CN204493989U - Robot detection device under a kind of Pipeline Water - Google Patents
Robot detection device under a kind of Pipeline Water Download PDFInfo
- Publication number
- CN204493989U CN204493989U CN201520108376.4U CN201520108376U CN204493989U CN 204493989 U CN204493989 U CN 204493989U CN 201520108376 U CN201520108376 U CN 201520108376U CN 204493989 U CN204493989 U CN 204493989U
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- pole
- pressure chamber
- fixing hinge
- robot
- vidicon camera
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Abstract
The utility model discloses robot detection device under a kind of Pipeline Water, comprise underwater robot, underwater robot comprises ascent propulsion device, rear horizontal propeller, underwater robot is provided with front-facing camera, its pressure chamber is fixed with umbrella-type fixed support, described umbrella-type fixed support comprises vidicon camera, fixing hinge knot, pole, push rod and optical fiber, described fixing hinge knot is fixed on pressure chamber outer wall, one end of pole is hinged with pressure chamber by fixing hinge knot, described push rod is flexible rod, one end of push rod is articulated with on pressure chamber outer wall, the other end and pole hinged; Be fixed with vidicon camera at the middle part of pole, the power supply of described vidicon camera and data transmission are by Optical Fiber Transmission, and the top of described pole is provided with pulley.The utility model utilizes the folding angle of support closely to take pictures to pipeline, can solve under water and different tube diameters water-filled pipe cannot be observed and the problem of position skew etc. in detail, have structure simple, easy to use, observe advantage clearly.
Description
Technical field
The utility model relates to the device that a kind of underwater robot carries out confined space data capture, is applied to water conservancy and other detection industry under water, belongs to field of engineering technology.
Background technique
Undersea detection technology is the earliest for oceanographic observation, and being the important content of ocean observation technology, is also the constituent element of ocean stereo monitoring net, is mainly used in undersea monitoring.From environment gap very greatly, territory, face, ocean is wide, and deepwater regions is huge for the waters of hydraulic engineering and maritime waters, and the many transformations through the mankind of hydraulic engineering or construction, engineering is various and complicated, though detection technique in form, method has similar part, exists very big difference.At China's civil area, carry out having of detecting under water: the distribution of the landform in Measuring Oceanic and river, border, mud; Subsurface buoy salvaging under ocean water, the investigation of jellyfish monitoring coral reef; Marine emergency guarantee, oil platform oil spilling check; Seabed engineering observation etc. and salvage salvaging, security etc.In recent years, hydraulic engineering under water detection technique was just risen in China, and because engineering is complicated, detection technique research and apply is in the starting stage, how to be used for the front observation of reservoir dam by introduction import instrument and equipment.Undersea detection Chief Technology Officer river institute of section and Hunan Province hydropower research institute introduce underwater robot and are used for submerged structure observation and dam observation etc.Also have as collection research and development of productss such as Harbin Institute of Technologys and be produced in the incorporated businesses such as territory, deep-sea integrally professional underwater robot, underwater manipulator, cutting machine.
The artificial propeller cavitation of underwater drives, and observation device is front-facing camera, observes in advancing to object.Manipulate for convenience and enter water etc. and detect under water and water-filled pipe detection, mostly adopt small underwater robot.This equipment depends on land remote control to refer to for Large Diameter Pipeline or caliber gradual change object detect under water, as target of pinpointing the problems can not be screened in detail in advancing, and when observing, often there is following problem: (1) is due to detection space relative closure, and there is certain shoal materials, when only observing problem target, often need repeatedly to move rotation, very easily sediments is stirred, cause camera can not effective resolution target; (2) because of shielding action, navigation and GPS navigation system lost efficacy, equipment location can only rely on control cables length to determine, equipment just may cause distortion (3) equipment volume relative tubular diameter usually to want little many after rotating, and change along Cheng Guandao medial axis, cause equipment sideslip, the position of vidicon camera shooting be can not determine; (4), after the change of some caliber size, observe difficulty and strengthen.
Summary of the invention
Technical problem to be solved in the utility model is the defect existed for prior art, provides a kind of underwater robot detection device for detecting under Pipeline Water, to solve under water and water-filled pipe cannot be observed and the problem of position skew etc. in detail.
