CN112835049A - Underwater sludge thickness detection robot and system thereof - Google Patents
Underwater sludge thickness detection robot and system thereof Download PDFInfo
- Publication number
- CN112835049A CN112835049A CN202110171591.9A CN202110171591A CN112835049A CN 112835049 A CN112835049 A CN 112835049A CN 202110171591 A CN202110171591 A CN 202110171591A CN 112835049 A CN112835049 A CN 112835049A
- Authority
- CN
- China
- Prior art keywords
- robot
- underwater
- sludge thickness
- water
- underwater sludge
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 239000010802 sludge Substances 0.000 title claims abstract description 53
- 238000001514 detection method Methods 0.000 title claims abstract description 25
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 55
- 238000012544 monitoring process Methods 0.000 claims description 13
- 230000005540 biological transmission Effects 0.000 claims description 4
- 239000013049 sediment Substances 0.000 claims description 3
- 238000004140 cleaning Methods 0.000 abstract description 4
- 230000033001 locomotion Effects 0.000 description 4
- 230000000007 visual effect Effects 0.000 description 4
- 238000001816 cooling Methods 0.000 description 3
- 241000463219 Epitheca Species 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000035515 penetration Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000009933 burial Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000008094 contradictory effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 230000007903 penetration ability Effects 0.000 description 1
- 238000012805 post-processing Methods 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
- 238000001228 spectrum Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/08—Systems for measuring distance only
- G01S15/10—Systems for measuring distance only using transmission of interrupted, pulse-modulated waves
-
- 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
- B63C11/34—Diving chambers with mechanical link, e.g. cable, to a base
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Acoustics & Sound (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention is suitable for the technical field of underwater silt detection equipment, and discloses an underwater silt thickness detection robot and a system thereof, wherein the robot is suitable for detecting the underwater silt thickness in a non-open water area, and comprises: the system comprises an underwater positioning system, a shallow stratum profiler system, a propeller assembly, a control bin module and a shell; the underwater attitude, speed and direction adjustment is realized under the control of the propeller through the positioning navigation of the underwater positioning system, and the thickness and longitudinal distribution condition of the underwater sludge are detected and scanned by using the shallow stratum profiler system, so that the damage to the safe operation of related equipment possibly caused by a sludge structure can be obtained and evaluated, and a decision basis is provided for further cleaning the sludge.
Description
Technical Field
The invention relates to the technical field of underwater sludge detection equipment, in particular to an underwater sludge thickness detection robot and an underwater sludge thickness detection system.
Background
At present, the sludge detection technology is implemented by sailing a ship or an unmanned ship carrying equipment on the water surface in open water areas such as oceans, rivers, artificial lakes and the like, and GPS positioning and navigation are needed. For non-open water areas such as water areas in buildings and tunnels, the antenna cannot work normally, and the GPS cannot be used for positioning and navigation. In addition, in the prior art, a ship or a robot carries a multi-beam scanning system to carry out fan-shaped propulsion scanning on underwater sludge, the scanning speed is high, a 3D (three-dimensional) sludge surface topographic effect map can be output, but a sludge thickness and a detailed sludge layered structure map cannot be given, namely the sludge thickness and the longitudinal distribution condition thereof cannot be measured.
Especially, in the non-open water areas such as the front pool of a water-taking pump room of a nuclear power station or a water-taking port of the pump room, and under the condition that the upper surface of water is very close to a building structure (such as a cross beam), enough space cannot be ensured to enable a ship body to carry an antenna to float on the water surface to advance, and navigation and positioning cannot be executed. And facilities in non-open water areas such as nuclear power stations and the like are complex, have the characteristics of long distance, high water flow speed, easy growth of marine organisms and the like, need to be shut down periodically to clean the marine organisms, settled sand and silt, and because the thick silt can influence the water flow, the nuclear power water cooling system has insufficient water flow, can influence the cooling effect, and is easy to cause cooling safety accidents. However, at present, no robot equipment capable of detecting the thickness of underwater sludge under the conditions that the water area in a building, the water area in a tunnel, the upper surface of the water area is close to a building and the like can be completed for a long time is available, and decision basis is provided for underwater sludge cleaning work.
