CN110550167A - Pier safety inspection ROV carrier - Google Patents
Pier safety inspection ROV carrier Download PDFInfo
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- CN110550167A CN110550167A CN201910481823.3A CN201910481823A CN110550167A CN 110550167 A CN110550167 A CN 110550167A CN 201910481823 A CN201910481823 A CN 201910481823A CN 110550167 A CN110550167 A CN 110550167A
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- 238000007689 inspection Methods 0.000 title claims description 5
- 238000001514 detection method Methods 0.000 claims abstract description 24
- 238000007667 floating Methods 0.000 claims abstract description 7
- 238000012545 processing Methods 0.000 claims description 28
- 238000004891 communication Methods 0.000 claims description 22
- 238000001914 filtration Methods 0.000 claims description 17
- 238000006243 chemical reaction Methods 0.000 claims description 12
- 230000003750 conditioning effect Effects 0.000 claims description 12
- 238000003708 edge detection Methods 0.000 claims description 9
- 230000003139 buffering effect Effects 0.000 claims description 8
- 230000005540 biological transmission Effects 0.000 claims description 7
- 238000013500 data storage Methods 0.000 claims description 7
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 9
- 230000033001 locomotion Effects 0.000 description 6
- 238000000034 method Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000003321 amplification Effects 0.000 description 3
- 239000012535 impurity Substances 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
- 238000003199 nucleic acid amplification method Methods 0.000 description 3
- 238000007790 scraping Methods 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 239000004973 liquid crystal related substance Substances 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 229910001294 Reinforcing steel Inorganic materials 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002457 bidirectional effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
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- 238000005859 coupling reaction Methods 0.000 description 1
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- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005538 encapsulation Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000004630 mental health Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 229920013716 polyethylene resin Polymers 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000002994 raw material Substances 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000000717 retained effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
- B08B1/16—Rigid blades, e.g. scrapers; Flexible blades, e.g. wipers
- B08B1/165—Scrapers
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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
-
- 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
-
- 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
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/04—Analysing solids
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01D—CONSTRUCTION OF BRIDGES, ELEVATED ROADWAYS OR VIADUCTS; ASSEMBLY OF BRIDGES
- E01D19/00—Structural or constructional details of bridges
- E01D19/02—Piers; Abutments ; Protecting same against drifting ice
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Ocean & Marine Engineering (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Acoustics & Sound (AREA)
- Bridges Or Land Bridges (AREA)
Abstract
The invention discloses a pier safety detection ROV carrier in the technical field of pier safety detection, which comprises a shell, wherein horizontal propellers are arranged above the outer walls of the left side and the right side of the shell, a vertical propeller is arranged in the center of the bottom of the shell, buffer support rods are arranged on the two sides of the bottom of the shell, supporting transverse plates are fixedly arranged at the bottoms of the buffer support rods, upper floating blocks are arranged below the outer walls of the left side and the right side of the shell, a pressure sensor, a video acquisition module, an ultrasonic sensor and a scraper are respectively arranged on the front end surface of the shell from top to bottom, a power supply, the underwater pier comprises a first processor, a temperature sensor and a humidity sensor, wherein the first processor is electrically connected with a control system through a cable.
Description
Technical Field
The invention relates to the technical field of bridge pier safety detection, in particular to an ROV carrier for bridge pier safety detection.
Background
ROV, i.e. underwater robot. With the rapid development of cities, in order to achieve the purpose of improving road traffic, urban roads and bridges inevitably pass through mountains and rivers, and bridges are soaked under water all year round, so that the bridges are greatly influenced by the water environment and the outside, such as the impact of navigation ships, the outer surface of concrete is corroded, peeled, cracked and the like by water, and under severe conditions, the internal reinforcing steel bars of the concrete are exposed outside, so that the safety of the upper structure of the bridge is seriously influenced. Most of the detection of pier column under water at present adopts frogman to launch and carries out the manual work and touch row, and this not only detection effect is relatively poor, still has the hidden danger to measurement personnel's physical and mental health simultaneously, for this reason, we provide a pier safety inspection ROV carrier.
