CN101294917A - Method for detecting aqueduct well by underwater robot - Google Patents
Method for detecting aqueduct well by underwater robot Download PDFInfo
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- CN101294917A CN101294917A CNA2008100648076A CN200810064807A CN101294917A CN 101294917 A CN101294917 A CN 101294917A CN A2008100648076 A CNA2008100648076 A CN A2008100648076A CN 200810064807 A CN200810064807 A CN 200810064807A CN 101294917 A CN101294917 A CN 101294917A
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Abstract
The invention discloses a method for detecting the inside of a waterway well by adopting an underwater robot, and relates to a method of detecting the inside of the waterway well. The method solves the problems in the prior method, including much interference, great difficulty and low accuracy. The method comprises the following steps: (1) measuring the deformability and the depth of breakage by using a five-component sonar; (2) measuring the width and the height of crack and breakage in the transversal and the longitudinal directions by using an underwater camera and a laser scale instrument; (3) combining the images measured by the five-component sonar and the underwater camera, and giving the qualitative and the quantitative descriptions of the deformability and the overall breakage condition; (4) superposing the data given by a depth gauge and an optical fiber gyroscope on the images to determine the specific waterway position corresponding to each measured image data; and (5) moving the underwater robot to the next depth layer and returning to step (1) to record the data of the inside of the waterway in the depth. The underwater robot can detect inclined-well and straight-well waterways within 1,000 meters.
Description
Technical field
The present invention relates to a kind of method to detecting in the aqueduct well.
Background technology
The high pressure aqueduct is the most important component that hydroenergy storage station is carried out peaking generation.Usually with high mountain as support, make starting material with reinforced concrete, build into duct type straight well or inclined shaft.Its internal diameter is several meters, and long is the supreme km of hundreds of rice.Because the high speed of its around-the-clock water-storage and the generating that discharges water recycles, and the hydraulic pressure that when holding full water, must bear hundreds of rice high water head, thereby washing away of being subjected to of Reinforced Concrete Materials, high-low pressure circulates extruding etc., and situation is very serious.Just because of this, because the breakage that material aging etc. causes, the defective in crack will enlarge rapidly, until the avalanche that causes pipeline.In case this situation occurs, will bring immeasurable economic loss.China is from the eighties of last century the nineties, and waste level ground, first hydroenergy storage station-sky, East China hydroenergy storage station is built up and moved during the last ten years, can't carry out the inspection of aqueduct internal state.Once attempted with artificial hand-held high-resolution camera in this power station, and the water surface one is floating in water channel cuts down the way of making a video recording and check.Yet because humidity is very big in the water channel, the camera lens of video camera is blocked by aqueous vapor, can't see the situation of duct wall on every side clearly at all; Also once planning with rope is the way of a little instrument truck, detects behind emptying water channel water, and complexity is implemented in this method existence, difficulty is big, the problem that measuring accuracy is low.
Summary of the invention
The present invention disturbs many, the measurement problem that difficulty is big, measuring accuracy is low in order to solve the existing measurement extraneous factor of existing artificial measuring method, and has proposed a kind of underwater robot that adopts for the method that detects in the aqueduct well.
Step of the present invention is as follows:
Step 1: with the degree of deformation and the damaged degree of depth in the five component sonar to measure water delivery ways;
Step 2:, measure interior horizontal and vertical crack of water delivery way and damaged width and height with the combination of video camera and laser yardstick instrument under water;
Step 3: the image of five component sonars and video image information that Underwater Camera is taken the photograph are carried out three-dimensional array, provide the qualitative and quantitative description of interior modification degree of aqueduct and damaged integral status;
Step 4: the depth data that depthometer is provided, the corner data that fibre optic gyroscope provides and survey high data and take the photograph on the video image with image and Underwater Camera that the video overlapping system of water surface demonstration, control and data processing extension set is superimposed upon five component sonars, to determine the concrete position of aqueduct of each measurement image data correspondence;
Step 5: underwater robot moves to next depth layer and returns step 1 and write down data in this degree of depth pipeline.