Disclosure of Invention
The invention aims to provide an underwater sludge thickness detection robot, which aims to solve the technical problems of detecting the sludge thickness and the sludge thickness structure in a water area in a building, a water area in a tunnel and a non-open water area with a horizontal plane close to a building structure, and can effectively solve the problems of limited manual underwater operation and reduction of the safety risk of personnel underwater operation.
The second purpose of the invention is to provide an underwater sludge thickness detection system, which utilizes an underwater detection robot to communicate with a shore-based platform in a non-open water area, so as to detect the thickness of sludge in the water area and the distribution condition of a longitudinal sludge layer structure thereof, so as to accurately obtain and evaluate the possible damage of the sludge structure to the safe operation of related equipment, and provide a decision basis for further cleaning the sludge.
In order to achieve the purpose, the invention provides the following scheme:
an underwater sludge thickness detecting robot for underwater sludge thickness detection in a non-open water area, the robot comprising:
the underwater positioning system is used for carrying out real-time underwater positioning on the robot;
the shallow stratum profiler system is used for detecting the profile structure of the water bottom sludge, and identifying and acquiring the depths of different layered structures relative to a bottom bed;
a thruster assembly for controlling the propulsion of the advancing attitude of the robot in the water;
the control bin module is used for realizing the control of the underwater working state of the robot;
the shell is used for providing buoyancy and accommodating space;
the underwater positioning system, the shallow stratum profiler system and the thruster assembly are all connected with the control cabin module; and the underwater positioning system, the shallow stratum profiler system, the propeller assembly and the control cabin module are all arranged in the accommodating space.
Furthermore, the underwater positioning system comprises an inertial navigation system and an auxiliary navigation system, wherein the inertial navigation system is used for acquiring positioning information of the real-time speed, attitude, position and course of the robot under water, and the auxiliary navigation system is used for correcting the positioning information of the inertial navigation system.
Further, the auxiliary navigation system comprises a Doppler log, a high-precision pressure sensor and a surface sound velocity sensor, wherein the Doppler log is used for correcting the position error of the positioning information of the inertial navigation system, the high-precision pressure sensor is used for correcting the height error of the positioning information of the inertial navigation system, and the surface sound velocity sensor is used for measuring the sound velocity in water.
Further, the shallow stratum profiler system comprises a control unit and a transducer array, wherein the control unit is arranged in a sealed cabin of the accommodating space, the transducer array is arranged at the bottom of the robot and is connected with the transducer array, and the transducer array is used for transmitting and receiving acoustic pulses for detecting underwater sediments.
Further, the robot still include with the visual system that control storehouse module is connected, visual system includes ring scan sonar, camera and LED lamp, ring scan sonar set up in the top of robot, camera and LED lamp correspond set up in one side of robot.
Further, be equipped with the safety monitoring subassembly in the control storehouse module, the safety monitoring subassembly includes temperature sensor, humidity transducer and pressure sensor, the safety monitoring subassembly is used for real-time supervision the operational environment of control storehouse module.
Further, the robot still include with the power supply storehouse that the control storehouse module is connected, the power supply storehouse includes electrical power generating system and group battery, electrical power generating system is used for being connected with bank base platform and for the work power supply of robot, the group battery is used for working as electrical power generating system continues to be when supplying absolutely the robot power supply.
Further, the shell comprises a buoyancy upper shell and a frame lower shell, and the buoyancy upper shell and the frame lower shell are enclosed to form the accommodating space.
Furthermore, mounting holes are formed in the periphery of the top of the buoyancy upper shell, the mounting holes are obliquely arranged from the top of the buoyancy upper shell to the side edge, and the mounting holes are used for accommodating the propeller assembly.
Further, the propeller subassembly includes the first propeller of a plurality of and second propeller, first propeller is used for control the propulsion of robot in vertical direction, the second propeller is used for control the propulsion of robot in the horizontal direction, just first propeller set up in the mounting hole, the second propeller set up in around the frame inferior valve.
Still further, the top of robot is provided with the hoist and mount couple, the hoist and mount couple be used for with the robot hoist and mount offal or retrieve.
The underwater sludge thickness detection system comprises a shore-based platform and the robot, wherein the shore-based platform is connected with the robot through an umbilical cable to realize power supply and information transmission.
The underwater detection robot has the advantages that the underwater detection robot is used for communicating with the shore-based platform in the non-open water area, the robot is positioned and navigated through the inertial navigation system, underwater posture, speed and direction adjustment is achieved under the control of the propeller, the robot can move according to a preset navigation mode, the depth of underwater sludge is detected and scanned by the shallow profiler system, so that damage to relevant equipment possibly caused by the sludge structure can be obtained and evaluated, and a decision basis is provided for further cleaning the sludge.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
FIG. 1 is a schematic structural diagram of an underwater sludge thickness detection robot provided in an embodiment;
fig. 2 is an exploded view of fig. 1.
Reference numerals:
100-a robot;
1-an underwater positioning system; 11-an inertial navigation system; 12-an assisted navigation system; 121-doppler log; 122-high precision pressure sensor; 123-surface sound speed sensor;
2-a shallow profiler system; 21-a control unit 21; 22-a transducer array;
3-a thruster assembly; 31-a first propeller; 32-a second propeller;
4-control the storehouse module;
5-a housing; 51-a buoyant upper shell; 511-mounting holes; 52-lower frame shell;
6-visual system; 61-ring scan sonar; 62-a camera; 63-LED lamps;
7-a power supply bin;
8-hoisting the hook.
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.
It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.
It will also be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.
In addition, the descriptions related to "first", "second", etc. in the present invention are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
As shown in fig. 1-2, an underwater sludge thickness detecting robot 100 according to an embodiment of the present invention is mainly used for detecting underwater sludge thickness in a water area in a building, a water area in a tunnel, and a non-open water area where a horizontal plane is closer to a building structure (e.g., a beam), and the robot 100 includes:
the underwater positioning system 1 is used for carrying out real-time underwater positioning on the robot;
the shallow stratum profiler system 2 is used for detecting the profile structure of the water bottom sludge, and identifying and acquiring the depths of different layered structures relative to a bottom bed;
the propeller component 3 is used for controlling the propulsion of the advancing posture of the robot in water;
the control bin module 4 is used for controlling the underwater working state of the robot;
a housing 5 for providing buoyancy and a receiving space;
the underwater positioning system 1, the shallow stratum profiler system 2 and the thruster component 3 are all connected with the control cabin module 4 to realize the transmission of information and the control of working state; and the underwater positioning system 1, the shallow stratum profiler system 2, the propeller assembly 3 and the control cabin module 4 are all arranged in the accommodating space.
In this embodiment, the underwater positioning system 1 includes an inertial navigation system 11 and an auxiliary navigation system 12, the inertial navigation system 11 is an optical fiber inertial navigation system, is loaded in a waterproof sealed cabin, and is suitable for a working environment with radiation and magnetic field interference, and the inertial navigation system 11 can obtain data information such as real-time speed, position, attitude, and heading of the robot 100 according to a starting point position, longitude, latitude, and height bound manually or automatically (when satellite signals are valid).
In the present embodiment, the inertial navigation system 11 is an autonomous navigation system, and in order to prevent the error divergence phenomenon of autonomous navigation due to the time increase, the autonomous navigation system is modified by using data of the auxiliary navigation system 12, where the auxiliary navigation system 12 includes a doppler log 121, a high-precision pressure sensor 122, and a surface acoustic velocity sensor 123. The doppler log 121 is a sonar device for measuring the underwater velocity, and is an underwater acoustic navigation device for measuring the underwater motion velocity and course of the robot, and is suitable for the precise navigation and positioning of the underwater detection robot 100, and for correcting the position error of the positioning information of the inertial navigation system 11; the high-precision pressure sensor 122 can adopt MiniIPS to measure water depth and is used for correcting height errors of positioning information of the inertial navigation system; the surface sound velocity sensor 123 is used to measure the sound velocity in water.
