CN108061577B - Intelligent detection device for pressurized water delivery tunnel - Google Patents
Intelligent detection device for pressurized water delivery tunnel Download PDFInfo
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- CN108061577B CN108061577B CN201711468999.2A CN201711468999A CN108061577B CN 108061577 B CN108061577 B CN 108061577B CN 201711468999 A CN201711468999 A CN 201711468999A CN 108061577 B CN108061577 B CN 108061577B
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- 238000001514 detection method Methods 0.000 title claims abstract description 173
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 52
- 238000012384 transportation and delivery Methods 0.000 title claims abstract description 16
- 230000003287 optical effect Effects 0.000 claims description 14
- 238000013439 planning Methods 0.000 claims description 14
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 5
- 229910052782 aluminium Inorganic materials 0.000 claims description 5
- 230000009471 action Effects 0.000 claims description 3
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- 238000005259 measurement Methods 0.000 claims description 3
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- 238000010586 diagram Methods 0.000 description 9
- 238000013461 design Methods 0.000 description 4
- 238000005286 illumination Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 229920000049 Carbon (fiber) Polymers 0.000 description 1
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- 230000009286 beneficial effect Effects 0.000 description 1
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- 238000005260 corrosion Methods 0.000 description 1
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- 230000008021 deposition Effects 0.000 description 1
- 238000011065 in-situ storage Methods 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 1
- 238000003032 molecular docking 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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Abstract
The utility model discloses an intelligent detection device for detecting the condition of a pressurized water delivery tunnel, wherein a shell of a detection device body is designed into an axisymmetric ellipsoidal structure, anti-collision strips are uniformly arranged on the outer circumference, a pressure-resistant main cabin in the shell is of a five-cabin integrated structure and is composed of a power cabin, an integrated detection equipment cabin, a core control cabin and two integrated ranging sonar cabins, a group of vertical and transverse thrusters are respectively arranged at two ends in the detection device body, the thrust direction of each thruster is consistent with the ranging sonar direction, and a front-view camera is arranged at the head end of the detection device body. The utility model can realize various underwater maneuver; based on the structural characteristics and the motion control mode, the utility model provides a detailed detection flow of the pressurized water conveyance tunnel, the circumferential camera is used for collecting the images of the tunnel wall, the forward-looking camera is used for collecting the images in front and identifying the obstacle to re-plan the route, and the intelligent detection device is ensured to autonomously and safely complete the tunnel detection task.
Description
Technical Field
The utility model relates to the technical field of underwater detection devices, in particular to an intelligent detection device for a pressurized water delivery tunnel.
Background
The pressurized water delivery tunnel is the most critical component in reservoir engineering, and the running condition of the tunnel has important influence on the exertion of reservoir functions, so that the detection of the pressurized water delivery tunnel is an important content of reservoir engineering management. The problems of deposition, corrosion, leakage, barriers and the like can occur in the long-time operation of the pressurized water delivery tunnel, the aging problem is more likely to occur in the water delivery tunnel in the flood season, and the normal operation of reservoir engineering is directly affected, so that the regular detection of the tunnel is carried out, and the situation of reservoir engineering is more and more important to grasp. However, the problems of full hole, high pressure, large flow speed, long distance, no illumination, complex underwater engineering environment and the like are caused by the fact that the water flow in the pressurized water delivery tunnel is full of water, so that personnel are difficult to enter and detect, detection personnel are required to be replaced by other detection devices for detection, and reservoir engineering safety is guaranteed.
