CN205652314U - Diversion tunnel inner wall inspection robot system - Google Patents
Diversion tunnel inner wall inspection robot system Download PDFInfo
- Publication number
- CN205652314U CN205652314U CN201520989482.8U CN201520989482U CN205652314U CN 205652314 U CN205652314 U CN 205652314U CN 201520989482 U CN201520989482 U CN 201520989482U CN 205652314 U CN205652314 U CN 205652314U
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- CN
- China
- Prior art keywords
- under water
- propeller
- measuring robots
- seepage tunnel
- working end
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- 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.)
- Expired - Fee Related
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- Optical Radar Systems And Details Thereof (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
- Underground Structures, Protecting, Testing And Restoring Foundations (AREA)
Abstract
The utility model relates to a diversion tunnel inner wall inspection robot system, constitute with work end two parts including outside remote control unit, the work tip by hull, lighting device, under water sealed propeller, survey sensing device, boat appearance monitoring module, electronic control system pressurized cabin, water -resistant power system around, crashproof leading wheel constitute. The outside remote control unit of diversion tunnel inner wall inspection robot system is connected through umbilical cable with the end of working under water, contains vision cable and data transmission optic fibre in the umbilical cable, and umbilical cable and the junction adoption water -stop connector assembly of tip of working under water after the robot slips into under water, work under water to hold and carry out real -time supervision through the camera to the seepage tunnel to in time transfer the operator to monitoring results, smoothly accomplish under water detection task in order to guarantee to work to hold under water, the utility model provides an end of working under water can accurately reach assigned position under water, and the voyage is big, receive weather effect little, can detect the seepage tunnel operation conditions and whether have the defect condition such as impaired.
Description
Technical field
This utility model relates to a kind of seepage tunnel inwall measuring robots system, concretely relate to one can carry out sealing seepage tunnel inwall periodic detection, adapt to changeable underwater environment and complicated landform, carry out site environment to take pictures and video record, complete people do not caned and the robot system of task.
Background technology
21 century is the century that the mankind march to ocean.Deep-sea, as one of the treasured place of human development and high-tech sector, has become as the grand strategy target of various countries, is also one of focus of competing the most in the world.Unmanned remotely controlled submersible vehicle (Remote Operated Vehicles,
ROV), also referred to as underwater robot.A kind of limit operation robot worked under water, the replacement people that can pull the plug completes some operation, also known as submersible.Underwater environment is the most dangerous, and the diving depth of people is limited, so underwater robot has become the important tool of exploitation ocean.Its function is varied, and different types of ROV, for performing different tasks, is widely used in the every field such as army, coast guard, maritime affairs, customs, nuclear power, water power, offshore oil, fishery, marine salvage, pipeline detection and scientific research of seas.
Summary of the invention
The purpose of this utility model is the shortcoming in order to overcome prior art to exist, provide one can carry out sealing seepage tunnel inwall periodic detection, adapt to changeable underwater environment and complicated landform, carry out site environment and take pictures and video record, complete people do not caned and the robot system of task.
To achieve these goals, the technical solution of the utility model is:
A kind of seepage tunnel inwall measuring robots system, its system composition includes external remote control and working end two parts；Described external remote control includes main control computer, joystick, display system and subsurface communication interface and umbilical cables, hawser retractable equipment, power-supply system；Described working end uses frame-type modular construction, including kayak body, illuminator, underwater sealing propeller, detection sensing device, navigation attitude monitoring module, electronic control system sealed compartment, waterproof power-supply system, the most crashproof directive wheel.
The described kayak body in working end portion is to use carbon fiber sheet to make, described carbon fiber board good water permeability.
The described illuminator in working end portion is made up of 1 waterproof, illuminating lamp.
Underwater sealing propeller in described working end portion is made up of propulsion electric machine, decelerator, shell, sealing lid, propeller and baffle circle, wherein propulsion electric machine is connected with decelerator, fix in the enclosure, seal with O between shell and sealing lid, in shell, other space transformer oil seals, and reducer shaft end is equipped with propeller, and it is distributed as: transverse sealing propeller two, it is positioned at the side of kayak body, runs through kayak body；Vertical sealing propeller two, is positioned at above kayak body, runs through kayak body；Primary seal propeller one, is positioned at the end of kayak body.
