CN-121977638-A - Modularized underwater robot and underwater detection system

CN121977638ACN 121977638 ACN121977638 ACN 121977638ACN-121977638-A

Abstract

The invention discloses a modularized underwater robot and an underwater detection system, wherein the modularized underwater robot comprises a universal module and a plurality of special modules which can be selectively connected with the universal module, the special modules comprise a cleaning special module and a plurality of detection special modules, the universal module comprises a propulsion sub-module, a communication sub-module, a control sub-module, a power sub-module and a basic positioning and environment sensing sub-module, the communication sub-module is used for being in communication connection with a water surface control and processing module in an onshore auxiliary device, the universal module further comprises at least three standardized interfaces, the special modules comprise standardized joints, the standardized interfaces are used for being detachably connected with the standardized joints, and the modularized underwater robot is provided with a first combined state in which the cleaning special module and the detection special module are simultaneously connected with the universal module. The modularized underwater robot provided by the embodiment of the invention integrates the cleaning and various detection functions, and can improve the overall detection efficiency.

Inventors

LV TINGYAN
HUANG YUKAI
CAI WEILIANG
LI JIE
SUN QIUJU
CHEN RONGMIN
YANG MAOCHA
WANG QI
CHEN WEI
ZHONG SUMEI

Assignees

上海勘测设计研究院有限公司
上海晟德瑞新能源科技有限公司

Dates

Publication Date: 20260505
Application Date: 20260106

Claims (11)

1. A modular underwater robot comprising a universal module and a plurality of specialized modules selectively connectable to said universal module, a plurality of said specialized modules comprising a cleaning specialized module and a plurality of detection specialized modules; the universal module comprises a propulsion sub-module, a communication sub-module, a control sub-module, a power sub-module and a basic positioning and environment sensing sub-module, wherein the communication sub-module is used for being in communication connection with a water surface control and processing module in an onshore auxiliary device; The universal module further comprises at least three standardized interfaces, the special module comprises a standardized joint, the standardized interfaces are used for being detachably connected with the standardized joint, and the modularized underwater robot is provided with a first combination state that the cleaning special module and the detection special module are simultaneously connected with the universal module; the control submodule is electrically connected with the communication submodule, the power supply submodule, the propulsion submodule and the basic positioning and environment sensing submodule, and the communication submodule, the control submodule and the power supply submodule are electrically connected with the standardized interface.
2. The modular underwater robot of claim 1 wherein the plurality of detection-dedicated modules comprises at least two of a camera detection-dedicated module, an ultrasonic thickness measurement-dedicated module, a potential detection-dedicated module, an alternating current magnetic field detection-dedicated module, an electromagnetic detection-dedicated module; the special camera shooting detection module comprises a high-definition camera shooting unit, the special ultrasonic thickness measurement module comprises an ultrasonic probe, and the special alternating current magnetic field detection module comprises a special welding seam detection probe; The special module for potential detection comprises a reference electrode, wherein the reference electrode is used for forming a potential loop with the underwater structure to be detected, the special module for electromagnetic detection comprises an electromagnetic transmitting coil and a receiving coil array, and the special module for electromagnetic detection is used for detecting buried submarine cables.
3. The modularized underwater robot according to claim 2, wherein the electromagnetic detection special module further comprises a signal processing unit, the receiving coil array is used for sensing a secondary magnetic field generated by the submarine cable and outputting a current signal corresponding to the secondary magnetic field, and the signal processing unit is used for processing the current signal corresponding to the secondary magnetic field to obtain a first voltage signal; The basic positioning and environment sensing submodule comprises a positioning unit, the positioning unit is used for outputting positioning information, the water surface control and processing module is used for determining the position of the submarine cable relative to the electromagnetic detection special module according to the first voltage signal, the water surface control and processing module is also used for determining the routing track of the submarine cable according to the positioning information output by the positioning unit in the modularized underwater robot moving in real time and the position of the submarine cable relative to the electromagnetic detection special module, and the water surface control and processing module is also used for determining whether the submarine cable is damaged according to the first voltage signal.
4. The modular underwater robot of claim 2, wherein the potential detection dedicated module further comprises a current collection probe for being proximate to a surface of the sacrificial anode and a first potential-to-current conversion unit electrically connected to the current collection probe for converting a current signal output by the current collection probe into a second voltage signal, the control submodule for determining an output current of the sacrificial anode from the second voltage signal; The control submodule is further used for calculating the consumption of the sacrificial anode in the current sampling period according to the output current of the sacrificial anode, the sampling period, the theoretical capacitance of the sacrificial anode and the current efficiency of the sacrificial anode, and the control submodule is further used for calculating the consumption rate of the sacrificial anode according to the accumulated consumption of the sacrificial anode after at least one sampling and the initial mass of the sacrificial anode.
5. The modular underwater robot of any of claims 1 to 4 wherein said base localization and environment sensing sub-module comprises a front view sonar and a plurality of said dedicated modules further comprise an acoustic imaging dedicated module.
6. The modular underwater robot of claim 5 wherein the acoustic imaging dedicated module comprises front view image sonar, single beam mechanical scan sonar, 3D mechanical scan sonar, and muddy water imaging sonar.
7. The modular underwater robot of claim 5 wherein the number of detection-dedicated modules N1 is equal to or greater than two; the number N2 of the standardized interfaces is greater than or equal to four and less than or equal to N1+3; the modularized underwater robot is provided with a second combination state that the cleaning special module, the acoustic imaging special module and the detection special module are simultaneously connected with the universal module.
8. The modular underwater robot of any of claims 1 to 4 wherein the universal module comprises a pressure housing having a plurality of spaced apart chambers, a plurality of the chambers comprising a first chamber, a second chamber, a third chamber and a fourth chamber; The first cavity is internally provided with a first fixed interface, the first fixed interface is connected with the propulsion submodule, a part of the propulsion submodule is positioned outside the first cavity, the communication submodule is arranged in the second cavity, the control submodule is arranged in the third cavity, and the power supply submodule is arranged in the fourth cavity.
9. The modular underwater robot of any of claims 1 to 4, wherein the universal module further comprises a pressure housing and a dust cap, the dust cap being movably connected to the pressure housing, the dust cap having a closed state to close the standardized interface, the dust cap further having an open state for exposing the standardized interface.
10. An underwater detection system comprising an onshore aid and a modular underwater robot as claimed in any of claims 1 to 9, the onshore aid comprising a surface control and processing module.
11. The subsea detection system of claim 10, characterized in that the onshore aid is electrically connected to the modular subsea robot by an umbilical; The power supply sub-module in the modularized underwater robot comprises at least one rechargeable battery pack, and the on-shore auxiliary device further comprises an on-shore power supply module, wherein the on-shore power supply module is electrically connected with the battery pack.

