CN113883333B - Underwater pipeline inspection robot - Google Patents
Underwater pipeline inspection robot Download PDFInfo
- Publication number
- CN113883333B CN113883333B CN202111010325.4A CN202111010325A CN113883333B CN 113883333 B CN113883333 B CN 113883333B CN 202111010325 A CN202111010325 A CN 202111010325A CN 113883333 B CN113883333 B CN 113883333B
- Authority
- CN
- China
- Prior art keywords
- holder
- groups
- carrying support
- assembly
- inspection robot
- 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.)
- Active
Links
Images
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L1/00—Laying or reclaiming pipes; Repairing or joining pipes on or under water
- F16L1/26—Repairing or joining pipes on or under water
- F16L1/265—Underwater vehicles moving on the bottom
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
Abstract
The invention discloses an underwater pipeline inspection robot, which comprises: the fixed frame assembly consists of a plurality of groups of carrying support plates, and the plurality of groups of carrying support plates are fixedly connected with each other; the watertight cabin assembly is arranged among the multiple groups of carrying support plates and is fixedly connected with the carrying support plate positioned in the middle, the watertight cabin assembly comprises a transparent watertight cabin and a tripod head cover, the tripod head cover is detachably arranged at one end of the transparent watertight cabin, and an outgoing line interface is arranged at the other end of the transparent watertight cabin; a sensing device assembly for visual data acquisition; the power drive installation assembly is used for fixedly installing an external driver and consists of a plurality of groups of driver fixing rings which are respectively and horizontally or vertically installed on the fixed frame assembly. The underwater pipeline inspection robot has the beneficial effects of small limitation of hardware structure on function development, simple new function expansion, strong counterweight compatibility, low manufacturing cost and the like.
Description
Technical Field
The invention is applied to the field of pipeline inspection, in particular to an underwater pipeline inspection robot.
Background
At present, huge amounts of energy and materials are stored in the ocean, so that the greenhouse effect of the earth is increasingly strong, and the ocean energy development method has important significance. However, the underwater environment is dangerous and the diving depth of a person is limited, so that the underwater robot has become an important tool for developing the ocean. Traditional cabled underwater Robots (ROVs) are limited to cables, continuous work cannot be carried out autonomously, the manufacturing cost of the cableless underwater robots on the market is high, the cruising is difficult, the counterweight is difficult due to a fixed hardware structure, and new function development is limited. It is difficult to successfully develop new functions in different water environments. Therefore, the design of the underwater pipeline inspection robot system with high endurance and strong counterweight compatibility has a certain practical application value.
Disclosure of Invention
The invention aims to solve the technical problem of providing an underwater pipeline inspection robot aiming at the defects in the prior art.
In order to solve the technical problems, the invention provides an underwater pipeline inspection robot, which comprises:
the fixed frame assembly consists of a plurality of groups of carrying support plates, and the plurality of groups of carrying support plates are fixedly connected with each other;
the watertight cabin assembly is arranged among the multiple groups of carrying support plates and is fixedly connected with the carrying support plate positioned in the middle, the watertight cabin assembly comprises a transparent watertight cabin and a tripod head cover, the tripod head cover is detachably arranged at one end of the transparent watertight cabin, and an outgoing line interface is arranged at the other end of the transparent watertight cabin;
the sensing equipment assembly is used for acquiring visual data and is arranged in the inner cavity of the watertight cabin assembly;
the power drive installation assembly is used for fixedly installing an external driver and consists of a plurality of groups of driver fixing rings which are respectively and horizontally or vertically installed on the fixed frame assembly.
As one possible implementation manner, the number of the carrying support plates forming the fixed frame assembly is three, three groups of carrying support plates are arranged in parallel and are fixedly connected with each other through inter-plate support rods, and one ends of the three groups of carrying support plates are provided with flange fixing rings for fixedly connecting one ends of the three groups of carrying support plates with each other.
As one possible implementation manner, further, the sensing device assembly includes an adjustable mounting frame, a tracking camera and an identification camera, the adjustable mounting frame is fixedly mounted in the holder cover, the tracking camera and the identification camera are both mounted on the adjustable mounting frame, and the tracking camera and the identification camera can move relative to the adjustable mounting frame.