The existing tunnel detection device is mainly a pipeline robot and a remote control underwater robot, the pipeline robot is mainly used for detecting a pipeline with a smaller hole diameter, the detection can be generally carried out only under the condition that the pipeline is not filled with water, and the detection requirement of a pressurized water delivery tunnel cannot be met due to the limitation of the length of a cable; the remote control detection underwater robot needs to monitor operation in real time by operators, is generally used for detecting short-distance underwater engineering due to the limitations of cable length and the like, and cannot meet the long-distance detection requirement of the pressurized water conveyance tunnel; an unmanned and unmanned underwater robot (AUV) is used as a good underwater detection equipment carrying platform, can automatically and safely execute target tasks underwater for a long time, but the existing AUV is mostly used for large-scale sailing tasks in a wide water area, cannot guarantee mobility and stability in narrow water area environments such as tunnels, and cannot meet detection task requirements in structural design and operation modes. Aiming at the task requirements of tunnel detection and the water area environment characteristics of the tunnel, the utility model provides an intelligent underwater detection device special for detecting a pressurized water delivery tunnel, which is improved on the basis of an unmanned underwater robot (AUV), has stronger maneuverability and state holding capability in the complex water area environment of the pressurized water delivery tunnel, and can carry underwater detection equipment and sensors according to requirements to meet the task requirements, thereby autonomously completing the tunnel detection task.
Disclosure of Invention
The utility model aims to solve the problems, and provides the intelligent detection device for the pressurized water delivery tunnel, which has the advantages of reasonable structural design, convenience in carrying, capability of accurately detecting the condition of the pressurized water delivery tunnel, grasping the operation condition of reservoir engineering and high intelligent degree.
The utility model adopts the following technical scheme:
the utility model provides a have intelligent detection device of pressure delivery tunnel, includes the detection device body, the detection device body includes shell, two set up respectively in the inside both ends of shell vice propulsion ware and set up in the shell and lie in the pressure-resistant total cabin between two vice propulsion ware, the shell is oval structure, the outside one end of shell is equipped with the main propulsion ware, the other end of shell portion is equipped with the forward-looking camera, be close to the one end of main propulsion ware in the shell and be equipped with the depth gauge, vice propulsion ware includes horizontal propeller and the vertical propeller of mutually perpendicular setting, pressure-resistant total cabin includes integrated detection equipment cabin, core control cabin, power cabin and two integrated range finding sonar cabins of integral type setting, the outside of integrated detection equipment cabin and along the circumferencial direction in integrated detection equipment cabin evenly distributed have a plurality of side view camera and a plurality of searchlight, side view camera and headlamp one-to-one, be equipped with core control computer, with core control computer linked to each other task computer and attitude sensor, core control computer and integrated range finding cabin, the battery power cabin, integrated range finding cabin, two integrated range finding cabin, power cabin and integrated range finding cabin, the battery, the power cabin and integrated range finding cabin are all along the power cabin, the integrated range finding cabin and the power and the integrated range finding cabin, the battery is all the integrated range finding cabin and the power is all to be equipped with the battery.
The using method of the detecting device body comprises the following steps,
firstly, lifting a detection device body from a vertical shaft to a branch tunnel, enabling the detection device body to navigate along the branch tunnel, identifying the surrounding environment of the detection device body by a ranging sonar and a side-looking camera so as to find a main tunnel entrance, decelerating the detection device body after the main tunnel entrance is found, and adjusting the movement gesture to enter the main tunnel to begin navigating along a target route;
step two, when the detection device body sails in the branch tunnel or the main tunnel, the core control computer controls the rotating speed of the main pushing propeller according to real-time data transmitted by the attitude sensor so as to keep the longitudinal speed of the detection device body stable at the target sailing speed, so that clear and accurate image acquisition is ensured;
step three, when the detection device body sails in the branch tunnel or the main tunnel, the core control computer controls the corresponding rotating speeds of the transverse propeller and the vertical propeller according to the distance between the detection device body and the surrounding tunnel wall measured by the ranging sonar on the two integrated sonar cabins so as to ensure that the detection device body is positioned in the central area of the cross section of the branch tunnel or the main tunnel when sailing;
step four, after the detection device body enters the main tunnel, a front-view camera collects images of the front tunnel and transmits collected data to a core control computer in real time, and meanwhile, the core computer judges whether an obstacle exists in front or not and identifies the position of the obstacle through an image identification algorithm; when the situation that an obstacle exists in front is identified, the core control computer enables the detection device body to sail at a reduced speed by controlling the main pushing propeller so as to prevent collision, meanwhile, the core control computer transmits the obstacle position information to the task planning computer, the task planning computer reprograms the whole route according to the obstacle position information and conveys the re-planned route to the core control computer, and the core control computer adjusts the movement posture of the detection device body according to the new route so as to safely pass through an obstacle area;
