CN206057595U - A kind of underwater line survey meter based on underwater robot - Google Patents
A kind of underwater line survey meter based on underwater robot Download PDFInfo
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- CN206057595U CN206057595U CN201620911624.3U CN201620911624U CN206057595U CN 206057595 U CN206057595 U CN 206057595U CN 201620911624 U CN201620911624 U CN 201620911624U CN 206057595 U CN206057595 U CN 206057595U
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Abstract
This utility model is related to a kind of underwater line survey meter based on underwater robot, including control device waterborne, undersea detection device, umbilical cables and winch；The control device waterborne is communicatively coupled with undersea detection device by umbilical cables；Wherein, the umbilical cables are bypassed the winch and are connected with underwater detection equipment.The undersea detection device is arranged on underwater robot, for detecting position and the buried depth of submerged pipeline；The control device waterborne is used for the work for controlling undersea detection device.Compared to prior art, this utility model solves sound wave pipeline instrument probe technique under the conditions of deepwater regions muddiness, and the detection of multi-beam side-scan sonar, magnetic method detection, ROV shootings, diver's diving are taken pictures etc. and cannot detect a difficult problem for pipeline position and buried depth.By way of being combined using marine equipment and underwater installation, with ROV as carrier, region of diving into the deep water carries out lossless detection, overcomes pipe with small pipe diameter, the covering of mud layer of sand, the pipeline detection difficult point in muddy waters.
Description
Technical field
This utility model is related to a kind of survey meter, particularly a kind of underwater line survey meter based on underwater robot.
Background technology
Underwater line Detection Techniques are emerged and the new technique that grows up with Underwater Engineering, in recent years, various seabeds
Basin engineering of cable engineering, pipeline engineering, bridge tunel engineering, and offshore etc. is set up the project successively and is gone into operation, many island sea reclamations
Can also start with various networkings, and marine environment, resource investigation and protection etc..Submarine cable operation, embedded, detection, maintenance, extra large cable
The project operation such as the prospecting of route and O＆M detection is sharply increased.Submarine pipeline faces marine environment complicated and changeable, by wind
The effect of natural environment such as wave, ocean current, storm tide, and the anthropic factor impacts such as sand, anchor evil are adopted, easy generation pipeline is exposed, suspended span
It is etc. potential safety hazard, the long-term suspended span of submarine pipeline, exposed, under stormy waves, the impact of ocean current, easily produce fatigue fracture, Submarine Pipeline
Road will cause to stop production once there are the accidents such as leakage, and pollution of marine environment causes ecocatas-trophe, or even set off an explosion and cause people
Body injures and deaths and huge economic loss.How the position buried depth of accurate effectively determination submarine cable seems particularly significant.
At present, widely used submerged cable detection method mainly has：Sound wave pipeline instrument probe technique, multi-beam side-scan sonar
Detection, magnetic method detection, underwater robot (ROV) shooting, diver's diving are taken pictures.But when detection waters be profundal zone or
When muddy waters when, above-mentioned conventional detection method cannot then detect pipeline position and buried depth.
And due at present with underwater robot replace underwater robot underwater operation have efficiency high, depth greatly, not shadow
Ring submerged structure, adapt to various environment, the features such as reliability is high, be one of main development direction of underwater line detection.But
At present, China does not also have the underwater line survey meter that can apply to underwater robot.
Utility model content
This utility model is the shortcoming and deficiency for overcoming prior art, there is provided a kind of subaqueous pipe based on underwater robot
Line survey meter.
This utility model is realized by following technical scheme：A kind of underwater line based on underwater robot is detected
Instrument, including control device waterborne, undersea detection device, umbilical cables and winch；The control device waterborne passes through umbilical cables and water
Lower detection device is communicatively coupled；Wherein, the umbilical cables are bypassed the winch and are connected with underwater detection equipment；
The undersea detection device is arranged on underwater robot, for detecting position and the buried depth of submerged pipeline；
The control device waterborne is used for the work for controlling undersea detection device.
Used as further improvement of the utility model, the undersea detection device includes：
Detecting module, for detecting position, buried depth and the direction of submerged pipeline；
Data acquisition module, for gathering the data detected by the detecting module；
Data memory module, for receiving the data of the data acquisition module；
Communication module, for by the data is activation in the data memory module to control device waterborne；
Undersea detection apparatus main body, for depositing the data acquisition module, data memory module and communication module.