In this embodiment, the shallow profiler system 2 can be a full spectrum broadband Frequency Modulation (FM) shallow profiler having excellent penetration ability and providing a high resolution layered image of the formation, and includes a control unit 21 and a transducer array 22, the control unit 21 is disposed in a waterproof sealed chamber, the transducer array 22 is disposed at the bottom of the robot and faces the water bottom, the control unit 21 is connected to the transducer array 22, and the transducer array is configured to emit an acoustic pulse and receive a reflected echo pulse for detecting underwater sediments. The shallow stratum profiler system 2 utilizes the propagation and reflection characteristics of sound waves in an underwater stratum to find out the structural condition of the underwater stratum, emits sound pulses to the underwater stratum or a target object, utilizes the law of different acoustic impedances of interfaces encountered during sound pulse propagation, receives and records the reflected part through the transducer array 22, forms a wave form diagram after processing, and outputs a shallow stratum acoustic recording section capable of reflecting the acoustic characteristics of the stratum, so that the shallow stratum acoustic recording section can be used for standard shallow stratum section layering, and can also be used for measuring the positioning and the burial depth of a buried pipeline, the penetration section depth can reach 20 meters at most, and the vertical resolution can reach the centimeter level.
In this embodiment, to avoid the robot 100 from hitting equipment or obstacles such as a nuclear power plant forebay fine grid, a coarse grid, and forebay walls during travel, the robot 100 further includes a vision system 6 connected to the control cabin module 4. The visual system includes ring scan sonar 61, camera 62 and LED lamp 63, and ring scan sonar 61 sets up in the top of robot 100, and camera and LED lamp correspond and set up in one side of robot. Aiming at turbid water quality, the underwater direct camera 62 and the high lumen LED lamp 63 cannot be seen in a long distance, the Ping 360-ring scan sonar ranging is selected, the maximum visual distance in the turbid water can reach 50 meters, and an audio frequency lens is used to generate a high-definition sonar which is almost equal to an image quality image in a dark turbid water body. In consideration of the underwater low-light condition, the camera 62 and the two large lumen LED lamps 63 are configured, and the relative distance between the robot 100 and equipment or obstacles can be monitored in real time through a shore-based platform (not shown) connected with the robot 100, so that the safe distance for the robot 100 to work is ensured.
In this embodiment, a safety monitoring component (not shown) is disposed in the control cabin module 4, the safety monitoring component includes a temperature sensor (not shown), a humidity sensor (not shown), and a pressure sensor (not shown), the temperature sensor is used for monitoring an operating temperature in the control cabin in real time, the humidity sensor is used for monitoring a humidity in the control cabin in real time, the pressure sensor is used for monitoring a water depth of the robot in real time, the safety monitoring component monitors a working environment of the control cabin module 4 in real time, and the robot 100 is guaranteed to work in a safe environment.
In this embodiment, the robot further includes a power supply bin 7 connected to the control bin module 4, where the power supply bin 7 includes a power supply system (not shown) and a battery pack (not shown), the power supply system may be connected to the shore-based platform through an umbilical cable for supplying power, and the power supply system is subjected to voltage reduction processing to obtain low-voltage direct currents at different levels required in the robot 100, so as to ensure continuous operation of the robot; the battery pack can be used as a backup battery to ensure normal communication between the robot 100 and the shore-based platform under the condition of external power supply and power failure, and maintain the robot 100 to continue to stably and safely suspend and return to the water surface.
In this embodiment, the outer shell 5 includes a buoyant upper shell 51 and a frame lower shell 52, and the buoyant upper shell 51 and the frame lower shell 52 are buckled and enclosed to form an accommodating space. The buoyancy upper shell 51 is made of buoyancy materials and provides buoyancy for the robot 100 in water, the buoyancy upper shell 51 and the frame lower shell 52 form an open-frame structure, the underwater positioning system 1, the superficial stratum profiler system 2, the control cabin module and the like in the robot 100 can be carried in the frame lower shell 52, the structure is simple, and design and installation of each module are facilitated.
In this embodiment, the thruster assembly 3 includes four first thrusters 31 and four second thrusters 32, the first thrusters are used for controlling the propulsion of the robot in the vertical direction, the second thrusters are used for controlling the propulsion of the robot in the horizontal direction, and the robot 100 can be precisely controlled by the eight thrusters to complete the adjustment of the motions such as floating, submerging, advancing, retreating, translating and rotating. Specifically, mounting holes 511 have been seted up around the top of buoyancy epitheca 51, and mounting holes 511 from the top of buoyancy epitheca 51 to the side tilting setting, and four first propellers 31 set up respectively with four mounting holes 51 in, four second propellers 32 set up respectively around frame inferior valve 52 top, and second propeller 32 is two liang of central symmetry formula settings.