the obstacle is a gate, collapse or deposit;
step five, after the detection device body enters the main tunnel, the side view camera starts to acquire images of the side wall of the main tunnel and transmits acquired data to the core control computer in real time, meanwhile, the core computer judges whether suspected dead spots exist on the side wall of the main tunnel through an image recognition algorithm, and when the suspected dead spots are found, the core control computer controls the relative rotating speeds of the main pushing propeller and the auxiliary pushing propeller so that the detection device body is in a hovering action, and meanwhile, the side view camera is controlled to further acquire images of the suspected dead spots;
step six, in step five, when the main tunnel diameter is found to be larger, the side view camera cannot further collect images of the suspected dead spots after the detection device body hovers, the core control computer calculates the positions of the suspected dead spots according to data about the suspected dead spots transmitted by the side view camera, then controls the relative rotating speeds of the main pushing propeller and the auxiliary pushing propeller to enable the detection device body to move towards the suspected dead spots, and after the detection device body moves to the designated position, the core control computer controls the relative rotating speeds of the main pushing propeller and the auxiliary pushing propeller to enable the detection device body to hover, and meanwhile controls the side view camera to further collect images of the suspected dead spots;
and step seven, after the detection task is finished, the detection device body utilizes the forward-looking camera to identify an optical signal sent by the optical guiding device arranged at the position of the hole of the main tunnel, and simultaneously, after the forward-looking camera is in butt joint with the optical signal, the detection device body is led out of the main tunnel to enter a recovery hole according to the guiding of the optical signal, and after the core control computer controls the detection device body to float to the water surface, the detection device body is recovered manually.
As a preferable technical scheme of the utility model, a plurality of anti-collision strips are uniformly distributed outside the shell along the circumferential direction of the shell, each anti-collision strip is arranged along the axial direction of the shell, and the anti-collision strips are fixed on the shell through a plurality of groups of angular aluminum.
As a preferable technical scheme of the utility model, the core control cabin and the power cabin are respectively provided with a hanging ring extending to the outside of the shell.
As a preferable technical scheme of the utility model, the number of the anti-collision strips is 8.
As a preferable embodiment of the present utility model, the number of the side view cameras and the number of the searchlight are both 4 or more.
As a preferable technical scheme of the utility model, the number of the distance measuring sonars is more than 3.
As a preferable technical scheme of the utility model, the forward-looking camera adopts an underwater camera with a light source.
The beneficial effects of the utility model are as follows:
1. the utility model adopts an ellipsoidal structural design as a whole, a plurality of anti-collision strips extending from the head to the tail are uniformly arranged on the shell in the circumferential direction, so that the anti-collision device mainly plays a role in collision protection, the integral structural strength of the detection device is enhanced, the underwater navigation stability is effectively enhanced, and meanwhile, the anti-collision strips are fixed by a plurality of groups of angular aluminum and then are arranged on the shell, so that the anti-collision device is convenient to detach and replace when damaged; compared with other detection devices with the same size, the structure of the detection device body designed by the utility model is in a tunnel water area with larger flow velocity and variable change, and has higher safety, stronger adaptability and easier posture adjustment;
2. according to the utility model, the two auxiliary propulsion propellers are arranged at two ends of the inside of the shell, so that the relative distance between the two auxiliary propulsion propellers is larger, and larger transverse and vertical moments can be generated, the detection device realizes rapid vertical motion, transverse translation motion, pitching and head angle adjustment through forward and reverse rotation and differential motion of the propellers, and compared with a rudder-controlled robot, the robot has the capability of adjusting the gesture more rapidly, and the detection device body is easier to keep the gesture stable in a tunnel water domain by combining the shape of an ellipsoidal structure, so that the functions of rapid floating, fixed route navigation, gesture keeping, hovering detection, in-situ rotation and the like are realized;
3. the integrated detection equipment cabin is provided with a plurality of groups of side-looking cameras and searchlight, and a circumferential uniform arrangement mode is adopted, so that tunnel wall images can be collected in 360-degree dead-angle-free mode, and the integrated detection equipment cabin can be suitable for an environment without other light sources for illumination under water; the front-view camera with the light source is mainly used for collecting tunnel images in front of the detection device, and then plays a role in recognizing that external optical signals finish docking when the task of the detection device is finished and needs to be guided out of a main tunnel opening through the external optical signals.
