Diversion tunnel underwater detection robot

Abstract

The underwater detection robot comprises a streamline upper shell and a streamline lower shell, an aluminum profile frame is arranged between the upper shell and the lower shell, the aluminum profile frame is divided into an upper layer, a middle layer, a lower layer and a bottom layer, and the upper layer and the lower layer of the aluminum profile frame are rectangular frames and are embedded into the upper shell and the lower shell respectively. An arc-shaped frame is arranged at the bottom of the aluminum profile frame and embedded into the lower shell, a cylindrical sealed cabin is installed at the bottom of the aluminum profile frame, and a controller is arranged in the cylindrical sealed cabin; the upper layer and the middle layer of the aluminum profile frame are provided with four groups of searchlights and cameras which are distributed in the front direction, the rear direction, the left direction and the right direction of the robot, and the lower layer and the upper layer of the aluminum profile frame are provided with four horizontal propellers capable of rotating horizontally and two vertical propellers. The searchlight, the camera and the propeller are all electrically connected with the controller, and the controller is electrically connected with a remote controller through a mooring cable. According to the utility model, the detection task of the long-distance and large-diameter diversion tunnel can be completed more comprehensively, efficiently and stably.

Description

Technical Field

[0001] This utility model relates to the field of underwater inspection equipment technology, specifically to an underwater inspection robot for water diversion tunnels. Background Technology

[0002] The statements herein provide only background information related to this invention and do not necessarily constitute prior art.

[0003] With the development of underwater robot technology, underwater robots are gradually being applied in various fields such as maritime rescue, oil development, geological surveying, aquaculture, underwater ship maintenance, and recreational diving. The vast majority of these applications are in open water, and the shape and structure of underwater robots are largely adapted to open water environments.

[0004] When underwater robots are used in water diversion tunnels, the tunnels present unique challenges due to their unidirectional water flow, long length, large diameter, high water pressure, and complex surrounding rock conditions. Existing underwater robots struggle with high water pressure, long-distance detection and data transmission, and difficulties in initiating movement within the tunnel's currents. Furthermore, underwater robots require 360° comprehensive observation and detection of the tunnel to identify defects in large-diameter tunnels, a task that current robots often cannot perform fully and comprehensively. Utility Model Content

[0005] To address the aforementioned problems and deficiencies in existing technologies, this utility model provides an underwater inspection robot for water diversion tunnels. This robot is a streamlined, tethered underwater inspection robot with multiple thrusters and cameras. It adopts a streamlined shape and internal frame structure, with multiple sets of thrusters, cameras, and searchlights mounted on the internal frame. It overcomes many limitations brought about by water diversion tunnels, such as unidirectional water flow, long tunnel length, large tunnel diameter, high water pressure, and complex surrounding rock geological conditions, and can more comprehensively, efficiently, and stably complete the inspection tasks of long-distance, large-diameter water diversion tunnels.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] An underwater inspection robot for water diversion tunnels includes streamlined upper and lower shells, with an aluminum profile frame between the upper and lower shells. The aluminum profile frame is divided into four layers: upper, middle, lower, and bottom. The upper and lower layers of the aluminum profile frame are rectangular frames and are respectively embedded in the upper and lower shells. The bottom of the aluminum profile frame is an arc-shaped frame and is embedded inside the lower shell. A cylindrical sealed chamber is installed at the bottom of the aluminum profile frame, and a controller is installed inside the cylindrical sealed chamber.

[0008] The upper and middle layers of the aluminum profile frame are equipped with four sets of searchlights and cameras distributed in the front, back, left and right directions of the robot. The lower and upper layers of the aluminum profile frame are equipped with four horizontally rotatable thrusters and two vertical thrusters. The searchlights, cameras and thrusters are all electrically connected to the controller, which is electrically connected to the remote controller via a tethered cable.

[0009] A further technical solution involves installing two sets of searchlights and cameras on the front and rear sides of the upper layer of the aluminum profile frame, with the two sets of searchlights and cameras embedded in the pre-reserved installation positions at the beginning and end of the upper shell; the middle layer of the aluminum profile frame is located between the upper and lower layers and is fixedly connected to the midpoint of the upper and lower layers by bolts and angle brackets; two sets of searchlights and cameras are installed on the left and right sides of the middle layer of the aluminum profile frame.