As a possible implementation manner, further, the adjustable mounting frame comprises a holder fixing ring, the holder fixing ring is fixedly mounted on the holder cover, a first holder and a second holder are arranged on the holder fixing ring, the first holder is fixedly connected with the holder fixing ring, the second holder can be vertically displaced and adjusted relative to the holder fixing ring, a third holder capable of being turned relative to the first holder to perform angle adjustment is arranged on the first holder, the tracking camera is fixedly mounted on the third holder, and the identification camera is fixedly mounted on the second holder.
As a possible implementation manner, the number of the driver fixing rings which are horizontally arranged is four, the driver fixing rings are respectively arranged at two ends of the fixing frame assembly, and the axial direction of the installation position of the driver fixing rings and the axis of the fixing frame assembly form an angle of 45 degrees to the two ends of the fixing frame assembly.
As a possible implementation manner, the number of the driver fixing rings which are vertically arranged is two, the driver fixing rings are respectively arranged at two sides of the fixing frame assembly, penetrate through the middle object carrying support plate and are fixedly connected with the middle object carrying support plate, and the object carrying support plate is a yielding space when the object carrying support plate is provided with power output.
As a possible implementation manner, the driver fixing ring is formed by buckling two groups of semi-annular assemblies with wing plates, and parallel mounting holes, vertical mounting holes and clamping holes are symmetrically formed in the driver fixing ring.
As a possible implementation manner, further, one end of the transparent watertight cabin far away from the tripod head cover is provided with a sealed outlet interface.
As a possible embodiment, further, it further includes:
the master control circuit comprises a PCB serving as a control carrier and an STM32F407ZGT6 chip serving as a master control chip.
As a possible implementation manner, further, the main control circuit further includes a gyroscope MPU6050 module for sensing the gesture of the inspection robot.
The invention adopts the technical scheme and has the following beneficial effects: the underwater pipeline inspection robot has the beneficial effects of small limitation of hardware structure on function development, simple new function expansion, strong counterweight compatibility, low manufacturing cost and the like. And continuously acquiring underwater environment information by using the camera, and controlling the driver according to the information acquired by the camera, so as to realize tracking of the underwater pipeline. In addition, on backup pad and carrier, with the help of the bracing piece between the board, can realize easily that the focus adjustability of robot and the continuation of journey of robot have greatly improved with fixed weight piece, increase the adaptability to different water environment, improved the compatibility to novel function.
Drawings
The invention is described in further detail below with reference to the attached drawings and detailed description:
FIG. 1 is a schematic view of an underwater pipeline inspection robot in the visible direction of a flange fixing ring;
FIG. 2 is a schematic view of an underwater pipeline inspection robot in the visible direction of a cradle head cover;
FIG. 3 is a schematic view of a cradle head structure of a loading tracking camera of the present invention;
fig. 4 is a schematic diagram of a structure of a cradle head for loading and identifying a camera according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
As shown in fig. 1 to 4, the present invention provides an underwater pipeline inspection robot, comprising:
the fixed frame assembly 1 consists of a plurality of groups of carrying support plates 11, and the plurality of groups of carrying support plates 11 are fixedly connected with each other; the number of the carrying support plates 11 forming the fixed frame assembly 1 is three, three groups of carrying support plates 11 are arranged in parallel and are fixedly connected with each other through inter-plate support rods 12, and one ends of the three groups of carrying support plates 11 are provided with flange fixing rings 13 for fixedly connecting one ends of the three groups of carrying support plates 11 with each other. The three groups of carrying support plates 11 can rivet a balancing weight to be needed; the support plates are supported by the hexagonal support columns to keep the machine body fixed, when the inspection work function of the robot is enhanced, the structure of the robot is changed, the balance center of gravity and an electric control program of the robot are offset, and weight blocks can be added at any positions between the support plates, so that the balance problem of the robot is improved. The electric control part can be reprogrammed through a closeable outlet preset at one end of the watertight cabin connected with the flange fixing ring, and the established procedure of the robot is improved.