Detection sensing device in described working end portion includes: wide-angle camera, is positioned at ship bow；Sonar anticollision device, is positioned at ship bow；Laser radar totally 9, ship bow has 1 laser radar, and robot sidepiece optical scanning system is at totally 8, and the most often there is 1 laser radar at place.
Described robot sidepiece optical scanning system is made up of wide-angle camera, illuminator and laser radar.
Waterproof power-supply system in described working end portion, its internal cell is the ferric phosphate lithium cell of waterproof pressure-bearing.
Described electronic control system sealed compartment is made up of signal end cap, circle cab body, power panel, driving plate, mainboard, panel, navigation attitude monitoring module and light end switch, insert seal mode is used between signal end cap and circle cab body, middle with the sealing of O RunddichtringO.
Waterproof slot is had on described electronic control system sealed compartment end cap.
Equipped with crashproof directive wheel before and after described working end kayak body, anterior crashproof directive wheel totally 4, it is respectively separated 90 ° and lays；The crashproof directive wheel in rear portion totally 4, is respectively separated 90 ° and lays, and crashproof directive wheel and kayak body junction are emergent flaps.
Equipped with navigation attitude monitoring module inside described electronic control system sealed compartment, navigation attitude monitoring module is made up of with electronic compass MEMS gyroscope.
This utility model overcomes the key position waterproof problem of underwater robot, it is possible to long-time underwater operation, can not only be at the underwater work of various environment, it is also possible in water-bed work with a varied topography.
Accompanying drawing explanation
The angle of rake structural representation of underwater sealing (shell 1, propulsion electric machine 2, decelerator 3, sealing lid 4, propeller 5, baffle circle 6) that Fig. 1 provides for this utility model；
The internal structure schematic diagram (signal end cap 7, circle cab body 8, light end switch 9, power panel 10, mainboard 11, sealing ring 12, panel 13, driving plate 14, navigation attitude monitoring module 15) of the electronic control system sealed compartment that Fig. 2 provides for this utility model；
The underwater operation end structure figure (illuminator 16, sonar anticollision device 17, laser radar 18, wide-angle camera 19, robot sidepiece optical scanning system 20, vertical sealing propeller 21, emergent flaps 22, the crashproof directive wheel in rear portion 23, primary seal propeller 24, transverse sealing propeller 25, anterior crashproof directive wheel 26) that Fig. 3 provides for this utility model.
Detailed description of the invention
In order to make the purpose of this utility model, technical scheme and advantage clearer, below in conjunction with embodiment, this utility model is further elaborated.Should be appreciated that specific embodiment described herein, only in order to explain this utility model, is not used to limit this utility model.
Fig. 3 shows the underwater operation end structure that this utility model provides.For convenience of description, illustrate only the part relevant to this utility model.
A kind of seepage tunnel inwall measuring robots system that this utility model provides, its system composition includes external remote control and working end two parts；Described external remote control includes main control computer, joystick, display system and subsurface communication interface and umbilical cables, hawser retractable equipment, power-supply system；Described working end uses frame-type modular construction, including kayak body, illuminator 16, underwater sealing propeller, detection sensing device, navigation attitude monitoring module 15, electronic control system sealed compartment, waterproof power-supply system, the most crashproof directive wheel.
The described kayak body in working end portion is to use carbon fiber sheet to make, described carbon fiber board good water permeability.
Illuminator 16 in described working end portion is made up of 1 waterproof, illuminating lamp.
Underwater sealing propeller in described working end portion is made up of propulsion electric machine 2, decelerator 3, shell 1, sealing lid 4, propeller 5 and baffle circle 6, wherein propulsion electric machine 2 is connected with decelerator 3, it is fixed in shell 1, seal with O between shell 1 and sealing lid 4, in shell 1, other space transformer oil seals, and decelerator 3 shaft end is equipped with propeller 5, and it is distributed as: transverse sealing propeller 25 two, it is positioned at the side of kayak body, runs through kayak body；Vertical sealing propeller 21 two, is positioned at above kayak body, runs through kayak body；Primary seal propeller 24 1, is positioned at the end of kayak body.