Used as further improvement of the utility model, the detecting module includes two three-component antennas, each three-component
Antenna is made up of three coils for measuring X-axis, Y-axis and Z-direction data respectively；The X-axis, between Y-axis and Z axis mutually just
Hand over；The data memory module includes two data acquisition units, respectively by communication cable holding wire and two three-component days
Line connects, and receives the data gathered by described two three-component antennas.
Used as further improvement of the utility model, the detecting module also includes altimeter and obliquity sensor；It is described
The data of altimeter and obliquity sensor coordinate the electromagnetic signal of the three-component antenna calculate the buried depth of submerged pipeline, plane
Position and direction.
Used as further improvement of the utility model, the data memory module includes：Pipeline instrument electromagnetism mainboard controller
And data storage cell；The pipeline instrument electromagnetism mainboard controller and data storage cell are used for the number of receiving data acquisition module
According to, and it is forwarded to the communication module.
Used as further improvement of the utility model, the communication module includes：Communication unit, control unit and board are supplied
Electric unit；The communication unit is used to transfer data to marine devices；Described control unit is used for the work of communication control unit；
The board power supply unit is used to power for undersea detection device.
Used as further improvement of the utility model, the detecting module is installed in watertight transducer, and is lived by popping one's head in
Dynamic support is connected with described device main body.
Used as further improvement of the utility model, the undersea detection apparatus main body is closing housing.
Used as further improvement of the utility model, the control device waterborne includes water surface computer operating system, mixes
Close communication device and power supply；The mixing communication device is used to receive the data of undersea detection device, and sends to computer operation system
System is shown；The power supply is used to power for mixing communication device.
Used as further improvement of the utility model, the control device waterborne also includes that GPS system and ultra-short baseline are fixed
Position system, for carrying out horizontal location.
Compared to prior art, this utility model solves sound wave pipeline instrument probe technique under the conditions of deepwater regions muddiness, many
The detection of wave beam side-scan sonar, magnetic method detection, ROV shootings, diver's diving are taken pictures etc. and cannot detect the difficulty of pipeline position and buried depth
Topic.By way of being combined using marine equipment and underwater installation, with ROV as carrier, region of diving into the deep water, using electromagnetism sense
Answer principle to carry out lossless detection, overcome pipe with small pipe diameter, the covering of mud layer of sand, the pipeline detection difficult point in muddy waters.Further, lead to
Cross the essence that pipeline detection plan-position and buried depth are overcome by the way of GPS, USBL, altimeter, obliquity sensor combine
Degree problem.By operating marine equipment, computer long-distance control is realized.By way of operating ROV and following the trail of submerged pipeline walking
Improve work efficiency, ensure achievement, substantially increase the reliability of result of detection.The underwater line survey meter is by by water
Upper computer realizes underwater line detection remotely control, pipeline with the pipe and cable detector information phase mutual feedback being mounted on ROV
Detection data is managed and is stored, interpretation of result and feed back, pipeline position and direction indicate etc..The equipment can be in muddy water and various
Waters uses.Watertightness performance under water can bear 1000 meters of water depth pressures.
In order to more fully understand and implement, this utility model is described below in conjunction with the accompanying drawings in detail.
Description of the drawings
Fig. 1 is the scheme of installation of the underwater line survey meter based on underwater robot of the present utility model.
Fig. 2 is the connection diagram of underwater line survey meter of the present utility model.
Fig. 3 is the concrete structure connection block diagram of underwater line survey meter of the present utility model.
Specific embodiment
This utility model is in order to bury a difficult problem for pipeline detection under the conditions of solving deep water muddiness, there is provided a kind of based under water
The underwater line survey meter of robot.It is introduced especially by below example：
Fig. 1 is referred to, which is the scheme of installation of the underwater line survey meter based on underwater robot of the present utility model.
This utility model provides a kind of underwater line survey meter based on underwater robot, including control device waterborne 1
With undersea detection device 2.The control device waterborne 1 is connected with undersea detection device 2 by umbilical cables 3.Wherein, the umbilical cord
Cable is connected with undersea detection device by winch.
The undersea detection device is arranged on underwater robot 5, for detecting position and the buried depth of submerged pipeline 6.
The control device waterborne is arranged on workboat 4, for controlling the work of undersea detection device 2.Wherein, it is described
Workboat 4 be provided between underwater robot extension and retraction system 41, underwater robot distribution box 42, surface operations 43 and ultra-short baseline it is fixed
Position system (USBL) 44.
