CN206394852U - A kind of dykes and dams detect underwater robot - Google Patents
A kind of dykes and dams detect underwater robot Download PDFInfo
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- CN206394852U CN206394852U CN201720064591.8U CN201720064591U CN206394852U CN 206394852 U CN206394852 U CN 206394852U CN 201720064591 U CN201720064591 U CN 201720064591U CN 206394852 U CN206394852 U CN 206394852U
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Abstract
The utility model mesh discloses a kind of dykes and dams detection underwater robot, including front camera device, horizontal propeller, vertical pusher, bottom camera device, empennage, support, slide plate, floating body and USBL devices；A horizontal propeller and a vertical pusher are respectively symmetrically fixed in the front camera device left and right sides, front camera device is fixed on the support of the left and right sides by fixed plate, slide plate is fixedly connected with frame bottom, USBL devices are fixed on the support of the left and right sides by fixed plate, floating body is fixed on left and right sides cradle top, rear end of the empennage two ends respectively with two supports in left and right is connected, and bottom camera is fixed on front camera bottom of device.It realizes whole monitoring to dykes and dams, compensate for existing Underwater Camera and can not realize integrally to realize dykes and dams monitoring, the problem of there is monitoring blind spot；USBL devices are realized and underwater robot are accurately positioned；Empennage ensure that dykes and dams detect underwater robot smooth-ride in water.
Description
Technical field
The utility model underwater robot technical field, it is more particularly to a kind of that detection inspection is carried out to dam base under water
Robot.
Background technology
Dam is block rivers ditch water flow with raising of water level or adjusts the water retaining structure of flow, once it destroy very
May be exactly catastrophic, therefore the daily detection to Ba Bi and dam bottom is most important.What is relied on detected in dam bottom mostly at present
It is frogman, but water is detected under difficulty or ease are realized under the adverse circumstances such as winter.In order to solve this problem, Chinese patent
CN2004100137890 discloses a kind of dam latent danger detecting underwater robot system and its detection method, passes through control first
High-resolution multi-beam obtains the acoustic image on dykes and dams surface, is then continuously swept by controlling high resolution section sonar to do dykes and dams
Detection is retouched, the D profile image inside dykes and dams is obtained, the image finally obtained is handled, comprehensive performance is obtained from dykes and dams
3-D view of the surface to internal hidden danger state.The patented technology is complicated, and it is hidden to confirm that dykes and dams are present only by acoustic detection
Suffer from, it is impossible to obtain the whole view data of dykes and dams.
The content of the invention
The utility model purpose is to provide a kind of dykes and dams detection underwater robot, solves existing underwater robot to dike
The problem of there is monitoring blind spot when dam is monitored.
To achieve the above object, the dykes and dams detection underwater robot that the utility model is related to, including front camera device,
Horizontal propeller, vertical pusher, bottom camera device, empennage, support, slide plate, floating body and USBL devices；Observe dykes and dams inspection
A horizontal propeller and one are respectively symmetrically fixed in the front camera device left and right sides for surveying the anterior environment of underwater robot
Vertical pusher, front camera device is fixed on the support of the left and right sides by fixed plate, and slide plate is fixed with frame bottom
Connection, USBL devices are fixed on the support of the left and right sides by fixed plate, and floating body is fixed on left and right sides cradle top, empennage
Rear end of the two ends respectively with two supports in left and right is connected, and bottom camera is fixed on front camera bottom of device.
Further, the front camera device or bottom camera device that the utility model is related to include LED, close
Shell and photographing module are sealed, LED is fixedly installed on the outside of sealing shell or inner side, and sealing shell is by housing and and housing seal
The transparent kuppe composition of connection, photographing module is fixed in seal casinghousing cavity.
Further, the utility model also includes sealed cell cabin, two sealed cell cabins for sealing placing battery or so
Sealing shell bottom symmetrically is fixed on, battery is electrically connected with front camera device, bottom camera device and USBL devices.
Further, the sealing shell of bottom camera device is fastened in the utility model using two clips, using set
Clip, is fixedly connected and then consolidates bottom camera device by the two sealed cell cabins in circle fastening left and right by contiguous block with lasso
It is scheduled between two sealed cell cabins of front camera bottom of device.
