the predetermined scanning area and reducing data omissions. The roll attitude correction reduced the lateral fluctuations of cabin 6, ensuring the horizontal stability of the image data and the pointing accuracy of the ultrasonic and X-ray detector beams, thus improving the reliability of identifying anomalies in the tunnel.

[0078] According to another aspect of the present invention, an adaptive adjustment method for an energy-self-sustaining inspection robot for ultra-long water-crossing pipe corridors is also provided, comprising the following steps: 1) Adaptive adjustment steps for pipe gallery diameter: The motion control module 4 sends a synchronous control signal to drive the waterproof motor 201. The waterproof motor 201 operates and drives the transmission rod 204 to swing, so as to synchronously drive the three sets of rockers 203 outside the cabin 6 to change their angle relative to the cabin 6, thereby uniformly increasing or decreasing the envelope diameter formed by all the power walking devices 3 to adapt to pipe galleries of different sizes or irregular shapes. 2) Adaptive adjustment steps for water level in the utility tunnel: The motion control module 4 sends differential control signals to drive each waterproof motor 201. The waterproof motor 201 independently adjusts each rocker arm 203 via the transmission rod 204. By changing the angle of the rocker arm 203 relative to the utility tunnel, the position and attitude of the cabin 6 in the utility tunnel are adjusted so that the energy self-sufficient inspection robot of the ultra-long water-crossing utility tunnel can actively adapt to the water level changes in the utility tunnel.

[0079] After the energy-powered self-sufficient inspection robot of the ultra-long water-crossing pipeline corridor enters the work area, the adaptive adjustment step of the pipeline corridor diameter provides basic geometric access guarantee for the system.

[0080] By sending a synchronization control signal through the motion control module 4, the system ensures that the three sets of actuators distributed around the perimeter of the cabin 6 receive consistent drive commands. The waterproof motor 201 operates synchronously upon receiving the command, and its generated rotational torque is transmitted through the transmission rod 204, realizing the conversion of driving force from the internal power source to the external actuator. Due to the use of the synchronization control signal, the angle changes of the three sets of rockers 203 relative to the cabin 6 remain highly synchronized. This consistency in mechanical displacement avoids center of gravity shift caused by unilateral movement deviations, ensuring the mechanical self-balancing of the robot's overall structure during adjustment.

[0081] By synchronously changing the angles of three sets of rockers 203 on the outside of the drive chamber 6, the envelope diameter formed by all the powered walking devices 3 uniformly increases or decreases, enabling the energy-sustaining inspection robot of ultra-long wading pipe corridors to handle pipe corridors of different sizes or irregular shapes. When facing pipe corridors with varying diameters, localized reductions in diameter, or non-standard cross-sections due to construction errors, the system can adjust the envelope diameter to maintain a stable positive pressure between the powered walking devices 3 and the inner wall of the pipe corridor. This close contact provides reliable support for the robot, ensuring continuous power transmission during subsequent movement. This structural design supports neutrality and flow field stability through synchronous adjustment, ensuring the centered position of the chamber 6 within the cross-section. When the three sets of rockers 203 are extended at the same angle, the central axis of the chamber 6 tends to coincide with the geometric center line of the pipe corridor. This spatial layout optimizes the distribution of water flow around the chamber 6 and reduces lateral water flow interference caused by the asymmetrical layout. A stable flow field environment reduces the swaying of the cabin 6, providing a stable observation benchmark for the front-end inspection module 5, which helps to improve the data acquisition quality of multi-source scanning imaging technology.

[0082] In response to the variable water flow conditions within water-related utility tunnels, the tunnel's adaptive water level adjustment mechanism endows the system with a deep level of attitude control and environmental matching capabilities.

[0083] By issuing differential control signals through the motion control module 4, the system breaks the limitations of symmetrical motion, enabling independent and asymmetrical adjustment of any one or more of the three sets of rockers 203. The waterproof motor 201 precisely intervenes in the length or angle of the rocker 203 in a specific direction via the transmission rod 204. This asymmetrical adjustment mechanism can specifically compensate for operational deviations caused by water level, water flow velocity, or the thickness of silt at the bottom of the pipe gallery based on real-time sensed environmental parameters, enhancing the robot's autonomy in complex and non-uniform flow fields.

