CN110525614A - A kind of underwater detection device and unmanned boat detection system - Google Patents
A kind of underwater detection device and unmanned boat detection system Download PDFInfo
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- CN110525614A CN110525614A CN201910826143.0A CN201910826143A CN110525614A CN 110525614 A CN110525614 A CN 110525614A CN 201910826143 A CN201910826143 A CN 201910826143A CN 110525614 A CN110525614 A CN 110525614A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
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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
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/01—Arrangements or apparatus for facilitating the optical investigation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/01—Arrangements or apparatus for facilitating the optical investigation
- G01N2021/0106—General arrangement of respective parts
- G01N2021/0112—Apparatus in one mechanical, optical or electronic block
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- Physics & Mathematics (AREA)
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- Ocean & Marine Engineering (AREA)
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Abstract
The invention discloses a kind of underwater detection device and unmanned boat detection systems, are related to underwater detection technique field.The underwater detection device includes rack, elevating mechanism and testing agency.Testing agency includes top plate, shell, underwater camera and light compensating lamp, elevating mechanism is installed in rack, and it is connect with top plate, elevating mechanism is able to drive top plate and rises or land, top plate is fixedly connected with the casing, and combination forms sealing cavity, and sealing cavity is used for filling transparent medium, underwater camera and light compensating lamp are mounted on top plate, and underwater camera can shoot the image of extraneous test object through transparent medium and shell.Compared with prior art, underwater detection device provided by the invention combines the underwater camera to form the shell of sealing cavity and be installed on top plate with top plate due to using, so shooting sighting distance can be increased in the case where guaranteeing the enough situations of image-capturing resolution, so that shooting affords a wide field of vision, collecting efficiency is improved.
Description
Technical field
The present invention relates to underwater detection technique fields, examine in particular to a kind of underwater detection device and unmanned boat
Examining system.
Background technique
Currently, needing underwater camera sinking to water to acquire the surface characteristics of underwater object (such as long-pending silt cement wall)
In, underwater object is shot.However in actual environment, most of underwater object is all arranged in muddy water environment,
In order to avoid clarity of the muddy water to shooting image impacts, general way is by underwater camera constantly close to underwater right
As, until the clarity of shooting image reaches predeterminable level, but so, cause the shooting sighting distance of underwater camera to shorten,
The shooting visual field becomes narrow, and collecting efficiency is low.
In view of this, design and manufacture a kind of shooting clear and wide-open underwater detection device and unmanned boat detection
System is especially particularly important in the industrial production.
Summary of the invention
The purpose of the present invention is to provide a kind of underwater detection devices, and structure is simple, can guarantee image-capturing resolution foot
Increase shooting sighting distance in the case where enough, so that shooting affords a wide field of vision, improves collecting efficiency.
Another object of the present invention is to provide a kind of unmanned boat detection systems, and structure is simple, can guarantee that shooting is clear
Increase shooting sighting distance in the clear enough situations of degree, so that shooting affords a wide field of vision, improves collecting efficiency, it is practical.
The present invention is that it is realized by adopting the following technical scheme.
A kind of underwater detection device, including rack, elevating mechanism and testing agency, testing agency include top plate, shell, water
Lower camera and light compensating lamp, elevating mechanism are installed in rack, and are connect with top plate, elevating mechanism be able to drive top plate rise or
Landing, top plate are fixedly connected with the casing, and combination forms sealing cavity, and sealing cavity is used for filling transparent medium, underwater camera
It is mounted on top plate with light compensating lamp, underwater camera can shoot the image of extraneous test object through transparent medium and shell.
Further, shell includes side enclosure wall and bottom wall, and one end of side enclosure wall is fixedly connected with top plate, the other end and bottom wall
It is fixedly connected, side enclosure wall is made of rigid material, and bottom wall is made of transparent flexible material.
Further, side enclosure wall offers through-hole, and through-hole is connected to sealing cavity, and through-hole is used to input for transparent medium,
Testing agency further includes switch valve, and switch valve is installed in through-hole, and switch valve is used to open or closes through-hole.
