CN108061577A - A kind of pressure water conveyer tunnel intelligent detection device - Google Patents
A kind of pressure water conveyer tunnel intelligent detection device Download PDFInfo
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- CN108061577A CN108061577A CN201711468999.2A CN201711468999A CN108061577A CN 108061577 A CN108061577 A CN 108061577A CN 201711468999 A CN201711468999 A CN 201711468999A CN 108061577 A CN108061577 A CN 108061577A
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- 238000001514 detection method Methods 0.000 title claims abstract description 147
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 61
- 239000000523 sample Substances 0.000 claims abstract description 20
- 238000000034 method Methods 0.000 claims abstract description 6
- 208000010877 cognitive disease Diseases 0.000 claims abstract description 4
- 230000003287 optical effect Effects 0.000 claims description 14
- 230000004888 barrier function Effects 0.000 claims description 13
- 230000011664 signaling Effects 0.000 claims description 9
- 230000005540 biological transmission Effects 0.000 claims description 8
- 230000000386 athletic effect Effects 0.000 claims description 7
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 5
- 229910052782 aluminium Inorganic materials 0.000 claims description 5
- 230000001737 promoting effect Effects 0.000 claims description 4
- 238000004064 recycling Methods 0.000 claims description 4
- 238000011084 recovery Methods 0.000 claims description 3
- 230000006641 stabilisation Effects 0.000 claims description 3
- 238000011105 stabilization Methods 0.000 claims description 3
- 238000010025 steaming Methods 0.000 claims description 3
- 238000005259 measurement Methods 0.000 claims description 2
- 238000013461 design Methods 0.000 abstract description 5
- 230000033001 locomotion Effects 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 12
- 238000005286 illumination Methods 0.000 description 3
- 239000003643 water by type Substances 0.000 description 3
- 230000002708 enhancing effect Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000003032 molecular docking Methods 0.000 description 2
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 229910052799 carbon Inorganic materials 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000008021 deposition Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
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- 239000000835 fiber Substances 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
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- 238000007726 management method Methods 0.000 description 1
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- 238000012546 transfer Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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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
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of for detecting the intelligent detection device of pressure water conveyer tunnel situation, the shelling machine of detection device body is axial symmetry elliposoidal structure, exterior circumferential is evenly arranged anticollision strip, pressure-resistant total cabin of enclosure is five cabin integral structures, it is made of piggyback pod, integrated probe compartment, core control cabinet and two integrated ranging sonar cabins, also respectively there is one group of vertical and athwartships propeller at detection device body interior both ends, propeller thrust direction is consistent with ranging sonar direction, and the head end of detection device body sets that there are one forward sight cameras.A variety of underwater manoeuvre actions can be achieved in the present invention；Design feature and movement control mode based on the present invention, it is proposed the detection detailed process to pressure water conveyer tunnel, pass through circumferential camera acquisition hole wall image, forward looking camera acquisition forward image and cognitive disorders object plan course line again, complete tunnel detection mission guarantee intelligent detection device discretionary security.
Description
Technical field
The present invention relates to undersea detection engineering device technique fields, and in particular to a kind of pressure water conveyer tunnel intelligent detection device.
Background technology
Pressure water conveyer tunnel is component the most key in reservoir engineering, and the operating condition of tunnel is to reservoir function
Playing has material impact, therefore the detection of pressure water conveyer tunnel is the important content of reservoir engineering management.Pressure water conveyer tunnel exists
The defects of being present with deposition, burn into leakage and barrier in long-play problem, is more easy to aging occur in flood season water-conveyance tunnel
Problem directly influences the normal operation of reservoir engineering, therefore carries out periodic detection to tunnel, and it is more next to grasp reservoir engineering situation
More it is taken seriously.But due in pressure water conveyer tunnel current full of full hole, pressure is high, flow velocity is big, distance is remote, without illumination and underwater
The problems such as engineering-environment is complicated so that personnel are difficult into detection, it is necessary to be carried out by other detection devices instead of testing staff
Detection ensures reservoir engineering safety.