Detection sensing device in described working end portion includes: wide-angle camera 19, is positioned at ship bow；Sonar anticollision device 2, is positioned at ship bow；Laser radar 18 totally 9, ship bow has 1 laser radar 18, and robot sidepiece optical scanning system 20 is at totally 8, and the most often there is 1 laser radar 18 at place.
Described robot sidepiece optical scanning system is made up of wide-angle camera 19, illuminator 16 and laser radar 18.
Waterproof power-supply system in described working end portion, its internal cell is the ferric phosphate lithium cell of waterproof pressure-bearing.
Described electronic control system sealed compartment is made up of signal end cap 7, circle cab body 8, power panel 10, driving plate 14, mainboard 11, panel 13, navigation attitude monitoring module 15 and light end switch 9, using insert seal mode between signal end cap 7 and circle cab body 8, centre O RunddichtringO 12 seals.
Waterproof slot is had on described electronic control system sealed compartment end cap.
Equipped with crashproof directive wheel before and after described working end kayak body, anterior crashproof directive wheel 26 totally 4, it is respectively separated 90 ° and lays；The crashproof directive wheel in rear portion 23 totally 4, is respectively separated 90 ° and lays, and crashproof directive wheel is emergent flaps 22 with kayak body junction, improves the impact resistant ability of kayak body.
Equipped with navigation attitude monitoring module 15 inside described electronic control system sealed compartment, navigation attitude monitoring module 15 is made up of with electronic compass MEMS gyroscope.
Further, concrete when detecting under water, underwater operation end is first had to hang in water, body under water is transmitted instruction by umbilical cables by external remote control the most waterborne, instruction is assigned in panel analysis in sealed compartment, drives plate to drive underwater sealing propeller to make robot move ahead according to predetermined direction, and meanwhile illuminator 16 and detection sensing device also begin to illumination and shooting, display system waterborne can be shown that its video shot, and stores.After finding detection target, utilize position, working end, attitude information calculated target positions that navigation attitude monitoring module 15 derived, and target location is carried out record.
Claims (11)
1. a seepage tunnel inwall measuring robots system, it is characterised in that its system composition includes external remote control and working end two parts；Described external remote control includes main control computer, joystick, display system and subsurface communication interface and umbilical cables, hawser retractable equipment, power-supply system；Described working end uses frame-type modular construction, including kayak body, illuminator, underwater sealing propeller, detection sensing device, navigation attitude monitoring module, electronic control system sealed compartment, waterproof power-supply system, the most crashproof directive wheel.
A kind of seepage tunnel the most according to claim 1 inwall measuring robots system, it is characterised in that the described kayak body in working end portion is to use carbon fiber sheet to make, described carbon fiber board good water permeability.
A kind of seepage tunnel the most according to claim 1 inwall measuring robots system, it is characterised in that the described illuminator in working end portion is made up of 1 waterproof, illuminating lamp.
A kind of seepage tunnel the most according to claim 1 inwall measuring robots system, it is characterized in that, underwater sealing propeller in described working end portion is made up of propulsion electric machine, decelerator, shell, sealing lid, propeller and baffle circle, wherein propulsion electric machine is connected with decelerator, fix in the enclosure, seal with O between shell and sealing lid, in shell, other space transformer oil seals, reducer shaft end is equipped with propeller, it is distributed as: transverse sealing propeller two, it is positioned at the side of kayak body, runs through kayak body；Vertical sealing propeller two, is positioned at above kayak body, runs through kayak body；Primary seal propeller one, is positioned at the end of kayak body.
A kind of seepage tunnel the most according to claim 1 inwall measuring robots system, it is characterised in that the detection sensing device in described working end portion includes: wide-angle camera, is positioned at ship bow；Sonar anticollision device, is positioned at ship bow；Laser radar totally 9, ship bow has 1 laser radar, and robot sidepiece optical scanning system is at totally 8, and the most often there is 1 laser radar at place.
