CN107891956A - Crawler type underwater detection robot - Google Patents
Crawler type underwater detection robot Download PDFInfo
- Publication number
- CN107891956A CN107891956A CN201711021401.5A CN201711021401A CN107891956A CN 107891956 A CN107891956 A CN 107891956A CN 201711021401 A CN201711021401 A CN 201711021401A CN 107891956 A CN107891956 A CN 107891956A
- Authority
- CN
- China
- Prior art keywords
- main body
- body frame
- crawler type
- detection robot
- type underwater
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/34—Diving chambers with mechanical link, e.g. cable, to a base
Abstract
The present invention is applied to underwater detection robot field, disclose a kind of crawler type underwater detection robot, including submersible, umbilical cables and topside controller, the both ends of the umbilical cables are connected to the submersible and the topside controller, the submersible includes main body frame and is arranged at the crawler belt of creeping of the main body frame two bottom sides, the main body frame is connected with propeller and floating drum, and the main body frame is additionally provided with camera and detection sensor.A kind of crawler type underwater detection robot provided by the present invention, the hazardous environments such as underwater anoxic weight can be overcome, underwater operation is carried out instead of people, with convenience, safety, transmit quick etc. advantage, reduce human cost and the harmfulness of operation, and can also be applied in the occasion that regimen is complicated, underwater topography is complicated, it is of good reliability.
Description
Technical field
The invention belongs to underwater detection robot field, more particularly to a kind of crawler type underwater detection robot.
Background technology
Reservoir safety passes the flood period the difficult point of always China flood control and emphasis, the safe flood of medium and small reservoirs have turned into
One weak link of current National work of flood prevention, the safety inspection work of dam are increasingly valued by people.It is especially near
Several years big floods not seen once in a hundred years cause very big economic loss to the whole nation, and the safety of life and property to common people causes very
Big disaster.Nearby regimen is complicated for dam, and carrying out detection work by diver can be very restricted, and testing result is often
Very undesirable, the application of underwater robot provides preferable means to solve this problem.In addition, underwater robot can be with
Applied to safe search and rescue, submarine pipeline inspection, ship river course offshore oil, research and teaching, underwater amusement, energy industry, archaeology,
Fishery, it even may be also used in military monitoring etc..
Underwater robot of the prior art, it typically only relies on spiral propeller and floating drum driving, answered in some regimens
There are certain limitation, less reliable during applications miscellaneous, underwater topography is complicated.
The content of the invention
It is an object of the invention to overcome above-mentioned the deficiencies in the prior art, there is provided a kind of crawler type undersea detection machine
People, it can overcome the hazardous environments such as underwater anoxic weight, and underwater operation is carried out instead of people, have convenience, safety, transmission fast
The advantage of victory etc., human cost and the harmfulness of operation are reduced, and in the occasion that regimen is complicated, underwater topography is complicated
It can apply, it is of good reliability.
The technical scheme is that：A kind of crawler type underwater detection robot, including submersible, umbilical cables and control waterborne
Device processed, the both ends of the umbilical cables are connected to the submersible and the topside controller, and the submersible includes main body
Framework and the crawler belt of creeping for being arranged at the main body frame two bottom sides, the main body frame are connected with propeller and floating drum, institute
State main body frame and be additionally provided with camera and detection sensor.
Alternatively, the topside controller includes main power source.
Alternatively, the main body frame is connected with stand-by power supply.
Alternatively, the main body frame is provided with illuminating device.
Alternatively, the sensor include depth transducer, water quality detection sensor, concentration sensor, pressure sensor,
At least one of distance measuring sensor, acceleration transducer, radiation sensor and temperature sensor.
Alternatively, the main body frame is provided with manipulator, metal pachometer, fixed sonar and image scanning sonar
It is at least one.
Alternatively, the main body frame is provided with wireless connection module, and the topside controller is built-in with wireless controlled molding
Block.
Alternatively, the propeller includes rotating shaft and is connected to the propeller of the rotating shaft.
Alternatively, it is arranged with conduit outside the propeller.
Alternatively, the main body frame uses aluminium section bar material.
A kind of crawler type underwater detection robot provided by the present invention, its submersible is compact and flexible, easy to operate, passes through
Multiple knobs on console waterborne can control machine people advance, retreat, turn, rise, sink, light is strong and weak and camera
Focal length etc.；Submersible can carry fixed sonar, image scanning sonar, multi-parameter water quality detection sensor, radiation sensor, machine
The monitoring devices such as tool hand, metal pachometer；Underwater video monitoring can be also carried out in real time, under water under the hazardous environment such as anoxic weight
Underwater operation is carried out instead of the mankind, the advantage of have convenience, safety, transmission quick etc., reduces human cost and behaviour
The harmfulness of work, and can also be applied in the occasion that regimen is complicated, underwater topography is complicated, it is of good reliability.
Brief description of the drawings
Technical scheme in order to illustrate the embodiments of the present invention more clearly, it will use below required in embodiment
Accompanying drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for ability
For the those of ordinary skill of domain, on the premise of not paying creative work, it can also be obtained according to these accompanying drawings other attached
Figure.
