A ring-shaped suspended submersible detection device for detecting water-rich karst underground passages

Abstract

The application discloses a kind of annular suspension type diving detection devices for water-rich karst underground passage detection, including annular buoyancy main body, central suspension detection cabin, flexible suspension assembly, hidden three-point flexible small wheel group, embedded micro catheter paddle and sensor array.Annular buoyancy main body is closed annular structure, and installation hole is arranged in the center;Central suspension detection cabin is placed in installation hole, and is connected with annular buoyancy main body through flexible suspension assembly, and has buffering displacement and impact isolation capacity;Hidden three-point flexible small wheel group is composed of three groups of auxiliary obstacle-crossing mechanisms evenly distributed along the bottom of annular buoyancy main body, and can be stored in annular buoyancy main body, and can also be extended outward to contact obstacles.The application provides buoyancy support with annular buoyancy main body, and central suspension detection cabin is protected by flexible suspension, and hidden small wheel group expands auxiliary obstacle-crossing when encountering obstacles, and has underwater detection stability and escape ability, and is suitable for water-rich karst pipeline and underground corridor and other narrow underwater passages.

Description

Technical Field

[0001] This invention relates to the field of underwater exploration equipment technology, specifically to a ring-shaped suspended underwater exploration device for detecting water-rich karst underground passages. Background Technology

[0002] Underwater passage detection is one of the important application areas of diving exploration equipment. Water-rich karst underground passages, as a typical underwater exploration scenario, are usually characterized by irregular spatial shapes, large water level fluctuations, numerous local shoals and protruding obstacles, and complex gravel and siltation, which place special requirements on the passability, stability, and impact resistance of diving exploration devices.

[0003] Existing underwater exploration devices mostly employ slender torpedo-like underwater vehicles, small submarine-like robots, traditional floating buoys, or pipe-crawling robot structures. Slender torpedo-like structures rely on tail propulsion and rudder control, making them prone to getting stuck in shallow waters, narrow turns, or abrupt changes in cross-section. Traditional buoys, while possessing buoyancy stability, lack directional control and the ability to escape obstacles. Legged or tracked robots present significant engineering challenges in terms of underwater sealing, energy consumption, and maneuverability.

[0004] Therefore, there is a need for a diving detection device that combines the stability of a buoyancy platform with the ability to navigate confined spaces. It should be able to resist external impacts during underwater detection to protect precision detection equipment, and have the ability to actively extricate itself from underwater obstacles or run aground. Summary of the Invention

[0005] In view of the above-mentioned shortcomings of the existing technology, the technical problem to be solved by the present invention is: how to provide a water-rich karst underground passage detection device that has high buoyancy stability, strong impact protection performance and the ability to overcome obstacles and escape from narrow and irregular passages.

[0006] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows:

[0007] A ring-shaped suspended underwater detection device for detecting water-rich karst underground passages includes a ring-shaped buoyancy body, a central suspended detection chamber, a flexible suspension assembly, a hidden three-point flexible small wheel assembly, an embedded micro-duct propeller, and a sensor array.

[0008] The annular buoyancy body has a closed annular structure with an axially penetrating mounting hole at its center. The annular buoyancy body includes an outer shell, an inner shell, an upper annular end plate, and a lower annular end plate. The outer shell and the inner shell are spaced apart and their ends are sealed and connected by the upper and lower annular end plates, forming a closed annular buoyancy cavity. The annular buoyancy cavity is provided with multiple circumferentially distributed baffles, which divide the annular buoyancy cavity into multiple independent compartments. Each independent compartment is filled with low-density solid buoyancy material to provide redundant buoyancy and improve the water ingress tolerance.

[0009] The central suspended detection chamber is located within the central mounting hole of the annular buoyancy body. It is a short cylindrical capsule-shaped sealed pressure chamber, internally divided along the axial direction into a front-end sensing area, a central control area, and a rear-end energy interface area. The front-end sensing area has a transparent viewing window, and the camera module, sonar transducer array, illumination ring, and laser scale instrument of the sensor array are located in this area; the central control area integrates the main control module and inertial measurement unit; the rear-end energy interface area contains the battery pack and watertight electrical connectors.

