阅读说明：本技术 线性渠堤表面及内部病害检测的水陆两栖机器人系统及方法 (Amphibious robot system and method for detecting surface and internal diseases of linear embankment ) 是由 王正方 王静 朱宏亮 隋青美 康文强 肖港华 于 2021-07-20 设计创作，主要内容包括：本发明公开了一种线性渠堤表面及内部病害检测的水陆两栖机器人系统及方法,包括：机器人本体移动框架,以及分别设置在所述移动框架上的浮力平衡与浮动补偿模块、水路两栖行进模块、渠堤表面病害检测模块以及伸缩式地质雷达设备搭载模块；浮力平衡与浮动补偿模块包括分别设置在移动框架边角的浮力件以及分别设置在移动框架边线上的垂直推进器,根据移动框架的倾角变化,能够驱动相应的垂直推进器工作,以实现机器人移动框架在水中的姿态稳定。本发明根据水陆检测需求,通过多级舵机和探出式支架相互协调实现水陆多工作模式自由切换,包括水中工作模式、近地工作模式和远地工作模式,对水中及陆地的表面与内部病害进行检测。(The invention discloses an amphibious robot system and method for detecting surface and internal diseases of a linear embankment, which comprises the following steps: the robot comprises a robot body moving frame, a buoyancy balance and floating compensation module, a waterway amphibious advancing module, a channel bank surface disease detection module and a telescopic geological radar equipment carrying module, wherein the buoyancy balance and floating compensation module, the waterway amphibious advancing module, the channel bank surface disease detection module and the telescopic geological radar equipment carrying module are respectively arranged on the moving frame; the buoyancy balance and floating compensation module comprises buoyancy pieces respectively arranged at the corners of the movable frame and vertical propellers respectively arranged on the sidelines of the movable frame, and the buoyancy balance and floating compensation module can drive the corresponding vertical propellers to work according to the change of the inclination angle of the movable frame so as to realize the stable posture of the movable frame of the robot in water. According to the water and land detection requirements, the water and land multi-working-mode free switching is realized through the mutual coordination of the multi-stage steering engine and the exploratory bracket, the water and land multi-working-mode free switching comprises a water working mode, a near-ground working mode and a far-ground working mode, and the surface and internal diseases of water and land are detected.)

1. An amphibious robot system for detecting surface and internal diseases of a linear embankment is characterized by comprising: the robot comprises a robot body moving frame, a buoyancy balance and floating compensation module, a waterway amphibious advancing module, a channel bank surface disease detection module and a telescopic geological radar equipment carrying module, wherein the buoyancy balance and floating compensation module, the waterway amphibious advancing module, the channel bank surface disease detection module and the telescopic geological radar equipment carrying module are respectively arranged on the moving frame;

the buoyancy balance and floating compensation module comprises buoyancy pieces respectively arranged at the corners of the movable frame and vertical propellers respectively arranged on the sidelines of the movable frame, and the buoyancy balance and floating compensation module can drive the corresponding vertical propellers to work according to the change of the inclination angle of the movable frame so as to realize the stable posture of the movable frame of the robot in water.

2. The amphibious robot system for surface and internal disease detection of a linear embankment of claim 1, wherein the buoyancy balance and float compensation module further comprises:

balancing weights which are respectively arranged at the corners of the movable frame and used for adjusting the gravity center of the robot;

and the gyroscope sensor is arranged at the bottom end of the moving frame and used for detecting the posture of the moving frame.

3. The amphibious robot system for surface and internal disease detection of a linear embankment of claim 1, wherein the amphibious traveling module of the waterway comprises: a horizontal thruster and a drive wheel;

the horizontal propellers are distributed on two sides of the robot moving frame in pairs, each group consists of propellers in the front direction and the rear direction and is driven by a double-output-shaft motor; the driving wheel is connected with a driving motor.

4. The amphibious robot system for detection of surface and internal diseases of linear embankment of claim 1, wherein the embankment surface disease detection module comprises: the system comprises a rotating platform, a laser radar point cloud, a vision detection device and a laser radar point cloud, wherein the rotating platform is respectively loaded with blue-green laser, the vision detection device and the laser radar point cloud; and the equipment needing to work is switched to a set position through rotation of the rotating platform.

5. The amphibious robot system for surface and internal disease detection of a linear embankment according to claim 4, wherein in the underwater working mode, the vision detection device and the blue-green laser are switched to work states in turn when the robot hovers for every set distance of travel; when the robot is in a land working mode, the vision detection system and the laser radar point cloud switch the working state in turn when the robot hovers at each set distance.

6. The amphibious robot system for surface and internal disease detection of the linear embankment of claim 1, wherein the telescopic geological radar equipment carrying module is used for carrying a ground surface coupling radar and an air coupling radar; the telescopic geological radar equipment carrying module comprises a protruding support, and a first steering engine, a second steering engine and a third steering engine which are respectively connected with the support; through controlling the rotation angle of the steering engine, the module can work in an underwater working mode, a near-surface detection mode and a far-surface detection mode respectively.

7. The amphibious robot system for surface and internal disease detection of a linear embankment of claim 1, further comprising: the shock absorption-slide rail type obstacle avoidance module comprises a horizontal upper connecting rod frame, a horizontal lower connecting rod frame, a vertical connecting rod frame and a shock absorber, wherein the horizontal upper connecting rod frame and the horizontal lower connecting rod frame are hinged to the outer surface of the vehicle body through a rotating shaft, and the two connecting rod frames are connected through the shock absorber; the other end of the horizontal upper connecting rod frame is hinged to the upper end of the vertical connecting rod frame through a rotating shaft, and the horizontal lower connecting rod frame is connected to a sliding rail at the bottom of the vertical connecting rod frame and can freely slide up and down in the sliding rail; the bottom of the vertical connecting rod device is fixedly connected with the wheel frame.

8. The amphibious robot system for surface and internal damage detection of the linear embankment of claim 1, wherein a pressure sensor is installed at the bottom of the robot body moving frame and used for detecting the pressure at the bottom of the robot body moving frame, and when the pressure reaches a set pressure threshold value, the switching of the waterway driving device is realized.

9. A working method of an amphibious robot system for detecting surface and internal diseases of a linear embankment is characterized by comprising the following steps:

in the underwater working mode, the robot is driven to balance through the buoyancy balance and floating compensation module; carrying out alternative work of apparent disease type and size detection and underwater lining deformation detection;

in a land working mode, the robot is driven to move through the waterway amphibious advancing module; carrying out alternative work of apparent disease type and size detection and land lining deformation detection; meanwhile, the ground-coupled radar and the air-coupled radar are in a land working state.

10. The method as claimed in claim 9, wherein the ground-coupled radar and the air-coupled radar are in ground operation status including a near ground detection mode and a far ground detection mode;

when the pressure at the bottom of the robot is higher than a set threshold value, switching to an underwater working mode; and when the pressure at the bottom of the robot is lower than a set threshold value, switching to a land working mode.

Technical Field

The invention relates to the technical field of hydraulic engineering detection, in particular to an amphibious robot system and method for detecting surface and internal diseases of a linear embankment.

Background

The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.

The water conservancy project construction in China is developed vigorously and becomes a new engine for the sustainable and stable increase of economy. A large number of long-distance linear embankment projects, such as the south-to-north water diversion project, are built one after another and enter service life. In the process of long-term service of the canal embankment engineering, the concrete structure, the soil body side slope and the like are very easy to generate various surface and internal diseases such as lining deformation, cracks, lining void, side slope slippage, water leakage and the like under the influence of factors such as long-term natural environment, artificial damage, complex hydrological and geological conditions, various solid-liquid coupling loads and the like. The diseases are usually concealed, and if the diseases cannot be detected and repaired in time, the service life of the engineering is shortened, great potential safety hazards are brought to long-distance linear engineering, particularly to prevention and control of flood season, and even serious casualties and severe social influences are caused. Therefore, the surface and internal damages of the trench wall engineering become a great challenge for the safety and health service of the long-distance linear trench wall engineering.

At present, the main stream disease detection of the long-distance linear embankment engineering is mainly based on manual inspection, and the problems of low detection efficiency and difficulty in detecting internal diseases exist. The detection technology of the existing manual matching equipment mainly comprises surface damage detection based on unmanned aerial vehicle-mounted image detection equipment and internal disease detection based on detection equipment such as a towing vehicle dragging ground penetrating radar, and comprises the following steps: the prior art discloses an auxiliary device of ground penetrating radar, and this patent utilizes running gear to drag the detection dolly that carries on ground penetrating radar, carries out the detection operation by the top-down removal of dyke. However, in the prior art, the detection mode is difficult to automatically switch according to the detection requirement, so that amphibious disease detection cannot be completed.

In recent years, an automatic detection robot technology has become a research hotspot, and an automatic detection robot for hydraulic engineering, such as an underwater robot, is appeared, but the existing hydraulic engineering detection robot mostly detects underwater surface diseases, and is difficult to realize automatic detection of internal diseases such as lining void, soil body internal cavity and the like.

The inventor finds that the detection technology mainly adopted at present for the long-distance linear embankment diseases mainly has the following problems:

(1) the existing hydraulic engineering detection robot is mostly used for underwater apparent diseases, cannot realize amphibious working mode switching, is difficult to realize amphibious detection, and cannot automatically detect the damage of a lining structure and the internal diseases of a soil slope in a land environment.

(2) At present, the dependence of internal disease detection on manpower is strong, a mode of towing a ground penetrating radar is mostly adopted, the fundamental reason is that a robot is difficult to autonomously cross obstacles and stably detect in a complex pavement environment of a channel bank side slope, and a mainstream supported obstacle crossing mode fails to fully consider the disease detection requirement under obstacles, so that the disease detection is missed.

(3) Influenced by aquatic buoyancy, the underwater robot mainly adopts structures such as buffering and damping spring can only passively damp, is difficult to actively compensate buoyancy, and can not actively adjust the shake of the robot body, so that the surface disease detection effect is poor.

Disclosure of Invention

In order to solve the problems, the invention provides an amphibious robot system and method for detecting surface and internal diseases of a linear embankment, which can switch the working modes of detection equipment and a ground surface coupling radar and an air coupling radar according to the working environment; the underwater lining deformation and apparent disease detection device can keep stable operation underwater, can detect underwater lining deformation and apparent disease, and can realize obstacle crossing and on-land lining deformation, apparent disease and internal disease detection.

In some embodiments, the following technical scheme is adopted:

an amphibious robot system for detecting surface and internal diseases of a linear embankment comprises: the robot comprises a robot body moving frame, a buoyancy balance and floating compensation module, a waterway amphibious advancing module, a channel bank surface disease detection module and a telescopic geological radar equipment carrying module, wherein the buoyancy balance and floating compensation module, the waterway amphibious advancing module, the channel bank surface disease detection module and the telescopic geological radar equipment carrying module are respectively arranged on the moving frame;

the buoyancy balance and floating compensation module comprises buoyancy pieces respectively arranged at the corners of the movable frame and vertical propellers respectively arranged on the sidelines of the movable frame, and the buoyancy balance and floating compensation module can drive the corresponding vertical propellers to work according to the change of the inclination angle of the movable frame so as to realize the stable posture of the movable frame of the robot in water.

In other embodiments, the following technical solutions are adopted:

a working method of an amphibious robot system for detecting surface and internal diseases of a linear embankment comprises the following steps:

in the underwater working mode, the robot is driven to balance through the buoyancy balance and floating compensation module; carrying out alternative work of apparent disease type and size detection and underwater lining deformation detection;

in a land working mode, the robot is driven to move through the waterway amphibious advancing module; carrying out alternative work of apparent disease type and size detection and land lining deformation detection; meanwhile, the ground-coupled radar and the air-coupled radar are in a land working state.

Compared with the prior art, the invention has the beneficial effects that:

(1) according to the telescopic geological radar equipment carrying device, multiple stages of steering engines and the extension type supports are coordinated with each other to realize free switching of multiple water and land working modes according to water and land detection requirements, wherein the multiple water and land working modes comprise a water working mode, a near-ground working mode and a far-ground working mode, and surface and internal diseases of water and land are detected;

(2) according to the damping-sliding rail type obstacle avoidance system, the suspension damper, the sliding rail and the multi-connecting-rod frame are matched with each other, so that the robot can stably move on the complex surface of the soil slope, and the reliability of internal disease detection in the land environment is ensured;

(3) according to the buoyancy balance and floating compensation system, the four-corner separated buoy is used for providing buoyancy in water for the robot, the direction and the degree of inclination of the body of the robot are detected through the gyroscope sensor, the body is corrected through the vertical driving force of the vertical propeller, floating compensation is achieved, the stability of suspension and walking of the robot in the water is guaranteed, and the effect of detecting the surface of the underwater disease is obviously improved.

