CN211281423U

CN211281423U - Underwater inspection system

Info

Publication number: CN211281423U
Application number: CN201922244407.XU
Authority: CN
Inventors: 陈永灿; 张华�; 王皓冉; 李永龙
Original assignee: Sichuan Energy Internet Research Institute EIRI Tsinghua University
Current assignee: Sichuan Energy Internet Research Institute EIRI Tsinghua University
Priority date: 2019-12-13
Filing date: 2019-12-13
Publication date: 2020-08-18
Anticipated expiration: 2029-12-13

Abstract

The utility model discloses an inspection system under water relates to the waters and patrols and examines technical field. The underwater inspection system comprises a base station, an unmanned ship and an underwater robot. The controller and the winding machine are both mounted on the ship body, the base station is in communication connection with the controller, the controller is connected with the underwater robot through the buoyancy cable to transmit control signals to the underwater robot, the buoyancy cable is wound outside the winding machine, and the winding machine can contract or lengthen the buoyancy cable so that the position of the underwater robot relative to the ship body is adjustable. Compared with the prior art, the utility model provides an inspection system under water is owing to adopted around locating the outer buoyancy cable of wire winding machine and through the controller that buoyancy cable and underwater robot are connected, so can realize the accurate control to underwater robot through the wired communication mode, avoid water to cause the influence to control signal's transmission, guarantee control signal's accuracy to can realize patrolling and examining in deeper waters.

Description

Underwater inspection system

Technical Field

The utility model relates to a technical field is patrolled and examined in the waters particularly, relates to an underwater tour inspection system.

Background

In the hydropower project, concrete underwater buildings are soaked underwater for a long time, and the safety problem is increasingly highlighted due to the influence of geological disasters such as structural aging, earthquake and the like. In order to facilitate the inspection of underwater buildings, people create and produce underwater robots, and the underwater robots are controlled to detect the buildings by utilizing the wireless communication connection of communication equipment and the underwater robots. However, in the wireless communication process between the communication equipment and the underwater robot, due to the weakening and blocking effects of water on the control signal, the control signal transmitted to the underwater robot is weakened, the accuracy of the control signal is affected, the movement of the underwater robot is delayed, and the underwater robot cannot enter a deeper water area.

In view of this, it is very important to design and manufacture an underwater inspection system capable of realizing accurate control, especially in robot production.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide an underwater inspection system can realize avoiding water to cause the influence to control signal's transmission to the accurate control of underwater robot, guarantees control signal's accuracy to can realize patrolling and examining in deeper waters.

The utility model is realized by adopting the following technical scheme.

The utility model provides an underwater inspection system, includes basic station, unmanned ship and underwater robot, and unmanned ship includes hull, controller, coiling machine and buoyancy cable, and controller and coiling machine are all installed on the hull, and basic station and controller communication connection, controller pass through the buoyancy cable and be connected with underwater robot to underwater robot transmission control signal, the buoyancy cable is around locating outside the coiling machine, and the coiling machine can contract or lengthen the buoyancy cable, so that underwater robot is adjustable for the position of hull.

Further, the winding machine comprises a frame, a driving motor and a winding drum, the frame is fixedly mounted on the ship body and is rotatably connected with the winding drum, the driving motor is fixedly mounted on the frame and is connected with the winding drum, and the buoyancy cable is wound on the winding drum.

Further, the winding machine further comprises an installation frame and a guide wheel, the guide wheel is installed on the installation frame and can rotate relative to the installation frame, the installation frame is connected with the rack in a sliding mode, the buoyancy cable bypasses the guide wheel and is connected with the underwater robot, and the rotation direction of the guide wheel is opposite to the rotation direction of the winding reel.

Furthermore, the winding machine further comprises a transmission assembly and a lead screw, the winding drum is connected with the lead screw through the transmission assembly, the rotation direction of the winding drum is the same as that of the lead screw, the lead screw is installed on the rack and is rotatably connected with the rack, and the lead screw penetrates through the installation rack and is in threaded fit with the installation rack.

Furthermore, the transmission assembly comprises a first transmission wheel, a middle transmission piece, a second transmission wheel, a first transmission piece and a second transmission piece, the middle transmission piece is installed on the rack and can rotate relative to the rack, the middle transmission piece is provided with a third transmission wheel and a fourth transmission wheel relatively, the first transmission wheel is fixedly connected to the winding reel and is connected with the third transmission wheel through the first transmission piece, and the second transmission wheel is fixedly connected to the lead screw and is connected with the fourth transmission wheel through the second transmission piece.

Furthermore, unmanned ship still includes laser radar and RTK antenna, and laser radar and RTK antenna all install on the hull, and all are connected with the controller, and laser radar and RTK antenna all are with basic station communication connection.

Furthermore, unmanned ship still includes the camera, and the camera is installed on the hull, and is connected with the controller, and the camera is used for shooting controller, coiling machine and the real-time image of aquatic environment.

Furthermore, unmanned ship still includes the underwater sound location basic station, and underwater robot is provided with the underwater sound location beacon, and the underwater sound location basic station is installed in the bottom of hull, and is connected with the controller, and the underwater sound location basic station can detect the position of underwater sound location beacon place.

Further, the unmanned ship further comprises a locking mechanism, the locking mechanism is installed at the bottom of the ship body and connected with the controller, and the locking mechanism is used for locking the underwater robot when the underwater robot moves to a preset position so as to fix the relative position of the underwater robot and the ship body.

Furthermore, unmanned ship still includes first propeller, and underwater robot is provided with the second propeller, and first propeller is installed in the bottom of hull, and is connected with the controller, and first propeller is used for driving the hull to take place the motion, and the second propeller can drive underwater robot relative hull synchronous motion.

The utility model provides an underwater inspection system has following beneficial effect:

the utility model provides an underwater inspection system, unmanned ship include hull, controller, coiling machine and buoyancy cable, and controller and coiling machine are all installed on the hull, and basic station and controller communication connection, controller pass through the buoyancy cable and are connected with underwater robot to underwater robot transmission control signal, the buoyancy cable is around locating outside the coiling machine, and the coiling machine can contract or put long buoyancy cable, so that underwater robot is adjustable for the position of hull. Compared with the prior art, the utility model provides an inspection system under water is owing to adopted around locating the outer buoyancy cable of wire winding machine and through the controller that buoyancy cable and underwater robot are connected, so can realize the accurate control to underwater robot through the wired communication mode, avoid water to cause the influence to control signal's transmission, guarantee control signal's accuracy to can realize patrolling and examining in deeper waters.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

Fig. 1 is a schematic structural diagram of an underwater inspection system provided by an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a view angle of an unmanned ship in the underwater inspection system provided by the embodiment of the utility model;

fig. 3 is a schematic structural diagram of another view angle of the unmanned ship in the underwater inspection system provided by the embodiment of the invention;

fig. 4 is a schematic structural diagram of an underwater robot in the underwater inspection system provided by the embodiment of the present invention;

fig. 5 is a schematic view of the winding machine of fig. 2;

fig. 6 is a schematic structural view of the winding machine in fig. 2 from another perspective.

Icon: 10-an underwater inspection system; 100-a base station; 200-unmanned ship; 210-a hull; 220-a controller; 230-a winding machine; 231-a frame; 232-driving motor; 233-a bobbin; 234-a mounting frame; 235-a guide wheel; 236-a transmission assembly; 2361-first drive wheel; 2362-transfer piece; 2363-a second driving wheel; 2364-a first transmission member; 2365-a second transmission; 2366-a third driving wheel; 2367-a fourth driving wheel; 237-lead screw; 240-buoyancy cable; 250-laser radar; 260-an RTK antenna; 270-a camera; 280-an underwater acoustic positioning base station; 290-a locking mechanism; 300-a buoyancy block; 310-a battery; 320-a first propeller; 400-an underwater robot; 410-an underwater acoustic positioning beacon; 420-a magnetic member; 430-second impeller.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the present invention, it should be noted that the terms "inside", "outside", "upper", "lower", "horizontal", and the like indicate the directions or positional relationships based on the directions or positional relationships shown in the drawings, or the directions or positional relationships that the products of the present invention are conventionally placed when used, and are only for the convenience of describing the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "connected," "mounted," and "connected" are to be construed broadly, e.g., as meaning fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Some embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Features in the embodiments described below may be combined with each other without conflict.

Examples

Referring to fig. 1, an embodiment of the present invention provides an underwater inspection system 10 for inspecting underwater buildings. It can realize the accurate control to underwater robot 400, avoids water to cause the influence to control signal's transmission, guarantees control signal's accuracy to can realize patrolling and examining in deeper waters.

The underwater inspection system 10 includes a base station 100, an unmanned ship 200, and an underwater robot 400. The base station 100 is installed on the ground or on a ship, and the base station 100 is connected to the unmanned ship 200 in wireless communication. When the unmanned ship 200 needs to be controlled, the base station 100 transmits a wireless control signal to the unmanned ship 200, the wireless control signal is transmitted between the base station 100 and the unmanned ship 200, the wireless control signal for controlling the unmanned ship 200 can be directly received by the unmanned ship 200, and the unmanned ship 200 can respond to the corresponding wireless control signal. Since the wireless control signal for controlling the unmanned ship 200 is transmitted in the air and is not obstructed by water, the base station 100 can accurately and reliably control the unmanned ship 200.

The unmanned ship 200 is used for floating on the water surface, the underwater robot 400 is used for inspection under water, and the unmanned ship 200 is in wired communication connection with the underwater robot 400. When the underwater robot 400 needs to be controlled, the base station 100 sends a wireless control signal to the unmanned ship 200, the unmanned ship 200 performs signal transfer on the wireless control signal, and transmits a wired control signal obtained by conversion to the underwater robot 400, the wired control signal for controlling the underwater robot 400 can be directly received by the underwater robot 400, and the underwater robot 400 can respond to the corresponding wired control signal, so that the inspection operation of the underwater robot 400 is realized. Since the wireless control signal for controlling the underwater robot 400 is transmitted in the air and the wired control signal for controlling the underwater robot 400 is transmitted in the cable without being obstructed by water, the base station 100 can accurately and reliably control the underwater robot 400.

Referring to fig. 2, 3 and 4 in combination, the unmanned ship 200 includes a hull 210, a controller 220, a winding machine 230, a buoyancy cable 240, a laser radar 250, an RTK antenna 260, a camera 270, an underwater acoustic positioning base 280, a locking mechanism 290, a buoyancy block 300, a battery 310 and a first propeller 320. The controller 220, the winding machine 230, the laser radar 250, the RTK antenna 260, the camera 270, the underwater acoustic positioning base station 280, the locking mechanism 290, the buoyancy block 300, the battery 310 and the first propeller 320 are all mounted on the hull 210. The base station 100 is communicatively coupled to a controller 220, and the controller 220 is configured to receive radio control signals from the base station 100. The controller 220 is connected to the underwater robot 400 through the buoyancy cable 240 to transmit a wired control signal to the underwater robot 400, and the wired control signal is transmitted between the controller 220 and the underwater robot 400 through the buoyancy cable 240, thereby controlling the underwater robot 400 to perform the inspection work. The buoyancy cable 240 is wound outside the winding machine 230, the winding machine 230 can contract or lengthen the buoyancy cable 240, so that the position of the underwater robot 400 relative to the hull 210 is adjustable, the underwater robot 400 can conveniently work, when the buoyancy cable 240 is long enough, the underwater robot 400 can patrol in a deeper water area, the winding machine 230 can recover the buoyancy cable 240 when the underwater robot 400 fails and cannot act, the underwater robot 400 is dragged to the water surface, and the underwater robot 400 is prevented from being lost.

It should be noted that both the laser radar 250 and the RTK antenna 260 are connected to the controller 220, both the laser radar 250 and the RTK antenna 260 are in communication connection with the base station 100, and the base station 100 positions the unmanned ship 200 through the laser radar 250 and the RTK antenna 260, so as to implement autonomous navigation and obstacle avoidance of the unmanned ship 200. Specifically, the RTK is a real-time dynamic carrier phase difference technique, and the RTK antenna 260 is an antenna used for transmitting a communication signal in the technique. In this embodiment, the number of the RTK antennas 260 is four, and the four RTK antennas 260 are disposed at intervals on the hull 210 to improve the accuracy of positioning the unmanned ship 200.

The camera 270 is connected to the controller 220, and the camera 270 is used for capturing real-time images of the controller 220, the battery 310, the winding machine 230, and the water environment. In this embodiment, the number of the cameras 270 is five, three of the cameras 270 are arranged on the hull 210 at intervals, and the winding machine 230 is shot from different angles to monitor the winding machine 230 in real time, so that the winding machine can know the winding fault or the winding fault at the first time; the other two cameras 270 are arranged on the hull 210 at intervals to photograph the controller 220 and the battery 310, so as to detect the controller 220 and the battery 310 in real time, and can know the first time when the controller and the battery 310 are in failure, and the two cameras 270 can photograph the water environment to assist in positioning the unmanned ship 200.

The underwater acoustic positioning base station 280 is arranged at the bottom of the ship body 210 and connected with the controller 220, the underwater acoustic positioning base station 280 extends into the water, the underwater robot 400 is provided with an underwater acoustic positioning beacon 410, and the underwater acoustic positioning base station 280 can detect the position of the underwater acoustic positioning beacon 410 to position the underwater robot 400, so as to determine the position of the underwater robot 400 relative to the ship body 210.

A locking mechanism 290 is disposed at the bottom of the hull 210 and connected to the controller 220, and the locking mechanism 290 is used for locking the underwater robot 400 when the underwater robot 400 moves to a preset position, so as to fix the relative position of the underwater robot 400 and the hull 210. In this embodiment, the preset position is a position right below the hull 210, and when the underwater robot 400 moves to a position right below the hull 210 and abuts against the bottom of the hull 210, the controller 220 controls the locking mechanism 290 to lock the underwater robot 400. Specifically, the locking mechanism 290 is an electromagnet, the magnetic member 420 is disposed on the top of the underwater robot 400, and when the underwater robot 400 moves to a preset position, the electromagnet is energized to firmly attract the magnetic member 420, so as to lock the relative position of the underwater robot 400 and the hull 210, so that the underwater robot 400 can move along with the unmanned vehicle. However, the present invention is not limited thereto, and in other embodiments, the locking mechanism 290 may be an electric push rod, and the locking manner of the locking mechanism 290 is not particularly limited.

The buoyancy block 300 is disposed at the bottom of the hull 210, and the buoyancy block 300 is used for applying buoyancy to the hull 210 under the action of water to ensure that the hull 210 floats on the water surface. A battery 310 is disposed on the hull 210, and the battery 310 is used to supply power to all electrical devices on the hull 210.

The first thruster 320 is arranged at the bottom of the hull 210 and connected with the controller 220, the first thruster 320 extends underwater, the first thruster 320 is used for driving the hull 210 to move, the underwater robot 400 is provided with the second thruster 430, and the second thruster 430 can drive the underwater robot 400 to move. It should be noted that the motions of the hull 210 and the underwater robot 400 may or may not be synchronous, and when the hull 210 and the underwater robot 400 move synchronously, the motion of the underwater robot 400 may be regarded as a mapping of the motion of the unmanned ship 200, so as to realize the linkage of the underwater robot 400 and the unmanned ship 200.

Referring to fig. 5 and 6, the winding machine 230 is disposed on the hull 210, and the winding machine 230 includes a frame 231, a driving motor 232, a winding reel 233, a mounting frame 234, a guide wheel 235, a transmission assembly 236, and a lead screw 237. The frame 231 is fixedly mounted on the hull 210, and is rotatably connected to the bobbin 233, and the bobbin 233 is rotatable with respect to the frame 231. Driving motor 232 is fixedly mounted on frame 231, and is connected with bobbin 233, and driving motor 232 can drive bobbin 233 and rotate. The buoyancy cable 240 is wound on the winding reel 233, and the winding reel 233 can drive the buoyancy cable 240 to be wound outside the winding reel 233 or to be discharged from the winding reel 233 while rotating, so that the buoyancy cable 240 can be contracted or lengthened, and the buoyancy cable 240 cannot influence the movement of the underwater robot 400.

It should be noted that the guide wheel 235 is mounted on the mounting frame 234 and can rotate relative to the mounting frame 234, the mounting frame 234 is slidably connected to the frame 231, and the mounting frame 234 can slide relative to the frame 231, so that the guide wheel 235 corresponds to the position where the buoyancy cable 240 is wound and unwound by the winding reel 233. The buoyancy cable 240 extending out of the winding reel 233 bypasses the guide wheel 235 and is connected with the underwater robot 400, and the guide wheel 235 is used for guiding the buoyancy cable 240 so as to ensure that the buoyancy cable 240 is stable and orderly in the winding and unwinding processes and cannot be wound and knotted. Specifically, the guide wheel 235 rotates in the opposite direction to the winding reel 233, and the guide wheel 235 can support the buoyancy cable 240. Upon contraction of the buoyancy cable 240, the bobbin 233 rotates clockwise and the guide wheel 235 rotates counterclockwise; when the buoyancy cable 240 is lengthened, the bobbin 233 rotates counterclockwise and the guide wheel 235 rotates clockwise.

In this embodiment, the bobbin 233 is connected to the lead screw 237 through the transmission assembly 236, the bobbin 233 rotates to drive the lead screw 237 to rotate, and the rotation direction of the bobbin 233 is the same as the rotation direction of the lead screw 237. The lead screw 237 is mounted on the frame 231 and rotatably connected to the frame 231, the lead screw 237 is spaced apart from and parallel to the bobbin 233, and an axial direction of the lead screw 237 is the same as an axial direction of the bobbin 233. The lead screw 237 penetrates through the mounting frame 234 and is in threaded fit with the mounting frame 234, the lead screw 237 can drive the mounting frame 234 to displace along the axial direction of the lead screw 237 in the rotating process, so that the guide wheel 235 is driven to displace along the axial direction of the lead screw 237, the position of the guide wheel 235 corresponds to the position of the winding buoyancy cable 240 on the winding drum 233 all the time, and the guiding function is achieved.

Further, the transmission assembly 236 includes a first transmission wheel 2361, a transfer member 2362, a second transmission wheel 2363, a first transmission member 2364 and a second transmission member 2365. The intermediate rotation member 2362 is mounted on the frame 231 and can rotate relative to the frame 231, the intermediate rotation member 2362 is provided with a third transmission wheel 2366 and a fourth transmission wheel 2367, and the third transmission wheel 2366 and the fourth transmission wheel 2367 are coaxially arranged. The first driving wheel 2361 is fixedly connected to the bobbin 233 and connected to the third driving wheel 2366 through a first driving member 2364, and the rotation of the first driving wheel 2361 can drive the third driving wheel 2366 to rotate. The second driving wheel 2363 is fixedly connected to the screw rod 237 and is connected with the fourth driving wheel 2367 through a second transmission piece 2365, and the fourth driving wheel 2367 can synchronously rotate while the third driving wheel 2366 rotates, so that the second driving wheel 2363 is driven to rotate, and the screw rod 237 is driven to rotate.

Specifically, the first driving wheel 2361, the second driving wheel 2363, the third driving wheel 2366 and the fourth driving wheel 2367 are chain wheels, the first driving piece 2364 and the second driving piece 2365 are chains, and the bobbin 233 drives the lead screw 237 to rotate in a chain transmission manner. However, the present invention is not limited to this, and in other embodiments, the first transmission wheel 2361, the second transmission wheel 2363, the third transmission wheel 2366 and the fourth transmission wheel 2367 may be belt wheels, the first transmission piece 2364 and the second transmission piece 2365 may also be belts, and the bobbin 233 drives the lead screw 237 to rotate through a belt transmission manner.

It should be noted that, when the buoyancy cable 240 is retracted, the driving motor 232 drives the winding drum 233 to rotate, the buoyancy cable 240 is pulled out from the water and wound outside the winding drum 233, in this process, the winding drum 233 drives the guide wheel 235 to move in the axial direction of the screw rod 237 through the transmission assembly 236, so that the buoyancy cable 240 is spirally wound outside the winding drum 233, and the position of the buoyancy cable 240 is regulated, so that the retraction process of the buoyancy cable 240 is stable and orderly. When lengthening the buoyancy cable 240, driving motor 232 drives bobbin 233 to rotate, put the buoyancy cable 240 under water, robot 400 can produce pulling force to buoyancy cable 240 this moment, in this process, bobbin 233 drives leading wheel 235 at the axial displacement of lead screw 237 through drive assembly 236, make the position of leading wheel 235 keep unanimous with the position that the buoyancy cable 240 was played to bobbin 233 in real time, guarantee the guide effect of leading wheel 235, make the process of lengthening of buoyancy cable 240 stable orderly.

The embodiment of the utility model provides an underwater inspection system 10, unmanned ship 200 includes hull 210, controller 220, coiling machine 230 and buoyancy cable 240, controller 220 and coiling machine 230 are all installed on hull 210, basic station 100 and controller 220 communication connection, controller 220 passes through buoyancy cable 240 and is connected with underwater robot 400, in order to transmit control signal to underwater robot 400, buoyancy cable 240 is around locating outside coiling machine 230, coiling machine 230 can contract or lengthen buoyancy cable 240, so that underwater robot 400 is adjustable for hull 210's position. Compared with the prior art, the utility model provides an underwater inspection system 10 is owing to adopted around locating the outer buoyancy cable 240 of coiling machine 230 and through the controller 220 that buoyancy cable 240 is connected with underwater robot 400, so can realize the accurate control to underwater robot 400 through the wired communication mode, avoid water to cause the influence to control signal's transmission, guarantee control signal's accuracy to can realize patrolling and examining in deeper waters.

The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The utility model provides an underwater inspection system, its characterized in that, includes basic station, unmanned ship and underwater robot, unmanned ship includes hull, controller, coiling machine and buoyancy cable, the controller with the coiling machine all install in on the hull, the basic station with controller communication connection, the controller passes through the buoyancy cable with underwater robot connects, in order to underwater robot transmission control signal, the buoyancy cable is around locating outside the coiling machine, the coiling machine can contract or lengthen the buoyancy cable, so that underwater robot is for the position of hull is adjustable.

2. The underwater inspection system according to claim 1, wherein the winding machine includes a frame, a driving motor and a bobbin, the frame is fixedly mounted on the hull and rotatably connected to the bobbin, the driving motor is fixedly mounted on the frame and connected to the bobbin, and the buoyant cable is wound around the bobbin.

3. The underwater inspection system according to claim 2, wherein the winding machine further includes a mounting frame and a guide wheel, the guide wheel is mounted on the mounting frame and can rotate relative to the mounting frame, the mounting frame is slidably connected to the frame, the buoyancy cable bypasses the guide wheel and is connected to the underwater robot, and the rotation direction of the guide wheel is opposite to the rotation direction of the winding reel.

4. The underwater inspection system according to claim 3, wherein the winding machine further includes a transmission assembly and a lead screw, the bobbin is connected with the lead screw through the transmission assembly, the rotation direction of the bobbin is the same as that of the lead screw, the lead screw is mounted on the frame and is rotatably connected with the frame, and the lead screw penetrates through the mounting frame and is in threaded fit with the mounting frame.

5. The underwater inspection system according to claim 4, wherein the transmission assembly includes a first transmission wheel, a transfer member, a second transmission wheel, a first transmission member and a second transmission member, the transfer member is mounted on the frame and can rotate relative to the frame, the transfer member is relatively provided with a third transmission wheel and a fourth transmission wheel, the first transmission wheel is fixedly connected to the bobbin and is connected with the third transmission wheel, the second transmission wheel is fixedly connected to the screw rod and is connected with the fourth transmission wheel.

6. The underwater inspection system according to claim 1, wherein the unmanned ship further includes a laser radar and an RTK antenna, the laser radar and the RTK antenna are both mounted on the ship body and are both connected to the controller, and the laser radar and the RTK antenna are both communicatively connected to the base station.

7. The underwater inspection system according to claim 1, wherein the unmanned ship further includes a camera mounted on the hull and connected to the controller, the camera being configured to capture real-time images of the controller, the winding machine, and the aquatic environment.

8. The underwater inspection system according to claim 1, wherein the unmanned ship further includes an underwater acoustic positioning base station, the underwater robot is provided with an underwater acoustic positioning beacon, the underwater acoustic positioning base station is installed at the bottom of the ship body and connected with the controller, and the underwater acoustic positioning base station can detect the position of the underwater acoustic positioning beacon.

9. The underwater inspection system according to claim 1, wherein the unmanned ship further includes a locking mechanism mounted to a bottom of the hull and connected to the controller, the locking mechanism being configured to lock the underwater robot when the underwater robot moves to a preset position to fix a relative position of the underwater robot to the hull.

10. The underwater inspection system according to claim 1, wherein the unmanned ship further includes a first propeller, the underwater robot is provided with a second propeller, the first propeller is mounted at the bottom of the ship body and connected with the controller, the first propeller is used for driving the ship body to move, and the second propeller can drive the underwater robot to move synchronously relative to the ship body.