CN204493989U - Robot detection device under a kind of Pipeline Water - Google Patents

Abstract

The utility model discloses a pipeline underwater robot detection device, which comprises an underwater robot. The underwater robot includes a rising thruster and a rear horizontal thruster. The underwater robot is provided with a front camera, and an umbrella-type fixed Bracket, the umbrella-type fixed bracket includes a camera, a fixed hinge, a pole, a push rod and an optical fiber, the fixed hinge is fixed on the outer wall of the pressure cabin, and one end of the pole is hinged to the pressure cabin through a fixed hinge, and the The push rod is a telescopic rod, one end of the push rod is hinged on the outer wall of the pressure chamber, and the other end is hinged to the support rod; a camera is fixed in the middle of the support rod, and the power supply and data transmission of the camera are transmitted through optical fiber. There are pulleys at the top. The utility model uses the opening and closing angle of the bracket to take close-up photos of the pipeline, which can solve the problems that the underwater and different diameter water-filled pipelines cannot be observed in detail and the position is offset, and has the advantages of simple structure, convenient use and clear observation.

Description

A pipeline underwater robot detection device

technical field

The utility model relates to a device for collecting limited space data by an underwater robot, which is applied to water conservancy and other underwater detection industries, and belongs to the field of engineering technology.

Background technique

Underwater detection technology was first used in ocean observation. It is an important part of ocean observation technology and an integral part of ocean three-dimensional monitoring network. It is mainly used in monitoring below the sea surface. The waters of water conservancy projects and ocean waters are very different in terms of environment. The ocean area is vast and the deep water area is huge. However, water conservancy projects are mostly transformed or constructed by humans, and the projects are diverse and complex. Although there are similarities in the form and method of detection technology , but there is a big difference. In the civil field of our country, underwater detection is carried out: measuring the topography, boundary, and silt layer distribution of oceans and rivers; salvage of underwater submarine marks in the ocean, coral reef investigation of jellyfish monitoring; marine emergency support, oil spill inspection of oil platforms; submarine engineering Observation, etc. and seeking help and salvage at sea, security, etc. In recent years, the underwater detection technology of water conservancy projects has just emerged in my country. Due to the complexity of the project, the research and application of detection technology is in its infancy, and most of them rely on the introduction of imported instruments and equipment for observation in front of reservoir dams. Underwater detection technology Yangtze River Institute of Water Sciences and Hunan Hydropower Research Institute have introduced underwater robots for underwater structure observation and dam observation. There are also companies such as Harbin Institute of Technology that integrate product development and production in deep sea areas such as professional underwater robots, underwater manipulators, and cutting machines.

The underwater robot is driven by a propeller, and the observation device is a front camera, which observes objects while traveling. In order to facilitate the underwater detection such as control and water entry and the detection of water-filled pipelines, small underwater robots are mostly used. This kind of equipment relies on land-based remote control to detect underwater objects with large pipe diameters or pipe diameters that gradually change. If problems are found during the journey, the target cannot be identified in detail, and when observations are made, the following problems often exist: (1) due to the detection space It is relatively closed, and there is a certain amount of silt. When only observing the problem target, it often needs to move and rotate repeatedly, which is very easy to stir up the sediment, so that the camera cannot effectively distinguish the target; (2) due to the shielding effect, navigation and The GPS positioning system fails, and the positioning of the equipment can only be determined by the length of the control cable. After the equipment is rotated, it may cause distortion. (3) The volume of the equipment is usually much smaller than the diameter of the pipe, and the change along the central axis of the pipeline causes the equipment to deviate. The location of the shooting cannot be determined; (4) After some pipe diameters change, the difficulty of observation increases.

Contents of the invention

The technical problem to be solved by the utility model is to provide an underwater robot detection device for pipeline underwater detection to solve the problem that the underwater and water-filled pipeline cannot be observed in detail and the position is offset. question.

In order to solve this technical problem, the utility model provides a pipeline underwater robot detection device, including an underwater robot, the underwater robot includes an ascending thruster to adjust the height, and the rear horizontal thruster provides driving power, and the underwater robot A front camera is provided; an umbrella-type fixed bracket is fixed on the pressure cabin of the underwater robot, and the umbrella-type fixed bracket includes a camera, a fixed hinge, a pole, a push rod and an optical fiber, and the fixed hinge is fixed at the pressure On the outer wall of the cabin, one end of the support rod is hinged to the pressure cabin through a fixed hinge, the push rod is a telescopic rod, one end of the push rod is hinged to the outer wall of the pressure cabin, and the other end is hinged to the support rod; The camera, the camera is an acquisition system, its power supply and data transmission are transmitted through the cable arranged in the pole through the fixed hinge and the data of the host computer through the optical fiber.