[0084] By changing the attitude of a specific joystick 203, the height position of the central cabin 6 within the pipe gallery cross-section is adjusted. This degree of freedom in height adjustment allows the energy-self-sustaining inspection robot for ultra-long wading pipe galleries to actively adapt to changes in water level within the gallery. The system can adjust the position of cabin 6 according to the inspection task requirements, ensuring that the integrated front-end visible light sensors, 3D laser scanners, and other equipment are always at their optimal working height. For example, when the water level is low, the position of cabin 6 can be raised to avoid debris at the bottom, or the height can be adjusted when the water level is high to ensure that the acoustic detection equipment is below the water surface, thus guaranteeing the integrity of the detection signal coverage. By adjusting the height and attitude of cabin 6, the system can guide the inspection module 5 to perform close-range, targeted inspections of specific areas within the pipe gallery (such as structural cracks in the top or leaks in the side walls). This spatial flexibility greatly expands the breadth of multi-source data fusion evaluation.

[0085] During long-distance operations, lateral water flow or uneven wall surfaces often cause the robot to roll or pitch. The adaptive water level adjustment step in the pipe gallery can correct the robot's posture in real time through the correction torque generated by differential adjustment. This active posture compensation, in conjunction with the speed control of the power walking device 3, maintains the stability of the cabin 6 during travel, preventing equipment failure or signal distortion caused by large posture fluctuations.

[0086] By adjusting the height and angle of the cabin 6 in the cross section, the system can position the water flow energy capture device 101 in the region of highest water flow velocity or most stable flow state, thereby improving the efficiency of mechanical energy to electrical energy conversion.

[0087] Furthermore, this adaptive adjustment method significantly reduces the interference of external environmental fluctuations on the inspection module 5 through the synergy of synchronous and differential adjustment. Because the powered walking device 3 can adapt to different pipe diameters and maintain stable clamping, and the hull 6 can dynamically adjust its attitude according to the water level, a low-vibration, high-stability load platform is constructed. This enables multi-source sensing technologies such as visible light, 3D laser, X-ray, and ultrasonic detection to maintain high-precision identification capabilities under complex working conditions, allowing for accurate intelligent assessment of structural deformation, leakage, and deposits in the pipe gallery.

[0088] An adaptive adjustment method addresses the robot's mobility issues after entering the utility tunnel. Synchronous expansion and contraction of the mechanical structure provides a stable support foundation for the system. Asymmetric attitude fine-tuning enables the system to cope with dynamic environmental disturbances. This method ensures the physical safety of the energy-self-sustaining inspection robot in ultra-long wading utility tunnels during long-distance missions, supporting the stable and accurate completion of inspection tasks.

[0089] This invention utilizes a water-flow power generation module deployed at the tail end to obtain a stable supply of water energy from the water flow within the water-filled utility tunnel. This provides a continuous and stable power supply for other modules, such as motion control and inspection. Compared to traditional battery or wired power supply methods, the water-flow power generation module design of this invention achieves green energy self-sufficiency, improves the energy supply stability for inspection, and enables long-distance inspection of ultra-long water-filled utility tunnels, solving the problems of continuity and stability in traditional energy supply methods. Furthermore, the ample water-flow energy supply allows the invention to incorporate more inspection modules, enabling multi-functional inspection operations, increasing the energy capacity for detecting safety hazards within the utility tunnel, and further enhancing the diversity and safety of inspection operations in ultra-long water-filled utility tunnels.

