CN210923501U - Detection equipment for oil immersed transformer - Google Patents

Abstract

The utility model relates to a detection device of a transformer, which comprises an oil-proof shell, a radar device, a propulsion device, a detection device, a control device and a power supply device; the radar device, the propulsion device, the detection device, the control device and the power supply device are arranged in the oil-resistant shell; the radar device, the propulsion device and the detection device are respectively in communication connection with the control device; wherein, the oil-proof shell is provided with a liquid inlet and a liquid outlet which are respectively connected with the propelling device. The oil-resistant shell of the detection equipment can enter the transformer under the condition that transformer oil is not discharged, can be freely moved through the propelling device, is navigated by the radar device, and is detected by the detection device, so that the detection of the oil-immersed transformer is unmanned, the efficiency is high, the labor cost is saved, the detection work can be carried out under the normal running state of the oil-immersed transformer, and the safety and the stability of power supply are improved.

Description

Detection equipment for oil immersed transformer

Technical Field

The utility model relates to a pipeline measurement's technical field especially relates to an oil immersed transformer's check out test set.

Background

With the continuous improvement of power grid construction and the development of power transmission technology, the operational reliability of power grid equipment directly influences the safety and stability of power grid operation. An oil immersed transformer is a common power grid core device, and has high requirements on safety and operation reliability, so that the function detection of the oil immersed transformer needs to be carried out regularly.

Traditional oil-immersed transformer detects and generally makes stopping transformer work, after emptying the inside transformer oil of transformer, get into the inside detection of transformer by detection personnel, still need pour into transformer oil into to the transformer again after the detection, such detection mode detection efficiency is lower, expends manpower and cost higher, needs the operation of longer time stop transformer moreover, can't carry out power supply in the testing process, has also caused certain influence to the stability of electric wire netting.

SUMMERY OF THE UTILITY MODEL

Therefore, it is necessary to provide a transformer detection device that can enter the transformer for detection when the transformer is in normal operation.

The detection equipment of the transformer comprises an oil-resistant shell, a radar device, a propulsion device, a detection device, a control device and a power supply device; the radar device, the propulsion device, the detection device, the control device and the power supply device are arranged inside the oil-resistant shell; the radar device, the propulsion device and the detection device are respectively in communication connection with the control device;

wherein, a liquid inlet and a liquid outlet are arranged on the oil-proof shell, and the liquid inlet and the liquid outlet are respectively connected with the propelling device.

Above-mentioned oil-immersed transformer's check out test set, resistant oily shell can get into inside the oil-immersed transformer under the condition of transformer oil of not discharging, and carry out the free movement in the transformer inside through advancing device, navigate by the radar installation, carry out the function detection to the transformer by detection device, thereby realize the unmanned of oil-immersed transformer detection, detection efficiency is higher, the cost of using manpower sparingly, can carry out detection achievement under oil-immersed transformer normal operating condition, need not to discharge transformer oil and stop oil-immersed transformer work, the security and the stability of electric wire netting power supply have been improved.

In one embodiment, the oil-resistant housing is a sphere or an ellipsoid, the oil-resistant housing includes an upper housing, a middle ring component and a lower housing, and the upper housing and the lower housing are respectively disposed at two ends of the middle ring component.

In one embodiment, the upper shell and the lower shell are respectively connected with the middle ring component through threads; the upper shell and the lower shell are made of non-metal materials, and the non-metal materials comprise transparent engineering plastics; the middle ring component is made of metal materials, and the metal materials comprise aluminum alloy.

In one embodiment, the propulsion device comprises a vertical jet pump and a horizontal jet pump, the liquid inlets comprise a vertical liquid inlet and a horizontal liquid inlet, and the liquid outlets comprise a vertical liquid outlet and a horizontal liquid outlet; the vertical injection pump is respectively connected with the vertical liquid inlet and the vertical liquid outlet, and the horizontal injection pump is respectively connected with the horizontal liquid inlet and the horizontal liquid outlet;

the vertical liquid inlet and the vertical liquid outlet are arranged on the upper shell and/or the lower shell, and the horizontal liquid inlet and the horizontal liquid outlet are arranged on the middle ring component.