[0010] The central suspended detection cabin is connected to the annular buoyancy body via a flexible suspension assembly. This flexible suspension assembly includes a lug, a helical compression spring, a hydraulic damper, a pre-tensioned steel cable, and a limiting buffer block. The helical compression spring and the hydraulic damper are connected in parallel between the annular buoyancy body and the central suspended detection cabin; the former provides elastic support, and the latter dissipates impact energy. The pre-tensioned steel cable defines the initial installation position. The limiting buffer block is located at the extreme displacement ends of both components to limit the maximum relative displacement, thereby ensuring that the central suspended detection cabin has buffered displacement freedom relative to the annular buoyancy body while preventing rigid collisions.

[0011] The concealed three-point flexible small wheel assembly includes three sets of auxiliary obstacle-crossing mechanisms evenly distributed at 120° circumference along the bottom of the annular buoyancy body. Each set of auxiliary obstacle-crossing mechanisms includes a storage compartment, a sealed cover, a sliding guide structure, a short and wide arc-shaped swing arm, a flexible connecting unit, and a small auxiliary obstacle-crossing wheel with a built-in hub motor. Under normal cruising conditions, the three sets of auxiliary obstacle-crossing mechanisms are completely stored in the sealed storage compartment at the bottom of the annular buoyancy body, with the sealed cover flush with the outer wall of the annular buoyancy body and not exceeding the outer contour of the annular buoyancy body. When the detection device runs aground or encounters an obstacle, the storage compartment opens, and the short and wide arc-shaped swing arm swings outward and unfolds under the guidance of the sliding guide structure, allowing the small auxiliary obstacle-crossing wheel to extend beyond the outer contour of the annular buoyancy body to contact the obstacle surface. The hub motor is only electrically connected to the obstacle-crossing and escape control circuit. During normal cruising, it is de-energized and rotates freely, and is briefly energized to provide auxiliary traction when an obstacle is encountered.

[0012] The embedded microducted propeller, located on the outer periphery of the annular buoyancy body, includes a fairing, a propeller, and a motor nacelle, and provides the main propulsion for the detection device to move, turn, and fine-tune its attitude. Lateral damping fins are also provided on the outer walls of both sides of the annular buoyancy body to suppress yaw and rotational disturbances.

[0013] Furthermore, the center of gravity of the central suspended detection chamber is lower than the center of buoyancy of the annular buoyancy body, giving the detection device overall self-stabilizing characteristics in water.

[0014] Compared with the prior art, the present invention has the following advantages:

[0015] (1) By flexibly isolating the central suspended detection cabin from the annular buoyancy body, the large buoyancy surface area and anti-overturning stability provided by the annular structure are utilized, and the combination of helical compression spring and hydraulic damper is used to effectively attenuate underwater impact and vibration energy, which significantly protects the high-precision sensor array inside the cabin from rock wall collision and water flow turbulence interference, greatly improving the reliability of detection data and equipment survivability.

[0016] (2) The three sets of auxiliary obstacle-crossing wheels are completely housed inside the annular body during normal cruising, which avoids the additional water resistance and collision risks caused by traditional external wheel sets or tracks, and maintains the smooth and streamlined shape of the annular outer wall. Once encountering shallow waters, piles of gravel, or cross-sectional contraction leading to grounding, the wheel sets can quickly extend outward and provide instantaneous auxiliary traction, enabling the device to actively overcome obstacles and get out of trouble, thus completely solving the industry pain points of traditional buoy-type platforms that "can float but cannot move" and torpedo-type vehicles that "can move but cannot climb".

[0017] (3) The three sets of wheels evenly distributed in the 120° circumference form a stable three-point support after deployment, which effectively prevents the device from tilting to the side; at the same time, the elastic bushing in the flexible connection unit allows the auxiliary obstacle-crossing wheel to passively deflect according to the shape of the rock wall or obstacle surface, which greatly enhances the adhesion of the device on the uneven surface of the natural karst pipe and the success rate of getting out of trouble.