Drawings
FIG. 1 is a schematic diagram of a three-dimensional structure of an intelligent detection device for a pressurized water conveyance tunnel according to the present utility model;
FIG. 2 is a front view of an intelligent detection device for a pressurized water conveyance tunnel according to the present utility model;
FIG. 3 is a schematic diagram of the specific structure of FIG. 2;
FIG. 4 is a left side view of the intelligent detection device of the pressurized water conveyance tunnel;
FIG. 5 is a schematic view of the structure at B-B in FIG. 3;
FIG. 6 is a schematic view of the structure at A-A in FIG. 3;
FIG. 7 is a floating state schematic diagram of the intelligent detection device of the pressurized water conveyance tunnel in a middle static state;
FIG. 8 is a diagram showing trim adjustment of an intelligent detection device for a pressurized water tunnel according to the present utility model;
FIG. 9 is a schematic diagram of a bow turning of an intelligent detection device for a pressurized water conveyance tunnel according to the present utility model;
FIG. 10 is a schematic view of the vertical movement of an intelligent detection device for a pressurized water conveyance tunnel according to the present utility model;
FIG. 11 is a schematic diagram of the transverse movement of an intelligent detection device for a pressurized water conveyance tunnel according to the present utility model;
FIG. 12 is a flow chart of a detection task of the intelligent detection device for the pressurized water conveyance tunnel;
FIG. 13 is a schematic diagram of a fixed route detection task of the intelligent detection device for the pressurized water conveyance tunnel of the present utility model;
FIG. 14 is a schematic diagram of a pressurized water tunnel intelligent detection device for re-planning a route when encountering an obstacle;
FIG. 15 is a schematic view of the intelligent detection device for the pressurized water conveyance tunnel passing through the gate according to the present utility model;
FIG. 16 is a schematic diagram of a close-range acquisition image of an intelligent detection device for a pressurized water conveyance tunnel according to the present utility model.
The symbols in the drawings illustrate:
the device comprises a shell 1, a main pushing propeller 2, a forward-looking camera 3, a depth gauge 4, a transverse propeller 5, a vertical propeller 6, an integrated detection equipment cabin 7, a core control cabin 8, a power cabin 9, an integrated ranging sonar cabin 10, a side-looking camera 11, a searchlight 12, a ranging sonar 13, a collision avoidance bar 14 and a hanging ring 15.
Detailed Description
The utility model will now be described in further detail with reference to the accompanying drawings.
As shown in FIG. 1, the intelligent detection device for the pressurized water conveyance tunnel comprises a detection device body, wherein the detection device body comprises a shell 1, two auxiliary pushing propellers respectively arranged at two ends inside the shell 1 and a pressure-resistant total cabin arranged in the shell 1 and positioned between the two auxiliary pushing propellers, the shell 1 is of an oval structure, the design of the oval structure can effectively reduce underwater resistance, and meanwhile, the shell 1 is made of carbon fiber materials, so that the overall weight can be reduced on the premise of ensuring the structural strength;
the tail end of the outer part of the shell 1 is provided with a main pushing propeller 2 for controlling the forward and backward movement of the detection device body; the front-view camera 3 for collecting the tunnel image in front of the detection device body is arranged at the head end outside the shell 1, and the front-view camera 3 is an underwater camera with a light source; a depth gauge 4 is arranged at one end, close to the main pushing propeller 2, in the shell 1;
the auxiliary pushing propeller comprises a transverse propeller 5 and a vertical propeller 6 which are arranged vertically to each other, the transverse propeller 5 is mainly used for controlling the heading angle and the transverse movement of the detection device body, the vertical propeller 6 is mainly used for controlling the pitching and the vertical movement of the detection device body, and the movement posture of the detection device body can be adjusted by adjusting the relative rotation speeds of the transverse propeller 5 and the vertical propeller 6;
the pressure-resistant main cabin comprises an integrated detection equipment cabin 7, a core control cabin 8, a power cabin 9 and two integrated ranging sonar cabins 10 which are integrally arranged; the integrated detection equipment cabin is arranged in the middle of the shell 1, the core control cabin 8 is arranged on one side, close to the front-view camera 3, of the integrated detection equipment cabin 7, the power cabin 9 is arranged on one side, close to the main pushing device 2, of the integrated detection equipment cabin 7, one integrated distance measurement sonar cabin 10 is arranged between the core control cabin 8 and the auxiliary pushing device, and the other integrated distance measurement sonar cabin 10 is arranged between the power cabin 9 and the other auxiliary pushing device;
five side-looking cameras 11 and five searchlights 12 are uniformly distributed outside the integrated detection equipment compartment 7 along the circumferential direction of the integrated detection equipment compartment 7, the side-looking cameras 11 and the searchlights 12 are in one-to-one correspondence, the side-looking cameras 11 are used for collecting tunnel side wall images of the detection device body in 360-degree dead-angle-free mode, and the searchlights 12 enable the detection device body to adapt to an environment without other light sources for illumination under water;
the core control cabin 8 is internally provided with a core control computer, a task planning computer and an attitude sensor, wherein the task planning computer and the attitude sensor are connected with the core control computer, and the core control computer is also respectively connected with a secondary propulsion propeller, a primary propulsion propeller 2, a forward-looking camera 3, an integrated detection equipment cabin 7 and two integrated ranging sonar cabins 10;
the core control computer is mainly used for receiving data acquired by the forward-looking camera 3, data acquired by the side-looking camera 11 on the integrated detection equipment cabin 7, data acquired by the two integrated ranging sonar cabins 10 and current data of the detection device body acquired by the attitude sensor, analyzing, arranging and comparing the data, and distributing the steering and rotating speeds of each main propulsion propeller 2 and each auxiliary propulsion propeller by using a control algorithm so as to complete the motion control of the detection device body;
the task planning computer is mainly used for planning a global route according to an initially set target task, re-planning a local route when encountering an obstacle, and conveying the re-planned route to the core control computer;
the attitude sensor can acquire the heading angle, the roll angle, the pitch angle, the speed and the acceleration of the current detection device body in real time and transmit the real-time data to the core control computer;
a control battery and a power battery are arranged in the power cabin 9, and the control battery is electrically connected with the core control cabin 8 to supply power for control equipment; the power battery is respectively and electrically connected with the auxiliary propulsion propeller, the main propulsion propeller 2, the forward-looking camera 11, the integrated detection equipment cabin 7 and the two integrated ranging sonar cabins 10 to supply power for the propulsion propeller and the detection equipment;