Further, testing agency further includes laser detector, actuator and transmission component, and actuator is fixedly installed in close
It seals in cavity, and is connect by transmission component with laser detector, to drive laser detector to be subjected to displacement.
Further, actuator is motor, and transmission component includes nut and lead screw guide rails, and actuator and lead screw guide rails connect
It connects, nut is fixedly connected with laser detector, and is cooperated with lead screw guide rails.
Further, elevating mechanism includes electric pushrod and fixed plate, and electric pushrod is fixedly installed in rack, and with it is solid
Fixed board connection, fixed plate are fixedly connected with top plate, and electric pushrod can drive top plate to rise or land by fixed plate.
Further, elevating mechanism further includes gag lever post, and gag lever post is fixedly connected with rack, and limit is offered in fixed plate
Hole, gag lever post are slideably positioned in limit hole.
Further, underwater detection device further includes dredging mechanism, dredging mechanism include high pressure diving pump, dredging pipeline and
Multiple spray heads, high pressure diving pump are fixedly installed in rack, and are connect with dredging pipeline, the setting of multiple spray head intervals, and with
The connection of dredging pipeline.
Further, dredging pipeline includes main pipeline and circulating line, and one end of main pipeline is connect with high pressure diving pump, separately
One end is connect with circulating line, and circulating line encloses outside shell, and multiple spray heads are arranged at intervals at the bottom of circulating line.
A kind of unmanned boat detection system, including above-mentioned underwater detection device, which includes rack, lifting
Mechanism and testing agency, testing agency include top plate, shell, underwater camera and light compensating lamp, and elevating mechanism is installed in rack, and
It is connect with top plate, elevating mechanism is able to drive top plate and rises or land, and top plate is fixedly connected with the casing, and combines and form sealing
Cavity, sealing cavity are used for filling transparent medium, and underwater camera and light compensating lamp are mounted on top plate, and underwater camera can penetrate
Transparent medium and shell shoot the image of extraneous test object.
Underwater detection device and unmanned boat detection system provided by the invention have the advantages that
Underwater detection device provided by the invention, testing agency include top plate, shell, underwater camera and light compensating lamp, lifting
Mechanism is installed in rack, and is connect with top plate, and elevating mechanism is able to drive top plate and rises or land, and top plate is fixed with shell
Connection, and combination forms sealing cavity, sealing cavity is used for filling transparent medium, and underwater camera and light compensating lamp are mounted on top plate
On, underwater camera can shoot the image of extraneous test object through transparent medium and shell.Compared with prior art, of the invention
The underwater detection device provided combines the water to form the shell of sealing cavity and be installed on top plate with top plate due to using
Lower camera, so that shooting affords a wide field of vision, improves so can increase shooting sighting distance in the case where guaranteeing the enough situations of image-capturing resolution
Collecting efficiency.
Unmanned boat detection system provided by the invention, including underwater detection device, structure is simple, can guarantee that shooting is clear
Increase shooting sighting distance in the clear enough situations of degree, so that shooting affords a wide field of vision, improves collecting efficiency, it is practical.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is the structural schematic diagram at the first visual angle of underwater detection device that first embodiment of the invention provides；
Fig. 2 is the structural schematic diagram at the second visual angle of underwater detection device that first embodiment of the invention provides；
The explosive view of testing agency in the underwater detection device that Fig. 3 provides for first embodiment of the invention；
The structural schematic diagram of testing agency in the underwater detection device that Fig. 4 provides for first embodiment of the invention；
Fig. 5 is the structural schematic diagram at the underwater detection device third visual angle that first embodiment of the invention provides；
Fig. 6 is the structural schematic diagram at the 4th visual angle of underwater detection device that first embodiment of the invention provides；
Fig. 7 is the structural schematic diagram at the unified visual angle of unmanned boat detection system that second embodiment of the invention provides；
Fig. 8 is the structural schematic diagram at another visual angle of unmanned boat detection system that second embodiment of the invention provides；
Fig. 9 is the structural representation that the unmanned boat detection system that second embodiment of the invention provides is connect with bank fixed point
Figure.