Compared with prior art, the utility model has advantages below：(1) dykes and dams are realized with whole monitoring, particularly bottom
The situation of Real Time Observation dam base is easy in the setting of portion's camera system, and compensate for existing Underwater Camera can not realize to dike
Monitoring is integrally realized on dam, the problem of there is monitoring blind spot；(2) USBL devices are realized and underwater robot are accurately positioned, and then
Improve the monitoring to dykes and dams position；(3) empennage ensure that dykes and dams detect underwater robot smooth-ride in water.
Brief description of the drawings：
Fig. 1 is dykes and dams detection a kind of three-dimensional structure diagram of underwater robot that the utility model is related to.
Fig. 2 is the dykes and dams detection another three-dimensional structure diagram of underwater robot that the utility model is related to.
Fig. 3 is the dykes and dams detection underwater robot side view that the utility model is related to.
Embodiment：
The utility model is described in further detail with reference to the accompanying drawings and examples.
Embodiment 1：
Dykes and dams that the present embodiment is related to detection underwater robot, including it is front camera device 1, horizontal propeller 6, vertical
Propeller 4, bottom camera device 9, empennage 5, support 8, slide plate 7, floating body 3 and USBL devices 2；Observe dykes and dams detection machine under water
The left and right sides of front camera device 1 of device people front portion environment respectively symmetrically fixes a horizontal propeller 6 and one vertically pushes away
Enter device 4, front camera device 1 is fixed on the support 8 of the left and right sides by fixed plate, slide plate 7 is fixed with the bottom of support 8 to be connected
Connect and avoid dykes and dams from detecting that underwater robot bottom touches barrier, USBL devices 2 are fixed on the left and right sides by fixed plate
It is used in combination on support 8 with alignment system and realizes that dykes and dams detection underwater robot is accurately positioned in water-bed, floating body 3 is fixed on a left side
The right top of two side stand 8 is used to increasing the overall buoyancy of dykes and dams detection underwater robot, the two ends of empennage 5 respectively with the branch of left and right two
Regulation dykes and dams detection underwater robot stable posture under water is easy in the rear end connection of frame 8, and bottom camera 9 is fixed on front portion
The bottom of camera system 1 is used to observe dykes and dams detection underwater robot bottom environment, is easy to observe the reality of dam base when using
When situation.
Further, the front camera device 1 or bottom camera device 9 that the present embodiment is related to include LED, close
Shell and photographing module are sealed, LED is fixedly installed on the outside of sealing shell or inner side, and sealing shell is close by housing 10 and with housing
Envelope connection transparent kuppe 11 constitute, photographing module is fixed in seal casinghousing cavity, front camera device 1 it is transparent
Kuppe 11 detects the front end of underwater robot towards dykes and dams, and the transparent kuppe 11 of bottom camera device 9 is examined towards dykes and dams
Survey the bottom of underwater robot.
Further, the front camera device 1 that the present embodiment is related to also includes the installation being fixedly installed in sealing shell
Underwater robot fulfils assignment required electronic module, and the electronic module needed for the installation underwater robot fulfils assignment includes
Power module, control module, motor drive module, communication module etc., control module receive control instruction to control electricity
Machine drive module realizes that the control to horizontal propeller, vertical propeller, and realization are taken the photograph to front camera device 1 and bottom
The control of photographing module and LED in camera device 9.
Further, the present embodiment also includes sealed cell cabin 14, seals the left side of two sealed cell cabins 14 of placing battery
The right side is symmetrically fixed on sealing shell bottom, and battery is electrically connected with front camera device 1, bottom camera device 9 and USBL devices 2
Connect.
Further, the sealing shell of bottom camera device 9 is fastened in the present embodiment using two clips 12, using set
Clip 12, is fixedly connected and then takes the photograph bottom by the two sealed cell cabins 14 in the fastening of circle 13 left and right by contiguous block 15 with lasso 13
Camera device 9 is fixed between two sealed cell cabins 14 of the bottom of front camera device 1.
