CN115727222A - Autonomous underwater vehicle for inspecting inner wall of submarine pipeline and working method thereof - Google Patents
Autonomous underwater vehicle for inspecting inner wall of submarine pipeline and working method thereof Download PDFInfo
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- CN115727222A CN115727222A CN202211458742.XA CN202211458742A CN115727222A CN 115727222 A CN115727222 A CN 115727222A CN 202211458742 A CN202211458742 A CN 202211458742A CN 115727222 A CN115727222 A CN 115727222A
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Abstract
The invention discloses an autonomous inspection underwater vehicle for the inner wall of a submarine pipeline and a working method thereof. The invention uses a gyroscope sensor and an acceleration sensor to realize the functions of preliminary self-positioning and attitude detection of the aircraft; three wide-angle cameras of the intelligent camera module and a reflective mark paved on the inner wall of the submarine pipeline form an optical positioning system, so that secondary self-positioning and attitude detection of the aircraft are realized; the control module formed by the raspberry group can automatically adjust the motion trail and the motion attitude of the navigation device by utilizing the propeller on the outer side according to the attitude and the position of the navigation device.
Description
Technical Field
The invention relates to an underwater vehicle, in particular to an autonomous inspection underwater vehicle for the inner wall of a submarine pipeline and a working method thereof.
Background
The submarine pipeline has the advantages of short laying period, high conveying efficiency, strong oil transportation capacity and the like, and is an important way for submarine oil and gas conveying. However, due to the influence of seawater corrosion, running abrasion, fishery activities and other factors, the submarine pipeline is easy to have accidents such as pipeline deformation, pipeline perforation, crack and even pipeline fracture. Therefore, in order to secure the safety of a subsea pipeline, the integrity of the pipeline needs to be checked periodically.
The submarine pipeline can reach dozens of kilometers in length, the track is complex, and the underwater unmanned vehicle is laid on the seabed, so that the artificial detection cost is high, and the danger is high, and therefore, the underwater unmanned vehicle is widely applied to the field of submarine pipeline detection. However, most of the conventional underwater vehicles are used for detecting the outer wall of the submarine pipeline, and due to the influence of factors such as terrain, part of the pipeline is buried in the seabed, and thus effective detection cannot be obtained. The detection of the inner wall of the pipeline often uses a pipeline robot connected in a wired manner, such as an existing crawling type detection robot, and the detection range of the equipment is limited by the length of the connecting cable.
Disclosure of Invention
The purpose of the invention is as follows: aiming at the problems, the invention aims to provide an autonomous inspection underwater vehicle for the inner wall of a submarine pipeline, which solves the problems of high use cost and low inspection efficiency of the traditional inspection device. And provides a working method thereof.
The technical scheme is as follows: the utility model provides a submarine pipeline inner wall is from moving about and patrols and examines underwater vehicle, including the navigation ware body, the navigation ware mainboard, intelligent camera module, reflection of light sign, the front end of navigation ware body is transparent buckler, the navigation ware mainboard is installed inside the navigation ware body with intelligent camera module respectively, intelligent camera module is located navigation ware body front end, intelligent camera module includes the mounting panel fixed with navigation ware body inner wall and installs the intelligent camera on the mounting panel, the flash light, intelligent camera module mainboard, the flash light sets up in mounting panel central authorities and towards transparent buckler, the intelligent camera uses the flash light as the center, it has three to be the circumference equipartition in its periphery, the flash light, intelligent camera passes through intelligent camera module mainboard and navigation ware mainboard signal connection respectively, reflection of light sign sets up along its length direction on submarine pipeline inner wall, be equipped with three reflection of light signs along its circumference interval on submarine pipeline inner perisporium.
Furthermore, the aircraft mainboard comprises a raspberry group control module, and a high-capacity battery, a gyroscope sensor, an acceleration sensor, an external data interface, a radiator and a memory which are respectively in signal connection with the raspberry group control module, wherein the high-capacity battery supplies power to the intelligent camera module, the aircraft body and the aircraft mainboard, and the intelligent camera module mainboard and the aircraft body are respectively in signal connection with the raspberry group control module. The intelligent camera module main board consists of an English WEIDA Jetson series development board.
