CN210923502U - Testing equipment for oil-immersed transformers - Google Patents

Abstract

The utility model relates to detection equipment for oil-immersed transformers. The detection equipment comprises an oil-resistant casing, a power device, a camera device, an infrared device, a control device and a power supply device; the oil-resistant casing comprises an upper casing, a middle ring part and a lower casing, the upper casing and the The lower shell is respectively arranged at both ends of the middle ring part; at least one of the upper shell, the lower shell and the middle ring part is provided with a camera through hole, and the middle ring part is provided with an infrared through hole; wherein, the power device, the control device and the The power supply device is arranged inside the oil-resistant casing; the camera device is arranged inside the camera through hole, and the infrared device is arranged inside the infrared through hole; the power device, the camera device and the infrared device are respectively connected in communication with the control device. The above detection equipment can enter the transformer without discharging transformer oil, move through the power device, and be detected by the camera device and the infrared device, so as to realize unmanned detection, high efficiency, save labor costs, and improve the safety and stability of power supply .

Description

Testing equipment for oil-immersed transformers

technical field

The utility model relates to the technical field of pipeline measurement, in particular to a detection device of an oil-immersed transformer.

Background technique

With the continuous improvement of power grid construction and the development of power transmission technology, the reliability of power grid equipment operation directly affects the safety and stability of power grid operation. Oil-immersed transformer is a common power grid core equipment, which has high requirements for its safety and operational reliability. Therefore, it is necessary to regularly perform functional testing of oil-immersed transformers.

The traditional oil-immersed transformer inspection generally requires the inspection personnel to enter the transformer for inspection after the transformer is stopped and the transformer oil inside the transformer is drained. After the inspection, the transformer oil needs to be injected into the transformer. Low cost, labor-intensive and high cost, and it takes a long time to stop the operation of the transformer, and the power supply cannot be carried out during the detection process, which also has a certain impact on the stability of the power grid.

Utility model content

Based on this, it is necessary to provide a transformer detection device for the above-mentioned technical problems, which can enter the transformer for detection when the transformer is in normal operation.

A transformer testing equipment includes an oil-resistant casing, a power device, a camera device, an infrared device, a control device and a power supply device; the oil-resistant casing includes an upper casing, a middle ring part and a lower casing, the upper casing and the The lower shell is respectively arranged at both ends of the middle ring part; at least one of the upper shell, the lower shell and the middle ring part is provided with a camera through hole, and the middle ring part is provided with an infrared channel wherein, the power device, the control device and the power supply device are arranged inside the oil-resistant housing; the camera device is arranged inside the camera through hole, and the infrared device is arranged inside the infrared through hole; The power device, the camera device and the infrared device are respectively connected in communication with the control device.

For the above testing equipment for oil-immersed transformers, the oil-resistant casing can enter the inside of the oil-immersed transformer without discharging the transformer oil, and move freely inside the transformer through the power device, and the function of the transformer is detected by the camera device and the infrared device, so as to realize The detection of oil-immersed transformers is unmanned, the detection efficiency is high, and labor costs are saved. The detection work can be carried out under the normal operating state of the oil-immersed transformer, and there is no need to discharge the transformer oil to stop the oil-immersed transformer, which improves the safety and stability of the power grid. sex.

In one of the embodiments, the number of the camera devices is three, the upper shell, the lower shell and the middle ring member are all provided with one camera through hole, and three camera devices They are respectively arranged inside the camera through holes.

In one of the embodiments, the oil-resistant casing is a sphere or an ellipsoid, and the upper casing and the lower casing are respectively connected with the middle ring component by screws; the upper casing and the lower casing are A non-metallic material, the non-metallic material includes transparent engineering plastics; the middle ring component is a metal material, and the metal material includes an aluminum alloy.

In one embodiment, the power device is a jet propulsion device, a liquid inlet and a liquid outlet are provided on the oil-resistant casing, and the liquid inlet and the liquid outlet are respectively connected to the jet propulsion device .

In one embodiment, the jet propulsion device includes a vertical jet pump and a horizontal jet pump, the liquid inlet includes a vertical liquid inlet and a horizontal liquid inlet, and the liquid outlet includes a vertical liquid outlet and a horizontal outlet a liquid port; the vertical jet pump is respectively connected with the vertical liquid inlet and the vertical liquid outlet, and the horizontal jet pump is respectively connected with the horizontal liquid inlet and the horizontal liquid outlet;

Wherein, the vertical liquid inlet and the vertical liquid outlet are opened on the upper casing and/or the lower casing, and the horizontal liquid inlet and the horizontal liquid outlet are opened on the middle ring on the part.

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

In one embodiment, the detection device further includes:

A radar device, the radar device 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 opened on the oil-resistant casing, the transmitting module and the receiving module They are respectively connected in communication with the signal processing modules.

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

In one embodiment, the pose sensor includes at least one of a micromachined gyroscope, a micromachined accelerometer, and a magnetoresistive magnetometer; the obstacle sensing sensor includes a laser sensor.

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

Description of drawings

Fig. 1 is the module schematic diagram of the detection equipment of oil-immersed transformer in one embodiment;

Fig. 2 is the structural representation of the detection equipment of oil-immersed transformer in one embodiment;

Fig. 3 is the side perspective view of the detection equipment of oil-immersed transformer in one embodiment;

Fig. 4 is the top perspective view of the detection equipment of oil-immersed transformer in one embodiment;

5 is a schematic structural diagram of a radar device in one embodiment;

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 an embodiment.

Detailed ways

In order to make the purpose, technical solutions and advantages of the present utility model more clearly understood, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not intended to limit the present invention.

FIG. 1 is a schematic block diagram of a transformer detection device in one embodiment, and FIG. 2 is a schematic structural diagram of a transformer detection device in an embodiment. Referring to FIG. 1 and FIG. 2 together, in one embodiment, a transformer detection device The equipment 100 includes an oil-resistant casing 110, a power unit 130, a camera device 140, an infrared device 150, a control device 170 and a power supply device 190; the oil-resistant casing 110 includes an upper casing 112, a middle ring member 116 and a lower casing 114, the upper casing 112 and the lower casing 114 are respectively disposed at both ends of the middle ring member 116; at least one of the upper casing 112, the lower casing 114 and the middle ring member 116 is provided with a camera through hole 142, and the middle ring member is provided with an infrared through hole 152; The power device 130 , the control device 170 and the power supply device 190 are arranged inside the oil-resistant housing 110 ; the camera device 140 is arranged inside the camera through hole 142 , and the infrared device 150 is arranged inside the infrared through hole 152 ; the power device 130 , the camera device 140 and the The infrared devices 150 are respectively connected in communication with the control device 170 .

Specifically, in the oil-immersed transformer testing apparatus 100 , the oil-resistant casing 110 is used to accommodate components such as the power device 130 , the camera device 140 , the infrared device 150 , the control device 170 , and the power supply device 190 . The oil-resistant casing 110 can be specifically composed of three parts: an upper casing 112 , a lower casing 114 and a middle ring member 116 , and the middle ring member 116 can be the same as the end faces of the upper casing 112 and the lower casing 114 . The oil-resistant casing 110 is generally made of oil-resistant materials such as engineering plastics, so as to adapt to the working environment inside the oil-immersed transformer and avoid damage to the transformer due to collisions and the like. The power supply device 190 is electrically connected to various electrical components such as the power device 130, the camera device 140, the infrared device 150, and the control device 170 to provide power supply for them. The power supply device 190 may specifically include a power supply device such as a rechargeable battery to ensure detection The battery life of the device 100 .

The control device 170 is connected in communication with the power device 130, the camera device 140 and the infrared device 150. The control device 170 controls the power device 130 to move inside the transformer by accepting the control instructions of the user or operator or according to a preset detection program to move inside the transformer, and controls The camera device 140 and the infrared device 150 perform corresponding function detection. The power device 130 is disposed inside the oil-resistant casing 110, and the power device 130 can drive the detection device 100 to move in various directions inside the oil-immersed transformer. The camera device 140 and the infrared device 150 can detect the transformer outside the detection device 100 through the camera through hole 142 and the infrared through hole 152 respectively opened in the oil-resistant casing 110 . The camera device 140 and the infrared device 150 can communicate with the control device 170 in a wired or wireless manner. The camera device 140 and the infrared device 150 collect imaging data and send them to the control device 170 for image processing. After the image processing is completed, the control device 170 will get After the detection device 100 leaves the oil-immersed transformer, the user or operator reads the saved detection image or detection data, and the control device 170 also records the detection image or detection data in real time during the detection process. The data is sent to the user or operator for viewing.

In an optional embodiment, the number of the above-mentioned camera devices 140 is three, the upper casing 112 , the lower casing 114 and the middle ring member 116 are all provided with a camera through hole 142 , and the three camera devices 140 are respectively disposed in Inside the camera through hole 142 . The infrared through hole 152 is disposed above the camera through hole 142 on the middle ring member 116 , and the infrared device 150 is disposed inside the infrared through hole 152 . The camera through hole 142 and the infrared through hole 152 may also be provided with components such as a waterproof casing or a waterproof lens cover to prevent transformer oil from entering the interior of the detection device 100 in the event of a collision accident or the like. Through the three camera devices 140 and the infrared device 150 , the detection device 100 can simultaneously image all directions of the oil-immersed transformer, which increases the detection range and improves the detection efficiency.

Further, the camera device 140 can collect actual images inside the oil-immersed transformer, which can be used to check whether there is external damage to the oil-immersed transformer components, and can also facilitate users and operators to control the detection device 100; the infrared device 150 can detect the heat of the object through photoelectric technology. The radiated infrared specific band signal, and the signal is converted into images and graphics that can be visually distinguished by human beings, which can accurately detect the working status of oil-immersed transformer components, so as to find faulty components in time, and provide further evaluation of the operation of transformer components. reliable basis. The types and models of the camera device 140 and the infrared device 150 can be determined according to actual detection requirements.

In a preferred embodiment, the above-mentioned camera device 140 may specifically adopt a CMOS or CCD camera unit, which can provide better image quality while ensuring a small volume. The above-mentioned infrared device 150 can be an infrared thermal imager, specifically, a FLIR T610 infrared thermal imager can be used. Accurate temperature measurement of distant targets. Therefore, the detection device 100 can identify the faulty element in time in the complex internal environment of the transformer.

In the testing equipment 100 of the above-mentioned transformer, the oil-resistant casing can enter the oil-immersed transformer without discharging the transformer oil, and can move freely inside the transformer through the power device, and the function of the transformer is detected by the camera device and the infrared device, so as to realize the oil-immersed transformer. The detection of immersed transformers is unmanned, the detection efficiency is high, and labor costs are saved. The detection work can be carried out under the normal operating state of the oil-immersed transformer, and there is no need to discharge the transformer oil to stop the oil-immersed transformer, which improves the safety and stability of the power grid. .

In one embodiment, the oil-resistant casing 110 is a sphere or an ellipsoid, and the upper casing 112 and the lower casing 114 are respectively connected with the middle ring member 116 by screws; the upper casing 112 and the lower casing 114 are made of non-metallic materials, and non-metallic materials Including transparent engineering plastics; the middle ring part 116 is made of metal material, and the metal material includes aluminum alloy.

Specifically, the specific shape and specification of the oil-resistant casing 110 of the detection device 100 can be determined according to the actual situation of the transformer. For example, the oil-resistant casing 110 can generally be a spherical casing or an ellipsoidal casing, and the upper casing 112 and the lower casing 114 can be A hemisphere or a semi-ellipsoid with the same shape, the middle ring member 116 is an annular structure with the same diameter as the end faces of the upper casing 112 and the lower casing 114 . Therefore, the outer surface of the detection device 100 is not provided with a raised structure, and the detection device 100 can be put into the transformer through the transformer inlet hole during operation, and the oil-resistant casing 110 of the arc structure can effectively prevent the detection device 100 from working inside the transformer Accidents such as collision, hooking or winding with transformer components can avoid damage to the inside of the transformer and improve the safety of the detection process.

Further, the lower end surface of the upper casing 112 is provided with threads, and the threads are consistent with the threaded holes provided on the upper end surface of the middle ring member 116 ; Set the threaded holes to match. Among them, the upper casing 112 and the lower casing 114 can be specifically made of non-metallic materials such as transparent engineering plastics, so that they have the advantages of stable properties, corrosion resistance, oil resistance, high temperature resistance, etc., and can effectively protect and detect in the internal environment of the oil-immersed transformer. The internal structure of the device 100 and the transparent casing components can facilitate the detection of the transformer by the detection device 130 such as the internal camera unit, and also facilitate the user or operator to observe the internal state of the detection device 100 . The middle ring component 116 can be specifically made of metal materials such as 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 overall structure of the detection device 100 to a greater extent. It can be understood that the upper casing 112 , the middle ring member 116 and the lower casing 114 are not limited to the above-mentioned materials, and can also be made of other materials conforming to the testing environment of the oil-immersed transformer.

In one embodiment, the power device 130 is a jet propulsion device, the oil-resistant casing 110 is provided with a liquid inlet and a liquid outlet, and the liquid inlet and the liquid outlet are respectively connected to the jet propulsion device.

Specifically, the power device 130 can be a jet propulsion device, and the jet propulsion device can drive the detection device 100 to move in all directions inside the oil-immersed transformer. The jet propulsion device is arranged inside the oil-resistant casing 110, and the jet propulsion device can pass through a structure such as a pipeline. It is connected with the liquid inlet and the liquid outlet opened on the oil-resistant casing, and the number and setting position of the liquid inlet and the liquid outlet can be determined according to the specifications of the oil-immersed transformer and the internal environment. When the testing equipment 100 is working in the oil-immersed transformer, the transformer oil enters from the liquid inlet, passes through the propulsion device 130 and then is ejected at the liquid outlet, so as to provide propulsion power for the testing equipment 100, so that the testing equipment 100 can be carried out inside the oil-immersed transformer. Move freely.

3 is a side perspective view of a testing device for oil-immersed transformers in one embodiment, and FIG. 4 is a top perspective view of a testing device for oil-immersed transformers in one embodiment. Referring to FIGS. 2 to 4 together, in one embodiment, The jet propulsion device includes a vertical jet pump 132 and a horizontal jet pump 134, the liquid inlet includes a vertical liquid inlet 162 and a horizontal liquid inlet 164, and the liquid outlet includes a vertical liquid outlet 182 and a horizontal liquid outlet 184; the vertical jet pump 132 Connect with the vertical liquid inlet 162 and the vertical liquid outlet 182 respectively, and the horizontal jet pump 134 is respectively connected with the horizontal liquid inlet 164 and the horizontal liquid outlet 184; wherein, the vertical liquid inlet 162 and the vertical liquid outlet 182 are opened on the upper On the casing 112 and/or the lower casing 114 , the horizontal liquid inlet 164 and the horizontal liquid outlet 184 are opened on the middle ring member 116 .

Specifically, the jet propulsion device specifically includes a vertical jet pump 132 and a horizontal jet pump 134, which are respectively used to drive the movement of the detection device 100 in the vertical and horizontal directions. The vertical jet pump 132 and the horizontal jet pump 134 can be micro liquid pumps. , the installation form adopts a flange installation structure, and the vertical jet pump 132 and the horizontal jet pump 134 are fixed inside the oil-resistant housing 110 by screws. The vertical jet pump 132 is respectively connected with the vertical liquid inlet 162 and the vertical liquid outlet 182. The vertical liquid inlet 162 and the vertical liquid outlet 182 can be respectively arranged on the upper casing 112 and the lower casing 114, or both can be arranged on the upper casing 112 and the lower casing 114 respectively. on the upper casing 112 or the lower casing 114 . The horizontal jet pump 134 is respectively connected with the horizontal liquid inlet 164 and the horizontal liquid outlet 184 , and the horizontal liquid inlet 164 and the horizontal liquid outlet 184 may be arranged on the middle ring part 116 .

Further, the number of the above-mentioned vertical jet pumps 132 and horizontal jet pumps 134 can be determined according to the actual specifications and power requirements of the detection device 100, and a larger number of vertical jet pumps 132 and horizontal jet pumps 134 are provided to make the detection device 100 live. more power. Wherein, each jet pump can be connected with a liquid inlet and a liquid outlet, and can also be provided with multiple liquid inlets and liquid outlets for each jet pump, so as to achieve more stable and flexible movement direction control.

In an optional 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, four The plurality of horizontal jet pumps 134 are eccentrically disposed inside the middle ring member 116 along the circumferential direction of the middle ring member 116 . The two vertical jet pumps 132 are respectively arranged inside the upper casing 112 and the lower casing 14 in a symmetrical structure. The tops of the upper casing 112 and the lower casing 114 are both provided with a vertical liquid inlet 162 and a vertical liquid outlet. 182; the four horizontal jet pumps 134 are arranged in a horizontal vector and are all arranged inside the middle ring member 116. The four horizontal liquid inlets 164 and the four horizontal liquid outlets 184 are evenly arranged on the middle ring member 116.

FIG. 4 is a schematic structural diagram of a radar device in one embodiment. Referring to FIG. 2 and FIG. 4 together, in one embodiment, the detection device 100 further includes a radar device 120, and the radar device 120 includes a transmitting module 122, a receiving module 124 and a signal The processing module 126; the transmitting module 122 and the receiving module 124 are arranged in the radar through hole opened on the oil-resistant casing 110, and the transmitting module 122 and the receiving module 124 are respectively connected to the signal processing module 126 for communication.

Specifically, the radar device 120 may include components such as a laser radar. The radar device 120 performs motion ranging and real-time positioning when the detection device 100 performs patrol inspection, and sends information data such as distance and positioning to the control device 170, and the control device 170 according to These data plan the travel path of the detection device 100 and control the operation of the propulsion device 130 to avoid situations such as motion collision. In the radar device 120, the transmitting module 122 is used to transmit radar signals such as laser light, the receiving module 124 is used to receive the radar signals reflected by surrounding objects, and the signal processing module 126 performs ranging and real-time positioning of the surrounding environment according to the received and received radar signals , and send the ranging and positioning information to the control device 170. The control device 170 controls the power device 130 to avoid the obstacles inside the oil-immersed transformer according to the information detected by the radar device 120, and moves to the set position of the function detection, so as to realize The movement path planning and navigation of the detection device 100 inside the oil-immersed transformer.

In one embodiment, the detection device 100 may further include a lighting device, and the lighting module is used for emitting light to illuminate the interior of the oil-immersed transformer. The body 114 or the middle ring part 116 is provided with a lighting through hole, the LED lamp can be arranged inside the lighting through hole, and the LED lamp can be freely rotated in the lighting through hole to realize the lighting function of different directions, so that the oil-immersed transformer can be clearly illuminated The internal structure is convenient for image acquisition and effective manipulation of the detection device 100.

FIG. 5 is a schematic structural diagram of a control device in an embodiment. As shown in FIG. 5 , in an embodiment, the control device 170 includes a processing module 172 and a sensing module 174. The sensing module 174 is connected in communication with the processing module 172, and transmits 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 each component in the detection device 100 to work, and also receive the detection images and detection data acquired by the detection device 150, and send them for viewing by the user or operator. The sensing module 174 is used to acquire various data in the operation of the detection device 100 to provide a reference for the user or 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 used to obtain the position information of obstacles around the detection device 100, and the pose sensor is used to obtain the real-time position and angle data of the detection device 100, 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 device 100 to avoid obstacles inside the transformer during the movement process to prevent damage to the transformer components.

Further, the types and models of the above-mentioned obstacle sensing sensors and pose sensors can be determined according to actual detection requirements. In a preferred embodiment, the above-mentioned pose sensor includes at least one of a micromachined gyroscope, a micromachined accelerometer, and a magnetoresistive magnetometer; the above-mentioned obstacle sensing sensor includes a laser sensor. The above-mentioned position and attitude sensor adopts a miniature attitude reference system, which may specifically include sensors such as a three-axis Micro-Electro-Mechanical System (MEMS) gyroscope, a three-axis MEMS accelerometer, and a three-axis magnetoresistive magnetometer; Obstacle sensing sensor can use SICK OD series laser sensor specifically, the setting process is intuitive, the operation is convenient, and it has high measurement accuracy and reliability, which is suitable for short-distance accurate measurement.

FIG. 6 is a schematic structural diagram of a power supply device in one embodiment. As shown in FIG. 6 , in one embodiment, the power supply device 190 includes a battery pack 192 , a charging module 194 and a power-on module 196 . The battery pack 192 and the charging module 194 are respectively And the power-on module 196 is connected; 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 the charging device 194 and the power-on device 196, respectively. The charging device 194 can be connected to an external power source to charge the battery pack 192. The power-on device 196 is electrically connected to the power device 130, the camera device 140, the infrared device 150, the control device 170 and other electrical components. When the detection device 100 is working, The battery pack 192 can supply power to various electrical components in the detection device 100 through the power-on device 196 . In an optional embodiment, as shown in FIG. 4 , the battery pack 192 can be a cylinder or the like, and the cylindrical battery pack 192 can be fixed on the inner wall of the oil-resistant casing 110 , which saves space and is more firmly fixed. Specifically, the battery pack 192 can be a lithium-ion battery, and the battery energy reserve is 70Wh. The lithium-ion battery is selected as the power supply energy of the detection device 100, which has the advantages of good safety performance, long cycle life, light weight, and no pollution, and can reduce the cost of the detection device 100. The weight of the device increases the battery life of the detection device 100.

The technical features of the above-described embodiments can be combined arbitrarily. For the sake of brevity, all possible combinations of the technical features in the above-described embodiments are not described. However, as long as there is no contradiction between the combinations of these technical features, All should be regarded as the scope described in this specification.

The above-mentioned embodiments only represent several embodiments of the present utility model, and the descriptions thereof are specific and detailed, but should not be construed as a limitation on the scope of the utility model patent. It should be pointed out that for those of ordinary skill in the art, some modifications and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the appended claims.

Claims (10)

1. the detection equipment of an oil-immersed transformer, is characterized in that, comprises oil-resistant casing, power unit, camera device, infrared device, control device and power supply device; Described oil-resistant casing comprises upper casing, middle ring part and lower casing, The upper casing and the lower casing are respectively arranged at both ends of the middle ring member; at least one of the upper casing, the lower casing and the middle ring member is provided with a camera through hole, so An infrared through hole is formed on the middle ring component; wherein, the power device, the control device and the power supply device are arranged inside the oil-resistant casing; the camera device is arranged inside the camera through hole, and the infrared device is arranged inside the infrared through hole; the power device, the camera device and the infrared device are respectively connected to the control device in communication. 2 . The detection device according to claim 1 , wherein the number of the camera devices is three, and one camera is provided on the upper casing, the lower casing and the middle ring part. 3 . Through holes, the three camera devices are respectively arranged inside the camera through holes. 3 . The detection device according to claim 1 , wherein the oil-resistant casing is a sphere or an ellipsoid, and the upper casing and the lower casing are respectively connected with the middle ring component by threads; The casing and the lower casing are made of non-metallic materials, and the non-metallic materials include transparent engineering plastics; the middle ring component is made of metal materials, and the metal materials include aluminum alloys. 4 . The detection device according to claim 1 , wherein the power device is a jet propulsion device, a liquid inlet and a liquid outlet are provided on the oil-resistant casing, and the liquid inlet and the liquid outlet are provided. 5 . The ports are respectively connected with the jet propulsion device. 5. The detection device according to claim 4, wherein the jet propulsion device comprises a vertical jet pump and a horizontal jet pump, the liquid inlet comprises a vertical liquid inlet and a horizontal liquid inlet, and the liquid outlet The port includes a vertical liquid outlet and a horizontal liquid outlet; the vertical jet pump is respectively connected with the vertical liquid inlet and the vertical liquid outlet, and the horizontal jet pump is respectively connected with the horizontal liquid inlet and the vertical liquid outlet. Horizontal liquid outlet connection; Wherein, the vertical liquid inlet and the vertical liquid outlet are opened on the upper casing and/or the lower casing, and the horizontal liquid inlet and the horizontal liquid outlet are opened on the middle ring on the part. 6 . The detection device according to claim 5 , wherein the number of the vertical jet pumps is two, the number of the horizontal jet pumps is four, and the two vertical jet pumps are symmetrically arranged on the Inside the upper casing and the lower casing, the four horizontal jet pumps are eccentrically arranged inside the middle ring member along the circumferential direction of the middle ring member. 7. The detection device according to claim 1, further comprising: A radar device, the radar device 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 opened on the oil-resistant casing, the transmitting module and the receiving module are The modules are respectively connected in communication with the signal processing modules. 8 . The detection device according to claim 1 , wherein the control device comprises a processing module and a sensing module, the sensing module is connected in communication with the processing module, and the sensing module comprises obstacle sensing. 9 . At least one of a sensor and a pose sensor. 9 . The detection device according to claim 8 , wherein the pose sensor comprises at least one of a micromachined gyroscope, a micromachined accelerometer and a magnetoresistive magnetometer; the obstacle sensing sensor comprises laser sensor. 10 . The detection device according to claim 1 , wherein the power supply device comprises a battery pack, a charging module and a power-on module, and the battery pack is connected to the charging module and the power-on module respectively; the The battery pack includes a lithium battery.

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