[0010] A further technical solution involves installing two vertical pushers on the left and right sides of the upper layer of the aluminum profile frame, with the two vertical pushers embedded in the reserved installation positions on the left and right sides of the upper shell; and installing one horizontal pusher on each of the four positions (front, back, left, and right) of the lower layer of the aluminum profile frame.

[0011] A further technical solution involves installing an outer contour fixing ring on the outside of the upper and lower shells, with the aluminum profile frame, upper and lower shells, and outer contour fixing ring being fixedly connected sequentially from the inside out.

[0012] A further technical solution involves providing a lifting ring at the top center of the upper housing.

[0013] A further technical solution is that the robot has a tail wing at its tail end. The tail wing includes a vertical tail portion and a horizontal tail portion. The vertical tail portion includes two vertical tails with the same structure, which are fixedly installed in parallel at one end of the upper shell near the tail end. The horizontal tail portion includes two horizontal tails with the same structure, which are installed in parallel at the rear side of the upper and lower layers of the aluminum profile frame, respectively.

[0014] A further technical solution is that the front end of the robot is provided with a triangular prism-shaped water-breaking structure, which is installed on the front side of the upper layer of the aluminum profile frame and embedded in the installation position reserved at the front end of the upper shell.

[0015] The front end of the water-breaking structure is an inclined surface, and multiple parallel guide slits are provided on the inclined surface, each of which is horizontal.

[0016] A further technical solution is that the tail of the robot is fixed with a tether cable, which is fixed to the rear side of the lower layer of the aluminum profile frame. One end of the tether cable is electrically connected to the controller inside the cylindrical sealed cabin, and the other end is electrically connected to the remote controller.

[0017] A further technical solution involves an opening on the rear side of the cylindrical sealed chamber, with a sealing ring inside the opening. A tethered cable passes through the sealing ring and is electrically connected to the internal controller.

[0018] A further technical solution is that the streamlined upper shell is an integrated structure made of buoyancy material, and the streamlined lower shell is composed of 4 buoyancy blocks, 2 outer protective plates and 1 front plate. The 4 buoyancy blocks are symmetrically distributed at the four corners of the robot. The front and rear buoyancy blocks are connected by the outer protective plates, and the left and right buoyancy blocks are fixedly connected by the front plate.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] 1. The underwater inspection robot for water diversion tunnels proposed in this utility model works in water diversion tunnels by being tethered, enabling long-distance detection and data transmission. The robot adopts a streamlined shape and internal frame structure, and is equipped with multiple sets of thrusters, cameras and searchlights on the internal frame. It overcomes many limitations brought about by water diversion tunnels, such as unidirectional water flow, long tunnel lines, large tunnel diameters, high water pressure and complex surrounding rock geological conditions, and can more comprehensively, efficiently and stably complete the inspection tasks of long-distance, large-diameter water diversion tunnels.

[0021] 2. The underwater inspection robot proposed in this utility model has four sets of searchlights and cameras distributed in the front, back, left, and right directions. The searchlights and cameras in the front and back, and left and right are distributed at different heights, increasing the detection range. This allows the robot to combine different movement modes to achieve comprehensive and complete inspection of large-diameter water diversion tunnels. The six thrusters are distributed in different positions, symmetrically arranged on the left and right, and at a certain angle to ensure that the robot has sufficient thrust. Combined with buoyancy materials, the robot can perform forward, backward, turning, tilting, rolling, rising, and sinking movements in high water pressure environments. Moreover, the frame structure design can effectively reduce weight, volume, and the amount of buoyancy materials used, while also further reducing water pressure resistance, making the robot more suitable for underwater inspection of water diversion tunnels and enabling it to complete detection tasks more flexibly and efficiently.

[0022] 3. The underwater inspection robot proposed in this utility model has a lifting ring installed at the top center of the robot, which enables the small robot to enter the water flow in complex surrounding rock environments and begin to perform its tasks.

[0023] 4. The underwater inspection robot proposed in this utility model has a vertical tail and a horizontal tail section similar to an aircraft tail fin. Through the above design, the horizontal and vertical tail structure similar to an aircraft tail fin is applied to the underwater robot. This design can not only significantly enhance the stability and maneuverability of the robot in the variable underwater environment, ensuring precise attitude and direction control when performing tasks, but also improve its maneuverability and assist in the robot's attitude control, thereby effectively reducing resistance during underwater movement, thus improving energy utilization efficiency and extending the robot's working time. In addition, signal lights or other markings can be installed on the tail fin of the robot, which can effectively improve the adaptability and functionality of the underwater robot.