[0090] This invention employs a motion control system design consisting of a motion control module 4, a motion diameter adjustment module, and a power walking device 3. The motion control module 4 obtains a stable motion control strategy under the triple action of water flow power generation, motion movement, and water flow. The motion diameter adjustment module executes the motion control strategy given by the motion control module 4, adjusting the extension length and joint angle of each rocker arm 203 to achieve stable motion control during the device inspection process. The power walking device 3 ensures stable contact between the device and the inner wall of the pipe gallery and provides the driving force required for movement, ensuring that the device moves smoothly and reliably on the inner wall of the pipe gallery.

[0091] This invention employs a system design of motion control module 4 + motion diameter adjustment module. Based on the motion diameter adjustment module design, the angle and length of all rocker arms 203 can be adjusted synchronously to flexibly adapt to pipe racks of different sizes. Simultaneously, this invention can change the height of the central chamber 6 of the device by individually adjusting the angle and length of each group of rocker arms 203, thereby adapting to different water level conditions and ensuring that the sensor is always at the water surface, underwater, or a specific detection depth. Furthermore, this invention adopts a multi-source inspection module 5 design, using multi-source sensing and inspection technologies such as visible light, 3D laser, X-ray, and ultrasonic detection scanning imaging to perform stable and accurate inspections of different anomalies within the pipe rack. Finally, this invention employs a water flow energy supply module design, allowing it to incorporate more pipe rack inspection business modules, further improving its adaptability to different pipe rack inspection tasks.

[0092] When this invention is in operation, the water flow drives the water flow energy harvesting device 101 to rotate and harvest water flow energy for the device's use. Compared to other power supply methods (battery power / wired power transmission), this invention uses a water flow generator set for power supply, which has dual advantages: 1) Energy Self-Sustaining for Ultra-Long-Distance Inspection: Through the design of the water flow energy harvesting device 101 and the generator 102, the water flow energy in the water-filled pipe gallery can be efficiently harvested for long-distance inspection, achieving long-term endurance for water-filled pipe gallery inspection operations. In long-distance water-filled pipe gallery inspections, compared with battery power, this invention does not require carrying a large-capacity, heavy battery pack, which has significant advantages in weight, structural center of gravity, and endurance. Compared with wired power transmission, the water flow generator set design proposed in this invention does not require long-distance transmission lines, avoiding the inherent risks of entanglement, scratches, jamming, and power outages caused by cable damage due to long-distance cables in narrow and complex pipe gallery environments, greatly improving the system's freedom of movement, safety, and operational reliability. 2) Diverse Business Modules: This invention achieves efficient self-sufficiency of water flow energy during the inspection process, with abundant energy reserves, allowing the device to be equipped with more types of inspection modules 5 and business modules, enabling the device to perform more types of pipe gallery inspection operations and adapt to more water-related pipe gallery operations.

[0093] The motion control system of this invention has three functions: 1) The motion control system ensures stable motion control of the device during normal inspection of water-filled pipe corridors: Through the motion control module 4, a stable motion control strategy can be given under the triple coupling effect of water flow power generation, the movement of the ultra-long water-filled pipe corridor energy self-sustaining inspection robot and water flow interference; through the motion diameter change module, the motion control strategy given by the motion control module 4 is executed, so as to realize the stable motion control of the ultra-long water-filled pipe corridor energy self-sustaining inspection robot during normal inspection of water-filled pipe corridors.

[0094] 2) The present invention adopts a system design of motion control module 4 + motion diameter changing module. The motion control module 4 sends a signal, and the motor in the motion diameter changing module drives the three sets of rockers 203 on the outside of the cabin 6 through the transmission rod 204, changing the angle and length between the rocker 203 and the cabin 6, uniformly increasing or decreasing the envelope diameter formed by all the power walking devices 3, which can adapt to pipe corridors with different inner diameters or irregular shapes, and has excellent geometric passage capability.

[0095] 3) Through the motion control system, the angle and length of different sets of rockers 203 can be changed individually, flexibly adjusting the height and attitude of the cabin 6 in the pipe gallery section. This allows the device to actively adapt to changes in water level within the water-bearing pipe gallery; at the same time, this function allows the device to actively adjust the angle and position of the inspection module 5, enabling targeted inspection of anomalies in specific areas within the pipe gallery, significantly improving the flexibility and targeting of the inspection.