[0018] (4) Without relying on active thrust adjustment, the detection device can automatically maintain the downward floating attitude of the detection cabin underwater. Combined with the lateral damping anti-roll fin's suppression of yaw and rotation, it ensures that the front sensing area always faces the detection target, significantly reducing the energy consumption and algorithm burden of attitude control during underwater autonomous navigation.

[0019] (5) The independent compartment design within the annular buoyancy body provides multiple safety guarantees against water ingress; the ducted propeller propulsion and wheel assembly escape work independently and in coordination, which not only retains the maneuverability of traditional underwater vehicles in open waters, but also has the emergency handling capability for special working conditions in narrow pipes, and is suitable for a variety of complex underwater environments such as water-rich karst pipes, underground rivers, water-filled caves and underground corridors. Attached Figure Description

[0020] Figure 1 This is an internal view of the top side of the overall structure in this embodiment;

[0021] Figure 2 This is a bottom internal view of the overall structure in this embodiment;

[0022] Figure 3 This is an overall structural diagram of this embodiment.

[0023] In the diagram: 1. Annular buoyancy body; 2. Buoyancy compartment / buoyancy material; 3. Central suspension detection compartment; 4. Transparent window and front-end sensing area; 5. Central control module box; 6. Rear-end energy interface area; 7. Flexible suspension assembly; 8. Helical compression spring; 9. Hydraulic damper; 10. Limiting buffer block; 11. Hidden three-point flexible small wheel assembly; 12. Storage compartment / sealed compartment cover; 13. Sliding guide structure; 14. Short and wide arc-shaped swing arm; 15. Flexible connection unit; 16. Small auxiliary obstacle-crossing wheel; 17. Hub motor end cover; 18. Wheel assembly storage servo compartment; 19. Embedded micro duct propeller; 20. Lateral damping anti-roll fin; 21. Maintenance cover plate; 22. Watertight connector / helical cable. Detailed Implementation

[0024] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0025] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, not all of them. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to represent selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0026] It should be noted that similar reference numerals and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the figures, or the orientation or positional relationship commonly used when the product is in use. They are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance. In addition, the terms "horizontal," "vertical," etc., do not indicate that the component is required to be absolutely horizontal or suspended, but can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted. In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0027] Example: Reference Figures 1 to 3 A ring-shaped suspended underwater detection device for detecting water-rich karst underground passages includes a ring-shaped buoyancy body 1, a central suspended detection chamber 3, a flexible suspension assembly 7, a hidden three-point flexible small wheel assembly 11, an embedded micro-duct propeller 19, and a sensor array.

[0028] like Figures 1 to 3 As shown, the annular buoyancy body 1 has a flat, closed annular structure with a through-hole at its center. The annular buoyancy body 1 consists of an outer shell, an inner shell, an upper annular end plate, and a lower annular end plate. The outer shell and inner shell are spaced apart and connected at their upper ends via the upper annular end plate, and at their lower ends via the lower annular end plate, together forming a closed annular buoyancy cavity. The buoyancy cavity contains multiple circumferentially evenly distributed baffles that extend radially and divide the annular buoyancy cavity into multiple independent fan-shaped compartments. Each independent compartment is filled with low-density solid buoyancy material 2, providing the main buoyancy source for the entire detection device and maintaining sufficient residual buoyancy even when some compartments are flooded.

[0029] like Figure 1As shown, the central suspended detection chamber 3 is located within the mounting hole at the center of the annular buoyancy body 1. It is a short cylindrical, capsule-shaped, sealed pressure chamber made of pressure-resistant metal. The interior of the central suspended detection chamber 3 is divided along its axial direction into a front-end sensing area, a central control area, and a rear-end energy interface area 6. The front-end sensing area is located at the front of the central suspended detection chamber 3, and its end wall has an arc-shaped transparent window made of pressure-resistant glass with high light transmittance. The camera module, sonar transducer array, illumination ring, and laser scale of the sensor array are all located within the front-end sensing area. The lens of the camera module faces the transparent window to collect image information of the underwater channel. The central control area houses the main control module 5, which integrates an inertial measurement unit and a heat dissipation structure. This module processes the sensor data and controls the actions of various actuators. The rear energy interface area 6 is equipped with a battery pack and a watertight electrical connector 22. The battery pack powers the entire device, and the watertight electrical connector 22 is used to realize the electrical signal and power transmission between the central suspended detection cabin 3 and the annular buoyancy body 1.

