CN112362093B - Dam detection robot, detection system and detection method - Google Patents
Dam detection robot, detection system and detection method Download PDFInfo
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- CN112362093B CN112362093B CN202010796790.4A CN202010796790A CN112362093B CN 112362093 B CN112362093 B CN 112362093B CN 202010796790 A CN202010796790 A CN 202010796790A CN 112362093 B CN112362093 B CN 112362093B
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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
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/04—Cleaning involving contact with liquid
- B08B3/10—Cleaning involving contact with liquid with additional treatment of the liquid or of the object being cleaned, e.g. by heat, by electricity or by vibration
- B08B3/12—Cleaning involving contact with liquid with additional treatment of the liquid or of the object being cleaned, e.g. by heat, by electricity or by vibration by sonic or ultrasonic vibrations
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/08—Propulsion
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02B—HYDRAULIC ENGINEERING
- E02B1/00—Equipment or apparatus for, or methods of, general hydraulic engineering, e.g. protection of constructions against ice-strains
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
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- General Engineering & Computer Science (AREA)
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- Ocean & Marine Engineering (AREA)
- Civil Engineering (AREA)
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- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
Abstract
The invention discloses a dam detection robot, a detection system and a detection method; the dam detection robot comprises a mixed type machine body, a camera, a propeller assembly and a sweeping and silt removing module; the hybrid fuselage comprises a horn-shaped shell and a rectangular frame fixed at the front end of the horn-shaped shell; the sweeping and silt removing module comprises an ultrasonic wave energy conversion vibration head and a roller brush which are arranged on the rectangular frame; the dam detection system comprises a water surface catamaran, a cable, a mooring rope and the detection robot; the dam detection method comprises the following steps: s1. introducing water; s2, collecting an image along with the tracking descending; s3. transversely moving; s4. collecting images along the tracking rise; s5. transversely moving; s6. floating out of the water; the invention combines the ultrasonic cleaning principle and the dam detection technology, thereby improving the quality and efficiency of the dam surface early cleaning work and improving the detection accuracy of cracks, holes and the like.
Description
Technical Field
The invention relates to an underwater robot, a detection system and a detection method for efficiently detecting structural damage of an underwater part of hydraulic and hydroelectric engineering such as a dam, a bridge and the like.
Background
The existing dam detection-oriented underwater robots mainly comprise 3 types of towing underwater Robots (ROV), Autonomous Underwater Vehicle (AUV) and a hybrid underwater detection robot with two modes coexisting. The towline underwater robot has the characteristics of large operation depth, long working time, easy recovery in case of failure and the like. The autonomous underwater detection robot removes an umbilical cable, is flexible in movement and wide in coverage, but is short in endurance time and not suitable for long-time detection of the surface of a dam with a wide area. The hybrid underwater detection robot integrates the advantages of the hybrid underwater detection robot and the hybrid underwater detection robot, but the hybrid underwater detection robot is high in cost and difficult in structural maintenance.
The body structure of the underwater robot for dam detection is mainly of 2 types: streamlined and frame-shaped. Frame type underwater robots are relatively common, that is, the outer shape of the robot body is frame-shaped, and a propeller, a sealed cabin, lighting equipment, a camera and the like are installed inside the frame. The frame type ROV body has the main advantages that the overall arrangement is convenient, the number of external devices such as sensors and propellers can be increased, the gravity center of the device can be lowered by additionally arranging the buoyancy module, so that the anti-turbulence capability is high, and the high-stability state motion can be kept underwater. The disadvantages are that the frame increases the resistance in the water, the propeller power and thrust required is large, the movement is slow, and the maneuvering characteristics under water are poor. The streamline ROV body is that the external structure of the streamline ROV body conforms to the streamline shape (such as a round shape, a conical shape, an oval shape and the like), and a sealed cabin, a camera, an illuminating lamp and the like are arranged in the streamline structure. The underwater robot has the remarkable advantages of low running resistance, simple structure and capability of moving underwater at a high speed; however, the disadvantage is also obvious, and it is inconvenient to carry more external devices and operation modules due to the limitation of shape and space.
It is therefore an object of the present invention to design a hybrid ROV body that combines some of the features of the two configurations described above, while providing excellent hydrodynamic performance and easy expandability. Electronic devices such as a capsule, a camera, and an illumination lamp can be installed inside the streamlined body, while various sensors, a propeller, and the like are installed on the outside of the frame.