four ranging sonars 13 are uniformly distributed outside the integrated sonar cabin 10 along the circumferential direction of the integrated sonar cabin 10, wherein the four ranging sonars 13 respectively correspond to the upper direction, the lower direction, the left direction and the right direction of the detection device body, so that eight ranging sonars 13 on the two integrated sonar cabins 10 can detect the distances between the front end and the rear end of the detection device body and the four directions of the tunnel wall respectively, and meanwhile, the integrated sonar cabin 10 transmits data measured by the ranging sonars 13 to a core control computer;
the using method of the detecting device body comprises the following steps,
firstly, lifting a detection device body from a vertical shaft to a branch tunnel, enabling the detection device body to navigate along the branch tunnel, identifying the surrounding environment of the detection device body by a ranging sonar and a side-looking camera so as to find a main tunnel entrance, decelerating the detection device body after the main tunnel entrance is found, and adjusting the movement gesture to enter the main tunnel to begin navigating along a target route;
step two, when the detection device body sails in the branch tunnel or the main tunnel, the core control computer controls the rotating speed of the main pushing propeller according to real-time data transmitted by the attitude sensor so as to keep the longitudinal speed of the detection device body stable at the target sailing speed, so that clear and accurate image acquisition is ensured;
step three, when the detection device body sails in the branch tunnel or the main tunnel, the core control computer controls the corresponding rotating speeds of the transverse propeller and the vertical propeller according to the distance between the detection device body and the surrounding tunnel wall measured by the ranging sonar on the two integrated sonar cabins so as to ensure that the detection device body is positioned in the central area of the cross section of the branch tunnel or the main tunnel when sailing;
step four, after the detection device body enters the main tunnel, a front-view camera collects images of the front tunnel and transmits collected data to a core control computer in real time, and meanwhile, the core computer judges whether an obstacle exists in front or not and identifies the position of the obstacle through an image identification algorithm; when the situation that an obstacle exists in front is identified, the core control computer enables the detection device body to sail at a reduced speed by controlling the main pushing propeller so as to prevent collision, meanwhile, the core control computer transmits the obstacle position information to the task planning computer, the task planning computer reprograms the whole route according to the obstacle position information and conveys the re-planned route to the core control computer, and the core control computer adjusts the movement posture of the detection device body according to the new route so as to safely pass through an obstacle area;
the obstacle is a gate, collapse or deposit;
step five, after the detection device body enters the main tunnel, the side view camera starts to acquire images of the side wall of the main tunnel and transmits acquired data to the core control computer in real time, meanwhile, the core computer judges whether suspected dead spots exist on the side wall of the main tunnel through an image recognition algorithm, and when the suspected dead spots are found, the core control computer controls the relative rotating speeds of the main pushing propeller and the auxiliary pushing propeller so that the detection device body is in a hovering action, and meanwhile, the side view camera is controlled to further acquire images of the suspected dead spots;
step six, in step five, when the main tunnel diameter is found to be larger, the side view camera cannot further collect images of the suspected dead spots after the detection device body hovers, the core control computer calculates the positions of the suspected dead spots according to data about the suspected dead spots transmitted by the side view camera, then controls the relative rotating speeds of the main pushing propeller and the auxiliary pushing propeller to enable the detection device body to move towards the suspected dead spots, and after the detection device body moves to the designated position, the core control computer controls the relative rotating speeds of the main pushing propeller and the auxiliary pushing propeller to enable the detection device body to hover, and meanwhile controls the side view camera to further collect images of the suspected dead spots;
and step seven, after the detection task is finished, the detection device body utilizes the forward-looking camera to identify an optical signal sent by the optical guiding device arranged at the position of the hole of the main tunnel, and simultaneously, after the forward-looking camera is in butt joint with the optical signal, the detection device body is led out of the main tunnel to enter a recovery hole according to the guiding of the optical signal, and after the core control computer controls the detection device body to float to the water surface, the detection device body is recovered manually.
Eight anti-collision strips 14 are uniformly distributed outside the shell 1 and along the circumferential direction of the shell 1, and each anti-collision strip 14 is arranged along the axial direction of the shell 1, so that the anti-collision strip 14 can carry out all-round protection on the detection device body, the anti-collision strip 14 not only can play a role in protection, but also can enhance the integral structural strength of the detection device body, and meanwhile, the navigation stability of the detection device body under water is effectively enhanced; the anti-collision strip 14 is fixed on the outer 1 shell through a plurality of groups of angular aluminum, and the angular aluminum is adopted for fixation, so that the anti-collision strip 14 is more convenient to assemble, disassemble and replace when damaged again;
the core control cabin 8 and the power cabin 9 are respectively provided with a lifting ring 15 extending to the outside of the shell 1, and the lifting rings 15 are mainly used for recovering and releasing the detection device body of the crane;
through holes are formed in the shell 1 at positions corresponding to the transverse propeller 5, the vertical propeller 6, the side view camera 11, the searchlight 12 and the range finding sonar 13.
Finally, it should be noted that: these embodiments are merely for illustrating the present utility model and do not limit the scope of the present utility model. Further, various other changes and modifications will be apparent to those skilled in the art from the foregoing description. It is not necessary here nor is it exhaustive of all embodiments. And obvious variations or modifications thereof are contemplated as falling within the scope of the present utility model.
Claims (7)
1. The utility model provides a pressurized water delivery tunnel intelligent detection device, includes detection device body, its characterized in that: the detection device body comprises a shell (1), two auxiliary pushing propellers respectively arranged at two ends of the interior of the shell (1) and a pressure-resistant total cabin arranged in the shell (1) and positioned between the two auxiliary pushing propellers, wherein the shell (1) is of an oval structure, one end of the exterior of the shell (1) is provided with a main pushing propeller (2), the other end of the exterior of the shell (1) is provided with a forward-looking camera (3), one end of the interior of the shell (1) close to the main pushing propeller (2) is provided with a depth gauge (4), the auxiliary pushing propellers comprise transverse propellers (5) and vertical propellers (6) which are arranged vertically to each other, the pressure-resistant main cabin comprises an integrated detection equipment cabin (7), a core control cabin (8), a power cabin (9) and two integrated distance measurement sonar cabins (10), a plurality of side-looking cameras (11) and a plurality of searchlights (12) are uniformly distributed outside the integrated detection equipment cabin (7) along the circumferential direction of the integrated detection equipment cabin (7), the side-looking cameras (11) and the searchlights (12) are in one-to-one correspondence, the core control cabin (8) is internally provided with a core control computer, a task planning computer and an attitude sensor, wherein the task planning computer is connected with the core control computer, and the core control computer is further respectively connected with an auxiliary propulsion device, a main propulsion device (2), a front-looking camera (3), the integrated detection equipment cabin (7) and the two integrated ranging sonar cabins (10) are connected, a control battery and a power battery are arranged in the power cabin (9), the control battery is electrically connected with the core control cabin (8), the power battery is electrically connected with the auxiliary propulsion propeller, the main propulsion propeller (2), the forward-looking camera (3), the integrated detection equipment cabin (7) and the two integrated ranging sonar cabins (10) respectively, and a plurality of ranging sonar cabins (13) are evenly distributed outside the integrated ranging sonar cabins (10) and along the circumferential direction of the integrated sonar cabins (10);
the using method of the detecting device body comprises the following steps,
firstly, lifting a detection device body from a vertical shaft to a branch tunnel, enabling the detection device body to navigate along the branch tunnel, identifying the surrounding environment of the detection device body by a ranging sonar and a side-looking camera so as to find a main tunnel entrance, decelerating the detection device body after the main tunnel entrance is found, and adjusting the movement gesture to enter the main tunnel to begin navigating along a target route;
step two, when the detection device body sails in the branch tunnel or the main tunnel, the core control computer controls the rotating speed of the main pushing propeller according to real-time data transmitted by the attitude sensor so as to keep the longitudinal speed of the detection device body stable at the target sailing speed, so that clear and accurate image acquisition is ensured;