[0030] like Figure 1 As shown, the central suspended detection cabin 3 is connected to the annular buoyancy body 1 via a flexible suspension assembly 7. The flexible suspension assembly 7 includes an annular cabin-side lifting lug fixedly installed on the inner wall of the annular buoyancy body 1, a central cabin-side lifting lug fixedly installed on the outer wall of the central suspended detection cabin 3, a helical compression spring 8, a hydraulic damper 9, a pre-tensioned steel wire rope, and a limiting buffer block 10. The helical compression spring 8 is sleeved on the outside of the hydraulic damper 9, and the two are connected in parallel between the annular cabin-side lifting lug and the central cabin-side lifting lug; one end of the helical compression spring 8 is fixedly connected to the annular cabin-side lifting lug, and the other end is fixedly connected to the central cabin-side lifting lug, providing elastic support for the central suspended detection cabin 3; one end of the hydraulic damper 9 is hinged to the annular cabin-side lifting lug, and the other end is hinged to the central cabin-side lifting lug, dissipating external impact energy. The pre-tensioned steel wire rope is connected between the annular cabin-side lifting lug and the central cabin-side lifting lug, defining the initial installation position of the central suspended detection cabin 3. Limiting buffer blocks 10 are respectively set at corresponding positions on the inner wall of the annular buoyancy body 1 and the outer wall of the central suspended detection cabin 3, located at the extreme displacement stroke end between the two. When the displacement of the central suspended detection cabin 3 relative to the annular buoyancy body 1 exceeds the preset stroke, the limiting buffer blocks 10 abut against each other to prevent rigid collision.

[0031] like Figure 1 and Figure 2 As shown, the concealed three-point flexible small wheel assembly 11 includes three sets of auxiliary obstacle-crossing mechanisms evenly distributed 120° around the bottom of the annular buoyancy body 1. Each set of auxiliary obstacle-crossing mechanisms includes a storage compartment, a sealed compartment cover 12, a sliding guide structure 13, a short and wide arc-shaped swing arm 14, a flexible connection unit 15, and a small auxiliary obstacle-crossing wheel 16.

[0032] The storage compartment is located at the bottom of the annular buoyancy body 1 and extends radially inward, with its opening facing downward. The sealing cover 12 is movably installed at the opening of the storage compartment, and its shape is adapted to the opening. In the hidden state, the outer surface of the sealing cover 12 is basically flush with the outer surface of the bottom wall of the annular buoyancy body 1, and the storage compartment is isolated from the external water body by a sealing strip.

[0033] The sliding guide structure 13 is fixedly installed inside the storage compartment, and has a guide groove along the extension direction of the storage compartment. The first end of the short and wide arc-shaped swing arm 14 is rotatably connected to the bottom inner side of the storage compartment through a hinged base, and the second end is connected to a small auxiliary obstacle-crossing wheel 16 through a flexible connecting unit 15. The middle part of the short and wide arc-shaped swing arm 14 is provided with a guide pin that slides in cooperation with the guide groove of the sliding guide structure 13.

[0034] The small auxiliary obstacle-crossing wheel 16 has a built-in hub motor, which is electrically connected to the obstacle-crossing and escape control circuit of the main control module 5 via a watertight cable. Under normal cruising conditions, the hub motor is de-energized, and the small auxiliary obstacle-crossing wheel 16 is in a free-rotating state; when the detection device runs aground or encounters an obstacle, the hub motor is energized and started to provide auxiliary traction for the detection device.