[0096] In the inspection of ultra-long water-crossing utility tunnels, typically referring to confined spaces hundreds of meters to kilometers in length, traditional robots face the challenge of "energy-performance-power consumption." Existing utility tunnel inspection robots mostly rely on built-in batteries for power. Increasing the inspection range necessitates increasing the capacity of the battery pack. However, this increased battery mass directly leads to an increase in the robot's overall mass and size. This increased mass requires the power system to output greater thrust during startup, braking, and overcoming the complex water flow resistance within the tunnel, further increasing battery energy consumption. Consequently, the robot's endurance remains a bottleneck in ultra-long-distance inspection tasks using traditional power supply methods. Furthermore, simply increasing the battery capacity either increases the robot's size or reduces the volume and mass of the modules used for inspection. The former leads to stricter requirements for the size of the utility tunnel, while the latter affects the accuracy of existing utility tunnel inspection robots. Wired power supply solutions, on the other hand, are prone to cable entanglement or snagging with pipes and supports within the complex structure of the tunnel, severely restricting the robot's freedom of movement and posing a risk of cable breakage leading to robot loss of control.

[0097] This invention utilizes a water flow energy harvesting device 101, based on efficient water flow power generation technology, to efficiently and stably obtain sufficient water flow energy from the water flow environment. This achieves self-sufficiency in water flow energy for long-distance inspection of water-related utility tunnels, breaking through the bottleneck of traditional energy supply methods. The water flow energy harvesting device 101 is installed outside the cabin 6, directly contacting the dynamic water flow within the utility tunnel. It captures the naturally occurring water flow energy in the water-related utility tunnel and converts it into rotational mechanical energy, which is then converted into electrical energy by the generator 102 and stored in the energy storage module 104. The energy self-sufficiency design allows the robot to obtain power in real time during inspections spanning several kilometers, providing a continuous and stable energy supply for the motion control module, waterproof motor, and powered walking device. Furthermore, this design allows the robot cabin size to be controlled within a reasonable range, enabling it to adapt to water-related utility tunnel environments with smaller diameters.

[0098] Meanwhile, the abundant water flow energy supply allows the invention to be equipped with inspection modules that are more precise and have a wider range of applications, improving the reliability and accuracy of robot inspection operations. Furthermore, with the energy problem solved, the robot can meet the high energy consumption requirements of inspection equipment with higher frequency and stronger performance, further improving the accuracy of inspection operations.