The top of the pole is provided with a pulley.

The maximum opening of the fixed hinge is 90°.

The camera is equipped with 2 LED lights, which can rotate synchronously with the camera.

Beneficial effects: the utility model uses the opening and closing angle of the bracket to take close-up photos of the pipeline, which can solve the problems that the underwater and different diameter water-filled pipelines cannot be observed in detail and the position is offset, etc., and has the advantages of simple structure, convenient use, and clear observation The advantages.

Description of drawings

Fig. 1 is the structural representation of the utility model;

Fig. 2 is a schematic diagram of the state after the utility model is put away;

Fig. 3 is the schematic diagram that the utility model detects in pipeline;

Fig. 4 is a schematic diagram of detection in a small pipe diameter of the present invention.

In the figure: 1 pressure chamber, 2 ascending propeller, 3 front camera, 4 video camera, 5 pulley, 6 fixed hinge, 7 support rod, 8 push rod, 9 horizontal propeller, 10 optical fiber.

Detailed ways

Below in conjunction with accompanying drawing and embodiment the utility model is described in detail.

Shown in Fig. 1 is the structural representation of the utility model.

Figure 2 is a schematic diagram of the state of the utility model after being folded.

The utility model comprises an underwater robot, the underwater robot adjusts its height by raising the propeller 2, and the driving power is provided by the rear horizontal propeller 9, and the underwater robot is provided with a front camera 3, which is fixed on the pressure cabin 1 of the underwater robot With umbrella mount.

The umbrella-type fixed bracket includes a camera 4 , a fixed hinge 6 , a pole 7 , a push rod 8 and an optical fiber 10 .

The fixed hinge 6 is fixed on the outer wall of the pressure chamber 1 .

One end of the pole 7 is hinged with the pressure chamber 1 through a fixed hinge 6, and a camera 4 is fixed in the middle of the pole 7, and the position of the camera can be adjusted according to the diameter of the pipe, so as to observe the cave wall clearly.

The push rod 8 is a telescopic rod, one end of the push rod 8 is hinged on the outer wall of the pressure chamber 1 , and the other end is hinged to the support rod 7 .

Push rod 8 can be adjusted according to the size of pipe diameter, to control the angle of fixed pole 7, when pole 7 is opened to the required angle, fixed push rod 8 makes the top of pole 7 touch the hole wall.

The camera 4 is an acquisition system, and its power supply and data transmission are transmitted through the cable provided in the pole 7 through the fixed hinge 6 and the data of the host computer through the optical fiber 10 .

The top of the pole 7 is provided with a pulley 5 to reduce friction during operation.

The maximum opening of the fixed hinge 6 is 90°.

The camera 4 is equipped with 2 LED lights, which can rotate synchronously with the camera.

Fig. 3 is the schematic diagram that the utility model detects in pipeline;

Fig. 4 is a schematic diagram of detection in a small pipe diameter of the present invention.

The use method and working principle of the utility model;

After the utility model enters the detection pipeline, the ground command opens the umbrella-type fixed bracket, and under the action of the telescopic rod of the push rod 8, the pole 7 is pushed to a corresponding angle, so that the pulley 5 at the top of the pole 7 touches the pipe wall, so that The equipment is fixed on the central axis of the pipeline, and remains on the axis of the pipeline during operation; at the same time, the camera 4 on the pole 7 rises to take a close-up photo of the pipeline, and the pulley 5 on the pole 7 is close to Pipeline protection camera, and through this device, the camera 4 is kept at the same distance from the cave wall, that is, the robot can move on the central axis of the pipeline and adjust the position of the camera 4 according to the size of the pipe diameter, so as to clearly observe the pipe wall, and the collected Data is transmitted via optical fiber 10 .

The utility model uses the opening and closing angle of the bracket to take close-up photos of the pipeline, which can solve the problems that the underwater and different diameter water-filled pipelines cannot be observed in detail and the position is offset, and has the advantages of simple structure, convenient use and clear observation.

The above-mentioned embodiments of the utility model are only examples, not the only ones, and all changes within the scope of the utility model or equivalent to the scope of the utility model are 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).