The gyroscope sensor and the acceleration sensor can carry out preliminary self-positioning and attitude self-checking on the aircraft.
The raspberry group control module can perform logic judgment according to program setting, is used for automatically controlling tracking motion and attitude control of an aircraft and identifying the positions of three reflecting marks in a high-definition digital photo, calculates the position of the circle center of the section of the pipeline according to the characteristic that a triangle only has one circumscribed circle, obtains a contour map of the inner wall of the submarine pipeline, and accordingly achieves secondary self-positioning and attitude self-checking.
Preferably, the upper part of the large-capacity battery is provided with a quick charging interface, and the memory is a solid state disk or a flash memory device.
The quick charging interface arranged on the upper part of the large-capacity battery can carry out quick charging by opening the hatch cover at the tail part of the shell.
The memory is used for storing video files and high-definition digital photos shot by the intelligent camera.
Further, the vehicle body further comprises a waterproof cabin shell, a propeller assembly, a landing gear and a waterproof cabin cover, wherein the waterproof cabin shell is cylindrical, the front end of the waterproof cabin shell is connected with the transparent waterproof cover in a sealing mode, the rear end of the waterproof cabin shell is connected with the waterproof cabin cover in a sealing mode, the propeller assembly is installed on the outer peripheral face of the waterproof cabin shell, the two landing gear frames are symmetrically installed at the bottom of the waterproof cabin shell at intervals, the vehicle main board and the intelligent camera module are installed inside the waterproof cabin shell, and the propeller assembly is in signal connection with the vehicle main board.
Further, the propeller subassembly includes vertical propeller, horizontal propeller, and horizontal propeller is equipped with four, installs two at the relative both sides face of level of waterproof compartment shell symmetry interval respectively, and vertical propeller is equipped with threely, installs one respectively on the relative both sides face of level and the bottom surface of waterproof compartment shell, and the LED lamp is equipped with at horizontal propeller center.
The LED lamp is used for lighting, the vertical propeller and the horizontal propeller are powered by high-capacity batteries and are connected with the raspberry group control module, and the raspberry group control module controls the rotating direction and the rotating speed of the vertical propeller and the horizontal propeller according to the posture and the position of the aircraft, so that the aircraft is guaranteed to move along the inner axis of the pipeline.
Further, the aircraft body further comprises balancing weights, and one balancing weight is respectively installed at the front part and the rear part of each undercarriage.
The counterweight is used for adjusting the gravity center balance of the aircraft.
Optimally, the mounting plate of the intelligent camera module is disc-shaped, and the intelligent camera is a 120-degree wide-angle intelligent camera.
The intelligent camera shoots and records the condition of the inner wall of the pipeline in the whole process of the aircraft inspection process, once the reflective mark paved on the inner wall of the pipeline is detected, the flash lamp is automatically turned on, high-definition digital pictures are continuously shot, and then the digital pictures are transmitted to the raspberry dispatching control module.
Preferably, the transparent waterproof cover is a hemispherical toughened glass waterproof cover.
The waterproof cabin shell is in a long cylindrical shape, so that the self water pressure resistance can be effectively improved; the tail part of the waterproof cabin shell is provided with a waterproof cabin cover, so that a large-capacity battery can be charged conveniently, and a patrol video can be copied conveniently; the hemispherical toughened glass waterproof cover is arranged at the front end of the waterproof cabin shell, so that the video recording operation of 360 degrees can be conveniently carried out only by the camera module.
Preferably, the reflective marks are reflective tapes or a row of reflective points arranged along the extending direction of the submarine pipeline, the sequential connecting lines of the three reflective marks are inverted triangles, and the reflective marks are glass bead type or microprism type reflective films.
