CN108061577A - A kind of pressure water conveyer tunnel intelligent detection device - Google Patents

A kind of pressure water conveyer tunnel intelligent detection device Download PDF

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Publication number
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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China
Prior art keywords
detection device
device body
tunnel
propeller
core control
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CN201711468999.2A
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CN108061577B (en
Inventor
陈舟
曹建
庞硕
张国成
石磊
盛明伟
孙玉山
王浩军
任健
王力锋
赖勇
胡能永
韩冰
张永进
张涛
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Hangzhou Aiyite Intelligent Technology Co Ltd
Harbin Engineering University
Zhejiang Design Institute of Water Conservancy and Hydroelectric Power
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Hangzhou Aiyite Intelligent Technology Co Ltd
Harbin Engineering University
Zhejiang Design Institute of Water Conservancy and Hydroelectric Power
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Application filed by Hangzhou Aiyite Intelligent Technology Co Ltd, Harbin Engineering University, Zhejiang Design Institute of Water Conservancy and Hydroelectric Power filed Critical Hangzhou Aiyite Intelligent Technology Co Ltd
Priority to CN201711468999.2A priority Critical patent/CN108061577B/en
Publication of CN108061577A publication Critical patent/CN108061577A/en
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01DMEASURING 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
    • G01D21/00Measuring or testing not otherwise provided for
    • G01D21/02Measuring two or more variables by means not covered by a single other subclass
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63CLAUNCHING, 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
    • B63C11/00Equipment for dwelling or working underwater; Means for searching for underwater objects
    • B63C11/52Tools specially adapted for working underwater, not otherwise provided for
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01DMEASURING 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
    • G01D21/00Measuring or testing not otherwise provided for

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Geophysics And Detection Of Objects (AREA)
  • 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

A kind of pressure water conveyer tunnel intelligent detection device
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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CN113371163A (en) * 2021-08-16 2021-09-10 东南大学 Underwater detection and disposal robot for water delivery tunnel and use method of underwater detection and disposal robot
CN113371163B (en) * 2021-08-16 2021-11-05 东南大学 Underwater detection and disposal robot for water delivery tunnel and use method of underwater detection and disposal robot
CN114408138A (en) * 2021-12-27 2022-04-29 南京安透可智能系统有限公司 Submersible vehicle capable of automatically navigating in well chamber and method
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