The watertight cabin assembly 2 is arranged among the multiple groups of carrying support plates 11 and is fixedly connected with the carrying support plates 11 positioned in the middle, the watertight cabin assembly 2 comprises a transparent watertight cabin 21 and a tripod head cover 22, watertight rubber rings are embedded in the watertight cabin assembly, and the watertight function of the transparent watertight cabin is realized; the cradle head cover 22 is detachably arranged at one end of the transparent watertight cabin 21, and the other end of the transparent watertight cabin 21 is provided with an outgoing line interface which is connected with a main control chip in the cabin and an external driver; the transparent watertight compartment 21 is provided with a sealed outlet at the end remote from the cradle head cover 22 for an operator to program the electrical parts in the compartment.
The sensing equipment assembly 3 is used for visual data acquisition and is arranged in the inner cavity of the watertight cabin assembly 2; the sensing device assembly 3 comprises an adjustable mounting frame 31, a tracking camera 32 and an identification camera 33, wherein the adjustable mounting frame 31 is fixedly installed in the holder cover 22 to support the camera to sense the water environment in the cabin, the tracking camera 32 and the identification camera 33 are both installed on the adjustable mounting frame 31, and the tracking camera 32 and the identification camera 33 can move relative to the adjustable mounting frame 31. The adjustable mounting rack 31 comprises a holder fixing ring 311, the holder fixing ring 311 is fixedly mounted on the holder cover 22, a first holder 312 and a second holder 313 are arranged on the holder fixing ring 311, the first holder 312 is fixedly connected with the holder fixing ring 311, the second holder 313 can be vertically displaced and adjusted relative to the holder fixing ring 311, a third holder 314 capable of being turned relative to the first holder 312 for angle adjustment is arranged on the first holder 312, the tracking camera 32 is fixedly mounted on the third holder 314, and the identification camera 33 is fixedly mounted on the second holder 313. Two intelligent cameras are adopted to respectively collect underwater pipeline information and underwater foreign matter information. With reference to the working requirements, a third tripod 314 capable of rotating around the shaft is designed, and the angle of the camera is adjusted. The cradle 12 is connected to the cradle 16 via a strut, and the second cradle 313 can be regarded as a single degree of freedom cradle when moving, so as to adjust the working field of view of the foreign object recognition camera. The line inspection camera can acquire data of the underwater pipeline, binarize the acquired image information, obtain a median line of the pipeline based on a linear regression algorithm, calculate intercept errors and angle errors of the underwater pipeline inspection robot on the pipeline, and transmit the intercept errors and the angle errors back to the singlechip to control the action of the driver. After the recognition camera detects the target object, the RGB lamp is controlled to perform flickering alarm.
The power drive installation assembly 4 is used for fixedly installing an external driver, the power drive installation assembly 4 is composed of a plurality of groups of driver fixing rings 41, and the driver fixing rings 41 are respectively and horizontally or vertically installed on the fixed frame assembly 1. The number of the driver fixing rings 41 arranged horizontally is four, the driver fixing rings are respectively arranged at two ends of the fixed frame assembly 1, and the axial direction of the installation position of the driver fixing rings and the axis of the fixed frame assembly 1 form an angle of 45 degrees to open towards the two ends of the fixed frame assembly 1. When the robot normally operates, the resultant force generated by the two thrusters which are axisymmetric to each other can offset the component force in the transverse direction, so as to achieve the effect of forward movement. When the robot turns, the two symmetrical propellers of the phase axis generate differential speed, and the generated resultant force generates a transverse component force with opposite directions on the machine head (taking the cradle head cover as the machine head) and the machine tail (taking the flange fixing ring as the machine head) respectively, so that the effect of turning movement is achieved. The 45 ° angle drive has more excellent maneuverability than the 0 ° angle directional drive. When the robot is influenced by the water flow speed, the water environment density change or other working environments, the driver with the angle of 45 degrees can be better scheduled compared with the direction driver with the angle of 0 degrees after the running direction of the robot is deviated, the adjustment precision is finer, and the robot is better prevented from sinking into an oscillation link or a program to run. The number of the driver fixing rings 41 vertically arranged is two, and the driver fixing rings are respectively arranged at two sides of the fixed frame assembly 1, penetrate through the middle object carrying supporting plate 11 and are fixedly connected with the middle object carrying supporting plate, and the object carrying supporting plate 11 is a yielding space for power output. The driver fixing ring 41 is formed by buckling two groups of semi-annular assemblies with wing plates, and parallel mounting holes, vertical mounting holes and clamping holes are symmetrically formed in the driver fixing ring 41 to fix the driver.
