CN207595225U - A kind of underwater robot for detecting port and pier - Google Patents
A kind of underwater robot for detecting port and pier Download PDFInfo
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- CN207595225U CN207595225U CN201721750982.1U CN201721750982U CN207595225U CN 207595225 U CN207595225 U CN 207595225U CN 201721750982 U CN201721750982 U CN 201721750982U CN 207595225 U CN207595225 U CN 207595225U
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- main frame
- underwater robot
- sonar
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- extension framework
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Abstract
A kind of underwater robot for detecting port and pier, including：Main frame, extension framework, horizontal propeller, vertical pusher, main nacelle, positioning device, detection device and buoyant mass；Main frame is fixedly connected up and down with extension framework, main frame is internally provided with to carry the main nacelle, positioning device and the supporting part of detection device, the buoyant mass is equipped at the top of main frame, horizontal propeller is horizontally installed in the main frame, and form each level symmetrical expression vector propulsion system, vertical pusher is vertically installed in main frame, and forms propulsion system up and down, and main nacelle is connected by umbilical cable and the communication of water surface control system.The underwater robot of open-shelf structure can carry different positioning devices and detection device according to actual needs, the position of accurate control underwater robot and posture, technical staff is made to have position and severity where the operation conditions of the submerged structure at harbour and the dangerous hidden danger of disease to get information about very much, accurately and reliably detection data can be obtained.
Description
Technical field
The utility model is related to port and pier detection technique fields, and in particular to a kind of underwater for detecting port and pier
People.
Background technology
With the development of economy and social progress, the water industry in China have also obtained quick development.China's seashore
Line length, as the big country of port and pier, these plurality of port and pier engineerings not only play extremely in terms of logistics transportation
Important role, while the development of national economy and society is also promoted to a certain extent.But these port and pier engineerings
It is most of all to be built in the 50-70 ages in 20th century, condition at that time is limited by, quality is difficult to ensure that, in addition long neglected and in disrepair, aging
Seriously, disease danger increasingly highlights, and directly threatens the safe operation of port and pier engineering.Therefore, port and pier engineering is periodically opened
Exhibition detection is necessary.So, how effectively to carry out detection work, obtain accurately and reliably testing result, be me
An important topic facing.
Few currently for port and pier water conservancy project detection case, technical solution prepares deficiency, and traditional underwater detection to be limited to
In inland river bridge, testing conditions are relatively easy, and traditional mode is detected using frogman, exist in security control certain hidden
Suffer from.
Invention content
The application provides a kind of underwater robot for detecting port and pier, including main frame, extension framework, horizontal propulsion
Device, vertical pusher, main nacelle, positioning device, detection device and buoyant mass；
Main frame and extension framework are fixedly connected up and down, main frame be internally provided with for carry main nacelle, positioning device and
The supporting part of detection device, main frame top are equipped with buoyant mass, and horizontal propeller is horizontally installed in main frame, and forms level
Respectively to symmetrical vector propulsion system, vertical pusher is vertically installed in main frame, and forms propulsion system up and down, main nacelle
It is connected by umbilical cable and the communication of water surface control system.
In a kind of embodiment, supporting part is platy structure, and supporting part is equipped with extension installation position.
In a kind of embodiment, extension framework is equipped with the installation position for installing expansion equipment.
In a kind of embodiment, main frame is fixedly connected with extension framework by fixed block, and main frame and the expansion subrack
The opposite edges correspondence of frame offers the accommodating position for accommodating fixed block.
In a kind of embodiment, the outer surface of fixed block is flushed with the outer surface of main frame and extension framework.
In a kind of embodiment, positioning device includes surveying high sonar, ranging sonar, depth gauge, compass, acoustic responder.
In a kind of embodiment, detection device includes section sonar, high frequency imaging sonar, video camera.
In a kind of embodiment, section sonar is multiple beam section sonar.
In a kind of embodiment, high frequency imaging sonar is multi-beam forward sight image sonar or 3-D scanning imaging sonar.
According to the underwater robot of above-described embodiment, due to by being open-shelf knot by the structure design of underwater robot
Structure, processing is simple, reduces design cost, and can also according to different port and pier it is actually detected need to carry different determine
Position equipment and detection device can accurately control position and the posture of underwater robot, meanwhile, detection technique personnel is made to pass through the water surface
Control system has position and severity where the dangerous hidden danger of operation conditions and disease of the submerged structure of port engineering very straight
The understanding of sight is conducive to detection technique personnel and obtains accurately and reliably detection data to engineering present situation.
Description of the drawings
Fig. 1 is underwater robot structure schematic diagram.
Specific embodiment
The utility model is described in further detail below by specific embodiment combination attached drawing.
This example provides a kind of underwater robot for detecting port and pier, and structure chart is as shown in Figure 1, including main frame 1, expand
Frame 2, horizontal propeller 3, vertical pusher 4, main nacelle 5, positioning device 6, detection device 7 and buoyant mass 8 are opened up, wherein, it is main
Frame 1 and extension framework 2 are using open-shelf structure, in this way, making the overall structure of underwater robot convenient for designing, convenient for behaviour
Make.