step three, when the detection device body sails in the branch tunnel or the main tunnel, the core control computer controls the corresponding rotating speeds of the transverse propeller and the vertical propeller according to the distance between the detection device body and the surrounding tunnel wall measured by the ranging sonar on the two integrated sonar cabins so as to ensure that the detection device body is positioned in the central area of the cross section of the branch tunnel or the main tunnel when sailing;
step four, after the detection device body enters the main tunnel, a front-view camera collects images of the front tunnel and transmits collected data to a core control computer in real time, and meanwhile, the core computer judges whether an obstacle exists in front or not and identifies the position of the obstacle through an image identification algorithm; when the situation that an obstacle exists in front is identified, the core control computer enables the detection device body to sail at a reduced speed by controlling the main pushing propeller so as to prevent collision, meanwhile, the core control computer transmits the obstacle position information to the task planning computer, the task planning computer reprograms the whole route according to the obstacle position information and conveys the re-planned route to the core control computer, and the core control computer adjusts the movement posture of the detection device body according to the new route so as to safely pass through an obstacle area;
the obstacle is a gate, collapse or deposit;
step five, after the detection device body enters the main tunnel, the side view camera starts to acquire images of the side wall of the main tunnel and transmits acquired data to the core control computer in real time, meanwhile, the core computer judges whether suspected dead spots exist on the side wall of the main tunnel through an image recognition algorithm, and when the suspected dead spots are found, the core control computer controls the relative rotating speeds of the main pushing propeller and the auxiliary pushing propeller so that the detection device body is in a hovering action, and meanwhile, the side view camera is controlled to further acquire images of the suspected dead spots;
step six, in step five, when the main tunnel diameter is found to be larger, the side view camera cannot further collect images of the suspected dead spots after the detection device body hovers, the core control computer calculates the positions of the suspected dead spots according to data about the suspected dead spots transmitted by the side view camera, then controls the relative rotating speeds of the main pushing propeller and the auxiliary pushing propeller to enable the detection device body to move towards the suspected dead spots, and after the detection device body moves to the designated position, the core control computer controls the relative rotating speeds of the main pushing propeller and the auxiliary pushing propeller to enable the detection device body to hover, and meanwhile controls the side view camera to further collect images of the suspected dead spots;
and step seven, after the detection task is finished, the detection device body utilizes the forward-looking camera to identify an optical signal sent by the optical guiding device arranged at the position of the hole of the main tunnel, and simultaneously, after the forward-looking camera is in butt joint with the optical signal, the detection device body is led out of the main tunnel to enter a recovery hole according to the guiding of the optical signal, and after the core control computer controls the detection device body to float to the water surface, the detection device body is recovered manually.
2. The intelligent detection device for the pressurized water conveyance tunnel according to claim 1, wherein: the anti-collision device is characterized in that a plurality of anti-collision strips (14) are uniformly distributed outside the shell (1) and along the circumferential direction of the shell (1), each anti-collision strip (14) is arranged along the axial direction of the shell (1), and the anti-collision strips (14) are fixed on the shell (1) through a plurality of groups of angular aluminum.
3. The intelligent detection device for the pressurized water conveyance tunnel according to claim 1, wherein: and a lifting ring (15) extending to the outside of the shell (1) is respectively arranged on the core control cabin (8) and the power cabin (9).
4. The intelligent detection device for the pressurized water conveyance tunnel according to claim 2, wherein: the number of the anti-collision strips (14) is 8.
5. The intelligent detection device for the pressurized water conveyance tunnel according to claim 1, wherein: the number of the side view cameras (11) and the number of the searchlight (12) are more than 4.
6. The intelligent detection device for the pressurized water conveyance tunnel according to claim 1, wherein: the number of the distance measuring sonars (13) is more than 3.
7. The intelligent detection device for the pressurized water conveyance tunnel according to claim 1, wherein: the front-view camera (3) adopts an underwater camera with a light source.
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