Existing tunnel detection device is mainly pipe robot and remote underwater robot, and pipe robot is mainly used for
The smaller pipeline in hole footpath is detected, can only be generally detected in the case of the non-water flowing of pipeline, and since length of cable limits,
The detection demand of pressure water conveyer tunnel cannot be met；Telemeter underwater robot, which needs to monitor in real time by operating personnel, to be made
Industry due to limitations such as length of cable, is generally used for short-range Underwater Engineering detection, can not meet pressure water conveyer tunnel over long distances
Detection demand；Unmanned cableless underwater robot (AUV) equips carrying platform as good undersea detection, can grow under water
Temporally, discretionary security ground performance objective task, but existing AUV is chiefly used in a wide range of navigational duty in broad waters,
It cannot ensure mobility and stability under the relatively narrowers water environment such as tunnel, can not all expire in structure design and maneuverability pattern
Sufficient detection mission demand.Consider the deficiency of existing detection device, it is special for the mission requirements and tunnel water environment of tunnel detection
Point, the present invention improve on the basis of unmanned cableless underwater robot (AUV), propose a kind of dedicated for the inspection of pressure water conveyer tunnel
The intelligent undersea detection device of survey, can in complicated pressure water conveyer tunnel water environment, possess stronger maneuverability and
State-retention capabilities carry underwater detection equipment according to demand and sensor meet mission requirements, autonomously carry out tunnel detection
Task.
The content of the invention
The present invention to solve the above-mentioned problems, provide it is a kind of reasonable in design, it is easy to carry, can accurately detect
Water-conveyance tunnel situation is pressed, grasps reservoir engineering operating condition, and the pressure water conveyer tunnel intelligent detection device that intelligence degree is high.
The present invention adopts the following technical scheme that：
A kind of pressure water conveyer tunnel intelligent detection device, including detection device body, the detection device body includes outer
Shell, two pairs for being respectively arranged at enclosure both ends push away propeller and are arranged in shell and push away propeller positioned at two pairs
Between pressure-resistant total cabin, the shell is ellipsoidal structure, and one end of the housing exterior is equipped with and promotes mainly propeller, the shell
The other end in portion is equipped with forward looking camera, and close one end for promoting mainly propeller is equipped with depth gauge in the shell, and the pair pushes away
The athwartships propeller and vertical thrusters for including being arranged in a mutually vertical manner into device, pressure-resistant total cabin include the integrated of integral type setting
Probe compartment, core control cabinet, piggyback pod and two integrated ranging sonar cabins, the outside and edge of the integrated probe compartment
The circumferential direction for integrated probe compartment is evenly distributed with several side view video cameras and several searchlights, and the side view is taken the photograph
Camera and searchlight correspond, and are equipped with core control computer in the core control cabinet, are connected with core control computer
Mission planning computer and attitude transducer, the core control computer also pushed away respectively with pair propeller, promote mainly propeller,
Forward looking camera, integrated probe compartment, two integrated ranging sonar cabins are connected, and the piggyback pod is interior equipped with control battery and dynamic
Power battery, the control battery and core control cabinet are electrical connected, and the power battery pushes away propeller with pair, promotes mainly propulsion respectively
Device, forward looking camera, integrated probe compartment, two integrated ranging sonar cabins are electrical connected, outside the integrated sonar transducer space and
Several ranging sonars are evenly distributed with along the circumferential direction of integrated sonar transducer space.
As a preferred technical solution of the present invention, the outside of the shell and along in the circumferential direction of shell uniformly
Several anticollision strips are distributed with, each anticollision strip is set each along the axial direction of shell, and if the anticollision strip by
Dry group aluminum corner brace is fixed on shell.
As a preferred technical solution of the present invention, on the core control cabinet and it is respectively equipped with one on piggyback pod and prolongs
Extend the hanging ring of housing exterior.
