Design of combined robot for disease detection of long diversion tunnel

At present, there are two methods for the detection of long diversion tunnel, one is manual detection, the other is underwater robot detection. Manual detection is dangerous and costly. Underwater robots can be divided into two types: ROV with cable and AUV without cable. At present, the development of ROV is relatively mature, but the cable also greatly limits its scope of activity. ROV cable is easy to knot and break, and it is also easy to wind on obstacles such as underwater aquatic plants, stones and dead branches, affecting the work of ROV and even making it unable to return. The research of AUV started late and there is no cable constraint, which greatly improves its activity range. However, AUV is limited by energy and information transmission when working underwater. Therefore, it is of great significance to study an underwater equipment which has the advantages of ROV and AUV and can make up for their defects. Based on the detection of medium and long tunnels in water diversion project, an underwater group intelligent equipment is proposed in this paper. The main body of the equipment is composed of ROV and AUV, which cooperate with each other. ROV provides energy for AUV and carries out information interaction with AUV, while AUV is responsible for the main detection work. The technologies used mainly include electromagnetic induction charging technology, SLAM algorithm navigation technology, image analysis technology, laser scanning technology, sonar technology, etc.