In this embodiment, a hoisting hook 8 is provided on the top of the robot 100, and the hoisting hook 8 is used for hoisting the robot 100 to a target position or recovering the water.
An underwater sludge thickness detection system comprises a shore-based platform and the robot 100 in any one of the embodiments, wherein the shore-based platform is connected with the robot 100 through an umbilical cable to realize power supply and information transmission. The robot 100 navigates according to a preset air route, the thickness and the structure of underwater sludge in a water area are detected, the underwater state of the robot 100 can be monitored in real time through the shore-based platform, and the complete thickness and the structure distribution map of the underwater sludge can be obtained after post-processing is carried out on data acquired by the robot 100 through the shore-based platform.
The invention has the advantages that:
1. the robot can be used for detecting the thickness and the structure of underwater silt in a non-open water area, such as a water area in a building, a water area in a tunnel, a water area on the upper surface of the water area, which is close to the building, and the like;
2. the thickness and the longitudinal distribution condition of the sludge in the water area are detected by adopting a shallow stratum profiler measuring system, the maximum penetration profile depth can reach 20m, and the vertical resolution of the surface can reach centimeter level;
3. the underwater inertial navigation system is adopted for real-time positioning and navigation, and the robot can realize the adjustment of underwater posture, speed and direction under the control of the propeller;
4. the robot adopts an open-frame structure, has simple structure, small body and flexible movement, and can adapt to complex underwater environment.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (12)
1. An underwater sludge thickness detecting robot for underwater sludge thickness detection in a non-open water area, the robot comprising:
the underwater positioning system is used for carrying out real-time underwater positioning on the robot;
the shallow stratum profiler system is used for detecting the profile structure of the water bottom sludge, and identifying and acquiring the depths of different layered structures relative to a bottom bed;
a thruster assembly for controlling the propulsion of the advancing attitude of the robot in the water;
the control bin module is used for realizing the control of the underwater working state of the robot;
the shell is used for providing buoyancy and accommodating space;
the underwater positioning system, the shallow stratum profiler system and the thruster assembly are all connected with the control cabin module; and the underwater positioning system, the shallow stratum profiler system, the propeller assembly and the control cabin module are all arranged in the accommodating space.
2. An underwater sludge thickness detecting robot as claimed in claim 1, wherein the underwater positioning system comprises an inertial navigation system for acquiring the positioning information of the real-time speed, attitude, position and heading of the robot underwater and an auxiliary navigation system for correcting the positioning information of the inertial navigation system.
3. An underwater sludge thickness detecting robot as claimed in claim 2, wherein the auxiliary navigation system includes a doppler log for performing position error correction of the positioning information of the inertial navigation system, a high-precision pressure sensor for performing height error correction of the positioning information of the inertial navigation system, and a surface acoustic velocity sensor for measuring acoustic velocity in water.
4. The underwater sludge thickness detection robot as claimed in claim 1, wherein the shallow layer profiler system comprises a control unit and a transducer array, the control unit is disposed in the sealed cabin of the accommodating space, the transducer array is disposed at the bottom of the robot, and the control unit is connected with the transducer array, and the transducer array is used for transmitting and receiving acoustic pulses for detecting underwater sediments.
5. An underwater sludge thickness detection robot as claimed in claim 1, further comprising a vision system connected with the control cabin module, wherein the vision system comprises a ring scan sonar arranged at the top of the robot, a camera and an LED lamp correspondingly arranged at one side of the robot.
6. The underwater sludge thickness detection robot as claimed in claim 1, wherein a safety monitoring component is arranged in the control cabin module, the safety monitoring component comprises a temperature sensor, a humidity sensor and a pressure sensor, and the safety monitoring component is used for monitoring the working environment of the control cabin module in real time.
7. An underwater sludge thickness detecting robot as claimed in claim 1, wherein the robot further comprises a power supply bin connected to the control bin module, the power supply bin comprising a power supply system and a battery pack, the power supply system being adapted to be connected to a shore-based platform and to supply power for the operation of the robot, the battery pack being adapted to continue to supply power to the robot when the power supply system is disconnected.
8. An underwater sludge thickness detecting robot as claimed in any one of claims 1 to 7, wherein the outer casing comprises a buoyant upper casing and a frame lower casing, and the buoyant upper casing and the frame lower casing enclose to form the accommodating space.