China does not still carry out the means that science detects to this high pressure aqueduct internal state at present.The present invention has gathered the research work experience in a plurality of fields such as sonar system, underwater robot, undersea detection, Flame Image Process, and has incorporated the new development of these technical fields in recent years and produce.The present invention also adopts the digital picture enhancement techniques to improve visual effect.Underwater robot of the present invention can detect inclined shaft and the straight well formula aqueduct in the km, also can be used for the detection of works inside in the similar water.
Description of drawings
Fig. 1 is an apparatus structure synoptic diagram of realizing the inventive method; Fig. 2 is a process flow diagram of the present invention.
Embodiment
Embodiment one: in conjunction with Fig. 1 and Fig. 2 present embodiment is described, the underwater robot that is used in the present embodiment checking in the aqueduct well is made up of water surface demonstration, control and data processing extension set 1, Underwater Camera 8, laser yardstick instrument 9, five component sonars 10, fibre optic gyroscope 11, depthometer 12 and underwater robot body 20;
The present embodiment step is as follows:
Step 1: measure water delivery the way interior degree of deformation and the damaged degree of depth with five component sonars 10;
Step 2:, measure interior horizontal and vertical crack of water delivery way and damaged width and height with the combination of video camera 8 and laser yardstick instrument 9 under water;
Step 3: the image and Underwater Camera 8 video image information of taking the photograph of five component sonars 10 are carried out three-dimensional array, provide the qualitative and quantitative description of interior modification degree of aqueduct and damaged integral status;
Step 4: the depth data that depthometer 12 is provided, the corner data that fibre optic gyroscope 11 provides and survey high data and take the photograph on the video image with image and Underwater Camera 8 that the video overlapping system of water surface demonstration, control and data processing extension set 1 is superimposed upon five component sonars 10, to determine the concrete position of aqueduct of each measurement image data correspondence;
Step 5: underwater robot moves to next depth layer and returns step 1 and write down data in this degree of depth pipeline.
When underwater robot moved to next depth layer, repeating step one to five detected and writes down data in this degree of depth pipeline, and cycle detection and so forth is till whole detections are intact.
Embodiment two: present embodiment and embodiment one difference are that five component sonars 10 in the step 1 are according to the principle of subaqueous sound ranging, go out five point data in four horizontal quadrature directions and the high orientation measurement of survey vertically downward respectively, and along with the motion of robot, to be linked to be line by each measure dot number certificate that transmits under water in real time by water surface demonstration, control and data processing extension set 1, form the circumference image, thereby obtain the modification degree and the damaged depth survey data of a section in the aqueduct.Other composition is identical with embodiment one with connected mode.
Embodiment three: present embodiment and embodiment one difference are that Underwater Camera 8 in the step 2 is under water under robot motion's the drive, carry out along the circular motion of aqueduct inwall, thereby can produce out the video image of the damaged situation of the aqueduct inwall underwater robot place degree of depth.The parameter that video image obtained of damaged situation is damaged length and width data.Other composition is identical with embodiment one with connected mode.
Embodiment four: present embodiment and embodiment one difference are that the laser yardstick instrument 9 in the step 2 is to utilize the little principle of laser beam diffusion, provide the yardstick bright spot of a gauged distance respectively by underwater robot in level and vertical direction, this yardstick bright spot is superimposed upon on the video image of target, being about to the yardstick bright spot is radiated on the target, take in image by Underwater Camera 8, with this reference as tolerance target subject yardstick.Other composition is identical with embodiment one with connected mode.Laser yardstick instrument 9 varies in size apart from the different scales of distance of tube wall, therefore provides the yardstick bright spot of a gauged distance by underwater robot.
Embodiment five: present embodiment and embodiment four differences are that laser yardstick instrument 9 provides a level and vertical range is the yardstick bright spot of 1～5cm.Other composition is identical with embodiment four with connected mode.
Embodiment six: present embodiment and embodiment one difference are that the information of fibre optic gyroscope 11 and depthometer 12 in the step 4 is that the depth information that angle information that fibre optic gyroscope 11 is provided of the video overlapping system by water surface demonstration, control and data processing extension set 1 and depthometer 12 provide is superimposed upon in the video image of Underwater Camera 8 picked-ups, to determine the location coordinate of the video image correspondence of being taken the photograph.Other composition is identical with embodiment one with connected mode.
Embodiment seven: present embodiment and embodiment one difference are that water surface demonstration, control and data processing extension set 1 further synthesize three-dimensional image with the two-dimentional circumference view data of each degree of depth and show in visual form, carry out the measurement of aqueduct distortion and damaged yardstick.Other composition is identical with embodiment one with connected mode.
Embodiment eight: in conjunction with Fig. 1 present embodiment is described, present embodiment and embodiment one difference be in steps in information transmission between each device of underwater robot adopted electric light-photoelectric transformer 3 waterborne, photoelectricity composite cable 4 and electric light-photoelectric transformer 5 under water; The measurement data of whole aqueduct inner structure will be in real time by photoelectricity composite cable 4 between the electric light-photoelectric transformer waterborne 3 of the electric light-photoelectric transformer under water 5 that connects underwater robot body 20 and water surface demonstration, control and data processing extension set 1 by being sent under water on water surface demonstration, control and the data processing extension set 1, electric light-photoelectric transformer 3 waterborne, photoelectricity composite cable 4 and under water electric light-photoelectric transformer 5 be underwater robot electric energy transmitting and data.Other composition is identical with embodiment one with connected mode.
Principle of work of the present invention:
Underwater robot is inserted in the water-filled aqueduct and is worked on power, and underwater robot is setting in motion in self-contained depthometer and fibre optic gyroscope, forward controller and angle of rake effect with under driving.Reach after the tested degree of depth, the original place is revolved and is turn 90 degrees.In rotary course, five component sonars carry out acoustic detection in water, a high direction of survey vertically downward in the five component sonars, after underwater robot revolves and turn 90 degrees, the detection footprint of four horizontal quadrature components in the five component sonars just reaches 360 degree, has promptly finished the measurement of a circumference in degree of depth of aqueduct.Through image synthetic with handle, can measure accurately a section of this aqueduct the modification situation; Nearly aqueduct wall left by underwater robot, arrive the distance that Underwater Camera can clear detection, and make underwater robot move in a circle perpendicular to the attitude of road wall all the time to keep Underwater Camera, in the Underwater Camera videographic measurment process, open laser yardstick instrument and five component sonars simultaneously, laser yardstick instrument provides a level and vertical range is 2 centimetres yardstick bright spot, this yardstick bright spot is superimposed upon on the image of video object with the form of red color, with the reference as tolerance target subject yardstick.The five component sonars of Kai Qiing can provide the depth information of measured target simultaneously, finish the Video Detection in a week.Underwater robot moves to the next degree of depth after the measurement of finishing a circumference, repeats an action that circulation is same again, the measurement in finishing whole water delivery way (whether aqueduct is finished and can be judged by thinking).Along with underwater robot motion from the superficial to the deep, the image of circumference one by one that five component sonars and Underwater Camera are taken the photograph synthesizes inner modification degree of a description aqueduct and damage state based whole 3-D view by apparent control of the water surface and processing extension set.
Claims (8)
1, a kind of underwater robot that adopts is for the method that detects in the aqueduct well, and the underwater robot that is used for detecting in the aqueduct well is made up of water surface demonstration, control and data processing extension set (1), Underwater Camera (8), laser yardstick instrument (9), five component sonars (10), fibre optic gyroscope (11), depthometer (12) and underwater robot body (20);
The step that it is characterized in that it is as follows:
Step 1: measure water delivery the way interior degree of deformation and the damaged degree of depth with five component sonars (10);
Step 2:, measure interior horizontal and vertical crack of water delivery way and damaged width and height with the combination of video camera (8) and laser yardstick instrument (9) under water;
Step 3: the image and Underwater Camera (8) video image information of taking the photograph of five component sonars (10) are carried out three-dimensional array, provide the qualitative and quantitative description of interior modification degree of aqueduct and damaged integral status;
Step 4: the depth data that depthometer (12) is provided, the corner data that fibre optic gyroscope (11) provides and survey high data and take the photograph on the video image with image and Underwater Camera (8) that the video overlapping system of water surface demonstration, control and data processing extension set (1) is superimposed upon five component sonars (10), with the concrete position of aqueduct of definite each measurement image data correspondence;
Step 5: underwater robot moves to next depth layer and returns step 1 and write down data in this degree of depth pipeline.
2, a kind of underwater robot that adopts according to claim 1 is for the method that detects in the aqueduct well, it is characterized in that five component sonars (10) in the step 1 are according to the principle of subaqueous sound ranging, go out five point data in four horizontal quadrature directions and the high orientation measurement of survey vertically downward respectively, and along with the motion of robot, to be linked to be line by each measure dot number certificate that transmits under water in real time by water surface demonstration, control and data processing extension set (1), form the circumference image, thereby obtain the modification degree and the damaged depth survey data of a section in the aqueduct.
3, a kind of underwater robot that adopts according to claim 1 is for the method that detects in the aqueduct well, it is characterized in that Underwater Camera (8) in the step 2 is under water under robot motion's the drive, carry out along the circular motion of aqueduct inwall, produce out the video image of the damaged situation of the aqueduct inwall underwater robot place degree of depth.
4, a kind of underwater robot that adopts according to claim 1 is for the method that detects in the aqueduct well, it is characterized in that the laser yardstick instrument (9) in the step 2 is to utilize the little principle of laser beam diffusion, provide the yardstick bright spot of a gauged distance respectively in level and vertical direction, this yardstick bright spot is superimposed upon on the video image of target.
5, a kind of underwater robot that adopts according to claim 4 is characterized in that for the method that detects in the aqueduct well laser yardstick instrument (9) provides a level and vertical range is the yardstick bright spot of 1～5cm.
6, a kind of underwater robot that adopts according to claim 1 is for the method that detects in the aqueduct well, the information that it is characterized in that fibre optic gyroscope in the step 4 (11) and depthometer (12) is that the depth information that angle information that fibre optic gyroscope (11) is provided of the video overlapping system by water surface demonstration, control and data processing extension set (1) and depthometer (12) provide is superimposed upon in the video image of Underwater Camera (8) picked-up, to determine the location coordinate of the video image correspondence of being taken the photograph.
7, a kind of underwater robot that adopts according to claim 1 is for the method that detects in the aqueduct well, it is characterized in that water surface demonstration, control and data processing extension set (1) further synthesize three-dimensional image with the two-dimentional circumference view data of each degree of depth and show in visual form, carry out the measurement of aqueduct distortion and damaged yardstick.
8, a kind of underwater robot that adopts according to claim 1 is for the method that detects in the aqueduct well, it is characterized in that in used step the information transmission between each device of underwater robot has adopted electric light-photoelectric transformer waterborne (3), photoelectricity composite cable (4) and electric light-photoelectric transformer (5) under water; The measurement data of whole aqueduct inner structure will be in real time by the photoelectricity composite cable (4) between the electric light-photoelectric transformer waterborne (3) of the electric light-photoelectric transformer under water (5) that connects underwater robot body (20) and water surface demonstration, control and data processing extension set (1) by being sent under water on water surface demonstration, control and the data processing extension set (1), electric light-photoelectric transformer waterborne (3), photoelectricity composite cable (4) and under water electric light-photoelectric transformer (5) be underwater robot electric energy transmitting and data.
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| CN102288221A (en) * | 2011-06-22 | 2011-12-21 | 中国科学院深圳先进技术研究院 | Equipment for generally surveying pipeline |
| CN103364408A (en) * | 2013-07-10 | 2013-10-23 | 三峡大学 | Method for detecting underwater surface crack of hydraulic concrete structure by using underwater robot system |
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