[0035] The flexible connection unit 15 includes a bellows outer sleeve and an elastomer bushing disposed inside the bellows outer sleeve. The axle of the small auxiliary obstacle-crossing wheel 16 passes through the elastomer bushing. The elastomer bushing gives the small auxiliary obstacle-crossing wheel 16 a passive deflection degree of freedom relative to the short and wide arc-shaped swing arm 14, so as to adapt to the irregular contact surface of rock walls, shallow waters, or locally protruding obstacles.

[0036] In the concealed state, all components of the three sets of auxiliary obstacle-crossing mechanisms are completely stored in their respective storage compartments, with the sealed compartment cover 12 closed, and the entire structure does not exceed the outer contour of the annular buoyancy body 1. In the deployed state, the sealed compartment cover 12 is opened, and the short, wide arc-shaped swing arm 14 slides outward under the guidance of the sliding guide structure 13 and swings outward around the hinged base, causing the small auxiliary obstacle-crossing wheel 16 to extend beyond the outer contour of the annular buoyancy body 1 and contact the surface of the obstacle.

[0037] like Figure 1 and Figure 3 As shown, multiple sets of embedded microducted propellers 19 are arranged at intervals along the circumference of the annular buoyancy body 1. Each set of embedded microducted propellers 19 includes a flow guide, a propeller, and a motor nacelle. The flow guide is embedded in the outer wall of the annular buoyancy body 1, and its axial direction forms a predetermined angle with the radial or tangential direction of the annular buoyancy body 1; the propeller is rotatably disposed within the flow guide; the motor nacelle is disposed inside the annular buoyancy body 1, and the output end of the drive motor in the motor nacelle is connected to the propeller drive through a watertight shaft seal. Multiple sets of embedded microducted propellers 19 achieve forward movement, turning, and attitude fine-tuning of the detection device through differential speed coordination.

[0038] like Figures 1 to 3 As shown, lateral damping anti-roll fins 20 are also fixedly installed on the outer walls of both sides of the annular buoyancy body 1. The fin surface of the lateral damping anti-roll fins 20 extends along the axial direction of the annular buoyancy body 1, and its cross-section is airfoil-shaped. During the movement of the detection device, the yaw and rotational disturbances are suppressed by hydrodynamic damping.

[0039] The center of gravity of the central suspended detection cabin 3 is lower than the center of buoyancy of the annular buoyancy body 1, which makes the detection device form a suspended and self-stabilized attitude in the water. That is, the central suspended detection cabin 3 always hangs naturally, and the transparent window of the front sensing area always faces the direction of the detection target.

[0040] In this embodiment, the detection device is first lowered from a shore or ship base into the water of a water-rich karst underground passage. After entering the water, the solid buoyancy material 2 within the annular buoyancy body 1 provides the main buoyancy, causing the entire device to suspend in the water. Since the center of gravity of the central suspended detection chamber 3 is lower than the center of buoyancy of the annular buoyancy body 1, the device automatically adjusts to a suspended self-stabilizing posture, and the central suspended detection chamber 3 hangs naturally, with the transparent viewing window of the front sensing area facing downwards or to the side downwards towards the detection target.

[0041] Subsequently, the embedded micro-ducted propeller 19 is activated, and multiple sets of ducted propellers work together to provide forward thrust and steering torque for the device, enabling it to cruise along a predetermined detection route in the underwater channel. During the cruise, the camera module in the front-end sensing area acquires real-time image information of the channel, the sonar transducer array emits and receives sound wave signals to detect obstacles and the channel outline in front and to the sides, the laser scale instrument accurately measures the channel dimensions, and the illumination ring provides supplementary lighting for low-light environments. The main control module 5 processes, stores, and / or transmits the above sensor data in real time through the watertight electrical connector 22. The lateral damping anti-roll fin 20 continuously suppresses yaw and rotational disturbances during the journey, ensuring stable attitude.