Disclosure of Invention
The invention aims to provide an ROV carrier for bridge pier safety detection, which aims to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides a pier safety inspection ROV carrier, which comprises a housin, horizontal propeller is all installed to casing left and right sides outer wall top, the vertical propeller of casing bottom central authorities installation, buffering branch is all installed to casing bottom both sides, buffering branch bottom fixed mounting supports the diaphragm, the floating block is all installed to casing left and right sides outer wall below, pressure sensor is installed respectively to terminal surface top-down before the casing, the video acquisition module, ultrasonic sensor and scraper, the casing inner chamber is installed power module respectively from bottom to top, treater one, temperature sensor and humidity transducer, treater one is through cable electric connection control system.
Preferably, the control system comprises a second processor, the second processor is electrically connected with the input module in an input mode, the second processor is respectively electrically connected with the data storage module, the alarm module and the display module in an output mode, the two sides of the processor are electrically connected with the communication module, and the communication module is electrically connected with the intelligent terminal in a two-way mode.
Preferably, the processor is electrically connected with the power supply module, the video acquisition module, the positioning module and the signal conditioning module in an input mode respectively, the signal conditioning module is electrically connected with the data acquisition module in an input mode, the processor is electrically connected with the circuit control module in an output mode, and the circuit control module is electrically connected with the horizontal propeller and the vertical propeller in an output mode respectively.
Preferably, the video acquisition module comprises an underwater camera arranged on the outer wall of the shell, the underwater camera is electrically output and connected with the image processing module, the image processing module is electrically output and connected with the video acquisition controller, the video acquisition controller is electrically input and connected with the screenshot module, and the video acquisition controller is electrically output and connected with the data transmission module.
Preferably, the image processing module comprises an image gray level conversion module, the image gray level conversion module is electrically connected with the image filtering module, the image filtering module is electrically connected with the image binarization processing module, the image binarization processing module is electrically connected with the sub-pixel edge detection module, and the sub-pixel edge detection module is electrically connected with the size calibration module.
preferably, the signal conditioning module comprises a signal amplifying module, the signal amplifying module is electrically connected with the signal filtering module, and the signal filtering module is electrically connected with the a/D conversion module.
Preferably, buffering branch is including fixing the sleeve in the casing bottom, and it has the movable rod to peg graft bottom the sleeve inner chamber, and the movable rod top passes through spring coupling with sleeve top inner wall.
Preferably, the communication module comprises a wired communication module and a wireless communication module, the wireless communication module comprises a Zigbee module, a 4G module, a WIFI module, an Ethernet module and a Bluetooth module, and the intelligent terminal comprises an intelligent mobile phone and a PC.
Preferably, the outer wall of the rear end of the scraper is provided with a clamping strip, the outer wall of the shell is provided with a clamping groove matched with the clamping strip, and the scraper is connected with the shell through the clamping strip clamping groove.
Preferably, six LED illuminating lamps are installed on the outer wall of the underwater camera and are arranged according to an annular array.
Compared with the prior art, the invention has the beneficial effects that: the invention has simple operation and safe use, the input module inputs control data to enable the circuit control module to control the horizontal propeller and the vertical propeller to work, the ROV carrier can potentially rotate around the outer wall of the pier underwater to detect the outer wall of the pier under the coordination of the horizontal propeller and the vertical propeller at the left side and the right side, the positioning module is used for monitoring the position and the motion route of the ROV in real time, wherein in the process of the motion of the ROV carrier, the scraper is used for scraping the outer wall of the pier to remove impurity garbage on the outer wall of the pier, the authenticity of the data is improved, then the video acquisition module and the ultrasonic sensor are used for shooting and detecting the outer wall of the pier, the detection data processed by the processor II are stored in the data storage module and displayed in the display module, and the on-site detection personnel can conveniently know whether the outer wall of the pier underwater is cracked or not, And meanwhile, the second processor transmits the processed data to an intelligent terminal used by a manager through the communication module, so that the manager out of site can conveniently monitor and know the detected data information remotely.