The working method of the autonomous inspection underwater vehicle for the inner wall of the submarine pipeline comprises the following steps:
the method comprises the following steps: laying three reflective marks on the inner wall of the submarine pipeline in the shape of an inverted triangle;
step two: inputting a submarine pipeline roadmap into a main board of an aircraft, and considering that the roadmap of a long-distance submarine pipeline usually has insufficient precision, the roadmap is used as reference for comparison;
step three: starting an underwater vehicle, putting the underwater vehicle into a submarine pipeline, and performing autonomous inspection on the pipeline;
step four: an intelligent camera of the head of the underwater vehicle is started to record video, and meanwhile, attitude detection and preliminary self-positioning are carried out according to data transmitted by a main board of the vehicle;
step five: detecting a reflective mark arranged on the inner wall of a submarine pipeline by an intelligent camera at the front end of the underwater vehicle, starting a flash lamp, taking a picture of the position of the reflective mark, calculating the position of the circle center of the section of the pipeline according to the characteristics that a triangle has one circumscribed circle and only one circumscribed circle by analyzing the position of the reflective mark in a high-definition digital picture, realizing secondary self-positioning and attitude detection of the underwater vehicle, and keeping a self route on the axis of the submarine pipeline;
step six: comparing the navigation track of the underwater vehicle with a submarine pipeline route map, confirming the position of the underwater vehicle in real time, adjusting the posture of the underwater vehicle in advance at the position of change of the pipeline track, and preparing corresponding six-degree-of-freedom motion;
step seven: after the underwater vehicle reaches a designated terminal point, the underwater vehicle automatically drives out of a submarine pipeline or returns to the original path;
step eight: and (4) closing the underwater vehicle by an operator, copying the video data, and detecting the integrity of the inner wall of the pipeline.
Has the beneficial effects that: compared with the prior art, the invention has the advantages that: according to the invention, a gyroscope and an acceleration sensor are utilized to carry out primary self-positioning and attitude self-checking of the aircraft, an intelligent wide-angle camera is used to shoot the internal condition of the submarine pipeline, the outline of the inner wall of the pipeline is identified by identifying the positions of 3 reflective marks in the pipeline according to the characteristic that a triangle has only one circumscribed circle, and the secondary self-positioning and attitude self-checking of the aircraft are realized based on an optical positioning principle. The aircraft shell is provided with a plurality of propellers, so that the aircraft can freely move in the direction of six degrees of freedom, and the endurance of the aircraft is ensured by the large-capacity battery arranged in the shell. In conclusion, the design of the aircraft provided by the invention does not need manual control and wired connection, can efficiently realize the autonomous inspection function of the inner wall of the submarine pipeline, and has the advantages of high detection efficiency, low production cost, strong practicability, convenience in use and the like.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic view of the structure of the internal components of the watertight compartment housing;
FIG. 3 is a schematic diagram of a smart camera module;
FIG. 4 is a schematic representation of a ground coordinate system and an aircraft own motion coordinate system;
FIG. 5 is a schematic view of the installation method of the submarine pipeline inner wall light-reflecting sign according to the present invention;
FIG. 6 is a schematic view of the positioning principle of the reflective markers on the inner wall of the submarine pipeline according to the present invention;
FIG. 7 is a flow chart of data signal transmission for the control system of the present invention;
figure 8 is a schematic view of the six axis motion of the aircraft.
Detailed Description
The present invention will be further illustrated with reference to the accompanying drawings and specific examples, which are to be construed as merely illustrative and not a limitation of the scope of the invention.
An autonomous underwater vehicle for inspecting the inner wall of a submarine pipeline comprises a vehicle body, a vehicle mainboard 21, an intelligent camera module 31 and a reflective mark, wherein the vehicle body comprises a transparent waterproof cover 16, a waterproof cabin shell 11, a propeller assembly, an undercarriage 14, a waterproof cabin cover 15 and a balancing weight 17, and the propeller assembly comprises a vertical propeller 12 and a horizontal propeller 13. The transparent waterproof cover 16 is a hemispherical tempered glass waterproof cover.
The waterproof cabin shell 11 is cylindrical, the front end of the waterproof cabin shell 11 is hermetically connected with the transparent waterproof cover 16, the rear end of the waterproof cabin shell is hermetically connected with the waterproof cabin cover 15, four horizontal propellers 13 are arranged, two horizontal opposite side faces of the waterproof cabin shell 11 are symmetrically arranged at intervals respectively, three vertical propellers 12 are arranged, one horizontal opposite side face and the bottom face of the waterproof cabin shell 11 are respectively arranged, and the center of each horizontal propeller 13 is provided with an LED lamp. Two landing gears 14 are symmetrically arranged at intervals at the bottom of the waterproof cabin shell 11, and a balancing weight 17 is respectively arranged at the front part and the rear part of each landing gear 14. The aircraft main board 21 and the intelligent camera module 31 are installed inside the waterproof cabin shell 11, the vertical propeller 12 and the horizontal propeller 13 are respectively in signal connection with the aircraft main board 21, and the vertical propeller 12 and the horizontal propeller 13 both comprise a direct current motor and a spiral propulsion device.