Additional features and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

Drawings

FIG. 1 is an overall block diagram of an amphibious robot in an embodiment of the invention;

FIG. 2 is a top view of an amphibious robot according to an embodiment of the present invention;

FIG. 3 is a schematic view of an embodiment of the present invention in an underwater mode of operation;

FIG. 4 is a schematic diagram of a near-surface survey mode in an embodiment of the present invention;

FIG. 5 is a schematic diagram of a remote surface survey mode in an embodiment of the present invention;

fig. 6(a) - (b) are schematic diagrams of states of the damping-sliding rail type obstacle avoidance system in normal (left) and obstacle crossing (right) states, respectively, in the embodiment of the invention;

the system comprises a buoy 1, a side fixing plate 2, a rotary surface disease detection platform base 3, a driving motor 4, a vertical propeller 5, a horizontal propeller 6, a protruding type internal disease detection platform base 7, a horizontal upper connecting rod frame 8, a shock absorber 9, a horizontal lower connecting rod frame 10, a vertical connecting rod frame 11, a wheel frame 12, a cross-country driving wheel 13, a double-output-shaft motor 14, a bottom plate 15, a balancing weight 16, a ground surface coupling radar and air coupling radar 17, a laser radar point cloud 18, a blue-green laser 19, a vision detection system 20 and a rotary surface disease detection platform 21.

Detailed Description

It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, 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 belongs.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

Example one

In one or more embodiments, disclosed is an amphibious robot system for surface and internal disease detection of long-distance linear embankment engineering, as shown in fig. 1-5, carrying surface and internal disease detection equipment, comprising: the robot comprises a robot body moving frame, a buoyancy balance and floating compensation module, a waterway amphibious advancing module, a damping-slide rail type obstacle avoidance module, a channel bank surface disease detection module and a telescopic geological radar equipment carrying module.

The buoyancy balance and floating compensation module, the waterway amphibious advancing module, the damping-slide rail type obstacle avoidance module, the channel bank surface disease detection module and the telescopic geological radar equipment carrying module are all installed on the robot body moving frame.

The robot body moving frame comprises a bottom plate (15), a side fixing plate (2), a rotary surface disease detection platform base (3) and a detection type internal disease detection platform base (7). The side fixing plates (2) are vertically arranged around the bottom plate (15) side by side, and the lower edges of the side fixing plates (2) are fixedly connected with the bottom plate (15); the rotary surface disease detection platform base (3) and the extended internal disease detection platform base (7) are uniformly distributed in the vehicle body.

The buoyancy balance and floating compensation system adopts a four-corner discrete floating compensation technology and comprises a buoy (1), a vertical propeller (5), a balancing weight (16) and a gyroscope sensor. The buoy (1) is arranged at the four corners of the bottom plate of the robot in a four-corner separated structure, so that sufficient buoyancy is provided for the robot in water, and the four-corner separated structure is favorable for ensuring the running stability of the robot in water; the vertical propellers (5) are respectively arranged at the middle points of the four sides of the bottom plate of the robot and are driven by independent steering engines; the balancing weights (16) are distributed around the vehicle body and used for adjusting the center of gravity of the robot in water to a central position, so that the possibility of overturning is reduced to a certain extent; the gyroscope sensor is installed on the bottom plate and used for detecting the stability of the posture of the robot.

The specific method comprises the following steps: under the action of the buoy, the robot body floats on the water surface, the body is stable, the gyroscope sensor does not detect the change of the inclination angle, the output signal is 0, and the driving steering engine of the vertical propeller (5) does not act; under the variable flow rate water fluctuation environment, the vehicle body is overturned in different degrees, the gyroscope sensor detects that the inclination angle is changed, the controller receives a signal output by the sensor, and controls the steering engine to drive the vertical propeller (5) to work, so that a vertical reverse force is provided for the robot, and the robot is pushed to recover the stable state. The buoyancy balance system adopts a floating drum four-corner discrete layout, so that the suspension and walking stability of the robot in water is improved to a certain extent; the floating compensation system has good inhibition capability on water wave disturbance, and can keep the stability of the attitude within a certain wave height range.

The underwater advancing system of the water-path amphibious advancing module comprises a double-output-shaft motor (14) and a horizontal propeller (6). Each group of horizontal propellers (6) consists of propellers in the front and back directions, are driven by a double-output-shaft motor (14) and are distributed on the left side and the right side of the robot body. After the robot receives an advancing instruction in water, the double-output-shaft motor (14) rotates forwards and backwards under the control of the controller to realize the advancing and retreating of the robot.

The damping-slide rail type obstacle avoidance system and the land traveling system in the amphibious traveling system comprise a horizontal upper connecting rod frame (8), a horizontal lower connecting rod frame (10), a vertical connecting rod frame (11), a damper (9), a wheel frame (12), a cross-country driving wheel (13) and a driving motor (4). The horizontal upper connecting rod frame (8) and the horizontal lower connecting rod frame (10) are positioned on the same lead straight line, one end of the horizontal upper connecting rod frame is hinged to the outer surface of the vehicle body through a rotating shaft and can rotate for a certain angle around the rotating shaft, and the two connecting rod frames are fixedly connected through a shock absorber (9). The tail end of the horizontal upper connecting rod frame (8) is hinged to the upper end of the vertical connecting rod frame (11) through a rotating shaft, the lower end of the vertical connecting rod frame (11) is fixedly connected to the wheel frame (12), the bottom of the vertical connecting rod frame is provided with a sliding rail, and the tail end of the horizontal lower connecting rod frame (10) freely slides in the sliding rail. The driving motor (4) is arranged on the wheel frame (12), the output shaft of the driving motor is connected with the cross-country driving wheel (13), and the positive and negative rotation of the motor drives the cross-country driving wheel (13) to realize the forward and backward movement of the robot on the land. When a certain cross-country drive wheel (13) meets protruding obstacle, under the effect of the gravity factor and shock attenuation-slide rail formula obstacle avoidance system of robot self, this wheel has the lifting of certain degree, bumper shock absorber (9) are in tensile state, the end of connecting rod frame (10) slides a certain distance downwards in the slide rail under the level, thereby the stability and the ability of surmounting the obstacle of robot have been guaranteed to a certain extent, realize freely walking on the road surface of the frustration, moreover, the steam generator is simple in structure and flexible.

The detection module for the surface diseases of the canal dike comprises a rotary surface disease detection platform (21), blue-green laser (19), a vision detection device (20) and laser radar point cloud (18). The rotary surface disease detection platform (21) is driven by a rotary steering engine. Blue-green laser (19), a visual detection device (20) and laser radar point cloud (18) are uniformly carried on a rotary surface disease detection platform (21).

The rotary surface disease detection platform (21) is driven by a rotary steering engine, and the rotation range is-120 degrees. The blue-green laser (19), the visual detection device (20) and the laser radar point cloud (18) are distributed in 120 degrees and are uniformly carried on the rotary surface disease detection platform (21). The blue-green laser (19) is used for detecting underwater lining deformation, the laser radar point cloud (18) is used for monitoring land lining deformation, and the vision detection system (20) is used for detecting apparent disease types and sizes.

When the robot is in the underwater working mode, the robot can hover when the robot travels a certain distance, the visual detection system (20) and the blue-green laser (19) alternately switch working states, and after the collection is finished, the robot continues to travel a certain distance, and the operation is repeated;

when the robot is in the land working mode, the robot can hover when travelling a certain distance, the visual detection system (20) and the laser radar point cloud (18) switch the working state in turn, and the operation is repeated.

The detection equipment in the working state rotates to the front part of the robot through the rotary surface disease detection platform, the steering engines B1(C1 and D1) rotate to-90 degrees, the steering engines B2(C2 and D2) rotate to-90 degrees under the control of the controller, the other two detection equipment are in a recovery state, the steering engines B1(C1 and D1) rotate to-90 degrees, and the steering engines B2(C2 and D2) rotate to 135 degrees. The rotary surface disease detection platform is simple to control, capable of achieving switching of various detection devices and high in adaptability.