Fig. 2 is referred to, which is the construction module frame of the underwater line survey meter based on underwater robot of the present utility model
Figure.
Specifically, the undersea detection device 2 mainly includes following several big modules：Detecting module 21, data acquisition module
22nd, data memory module 23, communication module 24 and undersea detection apparatus main body 25.
Wherein, the detecting module 21, for detecting position, buried depth and the direction of submerged pipeline.
The data acquisition module 22, for gathering the data detected by the detecting module.
The data memory module 23, for receiving the data of the data acquisition module.
The communication module 24, for by the data is activation in the data memory module to control device waterborne.
The undersea detection apparatus main body 25, for depositing the data acquisition module 21, data memory module 22 and leading to
News module 23.In order to prevent the module damage of inside, the undersea detection apparatus main body 25 from being closing housing.And, the device
The housing of main body 25 is high pressure waterproof case.
Next, specifically introducing the concrete composition of above-mentioned several functional modules.Further, Fig. 2 is referred to, which is this practicality
The concrete structure connection block diagram of the new underwater line survey meter based on underwater robot.
Wherein, the detecting module 21 specifically includes two three-component antennas, three-component antenna 1 and three-component antenna
2 212.Each three-component antenna is made up of three coils for measuring X-axis, Y-axis and Z-direction data respectively.The X-axis, Y-axis
It is mutually orthogonal and Z axis between.
The data memory module 22 includes two data acquisition units, data acquisition unit 1 and data acquisition list
Unit 2 222, and be connected with two three-component antennas by communication cable holding wire respectively, receive by described two three-component antennas
The data for being gathered.The data acquisition unit 1 and data acquisition unit 2 222 are by high-precision meter amplifier, high speed journey
Control amplifier, anti-aliased filter, analog digital conversion composition.Wherein, the technical specification of said modules is respectively：
The parameter of high-precision meter amplifier is：Noise<1nV/Hz, bandwidth>4M Hz；
The parameter of high speed programmable amplifier is：Noise<10nV/Hz, gain switch speed<10us, maximum gain>=
1000；
The parameter of analog-digital converter is：Sample rate>600KHz, resolution 24b.
And it is further, the detecting module 21 also includes altimeter 214 and obliquity sensor 213.214 He of the altimeter
The data of obliquity sensor 213 coordinate the electromagnetic signal of the three-component antenna calculate the position of the buried depth of submerged pipeline, plane
Put and direction.
Wherein, two three-component antennas and obliquity sensor 213 are mounted in watertight transducer 26, and by probe activity
Support 27 is connected with described device main body 25.
Specifically, the data memory module 23 includes：Pipeline instrument electromagnetism mainboard controller 231 and data storage cell
232.The pipeline instrument electromagnetism mainboard controller 231 and data storage cell 232 are used for the data of receiving data acquisition module 22,
And it is forwarded to the communication module 24.
The communication module 24 includes：Communication unit 241, control unit 242, board power supply unit 243 and electronics storehouse
244.The communication unit 241 is used to transfer data to marine devices 1；Described control unit 242 is used for communication control unit 241
Work.The board power supply unit 243 is used to power for undersea detection device 2.Specifically, when data memory module 23 should
When data is activation is to communication module, will by communication unit 241, control unit 242, board power supply unit 243 and electronics storehouse 244
Data are transferred to marine equipment and are analyzed preservation.
The control device waterborne 1 includes water surface computer operating system 11, mixing communication device 12 and deck power supply 13.Institute
Stating mixing communication device 12 is used to receive the data of undersea detection device 2, and sends to computer operating system 11 and shown.Institute
Deck power supply 13 is stated for powering for mixing communication device 12.Wherein, the water surface computer operating system 11 is soft by host computer
Part controls the undersea detection device, and is managed and recording data information, while signal is fed back to underwater robot 5 believing
In breath system.The control device waterborne 1 also includes GPS system 14, for carrying out horizontal location.The control device waterborne is also
A ultra short baseline locating system 44 is provided with, one part is arranged on workboat, and another part is arranged on underwater robot,
For positioning to underwater robot.Wherein, the ultra short baseline locating system 44 includes transmitting transducer, transponder, connects
Receive basic matrix composition.The transmitting transducer and reception basic matrix are installed aboard ship, and the transponder 29 is fixed on underwater carrier, i.e.,
Underwater robot.