On the other hand, in the existing dam detection ROV structure, the problems of simple wall surface cleaning device, insufficient sediment removal and the like generally exist. In a conventional wall surface cleaning device, rigid components such as cleaning cloth and a roller brush are mostly adopted to be in contact with a wall surface, and soft materials on the rigid components rub against the wall surface, so that a cleaning function is realized. The cleaning efficiency and quality depend to a large extent on the flatness of the wall. When facing some depressed areas, it is difficult to function. These locations on the surface of the dam are also often locations where structural damage is likely to occur. The ultrasonic cleaner utilizes the cavitation effect generated during the transmission of ultrasonic waves to continuously collide with the surface of a cleaned object to realize cleaning work, and impact vibration can be generated only at the place where the ultrasonic waves can be transmitted, so that the method can greatly improve the cleaning coverage and the cleaning quality.
The invention also aims to design a dam detection robot for realizing ultrasonic cleaning by combining the ultrasonic cleaning principle and the dam detection technology, so that the quality and efficiency of the dam surface early cleaning work can be improved, the detection accuracy of cracks, holes and the like can be improved, and better information support can be provided for the safe operation of underwater structures such as dams, bridges and the like.
Disclosure of Invention
In view of the above, the dam inspection robot of the present invention includes a hybrid body, a camera, a propeller assembly, and a sweeping and silt removing module;
the hybrid fuselage comprises a horn-shaped shell and a rectangular frame fixed at the front end of the horn-shaped shell; openings at the front end and the rear end of the horn-shaped shell are respectively sealed by a transparent window glass plate and a sealing end cover, so that a closed space is formed inside the horn-shaped shell; the camera is fixed inside the horn-shaped shell through a camera fixing plate; the propeller assembly comprises a plurality of propellers I and propellers II which are arranged on the rectangular frame; the propeller I is arranged perpendicular to the wall surface of the dam; the propeller II is horizontally arranged in parallel to the wall surface of the dam; the sweeping and silt removing module comprises an ultrasonic wave energy conversion vibration head and a roller brush which are arranged on the rectangular frame;
furthermore, a plurality of LED lamps for underwater illumination are also arranged on two sides of the rectangular frame;
further, purified water is filled in a closed space in front of the camera in the horn-shaped shell, and the closed space is communicated with the outside through a water filtering film;
furthermore, the propellers I are arranged in two pairs, and each pair of propellers I is arranged in a flow guide sleeve assembly; the air guide sleeve assembly comprises two cover bodies and a connecting groove connected between the two cover bodies; the outward side wall height of the connecting groove is smaller than the inward side wall height.
Further, a posture sensor, a distance measuring sensor and a pressure sensor are further installed on the hybrid type body.
The invention also discloses a dam detection system, which comprises a water surface catamaran, a cable, a mooring rope and the detection robot; the water surface catamaran is provided with a water surface control platform, a winch, a hoisting frame and a generator; one end of the cable is connected to the detection robot, and the other end of the cable is connected to the water surface catamaran through a winch and a hoisting frame; the cable is connected between the detection robot and the water surface catamaran and used for realizing electric energy and signal connection between the detection robot and the water surface catamaran.
The invention also discloses a method for detecting the dam underwater structure damage by adopting the detection system, which comprises the following steps:
s1., taking the water surface catamaran, transporting the detection robot to a region to be detected and close to the surface of the dam body, and then putting the detection robot into water through a hanging frame on the water surface catamaran;
s2, driving a winch to rotate, simultaneously controlling the propeller I to rotate reversely, enabling the roller brush to be attached to the wall surface of the dam, vibrating the hair by utilizing ultrasonic energy conversion to generate ultrasonic waves, and cleaning the wall surface; gradually lowering the cable to enable the detection robot to perform image acquisition and video recording from top to bottom along the vertical path;
s3. when the detection robot falls to a set depth, the winch stops rotating, the water surface catamaran is controlled to move transversely for a set distance, and the detection robot moves transversely for the same distance in the same direction under the pushing of the propeller II;
s4., driving the winch to rotate reversely, and using the cable to drive the detection robot to collect images and videos along a vertical path from bottom to top along the wall surface of the dam;
s5. when the inspection robot approaches the water surface, the capstan stops rotating, the water surface catamaran and the inspection robot move a certain distance again, then the steps s2 to s4 are repeated until the inspection of the dam wall surface setting range is completed;
s6. when the dam wall image acquisition is finished, the capstan is driven to rotate, the detection robot is made to float out of the water surface, and the detection robot is recovered to the water surface twin-hull ship through the hanging frame, and the whole detection process is finished.
The invention has the beneficial effects that:
(1) the hybrid framework structure has convenient expansibility and good hydrodynamic performance.
The invention adopts a machine body combined by a streamline and a frame type shell, and external carrying equipment such as a propeller, a lighting lamp, a sensor and the like can be conveniently arranged on a rectangular frame. The inside of the horn-shaped shell is sealed to form a cavity, so that enough space is provided for mounting elements such as electronic equipment, a circuit board and the like, and meanwhile, the advancing resistance of the streamline-shaped shell in the transverse moving direction is low, and the hydrodynamic performance is better.
(2) The wall surface cleaning efficiency and the quality are high.
The invention uses the working principle of an ultrasonic cleaning machine for reference, introduces an ultrasonic transducer element, and symmetrically fixes a plurality of ultrasonic vibration heads on the inner side of the position of the roller brush on the rectangular frame through an aluminum alloy bonding plate. The cavitation effect generated by the transmission of ultrasonic waves in liquid is utilized, the shock waves continuously collide with wall surface sediments, and meanwhile, the soft material on the roller brush rubs with the wall surface in the movement process to carry out double cleaning, so that the effect is better, and the efficiency is higher.
(3) The working depth is large and the power is sufficient.
The water surface ship is provided with the generator, directly supplies power to the detection robot and the circuit element through the cable, and can submerge to a water depth of more than 100 meters. Sufficient power supply can let inspection robot work for a long time under water simultaneously, and the propeller can exert higher efficiency, and thrust is bigger, and the locomotion speed is very fast.
(4) The pressure difference between the inside and the outside of the structure is small, and the adaptability is high.
According to the invention, clear water is injected into the cavity in the horn-shaped shell, so that the underwater pressure can be balanced, the pressure acting on the pressure-bearing shell is greatly reduced, the adaptability is improved, and the service life is longer.
(5) The image shooting environment is good, and the muddy water imaging effect is better.
According to the invention, clear water injected into the cavity in the horn-shaped shell can ensure that the visual field of the camera is clean within a certain range, and the influence of dirt such as muddy water, silt and the like on imaging is reduced. Adopt a plurality of light symmetrical arrangement in rectangular frame both sides, illumination intensity is high, alleviates the facula that the LED lamp formed in the image simultaneously and to the influence of formation of image, improves the accuracy of judging structural damage such as crack, hole.
(6) The sediment such as silt is treated perfectly.
The air guide sleeve assembly adopted by the invention consists of two cover bodies and a connecting groove connected between the cover bodies, wherein the connecting groove consists of two transverse plates as side walls and a vertical plate as a bottom plate, the two air guide sleeve assemblies are symmetrically arranged on a propeller shell on two sides of a rectangular frame, the long transverse plate is arranged inside the long transverse plate, the short transverse plate is arranged outside the long transverse plate, the short transverse plate allows the sediment swept down by a cleaning part to pass through, the long transverse plate can block the swept sediment passing through the short transverse plate and collect the sediment in the connecting groove formed by the three plates, and finally the sediment is sucked out when the propeller rotates reversely, so that the sediment can be prevented from falling into the center of the visual field of a camera.
Drawings
The invention is further described below with reference to the following figures and examples:
FIG. 1 is a schematic structural view of a dam inspection robot of the present invention;
FIG. 2 is an exploded view of the dam inspection robot of the present invention;
FIG. 3 is a schematic diagram of the dam inspection system of the present invention;
FIG. 4 is a schematic view of a pod assembly of the present invention;
FIG. 5 is a front view of a dam inspection robot;
FIG. 6 is a rear view of the dam inspection robot;
fig. 7 is a top view of the dam inspection robot.