[0024] 5. The underwater inspection robot proposed in this utility model has a water-breaking structure at its front end. This water-breaking structure can effectively break the water flow and reduce the water resistance during the robot's forward movement. At the same time, the water-breaking structure can also play a certain role in collision buffering, improving the safety performance of the robot's operation. The multiple parallel horizontal guide slits set at the front end of the water-breaking structure can effectively improve the robot's forward speed and forward stability, and can still ensure stable forward movement even in turbulent water flow. Attached Figure Description

[0025] The accompanying drawings, which form part of this specification, are used to provide a further understanding of this utility model. The illustrative embodiments of this utility model and their descriptions are used to explain this utility model and do not constitute an improper limitation of this utility model.

[0026] Figure 1 This is a schematic diagram of the underwater inspection robot for water diversion tunnels described in this utility model;

[0027] Figure 2 This is a schematic diagram of the overall frame structure of the robot described in this utility model;

[0028] Figure 3 This is a schematic diagram of the upper and lower shells of the robot described in this utility model;

[0029] Figure 4 This is a schematic diagram showing the distribution of multiple horizontal thrusters in the robot described in this utility model;

[0030] Figure 5 This is a schematic diagram showing the distribution of multiple vertical thrusters in the robot described in this utility model;

[0031] Figure 6 This is a schematic diagram showing the distribution of multiple searchlights and cameras in the robot described in this utility model;

[0032] Figure 7 This is a schematic diagram of the aluminum profile frame in the robot described in this utility model;

[0033] Figure 8 This is a front view of the internal structure of the robot described in this utility model;

[0034] Figure 9 This is a front view of the robot described in this utility model;

[0035] Figure 10 This is a side view of the robot described in this utility model;

[0036] Figure 11 This is a top view of the robot described in this utility model.

[0037] The components include: 1. Upper shell; 2. Lower shell; 3. Aluminum profile frame; 4. Outer contour fixing ring; 5. Lifting ring; 6. Buoyancy block; 7. Outer protective plate; 8. Front plate; 9. Horizontal thruster; 10. Vertical thruster; 11. Searchlight and camera; 12. Upper layer; 13. Middle layer; 14. Lower layer; 15. Bottom layer; 16. Upper horizontal tail; 17. Lower horizontal tail; 18. Left vertical tail; 19. Right vertical tail; 20. Tail rudder; 21. Water-breaking structure; 22. Flow guide slot. Detailed Implementation

[0038] It should be noted that the following detailed descriptions are illustrative and intended to provide further explanation of this application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0039] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0040] like Figure 1 As shown, this utility model proposes a streamlined, multi-thrust, camera-equipped tethered underwater inspection robot for water diversion tunnels. The robot's overall shape is a streamlined ellipse, as... Figure 2 As shown, the robot comprises two streamlined outer shells, an upper shell 1 and a lower shell 2, and an aluminum profile frame 3. The aluminum profile frame 3 is divided into four layers: upper, middle, lower, and bottom. The upper and lower layers of the aluminum profile frame are rectangular frames and are embedded in the upper and lower shells respectively. The bottom of the aluminum profile frame is an arc-shaped frame and is embedded inside the lower shell. A cylindrical sealed chamber is installed at the bottom of the aluminum profile frame. The installed cylindrical sealed chamber is actually located between the middle and bottom layers of the aluminum profile frame. Electronic components such as controllers are installed inside the cylindrical sealed chamber.

[0041] To achieve complete and comprehensive all-around inspection, four sets of searchlights and cameras 11 are installed on the upper and middle layers of the aluminum profile frame 3, respectively, in the front, back, left, and right directions of the robot. Four horizontally rotatable thrusters 9 and two vertical thrusters 10 are installed on the lower and upper layers of the aluminum profile frame, respectively. The searchlights, cameras, and thrusters are all electrically connected to the controller, which is electrically connected to the remote controller through a tether cable. The tether cable is used for signal transmission and power supply to the robot.

[0042] Furthermore, the upper housing 1 has reserved mounting positions for the thrusters, aluminum profile frame, searchlights, and cameras, while the lower housing 2 has reserved mounting positions for the aluminum profile frame. These reserved mounting positions facilitate the fixed installation of each device. The robot is equipped with a total of 4 sets of searchlights and cameras, as well as 6 thrusters, including 4 horizontal thrusters and 2 vertical thrusters.