A kind of seepage tunnel the most according to claim 5 inwall measuring robots system, it is characterised in that described robot sidepiece optical scanning system is made up of wide-angle camera, illuminator and laser radar.
A kind of seepage tunnel the most according to claim 1 inwall measuring robots system, it is characterised in that the waterproof power-supply system in described working end portion, its internal cell is the ferric phosphate lithium cell of waterproof pressure-bearing.
A kind of seepage tunnel the most according to claim 1 inwall measuring robots system, it is characterized in that, described electronic control system sealed compartment is made up of signal end cap, circle cab body, power panel, driving plate, mainboard, panel, navigation attitude monitoring module and light end switch, insert seal mode is used between signal end cap and circle cab body, middle with the sealing of O RunddichtringO.
A kind of seepage tunnel the most according to claim 1 inwall measuring robots system, it is characterised in that have waterproof slot on described electronic control system sealed compartment end cap.
A kind of seepage tunnel the most according to claim 1 inwall measuring robots system, it is characterised in that equipped with crashproof directive wheel before and after described working end kayak body, anterior crashproof directive wheel totally 4, it is respectively separated 90 ° and lays；The crashproof directive wheel in rear portion totally 4, is respectively separated 90 ° and lays, and crashproof directive wheel and kayak body junction are emergent flaps.
11. a kind of seepage tunnel according to claim 1 inwall measuring robots systems, it is characterised in that equipped with navigation attitude monitoring module inside described electronic control system sealed compartment, navigation attitude monitoring module is made up of with electronic compass MEMS gyroscope.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520989482.8U CN205652314U (en) | 2015-12-03 | 2015-12-03 | Diversion tunnel inner wall inspection robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520989482.8U CN205652314U (en) | 2015-12-03 | 2015-12-03 | Diversion tunnel inner wall inspection robot system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205652314U true CN205652314U (en) | 2016-10-19 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520989482.8U Expired - Fee Related CN205652314U (en) | 2015-12-03 | 2015-12-03 | Diversion tunnel inner wall inspection robot system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205652314U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106595562A (en) * | 2016-12-07 | 2017-04-26 | 武汉长盛工程检测技术开发有限公司 | Draw water tunnel quality online imaging quick detection device and method |
| CN107654852A (en) * | 2017-09-26 | 2018-02-02 | 哈尔滨工程大学 | A kind of pipeline interior locating device and localization method detected based on duct section length and pipe jointer |
| CN106828830B (en) * | 2015-12-03 | 2018-10-16 | 上海航事志汇海洋装备有限公司 | Seepage tunnel inner wall detection robot system and implementation |
| CN110281251A (en) * | 2019-07-24 | 2019-09-27 | 胡勇 | A kind of high water flow long range duct detection robot system |
-
2015
- 2015-12-03 CN CN201520989482.8U patent/CN205652314U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106828830B (en) * | 2015-12-03 | 2018-10-16 | 上海航事志汇海洋装备有限公司 | Seepage tunnel inner wall detection robot system and implementation |
| CN106595562A (en) * | 2016-12-07 | 2017-04-26 | 武汉长盛工程检测技术开发有限公司 | Draw water tunnel quality online imaging quick detection device and method |
| CN106595562B (en) * | 2016-12-07 | 2019-01-15 | 武汉长盛工程检测技术开发有限公司 | The online Imaging fast detection device of seepage tunnel quality and method |
| CN107654852A (en) * | 2017-09-26 | 2018-02-02 | 哈尔滨工程大学 | A kind of pipeline interior locating device and localization method detected based on duct section length and pipe jointer |
| CN107654852B (en) * | 2017-09-26 | 2019-10-18 | 哈尔滨工程大学 | A kind of pipeline interior locating device and localization method detected based on duct section length and pipe jointer |
| CN110281251A (en) * | 2019-07-24 | 2019-09-27 | 胡勇 | A kind of high water flow long range duct detection robot system |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20161019 Termination date: 20171203 |