Icon: 10- unmanned boat detection system；The underwater detection device of 100-；110- rack；120- elevating mechanism；121- electricity
Dynamic push rod；122- fixed plate；123- gag lever post；124- limit hole；130- testing agency；131- top plate；132- shell；1321-
Side enclosure wall；1322- bottom wall；1323- through-hole；1324- switch valve；133- underwater camera；134- light compensating lamp；135- sealing cavity；
136- laser detector；137- actuator；138- transmission component；1381- nut；1382- lead screw guide rails；140- dredging mechanism；
141- high pressure diving pump；142- dredging pipeline；143- spray head；144- main pipeline；145- circulating line；150- universal wheel；200-
Unmanned boat equipment；210- frame；220- buoyant mass；230- propeller；The first flexible cable of 240-；The first jack of 250-；260-
Second flexible cable；The second jack of 270-.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.The present invention being usually described and illustrated herein in the accompanying drawings is implemented
The component of example can be arranged and be designed with a variety of different configurations.
Therefore, the detailed description of the embodiment of the present invention provided in the accompanying drawings is not intended to limit below claimed
The scope of the present invention, but be merely representative of selected embodiment of the invention.Based on the embodiments of the present invention, this field is common
Technical staff's every other embodiment obtained without creative efforts belongs to the model that the present invention protects
It encloses.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.
In the description of the present invention, it should be noted that the instructions such as term "inner", "outside", "upper", "lower", "horizontal"
Orientation or positional relationship be based on the orientation or positional relationship shown in the drawings or the invention product using when usually put
Orientation or positional relationship is merely for convenience of description of the present invention and simplification of the description, rather than the device of indication or suggestion meaning or
Element must have a particular orientation, be constructed and operated in a specific orientation, therefore be not considered as limiting the invention.This
Outside, term " first ", " second ", " third " etc. are only used for distinguishing description, are not understood to indicate or imply relative importance.
In the description of the present invention, it is also necessary to which explanation is unless specifically defined or limited otherwise, term " setting ",
" connected ", " installation ", " connection " shall be understood in a broad sense, for example, it may be fixedly connected, may be a detachable connection or one
Connect to body；It can be mechanical connection, be also possible to be electrically connected；It can be directly connected, it can also be indirect by intermediary
It is connected, can be the connection inside two elements.For the ordinary skill in the art, on being understood with concrete condition
State the concrete meaning of term in the present invention.
With reference to the accompanying drawing, it elaborates to some embodiments of the present invention.In the absence of conflict, following
Feature in embodiment can be combined with each other.
First embodiment
Incorporated by reference to referring to Figures 1 and 2, the embodiment of the invention provides a kind of underwater detection devices 100, for underwater object
Body carries out image detection.Its structure is simple, can increase shooting sighting distance in the case where guaranteeing the enough situations of image-capturing resolution, so that clapping
It takes the photograph and affords a wide field of vision, improve collecting efficiency.It should be noted that underwater detection device 100 is used to sink to the underwater of muddiness, and to water
Under test object carry out image taking, with the surface information of acquisition testing object, underwater detection device 100 can exclude muddy water
Influence to shooting image solves the problems, such as that image-capturing resolution and the shooting visual field are conflicting, practical and efficient.In the present embodiment,
Test object is product silt cement wall, it is not limited to this, in other embodiments, test object is also possible to long-pending silt hull
Deng.
Underwater detection device 100 includes rack 110, elevating mechanism 120, testing agency 130, dredging mechanism 140 and universal
Wheel 150.Elevating mechanism 120, testing agency 130, dredging mechanism 140 and universal wheel 150 are mounted in rack 110, elevator
Structure 120 perhaps lands for driving testing agency 130 to rise so that testing agency 130 is close or far from test object, is convenient for
Adjust the position of testing agency 130.Testing agency 130 is used to carry out image taking to test object, with acquisition testing object
Surface information.Dredging mechanism 140 is used to spray high pressure water to test object, is washed down with will test the mud adhered on object, just
Image is shot in testing agency 130, prevents mud from impacting to detection information.Universal wheel 150 is installed on the bottom of rack 110
Portion, convenient for the movement and transport of rack 110, specifically, the quantity of universal wheel 150 is four, and four universal wheels 150 are in rectangle battle array
Column it is set to the surrounding of rack 110.