Drawings
FIG. 1 is a schematic diagram of the structure of an ROV vector of the present invention;
FIG. 2 is a schematic diagram of the present invention;
FIG. 3 is a schematic block diagram of a video capture module of the present invention;
FIG. 4 is a functional block diagram of an image processing module according to the present invention;
FIG. 5 is a functional block diagram of a signal conditioning module according to the present invention;
FIG. 6 is a schematic view of a buffering strut according to the present invention.
In the figure: 1. a housing; 2. a horizontal thruster; 3. a vertical thruster; 4. a buffer strut; 41. a sleeve; 42. a spring; 43. a movable rod; 5. an upper floating block; 6. a pressure sensor; 7. a video acquisition module; 71. an underwater camera; 72. an image processing module; 721. an image gray level conversion module; 722. an image filtering module; 723. an image binarization processing module; 724. a sub-pixel edge detection module; 725. a dimension calibration module; 73. a video acquisition controller; 74. a screenshot module; 75. a data transmission module; 8. an ultrasonic sensor; 9. a scraper; 10. a power supply module; 11. a first processor; 12. a temperature sensor; 13. a humidity sensor; 14. a cable; 15. a second processor; 16. an input module; 17. a data storage module; 18. an alarm module; 19. a display module; 20. a communication module; 21. an intelligent terminal; 22. a data acquisition module; 23. a signal conditioning module; 231. a signal amplification module; 232. a signal filtering module; 233. an A/D conversion module; 24. a positioning module; 25. and a circuit control module.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
referring to fig. 1-6, the present invention provides a technical solution: a kind of pier safety detection ROV carrier, including the body 1, the body 1 installs the horizontal propeller 2 above the left and right sides outer wall, the body 1 bottom central authorities install the vertical propeller 3, through the cooperation between horizontal propeller 2 and vertical propeller 3 of the left and right sides, it is easy to drive the apparatus to move around the pier outer wall under water and carry on the detection work, the body 1 bottom both sides install the buffer strut 4, used for buffering the unbalanced force, it is convenient for the stability when the apparatus is not used, when it is not used, it is on the ground to place stability, buffer strut 4 bottom fixed mounting support diaphragm, the body 1 left and right sides outer wall below all installs the upper floating block 5, the upper floating block 5 can be made of polyethylene resin as raw materials, when the apparatus is damaged and unable to move, drive the apparatus to float to the surface of water through the buoyancy of the upper floating block 5, it is convenient for the staff to salvage, has avoided the apparatus to sink to the bottom, a pressure sensor 6, a video acquisition module 7, an ultrasonic sensor 8 and a scraper 9 are respectively arranged on the front end surface of a shell 1 from top to bottom, the pressure sensor 6 is used for acquiring the water pressure applied to the outer wall of the device underwater, the video acquisition module 7 is used for shooting videos on the outer wall of the underwater pier, so that a tester can conveniently watch the shape of the outer wall of the underwater pier, the ultrasonic sensor 8 is used for detecting whether the outer wall of the pier cracks, erodes and peels exposed steel bars, the scraper 9 is used for scraping the outer wall of the pier by controlling the movement of an ROV carrier to remove impurity garbage on the outer wall, the accuracy of data acquisition on the outer wall of the pier by the video acquisition module 7 and the ultrasonic sensor 8 is conveniently improved, a power module 10, a processor I11, a temperature sensor 12 and a humidity sensor 13 are respectively arranged in the inner cavity of the shell, the device comprises a processor I11, a cable 14, a control system, an upper computer, a cable 14, a processor I11, a controller I11, a processor I11, a controller I, a power supply, a processor I11, a power supply, a data processing module I, a data processing module II, a data processing.