Detailed Description
Example one
As shown in fig. 1, the dam inspection robot of the present embodiment includes a hybrid body, a camera, a propeller assembly, and a sweeping and silt removing module;
as shown in fig. 2, the hybrid fuselage includes a horn-shaped shell 11 and a rectangular frame 9 fixed to a front end of the horn-shaped shell 11; openings at the front end and the rear end of the horn-shaped shell 11 are respectively sealed by a transparent window glass plate 5 and a sealing end cover 1, so that a closed space is formed inside the horn-shaped shell 11; wherein, a glass fixing frame 10 is fixed between the horn-shaped shell 11 and the rectangular frame 9, and the transparent window glass plate 5 is arranged in the glass fixing frame 10; the camera 12 is fixed inside the horn-shaped shell 11 through the camera fixing plate 3, is arranged on the central axis of the horn-shaped shell 11, and has a lens end facing the transparent window glass plate 5; so that the camera can shoot the wall surface condition of the dam through the rectangular observation window. The camera 12 of the present embodiment is provided with a backup power supply, so that the shooting reliability is improved. The hybrid fuselage adopted in the present embodiment includes a horn-shaped shell 11 and a rectangular frame 9; the horn-shaped shell 11 is of a streamline structure, the streamline structure is a body structure form with the best underwater power performance, the advancing resistance of the streamline structure is small, but external equipment and operation tools which can be carried are limited due to the limitation of the streamline shape and space, and the rectangular frame 9 type body has convenient expansion performance and is suitable for an underwater robot with multiple operation devices; therefore, the hybrid fuselage of the embodiment combines the advantages of a streamlined fuselage and a frame fuselage.
The propeller assembly comprises four propellers I4-1 and two propellers II 4-2 which are arranged on the rectangular frame 9; the four propellers I4-1 are symmetrically arranged perpendicular to the wall surface of the dam; the two propellers II 4-2 are parallel to the wall surface of the dam and are horizontally arranged on the top edge and the bottom edge of the rectangular frame 9; the power of the detection robot comes from 6 propellers carried by the detection robot and a winch on a surface ship. Four propellers I4-1 are arranged perpendicular to the wall surface, and water flowing out of the propeller blades is subjected to reaction force according to Newton's third law through forward and reverse rotation of the propellers, so that thrust is generated, and straight-sailing motion is controlled. The two propellers II 4-2 are horizontally installed on the upper side and the lower side of the rectangular frame 9 in a staggered mode in opposite directions, optimal combination of thrust is achieved, and transverse movement of the detection robot is controlled. The differential motion of the propellers in all directions can realize the steering of the robot around three coordinate axes. The heave movement of the robot is realized by the rotation of a winch on the surface ship.
The cleaning and silt removing module comprises an ultrasonic wave energy conversion vibration head and a roller brush 8 which are arranged on the rectangular frame 9; the 10 ultrasonic vibration heads are symmetrically fixed on the inner side of the position of the roller brush 8 on the rectangular frame 9 through an aluminum alloy bonding plate 6, impact waves continuously collide with wall surface sediments by utilizing the cavitation effect generated by the transmission of ultrasonic waves in liquid, and meanwhile, soft materials on the roller brush 8 rub with the wall surface in the movement process to carry out double cleaning.
In the embodiment, two sides of the rectangular frame 9 are respectively provided with 4 LED lamps for underwater illumination, 4 LED illuminating lamps of 60W/lumen are symmetrically distributed on the outer side of the rectangular frame 9, and light source support is provided in a darker deepwater environment;
in this embodiment, purified water is filled in a closed space in front of the camera 12 in the horn-shaped housing 11, and the closed space is communicated with the outside through a water filtering film; the inside of the horn-shaped shell 11 is divided into a water cabin at the front part and an electronic cabin at the rear part by the camera fixing plate 3; purified water is injected into the water cabin and is communicated with the outside through a water filtering film; a singlechip, a sensor, a battery, a control module and the like can be placed in the electronic cabin; the purified water is injected into the closed space in front of the camera 12, so that on one hand, the visual field in a certain space around the camera can be kept bright in a dirty underwater environment, the influence of suspended matters and muddy water on the visual field of the camera can be reduced, and an image with better effect can be shot. On the other hand, the closed space is communicated with the outside through the water filtering membrane, so that the pressure balance inside and outside under different water depths is ensured, and the safety of the shell structure is improved.