Incorporated by reference to referring to Fig. 3 and Fig. 4, testing agency 130 includes top plate 131, shell 132, underwater camera 133 and light compensating lamp
134.Elevating mechanism 120 is installed in rack 110, and is connect with top plate 131, and elevating mechanism 120 is able to drive the rise of top plate 131
Perhaps land to drive entire testing agency 130 to rise or land by top plate 131, adjust entire testing agency 130 and inspection
Survey the distance between object.Top plate 131 is fixedly connected with shell 132, and combination forms sealing cavity 135, and sealing cavity 135 is used
In filling transparent medium (figure is not marked), sealing cavity 135 is isolated from the outside world, to prevent extraneous muddy water from entering sealing cavity 135.Water
Lower camera 133 and light compensating lamp 134 are mounted on top plate 131, and light compensating lamp 134 is for being underwater phase under environment dim under water
Machine 133 carries out light supplement, and underwater camera 133 can shoot the image of extraneous test object through transparent medium and shell 132.
In the present embodiment, underwater camera 133 and the interval of light compensating lamp 134 are arranged, and the quantity of underwater camera 133 and light compensating lamp 134 is three
A, each light compensating lamp 134 is used to carry out light filling for a underwater camera 133.
During shooting, since test object is set to outside shell 132, underwater camera 133 is set to sealing cavity
In 135, and it is provided with transparent medium between shell 132, so the distance between underwater camera 133 and test object are elongated,
The sighting distance of underwater camera 133 increases, and the visual field of underwater camera 133 becomes larger, and since what is be full of in sealing cavity 135 is transparent
Medium will not impact shooting image, so can also guarantee the clarity of image, thus solve image-capturing resolution with
Shoot the conflicting problem in the visual field.
It should be noted that transparent medium needs to select according to the actual situation, transparent medium can for clear water, air or
Biggish transparent colloid of density etc..If being detected under normal operation, clear water can be used；If desired increase underwater detection
The buoyancy of device 100 can then use air；If desired increase the weight of underwater detection device 100, then can using density compared with
Big transparent colloid.
It is worth noting that, shell 132 includes side enclosure wall 1321 and bottom wall 1322.One end of side enclosure wall 1321 and top plate
131 are fixedly connected, and the other end is fixedly connected with bottom wall 1322, and top plate 131, side enclosure wall 1321 and the combination of bottom wall 1322 form sealing
Cavity 135.Specifically, side enclosure wall 1321 is made of rigid material, to improve the intensity of shell 132, avoids pressure under water
The lower rupture of effect；Bottom wall 1322 is made of transparent flexible material, and underwater camera 133 can penetrate transparent medium and bottom wall 1322
Shoot the image of extraneous test object, bottom wall 1322 for being tightly attached to test object, avoid bottom wall 1322 and test object it
Between be filled with muddy water so that underwater camera 133 is shot the influence that not will receive muddy water to test object.
It should be noted that side enclosure wall 1321 offers through-hole 1323, through-hole 1323 is connected to sealing cavity 135, through-hole
1323 for transparent medium for inputting, and testing agency 130 further includes switch valve 1324, and switch valve 1324 is installed on through-hole 1323
Interior, switch valve 1324 is used to open or closes through-hole 1323.If transparent medium is clear water or transparent colloid, when underwater detection
When device 100 is moved to the position for meeting transparent medium requirement, switch valve 1324 is opened, and extraneous transparent medium pours into, transparent Jie
Matter is filled rear switch valve 1324 and is closed, and underwater detection device 100 can enter working condition.