Further, the horizontal propeller 4 or the structure of vertical pusher 12 that the present embodiment is related to and Chinese utility model
Patent CN2014204049574 is identical, and horizontal propeller and vertical pusher collective effect realize that dykes and dams detect underwater robot
The motions such as underwater rising, decline, rotation.
Claims (4)
1. a kind of dykes and dams detect underwater robot, it is characterised in that including front camera device, horizontal propeller, vertically push away
Enter device, bottom camera device, empennage, support, slide plate, floating body and USBL devices；Observe dykes and dams detection underwater robot anterior
A horizontal propeller and a vertical pusher are respectively symmetrically fixed in the front camera device left and right sides of environment, and front portion is taken the photograph
Camera device is fixed on the support of the left and right sides by fixed plate, and slide plate is fixedly connected with frame bottom, and USBL devices pass through
Fixed plate is fixed on the support of the left and right sides, and floating body is fixed on left and right sides cradle top, empennage two ends respectively with left and right two
The rear end connection of individual support, bottom camera is fixed on front camera bottom of device.
2. dykes and dams according to claim 1 detect underwater robot, it is characterised in that front camera device or bottom are taken the photograph
Camera device includes LED, sealing shell and photographing module, and LED is fixedly installed on the outside of sealing shell or inner side, sealing
Shell is made up of housing and the transparent kuppe being hermetically connected with the shell, and photographing module is fixed in seal casinghousing cavity.
3. dykes and dams according to claim 2 detect underwater robot, it is characterised in that also including sealed cell cabin, sealing
Two sealed cell cabins of placing battery are symmetrical to be fixed on sealing shell bottom, battery and front camera device, bottom
Camera system and the electrical connection of USBL devices.
4. dykes and dams according to claim 3 detect underwater robot, it is characterised in that taken the photograph using two clip fastening bottoms
The sealing shell of camera device, fastens the two sealed cell cabins in left and right using lasso, is fixed clip and lasso by contiguous block
Connect and then bottom camera device is fixed between two sealed cell cabins of front camera bottom of device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720064591.8U CN206394852U (en) | 2017-01-19 | 2017-01-19 | A kind of dykes and dams detect underwater robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720064591.8U CN206394852U (en) | 2017-01-19 | 2017-01-19 | A kind of dykes and dams detect underwater robot |
Publications (1)
| Publication Number | Publication Date |
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| CN206394852U true CN206394852U (en) | 2017-08-11 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201720064591.8U Active CN206394852U (en) | 2017-01-19 | 2017-01-19 | A kind of dykes and dams detect underwater robot |
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| Country | Link |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108438178A (en) * | 2018-03-05 | 2018-08-24 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | A kind of glding type manned device for deep water face dam preservation ＆ testing |
| CN109733566A (en) * | 2019-01-25 | 2019-05-10 | 北京万鑫科技有限公司 | A kind of underwater boost motor |
-
2017
- 2017-01-19 CN CN201720064591.8U patent/CN206394852U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108438178A (en) * | 2018-03-05 | 2018-08-24 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | A kind of glding type manned device for deep water face dam preservation ＆ testing |
| CN108438178B (en) * | 2018-03-05 | 2019-12-17 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | Sliding type manned device for maintenance and detection of deepwater face dam |
| CN109733566A (en) * | 2019-01-25 | 2019-05-10 | 北京万鑫科技有限公司 | A kind of underwater boost motor |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: Dykes and dams detect underwater robot Effective date of registration: 20191113 Granted publication date: 20170811 Pledgee: Qingdao financing guarantee Centre Limited Pledgor: QINGDAO ROBOTFISH MARINE TECHNOLOGY CO., LTD. Registration number: Y2019370010036 |
|
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20210202 Granted publication date: 20170811 Pledgee: Qingdao financing guarantee Centre Ltd. Pledgor: QINGDAO ROBOTFISH MARINE TECHNOLOGY Co.,Ltd. Registration number: Y2019370010036 |
|
| PC01 | Cancellation of the registration of the contract for pledge of patent right |