The intelligent camera module 31 is located the navigation ware body front end, intelligent camera module 31 includes the mounting panel fixed with navigation ware body inner wall and installs the intelligent camera 32 on the mounting panel, flash light 33, intelligent camera module mainboard 34, intelligent camera 32 is 120 degrees wide angle intelligent camera, the mounting panel of intelligent camera module 31 is the disc, flash light 33 sets up in mounting panel central authorities and towards transparent buckler 16, intelligent camera 32 uses flash light 33 as the center, it has three to be the circumference equipartition in its periphery, flash light 33, intelligent camera 32 is respectively through intelligent camera module mainboard 34 and navigation ware mainboard 21 signal connection.
The aircraft mainboard 21 comprises a raspberry-type control module 26, and a high-capacity battery 22, a gyroscope sensor 23, an acceleration sensor 24, an external data interface 25, a radiator 27 and a memory 28 which are respectively in signal connection with the raspberry-type control module, wherein the high-capacity battery 22 supplies power for the intelligent camera module 31, the aircraft body and the aircraft mainboard 21, and the intelligent camera module mainboard 34 and the aircraft body are respectively in signal connection with the raspberry-type control module 26. The upper part of the large-capacity battery 22 is provided with a quick charging interface, and the memory 28 is a solid state disk or a flash memory device. The gyro sensor 23 and the acceleration sensor 24 constitute an inertial sensor.
The light-reflecting marks are arranged on the inner wall of the submarine pipeline along the length direction of the submarine pipeline, and three light-reflecting marks are arranged on the inner peripheral wall of the submarine pipeline along the circumferential direction of the submarine pipeline at intervals. The light reflecting marks are light reflecting belts 42 or a row of light reflecting points 41 arranged along the extending direction of the submarine pipeline, the sequential connecting lines of the three light reflecting marks are in an inverted triangle shape, and the light reflecting marks are glass bead type or micro prism type light reflecting films.
As shown in fig. 4, a ground coordinate system is established by taking the axial direction of the pipeline as a ξ axis, the radial direction of the pipeline as an η axis, and the direction of the earth center as a ζ axis, and a vehicle self-motion coordinate system takes the advancing and retreating direction as an x axis, the transverse direction as a y axis, and the floating and submerging direction as a z axis. The aircraft realizes self-positioning and self-checking of attitude based on inertial sensors (acceleration sensors and gyroscopes). Performing secondary integration on the acceleration data based on the acceleration sensor data to obtain displacement data (x, y, z) of the aircraft; based on the gyroscope data, the aircraft is measured at angles (θ, ψ, φ) relative to the ground coordinate system, where θ is the trim angle, ψ is the heading angle, and φ is the roll angle. The coordinate conversion matrix between the motion coordinate system and the ground coordinate system is C, and the conversion relation is shown in the following formula. And finally, obtaining the offset (xi, eta and zeta) of the aircraft and transmitting the offset to a raspberry group control module, wherein a PID (proportion integration differentiation) controller is embedded in the raspberry group control module, and self-positioning and attitude adjustment are realized through the PID controller.
As shown in fig. 5, before autonomous inspection, the submarine pipeline needs to be pasted with reflective dots or reflective tapes on the inner wall, and the reflective materials are arranged in an inverted triangle and are used for intelligent 120-degree wide-angle camera shootingThe head disks are corresponding. Wherein the laying position of each group of reflective points is marked as M 1 、M 2 、M 3 (ii) a The reflective tape is continuously laid along the inner wall of the pipeline.