In one embodiment, the number of the vertical jet pumps is two, and the two vertical jet pumps are symmetrically arranged inside the upper shell and the lower shell; the number of the horizontal jet pumps is four, and the four horizontal jet pumps are eccentrically arranged inside the middle ring component along the circumferential direction of the middle ring component.

In one embodiment, the radar apparatus includes a transmitting module, a receiving module, and a signal processing module; the transmitting module and the receiving module are arranged in a radar through hole formed in the oil-resistant shell, and the transmitting module and the receiving module are respectively in communication connection with the signal processing module.

In one embodiment, the detection device comprises an illumination module, an imaging module and an image processing module, wherein the imaging module is in communication connection with the image processing module, and is arranged in an imaging through hole formed in the oil-resistant shell; the lighting module comprises an LED lamp, and the imaging module comprises at least one of a camera unit, an infrared imaging unit and an ultraviolet imaging unit.

In one embodiment, the control device comprises a processing module and a sensing module, wherein the sensing module is in communication connection with the processing module and comprises at least one of an obstacle sensing sensor and a pose sensor.

In one of the embodiments, the posture sensor includes at least one of a micromechanical gyro, a micromechanical accelerometer, and a magnetoresistive magnetometer; the obstacle sensing sensor includes a laser sensor.

In one embodiment, the power supply device comprises a battery pack, a charging module and a power-on module, wherein the battery pack is respectively connected with the charging module and the power-on module; the battery pack includes a lithium battery.

Drawings

FIG. 1 is a schematic block diagram of a detection apparatus for an oil transformer according to an embodiment;

FIG. 2 is a schematic structural diagram of a detection apparatus for an oil filled transformer according to an embodiment;

FIG. 3 is a side perspective view of a detection apparatus of an oil transformer in one embodiment;

FIG. 4 is a top perspective view of a detection apparatus of an oil transformer in one embodiment;

FIG. 5 is a schematic structural view of a radar apparatus according to an embodiment;

FIG. 6 is a schematic structural diagram of a control device in one embodiment;

fig. 7 is a schematic structural diagram of a power supply device in one embodiment.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Fig. 1 is a schematic block diagram of a transformer inspection apparatus in an embodiment, as shown in fig. 1, in an embodiment, a transformer inspection apparatus 100 includes an oil-proof housing 110, a radar device 120, a propulsion device 130, a detection device 150, a control device 170, and a power supply device 190; the radar device 120, the propulsion device 130, the detection device 150, the control device 170 and the power supply device 190 are arranged inside the oil-proof shell 110; the radar device 120, the propulsion device 130 and the detection device 150 are respectively in communication connection with the control device 170; the oil-proof housing 110 is provided with a liquid inlet 140 and a liquid outlet 160, and the liquid inlet 140 and the liquid outlet 160 are respectively connected with the propelling device 130.

Specifically, in the detection apparatus 100 for an oil-immersed transformer, the oil-resistant housing 110 is used to accommodate components such as the radar device 120, the propulsion device 130, the detection device 150, the control device 170, and the power supply device 190, and the oil-resistant housing 110 generally adopts oil-resistant materials such as engineering plastics to adapt to a working environment inside the oil-immersed transformer, so as to avoid damage to the transformer due to conditions such as collision. The power supply device 190 is electrically connected to the radar device 120, the propulsion device 130, the detection device 150, the control device 170, and other electrical components to provide power supply for the electrical components, and the power supply device 190 may specifically include a power supply device such as a rechargeable battery to ensure the cruising ability of the detection apparatus 100. The control device 170 is connected to the radar device 120, the propulsion device 130 and the detection device 150 in a communication manner, and the control device 170 controls the propulsion device 130 and the detection device 150 to operate by receiving a control command from a user or an operator or according to a preset detection program, so as to perform movement and corresponding function detection inside the transformer.