The control system comprises a second processor 15, the second processor 15 and the first processor 11 both adopt an MSP430F149 single chip microcomputer as a core control module, the MSP430F149 single chip microcomputer adopts a 16-bit CPU and has an advanced instruction set and a single clock cycle instruction execution time, the data throughput rate is as high as 1 MIPS/MHz, so that the contradiction between the power consumption and the processing speed of the system can be reduced, the second processor 15 is electrically input and connected with an input module 16, the input module 16 inputs control data by using a keyboard, the input control data is read by the second processor 15 and then transmitted into the first processor 11 by using a cable 14, so that the first processor 11 sends out signals to control the horizontal propeller 2 and the vertical propeller 3 to work through a circuit control module 25, further, the ROV carrier can rotate around the outer wall of a bridge pier under the potential water to detect the outer wall of the pier, and the second processor 15 is respectively electrically output and connected with a data storage module 17, Alarm module 18 and display module 19, data after being processed by second processor 15 are stored in data storage module 17 and displayed in display module 19, display module 19 is a 10-inch capacitance touch type liquid crystal display screen, the programming mode is simple and convenient, and capacitance touch type liquid crystal display screen adopts SMT encapsulation, Chinese characters in various formats, characters and pictures can be displayed, the functions are powerful, dynamic change curves of temperature, humidity and pressure values can be conveniently and accurately displayed, when each sensor detects that the outer wall of the underwater bridge pier is defective or the temperature and humidity in shell 1 exceeds a threshold value, alarm module 18 gives an alarm to remind detection personnel to timely make corresponding processing measures, second processor 15 is electrically connected with communication module 20 in two directions, communication module 20 comprises a wired communication module and a wireless communication module, and the wireless communication module comprises a Zigbee module, a 4G module, a WIFI module, The Ethernet module and the Bluetooth module improve the diversity of data transmission, the communication module 20 is electrically connected with the intelligent terminal 21 in a bidirectional mode, the intelligent terminal 21 comprises an intelligent mobile phone and a PC, and the second processor 15 transmits the processed data to the intelligent terminal 21 used by a manager through the communication module 20, so that the manager who is not on site can conveniently monitor and know the detected data information in a remote mode;
the processor I11 is respectively electrically connected with the power supply module 10, the video acquisition module 7, the positioning module 24 and the signal conditioning module 23 in an input mode, the positioning module 24 is installed on the outer wall of the processor I11 and used for monitoring the position and the movement route of the ROV in real time, the signal conditioning module 23 is electrically connected with the data acquisition module 22 in an input mode, data information acquired by each sensor is acquired through the data acquisition module 22, the signal conditioning module 23 amplifies, filters and A/D converts the data acquired by the data acquisition module 22 and then transmits the data to the processor I11 for processing, the stability of data transmission is improved, the signal conditioning module 23 comprises a signal amplification module 231, the signal amplification module 231 is electrically connected with a signal filtering module 232 in an output mode, the signal filtering module 232 is electrically connected with an A/D conversion module 233 in an output mode, and the processor I11 is electrically connected with a circuit control module 25 in, the circuit control module 25 is respectively and electrically connected with the horizontal thruster 2 and the vertical thruster 3;
The video acquisition module 7 comprises an underwater camera 71 arranged on the outer wall of the shell 1 and used for shooting the shape of the outer wall of the underwater pier, the underwater camera 71 is electrically connected with an image processing module 72 in output, the image processing module 72 is electrically connected with a video acquisition controller 73 in output, the video acquisition controller 73 is electrically connected with a screenshot module 74 in input, the video acquisition controller 73 is electrically connected with a data transmission module 75 in output, video data shot by the underwater camera 71 is compressed by the video acquisition controller 73 and then transmitted to the first processor 11 through the data transmission module 75 and then transmitted to the second processor 15 through the cable 14, the second processor 15 decompresses video and then displays the decompressed video through the display module 19, detection personnel can conveniently observe the shape of the outer wall of the underwater pier on the water surface, and the detection efficiency and safety are improved;