[0099] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. An energy-powered self-sustaining inspection robot for ultra-long water-crossing utility tunnels, characterized in that: It includes a cabin, a hydroelectric power generation module, an energy storage module, multiple sets of motion-adjustable diameter modules, multiple power-driven walking devices, a motion control module, and an inspection module, among which: The water flow power generation module is installed on the cabin and includes a water flow energy capture device and a generator. The water flow energy capture device is located outside the cabin, and the generator and energy storage module are both located in a sealed cavity inside the cabin. The generator is connected to the energy storage module and the water flow energy capture device respectively. Each set of motion-adjustable modules includes a waterproof motor, a lead screw mechanism, a transmission rod, and a rocker arm. The waterproof motor and the lead screw mechanism are respectively located inside the cabin. The waterproof motor is connected to the energy storage module. The lead screw mechanism includes a lead screw and a transmission nut mounted on the lead screw. The transmission nut is hinged to one end of the transmission rod via a first hinge pin. The other end of the transmission rod is hinged to the rocker arm via a second hinge pin. The rocker arm is hinged to the cabin via a third hinge pin. The first, second, and third hinge pins are parallel to each other and are arranged in a triangle. Each of the aforementioned powered walking devices is mounted on the end of the rocker arm away from the cabin and connected to the energy storage module for movement on the inner wall of the tube gallery; The inspection module is installed on the cabin for inspecting the pipe gallery; The motion control module is electrically connected to each of the waterproof motors and each of the powered walking devices to adjust the angle of the rocker arm and the motion parameters of the powered walking device. The motion control strategy of the motion control module is as follows: 1) Real-time acquisition of the operating status of the hydroelectric power generation module, the water flow conditions in the pipeline corridor, and the operating parameters of the energy-self-sustaining inspection robot for ultra-long water-crossing pipeline corridors. Among these, the operating status of the hydroelectric power generation module includes the instantaneous power generation of the generator. P The water flow conditions in the utility tunnel include the current flow velocity of the water within the tunnel. v flow The operating parameters of the energy-self-sustaining inspection robot for ultra-long water-crossing utility tunnels, including the direction of water flow within the tunnel, include the robot's current inspection speed. v robot and target inspection speed v t ; 2) Calculate the additional power generation resistance generated when the hydroelectric power generation module generates electricity. F turbine : Set the inspection robot's direction of travel as positive. When an energy-powered self-sustaining inspection robot for ultra-long water-crossing pipelines travels against the current, or travels with the current flow rate... v flow Greater than the current inspection speed v robot And the absolute value of the speed difference between the two At that time, the water flow does positive work on the water flow energy capture device, and the generator of the ultra-long wading pipeline self-sustaining inspection robot is in an effective power generation state, with additional power generation resistance. F turbine The calculation formula is: in, η The overall efficiency coefficient of the hydroelectric power generation module; δ The preset relative velocity dead zone threshold is used to prevent division-by-zero singularities. The water flow within the utility tunnel is relatively long, and the energy-sustaining inspection robot is designed for use with the downstream flow. v flow When the value is positive, the water flow in the utility tunnel is relatively long and the energy self-sufficient inspection robot is operating against the current. v flow The value of is negative; When the energy-sustaining inspection robot of the ultra-long water-crossing pipeline corridor is traveling downstream at the current inspection speed v robot Greater than or equal to the current flow velocity of the water v flow ,or At this time, the ultra-long water-crossing pipeline corridor energy-self-sustaining inspection robot is in a state of actively towing the water flow energy capture device or in a critical stress state. At this time, the motion control module controls the generator to enter the idling state and sets the power generation P=0, then the additional power generation resistance... F turbine =0; Calculate the energy-sustaining inspection robot for ultra-long water-filled utility tunnels at the target inspection speed. v t During navigation, the expected hydrodynamic force of water flow acting on the hull F dynamic : ； Calculate the compensation force for water flow disturbance F flow , F flow The theoretical thrust required by the propulsion system to maintain the target cruising speed due to external water flow interference is represented as follows: F flow = - F base - F dynamic ； in, ρ The density of the water flow within the pipe gallery; C d The drag coefficient of the hull section; A The cross-sectional area of ​​the water-facing side of the hull; v t Target inspection speed; F base This refers to the basic cruising thrust of the energy-self-sustaining inspection robot for ultra-long water-crossing pipeline corridors, which is also the minimum theoretical thrust required for the robot to maintain the target inspection speed. Furthermore: ； 3) Based on the PID control strategy, utilizing the additional power generation resistance... F turbine and water flow interference compensation force F flow The power output is dynamically gained and adjusted as a feedforward, and combined with speed error feedback, the target inspection speed is calculated and maintained. v t Total target thrust required F t : ； in, e(t) To address the real-time speed error of the energy-powered self-sustaining inspection robot for ultra-long water-covered utility tunnels, and e(t) = v t -v robot , K p 、K i 、K d These are the proportional, integral, and derivative gain coefficients of the PID controller, respectively. α and β These are the power generation resistance compensation coefficient of the hydroelectric power generation module and the water flow compensation coefficient in the pipe gallery, respectively. 4) The total target thrust F t The commands are converted into speed control commands for each power-driven walking device and sent to each power-driven walking device in real time.