9. The underwater sludge thickness detection robot as claimed in claim 8, wherein mounting holes are formed around the top of the buoyant upper shell, the mounting holes are obliquely arranged from the top to the side of the buoyant upper shell, and the mounting holes are used for accommodating the propeller assembly.
10. An underwater sludge thickness detecting robot as claimed in claim 9, wherein the propeller assembly includes a plurality of first propellers for controlling the propulsion of the robot in a vertical direction and second propellers for controlling the propulsion of the robot in a horizontal direction, and the first propellers are disposed in the mounting holes and the second propellers are disposed around the lower frame shell.
11. An underwater sludge thickness detecting robot as claimed in claim 1, wherein a lifting hook is provided on the top of the robot, and the lifting hook is used for lifting the robot into water or recovering water.
12. An underwater sludge thickness detection system, wherein the detection system comprises a shore-based platform and a robot as claimed in any one of claims 1 to 11, wherein the shore-based platform is connected to the robot via an umbilical cable for power supply and information transmission.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110171591.9A CN112835049A (en) | 2021-02-08 | 2021-02-08 | Underwater sludge thickness detection robot and system thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110171591.9A CN112835049A (en) | 2021-02-08 | 2021-02-08 | Underwater sludge thickness detection robot and system thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112835049A true CN112835049A (en) | 2021-05-25 |
Family
ID=75930945
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110171591.9A Pending CN112835049A (en) | 2021-02-08 | 2021-02-08 | Underwater sludge thickness detection robot and system thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112835049A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113671508A (en) * | 2021-08-19 | 2021-11-19 | 江南大学 | Underwater sludge measuring method, device and system |
| CN114440868A (en) * | 2021-12-24 | 2022-05-06 | 宜昌测试技术研究所 | Underwater navigation equipment module cabin capable of being calibrated independently |
| CN114593892A (en) * | 2022-03-25 | 2022-06-07 | 中国船舶科学研究中心 | Underwater test device for marine equipment and operation method thereof |
| CN115123504A (en) * | 2022-08-31 | 2022-09-30 | 应急管理部国家自然灾害防治研究院 | Underwater detection robot device for artificial island revetment and breakwater structure displacement |
| CN116902180A (en) * | 2023-09-05 | 2023-10-20 | 深之蓝海洋科技股份有限公司 | Underwater carrying device |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102305944A (en) * | 2011-07-28 | 2012-01-04 | 李典基 | Underwater sedimentation amount detecting analysis processing system |
| US20140261138A1 (en) * | 2013-03-15 | 2014-09-18 | Hadal, Inc. | Systems and methods for a robust underwater vehicle |
| CN105159320A (en) * | 2014-08-12 | 2015-12-16 | 天津北洋蓝水科技有限公司 | Underwater target detection platform system suitable for complex water area and using method thereof |
| CN106638456A (en) * | 2016-12-30 | 2017-05-10 | 浙江广川工程咨询有限公司 | Integrated ecological desilting design method for large and medium-sized reservoirs |
| CN110806209A (en) * | 2019-11-25 | 2020-02-18 | 湖北三峡职业技术学院 | Underwater robot multi-device combined navigation system and method |
| CN111580113A (en) * | 2020-06-21 | 2020-08-25 | 黄河勘测规划设计研究院有限公司 | River course storehouse bank underwater topography and silt thickness survey system |
| CN215180879U (en) * | 2021-02-08 | 2021-12-14 | 广东景奕装备技术有限公司 | Underwater sludge thickness detection robot and system thereof |
-
2021
- 2021-02-08 CN CN202110171591.9A patent/CN112835049A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102305944A (en) * | 2011-07-28 | 2012-01-04 | 李典基 | Underwater sedimentation amount detecting analysis processing system |
| US20140261138A1 (en) * | 2013-03-15 | 2014-09-18 | Hadal, Inc. | Systems and methods for a robust underwater vehicle |
| CN105159320A (en) * | 2014-08-12 | 2015-12-16 | 天津北洋蓝水科技有限公司 | Underwater target detection platform system suitable for complex water area and using method thereof |
| CN106638456A (en) * | 2016-12-30 | 2017-05-10 | 浙江广川工程咨询有限公司 | Integrated ecological desilting design method for large and medium-sized reservoirs |
| CN110806209A (en) * | 2019-11-25 | 2020-02-18 | 湖北三峡职业技术学院 | Underwater robot multi-device combined navigation system and method |
| CN111580113A (en) * | 2020-06-21 | 2020-08-25 | 黄河勘测规划设计研究院有限公司 | River course storehouse bank underwater topography and silt thickness survey system |
| CN215180879U (en) * | 2021-02-08 | 2021-12-14 | 广东景奕装备技术有限公司 | Underwater sludge thickness detection robot and system thereof |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113671508A (en) * | 2021-08-19 | 2021-11-19 | 江南大学 | Underwater sludge measuring method, device and system |
| CN113671508B (en) * | 2021-08-19 | 2023-12-08 | 江南大学 | Underwater sludge measurement method, device and system |
| CN114440868A (en) * | 2021-12-24 | 2022-05-06 | 宜昌测试技术研究所 | Underwater navigation equipment module cabin capable of being calibrated independently |
| CN114440868B (en) * | 2021-12-24 | 2023-07-14 | 宜昌测试技术研究所 | Underwater navigation equipment module cabin capable of being calibrated independently |
| CN114593892A (en) * | 2022-03-25 | 2022-06-07 | 中国船舶科学研究中心 | Underwater test device for marine equipment and operation method thereof |
| CN115123504A (en) * | 2022-08-31 | 2022-09-30 | 应急管理部国家自然灾害防治研究院 | Underwater detection robot device for artificial island revetment and breakwater structure displacement |
| CN116902180A (en) * | 2023-09-05 | 2023-10-20 | 深之蓝海洋科技股份有限公司 | Underwater carrying device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112835049A (en) | Underwater sludge thickness detection robot and system thereof | |
| CN107580559B (en) | Water environment mobile robot | |
| CN209938902U (en) | Sound/light/magnetism comprehensive detection type unmanned underwater vehicle | |
| CN108045530A (en) | A kind of submarine cable detection underwater robot and operational method | |
| KR100478811B1 (en) | Autonomous underwater vehicle and operational method | |
| EP1381878B1 (en) | Positioning system | |
| CN215180879U (en) | Underwater sludge thickness detection robot and system thereof | |
| US20170350978A1 (en) | Deep water sonar imagining by multibeam echosounder | |
| AU2007313463A1 (en) | System and method for determining the position of an underwater vehicle | |
| EP2802092A1 (en) | System and method for seafloor exploration | |
| KR20200106598A (en) | Submarine topography exploration unmanned surface vessel including multi-beam echo sounder | |
| KR101987655B1 (en) | Unmanned boat for measuring underwater geographical feature | |
| EP3501966A1 (en) | An unmanned marine surface vessel | |
| EP3696078A1 (en) | A method and system for piloting an unmanned marine surface vessel | |
| US12110086B2 (en) | Methods and systems for surveying using deep-water vessels | |
| KR20190141341A (en) | Method for Inspection Underwater Structures Using Drone and Sonar | |
| JP2022145659A (en) | Coupling system between water surface relay machine and underwater vehicle, and operation method for the same | |
| KR102291611B1 (en) | towed marine observation platform for overcoming capsize | |
| CN114910024A (en) | Underwater sludge thickness detection method and system | |
| Watanabe et al. | Development of a floating LBL system and a lightweight ROV for sky to water system | |
| CN111650593A (en) | Submarine cable laying state probing system for offshore wind farm and working method of submarine cable laying state probing system | |
| CN219475828U (en) | Submarine pipeline internal inspection system | |
| Nakamura et al. | Acoustic Systems of the AUV" URASHIMA" | |
| WO2022196812A1 (en) | System for coupling aquatic relay machine and underwater cruising body, and operation method therefor | |
| RU2766365C1 (en) | Controlled mobile hydroacoustic buoy-beacon |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20210811 Address after: 523000 room 315, unit 1, building 1, No. 1, Keji ninth Road, Songshanhu Park, Dongguan City, Guangdong Province Applicant after: Guangdong Jingyi Equipment Technology Co.,Ltd. Address before: 523000 Room 301, unit 2, building 2, No.1, Keji 9 Road, Songshanhu Park, Dongguan City, Guangdong Province Applicant before: Guangdong Jingyi Intelligent Control Technology Co.,Ltd. |
|
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |