Robots for water tunnel inspection and systems thereof

A tumbler robot for water tunnel inspection, comprising:

• (a) a spherical shell, comprising an upper shell and a lower shell;
• wherein the upper shell and the lower shell are sized and shaped to match each other, together defining a closed cavity therewithin;
• (b) two panorama cameras that are orthogonally arranged to provide a panoramic image or video of a field of view of the surrounding;
• (c) a gimbal stabilizer that is operatively connected with the one or more panorama cameras;
• (d) an underwater sonar that captures an underwater image;
• (e) a plurality of light modules that provide illumination at least partially for the field of view;
• (f) two underwater motors that provide propulsion force to the robot in water;
• (g) a power supply and processing unit that provide power and control operation of the robot;
• (h) an inertial measurement unit (IMU), operatively connected with the controlling system;
• (i) a base plate, attached to the shell,
• wherein the plurality of light modules are disposed on the base plate;
• wherein the two underwater motors attached on the lower shell;
• and
• wherein the robot is configured to float on water and to have a center of gravity positioned lower than geometric center, such that during operation, at least a portion of the upper shell is maintained above the water, and at least a portion of the lower shell is maintained under water.

A system for water tunnel inspection, comprising:

• a robot for water tunnel inspection, comprising:
• (a) a shell, comprising an upper shell and a lower shell;
• wherein the upper shell and the lower shell are sized and shaped to match each other, together defining a closed cavity therewithin;
• (b) one or more panorama cameras that capture an image or video of a field of view of surrounding;
• (c) a plurality of light modules that provide illumination at least partially for the field of view;
• (d) one or more underwater motors that provide propulsion force to the robot in water;
• and
• (e) a power supply and processing unit that provide power and control operation of the robot,
• wherein the robot is configured to float on water and to have a center of gravity positioned lower than geometric center, such that during operation, at least a portion of the upper shell is maintained above the water, and at least a portion of the lower shell is maintained under water;
• and
• a releasing and retrieving system, configured to release the robot to, and retrieve from the water tunnel.