Description

Modularized underwater robot and underwater detection system Technical Field The invention relates to the technical field of underwater detection equipment, in particular to a modularized underwater robot and an underwater detection system. Background In an offshore wind farm, a fan foundation and a submarine cable are in a complex underwater environment for a long time, and systematic underwater detection needs to be carried out regularly in order to ensure the structural safety and the operation stability of the submarine cable. Currently, the underwater detection of a fan foundation and a submarine cable is mostly dependent on an underwater detection robot. The existing underwater detection robot is usually designed in an integrated manner, has fixed functional configuration and is often only provided with a single detection function. For various detection requirements, a plurality of underwater detection robots with different functions are needed to be purchased. When a certain part in the integrated underwater detection robot fails, the whole robot needs to be returned to a factory for maintenance. For the detection requirement that cleaning is needed before detection, the currently commonly adopted operation flow is to finish cleaning operation through the underwater cleaning robot and then replace the cleaning operation into the underwater detection robot for detection, so that the operation is complex, the time consumption is long, and the overall detection efficiency is low. Disclosure of Invention The invention provides a modularized underwater robot and an underwater detection system, which aim to at least solve the technical problems that the detection function of the underwater detection robot is single, the detection requirement of cleaning is needed before detection, the operation flow adopted at present is complex, the time consumption is long, and the overall detection efficiency is low. The invention provides a modularized underwater robot, which comprises a universal module and a plurality of special modules which can be selectively connected with the universal module, wherein the special modules comprise a cleaning special module and a plurality of detection special modules; the universal module comprises a propulsion sub-module, a communication sub-module, a control sub-module, a power sub-module and a basic positioning and environment sensing sub-module, wherein the communication sub-module is used for being in communication connection with a water surface control and processing module in an onshore auxiliary device; The universal module further comprises at least three standardized interfaces, the special module comprises a standardized joint, the standardized interfaces are used for being detachably connected with the standardized joint, and the modularized underwater robot is provided with a first combination state that the cleaning special module and the detection special module are simultaneously connected with the universal module; the control submodule is electrically connected with the communication submodule, the power supply submodule, the propulsion submodule and the basic positioning and environment sensing submodule, and the communication submodule, the control submodule and the power supply submodule are electrically connected with the standardized interface. In the embodiment of the invention, the modularized underwater robot integrates the cleaning and detecting functions, and the modularized underwater robot has multiple detecting functions through the flexible combination of the universal module and the multiple special detecting modules, so that multiple detecting requirements of a fan foundation and a submarine cable of an offshore wind farm can be met, compared with the underwater detecting robot with multiple different functions purchased, the equipment investment cost can be reduced, and the equipment multiplexing rate is high, for example, the equipment multiplexing rate is improved by more than 60%. In addition, when a single module fails, only the failed module is required to be detached for maintenance, and the whole factory return is not required, so that the maintenance cost can be reduced, for example, the maintenance cost is reduced by 40% -50%. In summary, the full life cycle cost of the equipment can be reduced by reducing the equipment investment cost and the maintenance cost. In addition, the modularized underwater robot is provided with a first combination state that a special cleaning module and a special detection module are connected with a universal module at the same time, detection requirements that cleaning is needed before detection are met, detection operation can be continuously carried out after cleaning operation is finished, and overall detection efficiency can be improved compared with detection by replacing the cleaning operation with the underwater detection robot after cleaning operation is finished by the underwater cleaning robot.