In the embodiment, two pairs of propellers I4-1 are respectively arranged in two air guide sleeve assemblies 7; as shown in fig. 4, the air guide sleeve assembly 7 comprises two cover bodies and a connecting groove connected between the two cover bodies; the connecting slot outward facing sidewall 31 is less than the inward facing sidewall 32. The connecting groove is composed of two transverse plates as side walls and a vertical plate as a bottom plate; the propellers I4-1 are symmetrically arranged in the two cover bodies of the air guide cover assembly 7, the outward side wall 31 of the connecting groove between the two cover bodies is short, so that the sediment swept down by the sweeping and silt removing module can enter the connecting groove through the side wall 31, the inward side wall 32 is high, the sediment entering the connecting groove can be blocked, the sediment is collected in the connecting groove, and finally the sediment is sucked out when the propellers I4-1 are reversely rotated, so that the sediment can be prevented from falling into the center of the visual field of the camera 12.
In this embodiment, the hybrid body is further provided with a posture sensor, a distance measuring sensor and a pressure sensor. The robot is provided with the attitude sensor and the distance measuring sensor, so that the robot is ensured to be parallel to the surface of the dam body, and the camera 12 is ensured to be away from the camera by a certain distance. And positioning the position of the robot and the position of the crack in the image by adopting the pressure sensor and the ultra-short baseline positioning system.
Example two
As shown in fig. 3, the dam inspection system of the present embodiment includes a surface catamaran 25, cables, thrusters, cables, and the inspection robot 26; the detection robot 26 adopts the structure in the first embodiment; the water surface catamaran 25 is provided with a water surface control platform 21, a winch 24, a hoisting frame 22 and a generator 23; one end of the cable is connected to the detection robot 26, and the other end of the cable is connected to a water surface catamaran 25 through a winch 24 and a hoisting frame 22; the cable is connected between the detection robot 26 and the water surface catamaran 25 and is used for realizing electric energy and signal connection between the detection robot and the water surface catamaran; the power is directly supplied to the circuit elements through the cable, and the underwater submersible vehicle can submerge to a water depth of more than 100 meters. Meanwhile, sufficient power supply can enable the detection robot 26 to work underwater for a long time, and the propeller can exert higher efficiency, has higher thrust and has higher movement speed.
EXAMPLE III
The method for detecting the dam underwater structure damage by adopting the detection system comprises the following steps:
s1. entering water
An operator takes the water surface boat, conveys the detection robot to the area to be detected and approaches the surface of the dam body, and then puts the detection robot into water through the hoisting frame on the water surface catamaran.
S2, collecting images along with tracking descending
Electronic components such as camera, ultrasonic wave vibration head, illumination LED lamp, sensor are supplied power through the cable, and the drive capstan winch is rotatory, and 4I reversals of propeller of the perpendicular wall of simultaneous control, cylinder brush are pasting the wall, and the ultrasonic wave vibration head sends the ultrasonic wave, washs the wall. Along with the extension of the mooring rope, under the combined action of gravity, the detection robot carries out image acquisition and video recording from top to bottom along a planned vertical path.
s3. transverse movement
When the detection robot descends to a set depth, the winch stops rotating, the water surface catamaran transversely moves for a set distance, and meanwhile, the detection robot body transversely moves for the same distance in the same direction under the action of thrust of the 2 alternately distributed propellers II.
s4. tracking up and acquiring images
The driving winch rotates reversely, and the detection robot is driven to cling to the wall surface to collect images and videos along a vertical path from bottom to top along with the pull-back of the mooring rope and the effect of buoyancy.
s5. transverse movement
When the detection robot approaches to the water surface, the winch stops rotating, the water surface catamaran and the detection robot body transversely move for a certain distance, and then the process from the step 2 to the step 4 is repeated.
s6. floating out of the water
When the dam wall surface image acquisition is finished, the winch is driven to rotate, and the detection robot is enabled to float out of the water surface. And the operator takes the detection device back to the ship through the hoisting frame, and the whole detection process is finished.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and those skilled in the art can make various modifications and variations; any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.