Fig. 1 is a kind of schematic perspective view of crawler type underwater detection robot provided in an embodiment of the present invention.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
As shown in figure 1, a kind of crawler type underwater detection robot provided in an embodiment of the present invention, including submersible 1, umbilical cord
Cable 2 (control and power cable) and topside controller 3, the both ends of umbilical cables 2 are connected to submersible 1 and topside controller 3,
Umbilical cables 2 can play a part of controlling and power, so that submersible 1 continuously can work under water for a long time.Submersible 1 wraps
Include main body frame 11 and be arranged at the crawler belt 12 of creeping of the two bottom sides of main body frame 11, main body frame 11 is connected with the He of propeller 13
Floating drum 14, control chip 15 (controller), main body frame 11 are additionally provided with camera 16 and detection sensor 17, and camera 16 can
For high-definition camera 16, such as infrared type high-definition camera 16.The two bottom sides of main body frame 11 can set driving wheel, tensioning
Wheel, crawler belt 12 of creeping is placed on driving wheel, tensioning wheel, so that submersible 1 can creep at the bottom, and the structure of crawler belt is passed to
Performance is improved, and can be surmounted obstacles or pit-hole, can preferably complete the particular tasks such as undersea detection, regimen it is complicated,
The complicated occasion of underwater topography can also be applied, of good reliability.It can substitute the danger for going completion by Divers at present completely
Dangerous underwater operation, the depth that diver can not reach can be reached, underwater operation is carried out so as to preferably substitute diver.This
Sample, underwater hazardous environment would not jeopardize the life security of testing staff, as long as personnel are grasped on deck ship or dam
Work, security reliability are good.
Alternatively, topside controller 3 includes main power source, to ensure that submersible 1 can work under water for a long time.Control waterborne
Device 3 processed has display screen 31, to show the information such as the shooting picture of camera 16.
Alternatively, main body frame 11 is connected with stand-by power supply 18, if there is the fortuitous events such as the disconnection of umbilical cables 2, standby electricity
Source 18 can start, so that submersible 1 can work on or emerge automatically.Stand-by power supply 18 can be provided with one or
At least two.Stand-by power supply 18 can be arranged in seal casinghousing or sealing shroud.
Alternatively, main body frame 11 is provided with illuminating device, and illuminating device can be arranged at side or the master of camera 16
Around body framework 11, bottom etc..Illuminating device can be LED.
Alternatively, camera 16 can be provided with one or more, and it can set according to actual conditions.Camera 16 can
Main body frame 11 is connected to logical electric platform.The direction of camera 16, using effect can be adjusted by topside controller 3
It is good.Alternatively, camera 16 can be connected with memory, and memory can be RAM card, solid state hard disc (SSD) etc., to remember automatically
The video captured by camera 16 is recorded, in order to analyze and research.Memory can be built in camera 16, can also be built in water
Upper controller 3.
Alternatively, detection sensor 17 includes depth transducer, water quality detection sensor, concentration sensor, pressure sensing
At least one of device, distance measuring sensor, acceleration transducer, radiation sensor and temperature sensor.Sensor is alternatively it
The sensor of his type, it can be selected according to mission requirements.In concrete application, can be provided with main body frame 11 one or
Multiple sensor spare interfaces, suitable sensor can be selected and be connected to sensor spare interface, configuration is convenient.Specifically should
In, main body frame 11 is also provided with GPS or/and Big Dipper positioning chip.
Alternatively, main body frame 11 is provided with manipulator, metal pachometer, fixed sonar and image scanning sonar extremely
Few one kind, to meet different mission requirements.
Alternatively, main body frame 11 is provided with wireless connection module, and topside controller 3 is built-in with wireless control module.Should
Crawler type underwater detection robot patent of invention have it is power autonomous, can due to there is the complexity of cable underwater robot working environment
It can occur that the failures such as cable fracture or power-off are badly in need of situation about emerging, the emersion of controlled in wireless submersible 1 can be passed through
The water surface.
Alternatively, propeller 13 includes motor, rotating shaft and the propeller for being connected to rotating shaft.Propeller 13 can be provided with to
It is few two.
Alternatively, conduit is arranged with outside propeller, to ensure to improve thrust in the case of height slips.
Alternatively, floating drum 14 can be provided with one or at least two.
Alternatively, main body frame 11 uses aluminium section bar material, can play a part of to go along with sb. to guard him, support and protect, main body frame
11 component generally use rectangle section bar is in order to installing.The anti-corrosion of aluminium surface in the seawater is typically using at hard anodizing
Reason, reliability is more preferably.
The course of work may be referred to as follows:The dive of submersible 1 is illuminated, camera to the depth needed using illuminating device
16 are supplied to observer bottom situation and preserve in real time；Before observer is utilized above and below the handle operation robot of topside controller 3
After move；The sensor of loading can also be utilized to survey depth and pH value of water etc., the numerical value of observation is divided with special-purpose software
Analysis is compared and preserved；Other submersible 1 can load except algae machine and except shell machine etc. as needed.
