Robots for water tunnel inspection and systems thereof
In some embodiments, provided is a robot for water tunnel inspection, comprising: (a) a shell, comprising an upper shell and a lower shell; wherein the upper shell and the lower shell are sized and shaped to match each other, together defining a closed cavity therewithin; (b) a camera system, configured to capture an image or video of a field of view of surrounding; (c) a lighting system, configured to provide illumination at least partially for the field of view; (d) a propulsion system, configured to provide propulsion force to the robot in water; and (e) a controlling system, configured to provide power and control operation of the robot, wherein the robot is configured to float on water and to have a center of gravity positioned lower than geometric center. Other example embodiments are described herein. In certain embodiments, the robots provide safe and efficient tunnel inspections without human operation.
1. A robot for water tunnel inspection, comprising:
(a) a shell, comprising an upper shell and a lower shell;
wherein the upper shell and the lower shell are sized and shaped to match each other, together defining a closed cavity therewithin;
(b) one or more panorama cameras that capture an image or video of a field of view of surrounding;
(c) a plurality of light modules that provide illumination at least partially for the field of view;
(d) one or more underwater motors that provide propulsion force to the robot in water; and
(e) a power supply and processing unit that provide power and control operation of the robot,
wherein the robot is configured to float on water and to have a center of gravity positioned lower than geometric center, such that during operation, at least a portion of the upper shell is maintained above the water, and at least a portion of the lower shell is maintained under water.
2. The robot of claim 1 , further comprising an inertial measurement unit (IMU) operatively connected with the controlling system.
3. The robot of claim 1 , wherein the upper shell is at least partially transparent.
4. The robot of claim 1 , wherein density of the lower shell is higher than that of the upper shell.
5. The robot of claim 1 , wherein the robot further comprises an underwater sonar that captures an underwater image.
6. The robot of claim 1 , wherein the one or more panorama cameras further operatively connect with a gimbal stabilizer.
7. The robot of claim 1 , wherein the power supply comprises a rechargeable battery and a voltage regulator.
8. The robot of claim 1 , wherein the one or more underwater motors are attached on the lower shell.
9. The robot of claim 8 , wherein the one or more underwater motors are operatively connected with an electronic speed controller.
10. The robot of claim 1 , further comprising a base plate, sized and shaped to attach with the shell.
11. The robot of claim 1 , wherein the plurality of light modules comprises a plurality of LED modules that are disposed on the base plate.
12. The robot of claim 11 , wherein individual LED module comprises a LED array, a heat sink and a waterproof LED shell.
13. The robot of claim 1 , wherein the overall shape of the shell is substantially spherical with at most a 5% deviation.
14. A tumbler robot for water tunnel inspection, comprising:
(a) a spherical shell, comprising an upper shell and a lower shell;
wherein the upper shell and the lower shell are sized and shaped to match each other, together defining a closed cavity therewithin;
(b) two panorama cameras that are orthogonally arranged to provide a panoramic image or video of a field of view of the surrounding;
(c) a gimbal stabilizer that is operatively connected with the one or more panorama cameras;
(d) an underwater sonar that captures an underwater image;
(e) a plurality of light modules that provide illumination at least partially for the field of view;
(f) two underwater motors that provide propulsion force to the robot in water;
(g) a power supply and processing unit that provide power and control operation of the robot;
(h) an inertial measurement unit (IMU), operatively connected with the controlling system;
(i) a base plate, attached to the shell,
wherein the plurality of light modules are disposed on the base plate;
wherein the two underwater motors attached on the lower shell; and
wherein the robot is configured to float on water and to have a center of gravity positioned lower than geometric center, such that during operation, at least a portion of the upper shell is maintained above the water, and at least a portion of the lower shell is maintained under water.
15. A system for water tunnel inspection, comprising:
a robot for water tunnel inspection, comprising:
(a) a shell, comprising an upper shell and a lower shell;
wherein the upper shell and the lower shell are sized and shaped to match each other, together defining a closed cavity therewithin;
(b) one or more panorama cameras that capture an image or video of a field of view of surrounding;
(c) a plurality of light modules that provide illumination at least partially for the field of view;
(d) one or more underwater motors that provide propulsion force to the robot in water; and
(e) a power supply and processing unit that provide power and control operation of the robot,
wherein the robot is configured to float on water and to have a center of gravity positioned lower than geometric center, such that during operation, at least a portion of the upper shell is maintained above the water, and at least a portion of the lower shell is maintained under water; and
a releasing and retrieving system, configured to release the robot to, and retrieve from the water tunnel.
16. The system of claim 15 , wherein the releasing and retrieving system comprises:
a lifting frame, configured to receive the robot;
a sliding rail track, configured to be fixable on a substrate;
a main frame that is at least partially receive the lifting frame and to be movable along the sliding rail track; and
a winch that is connectable with the robot, wherein the winch system is configured to release the robot to, and retrieve from the water tunnel.
17. The system of claim 16 , wherein the lifting frame is configured to be switchable between an upper position and a lower position relative to the main frame, such that the robot is lifted from or lowered towards the water tunnel, respectively.
18. The system of claim 16 , wherein the main frame is configured to be switchable between a working position and a preparing position relative to the sliding rail track, such that the robot is moved closer to or away from the water tunnel, respectively.