As shown in the left diagram of fig. 6, the positioning principle of the reflective marker on the inner wall of the middle-sea pipeline is that when the intelligent camera detects reflective materials, a flash lamp is turned on to continuously shoot high-definition pictures, the pictures are analyzed to realize an optical positioning function, the coordinates of each reflective material relative to the aircraft are measured, the position of the center of an circumscribed circle is calculated according to the characteristic that a triangle has only one circumscribed circle, then the aircraft performs secondary self-positioning and attitude self-detection, and the vehicle automatically moves to the position of the axis of the pipeline through a vertical propeller and a horizontal propeller. As shown in the right diagram of fig. 6, the mathematical model for calculating the coordinates of the center of the circumscribed circle is as follows. Taking an aircraft as a coordinate axis origin S (0, 0), and respectively measuring the coordinates of the reflecting material as M 1 (x 1 ,y 1 ),M 2 (x 2 ,y 2 ) And M 3 (x 3 ,y 3 ) Let the O coordinate (x) of the center of the circumscribed circle 0 ,y 0 ). Because the intersection point of the triangle vertical bisector is necessarily the center of the external circle, only the straight line segment M needs to be solved 1 M 2 、M 2 M 3 Or M 3 M 1 The intersection point coordinates of any two perpendicular bisectors are only needed. Suppose the coordinates of the middle points of the two straight line segments are P respectively 1 (m, n) and P 2 (p, q) the slopes are K 1 And K 2 Then the equation for the point slope of the perpendicular line is:
solving to obtain the coordinates of the center O of the circumscribed circle:
the PID controller controls the vertical thruster and the horizontal thruster to automatically follow the vector based on the calculation result
And moving to the position of the axis of the pipeline to realize secondary self-positioning and posture adjustment.
As shown in figure 7, the invention designs a control system of heading motion based on a fuzzy PID algorithm to carry out closed-loop control, the system takes an offset coordinate measured by an inertial sensor or an inner wall reflecting mark positioning technology shown in figures 5-7 as feedback, takes a direct current motor and a spiral propelling device as actuating mechanisms, uses CAN serial communication for signals, takes a CAN bus as master control, and realizes self-positioning and attitude self-checking based on a motion form shown in figure 8. Wherein, the transfer functions of the PID controller, the direct current motor, the spiral propeller and the heading motion of the aircraft are G respectively 1 (s)、G 2 (s)、G 3 (s) and G 4 (s)。
As shown in fig. 8, the vehicle can realize six-degree-of-freedom motion of the vehicle by differentially controlling the propellers through changing the rotating directions and speeds of the blades of the vertical propeller and the horizontal propeller, wherein the six-degree-of-freedom motion is respectively transverse motion, axial motion, vertical motion and rotation in three directions according to the sequence in the figure. Based on signal data of self-positioning and attitude self-checking, the PID controller combines the motion modes of six degrees of freedom, realizes compensation for the offset of the aircraft, and ensures that the aircraft advances along the axis of the pipeline.
The invention utilizes the gyroscope and the acceleration sensor to carry out primary self-positioning and attitude self-checking of the underwater vehicle, and then carries out secondary self-positioning and attitude self-checking based on an optical identification method, thereby realizing the function of the autonomous inspection of the submarine pipeline by the underwater vehicle. The working method comprises the following specific steps:
the method comprises the following steps: and laying a reflective mark made of reflective materials on the inner wall of the submarine pipeline in an inverted triangle shape.
Step two: the submarine pipeline roadmap is input into the aircraft control module, and the submarine pipeline roadmap is used as a reference for comparison in consideration of the fact that the accuracy of the long-distance submarine pipeline roadmap is usually insufficient.
Step three: and (4) starting the underwater vehicle, putting the underwater vehicle into the submarine pipeline, and performing autonomous inspection on the pipeline.
Step four: the underwater vehicle starts an intelligent camera of the head to record video, and simultaneously performs attitude detection and primary self-positioning according to data transmitted by a self gyroscope sensor and an acceleration sensor. The primary self-alignment is set to the pipe axis motion, the deviation of which will be corrected by the next secondary alignment (optical alignment).
Step five: the intelligent camera at the front end of the aircraft detects a reflective mark arranged on the inner wall of the submarine pipeline, a flash lamp is started, the position of the reflective mark is photographed, secondary self-positioning and attitude detection of the aircraft are realized by analyzing the position of the reflective mark in a high-definition digital photo according to the characteristic that a triangle only has one circumscribed circle, and the self route is kept on the axis of the submarine pipeline.
Step six: comparing the navigation track of the aircraft with a submarine pipeline route map, confirming the position of the aircraft in real time, adjusting the posture of the aircraft in advance at the position of the change of the pipeline track, and preparing corresponding six-degree-of-freedom motion.
Step seven: and after the aircraft reaches the designated position, the aircraft automatically drives out of the submarine pipeline or returns to the original route.
Step eight: and (4) closing the aircraft by an operator, opening a cabin cover of the aircraft, copying video data, and detecting the integrity of the inner wall of the pipeline.
The self-positioning and attitude detection functions of the aircraft are realized by using the gyroscope sensor and the acceleration sensor; the camera at the front end of the aircraft and the reflective membrane arranged on the inner wall of the submarine pipeline form an optical positioning system, so that secondary self-positioning of the aircraft is realized, and the positioning accuracy of the aircraft is ensured; the control module formed by the raspberry group can automatically adjust the motion trail and the motion attitude of the aircraft by utilizing the propeller at the outer side according to the attitude and the position of the aircraft, so that the aircraft can autonomously move along the axis of the submarine pipeline and record the internal conditions of the pipeline in the whole process. In conclusion, the submarine pipeline automatic inspection device can autonomously inspect the internal condition of the submarine pipeline, and has the advantages of high detection efficiency, low production cost, strong practicability, convenience in use and the like.
Claims (10)
1. The utility model provides a submarine pipeline inner wall is from patrolling and examining underwater vehicle which characterized in that: the intelligent vehicle navigation device comprises a vehicle body, a vehicle main board (21), an intelligent camera module (31) and a reflective mark, wherein the front end of the vehicle body is a transparent waterproof cover (16), the vehicle main board (21) and the intelligent camera module (31) are respectively installed inside the vehicle body, the intelligent camera module (31) is positioned at the front end of the vehicle body, the intelligent camera module (31) comprises a mounting plate fixed to the inner wall of the vehicle body and an intelligent camera (32) installed on the mounting plate, flash lamps (33) and an intelligent camera module main board (34), the flash lamps (33) are arranged in the center of the mounting plate and face the transparent waterproof cover (16), the intelligent camera (32) takes the flash lamps (33) as the center, the number of the flash lamps is three, the number of the flash lamps (33) is uniformly distributed on the periphery of the intelligent camera module (32) in the circumferential direction, the reflective mark is respectively in signal connection with the vehicle main board (21) through the intelligent camera module main board (34), the reflective mark is arranged on the inner wall of a submarine pipeline in the length direction, and three reflective marks are arranged on the inner peripheral wall of the submarine pipeline in the circumferential direction.
2. The autonomous inspection underwater vehicle for the inner wall of the submarine pipeline according to claim 1, wherein: the vehicle main board (21) comprises a raspberry group control module (26), a large-capacity battery (22), a gyroscope sensor (23), an acceleration sensor (24), an external data interface (25), a radiator (27) and a memory (28), wherein the large-capacity battery (22) is in signal connection with the raspberry group control module, the intelligent camera module (31), the vehicle body and the vehicle main board (21) are powered by the large-capacity battery, and the intelligent camera module main board (34) and the vehicle body are in signal connection with the raspberry group control module (26).
3. The autonomous underwater vehicle for inspecting the inner wall of the submarine pipeline according to claim 2, wherein: the upper part of the large-capacity battery (22) is provided with a quick charging interface, and the memory (28) is a solid state disk or a flash memory device.
4. The autonomous underwater vehicle for inspecting the inner wall of the submarine pipeline according to claim 1, wherein: the vehicle body further comprises a waterproof cabin shell (11), propeller assemblies, an undercarriage (14) and a waterproof cabin cover (15), the waterproof cabin shell (11) is cylindrical, the front end of the waterproof cabin shell (11) is connected with a transparent waterproof cover (16) in a sealing mode, the rear end of the waterproof cabin shell is connected with the waterproof cabin cover (15) in a sealing mode, the propeller assemblies are installed on the outer peripheral face of the waterproof cabin shell (11), the undercarriage (14) are symmetrically installed at the bottom of the waterproof cabin shell (11) at intervals, a vehicle main board (21) and an intelligent camera module (31) are installed inside the waterproof cabin shell (11), and the propeller assemblies are connected with the vehicle main board (21) in a signal mode.
5. The autonomous inspection underwater vehicle for the inner wall of the submarine pipeline according to claim 4, wherein: the propeller assembly comprises a vertical propeller (12) and a horizontal propeller (13), the horizontal propeller (13) is provided with four propellers, two propellers are respectively installed on the horizontal opposite side faces of the waterproof cabin shell (11) at symmetrical intervals, the vertical propeller (12) is provided with three propellers, one propeller is respectively installed on the horizontal opposite side faces and the bottom face of the waterproof cabin shell (11), and the LED lamp is installed in the center of the horizontal propeller (13).
6. The autonomous inspection underwater vehicle for the inner wall of the submarine pipeline according to claim 4, wherein: the aircraft body also comprises balancing weights (17), and one balancing weight (17) is respectively arranged at the front part and the rear part of each undercarriage (14).
7. The autonomous inspection underwater vehicle for the inner wall of the submarine pipeline according to claim 1, wherein: the mounting panel of intelligence camera module (31) is the disc, and intelligence camera (32) are 120 degrees wide angle intelligence camera.
8. The autonomous inspection underwater vehicle for the inner wall of the submarine pipeline according to claim 1, wherein: the transparent waterproof cover (16) is a hemispherical toughened glass waterproof cover.
9. The autonomous underwater vehicle for inspecting the inner wall of the submarine pipeline according to claim 1, wherein: the reflecting marks are reflecting belts (42) or a row of reflecting points (41) arranged along the extending direction of the submarine pipeline, the sequential connecting lines of the three reflecting marks are inverted triangles, and the reflecting marks are glass bead type or microprism type reflecting films.
10. A method for autonomous inspection of the internal walls of submarine pipelines according to any of claims 1 to 9, comprising the following steps:
the method comprises the following steps: laying three reflective marks on the inner wall of the submarine pipeline in the shape of an inverted triangle;
step two: inputting a submarine pipeline roadmap into a main board of an aircraft, and considering that the roadmap of a long-distance submarine pipeline usually has insufficient precision, the roadmap is used as reference for comparison;
step three: starting an underwater vehicle, putting the underwater vehicle into a submarine pipeline, and performing autonomous inspection on the pipeline;
step four: the method comprises the following steps that an intelligent camera of a head is started by an underwater vehicle to record video, and meanwhile, preliminary attitude detection and self-positioning are carried out according to data transmitted by a main board of the vehicle;
step five: detecting a reflective marker arranged on the inner wall of a submarine pipeline by an intelligent camera at the front end of the underwater vehicle, starting a flash lamp, taking a picture of the position of the reflective marker, calculating the position of the center of the cross section of the pipeline according to the characteristics that a triangle has one circumscribed circle and only one circumscribed circle by analyzing the position of the reflective marker in a high-definition digital picture, realizing secondary self-positioning and attitude detection of the underwater vehicle, and keeping a self route on the axis of the submarine pipeline;
step six: comparing the navigation track of the underwater vehicle with a submarine pipeline route map, confirming the approximate position of the underwater vehicle in real time, adjusting the self posture in advance at the position of the change of the pipeline track, and preparing the corresponding six-degree-of-freedom motion;
step seven: after the underwater vehicle reaches a designated end point, the underwater vehicle automatically drives out of a submarine pipeline or returns back on the original path;
step eight: and (4) closing the underwater vehicle by an operator, copying the video data, and detecting the integrity of the inner wall of the pipeline.
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| CN202211458742.XA CN115727222A (en) | 2022-11-17 | 2022-11-17 | Autonomous underwater vehicle for inspecting inner wall of submarine pipeline and working method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117386931A (en) * | 2023-12-11 | 2024-01-12 | 北京热力智能控制技术有限责任公司 | Underground pipe network leakage detection device and analysis system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117386931A (en) * | 2023-12-11 | 2024-01-12 | 北京热力智能控制技术有限责任公司 | Underground pipe network leakage detection device and analysis system |
| CN117386931B (en) * | 2023-12-11 | 2024-02-13 | 北京热力智能控制技术有限责任公司 | Underground pipe network leakage detection device and analysis system |
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