The course of work of the underwater line survey meter based on underwater robot (ROV) of the present utility model introduced below：
(1) detection pipeline basic condition, such as detection object property (cable, communications optical cable, petroleum pipeline under water are verified first
Deng), if there is ac signal, if it has not, the fixed frequency signal of telecommunication need to be loaded.
(2) water surface test.Tested in Submarine Pipeline Design route area under water.The safety of test process equipment；Guarantee be
The system stability with state working properly；Guarantee the reliability of data；Guarantee that pipeline detection data and miscellaneous equipment can be synchronous.
(3) underwater line survey meter is attached to into underwater carrier ROV, and is debugged and tested.
(4) underwater line survey meter is dived under water with carrier ROV and is detected according to pre- investigation route.
(5) detection data is synchronous with other equipment, and carries out data collection task, records and preserves.
(6) topside personnel's operation remote control software, according to the pipeline path direction that underwater line survey meter shows, in good time
Adjustment ROV routes, preserve line signal in detectable range, while keeping ROV stable, height is in the reasonable scope.
(7) data collection, processes filing, completes construction report etc..
Compared to prior art, this utility model solves sound wave pipeline instrument probe technique under the conditions of deepwater regions muddiness, many
The detection of wave beam side-scan sonar, magnetic method detection, ROV shootings, diver's diving are taken pictures etc. and cannot detect the difficulty of pipeline position and buried depth
Topic.By way of being combined using marine equipment and underwater installation, with ROV as carrier, region of diving into the deep water, using electromagnetism sense
Answer principle to carry out lossless detection, overcome pipe with small pipe diameter, the covering of mud layer of sand, the pipeline detection difficult point in muddy waters.Further, lead to
Cross the essence that pipeline detection plan-position and buried depth are overcome by the way of GPS, USBL, altimeter, obliquity sensor combine
Degree problem.By operating marine equipment, computer long-distance control is realized.By way of operating ROV and following the trail of submerged pipeline walking
Improve work efficiency, ensure achievement, substantially increase the reliability of result of detection.The underwater line survey meter is by by water
Upper computer realizes underwater line detection remotely control, pipeline with the pipe and cable detector information phase mutual feedback being mounted on ROV
Detection data is managed and is stored, interpretation of result and feed back, pipeline position and direction indicate etc..The equipment can be in muddy water and various
Waters uses.Watertightness performance under water can bear 1000 meters of water depth pressures.
This utility model is not limited to above-mentioned embodiment, if do not taken off to various changes of the present utility model or deformation
From spirit and scope of the present utility model, if these are changed and deformation belongs to claim of the present utility model and equivalent technologies
Within the scope of, then this utility model is also intended to comprising these changes and deforms.
Claims (10)
1. a kind of underwater line survey meter based on underwater robot, it is characterised in that：Including control device waterborne, undersea detection
Device, umbilical cables and winch；The control device waterborne is communicatively coupled with undersea detection device by umbilical cables；Wherein,
The umbilical cables are bypassed the winch and are connected with underwater detection equipment；
The undersea detection device is arranged on underwater robot, for detecting position and the buried depth of submerged pipeline；
The control device waterborne is used for the work for controlling undersea detection device.
2. underwater line survey meter according to claim 1 based on underwater robot, it is characterised in that：The undersea detection
Device includes：
Detecting module, for detecting position, buried depth and the direction of submerged pipeline；
Data acquisition module, for gathering the data detected by the detecting module；
Data memory module, for receiving the data of the data acquisition module；
Communication module, for by the data is activation in the data memory module to control device waterborne；
Undersea detection apparatus main body, for depositing the data acquisition module, data memory module and communication module.
3. underwater line survey meter according to claim 2 based on underwater robot, it is characterised in that：The detecting module
Including two three-component antennas, each three-component antenna is measured the coil group of X-axis, Y-axis and Z-direction data respectively by three
Into；It is the X-axis, mutually orthogonal between Y-axis and Z axis；The data memory module includes two data acquisition units, passes through respectively
Communication cable holding wire is connected with two three-component antennas, receives the data gathered by described two three-component antennas.
4. underwater line survey meter according to claim 3 based on underwater robot, it is characterised in that：The detecting module
Also include altimeter and obliquity sensor；The data of the altimeter and obliquity sensor coordinate the electromagnetism of the three-component antenna
Signal can calculate the buried depth of submerged pipeline, the position of plane and direction.