The image processing module 72 comprises an image gray level conversion module 721, the image gray level conversion module 721 is electrically connected with an image filtering module 722, the image filtering module 722 is electrically connected with an image binarization processing module 723, the image binarization processing module 723 is electrically connected with a sub-pixel edge detection module 724, the sub-pixel edge detection module 724 is electrically connected with a size calibration module 725, the image gray level conversion module 721 in the image processing module 72 performs gray level processing on a shot image by adopting a weighted average method and transmits the processed gray level image to the image filtering module 722, the image filtering module 722 performs noise reduction on the shot gray level image by adopting a median filtering method, the image of the bridge pier is retained and then transmitted to the image binarization processing module 723, the image binarization processing module 723 divides the bridge pier from a background image by adopting a valve value method, extracting an image of a bridge pier, transmitting the image of the bridge pier to a sub-pixel edge detection module 724, performing sub-pixel edge positioning on the bridge pier by the sub-pixel edge detection module 724 by using an orthogonal space matrix method to obtain a sub-pixel edge image of the bridge pier, transmitting the sub-pixel edge image of the bridge pier to a size calibration module 725, and converting pixels of the image of the bridge pier into actual sizes by the size calibration module 725 according to a bridge pier size calibration method so as to facilitate checking by a detector;
the buffering support rod 4 comprises a sleeve 41 fixed at the bottom of the shell 1, a movable rod 43 is inserted at the bottom of an inner cavity of the sleeve 41, guide wheels are arranged on two sides of the top of the movable rod 43, a guide groove matched with the guide wheels is formed in the inner wall of the sleeve 41, abrasion between the sleeve 41 and the movable rod 43 is reduced, the jamming condition is avoided, the top of the movable rod 43 is connected with the inner wall of the top of the sleeve 41 through a spring 42, the spring 42 is extruded when the movable rod 43 moves, and the spring 42 is compressed under stress, so that the vibration received by the device is buffered conveniently;
A clamping strip is arranged on the outer wall of the rear end of the scraper 9, a clamping groove matched with the clamping strip is formed in the outer wall of the shell 1, and the scraper 9 is connected with the shell 1 through the clamping strip clamping groove, so that the damaged scraper 9 is convenient to mount and dismount;
six LED illuminating lamps are installed on the outer wall of the underwater camera 71 and are arranged according to an annular array, and under the irradiation of the LED illuminating lamps, the underwater camera 71 can conveniently and clearly shoot the outer wall of the bridge pier.
The working principle is as follows: when the ROV carrier is used, the input module 16 inputs control data to enable the circuit control module 25 to control the horizontal propeller 2 and the vertical propeller 3 to work, the ROV carrier can potentially rotate around the outer wall of a pier underwater to detect the outer wall of the pier underwater under the cooperation of the horizontal propeller 2 and the vertical propeller 3 on the left side and the right side, the positioning module 24 is used for monitoring the position and the movement route of the ROV in real time, the scraper 9 is used for scraping the outer wall of the pier underwater to remove impurity garbage on the outer wall of the pier underwater during the movement of the ROV carrier, the authenticity of the data is improved, then the video acquisition module 7 and the ultrasonic sensor 8 are used for shooting and detecting the outer wall of the pier underwater, the detection data processed by the processor two 15 are stored in the data storage module 17 and displayed in the display module 19, and therefore a field detector can conveniently know whether the shape of the outer wall of the pier underwater and whether the outer, And the exposed steel bars are corroded and peeled off, and the second processor 15 transmits the processed data to the intelligent terminal 21 used by a manager through the communication module 20, so that the manager out of site can conveniently monitor and know the detected data information remotely.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. the utility model provides a pier safety inspection ROV carrier, includes casing (1), horizontal propeller (2) are all installed to both sides outer wall top about casing (1), and vertical propeller (3), its characterized in that are installed to casing (1) bottom central authorities: buffering branch (4) are all installed to casing (1) bottom both sides, buffering branch (4) bottom fixed mounting supports the diaphragm, floating block (5) are all installed to casing (1) left and right sides outer wall below, pressure sensor (6) are installed respectively to terminal surface top-down before casing (1), video acquisition module (7), ultrasonic sensor (8) and scraper (9), power module (10) are installed respectively from bottom to top to casing (1) inner chamber, treater (11), temperature sensor (12) and humidity transducer (13), treater (11) are through cable (14) electric connection control system.