[0043] Two sets of searchlights and cameras are installed on the front and rear sides of the upper layer of the aluminum profile frame 3, respectively. The two sets of searchlights and cameras 11 are embedded in the pre-reserved installation positions at the beginning and end of the upper shell; for example Figure 7 and Figure 8 As shown, the aluminum profile frame is composed of aluminum profiles of different lengths connected together, with corner brackets installed at each connection point and secured by bolts. Specifically, the upper layer 12, middle layer 13, lower layer 14, and bottom layer 15 of the aluminum profile frame are fixedly connected by bolts and corner brackets. The middle layer of the aluminum profile frame 3 is located between the upper and lower layers and is fixedly connected to the midpoint between the upper layer 12 and the lower layer 14 by bolts and corner brackets. Two sets of searchlights and cameras 11 are installed on the left and right sides of the middle layer of the aluminum profile frame 3, respectively; that is, the two sets of searchlights and cameras installed here are located between the upper and lower shells. Specifically, as... Figure 6 As shown, all four sets of searchlights and cameras are fixed to the aluminum profile frame using brackets. The front and rear sets of searchlights and cameras are fixed to the upper layer of the aluminum profile frame by semi-circular block-shaped brackets, and the distance between the searchlights and cameras is different. The left and right sets of searchlights and cameras are fixed to the middle layer of the aluminum profile frame using different brackets, with the same spacing. This distribution of searchlights and cameras allows the robot to have a larger detection range and complete a more comprehensive inspection of the water diversion tunnel.

[0044] Two vertical thrusters 10 are installed on the upper left and right sides of the aluminum profile frame 3, respectively, and the two vertical thrusters are embedded in the pre-reserved installation positions on the left and right sides of the upper shell; a horizontal thruster 9 is installed on the lower front, rear, left, and right sides of the aluminum profile frame 3. Specifically, the vertical thrusters are as follows: Figure 5 and Figure 10As shown, the six thrusters are mounted on the aluminum profile frame via motor mounting brackets. Four horizontal thrusters are distributed at the front and rear of the robot, symmetrically positioned and at different angles to the robot's central axis. This arrangement ensures the robot can perform forward, backward, and turning movements. The horizontal thrusters are as follows: Figure 4 As shown, two vertical thrusters are symmetrically distributed at both ends of the robot and are tilted at a certain angle, ensuring that the robot can perform actions such as rising, sinking, tilting, and rolling. In addition, the robot adopts a frame structure design, which can effectively reduce weight, size, and the amount of buoyancy material used, while also further reducing water pressure resistance. This makes the robot more suitable for underwater inspection of water diversion tunnels, allowing it to be more flexible and efficient in its movements, thus completing the detection task.

[0045] Furthermore, the aluminum profile frame is located between the upper and lower shells and is embedded therein to connect the two shells. Meanwhile, as... Figure 2 As shown, outer contour fixing rings 4 are installed on the outside of the upper and lower shells. The aluminum profile frame, upper and lower shells, and outer contour fixing rings are fixedly connected from the inside to the outside to form the robot frame. That is, the aluminum profile frame is embedded between the upper and lower shells, and the outer contour fixing rings are fitted on the outside of this entire structure. The aluminum profile frame and the upper and lower shells are fixedly connected by bolts or other means to ensure the stability of the entire robot frame.

[0046] Furthermore, such as Figure 11 As shown, a lifting ring 5 is provided at the top center of the upper shell. By setting this lifting ring, the robot can be lowered into the water flow in a complex surrounding rock environment to start performing tasks.

[0047] Furthermore, such as Figure 1 As shown, the robot has a tail fin, which is similar to an aircraft tail fin. It includes a vertical tail section and a horizontal tail section. The vertical tail section includes two identical vertical tails, namely a left vertical tail 18 and a right vertical tail 19, which are fixedly mounted in parallel on one end of the upper shell near the tail. The horizontal tail section includes two identical horizontal tails, namely an upper horizontal tail 16 and a lower horizontal tail 17, which are mounted in parallel on the rear side of the upper and lower layers of the aluminum profile frame, respectively. The upper and lower horizontal tails are separated by a certain distance. Each vertical tail and horizontal tail is equipped with a movable tail rudder 20, which can help the robot enhance stability, improve maneuverability, improve maneuverability, assist in attitude control, and adapt to different underwater environments.

[0048] By applying a horizontal and vertical tail structure similar to that of an aircraft tail to an underwater robot, the aforementioned design significantly enhances its stability and maneuverability in variable underwater environments, ensuring precise attitude and directional control during task execution. It also improves its maneuverability, allowing it to navigate turbulent currents or complex terrain with agility. This design reduces drag during underwater movement, thereby improving energy efficiency and extending the robot's operational time.

[0049] Preferably, the tail fin of the robot can be equipped with signal lights or other markings to enhance the robot's visibility and facilitate monitoring and management in open water. Furthermore, the modular tail fin design simplifies maintenance and repair, reduces operating costs, and, more importantly, provides additional mounting points for various sensors and tools, effectively expanding the robot's functionality and enabling it to perform a wider range of tasks, such as seabed exploration, environmental monitoring, and underwater photography. These design features further enhance the adaptability and functionality of the underwater robot.

[0050] like Figure 1 and Figure 9 As shown, the robot's front end features a triangular prism-shaped water-breaking structure 21. This structure is installed on the front side of the upper aluminum profile frame and embedded in a pre-reserved mounting position at the front of the upper shell. The front end of the water-breaking structure 21 is inclined, effectively breaking the water flow and reducing water resistance during the robot's movement. Simultaneously, the water-breaking structure 21 is integrally made of soft silicone material, providing a certain degree of collision cushioning and improving the robot's operational safety. Furthermore, multiple parallel guide slits 22 are provided on the inclined surface of the front end of the water-breaking structure 21. During the robot's forward movement, water can flow through these guide slits into the rear thrusters, increasing the robot's forward speed. Each guide slit 22 is horizontal, significantly improving the robot's stability, ensuring stable movement even in turbulent water.

[0051] Furthermore, the robot's tail is secured with a tether cable, which is fixed to the rear side of the lower layer of the aluminum profile frame. One end of the tether cable is electrically connected to a controller inside the cylindrical sealed chamber, and the other end is electrically connected to a remote controller, supporting long-distance detection and data transmission for the robot. Additionally, the rear side of the cylindrical sealed chamber has an opening with a sealing ring inside, through which the tether cable passes and connects to the internal controller. Preferably, the robot uses a coaxial umbilical cable to provide power and communication signals to the robot body. This umbilical cable is characterized by high reliability and cost-effectiveness, and is configured with zero buoyancy, effectively reducing the impact of the umbilical cable's weight on the underwater robot's movement.

[0052] In this utility model, such as Figure 3As shown, the streamlined upper shell is an integrated structure made of buoyancy material, and the streamlined lower shell is composed of four buoyancy blocks 6, two outer protective plates 7, and one front plate 8. The four buoyancy blocks are symmetrically distributed at the four corners of the robot. The front and rear buoyancy blocks are connected by the outer protective plates, and the left and right buoyancy blocks are fixedly connected by the front plate. All of the above structures can be fixed to the buoyancy material by outer contour fixing rings. This structural design facilitates the installation of the robot. Preferably, the buoyancy material is made of low-density foam material, and the surface is waterproofed and painted after processing. It has the advantages of low water absorption, low specific gravity, and high strength. Among them, low-density foam materials include polystyrene foam (EPS white foam), polyethylene foam (PE foam), polypropylene foam (PP foam), polyurethane foam (PU foam), etc.

[0053] The specific working process of this utility model is as follows:

[0054] In the complex geological environment of the water diversion tunnel, the robot is lowered into the water flow using a hoisting ring. A remote controller is then activated, and control signals are transmitted via a tethered cable to the robot controller, which controls the robot's movement. The remote controller controls the activation and deactivation of the robot's six thrusters and the rotation of its four horizontal thrusters, enabling the robot to perform forward, backward, turning, tilting, rolling, rising, and sinking movements under high water pressure. Simultaneously, the robot activates multiple searchlights and cameras for comprehensive detection, and the detection data is transmitted to the robot controller, which then transmits it to the remote controller for display and storage.

[0055] The underwater inspection robot for water diversion tunnels proposed in this invention can work in water diversion tunnels by means of mooring, and can realize long-distance detection and data transmission. The robot adopts a streamlined shape and internal frame structure. The internal frame is equipped with multiple sets of thrusters, cameras and searchlights. It overcomes many limitations brought about by water diversion tunnels with unidirectional water flow, long tunnel line, large tunnel diameter, high water pressure and complex surrounding rock geological conditions, and can complete the inspection tasks of long-distance and large-diameter water diversion tunnels more comprehensively, efficiently and stably.

[0056] Although the specific embodiments of the present utility model have been described above in conjunction with the accompanying drawings, this is not intended to limit the scope of protection of the present utility model. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art without creative effort based on the technical solution of the present utility model are still within the scope of protection of the present utility model.

Claims

1. An underwater inspection robot for water diversion tunnels, characterized in that, It includes streamlined upper and lower shells, with an aluminum profile frame between the upper and lower shells. The aluminum profile frame is divided into four layers: upper, middle, lower, and bottom. The upper and lower layers of the aluminum profile frame are rectangular frames and are embedded in the upper and lower shells respectively. The bottom of the aluminum profile frame is an arc-shaped frame and is embedded inside the lower shell. A cylindrical sealed chamber is installed at the bottom of the aluminum profile frame, and a controller is installed inside the cylindrical sealed chamber. The upper and middle layers of the aluminum profile frame are equipped with four sets of searchlights and cameras distributed in the front, back, left and right directions of the robot. The lower and upper layers of the aluminum profile frame are equipped with four horizontally rotating thrusters and two vertical thrusters. The searchlight, camera, and thrusters are all electrically connected to the controller, which is in turn electrically connected to the remote controller via a mooring cable.

2. The underwater inspection robot for water diversion tunnels as described in claim 1, characterized in that, Two sets of searchlights and cameras are installed on the front and rear sides of the upper layer of the aluminum profile frame, respectively. The two sets of searchlights and cameras are embedded in the pre-reserved installation positions at the beginning and end of the upper shell. The middle layer of the aluminum profile frame is located between the upper and lower layers and is fixedly connected to the midpoint of the upper and lower layers by bolts and angle brackets. Two sets of searchlights and cameras are installed on the left and right sides of the middle layer of the aluminum profile frame, respectively.

3. The underwater inspection robot for water diversion tunnels as described in claim 1, characterized in that, Two vertical pushers are installed on the left and right sides of the upper layer of the aluminum profile frame, and the two vertical pushers are embedded in the reserved installation positions on the left and right sides of the upper shell, respectively; a horizontal pusher is installed on the front, back, left and right sides of the lower layer of the aluminum profile frame.

4. The underwater inspection robot for water diversion tunnels as described in claim 1, characterized in that, The upper and lower shells are fitted with outer contour fixing rings. The aluminum profile frame, upper and lower shells, and outer contour fixing rings are fixedly connected from the inside to the outside.

5. The underwater inspection robot for water diversion tunnels as described in claim 1, characterized in that, A lifting ring is provided at the top center of the upper shell.

6. The underwater inspection robot for water diversion tunnels as described in claim 1, characterized in that, The robot is equipped with a tail wing, which includes a vertical tail section and a horizontal tail section. The vertical tail section includes two identical left and right vertical tails, which are fixedly installed in parallel on one end of the upper shell near the tail. The horizontal tail section includes two identical upper and lower horizontal tails, which are installed in parallel on the rear side of the upper and lower layers of the aluminum profile frame, respectively.

7. The underwater inspection robot for water diversion tunnels as described in claim 1, characterized in that, The robot has a triangular prism-shaped water-breaking structure at its front end. The water-breaking structure is installed on the front side of the upper layer of the aluminum profile frame and is embedded in the installation position reserved at the front end of the upper shell. The front end of the water-breaking structure is an inclined surface, and multiple parallel guide slits are provided on the inclined surface, each of which is horizontal.

8. The underwater inspection robot for water diversion tunnels as described in claim 1, characterized in that, The robot has a tail tether cable fixed to the rear side of the lower layer of the aluminum profile frame. One end of the tether cable is electrically connected to the controller inside the cylindrical sealed chamber, and the other end is electrically connected to the remote controller.

9. The underwater inspection robot for water diversion tunnels as described in claim 8, characterized in that, The cylindrical sealed chamber has an opening on its rear side, with a sealing ring inside. A tethered cable passes through the sealing ring and is electrically connected to the internal controller.

10. The underwater inspection robot for water diversion tunnels as described in claim 1, characterized in that, The streamlined upper shell is an integrated structure made of buoyancy material. The streamlined lower shell is composed of 4 buoyancy blocks, 2 outer protective plates and 1 front plate. The 4 buoyancy blocks are symmetrically distributed at the four corners of the robot. The front and rear buoyancy blocks are connected by the outer protective plates, and the left and right buoyancy blocks are fixedly connected by the front plate.

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