5. underwater line survey meter according to claim 2 based on underwater robot, it is characterised in that：The data storage
Module includes：Pipeline instrument electromagnetism mainboard controller and data storage cell；The pipeline instrument electromagnetism mainboard controller and data are deposited
Storage unit is used for the data of receiving data acquisition module, and is forwarded to the communication module.
6. underwater line survey meter according to claim 2 based on underwater robot, it is characterised in that：The communication module
Including：Communication unit, control unit and board power supply unit；The communication unit is used to transfer data to marine devices；It is described
Control unit is used for the work of communication control unit；The board power supply unit is used to power for undersea detection device.
7. underwater line survey meter according to claim 4 based on underwater robot, it is characterised in that：The detecting module
Two three-component antennas and obliquity sensor be installed in watertight transducer, and by travel(l)ing rest and the described device main body of popping one's head in
Connection.
8. underwater line survey meter according to claim 2 based on underwater robot, it is characterised in that：The undersea detection
Apparatus main body is closing housing.
9. underwater line survey meter according to claim 1 based on underwater robot, it is characterised in that：The control waterborne
Device includes water surface computer operating system, mixing communication device and power supply；The mixing communication device is used to receive undersea detection dress
The data put, and send to computer operating system and shown；The power supply is used to power for mixing communication device.
10. underwater line survey meter according to claim 1 based on underwater robot, it is characterised in that：The control waterborne
Device processed also includes GPS system and ultra short baseline locating system, for carrying out horizontal location.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201620911624.3U CN206057595U (en) | 2016-08-19 | 2016-08-19 | A kind of underwater line survey meter based on underwater robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201620911624.3U CN206057595U (en) | 2016-08-19 | 2016-08-19 | A kind of underwater line survey meter based on underwater robot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106405662A (en) * | 2016-08-19 | 2017-02-15 | 广东科诺勘测工程有限公司 | Underwater pipeline detector based on underwater robot |
| CN108583813A (en) * | 2018-04-26 | 2018-09-28 | 国家深海基地管理中心 | A kind of deep-sea rescue system |
| CN110737029A (en) * | 2019-10-23 | 2020-01-31 | 中国船舶重工集团公司七五0试验场 | underwater cable electromagnetic detection device and positioning method |
| CN111896040A (en) * | 2020-08-20 | 2020-11-06 | 王佩贵 | Underwater detection device convenient to fold and unfold |
| CN112460376A (en) * | 2020-11-11 | 2021-03-09 | 中交第一公路勘察设计研究院有限公司 | High-water-level drainage pipe network defect positioning system and method |
-
2016
- 2016-08-19 CN CN201620911624.3U patent/CN206057595U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106405662A (en) * | 2016-08-19 | 2017-02-15 | 广东科诺勘测工程有限公司 | Underwater pipeline detector based on underwater robot |
| CN108583813A (en) * | 2018-04-26 | 2018-09-28 | 国家深海基地管理中心 | A kind of deep-sea rescue system |
| CN108583813B (en) * | 2018-04-26 | 2019-07-19 | 国家深海基地管理中心 | A kind of deep-sea rescue system |
| CN110737029A (en) * | 2019-10-23 | 2020-01-31 | 中国船舶重工集团公司七五0试验场 | underwater cable electromagnetic detection device and positioning method |
| CN111896040A (en) * | 2020-08-20 | 2020-11-06 | 王佩贵 | Underwater detection device convenient to fold and unfold |
| CN111896040B (en) * | 2020-08-20 | 2022-08-23 | 山东引领电子科技有限公司 | Underwater detection device convenient to fold and unfold |
| CN112460376A (en) * | 2020-11-11 | 2021-03-09 | 中交第一公路勘察设计研究院有限公司 | High-water-level drainage pipe network defect positioning system and method |
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Effective date of registration: 20230801 Address after: 570000 Unit B, 14 #, Fortune Plaza, 103 Binhai Avenue, Haikou City, Hainan Province Patentee after: Haikou Branch of Guangzhou Bureau of China Southern Power Grid Co.,Ltd. Patentee after: GUANGDONG KENUO SURVEYING ENGINEERING Co.,Ltd. Address before: Building A4, No. 181 Science Avenue, Science City, Luogang District, Guangzhou City, Guangdong Province, 510000 Patentee before: GUANGZHOU BUREAU OF EXTRA HIGH VOLTAGE TRANSMISSION COMPANY OF CHINA SOUTHERN POWER GRID Co.,Ltd. Patentee before: GUANGDONG KENUO SURVEYING ENGINEERING Co.,Ltd. |
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