2. The energy-powered self-sustaining inspection robot for ultra-long water-crossing pipe corridors according to claim 1, characterized in that, Each of the rocker arms is a telescopic rod and includes multiple rod sections that are sleeved together; For any two adjacent rod sections, the rod section with the smaller diameter extends into the rod section with the larger diameter. The rod section with the larger diameter has a compression spring that applies elastic force to the end of the rod section with the smaller diameter.

3. The energy-powered self-sustaining inspection robot for ultra-long water-crossing pipe corridors according to claim 1, characterized in that, The power walking device is a tracked vehicle with a power drive device. The tracked vehicle and the rocker arm are hinged together by a fourth hinge axis, which is parallel to the third hinge axis. Alternatively, the powered walking device may include a power drive unit and walking wheels driven to rotate by the power drive unit.

4. The energy-powered self-sustaining inspection robot for ultra-long water-crossing pipe corridors according to claim 1, characterized in that, The inspection module includes a visible light sensor, a 3D laser scanner, an X-ray detector, and an ultrasonic detector.

5. The energy-powered self-sustaining inspection robot for ultra-long water-crossing pipe corridors according to claim 1, characterized in that, The outer side of the water flow energy capture device is equipped with a grid-shaped protective cover to block debris inside the water-crossing pipe gallery.

6. The energy-powered self-sustaining inspection robot for ultra-long water-crossing pipe corridors according to claim 1, characterized in that, The water-facing end of the cabin is streamlined, and the different functional sections inside the cabin are equipped with partitions to achieve sealing and isolation between the sections and prevent water ingress.

7. The energy-powered self-sustaining inspection robot for ultra-long water-crossing pipe corridors according to claim 1, characterized in that, The motion control module is configured to send synchronization signals or differential signals to multiple sets of the motion diameter-changing modules: When sending a synchronization signal, multiple waterproof motors drive multiple rockers to rotate synchronously, changing the size of the envelope diameter formed by the power walking device at the tail end of multiple sets of motion diameter-changing modules, thereby realizing the diameter change of pipe corridors with different inner diameters and improving the adaptability to pipe corridors with different inner diameters. When sending differential signals, the attitude of each corresponding rocker arm is independently adjusted by each waterproof motor to adjust the height and attitude of the cabin in the pipe gallery section, thereby adapting to water level changes and conducting targeted inspections of anomalies in designated areas within the pipe gallery.

8. The energy-powered self-sustaining inspection robot for ultra-long water-crossing pipe corridors according to claim 1, characterized in that, The operating parameters of the energy-self-sustaining inspection robot for ultra-long water-crossing pipelines also include the robot's attitude angles. The motion control strategy also includes a closed-loop attitude correction step: the motion control module calculates in real time the deviation between the current attitude angle and the preset attitude of the ultra-long water-crossing pipeline corridor energy-self-sustaining inspection robot, and generates a differential compensation command based on the deviation. This differential compensation command is then sent to the speed control commands of each waterproof motor and the power walking device to ensure the execution of the total target thrust. F t At the same time, it enables dynamic correction of the heading and attitude of the cabin during the journey.

9. The adaptive adjustment method of the energy-self-sustaining inspection robot for ultra-long water-crossing pipe corridors as described in any one of claims 1 to 8, characterized in that, Includes the following steps: 1) Adaptive adjustment of pipe rack diameter: The motion control module sends a synchronous control signal to drive the waterproof motor. The waterproof motor runs and drives the transmission rod to swing, so as to synchronously drive multiple sets of rockers outside the cabin to change the angle relative to the pipe rack, thereby uniformly increasing or decreasing the envelope diameter formed by all power walking devices to adapt to pipe racks of different sizes or irregular shapes. 2) Adaptive adjustment of water level in the utility tunnel: The motion control module sends differential control signals to drive each waterproof motor. The waterproof motors independently adjust each rocker arm via the transmission rod. By changing the angle of the rocker arm relative to the utility tunnel, the position and posture of the cabin in the utility tunnel can be adjusted, so that the energy self-sufficient inspection robot of the ultra-long water-crossing utility tunnel can actively adapt to the water level changes in the utility tunnel.

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