Claims (5)
1. The utility model provides a dam inspection robot which characterized in that: comprises a mixed type machine body, a camera, a propeller component and a sweeping and silt removing module;
the hybrid fuselage comprises a horn-shaped shell and a rectangular frame fixed at the front end of the horn-shaped shell; openings at the front end and the rear end of the horn-shaped shell are respectively sealed by a transparent window glass plate and a sealing end cover, so that a closed space is formed inside the horn-shaped shell;
the camera is fixed inside the horn-shaped shell through a camera fixing plate;
the propeller assembly comprises a plurality of propellers I and propellers II which are arranged on the rectangular frame; the propeller I is arranged perpendicular to the wall surface of the dam; the propeller II is horizontally arranged in parallel to the wall surface of the dam;
the sweeping and silt removing module comprises an ultrasonic wave energy conversion vibration head and a roller brush which are arranged on the rectangular frame;
purified water is filled in a closed space in front of the camera in the horn-shaped shell, and the closed space is communicated with the outside through a water filtering film;
the propellers I are arranged in two pairs, and each pair of propellers I is arranged in a flow guide sleeve assembly; the air guide sleeve assembly comprises two cover bodies and a connecting groove connected between the two cover bodies; the outward side wall height of the connecting groove is smaller than the inward side wall height.
2. The dam inspection robot of claim 1, wherein: and a plurality of LED lamps for underwater illumination are further arranged on two sides of the rectangular frame.
3. The dam inspection robot of claim 1, wherein: and the hybrid body is also provided with a posture sensor, a distance measuring sensor and a pressure sensor.
4. A dam detection system, its characterized in that: comprising a surface catamaran, a cable, and the inspection robot of any of claims 1-3;
the water surface catamaran is provided with a water surface control platform, a winch, a hoisting frame and a generator;
one end of the cable is connected to the detection robot, and the other end of the cable is connected to the water surface catamaran through a winch and a hoisting frame;
the cable is connected between the detection robot and the power supply end of the water surface catamaran and used for realizing electric energy and signal connection between the detection robot and the water surface catamaran.
5. A method of detecting a failure of an underwater structure of a dam using the detection system of claim 4, comprising the steps of:
s1., taking the water surface catamaran, transporting the detection robot to a region to be detected and close to the surface of the dam body, and then putting the detection robot into water through a hanging frame on the water surface catamaran;
s2, driving a winch to rotate, simultaneously controlling the propeller I to rotate reversely, enabling the roller brush to be attached to the wall surface of the dam, vibrating the hair by utilizing ultrasonic energy conversion to generate ultrasonic waves, and cleaning the wall surface; gradually lowering the cable to enable the detection robot to perform image acquisition and video recording from top to bottom along the vertical path;
s3. when the detection robot falls to a set depth, the winch stops rotating, the water surface catamaran is controlled to move transversely for a set distance, and the detection robot moves transversely for the same distance in the same direction under the pushing of the propeller II;
s4., driving the winch to rotate reversely, and using the cable to drive the detection robot to collect images and videos along a vertical path from bottom to top along the wall surface of the dam;
s5. when the inspection robot approaches the water surface, the capstan stops rotating, the water surface catamaran and the inspection robot move a certain distance again, then the steps s2 to s4 are repeated until the inspection of the dam wall surface setting range is completed;
s6. when the dam wall image acquisition is finished, the capstan is driven to rotate, the detection robot is made to float out of the water surface, and the detection robot is recovered to the water surface twin-hull ship through the hanging frame, and the whole detection process is finished.
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| CN2586651Y (en) * | 2002-10-22 | 2003-11-19 | 重庆宝达船舶工程有限公司 | High speed ship possessing hull linear broken-stage structure |
| CN105109649B (en) * | 2015-08-24 | 2018-02-16 | 欧舶智能科技（上海）有限公司 | It is a kind of that the underwater vector propeller flexibly turned to is realized using Coanda effect |
| CN105197206B (en) * | 2015-10-23 | 2017-12-22 | 苏州蛟视智能科技有限公司 | A kind of rope drives underwater detecting robot |
| CN207308511U (en) * | 2017-09-12 | 2018-05-04 | 云南白药集团中药资源有限公司 | A kind of ultrasonic cleaning pond |
| CN108016586A (en) * | 2018-01-04 | 2018-05-11 | 西南石油大学 | A kind of small-sized hanging underwater robot platform device |
| EP3584152B1 (en) * | 2018-06-19 | 2023-06-07 | Airbus Operations, S.L.U. | Method for manufacturing a multi-spar box with a continuous skin upper shell of a tail cone section for a rear end of an aircraft and a composite assembly |
| CN209311678U (en) * | 2018-09-14 | 2019-08-27 | 天津海之星水下机器人有限公司 | Comprehensive survey robot system under multifunctional water |
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2020
- 2020-08-10 CN CN202010796790.4A patent/CN112362093B/en active Active
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