The master control circuit comprises a PCB serving as a control carrier and an STM32F407ZGT6 chip serving as a master control chip. The main control circuit 5 further comprises a gyroscope MPU6050 module for sensing the gesture of the inspection robot.
While the foregoing is directed to embodiments of the present invention, other and further embodiments of the invention may be devised without departing from the basic scope thereof, and the scope thereof is determined by the claims that follow.
Claims (8)
1. An underwater pipeline inspection robot which is characterized in that: it comprises the following steps:
the fixed frame assembly consists of a plurality of groups of carrying support plates, and the plurality of groups of carrying support plates are fixedly connected with each other; the number of the carrying support plates forming the fixed frame assembly is three, three groups of carrying support plates are arranged in parallel and are fixedly connected with each other through support rods between the plates, and one ends of the three groups of carrying support plates are provided with flange fixing rings for fixedly connecting one ends of the three groups of carrying support plates with each other; the balancing weights required by the three groups of carrying support plates can be riveted;
the watertight cabin assembly is arranged among the multiple groups of carrying support plates and is fixedly connected with the carrying support plate positioned in the middle, the watertight cabin assembly comprises a transparent watertight cabin and a tripod head cover, the tripod head cover is detachably arranged at one end of the transparent watertight cabin, and an outgoing line interface is arranged at the other end of the transparent watertight cabin;
the sensing equipment assembly is used for acquiring visual data and is arranged in the inner cavity of the watertight cabin assembly;
the power drive installation assembly is used for fixedly installing an external driver and consists of a plurality of groups of driver fixing rings, and the driver fixing rings are respectively horizontally or vertically installed on the fixed frame assembly; the number of the driver fixing rings which are horizontally arranged is four, the driver fixing rings are respectively arranged at two ends of the fixed frame assembly, and the axial direction of the installation position of the driver fixing rings and the axis of the fixed frame assembly form an angle of 45 degrees to open towards the two ends of the fixed frame assembly.
2. An underwater pipeline inspection robot as claimed in claim 1, wherein: the sensing equipment assembly comprises an adjustable mounting frame, a tracking camera and an identification camera, wherein the adjustable mounting frame is fixedly installed in the holder cover, the tracking camera and the identification camera are both installed on the adjustable mounting frame, and the tracking camera and the identification camera can move relative to the adjustable mounting frame.
3. An underwater pipeline inspection robot as claimed in claim 2, wherein: the adjustable mounting rack comprises a holder fixed ring, the holder fixed ring is fixedly mounted on the holder cover, a first holder and a second holder are arranged on the holder fixed ring, the first holder is fixedly connected with the holder fixed ring, the second holder can be adjusted in a vertical displacement mode relative to the holder fixed ring, a third holder capable of adjusting an angle relative to the first holder in a overturning mode is arranged on the first holder, the tracking camera is fixedly mounted on the third holder, and the identification camera is fixedly mounted on the second holder.
4. An underwater pipeline inspection robot as claimed in claim 1, wherein: the fixed ring quantity of perpendicular setting for two install in fixed frame subassembly both sides respectively, run through middle part and carry the thing backup pad and rather than fixed connection, carry the thing backup pad to be the space of stepping down when its power take off of seting up.
5. An underwater pipeline inspection robot as claimed in claim 4, wherein: the driver fixing ring is formed by buckling two groups of semi-annular assemblies with wing plates, and parallel mounting holes, vertical mounting holes and clamping holes are symmetrically formed in the driver fixing ring.
6. The underwater pipeline inspection robot of claim 5 wherein: and a sealing outlet interface is arranged at one end of the transparent watertight cabin, which is far away from the holder cover.
7. An underwater pipeline inspection robot as claimed in claim 1, wherein: it also includes:
the master control circuit comprises a PCB serving as a control carrier and an STM32F407ZGT6 chip serving as a master control chip.