In the present embodiment, the quantity of through-hole 1323 and switch valve 1324 is two, and each switch valve 1324 is installed on one
In a through-hole 1323, two through-holes 1323 are relatively arranged on the two sides of side enclosure wall 1321, improve filling efficiency, convenient for discharge sealing
Air in cavity 135.
Testing agency 130 further includes laser detector 136, actuator 137 and transmission component 138.The fixed peace of actuator 137
It is connect loaded in sealing cavity 135, and by transmission component 138 with laser detector 136, to drive the hair of laser detector 136
Raw displacement.In the present embodiment, actuator 137 is used to drive laser detector 136 to move back and forth by transmission component 138, laser
Detector 136 establishes three-dimensional point cloud image, quantifies the length number of test object surface characteristics for scanning bottom wall 1322
According to.
In the present embodiment, actuator 137 is motor, and transmission component 138 includes nut 1381 and lead screw guide rails 1382, driving
Part 137 is connect with lead screw guide rails 1382, to drive lead screw guide rails 1382 to rotate.Lead screw guide rails 1382 are parallel to bottom wall 1322 and set
It sets, and extends along the length direction of side enclosure wall 1321, and can be rotated relative to side enclosure wall 1321.Nut 1381 and laser detection
Device 136 is fixedly connected, and is cooperated with lead screw guide rails 1382, and laser detector 136 is supported with top plate 131, so that laser detector
136 will not rotate relative to lead screw guide rails 1382, and the rotation of lead screw guide rails 1382 is able to drive nut 1381 in lead screw guide rails 1382
Axis direction be subjected to displacement, to drive laser detector 136 to move along the length direction of side enclosure wall 1321.
Incorporated by reference to referring to figure 5 and figure 6, elevating mechanism 120 includes electric pushrod 121, fixed plate 122 and gag lever post 123.Electricity
Dynamic push rod 121 is fixedly installed in rack 110, and is connect with fixed plate 122, to drive fixed plate 122 to move.Fixed plate
122 are fixedly connected with top plate 131, and electric pushrod 121 can drive top plate 131 to rise or land by fixed plate 122.Limit
Bar 123 is fixedly connected with rack 110, and limit hole 124 is offered in fixed plate 122, and gag lever post 123 is slideably positioned in limit hole
In 124, gag lever post 123 can be defined the position of limit hole 124, be defined with the direction of motion to fixed plate 122,
So that fixed plate 122 is merely able to the axial movement along gag lever post 123, to realize the movement of rise or landing.
In the present embodiment, the quantity of electric pushrod 121 is two, and two electric pushrods 121 are respectively arranged at shell 132
Two sides, and being connect with fixed plate 122, two electric pushrods 121 can synchronous drive fixed plate 122 move so that fixed plate
122 stress equalizations.The quantity of gag lever post 123 and limit hole 124 is four, and each gag lever post 123 is slideably positioned in a limit
In the hole 124 of position, it is opened in the surrounding of fixed plate 122, four 124 rectangular arrays of limit hole to further improve to fixation
The limit effect of plate 122.
Dredging mechanism 140 includes high pressure diving pump 141, dredging pipeline 142 and multiple spray heads 143.High pressure diving pump 141 is solid
Dingan County is loaded in rack 110, and is connect with dredging pipeline 142, and high pressure diving pump 141 is used to convey into dredging pipeline 142 high
Press water.The setting of multiple intervals of spray head 143, and connect with dredging pipeline 142, high pressure water can enter along dredging pipeline 142 to be sprayed
It in first 143, and sprays outward, to rinse the mud in test object.
In the present embodiment, dredging pipeline 142 includes main pipeline 144 and circulating line 145.One end of main pipeline 144 and height
Immersible pump 141 is pressed to connect, the other end is connect with circulating line 145, and the high pressure water that high pressure diving pump 141 exports can pass through supervisor
Road 144 enters circulating line 145.Circulating line 145 encloses outside shell 132, and multiple spray heads 143 are arranged at intervals at ring pipe
The bottom in road 145 is rinsed the test object of 132 corresponding position of shell with spraying high pressure water simultaneously, improves and rinses effect
Rate enhances flushing effect.
When needing to carry out Image Acquisition to test object, underwater detection device 100 transported first with ship pre-
If position, subsequent ship is transferred to underwater detection device 100 in test object using rope, and then dredging mechanism 140 works,
The test object of 132 lower section corresponding position of shell is rinsed, mud thereon is washed down, then elevating mechanism 120 drives
Testing agency 130 lands, until the bottom wall 1322 of shell 132 is supported with test object, last underwater camera 133 penetrates transparent Jie
Confrontation test object is shot, and in the process, light compensating lamp 134 issues light, to carry out light supplement；Laser detector
136 move back and forth, the surface characteristics of Scanning Detction object.
Underwater detection device 100 provided in an embodiment of the present invention, testing agency 130 includes top plate 131, shell 132, underwater
Camera 133 and light compensating lamp 134, elevating mechanism 120 are installed in rack 110, and are connect with top plate 131, and elevating mechanism 120 can
Top plate 131 is driven to rise or land, top plate 131 is fixedly connected with shell 132, and combination forms sealing cavity 135, and sealing is empty
Chamber 135 is used for filling transparent medium, and underwater camera 133 and light compensating lamp 134 are mounted on top plate 131, and underwater camera 133 can
The image of extraneous test object is shot through transparent medium and shell 132.Compared with prior art, underwater inspection provided by the invention
Device 100 is surveyed to form the shell 132 of sealing cavity 135 due to using to combine with top plate 131 and be installed on top plate 131
Underwater camera 133, so shooting sighting distance can be increased in the case where guaranteeing the enough situations of image-capturing resolution, so that the shooting visual field is wide
It is wealthy, improve collecting efficiency.
Second embodiment
Fig. 7 is please referred to, the embodiment of the invention provides a kind of unmanned boat detection systems 10, for remotely being examined under water
It surveys.The unmanned boat detection system 10 includes underwater detection device 100 and unmanned boat equipment 200.Wherein, underwater detection device 100
Basic structure and principle and the technical effect of generation it is identical with first embodiment, for briefly describe, the present embodiment part does not mention
And place, it can refer to corresponding contents in first embodiment.
Incorporated by reference to referring to Fig. 8 and Fig. 9, it is notable that unmanned boat equipment 200 includes frame 210, buoyant mass 220, pushes away
Into device 230, the first flexible cable 240, the first jack 250, the second flexible cable 260 and the second jack 270.Wherein, buoyant mass
220, propeller 230, the first jack 250 and the second jack 270 are mounted on frame 210, and buoyant mass 220 is used for
The buoyancy for enhancing entire unmanned boat equipment 200 prevents under unmanned boat equipment 200 so that unmanned boat equipment 200 floats on the water surface
It is heavy.
In the present embodiment, buoyant mass 220 is fixedly installed in the lower section of frame 210, to improve the buoyancy of frame 210, so that
Frame 210 can steadily be swum on the water surface, prevent frame 210 from sinking.Specifically, the quantity of buoyant mass 220 be eight, eight
It is set to a 220 circular array of buoyant mass the lower section of frame 210, so that 210 uniform force of frame, can steadily float
In on the water surface.
First jack 250 is fixedly installed in the top of frame 210, and connect with the first flexible cable 240, the first flexible cable
240 one end far from the first jack 250 is fixedly connected with the fixed point (figure is not marked) on bank, and the first jack 250 is used
In receiving short or first flexible cable 240 that lengthens, to adjust the distance between the first jack 250 and the fixed point, to adjust
Entire the distance between unmanned boat equipment 200 and the fixed point, and then control the position coordinates of unmanned boat equipment 200.Specifically,
First flexible cable 240 is wound on roller in such a way that motor drives roller rotation or from roller by the first jack 250
Upper release, to realize the shortening or elongation of the first flexible cable 240.