For solving this technical problem, the utility model provides robot detection device under a kind of Pipeline Water, comprises underwater robot, and described underwater robot comprises ascent propulsion device to regulate height, rear horizontal propeller provides driving power, and underwater robot is provided with front-facing camera; The pressure chamber of robot is under water fixed with umbrella-type fixed support, described umbrella-type fixed support comprises vidicon camera, fixing hinge knot, pole, push rod and optical fiber, described fixing hinge knot is fixed on pressure chamber outer wall, one end of pole is hinged with pressure chamber by fixing hinge knot, described push rod is flexible rod, one end of push rod is articulated with on pressure chamber outer wall, the other end and pole hinged; Be fixed with vidicon camera at the middle part of pole, described vidicon camera is acquisition system, and its power supply and data transmission pass through Optical Fiber Transmission by fixing hinge knot with host data by the cable be located in pole.
The top of described pole is provided with pulley.
The maximum opening of described fixing hinge knot is 90 °.
Described camera arrangement has 2 LED, can with synchronous axial system before and after vidicon camera.
Beneficial effect: the utility model utilizes the folding angle of support closely to take pictures to pipeline, can solve under water and different tube diameters water-filled pipe cannot be observed and the problem of position skew etc. in detail, have structure simple, easy to use, observe advantage clearly.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model;
Fig. 2 is the view after of the present utility model packing up;
Fig. 3 is the schematic diagram of the utility model in pipeline detection;
Fig. 4 is the schematic diagram that the utility model carries out detecting in pipe with small pipe diameter.
In figure: 1 pressure chamber, 2 ascent propulsion devices, 3 front-facing cameras, 4 vidicon cameras, 5 pulleys, 6 fixing hinge knots, 7 poles, 8 push rods, 9 horizontal propellers, 10 optical fiber.
Embodiment
Below in conjunction with drawings and Examples, the utility model is specifically described.
Figure 1 shows that structural representation of the present utility model.
Figure 2 shows that the view after of the present utility model packing up.
The utility model comprises underwater robot, and underwater robot is by ascent propulsion device 2 to regulate highly, and provide driving power by rear horizontal propeller 9, underwater robot is provided with front-facing camera 3, and the pressure chamber 1 of robot is under water fixed with umbrella-type fixed support.
Described umbrella-type fixed support comprises vidicon camera 4, fixing hinge knot 6, pole 7, push rod 8 and optical fiber 10.
Described fixing hinge knot 6 is fixed on pressure chamber 1 outer wall.
One end of described pole 7 is hinged with pressure chamber 1 by fixing hinge knot 6, is fixed with vidicon camera 4 at the middle part of pole 7, can adjust the position of vidicon camera, clearly to observe hole wall according to the size of caliber.
Described push rod 8 is flexible rod, and one end of push rod 8 is articulated with on pressure chamber 1 outer wall, the other end and pole 7 hinged.
Push rod 8 can adjust according to the size of caliber, and to control the angle of fixing pole 7, when pole 7 is opened to the angle of requirement, fixing push rod 8 makes the tip contact of pole 7 to hole wall.
Described vidicon camera 4 is acquisition system, and its power supply and data transmission are transmitted by optical fiber 10 with host data by fixing hinge knot 6 by the cable be located in pole 7.
The top of described pole 7 is provided with pulley 5, reduces frictional force when running.
The maximum opening of described fixing hinge knot 6 is 90 °.
Described vidicon camera 4 is configured with 2 LED, can with synchronous axial system before and after vidicon camera.
Fig. 3 is the schematic diagram of the utility model in pipeline detection;
Fig. 4 is the schematic diagram that the utility model carries out detecting in pipe with small pipe diameter.
The utility model using method and working principle;
After the utility model enters testing pipes, surface instruction opens umbrella-type fixed support, under the effect of the flexible rod of push rod 8, shift pole 7 onto respective angles, the pulley 5 on pole 7 top is made to touch tube wall, make equipment be fixed on the medial axis of pipeline, be in operation and remain on the axle center of pipeline; Simultaneously; vidicon camera 4 on pole 7 rises thereupon; pipeline is closely taken pictures; pipe protection camera pressed close to by pulley 5 on pole 7; and make vidicon camera 4 and hole wall keep same distance by this device; namely robot fixing tube axis can be advanced and can according to the position of the size adjustment vidicon camera 4 of caliber, clearly to observe tube wall, institute's image data is transmitted by optical fiber 10.
The utility model utilizes the folding angle of support closely to take pictures to pipeline, can solve under water and different tube diameters water-filled pipe cannot be observed and the problem of position skew etc. in detail, have structure simple, easy to use, observe advantage clearly.