As a preferred technical solution of the present invention, the number of the anticollision strip is 8.
As a preferred technical solution of the present invention, the number of the side view video camera and the number of searchlight are
For 4 or more.
As a preferred technical solution of the present invention, the number of the ranging sonar is 3 or more.
As a preferred technical solution of the present invention, the forward looking camera uses the Underwater Camera of automatic light source.
A kind of application method of pressure water conveyer tunnel intelligent detection device, mainly includes the following steps：
Step 1: first hanging detection device body to branch tunnel from vertical shaft, detection device body is navigated by water along branch tunnel,
Ranging sonar and side view video camera identify detection device body ambient enviroment to find main tunnel entrance, main tunnel to be found simultaneously
Detection device body slows down after the entrance of hole, while adjusts athletic posture and enter main tunnel and start to navigate by water along target pattern；
Step 2: when detection device body navigates by water in branch tunnel or main tunnel, core control computer is passed according to posture
Sensor transfer real time data come control promote mainly the rotating speed of propeller with keep detection device body longitudinal velocity stabilization in mesh
The speed of a ship or plane is marked, to ensure that Image Acquisition is clearly accurate；
Step 3: when detection device body navigates by water in branch tunnel or main tunnel, core control computer is according to two collection
It controls athwartships propeller into the detection device body that the ranging sonar on sonar transducer space measures and surrounding hole wall distance and vertical pushes away
Into the corresponding rotating speed of device, to ensure detection device body in navigation positioned at the cross-section center region of branch tunnel or main tunnel；
Step 4: detection device body, after main tunnel is entered, forward looking camera gathers front tunnel image, and will acquisition
Real-time data transmission is to core control computer, while core computer judges front with the presence or absence of barrier by image recognition algorithm
Hinder object and cognitive disorders object location；When recognizing front there are during barrier, core control computer promotes mainly propulsion by control
Device causes detection device body low steaming to prevent from colliding, while core control computer passes obstacle position information
It sending to mission planning computer, mission planning computer plans whole course line according to obstacle position information again, and
Again the course line planned is delivered to core control computer, core control computer is further according to new course line adjustment detection dress
The athletic posture of body is put with safety barrier zone；
The barrier is gate, landslide or deposit；
Step 5: detection device body, after main tunnel is entered, side view video camera starts to gather main tunnel side hole wall image,
And by gathered data real-time Transmission to core control computer, while core computer judges main tunnel by image recognition algorithm
Side hole wall whether there is doubtful bad point, and when finding to doubtful bad point, propeller is promoted mainly in the control of core control computer and pair pushes away
The relative rotation speed of propeller so that detection device body is in hovering action, while side view video camera is controlled to make doubtful bad point
Further Image Acquisition；
Step 6: in step 5, when finding that main tunnel footpath is larger, detection device body hover rear side viewing video camera without
When method makees further Image Acquisition to doubtful bad point, core control computer is then according to the conveying of side view video camera on doubtful
The data of bad point are to calculate the position of doubtful bad point, then control and promote mainly propeller and secondary push away the relative rotation speed of propeller so that detecting
Device body is moved to doubtful bad point direction, is moved to that propeller is promoted mainly in the control of core control computer behind designated position and pair pushes away
The relative rotation speed of propeller so that detection device body is in hovering action, while side view video camera is controlled to make doubtful bad point
Further Image Acquisition；
Step 7: after Detection task, detection device body is arranged at main tunnel portal using forward looking camera identification
The optical signalling that the optical directory means of position are sent, while forward looking camera completes detection device after docking with optical signalling
Body is driven out to the hole that main tunnel enters recycling further according to the guiding of optical signalling, treats that core control computer controls detection device sheet
After body is floating to the water surface, then manual recovery detection device body.
The beneficial effects of the invention are as follows：
1st, the present invention is whole uses elliposoidal structure design, from the beginning being arranged circumferentially several on shell extends to tail
Anticollision strip primarily serves collision protection effect, enhances detection device overall construction intensity, and effectively enhancing underwater navigation is stablized
Property, while anticollision strip is fixed using multigroup aluminum corner brace on shell again, the replacement easy to disassemble in damage；Compared to other spies of same size
Survey device, the structure of the detection device body designed by the present invention is larger in flow velocity and Protean tunnel waters in, safety
Property higher, adaptability it is stronger and be more easy to adjustment posture；
2nd, two pairs are pushed away the both ends that propeller is arranged at enclosure by the present invention so that two pairs push away the opposite of propeller
It is in larger distance, it is laterally realized soon by the rotating of propeller and differential with vertical torque, detection device so as to generate bigger
The vertical action of speed, transverse translation action and trim, angle of heading adjustment, compared to the robot of rudder paddle control, possess and faster adjust appearance
The ability of state causes the detection device body of the present invention to be more easy to keep appearance in tunnel waters in conjunction with the shape of elliposoidal structure
State is stablized, the functions such as realization quickly snorkels, scheduled airline navigation, posture holding, hovering detection and cast；
3rd, integrate probe compartment and carry several groups of side view video cameras and searchlight, it, can using mode is arranged circumferentially
360 ° gather tunnel wall image without dead angle, adapt in the environment under water without other light sources illumination；What the present invention was set carries
The forward looking camera of light source is mainly used for gathering tunnel image in front of detection device, secondly terminates to need in detection device task
When being driven out to main tunnel portal by the guiding of external optical signal, play the role of identifying that external optical signal completes docking.
Description of the drawings
Fig. 1 is a kind of dimensional structure diagram of pressure water conveyer tunnel intelligent detection device of the present invention；
Fig. 2 is a kind of front view of pressure water conveyer tunnel intelligent detection device of the present invention；
Fig. 3 is the concrete structure schematic diagram of Fig. 2；
Fig. 4 is a kind of left view of pressure water conveyer tunnel intelligent detection device；
Fig. 5 is the structure diagram at B-B in Fig. 3；
Fig. 6 is the structure diagram at A-A in Fig. 3；
Fig. 7 is a kind of pressure water conveyer tunnel intelligent detection device of the present invention in middle stationary state floading condition schematic diagram；
Fig. 8 is that a kind of trim of pressure water conveyer tunnel intelligent detection device of the present invention adjusts schematic diagram；
Fig. 9 turns bow schematic diagram for a kind of pressure water conveyer tunnel intelligent detection device of the present invention；
Figure 10 is a kind of vertical mobile schematic diagram of pressure water conveyer tunnel intelligent detection device of the present invention；
Figure 11 is a kind of transverse shifting schematic diagram of pressure water conveyer tunnel intelligent detection device of the present invention；
Figure 12 is a kind of detection mission flow chart of pressure water conveyer tunnel intelligent detection device of the present invention；
Figure 13 is a kind of pressure water conveyer tunnel intelligent detection device scheduled airline detection mission schematic diagram of the present invention；
Figure 14 meets barrier for a kind of pressure water conveyer tunnel intelligent detection device of the present invention and plans route map again；
Figure 15 is the schematic diagram that a kind of pressure water conveyer tunnel intelligent detection device of the present invention passes through gate；
Figure 16 closely gathers image schematic diagram for a kind of pressure water conveyer tunnel intelligent detection device of the present invention.
Symbol description in figure：
Shell 1 promotes mainly propeller 2, forward looking camera 3, depth gauge 4, athwartships propeller 5, vertical thrusters 6, integrated spy
Measurement equipment cabin 7, core control cabinet 8, piggyback pod 9 integrate ranging sonar cabin 10, side view video camera 11, searchlight 12, ranging sound
13, anticollision strip 14, hanging ring 15.
Specific embodiment
Presently in connection with attached drawing, the present invention will be described in further detail.
As shown in Figure 1, a kind of pressure water conveyer tunnel intelligent detection device, including detection device body, the detection device
Body includes 1, two, shell and is respectively arranged at the pair at 1 inside both ends of shell pushing away propeller and be arranged in shell 1 and be located at
Two pairs push away pressure-resistant total cabin between propeller, and the shell 1 is ellipsoidal structure, and the ellipsoidal structure design can be effective
Underwater resistance is reduced, while shell 1 selects carbon fibre material making that can reduce overall weight on the premise of structural strength is ensured；
Tail end outside the shell 1 is equipped with to control what detection device body moved forward and backward movement to promote mainly propeller
2；Head end outside the shell 1 sets that there are one for gathering the forward looking camera 3 of tunnel image in front of detection device body, institute
State Underwater Camera of the forward looking camera 3 using automatic light source；It is set in the shell 1 close to the one end for promoting mainly propeller 2
There is depth gauge 4；
The pair, which pushes away propeller, includes the athwartships propeller 5 being arranged in a mutually vertical manner and vertical thrusters 6, described laterally to promote
Device 5 is mainly used for controlling the bow of detection device body to angle and transverse movement, and the vertical thrusters 6 are mainly used for control and visit
The trim and catenary motion of device body are surveyed, the relative rotation speed by adjusting athwartships propeller 5 and vertical thrusters 6 can be realized
Adjustment to detection device body athletic posture；
Pressure-resistant total cabin includes integrated probe compartment 7, core control cabinet 8, the piggyback pod 9 and two that integral type is set
A integrated ranging sonar cabin 10；The integrated probe compartment is arranged at the medium position of shell 1, and the core control cabinet 8 is set
It is placed on integrated probe compartment 7 and is arranged at close to the one side of forward looking camera 3, the piggyback pod 9 on integrated probe compartment 7
Close to promoting mainly the one side of pusher 2, one of them integrated ranging sonar cabin 10 is arranged at core control cabinet 8 and pair push away pusher it
Between, another integrated ranging sonar cabin 10 is arranged at piggyback pod 9 and another pair is pushed away between pusher；
The outside of the integrated probe compartment 7 and it is evenly distributed with five along the circumferential direction of integrated probe compartment 7
A side view video camera 11 and five searchlights 12, the side view video camera 11 and searchlight 12 correspond, the side view camera shooting
Machine 11 gathers detection device body tunnel side wall image for 360 ° without dead angle, and wherein searchlight 12 can be so that detection device body
It is adapted to the environment under water without other light sources illumination；
Equipped with core control computer, the mission planning meter being connected with core control computer in the core control cabinet 8
Calculation machine and attitude transducer, the core control computer also push away propeller with pair, promote mainly propeller 2, forward looking camera respectively
3rd, 7, two integrated ranging sonar cabins 10 of probe compartment are integrated to be connected；
Wherein core control computer is mainly used for receiving the data of the acquisition of forward looking camera 3, integrate on probe compartment 7
The detection of data, the data that two integrated ranging sonar cabins 10 gather and attitude transducer acquisition that side view video camera 11 gathers
The current data of device body, and above-mentioned data are analyzed, arranged and compared, recycle control algolithm distribution is each to promote mainly
Propeller 2 and secondary steering and the rotating speed for pushing away propeller, to complete the motion control of detection device body；
Wherein mission planning computer is mainly used for planning global course line according to the goal task of initial setting, is running into barrier
Hinder and plan local course line during object again, and the course line planned again is conveyed to core control computer；
Wherein attitude transducer can obtain the bow of current detection device body to angle, roll angle, Angle of Trim, speed in real time
And acceleration, and above-mentioned real time data is conveyed to core control computer；
Control battery and power battery, the control 8 electrical phase of battery and core control cabinet are equipped in the piggyback pod 9
Even, equipment is powered in order to control；The power battery pushes away propeller with pair, promotes mainly propeller 2, forward looking camera 11, integrates respectively
7, two integrated ranging sonar cabins 10 of probe compartment are electrical connected, and are that propeller and detecting devices are powered；
10 outside of the integrated sonar transducer space and it is uniformly distributed that there are four ranging sound along the circumferential direction of integrated sonar transducer space 10
13, wherein four ranging sonars 13 correspond to the upper and lower, left and right four direction of detection device body respectively, so that two
Eight ranging sonars 13 on integrated sonar transducer space 10 can detect detection device body rear and front end respectively apart from tunnel wall four
The distance in a direction, while 13 measured data of ranging sonar are conveyed to core control computer by integrated sonar transducer space 10；
The outside of the shell 1 and eight anticollision strips 14 are evenly distributed with along in the circumferential direction of shell 1, it is each described
Anticollision strip 14 is set each along the axial direction of shell 1, so that anticollision strip 14 can carry out detection device body full side
The protection of position, the anticollision strip 14 can not only play the role of protection, additionally it is possible to enhance the structure of detection device body entirety
Intensity, while effectively the underwater navigation stability of device body is surveyed in enhancing；And the anticollision strip 14 is consolidated by several groups of aluminum corner braces
Due on outer 1 shell, more convenient disassembling, assembling and replacing when anticollision strip 14 being enabled to damage again is fixed using aluminum corner brace；
On the core control cabinet 8 and a hanging ring extended to outside shell 1 15 is respectively equipped on piggyback pod 9, it is described
Hanging ring 15 is mainly used for crane recycling and release detection device body；
Correspond to athwartships propeller 5, vertical thrusters 6, side view video camera 11, searchlight 12 and ranging on the shell 1
Through hole is equipped at the position of sonar 13.
A kind of application method of pressure water conveyer tunnel intelligent detection device, mainly includes the following steps：
(1) detection device body is hung from vertical shaft to branch tunnel first, detection device body is navigated by water along branch tunnel, simultaneously
Ranging sonar and side view video camera identify detection device body ambient enviroment to find main tunnel entrance, and main tunnel to be found enters
Detection device body slows down after mouthful, while adjusts athletic posture and enter main tunnel and start to navigate by water along target pattern；
(2) when detection device body navigates by water in branch tunnel or main tunnel, core control computer is according to attitude transducer
The real time data of transmission is promoted mainly the rotating speed of propeller and is navigated with the longitudinal velocity stabilization that keeps detection device body in target to control
Speed, to ensure that Image Acquisition is clearly accurate；
(3) when detection device body navigates by water in branch tunnel or main tunnel, core control computer is according to two integrated sound
The detection device body that ranging sonar on cabin measures controls athwartships propeller and vertical thrusters with surrounding hole wall distance
Corresponding rotating speed, with ensure detection device body navigation when positioned at the cross-section center region of branch tunnel or main tunnel；
(4) detection device body is into after main tunnel, forward looking camera acquisition front tunnel image, and by gathered data
Real-time Transmission is to core control computer, while core computer judges front whether there are obstacles by image recognition algorithm
And cognitive disorders object location；When recognizing front there are during barrier, core control computer promotes mainly propeller by control to be made
Detection device body low steaming is obtained to prevent from colliding, while obstacle position information is sent to by core control computer
Mission planning computer, mission planning computer plan whole course line according to obstacle position information again, and will weigh
The new course line planned is delivered to core control computer, and core control computer adjusts detection device sheet further according to new course line
The athletic posture of body is with safety barrier zone；
The barrier is gate, landslide or deposit；
(5) after main tunnel is entered, side view video camera starts to gather main tunnel side hole wall image detection device body, and will
Gathered data real-time Transmission is to core control computer, while core computer judges main tunnel side hole by image recognition algorithm
Wall whether there is doubtful bad point, and when finding to doubtful bad point, propeller is promoted mainly in the control of core control computer and pair promotes
The relative rotation speed of device so that detection device body is in hovering action, while side view video camera is controlled to make into one doubtful bad point
The Image Acquisition of step；
(6) in step (5), when finding that main tunnel footpath is larger, detection device body hovering rear side viewing video camera can not
When making further Image Acquisition to doubtful bad point, core control computer is then according to the conveying of side view video camera on doubtful bad
The data of point are to calculate the position of doubtful bad point, then control and promote mainly propeller and the secondary relative rotation speed for pushing away propeller causes detection to fill
It puts body to move to doubtful bad point direction, is moved to that propeller is promoted mainly in the control of core control computer behind designated position and pair pushes away
Into the relative rotation speed of device so that detection device body be in hovering action, while control side view video camera doubtful bad point is made into
The Image Acquisition of one step；
(7) after Detection task, detection device body is arranged at main tunnel portal position using forward looking camera identification
The optical signalling that is sent of optical directory means, while forward looking camera docked with optical signalling completion after detection device body
Guiding further according to optical signalling is driven out to the hole that main tunnel enters recycling, treats that core control computer control detection device body floats
To the water surface, then manual recovery detection device body.
Finally it should be noted that：These embodiments are merely to illustrate the present invention and do not limit the scope of the invention.In addition,
To those of ordinary skill in the art, other various forms of variations or change can also be made on the basis of the above description
It is dynamic.There is no necessity and possibility to exhaust all the enbodiments.And the obvious variation or change thus amplified out
It is dynamic to be still in the protection scope of this invention.
Claims (8)
1. a kind of pressure water conveyer tunnel intelligent detection device, including detection device body, it is characterised in that：The detection device sheet
Body includes shell (1), two pairs for being respectively arranged at the internal both ends of shell (1) push away propeller and is arranged in shell (1) and
Positioned at two pairs push away propeller between pressure-resistant total cabin, the shell (1) is ellipsoidal structure, the shell (1) it is external one
End, which is equipped with, promotes mainly propeller (2), and the external other end of the shell (1) is equipped with forward looking camera (3), is leaned in the shell (1)
Nearly one end for promoting mainly propeller (2) is equipped with depth gauge (4), and the pair, which pushes away propeller, includes the athwartships propeller being arranged in a mutually vertical manner
(5) and vertical thrusters (6), pressure-resistant total cabin include integrated probe compartment (7), the core control cabinet that integral type is set
(8), piggyback pod (9) and two integrated ranging sonar cabins (10), the outside of the integrated probe compartment (7) and along integrated spy
The circumferential direction in measurement equipment cabin (7) is evenly distributed with several side view video cameras (11) and several searchlights (12), the side
It is corresponded depending on video camera (11) and searchlight (12), (8) are equipped with core control computer and core in the core control cabinet
The mission planning computer and attitude transducer that control computer is connected, the core control computer are also promoted with pair respectively
Device, promote mainly propeller (2), forward looking camera (3), integrated probe compartment (7), two integrated ranging sonar cabins (10) are connected,
Control battery and power battery are equipped in the piggyback pod (9), the control battery and core control cabinet (8) are electrical connected, institute
State power battery pushed away respectively with pair propeller, promote mainly propeller (2), forward looking camera (3), integrated probe compartment (7), two
Integrated ranging sonar cabin (10) are electrical connected, and the integrated sonar transducer space (10) is external and along the circumferential direction side of integrated sonar transducer space (10)
To being evenly distributed with several ranging sonars (13).
2. a kind of pressure water conveyer tunnel intelligent detection device according to claim 1, it is characterised in that：The shell (1)
Outside and several anticollision strips (14) are evenly distributed with along in the circumferential direction of shell (1), each anticollision strip (14)
It is set each along the axial direction of shell (1), and the anticollision strip (14) is fixed on by several groups of aluminum corner braces on shell (1).
3. a kind of pressure water conveyer tunnel intelligent detection device according to claim 1, it is characterised in that：The core control
One is respectively equipped on cabin (8) and on piggyback pod (9) and extends to the external hanging ring (15) of shell (1).
4. a kind of pressure water conveyer tunnel intelligent detection device according to claim 2, it is characterised in that：The anticollision strip
(8) number is 8.
5. a kind of pressure water conveyer tunnel intelligent detection device according to claim 1, it is characterised in that：The side view camera shooting
The number of machine (11) and the number of searchlight (12) are for 4 or more.
6. a kind of pressure water conveyer tunnel intelligent detection device according to claim 1, it is characterised in that：The ranging sonar
(13) number is 3 or more.
7. a kind of pressure water conveyer tunnel intelligent detection device according to claim 1, it is characterised in that：The forward sight camera shooting
Machine (3) uses the Underwater Camera of automatic light source.
8. a kind of application method of pressure water conveyer tunnel intelligent detection device according to any one of claims 1 to 7,
It is characterized in that：Mainly include the following steps,
Step 1: first hanging detection device body to branch tunnel from vertical shaft, detection device body is navigated by water along branch tunnel, simultaneously
Ranging sonar and side view video camera identify detection device body ambient enviroment to find main tunnel entrance, and main tunnel to be found enters
Detection device body slows down after mouthful, while adjusts athletic posture and enter main tunnel and start to navigate by water along target pattern；
Step 2: when detection device body navigates by water in branch tunnel or main tunnel, core control computer is according to attitude transducer
The real time data of transmission is promoted mainly the rotating speed of propeller and is navigated with the longitudinal velocity stabilization that keeps detection device body in target to control
Speed, to ensure that Image Acquisition is clearly accurate；
Step 3: when detection device body navigates by water in branch tunnel or main tunnel, core control computer is according to two integrated sound
The detection device body that ranging sonar on cabin measures controls athwartships propeller and vertical thrusters with surrounding hole wall distance
Corresponding rotating speed, with ensure detection device body navigation when positioned at the cross-section center region of branch tunnel or main tunnel；
Step 4: detection device body is into after main tunnel, forward looking camera acquisition front tunnel image, and by gathered data
Real-time Transmission is to core control computer, while core computer judges front whether there are obstacles by image recognition algorithm
And cognitive disorders object location；When recognizing front there are during barrier, core control computer promotes mainly propeller by control to be made
Detection device body low steaming is obtained to prevent from colliding, while obstacle position information is sent to by core control computer
Mission planning computer, mission planning computer plan whole course line according to obstacle position information again, and will weigh
The new course line planned is delivered to core control computer, and core control computer adjusts detection device sheet further according to new course line
The athletic posture of body is with safety barrier zone；
The barrier is gate, landslide or deposit；
Step 5: detection device body, after main tunnel is entered, side view video camera starts to gather main tunnel side hole wall image, and will
Gathered data real-time Transmission is to core control computer, while core computer judges main tunnel side hole by image recognition algorithm
Wall whether there is doubtful bad point, and when finding to doubtful bad point, propeller is promoted mainly in the control of core control computer and pair promotes
The relative rotation speed of device so that detection device body is in hovering action, while side view video camera is controlled to make into one doubtful bad point
The Image Acquisition of step；
Step 6: in step 5, when finding that main tunnel footpath is larger, detection device body hovering rear side viewing video camera can not be right
When doubtful bad point makees further Image Acquisition, core control computer is then according to the conveying of side view video camera on doubtful bad point
Data to calculate the position of doubtful bad point, then control and promote mainly propeller and the secondary relative rotation speed for pushing away propeller causes detection device
Body is moved to doubtful bad point direction, is moved to that propeller is promoted mainly in the control of core control computer behind designated position and pair promotes
The relative rotation speed of device so that detection device body is in hovering action, while side view video camera is controlled to make into one doubtful bad point
The Image Acquisition of step；
Step 7: after Detection task, detection device body is arranged at main tunnel portal position using forward looking camera identification
The optical signalling that is sent of optical directory means, while forward looking camera docked with optical signalling completion after detection device body
Guiding further according to optical signalling is driven out to the hole that main tunnel enters recycling, treats that core control computer control detection device body floats
To the water surface, then manual recovery detection device body.
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