[0042] When the device encounters shallow water, piles of gravel, or cross-sectional contraction during exploration, causing it to run aground or become stuck, the main control module 5 first attempts to escape by reversing or turning using the embedded micro-duct propeller 19. If this fails, the hidden three-point flexible small wheel set 11 is activated. The sealed compartment cover 12 opens, and the short, wide arc-shaped swing arm 14 slides outward and swings outward under the guidance of the sliding guide structure 13, allowing the three sets of small auxiliary obstacle-crossing wheels 16 to extend synchronously beyond the outer contour of the annular buoyancy body 1, contacting the grounding contact surface or the obstacle surface to form a three-point stable support. Subsequently, the built-in hub motor is briefly powered on and starts, causing the small auxiliary obstacle-crossing wheels 16 to rotate, providing auxiliary traction for the device. Combined with the propulsion of the embedded micro-duct propeller 19, this allows the device to detach from the grounded or stuck position. After escaping, the hub motor is powered off, the short, wide arc-shaped swing arm 14 swings back in the opposite direction, the sealed compartment cover 12 closes, and the small auxiliary obstacle-crossing wheels 16 are completely retracted into the storage compartment. The device regains its smooth annular appearance and continues normal cruise exploration.

[0043] Throughout the entire exploration process, the flexible suspension assembly 7 continues to function. When the annular buoyancy body 1 is impacted by a rock wall or water flow, the helical compression spring 8 absorbs the impact energy and generates elastic deformation, causing the central suspended exploration cabin 3 to generate a buffer displacement relative to the annular buoyancy body 1. The hydraulic damper 9 dissipates vibration energy and accelerates its decay. The limiting buffer block 10 plays a limiting protection role under extreme displacement, thereby ensuring that the precision sensor array inside the central suspended exploration cabin 3 is protected from external impacts and vibration interference, and ensuring high-quality continuous acquisition of exploration data.

[0044] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit the technical solutions. Those skilled in the art should understand that any modifications or equivalent substitutions to the technical solutions of the present invention without departing from the spirit and scope of the present invention should be covered within the scope of the claims of the present invention.

Claims

1. A ring-shaped suspended underwater detection device for detecting water-rich karst underground passages, characterized in that, include: The annular buoyancy body (1) has a closed annular structure with an axially penetrating mounting hole at its center. The central suspended detection cabin (3) is disposed in the mounting hole and is used to carry the detection payload; The flexible suspension assembly (7) connects the central suspended detection cabin (3) to the annular buoyancy body (1) and enables the central suspended detection cabin (3) to have a buffer displacement degree of freedom relative to the annular buoyancy body (1) within a preset stroke. The hidden three-point flexible small wheel assembly (11) includes three sets of auxiliary obstacle-crossing mechanisms evenly distributed along the bottom circumference of the annular buoyancy body (1) at 120°. The auxiliary obstacle-crossing mechanism has a hidden state that is housed inside the annular buoyancy body (1) and an unfolded state that extends to the outside of the annular buoyancy body (1) and contacts the surface of the obstacle. An embedded microduct propeller (19) is disposed on the outer periphery of the annular buoyancy body (1) to provide cruising propulsion for the detection device; as well as A sensor array, mounted on the central suspended detection cabin (3) and / or the annular buoyancy body (1), is used to collect environmental information of the underwater channel.

2. The detection device according to claim 1, characterized in that, The annular buoyancy body (1) includes an outer shell, an inner shell, an upper annular end plate, and a lower annular end plate. The outer shell and the inner shell are spaced apart and their two ends are respectively sealed and connected by the upper annular end plate and the lower annular end plate, forming a closed annular buoyancy cavity. The annular buoyancy cavity is provided with multiple circumferentially distributed baffles, which divide the annular buoyancy cavity into multiple independent baffles. Each independent baffle is filled with low-density solid buoyancy material (2).

3. The detection device according to claim 1, characterized in that, The central suspended detection chamber (3) is a short cylindrical capsule-shaped sealed pressure chamber, and its interior is divided into a front-end sensing area, a middle control area and a rear-end energy interface area (6) along its own axis. The front-end sensing area is equipped with a transparent window, and the sensor array includes a camera module, a sonar transducer array, an illumination ring and a laser scale instrument set in the front-end sensing area. The middle control area is equipped with a main control module (5) that integrates an inertial measurement unit and a heat dissipation structure. The rear-end energy interface area (6) is equipped with a battery pack and a watertight electrical connector (22).