The above-mentioned embodiment of the utility model, just illustrates, is not only, and all changes within the scope of the utility model or in equivalent scope of the present utility model are all surrounded by the utility model.
Claims (4)
1. robot detection device under a Pipeline Water, comprise underwater robot, underwater robot passes through ascent propulsion device (2) to regulate height, driving power is provided by rear horizontal propeller (9), underwater robot is provided with front-facing camera (3), it is characterized in that: the pressure chamber (1) of robot is under water fixed with umbrella-type fixed support, described umbrella-type fixed support comprises vidicon camera (4), fixing hinge knot (6), pole (7), push rod (8) and optical fiber (10), described fixing hinge knot (6) is fixed on pressure chamber (1) outer wall, one end of pole (7) is hinged with pressure chamber (1) by fixing hinge knot (6), described push rod (8) is flexible rod, one end of push rod (8) is articulated with on pressure chamber (1) outer wall, the other end and pole (7) hinged, vidicon camera (4) is fixed with at the middle part of pole (7), described vidicon camera (4) is acquisition system, and its power supply and data transmission are transmitted by optical fiber (10) with host data by fixing hinge knot (6) by the cable be located in pole (7).
2. robot detection device under Pipeline Water according to claim 1, is characterized in that: the top of described pole (7) is provided with pulley (5).
3. robot detection device under Pipeline Water according to claim 1, is characterized in that: the maximum opening of described fixing hinge knot (6) is 90 °.
4. robot detection device under the Pipeline Water according to claim 1,2 or 3, is characterized in that: described vidicon camera (4) is configured with 2 LED, can with synchronous axial system before and after vidicon camera (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520108376.4U CN204493989U (en) | 2015-02-13 | 2015-02-13 | Robot detection device under a kind of Pipeline Water |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520108376.4U CN204493989U (en) | 2015-02-13 | 2015-02-13 | Robot detection device under a kind of Pipeline Water |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204493989U true CN204493989U (en) | 2015-07-22 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520108376.4U Withdrawn - After Issue CN204493989U (en) | 2015-02-13 | 2015-02-13 | Robot detection device under a kind of Pipeline Water |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204493989U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104613275A (en) * | 2015-02-13 | 2015-05-13 | 山东省水利科学研究院 | Pipeline underwater robot detection device |
| CN105020538A (en) * | 2015-08-04 | 2015-11-04 | 浙江水利水电学院 | Sewage pipe network diving robot and detection method |
| CN107238413A (en) * | 2017-06-30 | 2017-10-10 | 合肥贺财工程项目管理有限公司 | A kind of water pipe sampled measurements and monitoring screening system |
| CN108413180A (en) * | 2018-03-22 | 2018-08-17 | 中国水利水电科学研究院 | Buried aqueduct detection device and method |
| CN111306401A (en) * | 2020-04-17 | 2020-06-19 | 上海海事大学 | A rotatable sail formula is underwater robot independently for conduit detects |
| CN113041577A (en) * | 2021-03-31 | 2021-06-29 | 上海海事大学 | Underwater robot for driving motion and social contact by data graph |
-
2015
- 2015-02-13 CN CN201520108376.4U patent/CN204493989U/en not_active Withdrawn - After Issue
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104613275A (en) * | 2015-02-13 | 2015-05-13 | 山东省水利科学研究院 | Pipeline underwater robot detection device |
| CN104613275B (en) * | 2015-02-13 | 2016-06-08 | 山东省水利科学研究院 | Robot detection device under a kind of Pipeline Water |
| CN105020538A (en) * | 2015-08-04 | 2015-11-04 | 浙江水利水电学院 | Sewage pipe network diving robot and detection method |
| CN107238413A (en) * | 2017-06-30 | 2017-10-10 | 合肥贺财工程项目管理有限公司 | A kind of water pipe sampled measurements and monitoring screening system |
| CN108413180A (en) * | 2018-03-22 | 2018-08-17 | 中国水利水电科学研究院 | Buried aqueduct detection device and method |
| CN111306401A (en) * | 2020-04-17 | 2020-06-19 | 上海海事大学 | A rotatable sail formula is underwater robot independently for conduit detects |
| CN113041577A (en) * | 2021-03-31 | 2021-06-29 | 上海海事大学 | Underwater robot for driving motion and social contact by data graph |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20150722 Effective date of abandoning: 20160608 |
|
| C25 | Abandonment of patent right or utility model to avoid double patenting |