A kind of crawler type underwater detection robot that the embodiment of the present invention is provided, its submersible 1 is compact and flexible, operation letter
Just, can be before control machine people by multiple knobs on console waterborne available for the undersea detection within 100 meters of depth of waters
Enter, retreat, turn, rise, sink, strong and weak focal length with camera 16 of light etc.；Submersible 1 can carry fixed sonar, image
The monitoring devices such as scanning sonar, multi-parameter water quality detection sensor, radiation sensor, manipulator, metal pachometer；Can also be real-time
Underwater video monitoring is carried out, replaces the mankind to carry out underwater operation under the hazardous environment such as anoxic weight under water, there is convenient, peace
Entirely, quick etc. advantage is transmitted, reduces human cost and the harmfulness of operation.
These are only presently preferred embodiments of the present invention, be not intended to limit the invention, it is all the present invention spirit and
Any modification, equivalent substitution or improvement for being made within principle etc., should be included in the scope of the protection.
Claims (10)
1. crawler type underwater detection robot, it is characterised in that including submersible, umbilical cables and topside controller, the umbilical cord
The both ends of cable are connected to the submersible and the topside controller, and the submersible includes main body frame and is arranged at institute
The crawler belt of creeping of main body frame two bottom sides is stated, the main body frame is connected with propeller and floating drum, and the main body frame is also set
It is equipped with camera and detection sensor.
2. crawler type underwater detection robot as claimed in claim 1, it is characterised in that the topside controller includes main electricity
Source.
3. crawler type underwater detection robot as claimed in claim 1, it is characterised in that the main body frame is connected with standby
Power supply.
4. crawler type underwater detection robot as claimed in claim 1, it is characterised in that the main body frame is provided with illumination
Device.
5. crawler type underwater detection robot as claimed in claim 1, it is characterised in that the sensor includes depth sensing
Device, water quality detection sensor, concentration sensor, pressure sensor, distance measuring sensor, acceleration transducer, radiation sensor and
At least one of temperature sensor.
6. crawler type underwater detection robot as claimed in claim 1, it is characterised in that the main body frame is provided with machinery
At least one of hand, metal pachometer, fixed sonar and image scanning sonar.
7. crawler type underwater detection robot as claimed in claim 1, it is characterised in that the main body frame is provided with wirelessly
Link block, the topside controller are built-in with wireless control module.
8. crawler type underwater detection robot as claimed in claim 1, it is characterised in that the propeller includes rotating shaft and company
It is connected to the propeller of the rotating shaft.
9. crawler type underwater detection robot as claimed in claim 8, it is characterised in that be arranged with and lead outside the propeller
Pipe.
10. crawler type underwater detection robot as claimed in claim 1, it is characterised in that the main body frame uses aluminium profiles
Material material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711021401.5A CN107891956A (en) | 2017-10-26 | 2017-10-26 | Crawler type underwater detection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711021401.5A CN107891956A (en) | 2017-10-26 | 2017-10-26 | Crawler type underwater detection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107891956A true CN107891956A (en) | 2018-04-10 |
Family
ID=61803265
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711021401.5A Pending CN107891956A (en) | 2017-10-26 | 2017-10-26 | Crawler type underwater detection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107891956A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108646312A (en) * | 2018-05-15 | 2018-10-12 | 北京矿冶科技集团有限公司 | A kind of Tailings Dam flood tunnel detection method |
| CN109591979A (en) * | 2019-01-21 | 2019-04-09 | 青岛罗博飞海洋技术有限公司 | A kind of underwater equipment self-help apparatus |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205310278U (en) * | 2016-01-04 | 2016-06-15 | 深圳市华品智能系统有限公司 | Box underwater robot |
| CN205652313U (en) * | 2016-05-06 | 2016-10-19 | 中国科学院烟台海岸带研究所 | Marine environment ecological remediation underwater observation robot |
| KR101678566B1 (en) * | 2016-06-24 | 2016-12-06 | 채정훈 | Exploration robot for water pollutant using Internet of the Things |
| CN206171769U (en) * | 2016-10-21 | 2017-05-17 | 武汉中之岛科技有限公司 | Underwater detection robot |
-
2017
- 2017-10-26 CN CN201711021401.5A patent/CN107891956A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205310278U (en) * | 2016-01-04 | 2016-06-15 | 深圳市华品智能系统有限公司 | Box underwater robot |
| CN205652313U (en) * | 2016-05-06 | 2016-10-19 | 中国科学院烟台海岸带研究所 | Marine environment ecological remediation underwater observation robot |
| KR101678566B1 (en) * | 2016-06-24 | 2016-12-06 | 채정훈 | Exploration robot for water pollutant using Internet of the Things |
| CN206171769U (en) * | 2016-10-21 | 2017-05-17 | 武汉中之岛科技有限公司 | Underwater detection robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108646312A (en) * | 2018-05-15 | 2018-10-12 | 北京矿冶科技集团有限公司 | A kind of Tailings Dam flood tunnel detection method |
| CN109591979A (en) * | 2019-01-21 | 2019-04-09 | 青岛罗博飞海洋技术有限公司 | A kind of underwater equipment self-help apparatus |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180410 |