2. The ROV carrier for bridge pier safety detection according to claim 1, wherein: the control system comprises a second processor (15), the second processor (15) is electrically input and connected with the input module (16), the second processor (15) is respectively electrically output and connected with the data storage module (17), the alarm module (18) and the display module (19), the second processor (15) is electrically connected with the communication module (20) in a two-way mode, and the communication module (20) is electrically connected with the intelligent terminal (21) in a two-way mode.
3. the ROV carrier for bridge pier safety detection according to claim 1, wherein: the first processor (11) is respectively and electrically connected with the power supply module (10), the video acquisition module (7), the positioning module (24) and the signal conditioning module (23) in an input mode, the signal conditioning module (23) is electrically connected with the data acquisition module (22) in an input mode, the first processor (11) is electrically connected with the circuit control module (25) in an output mode, and the circuit control module (25) is respectively and electrically connected with the horizontal propeller (2) and the vertical propeller (3) in an output mode.
4. The ROV carrier for bridge pier safety detection according to claim 1, wherein: the video acquisition module (7) comprises an underwater camera (71) arranged on the outer wall of the shell (1), the underwater camera (71) is electrically output and connected with an image processing module (72), the image processing module (72) is electrically output and connected with a video acquisition controller (73), the video acquisition controller (73) is electrically input and connected with a screenshot module (74), and the video acquisition controller (73) is electrically output and connected with a data transmission module (75).
5. The ROV carrier for bridge pier safety detection according to claim 4, wherein: the image processing module (72) comprises an image gray scale conversion module (721), the image gray scale conversion module (721) is electrically connected with the image filtering module (722), the image filtering module (722) is electrically connected with the image binarization processing module (723), the image binarization processing module (723) is electrically connected with the sub-pixel edge detection module (724), and the sub-pixel edge detection module (724) is electrically connected with the size calibration module (725).
6. The ROV carrier for bridge pier safety detection according to claim 3, wherein: the signal conditioning module (23) comprises a signal amplifying module (231), the signal amplifying module (231) is electrically connected with a signal filtering module (232), and the signal filtering module (232) is electrically connected with an A/D conversion module (233).
7. the ROV carrier for bridge pier safety detection according to claim 1, wherein: buffer support pole (4) are including fixing sleeve (41) in casing (1) bottom, and it has movable rod (43) to peg graft at sleeve (41) inner chamber bottom, and movable rod (43) top is passed through spring (42) with sleeve (41) top inner wall and is connected.
8. The ROV carrier for bridge pier safety detection according to claim 2, wherein: the communication module (20) comprises a wired communication module and a wireless communication module, the wireless communication module comprises a Zigbee module, a 4G module, a WIFI module, an Ethernet module and a Bluetooth module, and the intelligent terminal (21) comprises an intelligent mobile phone and a PC (personal computer).
9. The ROV carrier for bridge pier safety detection according to claim 1, wherein: the outer wall of the rear end of the scraper (9) is provided with a clamping strip, the outer wall of the shell (1) is provided with a clamping groove matched with the clamping strip, and the scraper (9) is connected with the shell (1) through the clamping strip clamping groove.
10. The ROV carrier for bridge pier safety detection according to claim 4, wherein: six LED illuminating lamps are arranged on the outer wall of the underwater camera (71) and are arranged according to an annular array.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910481823.3A CN110550167A (en) | 2019-06-04 | 2019-06-04 | Pier safety inspection ROV carrier |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910481823.3A CN110550167A (en) | 2019-06-04 | 2019-06-04 | Pier safety inspection ROV carrier |
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| CN110550167A true CN110550167A (en) | 2019-12-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910481823.3A Pending CN110550167A (en) | 2019-06-04 | 2019-06-04 | Pier safety inspection ROV carrier |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111130549A (en) * | 2020-02-14 | 2020-05-08 | 山东博远重工有限公司 | Bridge template on-site intelligent monitoring system and method |
| CN111409798A (en) * | 2020-03-30 | 2020-07-14 | 滁州贝安智能机器人科技有限公司 | Underwater robot positioning device |
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Application publication date: 20191210 |