In the present embodiment, the quantity of the first jack 250, the first flexible cable 240 and bank fixed point is four, each
First jack 250 is connect with by first flexible cable 240 with a bank fixed point, by adjusting four the first flexible cables
240 length can be accurately controlled position and the motion profile of unmanned boat equipment 200, so that underwater detection device 100 can
Realize the space inspection of water field of big area high efficiency underwater 3 D.Specifically, four bank fixed points are arranged at intervals at waters surrounding
Bank, and rectangular array is arranged, and the top of frame 210 is set to four 250 circular arrays of the first jack, with
Make 210 uniform force of frame.
Second jack 270 is fixedly installed in the top of frame 210, and connect with the second flexible cable 260, the second flexible cable
260 one end far from the second jack 270 are fixedly connected with rack 110, and the first jack 250 is for receiving short or lengthening
Second flexible cable 260 perhaps transfers rack 110 with pull-up thus pull-up or the entire underwater detection device 100 of decentralization, to adjust
The depth under water of underwater detection device 100.Specifically, the second jack 270 will in such a way that motor drives roller rotation
Second flexible cable 260 is wound in the shortening or elongation perhaps unclamped from roller on roller to realize the second flexible cable 260.
In the present embodiment, the quantity of the second jack 270 and the second flexible cable 260 is four, each second radio and tape player
Structure 270 is connect with by second flexible cable 260 with rack 110, by adjusting the length of four the second flexible cables 260, Neng Goujing
The depth and tilt angle of underwater detection device 100 are controlled quasi-ly, so that underwater detection device 100 can be accurately close to detection
Object, and test object is shot.Specifically, rack 110 be in cuboid, four the second flexible cables 260 respectively with rack 110
Four corners of top surface are fixedly connected, and are set to four 270 circular arrays of the second jack the top of frame 210, with
Make 210 uniform force of frame.
In the present embodiment, propeller 230 is installed on the lower section of frame 210, and protrude into it is underwater, the position of propeller 230 with
The position of first jack 250 is corresponding.Propeller 230 can rotate, and to realize the function of electronic quant, drive frame
Frame 210 is subjected to displacement on the water surface, to realize the movement of entire unmanned boat equipment 200.Specifically, the quantity of propeller 230
It is four, the position of four propellers 230 and the position of four the first jacks 250 correspond, two of them propeller
The line of 230 line and other two propeller 230 is mutually perpendicular to, and is rationally sweared with generating the thrust of different directions and size
Amount, to be accurately controlled position and the motion profile of unmanned boat equipment 200.
It should be noted that under normal circumstances, the first flexible cable 240 is fixedly connected on bank fixed point, received using first
Putting device pulls the mode of the first flexible cable 240 to control the position of unmanned boat equipment 200 and motion profile；When can not find bank
Side fixed point or when bank is inconvenient to fix the first flexible cable 240, to nothing in such a way that propeller 230 rotates and generates thrust
The position of people's boat equipment 200 and motion profile control.
It is worth noting that, in the present embodiment, in order to guarantee entire unmanned 200 stress equalization of boat equipment, four first receipts
Laying mechanism 250 and four the second jacks 270 are successively alternately disposed at the top of frame 210, and each buoyant mass 220 is set to
Between one the first jack 250 and adjacent second jack 270, and it is set to the lower section of frame 210.
Unmanned boat detection system 10 provided in an embodiment of the present invention, it is more inexpensive, higher precision underwater fixed to can be realized
Bit function, and can be improved the carrying ability and inspection stability of underwater detection device 100, additionally it is possible to guaranteeing underwater detection
Increase shooting sighting distance in the enough situations of 100 image-capturing resolution of device, so that shooting affords a wide field of vision, improves collecting efficiency.The nothing
People's ship detection system 10 has well solved the cumbersome problem of power supply, communications cable folding and unfolding, while effectively preventing traditional underwater
Detection device cable is easy the problem wound by barrier.