The telescopic geological radar equipment carrying device comprises steering engines (A1, A2 and A3) and a protrusive bracket (22), carries a ground surface coupling radar and an air coupling radar (17) and is used for detecting diseases in a land lining and a back slope. The telescopic geological radar equipment carrying device has 3 working modes: an underwater operation mode, a near-surface exploration mode and a far-surface exploration mode.

When the radar device is in the underwater working mode, under the control of the controller, the steering engine A1 rotates to minus 90 degrees, the steering engine A2 rotates to 135 degrees, the steering engine A3 rotates to minus 135 degrees, and the radar device is in a recovery state.

When the device is in a near-surface detection mode, under the control of the controller, the steering engine A1 rotates to 90 degrees, the steering engine A2 rotates to 90 degrees, and the steering engine A3 rotates to 0 degrees.

When the device is in a far ground surface detection mode, under the control of the controller, the steering engine A1 rotates to 0 degree, the steering engine A2 rotates to 90 degrees, and the steering engine A3 rotates to 90 degrees.

The telescopic geological radar equipment carrying device of the embodiment is flexible in structure and simple to control, can realize the recovery and the exploration of the radar device, and meets the requirements of the near-surface and far-surface working environments.

In the embodiment, a pressure sensor is arranged at the bottom (15) of the moving frame of the robot body, the pressure of the bottom plate of the robot is sensed, and the pressure threshold is set to realize the switching of an amphibious traveling system so as to call different detection equipment and switch a water and land driving device.

As an optional implementation mode, the visual field range of the visual detection device (20) is changed along with the change of the water level and the switching of the land and water working environment, and the quality of image data acquisition is affected. The distance information of the robot from the surface of the channel bank is monitored in real time through a laser ranging sensor arranged on a robot bottom plate (15), and the controller adjusts the focal length of a visual detection system (20) in real time after receiving the distance information, so that the quality of data acquisition is guaranteed to a certain extent.

Example two

In one or more embodiments, a working method of an amphibious robot system for surface and internal disease detection of a linear embankment is disclosed, which includes:

under the underwater working mode, a visual detection system (20) and blue-green laser (19) carried by the rotary surface disease detection platform continuously switch to alternately work through a rotating mechanism, and laser radar point cloud (18) is in a recovery state; the ground surface coupling radar and the air coupling radar (17) carried by the telescopic geological radar equipment carrying device are in a recovery state.

In a land working mode, a visual detection system (20) and a laser radar point cloud (18) carried by the rotary surface disease detection platform continuously switch to alternately work through a rotating mechanism, and blue-green laser (19) is in a recovery state; the ground surface coupling radar and the air coupling radar (17) carried by the telescopic geological radar equipment carrying device are in a land working state.

The land operation modes of the ground surface coupling radar and the air coupling radar (17) are divided into a near-surface detection mode and a far-surface detection mode. The visual field range of the visual detection system (20) is detected by a laser ranging sensor arranged on a bottom plate (15) and the distance between the robot and the channel bank is adjusted by a controller.

The laser radar point cloud is used for detecting deformation of a concrete lining land part of the dyke in a land working mode, and the ground surface coupling radar and the air coupling radar are used for detecting internal diseases of the dyke, wherein the ground surface coupling radar is lowered in a near-ground detection mode and is used for detecting internal diseases of a concrete lining structure of the dyke, such as lining void; air coupling radar is transferred down under far-earth surface detection mode for detect the inside disease of dyke soil body side slope structure, for example the side slope slides.

The blue-green laser is used for detecting the deformation of the concrete lining underwater part of the canal wall in the underwater working mode.

In addition, the visual inspection device is in a working state for a long time and is used for detecting apparent diseases of overland and underwater linings, such as cracks, water leakage and the like.

When the pressure sensed by a pressure sensor arranged at the bottom of the moving frame of the robot body is higher than a set threshold value, switching to an underwater working mode; and when the pressure sensed by the pressure sensor is lower than a set threshold value, switching to the land operation mode.

In this embodiment, deep learning-based recognition methods, such as FL-SegNet, GPRInvNet, RD2CNN, are used for recognizing the surface and internal diseases of the bank engineering, and the method has great advantages in detecting the surface and internal diseases of the bank engineering.

Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive efforts by those skilled in the art based on the technical solution of the present invention.