8. The underwater pipeline inspection robot of claim 7 wherein: the main control circuit also comprises a gyroscope MPU6050 module which is used for sensing the gesture of the inspection robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111010325.4A CN113883333B (en) | 2021-08-31 | 2021-08-31 | Underwater pipeline inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111010325.4A CN113883333B (en) | 2021-08-31 | 2021-08-31 | Underwater pipeline inspection robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113883333A CN113883333A (en) | 2022-01-04 |
| CN113883333B true CN113883333B (en) | 2023-04-28 |
Family
ID=79011810
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111010325.4A Active CN113883333B (en) | 2021-08-31 | 2021-08-31 | Underwater pipeline inspection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113883333B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114354082B (en) * | 2022-03-18 | 2022-05-31 | 山东科技大学 | Intelligent tracking system and method for submarine pipeline based on imitated sturgeon whisker |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102705632B (en) * | 2012-05-30 | 2014-01-01 | 浙江理工大学 | Bionic robot capable of extending to avoid obstacles |
| CN105020538B (en) * | 2015-08-04 | 2017-03-22 | 浙江水利水电学院 | Sewage pipe network diving robot and detection method |
| US10131057B2 (en) * | 2016-09-20 | 2018-11-20 | Saudi Arabian Oil Company | Attachment mechanisms for stabilzation of subsea vehicles |
| CN109849023B (en) * | 2019-04-10 | 2023-10-13 | 江苏方天电力技术有限公司 | Intelligent inspection robot system for rail suspension |
| CN211649750U (en) * | 2020-03-04 | 2020-10-09 | 张彦伟 | Road crack detector |
| CN212718678U (en) * | 2020-07-10 | 2021-03-16 | 南通理工学院 | Pipeline overhauls device based on underwater robot |
| CN215981440U (en) * | 2021-08-31 | 2022-03-08 | 厦门理工学院 | Underwater pipeline inspection robot |
-
2021
- 2021-08-31 CN CN202111010325.4A patent/CN113883333B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN113883333A (en) | 2022-01-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108639286B (en) | Control method of four-rotor spherical underwater robot | |
| CN107284653B (en) | A kind of multi-rotor aerocraft horizontal take-off regulating system and multi-rotor aerocraft | |
| CN106218840B (en) | A kind of dish-shaped submarine navigation device based on eddying motion | |
| KR101642494B1 (en) | Underwater robot having variable stucture capable of chaging thruster configuration | |
| CN104571124B (en) | Three-degree-of-freedom attitude simulation device for underwater vehicle | |
| CN113883333B (en) | Underwater pipeline inspection robot | |
| Yue et al. | Mechatronic system and experiments of a spherical underwater robot: SUR-II | |
| CN112683112B (en) | Optical platform and radar co-frame turntable system | |
| CN112093016B (en) | Underwater carrying device capable of adjusting posture and position feedback | |
| CN215981440U (en) | Underwater pipeline inspection robot | |
| CN110703197B (en) | Lateral measurement type inverted ultrashort baseline transmitting-receiving transducer and working mode thereof | |
| CN110733607B (en) | Group type unmanned boat laying and recycling system | |
| CN107244430B (en) | Magnetic hangs across the scale verifying device of the free pedestal space tasks of comprehensive compensation | |
| CN113148080A (en) | Underwater detection robot | |
| Xing et al. | Performance evaluation of a multi-vectored water-jet propellers device for an amphibious spherical robot | |
| Meyer et al. | Smart-E an autonomous omnidirectional underwater robot | |
| CN109263870B (en) | Six-degree-of-freedom motion platform based on vector multi-rotor system and control method thereof | |
| CN208708023U (en) | A kind of mounting structure of controller on carrier | |
| CN115871867A (en) | Detection and auxiliary operation robot device suitable for underwater complex working environment | |
| CN111348208A (en) | Anti-sweeping stable integrated multi-ring frame platform for airborne wide-area reconnaissance and monitoring application | |
| CN209972749U (en) | Annular single-drive underwater robot | |
| CN116289960A (en) | Marine wind torch type foundation penetration attitude control device and control method | |
| CN115929203A (en) | Underwater hovering drilling robot | |
| CN112722220B (en) | Detection system of underwater robot and operation method thereof | |
| CN105501418B (en) | A kind of diving outfit |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |