An underwater inspection robot

Abstract

The application belongs to the technical field of underwater detection robots, and relates to an underwater detection robot. The underwater detection robot comprises a first bin body, a second bin body, a third bin body, a fourth bin body and a flexible connecting piece. The first bin body, the second bin body, the third bin body and the fourth bin body are sequentially connected in series along an axial direction through the flexible connecting piece. The first bin body is provided with a first camera and a posture adjusting assembly for the posture of the first bin body. The second bin body is provided with a driving assembly for driving the second bin body to move. The third bin body is provided with a hydrophone. The fourth bin body is provided with a second camera. The underwater detection robot of the application is composed of four functional bin bodies connected in series in flexibility, can adapt to various shape changes of underwater pipelines, can flexibly turn and maneuver, and can efficiently and reliably realize underwater detection.

Description

Technical Field

[0001] This application belongs to the field of underwater inspection robot technology and relates to an underwater inspection robot. Background Technology

[0002] With the acceleration of urbanization and the continuous expansion of population, urban water supply, drainage, and integrated pipe gallery systems are becoming increasingly large and complex. As a core component of urban infrastructure, the safe operation and maintenance of water supply and drainage systems play a crucial role in ensuring urban functions. Against this backdrop, regular inspection, fault diagnosis, and accurate mapping of water supply and drainage pipelines have become key aspects of urban operation and maintenance. Underwater robot technology, as a core means to achieve these tasks, has been widely applied in various water supply and drainage pipeline operation scenarios.

[0003] However, with the increasing complexity of urban pipe network layouts, especially the increase in projects such as the renovation of old pipe networks and the crossing of multiple pipes, the environment of water supply and drainage pipelines exhibits significant characteristics such as variable pipe diameters, dense bends, confined spaces, and increased obstacles. This places extremely high demands on the mobility and environmental adaptability of inspection equipment. Currently used underwater inspection robots face the challenge of insufficient flexibility. When inspection is required inside narrow or winding water supply and drainage pipelines, commonly used underwater inspection robots often cannot turn or maneuver flexibly, making it difficult to pass through narrow and winding underwater pipelines. This results in low inspection efficiency and even situations where the intended task cannot be completed, urgently requiring improvement. Utility Model Content

[0004] In response to the shortcomings or improvement needs of existing technologies, this application provides an underwater inspection robot, which aims to improve the problems of insufficient flexibility, turning and maneuverability of traditional underwater inspection robots.

[0005] This application provides an underwater inspection robot, specifically comprising a first compartment, a second compartment, a third compartment, a fourth compartment, and a flexible connector. The first compartment, the second compartment, the third compartment, and the fourth compartment are connected in series along the axial direction via the flexible connector, wherein: The first compartment is equipped with a first camera and an attitude adjustment component for adjusting the attitude of the first compartment; The second compartment is provided with a drive component for moving the second compartment; A hydrophone is installed on the third compartment. A second camera is installed on the fourth compartment.

[0006] As a further preferred embodiment, the attitude adjustment component includes: Pitch adjuster used to drive the pitch rotation of the first compartment; A lateral adjuster used to drive the lateral rotation of the first compartment.

[0007] As a further preferred embodiment, the driving component includes: The main thruster used to drive the second compartment to move back and forth; A buoyancy regulator used to drive the second compartment to rise and sink.

[0008] As a further preferred embodiment, the first, second, third, and fourth compartments are equipped with buoyancy compartments.

[0009] As a further preferred embodiment, lighting modules are provided at the axial front end of the first compartment and the axial rear end of the fourth compartment.

[0010] As a further preferred embodiment, the flexible connector includes a flexible transmission cable and a flexible metal tube sleeved around the outer periphery of the transmission cable, through which electrical energy and electrical signals are transmitted between the various compartments.

[0011] As a further preferred embodiment, a gyroscope is provided in the first compartment and / or the second compartment.

[0012] As a further preferred embodiment, at least one of the first, second, third, and fourth compartments is provided with a depth sensor.

[0013] As a further preferred embodiment, the fourth compartment is equipped with a battery; And / or, the end of the fourth compartment is connected to an external power source via a cable to power the underwater inspection robot.

[0014] As a further preferred embodiment, the underwater inspection robot also includes several auxiliary thrusters, which are disposed on the outer periphery of the flexible connector and whose thrusting direction intersects with the series connection direction between the various compartments.

[0015] In summary, compared with the prior art, the technical solutions conceived in this application have the following main technical advantages: 1. This inspection robot features a four-compartment split flexible connection design, which can effectively control the size of each compartment. By flexibly connecting the four functional compartments into one, the underwater inspection robot has a slender and extremely flexible overall shape, which can adapt to various underwater pipeline networks with multiple bends and branches. It is especially suitable for condition inspection in environments such as small-diameter pipelines and various bends and valves.

[0016] 2. This underwater inspection robot is equipped with a pitch and lateral adjuster in the first compartment of the head, and a main thruster and buoyancy adjuster in the second compartment. With the flexibility of the flexible connector and the auxiliary propulsion capability of the auxiliary thruster, the underwater inspection robot has a variety of controllable postures and can turn and maneuver flexibly in complex underwater environments.

[0017] 3. Since the pitch and lateral adjusters are both integrated into the first compartment, the attitude adjustment of the first compartment is extremely flexible. By adjusting the pitch and lateral adjusters, the first camera can be oriented towards and close to the target position, so as to perform detailed detection of certain target positions underwater. In addition, both the first and second compartments are equipped with buoyancy chambers and gyroscopes, which can effectively ensure the smooth operation of the underwater inspection robot and ensure the stability of the underwater inspection process. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of the underwater inspection robot provided in the embodiments of this application; Figure 2 This is a front view of the underwater inspection robot provided in the embodiments of this application; Figure 3 This is a bottom view of the underwater inspection robot provided in the embodiments of this application; Figure 4 This is a schematic diagram of the structure of the first compartment provided in the embodiments of this application; Figure 5 This is an exploded view of the first compartment provided in the embodiments of this application; Figure 6 This is a schematic diagram of the structure of the second compartment provided in the embodiments of this application; Figure 7 This is a schematic diagram of the structure of the third compartment provided in the embodiments of this application; Figure 8 This is a schematic diagram of the structure of the fourth compartment provided in the embodiments of this application; Figure 9 This is a schematic diagram of the auxiliary thruster provided in an embodiment of this application; Figure 10 This is a flowchart of the detection method provided in the embodiments of this application; Figure 11 This is a trend chart of the underwater inspection robot in the variable diameter pipeline provided in the embodiments of this application; Figure 12 This is a trend diagram of the underwater inspection robot in the curved pipe provided in the embodiments of this application.

[0019] In all the accompanying drawings, the same reference numerals are used to denote the same elements or structures, wherein: 1. First compartment; 1-1. First camera; 1-2. Pitch adjuster; 1-2a. First motor; 1-2b. First propeller blade; 1-3a. Second motor; 1-3b. Second propeller blade; 1-3. Lateral adjuster; 1-4. Protective cover; 1-5. Outer shell component; 2. Second compartment; 2-1. Main thruster; 2-2. Buoyancy adjuster; 3. Third compartment; 3-1. Hydrophone; 4. Fourth compartment; 4-1. Second camera; 5. Flexible connector; 6. Auxiliary thruster; 6-1. Mounting frame; 6-1a. Cylinder; 6-1b. Balance ring; 6-1c. Protective sleeve; 6-2. Fifth blade. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0021] The following is in conjunction with the appendix Figures 1-12 This application will be described in further detail.

[0022] This application discloses an underwater inspection robot. (Refer to...) Figures 1-9 The underwater inspection robot includes a first compartment 1, a second compartment 2, a third compartment 3, a fourth compartment 4, and a flexible connector 5. The first compartment 1, the second compartment 2, the third compartment 3, and the fourth compartment 4 are connected in series along the axial direction via the flexible connector 5. The first compartment 1 is equipped with a first camera 1-1 and an attitude adjustment component for adjusting the first compartment 1. The second compartment 2 is equipped with a drive component for moving the second compartment 2. The third compartment 3 is equipped with a hydrophone 3-1. The fourth compartment 4 is equipped with a second camera 4-1.

[0023] Under this design, the underwater inspection robot adopts a flexible, interconnected four-compartment design, with a slender and compact overall shape. The compartments are non-rigidly connected by flexible connectors 5, which ensures the overall coordination of the four compartments while giving each compartment a certain degree of relative motion freedom. In particular, when the underwater inspection robot needs to turn or avoid obstacles, the first compartment 1 can independently adjust its posture. Driven by the second compartment 2, the first compartment 1, the third compartment 3, and the fourth compartment 4 adaptively follow the flexible connectors 5, with the second compartment 2 serving as the main power unit for the underwater inspection robot's maneuver control. This eliminates the need for the underwater inspection robot to make large-scale turns, significantly reducing the difficulty of operation in complex waters (such as those with multiple obstacles and winding channels), and demonstrating excellent flexibility.

[0024] Furthermore, the attitude adjustment assembly includes: a pitch adjuster 1-2 for driving the pitch rotation of the first compartment 1, and a lateral adjuster 1-3 for driving the lateral rotation of the first compartment 1. The drive assembly includes: a main thruster 2-1 for driving the forward and backward movement of the second compartment 2, and a buoyancy adjuster 2-2 for driving the second compartment 2 to float and sink.

[0025] In this design, the four compartments adopt a specialized functional design. Connected in series by flexible connectors 5, each compartment is interdependent and cooperative, enabling integrated detection, power, perception, and rear-view capabilities. It also allows for flexible underwater maneuverability and controlled posture, adapting to complex underwater operating scenarios such as pressure pipelines. Since the pitch adjuster 1-2 and lateral adjuster 1-3 are integrated into the first compartment 1, its posture adjustment is extremely flexible. By adjusting the pitch adjuster 1-2 and lateral adjuster 1-3, the first camera 1-1 can be oriented towards and approach the target location for detailed underwater target detection. In actual use, because the pitch and lateral angles of the first compartment 1 can be adjusted independently, combined with the cooperation of the other compartments, the robot possesses a composite operational capability of fine-tuning local posture and stable overall movement. For example, when inspecting an underwater vertical pipe, the first chamber 1 is adjusted to a vertical viewing angle by the pitch adjuster 1-2, the second chamber 2 maintains a constant speed of descent, and the third chamber 3 and the fourth chamber 4 follow smoothly with the flexible connector 5, which not only ensures the accuracy of the inspection angle, but also avoids the instability caused by the tilt of the whole machine.

[0026] Generally speaking, when using this underwater inspection robot, the robot is placed in the water. The main thruster 2-1 in the second compartment 2 can drive the entire underwater inspection robot forward and backward. The first camera 1-1 on the first compartment 1 and the second camera 4-1 on the fourth compartment 4 can perform underwater environment inspection (such as inspecting underwater pipes). When the underwater robot's state needs to be adjusted, the pitch adjuster 1-2 drives the first compartment 1 to adjust its pitch, which, together with the buoyancy adjuster 2-2 in the second compartment 2, enables the entire underwater inspection robot to rise and dive, flexibly adapting to complex underwater environmental conditions and making it suitable for waterway systems with many bends and branches. The lateral adjuster 1-3 drives the first compartment 1 to rotate laterally, which, together with the main thruster 2-1 in the second compartment 2, controls the first compartment 1 to adjust its lateral yaw, enabling the underwater inspection robot to deviate from and correct its operating path. This allows the underwater inspection robot to quickly and accurately perform underwater shuttle and active reversing, achieving flexible turning and maneuvering.

[0027] Furthermore, in some embodiments, the first compartment 1, the second compartment 2, the third compartment 3, and the fourth compartment 4 are all spherical. The compartment structure of the first compartment 1, the second compartment 2, the third compartment 3, and the fourth compartment 4 is preferably assembled from multiple outer shell components 1-5. The first compartment 1, the second compartment 2, the third compartment 3, and the fourth compartment 4 are connected in series in sequence by flexible connectors 5. The fourth compartment 4 at the end is used to connect to external devices (such as cable reeling and unloading equipment, control terminals, etc.) through communication cables.

[0028] Since the fourth compartment 4 located at the end can be connected to external devices (such as cable reeling and laying equipment, control terminal) via communication cables, it is convenient for users to physically tug the underwater inspection robot through cable reeling and laying equipment, and to flexibly control the underwater inspection robot from the outside. The communication cable used is preferably a zero-buoyancy fiber optic cable.

[0029] Furthermore, such as Figure 4 , Figure 5 As shown, in some embodiments, mounting bases (such as mounting grooves) are provided at the bottom of the first compartment 1 and at both axial sidewalls of the first compartment 1, serving as power mounting positions for the pitch adjuster 1-2 and the lateral adjuster 1-3; two pitch adjusters 1-2 are provided, each located in a mounting groove on the sidewall of the first compartment 1, with the rotation axes of the two pitch adjusters 1-2 collinear; and the lateral adjuster 1-3 is located at the bottom of the first compartment 1. More preferably, to protect the pitch adjuster 1-2 and the lateral adjuster 1-3, a perforated protective cover 1-4 is fixedly provided at the opening of the mounting groove.

[0030] Specifically, such as Figure 4 , Figure 5 As shown, in some embodiments, the pitch adjuster 1-2 includes a first motor 1-2a and first blades 1-2b, wherein the first motor 1-2a is fixed in a mounting groove on the side wall of the first chamber 1. The first blades 1-2b include a base and flat first blades. The base is used to connect to the rotation shaft of the first motor 1-2a; multiple first blades are fixedly disposed on the base, and the multiple first blades extend radially outward from the rotation shaft of the first motor 1-2a. By driving the first blades 1-2b to rotate through the first motor 1-2a, the first blades 1-2b can be driven to propel water to adjust the pitch of the first chamber 1.

[0031] Specifically, in some embodiments, the components and principles of the lateral adjuster 1-3 are roughly the same as those of the pitch adjuster 1-2, mainly including a second motor 1-3a and a second blade 1-3b. The second motor 1-3a drives the second blade 1-3b to rotate, which in turn drives the second blade 1-3b to push the first chamber 1 to rotate left and right in the lateral direction.

[0032] Furthermore, such as Figure 6 As shown, in some embodiments, to accommodate the installation of the main thruster 2-1 and the buoyancy regulator 2-2, two through thrust channels are arranged side by side along the axial direction in the second compartment 2 as mounting positions for the main thruster 2-1; the bottom of the second compartment 2 is provided with a mounting groove as a mounting position for the buoyancy regulator 2-2.

[0033] Specifically, in some embodiments, two main thrusters 2-1 are provided, with each main thruster 2-1 corresponding to one of the two propulsion channels. Preferably, each main thruster 2-1 includes a third motor and a third blade, wherein the third motor is fixed in the propulsion channel by a hollow support structure; the third blade is preferably a helical blade, which is fixed on the rotating shaft of the third motor. In actual use, the third motor drives the third blade to rotate, providing forward and backward driving force for the second chamber 2, thereby realizing the forward and backward movements of the detection robot.

[0034] Furthermore, in some embodiments, the components and principles of the buoyancy regulator 2-2 are roughly the same as those of the main propeller 2-1, mainly including a fourth motor and a fourth propeller blade in the shape of a helical blade. The fourth motor drives the fourth propeller blade to rotate, which in turn drives the fourth propeller blade to push the second chamber 2 to float and sink.

[0035] Furthermore, in some embodiments, buoyancy chambers are provided in the first chamber 1, the second chamber 2, the third chamber 3, and the fourth chamber 4. By providing buoyancy chambers, buoyancy can be provided for the underwater inspection robot, allowing the four chambers to float. It also allows adjustment of the center of gravity of the chambers, making the buoyancy of the underwater inspection robot more suitable. Generally, the buoyancy chamber is a sealed cavity, or it is formed by filling the interior of the chamber with buoyancy material. Preferably, the first chamber 1 and the second chamber 2 are provided with sealed, hollow buoyancy chambers, while the third chamber 3 and the fourth chamber 4 are provided with buoyancy chambers filled with buoyancy material.

[0036] Furthermore, in some embodiments, lighting modules (not shown in the figure) are provided at the axial front end of the first compartment 1 and the axial rear end of the fourth compartment 4. By providing lighting modules, ambient lighting can be provided for the first camera 1-1 and the second camera 4-1.

[0037] Furthermore, in some embodiments, the flexible connector 5 includes a flexible transmission cable (such as an electrical wire) and a protective structure surrounding the transmission cable. The protective structure is made of a material that allows for flexible movement of each compartment while possessing a certain degree of rigidity; preferably, the protective structure is a flexible metal hose. It is understood that in some embodiments, if a high-quality cable that is not easily damaged is selected for the transmission cable, a protective structure may not be required.

[0038] Furthermore, in some embodiments, a gyroscope is provided in the first compartment 1 and / or the second compartment 2. In some embodiments, at least one of the first compartment 1, the second compartment 2, the third compartment 3, and the fourth compartment 4 is provided with a depth sensor. By providing depth sensors and gyroscopes, depth information in the environment can be captured, three-dimensional coordinate data can be obtained, and the compartments can be adjusted in attitude to facilitate underwater inspection by the underwater inspection robot.

[0039] Furthermore, in some embodiments, a control module is provided in the third compartment 3. The control module is connected to the devices in each compartment via transmission cables, and is also used to connect to external devices via communication cables for the control and communication of the underwater inspection robot.

[0040] Furthermore, in some embodiments, a battery is provided inside the fourth compartment 4, and / or the end of the fourth compartment 4 is connected to an external power source via a power cord to power the underwater inspection robot.

[0041] With a built-in battery, the underwater inspection robot can provide continuous power without an external power source, making it suitable for mobile scenarios. When connected to an external power source via cable, the underwater inspection robot can operate continuously for extended periods, enabling long-term, long-distance inspection operations. When using both built-in and external power sources, the dual-power design reduces the risk of single-power-source failure and improves the operational stability of the underwater inspection robot.

[0042] Furthermore, in some embodiments, the underwater inspection robot also includes several auxiliary thrusters 6. The auxiliary thrusters 6 are disposed on the outer periphery of the flexible connector 5, and their propulsion direction intersects with the series connection direction between the compartments, that is, the propulsion direction of the auxiliary thrusters 6 intersects with the length extension direction of the flexible connector 5. The placement position and number of the auxiliary thrusters 6 can be flexibly set according to requirements. For example, the auxiliary thrusters 6 can be set on the flexible connector 5 between the third compartment 3 and the fourth compartment 4.

[0043] Specifically, such as Figure 9 As shown, in some embodiments, the auxiliary thruster 6 includes a mounting frame 6-1, a fifth motor, and a fifth blade 6-2. The mounting frame 6-1 includes a cylindrical body 6-1a with a through-hole, and the cylindrical body 6-1a is fitted and fixed to the flexible connector 5 through the through-hole.

[0044] Specifically, a balance ring 6-1b is connected to the upper outer periphery of the cylinder 6-1a via multiple connecting rods, and a protective sleeve 6-1c is connected to the lower outer periphery of the cylinder 6-1a via multiple connecting rods. This protective sleeve 6-1c extends downwards to serve as a protective structure for the fifth blade 6-2. The fifth motor is fixedly mounted at the lower end of the cylinder 6-1a, and its output shaft is coaxial with the cylinder 6-1a. The fifth blade 6-2 is connected to the end of the output shaft and is located inside the protective sleeve 6-1c. The fifth blade 6-2 is selected as a helical blade.

[0045] Generally, each chamber is detachably connected to the flexible connector 5, while the auxiliary thruster 6 is fitted around the flexible connector 5. Typically, the number and installation orientation of the auxiliary thrusters 6 can be flexibly set according to usage requirements. When the cylinder 6-1a is fitted onto the flexible connector 5 and adjusted to a suitable angle, the cylinder 6-1a is fixed to the flexible connector 5 to ensure the stability of the auxiliary thruster 6.

[0046] It is understood that in some other embodiments, the pitch adjuster 1-2, lateral adjuster 1-3, main thruster 2-1, buoyancy adjuster 2-2, and auxiliary thruster 6 can also be any other feasible drive device capable of generating underwater propulsion, and their layout and quantity can be adjusted and optimized according to requirements. Under the combined action of multiple thrusters and adjusters, the first chamber 1 and the second chamber 2 can drive the other two chambers into the water supply pipeline to perform operations such as leak detection, mapping, and three-dimensional reconstruction of the pipeline's internal model.

[0047] Example: like Figure 4 As shown, the upper part of the first compartment 1 has a hollow buoyancy chamber for providing buoyancy and adjusting the center of gravity. The lower part of the first compartment 1 has an electrical compartment containing an electronic speed controller (ESC) module, which integrates a gyroscope, depth sensor, and ESC components. The front end of the first compartment 1 has a camera mounting position and a lighting module mounting position. The camera mounting position houses a first camera 1-1, preferably a binocular camera, which can perform 3D reconstruction of the pipeline using algorithms. The lighting module mounting position houses a lighting module, preferably an LED light, for illuminating the first camera 1-1. The first compartment 1 has power mounting positions on both sides and at the bottom. Pitch adjusters 1-2 are installed in the side power mounting positions, and a lateral adjuster 1-3 is installed in the bottom power mounting position. The two pitch adjusters 1-2 work together to achieve pitch adjustment (i.e., vertical yaw adjustment) of the first compartment 1. The bottom lateral adjuster 1-3 drives the first compartment 1 to perform lateral rotation adjustment (i.e., left and right steering adjustment).

[0048] like Figure 6As shown, the upper part of the second compartment 2 has a hollow buoyancy chamber for providing buoyancy and adjusting the center of gravity. The lower front end of the second compartment 2 has an electrical compartment containing an electronic speed controller (ESC) module, which includes a gyroscope, a depth sensor, and other ESC components. The gyroscopes and depth sensors in the first and second compartments 1 and 2 work together to monitor and provide feedback on the attitude of the two compartments using a preset algorithm. The lower rear end and middle of the second compartment 2 have power mounting positions, with two power mounting positions in the middle. Two main thrusters 2-1 are horizontally mounted along the axial direction of the second compartment 2 within their respective middle power mounting positions, providing forward and backward propulsion. A buoyancy adjuster 2-2 is located in the bottom power mounting position, providing buoyancy and sinking propulsion.

[0049] like Figure 7 As shown, the third compartment 3 serves as the control compartment within the entire underwater inspection robot. It houses a control module, depth sensor, and photoelectric module, enabling control and information processing of the underwater inspection robot. The control module is preferably a Raspberry Pi control module. Additionally, a hydrophone 3-1 is installed at the bottom of the third compartment 3 to collect audio in underwater environments (such as inside underwater pipes). By processing and analyzing the audio data, it is possible to determine whether a leak has occurred inside the pipe.

[0050] like Figure 8 As shown, the rear end of the fourth compartment 4 is provided with a cable entry port. One end of a communication cable (such as an optical fiber) can be threaded through the cable entry port, and then the communication cable enters the third compartment 3 through a metal flexible tube to connect to the photoelectric module. The other end of the communication cable is connected to an external cable retraction and deployment device. The photoelectric module is also connected to the control module in the third compartment 3 through a transmission cable, thereby realizing the control and communication of the underwater inspection robot, as well as the retraction and deployment of the underwater inspection robot (the underwater inspection robot is also retrieved through this communication cable in conjunction with the robot's power).

[0051] Furthermore, in this embodiment, the fourth compartment 4 is equipped with a battery to power the underwater inspection robot. In some embodiments, due to the low battery life, an external power supply is used. The external power supply is connected to the fourth compartment 4 via a power cable through another cable outlet, and then supplies power to each compartment through the cables between the compartments. Generally, when the power cable is long (even up to 1000 meters), there may be excessive voltage drop; in this case, high-voltage transmission is preferred.

[0052] Furthermore, a second camera 4-1 is installed at the rear of the fourth compartment 4. This second camera 4-1 is used to capture video of the underwater inspection robot's rear end, providing video images when the robot is moving forward and backward, facilitating operation. Simultaneously, LED lights (not shown in the diagram) are installed on the fourth compartment 4 to illuminate the cameras. Additionally, a depth sensor is also installed in the fourth compartment 4. Generally, in this underwater inspection robot, all four compartments are equipped with depth sensors, which work together to assist in adjusting the robot's attitude.

[0053] This application also discloses a detection method, which uses any of the above-mentioned underwater inspection robots for underwater inspection, referring to... Figure 10 The detection method includes the following steps: The communication cable is connected to an external control terminal. The underwater inspection robot is controlled to move underwater via the pitch adjuster 1-2, the lateral adjuster 1-3, the main thruster 2-1, and the buoyancy adjuster 2-2. The communication cable is also retrieved and deployed via an external cable retrieval device.

[0054] The underwater environment is detected using the first camera 1-1, the second camera 4-1, and the hydrophone 3-1.

[0055] Preferably, in some embodiments, when the underwater inspection robot is also equipped with devices such as gyroscopes and depth sensors, during underwater inspection, the first compartment 1 and the second compartment 2 drive the other two compartments into the water (such as into the interior of a water supply pipe), and the underwater inspection robot performs underwater inspection operations such as leak detection, mapping, and three-dimensional reconstruction of the pipe interior model.

[0056] Furthermore, when the underwater inspection robot passes through pipes with complex geometries and / or leaks, the attitude of the first chamber 1 is adjusted by the pitch adjuster 1-2 and the lateral adjuster 1-3 so that the front end of the first chamber 1 faces the target location inside the pipe. The attitude of the underwater inspection robot is adjusted by the buoyancy adjuster 2-2 to adapt to the geometry of the pipe and / or resist the water flow thrust at the leak. The second chamber 2 is driven forward by the main thruster 2-1, so that the first chamber 1, the third chamber 3, and the fourth chamber 4 adaptively follow the second chamber 2 through the pipe via the flexible connector 5. The pipes with complex geometries include variable diameter pipes, curved pipes, and multi-branch pipes composed of a main pipe and multiple branch pipes.

[0057] Preferably, in some embodiments, when an auxiliary thruster 6 is also provided in the underwater inspection robot, the attitude of the underwater inspection robot can be adjusted by the buoyancy adjuster 2-2 and the auxiliary thruster 6 to better adapt to the geometry of the pipeline, so that the underwater inspection robot is less likely to collide with the pipe wall. In particular, after the bending attitude of the underwater inspection robot is adjusted by the auxiliary thruster 6 and the second chamber 2, the attitude of the second chamber 2 (such as pitch angle and yaw angle) can be adaptively adjusted. This allows the forward direction of the second chamber 2 to change according to the attitude change of the second chamber 2, enabling the underwater inspection robot to achieve multi-directional adjustment such as forward tilting upward and forward tilting downward, making the use of the underwater inspection robot more flexible and better able to pass through complex pipelines.

[0058] For example, when the underwater inspection robot enters a smaller diameter branch pipe from a larger diameter main pipe, the attitude of the first chamber 1 is adjusted by the pitch adjuster 1-2 and the lateral adjuster 1-3 so that the front end of the first chamber 1 faces the inlet of the smaller diameter branch pipe; the height of the underwater inspection robot is adjusted by the pitch adjuster 1-2 so that the underwater inspection robot reaches the required height; and the second chamber 2 is driven forward by the main thruster 2-1 so that the underwater inspection robot can smoothly enter the branch pipe. At the same time, the auxiliary thruster 6 helps to adjust the real-time attitude of the underwater robot, so that the underwater robot is less likely to collide with the pipe wall and ensures the stable use of the underwater robot. For ease of understanding, Figure 11 The image shows the approximate attitude change of the underwater inspection robot as it moves from a large-diameter main pipe into a small-diameter branch pipe. For ease of understanding, the image uses dashed lines and arrows to roughly indicate the robot's movement.

[0059] For example, when the underwater inspection robot passes through a C-shaped curved pipe, the buoyancy adjuster 2-2 and the auxiliary thruster 6 generate thrust to make the underwater inspection robot bend as a whole to adapt to the C-shaped curved pipe. The pitch adjuster 1-2 and the lateral adjuster 1-3 adjust the attitude of the first compartment 1 so that the front end of the first compartment 1 roughly matches the trend of the C-shaped curved pipe. At the same time, the auxiliary thruster 6 assists in adjusting the real-time attitude of the underwater robot, making it less likely for the underwater robot to collide with the pipe wall and ensuring the stable use of the underwater robot. For ease of understanding, Figure 12 The image shows the approximate attitude changes of the underwater inspection robot as it passes through a C-shaped bend in a large-diameter main pipe. For ease of understanding, the image uses dashed lines and arrows to roughly indicate the robot's trajectory.

[0060] For example, when the underwater inspection robot passes through an S-shaped bend, the forward-positioned buoyancy regulator 2-2 and the rear-positioned auxiliary thruster 6 generate thrust in different directions, so that the underwater inspection robot can bend and twist as a whole to flexibly adapt to the geometry of the S-shaped bend, enabling the underwater inspection robot to pass through the S-shaped bend flexibly.

[0061] For example, when the underwater inspection robot detects a leak in the pipeline, it generates thrust through the buoyancy regulator 2-2 and the auxiliary thruster 6 to resist the water flow thrust at the leak point, so that the underwater inspection robot can pass through the leak point smoothly.

[0062] It's important to note that spheroidal shape is a term used to describe the shape of an object, referring to an object whose shape resembles a sphere but is not exactly a perfect sphere. For example, a spheroidal shape can be an approximate standard sphere whose difference from the standard sphere is less than a predetermined error. Other spheroidal shapes include ellipsoids, oblate spheroids, irregular spheroids, and polyhedra. Among these, ellipsoids are the most common spheroidal shape, characterized by two or three axes of different lengths, yet maintaining overall symmetry. Oblate spheroids are flatter in two directions than in the third, resembling a flattened sphere. Irregular spheroids are objects whose shape is close to a sphere, but whose surfaces may have uneven features. Polyhedra, while typically having defined planes and angles, can be very close to a sphere (e.g., truncated octahedrons or truncated icosahedrons).

[0063] It should be noted that the flexible connector 5 includes a transmission cable with good bending performance and durability. It typically consists of multiple independent wires arranged side-by-side within the same flexible metal conduit, each wire usually usable independently. Due to its flexibility, the transmission cable can be used flexibly in confined spaces or dynamic environments, withstanding repeated bending without easily breaking, ensuring a long-term stable electrical connection. Reliable electrical connections can be achieved between adjacent compartments via the transmission cable. Furthermore, when the inspection robot traverses curved pipes (such as bends, tees, etc.), the transmission cable between compartments can adapt to changes in pipe shape, allowing the inspection robot to pass smoothly during the operation of the various pushers and regulators.

[0064] It should be noted that zero-buoyancy fiber optic cable is a type of underwater communication cable. Its characteristic is that the cable has zero buoyancy in the water, meaning that the cable maintains neutral buoyancy in the water and will neither float nor sink, thereby reducing the impact of water buoyancy and ensuring stability and reliability during underwater operations.

[0065] It should be noted that the "axial direction" described in this application refers to the direction of the central axis of the silo body, such as... Figure 1 As shown, when the four silos are arranged in a straight line, the direction of the line connecting them is the axial direction. When the silos are ellipsoidal, they should be connected in series along their major axes, in which case the major axes of the silos are the axial directions of each silo.

[0066] For ease of understanding, the state where all compartments are aligned along the same axis is set as the standard state. The arrangement of this underwater inspection robot in the standard state is illustrated by marking a spatial coordinate system. For example... Figure 1 As shown, under standard conditions, the axes of the first compartment 1, the second compartment 2, the third compartment 3, and the fourth compartment 4 are aligned with the X-axis. The axis of rotation of the first compartment 1 during pitch adjustment is aligned with the Y-axis. The axis of rotation of the first compartment 1 during lateral rotation adjustment is aligned with the Z-axis.

[0067] It should be understood that expressions such as "comprising" and "may include" as used in this application indicate the existence of the disclosed functions, operations, or constituent elements, and do not limit one or more additional functions, operations, and constituent elements. In this application, terms such as "comprising" and / or "having" may be interpreted as indicating a specific characteristic, number, operation, constituent element, component, or combination thereof, but should not be interpreted as excluding the existence or possibility of adding one or more other characteristics, numbers, operations, constituent elements, components, or combinations thereof.

[0068] It should be understood that the terms “center,” “upper,” “lower,” “front,” “rear,” “left,” “right,” “vertical,” “horizontal,” “inner,” “outer,” “clockwise,” “counterclockwise,” “axial,” “radial,” and “circumferential” indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application 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 this application.

[0069] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0070] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., 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 between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0071] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. An underwater inspection robot, characterized in that, It includes a first compartment (1), a second compartment (2), a third compartment (3), a fourth compartment (4), and a flexible connector (5). The first compartment (1), the second compartment (2), the third compartment (3), and the fourth compartment (4) are connected in series along the axial direction via the flexible connector (5), wherein: The first compartment (1) is provided with a first camera (1-1) and an attitude adjustment component for adjusting the attitude of the first compartment (1); The second compartment (2) is provided with a drive component for driving the second compartment (2) to move; A hydrophone (3-1) is installed on the third compartment (3); A second camera (4-1) is installed on the fourth compartment (4).

2. The underwater inspection robot as described in claim 1, characterized in that, The attitude adjustment component includes: Pitch adjuster (1-2) for driving the pitch rotation of the first compartment (1); Lateral adjuster (1-3) for driving the lateral rotation of the first compartment (1).

3. The underwater inspection robot as described in claim 1, characterized in that, The driving component includes: The main thruster (2-1) is used to drive the second compartment (2) to move back and forth; A buoyancy regulator (2-2) for driving the second compartment (2) to rise and sink.

4. The underwater inspection robot as described in claim 1, characterized in that, Buoyancy chambers are provided in the first chamber (1), the second chamber (2), the third chamber (3) and the fourth chamber (4).

5. The underwater inspection robot as described in claim 1, characterized in that, Lighting modules are provided at the axial front end of the first compartment (1) and the axial rear end of the fourth compartment (4).

6. The underwater inspection robot as described in claim 1, characterized in that, The flexible connector (5) includes a flexible transmission cable and a metal flexible tube sleeved around the outer periphery of the transmission cable. Electrical energy and electrical signals are transmitted between the various compartments through the transmission cable.

7. The underwater inspection robot as described in claim 1, characterized in that, A gyroscope is provided in the first compartment (1) and / or the second compartment (2).

8. The underwater inspection robot as described in claim 1, characterized in that, At least one of the first compartment (1), the second compartment (2), the third compartment (3), and the fourth compartment (4) is equipped with a depth sensor.

9. The underwater inspection robot as described in claim 1, characterized in that, The fourth compartment (4) is equipped with a battery; And / or, the end of the fourth compartment (4) is connected to an external power source via a cable to power the underwater inspection robot.

10. The underwater inspection robot as described in any one of claims 1-9, characterized in that, The underwater inspection robot also includes several auxiliary thrusters (6), which are disposed on the outer periphery of the flexible connector (5) and whose thrusting direction intersects with the series connection direction between the various compartments.

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