4. The detection device according to claim 1, characterized in that, The flexible suspension assembly (7) includes a lug, a helical compression spring (8), a hydraulic damper (9), a pre-tensioned steel wire rope, and a limiting buffer block (10). The lug is fixedly installed on the inner wall of the annular buoyancy body (1) and the outer wall of the central suspended detection chamber (3). The helical compression spring (8) is sleeved on the outside of the hydraulic damper (9), and the two are connected in parallel between the annular buoyancy body (1) and the central suspended detection chamber (3) to provide elastic support and dissipate impact energy. The limiting buffer block (10) is installed at the limit displacement stroke end between the annular buoyancy body (1) and the central suspended detection chamber (3) to limit the maximum relative displacement.

5. The detection device according to claim 1, characterized in that, Each of the aforementioned obstacle-crossing mechanisms includes: The storage compartment is located at the bottom of the annular buoyancy body (1) and extends radially inward; A sealing cover (12) is movably installed at the opening of the storage compartment to isolate the storage compartment from external water bodies in the hidden state; A sliding guide structure (13) is fixedly installed inside the storage compartment; A short, wide, arc-shaped swing arm (14), the first end of which is rotatably connected to the bottom of the storage compartment via a hinged base, and the second end is connected to a small auxiliary obstacle-crossing wheel (16); and A flexible connection unit (15) is connected between the second end of the short and wide arc-shaped swing arm (14) and the small auxiliary obstacle-crossing wheel (16); The sliding guide structure (13) is used to guide the short and wide arc swing arm (14) to slide outward along a preset trajectory in the unfolded state. The short and wide arc swing arm (14) is used to swing outward around the hinge base in the unfolded state so that the small auxiliary obstacle-crossing wheel (16) extends beyond the outer contour of the annular buoyancy body (1).

6. The detection device according to claim 5, characterized in that, The small auxiliary obstacle-crossing wheel (16) has a built-in hub motor, which is electrically connected only to the obstacle-crossing and escape control circuit. When the detection device is in normal cruising state, the hub motor is de-energized and the small auxiliary obstacle-crossing wheel (16) rotates freely. When the detection device runs aground or encounters an obstacle, the hub motor is energized and started to provide auxiliary traction to the detection device.

7. The detection device according to claim 5, characterized in that, The flexible connection unit (15) includes a corrugated outer sleeve and an elastomer bushing disposed inside the corrugated outer sleeve. The axle of the small auxiliary obstacle-crossing wheel (16) passes through the elastomer bushing. The elastomer bushing is used to cause the small auxiliary obstacle-crossing wheel (16) to passively deflect relative to the short and wide arc swing arm (14) to adapt to the irregular contact surface of rock walls, shallow waters or locally protruding obstacles.

8. The detection device according to claim 1, characterized in that, The embedded micro-duct propeller (19) includes a flow guide, a propeller and a motor compartment. The flow guide is embedded in the outer wall of the annular buoyancy body (1). The propeller is rotatably disposed in the flow guide. The motor compartment is disposed inside the annular buoyancy body (1) and is connected to the propeller for transmission. There are multiple sets of embedded micro-duct propellers (19). Multiple sets of embedded micro-duct propellers (19) are arranged at intervals along the circumference of the annular buoyancy body (1) to realize the forward movement, turning and attitude fine adjustment of the detection device.

9. The detection device according to claim 1, characterized in that, The outer walls on both sides of the annular buoyancy body (1) are also provided with lateral damping anti-roll fins (20). The fin surfaces of the lateral damping anti-roll fins (20) extend along the axial direction of the annular buoyancy body (1) to suppress yaw and rotational disturbances during the movement of the detection device.

10. The detection device according to any one of claims 1 to 9, characterized in that, The center of gravity of the central suspended detection cabin (3) is lower than the center of buoyancy of the annular buoyancy body (1) so that the detection device can form a suspended self-stabilizing attitude in the water.

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