The radar device 120 may include components such as a laser radar, the radar device 120 performs motion distance measurement and real-time positioning when the detection apparatus 100 performs inspection, and sends information data such as distance and positioning to the control device 170, and the control device 170 plans a traveling path of the detection apparatus 100 according to the data, and controls the propulsion device 130 to operate, so as to avoid situations such as motion collision. Propulsion device 130 may drive detection apparatus 100 to move in various directions inside the oil-immersed transformer, for example, propulsion device 130 may adopt a jet propeller, etc., propulsion device 130 is disposed inside oil-proof housing 110, propulsion device 130 is connected with a liquid inlet 140 and a liquid outlet 160 that are disposed on the oil-proof housing through a structure such as a pipeline, etc., where the number and the arrangement positions of liquid inlet 140 and liquid outlet 160 may be determined according to the specification and the internal environment of the oil-immersed transformer. When the detection device 100 works in the oil-immersed transformer, transformer oil enters from the liquid inlet 140 and is sprayed out from the liquid outlet 160 after passing through the propelling device 130, so that propelling power is provided for the detection device 100, and the detection device 100 can move freely in the oil-immersed transformer.

The detection device 150 may specifically include a visual detection device such as a camera unit, and may further include an infrared detection device, and a through hole may be formed in the oil-resistant housing 110, so that the detection device 150 detects the transformer outside the detection apparatus 100. The detection device 150 may store the acquired detection image or detection data, and after the detection apparatus 100 leaves the oil-immersed transformer, a user or an operator reads the stored detection image or detection data, and the detection device 150 may also send the detection image or detection data to the user or the operator for viewing in real time through the control device 170 during the detection process.

Above-mentioned detection equipment 100 of transformer, oily shell of resistant can get into inside the oil-immersed transformer under the condition of not discharging transformer oil, and carry out the free movement in the transformer inside through advancing device, navigate by the radar installation, carry out the function detection to the transformer by detection device, thereby realize the unmanned of oil-immersed transformer detection, detection efficiency is higher, the cost of using manpower sparingly, can carry out the testing work under the oil-immersed transformer normal operating condition, need not to discharge transformer oil and stop the work of oil-immersed transformer, the security and the stability of electric wire netting power supply have been improved.

Fig. 2 is a schematic structural diagram of a detection apparatus of an oil-filled transformer in an embodiment, as shown in fig. 2, in an embodiment, the oil-resistant housing 110 is a sphere or an ellipsoid, the oil-resistant housing 110 includes an upper housing 112, a middle ring component 116, and a lower housing 114, and the upper housing 112 and the lower housing 114 are respectively disposed at two ends of the middle ring component 116.

Specifically, the specific shape and specification of the oil-resistant shell 110 of the detection device 100 can be determined according to the actual condition of the transformer, for example, the oil-resistant shell 110 generally can be a sphere shell or an ellipsoid shell, the whole appearance of the oil-resistant shell 110 is a circle or an ellipsoid, so that the outer surface of the detection device 100 is not provided with a protruding structure, the detection device 100 can be put into the transformer through a transformer inlet hole during operation, the oil-resistant shell 110 of the arc structure can effectively avoid the accidents of collision, hooking or winding and the like of the detection device 100 with transformer components in the working process inside the transformer, the damage to the inside of the transformer is avoided, and the safety of the detection process is improved. The oil resistant housing 110 may be specifically composed of three parts, an upper casing 112, a lower casing 114, and an intermediate ring member 116. The upper casing 112 and the lower casing 114 may be hemispheroids or hemiellipsoids having the same shape, and the middle ring member 116 may have a ring structure having the same diameter as the end surfaces of the upper casing 112 and the lower casing 114. The ball top positions of the upper housing 112 and the lower housing 114 may be both opened with bolt through holes for connecting fixing bolts so as to fix or move the detection apparatus 100.

Further, in one embodiment, the upper and lower housings 112 and 114 are respectively threadedly coupled to the middle ring member 116; the upper casing 112 and the lower casing 114 are made of non-metal materials, and the non-metal materials comprise transparent engineering plastics; the middle ring member 116 is made of metal, and the metal includes aluminum alloy.

Specifically, the lower end surface of the upper case 112 is provided with a screw thread that coincides with a screw hole provided in the upper end surface of the middle ring member 116; the upper end surface of the lower case 114 is provided with screw threads which correspond to screw holes provided in the lower end surface of the middle ring member 116. The upper casing 112 and the lower casing 114 may be made of non-metallic materials such as transparent engineering plastics, so that the oil-immersed transformer has the advantages of stable property, corrosion resistance, oil resistance, high temperature resistance and the like, and can effectively protect the internal structure of the detection device 100 in the internal environment of the oil-immersed transformer, and meanwhile, the transparent casing part can facilitate the detection of the transformer by the detection device 130 such as an internal camera unit and the like, and also facilitate the observation of the internal state of the detection device 100 by a user or an operator. The middle ring component 116 may be made of a metal material such as an aluminum alloy, so as to better ensure the connection strength with the upper casing 112 and the lower casing 114 and bear the weight of the whole structure of the detection apparatus 100 to a greater extent. It is understood that the upper housing 112, the middle ring member 116, and the lower housing 114 are not limited to the above materials, and may be made of other materials suitable for the detection environment of the oil transformer.

Fig. 3 is a side perspective view of an apparatus for inspecting an oil transformer according to an embodiment, fig. 4 is a top perspective view of an apparatus for inspecting an oil transformer according to an embodiment, and referring to fig. 2 to 4 together, in an embodiment, the propelling device 130 includes a vertical jet pump 132 and a horizontal jet pump 134, the liquid inlet 140 includes a vertical liquid inlet 142 and a horizontal liquid inlet 144, and the liquid outlet 160 includes a vertical liquid outlet 162 and a horizontal liquid outlet 164; the vertical jet pump 132 is connected to the vertical inlet 142 and the vertical outlet 162, respectively, and the horizontal jet pump 134 is connected to the horizontal inlet 144 and the horizontal outlet 164, respectively; the vertical inlet 142 and the vertical outlet 162 are opened on the upper shell 112 and/or the lower shell 114, and the horizontal inlet 144 and the horizontal outlet 164 are opened on the middle ring member 116.

Specifically, the propelling device 130 includes two parts, namely a vertical jet pump 132 and a horizontal jet pump 134, for driving the detection apparatus 100 to move in the vertical and horizontal directions, respectively, and the vertical jet pump 132 and the horizontal jet pump 134 may be micro liquid pumps and may be mounted in a flange mounting structure, and the vertical jet pump 132 and the horizontal jet pump 134 are fixed inside the oil-resistant casing 110 by screws. The vertical jet pump 132 is connected to the vertical inlet port 142 and the vertical outlet port 162, and the vertical inlet port 142 and the vertical outlet port 162 may be disposed on the upper casing 112 and the lower casing 114, respectively, or disposed on both the upper casing 112 and the lower casing 114. Horizontal jet pump 134 is connected to horizontal inlet port 144 and horizontal outlet port 164, respectively, and horizontal inlet port 144 and horizontal outlet port 164 may be provided on middle ring member 116.

Further, the number of the above-mentioned vertical injection pumps 132 and horizontal injection pumps 134 may be determined according to the actual specification and power requirement of the inspection equipment 100, and a greater number of vertical injection pumps 132 and horizontal injection pumps 134 may be provided to enable the inspection equipment 100 to run more sufficient power. Each of the injection pumps may be connected to one of the liquid inlet 140 and the liquid outlet 160, or a plurality of liquid inlets and liquid outlets may be provided for each of the injection pumps, so as to achieve more stable and flexible movement direction control.

In an alternative embodiment, the number of the vertical jet pumps 132 is two, and the two vertical jet pumps 132 are symmetrically arranged inside the upper casing 112 and the lower casing 114; the number of the horizontal jet pumps 134 is four, and the four horizontal jet pumps 134 are eccentrically disposed inside the middle ring member 116 in the circumferential direction of the middle ring member 116. The two vertical jet pumps 132 are arranged inside the upper shell 112 and the lower shell 14 respectively in a symmetrical structure, and a vertical liquid inlet 142 and a vertical liquid outlet 162 are formed at the tops of the upper shell 112 and the lower shell 114; the four horizontal jet pumps 134 are arranged in a horizontal vector manner and are all arranged inside the middle ring component 116, and the four horizontal liquid inlets 144 and the four horizontal liquid outlets 164 are uniformly arranged and opened on the middle ring component 116.

Fig. 5 is a schematic structural diagram of a radar apparatus in an embodiment, and referring to fig. 2 and 5 together, in an embodiment, a radar apparatus 120 includes a transmitting module 122, a receiving module 124, and a signal processing module 126; the transmitting module 122 and the receiving module 124 are disposed in a radar through hole 128 formed in the oil-proof housing 110, and the transmitting module 122 and the receiving module 124 are respectively in communication connection with the signal processing module 126.

Specifically, in the radar device 120, the transmitting module 122 is configured to transmit radar signals such as laser, the receiving module 124 is configured to receive radar signals reflected by surrounding objects, the signal processing module 126 performs ranging and real-time positioning on the surrounding environment according to the received radar signals, and sends ranging and positioning information to the control device 170, and the control device 170 controls the propulsion device 130 to avoid obstacles inside the oil-immersed transformer according to information detected by the radar device 120, and moves to a set position for function detection, so as to implement movement path planning and navigation of the detection device 100 inside the oil-immersed transformer.

In one embodiment, the detection device 150 includes an illumination module, an imaging module and an image processing module, the imaging module is in communication connection with the image processing module, and the imaging module is disposed in an imaging through hole 152 formed in the oil-proof housing; the lighting module comprises an LED lamp, and the imaging module comprises at least one of a camera unit, an infrared imaging unit and an ultraviolet imaging unit.

Specifically, lighting module is used for the transmitted light in order to throw light on oil-immersed transformer inside, and lighting module specifically can adopt luminescent device such as LED lamp, and the LED lamp can set up inside resistant oily shell 110, and the LED lamp can freely rotate to the illumination function to different positions is realized, thereby can clearly illuminate oil-immersed transformer's inner structure, the collection of the image of being convenient for and effectively control check out test set 100. The imaging module can acquire images and the like in the oil immersed transformer, and the imaging module can specifically adopt imaging devices such as a camera. The image processing module is arranged inside the oil-resistant shell 110, the image processing module is in communication connection with the imaging module in a wired or wireless mode, the imaging module acquires imaging data and then sends the imaging data to the image processing module for image processing, and after the image processing is finished, the image processing module sends the obtained detection image to the control device 170 so as to be convenient for a user or an operator to watch.

Further, the imaging module may specifically include a camera unit, an infrared imaging unit, an ultraviolet imaging unit, and the like, as shown in fig. 2, the imaging module may be disposed in a corresponding imaging through hole 152 formed in a front position of the oil-proof housing 110, the imaging module may perform acquisition of a detection image through the imaging through hole 152, and a waterproof housing or a waterproof lens cover and other components may be further disposed outside the imaging through hole 152, so as to prevent transformer oil from entering the interior of the detection apparatus 100 when a collision accident occurs.

The image pickup unit can acquire actual images inside the oil immersed transformer through visible light imaging devices such as a camera and the like, can be used for checking whether external damage exists on components of the oil immersed transformer, and can also facilitate users and operators to control the detection equipment 100; the infrared imaging unit can detect infrared specific wave band signals of object heat radiation through a photoelectric technology and convert the signals into images and graphs which can be distinguished by human vision; the ultraviolet imaging unit can receive an ultraviolet signal generated when the equipment discharges, and the ultraviolet signal is overlapped with a visible light image after being processed, so that the purpose of determining the position and the strength of the corona is achieved, and a reliable basis is provided for further evaluating the operation condition of the transformer component. The infrared imaging unit and the ultraviolet imaging unit can accurately detect the working state of the oil immersed transformer component, so that a fault component can be found in time.

Furthermore, the types and models of the camera unit, the infrared imaging unit and the ultraviolet imaging unit can be determined according to actual detection requirements. In a preferred embodiment, the image capturing unit may specifically be a CMOS or CCD image capturing unit, which can provide better image quality while ensuring a smaller volume. The infrared imaging unit can specifically adopt an FLIR E53 advanced thermal infrared imager, the resolution of the E53 thermal infrared imager is 43200 pixels, the highest temperature measurement range is 650 ℃, the distance coefficient ratio is good, accurate temperature measurement of a target with a small volume or a long distance can be realized, laser-assisted automatic focusing is also provided, a hot spot can be accurately identified, and therefore a fault element can be identified in time in a complex transformer internal environment. The ultraviolet imaging module can adopt a CLASSIC ultraviolet imager, the CLASSIC ultraviolet imager is an ultraviolet imaging device for detecting corona, a lens of the ultraviolet imaging module can detect the defect of a fine position in the transformer, the ultraviolet imaging module has high sensitivity, can detect all corona arcs by 100 percent, can realize rapid optical zooming of a visible light channel and automatic focusing of the ultraviolet light channel and the visible light channel, does not need to be corrected, and is convenient to use.

Fig. 6 is a schematic diagram of a control apparatus according to an embodiment, and as shown in fig. 6, the control apparatus 170 includes a processing module 172 and a sensing module 174, the sensing module 174 is communicatively connected to the processing module 172, and the sensing module 174 includes at least one of an obstacle sensing sensor and a pose sensor.

Specifically, in the control device 170, the processing module 172 is configured to receive various operation instructions of the user, control various components in the detection apparatus 100 to operate, and also receive the detection image and the detection data acquired by the detection device 150 and send the detection image and the detection data to the user or an operator for viewing. The sensing module 174 is used to obtain various data of the operation of the detection device 100 to provide a reference for a user or an operator to control the detection device 100. The sensing module 174 may specifically include an obstacle sensing sensor and a pose sensor, the obstacle sensing sensor is configured to acquire position information of an obstacle around the detection apparatus 100, the pose sensor is configured to acquire real-time position and angle data of the detection apparatus 100, and the sensing module 174 sends the data of the obstacle sensing sensor and the pose sensor to the processing module 174, so that the processing module 172 controls the detection apparatus 100 to avoid an obstacle inside the transformer during a moving process, and prevent damage to components of the transformer.

Furthermore, the types and models of the obstacle perception sensor and the pose sensor can be determined according to actual detection requirements. In a preferred embodiment, the above-described attitude sensor includes at least one of a micromechanical gyro, a micromechanical accelerometer, and a magnetoresistive magnetometer; the obstacle sensing sensor includes a laser sensor. The pose sensor adopts a Micro-pose reference System, and specifically comprises a Micro-Electro-Mechanical System (MEMS) gyroscope, a three-axis MEMS accelerometer, a three-axis magnetoresistive magnetometer and other sensors which are invisible; the obstacle perception sensor can specifically adopt SICK OD series laser sensors, is visual in setting process, convenient to operate, high in measurement accuracy and reliability, and suitable for short-distance accurate measurement.

Fig. 7 is a schematic structural diagram of a power supply apparatus in an embodiment, as shown in fig. 7, in an embodiment, a power supply apparatus 190 includes a battery pack 192, a charging module 194, and a power-up module 196, where the battery pack 192 is connected to the charging module 194 and the power-up module 196, respectively; the battery pack 192 includes a lithium battery.

Specifically, the battery device 190 includes a battery pack 192, a charging device 194, and a power-on device 196. The battery pack 192 is connected to a charging device 194 and a power-on device 196, respectively. The charging device 194 may be connected to an external power source to charge the battery pack 192, the power-on device 196 is electrically connected to the electrical components of the radar device 120, the propulsion device 130, the detection device 150, the control device 170, and the like, and the battery pack 192 may supply power to the electrical components of the detection apparatus 100 through the power-on device 196 when the detection apparatus 100 is in operation. In an alternative embodiment, as shown in fig. 4, the battery pack 192 may be a cylinder, and the cylinder battery pack 192 may be fixedly disposed on an inner wall of the oil-resistant casing 110, so as to save space and ensure firm fixation. The battery pack 192 may specifically adopt a lithium ion battery, the battery energy reserve is 70Wh, and the lithium ion battery is selected as a power supply energy source of the detection device 100, so that the detection device has the advantages of good safety performance, long cycle life, light weight, no pollution and the like, the weight of the detection device 100 can be reduced, and the endurance time of the detection device 100 can be increased.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims (10)

1. The detection equipment of the oil immersed transformer is characterized by comprising an oil-resistant shell, a radar device, a propulsion device, a detection device, a control device and a power supply device; the radar device, the propulsion device, the detection device, the control device and the power supply device are arranged inside the oil-resistant shell; the radar device, the propulsion device and the detection device are respectively in communication connection with the control device;

wherein, a liquid inlet and a liquid outlet are arranged on the oil-proof shell, and the liquid inlet and the liquid outlet are respectively connected with the propelling device.

2. The detection apparatus according to claim 1, wherein the oil-resistant housing is a sphere or an ellipsoid, the oil-resistant housing includes an upper housing, a middle ring member, and a lower housing, and the upper housing and the lower housing are respectively disposed at two ends of the middle ring member.

3. The detecting apparatus according to claim 2, wherein the upper case and the lower case are respectively screw-coupled with the middle ring member; the upper shell and the lower shell are made of non-metal materials, and the non-metal materials comprise transparent engineering plastics; the middle ring component is made of metal materials, and the metal materials comprise aluminum alloy.

4. The detection apparatus according to claim 2, wherein the propulsion device comprises a vertical jet pump and a horizontal jet pump, the liquid inlets comprise a vertical liquid inlet and a horizontal liquid inlet, and the liquid outlets comprise a vertical liquid outlet and a horizontal liquid outlet; the vertical injection pump is respectively connected with the vertical liquid inlet and the vertical liquid outlet, and the horizontal injection pump is respectively connected with the horizontal liquid inlet and the horizontal liquid outlet;

the vertical liquid inlet and the vertical liquid outlet are arranged on the upper shell and/or the lower shell, and the horizontal liquid inlet and the horizontal liquid outlet are arranged on the middle ring component.

5. The detection apparatus according to claim 4, wherein the number of the vertical jet pumps is two, and the two vertical jet pumps are symmetrically arranged inside the upper housing and the lower housing; the number of the horizontal jet pumps is four, and the four horizontal jet pumps are eccentrically arranged inside the middle ring component along the circumferential direction of the middle ring component.

6. The detection apparatus according to claim 1, wherein the radar device includes a transmission module, a reception module, and a signal processing module; the transmitting module and the receiving module are arranged in a radar through hole formed in the oil-resistant shell, and the transmitting module and the receiving module are respectively in communication connection with the signal processing module.

7. The detection device according to claim 1, wherein the detection device comprises an illumination module, an imaging module and an image processing module, the imaging module is in communication connection with the image processing module, and the imaging module is arranged in an imaging through hole formed in the oil-resistant housing; the lighting module comprises an LED lamp, and the imaging module comprises at least one of a camera unit, an infrared imaging unit and an ultraviolet imaging unit.

8. The detection apparatus of claim 1, wherein the control device comprises a processing module and a sensing module communicatively coupled to the processing module, the sensing module comprising at least one of an obstacle sensing sensor and a pose sensor.

9. The detection apparatus according to claim 8, characterized in that the pose sensor includes at least one of a micromechanical gyroscope, a micromechanical accelerometer, and a magnetoresistive magnetometer; the obstacle sensing sensor includes a laser sensor.

10. The detection device according to claim 1, wherein the power supply means comprises a battery pack, a charging module and a power-up module, the battery pack being connected to the charging module and the power-up module, respectively; the battery pack includes a lithium battery.

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