These are only the preferred embodiment of the present invention, is not intended to restrict the invention, for those skilled in the art
For member, the invention may be variously modified and varied.All within the spirits and principles of the present invention, it is made it is any modification,
Equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of underwater detection device, which is characterized in that including rack, elevating mechanism and testing agency, testing agency's packet
Top plate, shell, underwater camera and light compensating lamp are included, the elevating mechanism is installed in the rack, and is connect with the top plate, institute
It states elevating mechanism to be able to drive the top plate rise or land, the top plate is fixedly connected with the shell, and is combined and formed
Sealing cavity, the sealing cavity are used for filling transparent medium, and the underwater camera and the light compensating lamp are mounted on the top
On plate, the underwater camera can shoot the image of extraneous test object through the transparent medium and the shell.
2. underwater detection device according to claim 1, which is characterized in that the shell includes side enclosure wall and bottom wall, institute
The one end for stating side enclosure wall is fixedly connected with the top plate, and the other end is fixedly connected with the bottom wall, and the side enclosure wall is by rigid material
Material is made, and the bottom wall is made of transparent flexible material.
3. underwater detection device according to claim 2, which is characterized in that the side enclosure wall offers through-hole, described logical
Hole is connected to the sealing cavity, and the through-hole is used to input for the transparent medium, and the testing agency further includes switch valve,
The switch valve is installed in the through-hole, and the switch valve is used to open or closes the through-hole.
4. underwater detection device according to claim 1, which is characterized in that the testing agency further includes laser detection
Device, actuator and transmission component, the actuator are fixedly installed in the sealing cavity, and pass through the transmission component and institute
Laser detector connection is stated, to drive the laser detector to be subjected to displacement.
5. underwater detection device according to claim 4, which is characterized in that the actuator is motor, the transmission group
Part includes nut and lead screw guide rails, and the actuator is connect with the lead screw guide rails, and the nut and the laser detector are solid
Fixed connection, and cooperate with the lead screw guide rails.
6. underwater detection device according to claim 1, which is characterized in that the elevating mechanism includes electric pushrod and consolidates
Fixed board, the electric pushrod are fixedly installed in the rack, and are connect with the fixed plate, the fixed plate and the top plate
It is fixedly connected, the electric pushrod can drive the top plate to rise or land by the fixed plate.
7. underwater detection device according to claim 6, which is characterized in that the elevating mechanism further includes gag lever post, institute
It states gag lever post to be fixedly connected with the rack, limit hole is offered in the fixed plate, the gag lever post is slideably positioned in described
In limit hole.
8. underwater detection device according to claim 1, which is characterized in that the underwater detection device further includes silt remover
Structure, the dredging mechanism include high pressure diving pump, dredging pipeline and multiple spray heads, and the high pressure diving pump is fixedly installed in described
It in rack, and connect with the dredging pipeline, multiple spray head interval settings, and is connect with the dredging pipeline.
9. underwater detection device according to claim 8, which is characterized in that the dredging pipeline includes main pipeline and annular
Pipeline, one end of the main pipeline are connect with the high pressure diving pump, and the other end is connect with the circulating line, the ring pipe
Road encloses outside the shell, and multiple spray heads are arranged at intervals at the bottom of the circulating line.
10. a kind of unmanned boat detection system, which is characterized in that filled including underwater detection as described in any one of claim 1 to 9
It sets.
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| CN201910826143.0A CN110525614A (en) | 2019-09-03 | 2019-09-03 | A kind of underwater detection device and unmanned boat detection system |
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| CN201910826143.0A CN110525614A (en) | 2019-09-03 | 2019-09-03 | A kind of underwater detection device and unmanned boat detection system |
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| CN111007071A (en) * | 2019-12-20 | 2020-04-14 | 清华四川能源互联网研究院 | Underwater inspection control method and underwater inspection system |
| CN112249280A (en) * | 2020-11-10 | 2021-01-22 | 深圳潜行创新科技有限公司 | Unmanned ship carrying underwater vehicle |
| CN113645390A (en) * | 2021-08-20 | 2021-11-12 | 重庆交通大学 | River benthonic animal investigation and statistics device |
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