The main frame 1 of this example is to be fixedly connected up and down with extension framework 2, specifically, the phase of main frame 1 and extension framework 2
Edge is fixedly connected by multiple fixed blocks 9, in order to which main frame 1 and the whole of extension framework 2 is made to combine beautiful, the master of this example
The accommodating position offered for accommodating fixed block 9 corresponding with the opposite edges of extension framework 2 of frame 1, when fixed block 9 is positioned over this
During accommodating position, then outer surface and the main frame 1 and the outer surface horizontal alignment of extension framework 2 of fixed block 9, then pass through screw
Fixed block 9 is individually fixed on main frame 1 and extension framework 2, being fixedly connected for main frame 1 and extension framework 2 is realized with this.
Further, the main frame 1 of this example is internally provided with to carry holding for main nacelle 5, positioning device 6 and detection device 7
Load portion 10, supporting part 10 is platy structure, in order to make the underwater robot of this example that there is multi-functional compatibility, even if this example
Underwater robot can be compatible with installation multiple equipment, peace of the supporting part 10 in addition to being equipped with main nacelle 5, positioning device 6 and detection device 7
It fills outside position, supporting part 10 is additionally provided with extension installation position 101, in this way, can pacify the relevant device of underwater robot expanded function
Loaded on the extension installation position 101.
Correspondingly, the extension framework 2 of this example also has the installation position 21 for installing other expansion equipments, pass through extension framework 2
Installation position 21 and supporting part 10 on extension installation position 101, can make underwater robot to different types of port and pier carry out
The detection of different function improves the compatibility of underwater robot, extends detection range and the application of underwater robot.
Further, the quantity of the horizontal propeller 3 of this example is four, and four horizontal propellers 3 are horizontally installed to lead respectively
Front left, front right, rear left and right four direction in frame 1, and four horizontal propellers 3 form each level symmetrical expression vector
Propulsion system；Vertical pusher 4 is vertically arranged in the centre position at 1 top of main frame, and forms propulsion system up and down；Pass through control
The rotating of these propellers is made, robot can realize：The actions such as advance and retreat, sink-float, translation, steering：When four horizontal propulsions
When the identical steering of device rotating speed is identical, robot can be realized and be moved forward and backward；The steering of horizontal propeller before left back, right and
The steering of horizontal propeller after left front, right on the contrary, when identical rotating speed can realize that the left side of propeller is moved and right side movement is made；
When left front, left back horizontal propeller steering with it is right before, it is right after horizontal propeller steering on the contrary, rotating speed it is identical be can be real
The go to action of existing propeller；Vertical pusher 4 can control the floating of robot to sink.
The main nacelle 5 of this example is connected by umbilical cable and the communication of water surface control system, is provided for entire underwater robot
Signal is controlled, e.g., main nacelle 5 is respectively that horizontal propeller 3 and vertical pusher 5 provide control signal, to control underwater
The motion state of people.
Since sonar is the electronic equipment that is detected, positioned and communicated using underwater acoustic wave, operation principle be exactly when
When sound wave is propagated under water, encountering different interfaces (such as dam body has crack or air blanketing to be formed different interfaces) can generate
Reflection causes the acoustic signals received to rise and fall and distort, and the shallow sonar that cuts open is made of transmitting basic matrix with basic matrix is received.Existed using sound wave
During underwater propagation, principle of reflection can be generated by encountering solid interface, be sent between sound wave pulse and reception sound wave pulse by measurement
Time difference, using certain calculating, the underwater position of a certain solid can be measured, therefore, the positioning device 6 of this example by
Fixed sonar forms, and detection device 7 is made of detection sonar, specific as follows.
Positioning device 6 is connected with the communication of water surface control system, and positioning device 6 carries out port and pier detection for underwater robot
Desired position is provided, including angle of heading, depth, height and distance relative to port and pier etc., positioning device 6 includes DVL
Speedometer surveys high sonar, ranging sonar, depth gauge, compass, acoustic responder, wherein, DVL speedometers：Following range is to water
Bottom tracking mode 600m, the range that tests the speed soil 6m/s, water-bed tracking accuracy are less than the 0.2% of measuring speed, and (test the speed resolution ratio door
Limit) 0.1cm/s；KVH magnetic compasses：Precision ± 0.5 °, ± 0.2 ° of repeatability, resolution ratio ± 0.1 °, pitching/rolling measurement range are
±16°；Survey high sonar：Maximum measuring depth 200m, minimum measuring depth 8m, working frequency 150khz, measurement accuracy soil
2.4%；Depth juice：Maximum measuring depth 200m, measurement accuracy ± 0.1m.Wherein, loud Naan is surveyed loaded on supporting part 9, the underwater sound
Transponder is mounted on the top of main frame 1, and acoustic responder is responsible for sending a signal to water surface control system.
Detection device 7 is connected with the communication of water surface control system, and detection device 7 includes section sonar, high frequency imaging sonar, takes the photograph
Camera；Wherein, section sonar is multiple beam section sonar, and high frequency imaging sonar is multi-beam forward sight image sonar or 3-D scanning
Imaging sonar, video camera are TV cameras, port and pier table body situation are checked using TV cameras, by sonar detection sensor
Harbour deep structure situation is detected, the 200m that can dive beneath the water destroies the crack of detecting structure object through the mud of 10m thickness.
Buoyant mass 8 is set to the top of main frame 1, and specifically design is according to underwater robot institute to the negative buoyancy force of buoyant mass 8
The size design of the positive buoyancy needed, the overall structure for ensureing underwater robot with the negative buoyancy force provided by buoyant mass 8 balances.
If diver needs diving bell in deep underwater work, pressurization decompression time is long, and diver's work in water
Make that time, operating condition, working environment etc. are all restricted, and diver is substituted with the underwater robot of this example, then when can be long
Between in water arbitrary depth carry out operation.Meanwhile underwater robot can rapidly march to appointed place and rapid according to instruction
It carries out the work, therefore, substantially reduces the working time, improve work efficiency.
In other embodiments, it can also be taken by the open main frame of the underwater robot in this example and extension framework
Carry the equipment such as underwater high-definition camera, multibeam sonar can comprehensive, full angle intuitively observe very much water in real time
Lower detection is live, while these fact letter images can be synchronized and are stored in the computer of control platform, to be analyzed in the future
With research.
Such as, underwater high-definition camera can carry out surrounding enviroment, aouatic structure etc. to continue shooting, and real-time display is being controlled
It on the display screen of platform processed and is automatically held in computer, which detection technique personnel very intuitively can see by screen
A little places have crack, which place to have damaged, which place to have corrosion of metal etc., and standard is made according to phenomenon so as to quick
True judgement.It can also be by retrieving for examination or playing back the image areas data detected again, and briefly scene point is carried out to it
Analysis and judgement, to decide whether that benefit is surveyed or further encryption detection position carries out detailed survey to certain positions.
Multibeam sonar is similar to the flashlight that our lives use in the middle, and the sound wave of sonar transmitting is with certain side
Launch to angle, acoustic wave segment energy is reflected back the surface of the sound again when sound is encountered front obstacle.Work as sonar
After system extension receives reflected sonar, it can be measured according to being emitted to echo from sound wave and being received the length of this period
The distance of target range sound system.Can obtain the strong of target reflection sound wave ability according to the intensity size of convolution simultaneously
It is weak, so as to form sonar image.On the sonar image of formation, it can be seen that have it is bright have it is dark, it is generally the case that echo-signal is strong
Use light tone, echo-signal it is weak with dark-coloured.And in acoustics, hard goal (such as concrete, steel plate) reflected sound is strong by ability, soft
Target (such as water, rubber, shell air chamber) reflection sound wave ability is weak.Therefore for according to these principles, multibeam sonar can
To carry out accurately identification and positioning to underwater each target object.
In preferable water body environment, the underwater robot of this example shows that underwater detection is live in which can be apparent from, such as water
Crack, breakage, steel bar corrosion situation of library dam etc., and pass through the position that alignment system records the generation of its problem, it preserves simultaneously
Get off.In the case where water quality condition is poor, the multibeam sonar of underwater robot carrying still can be passed through
Detection target is positioned and recognized.
Data and achievement acquired by underwater robot system are mainly comprising the imaging of underwater high-definition camera and the more waves of two dimension
Beam sonar scanning result two parts, two parts result can individually carry out finishing analysis, can also be combined with each other and carry out achievement point
Testing result is mutually confirmed in analysis.
Use above specific case is illustrated the utility model, is merely used to help understand the utility model, and
Not limiting the utility model.For those skilled in the art of the present invention, the think of according to the utility model
Think, several simple deductions, deformation can also be made or replace.
Claims (9)
1. a kind of underwater robot for detecting port and pier, which is characterized in that including：Main frame, extension framework, horizontal propulsion
Device, vertical pusher, main nacelle, positioning device, detection device and buoyant mass；
The main frame is fixedly connected up and down with the extension framework, and the main frame is internally provided with to carry the main cabin
The supporting part of body, positioning device and detection device, the main frame top are equipped with the buoyant mass, and the horizontal propeller is horizontal
It is installed in the main frame, and forms each level symmetrical expression vector propulsion system, the vertical pusher is vertically installed on
In the main frame, and propulsion system up and down is formed, the main nacelle is connected by umbilical cable and the communication of water surface control system.
2. underwater robot as described in claim 1, which is characterized in that the supporting part be platy structure, the supporting part
Equipped with extension installation position.
3. underwater robot as described in claim 1, which is characterized in that the extension framework is equipped with to be set for installing extension
Standby installation position.
4. underwater robot as described in claim 1, which is characterized in that the main frame passes through fixation with the extension framework
Block is fixedly connected, and the main frame is corresponding with the opposite edges of the extension framework offers to accommodate the fixed block
Accommodating position.
5. underwater robot as claimed in claim 4, which is characterized in that the outer surface of the fixed block and the main frame and
The outer surface of extension framework flushes.
6. underwater robot as described in claim 1, which is characterized in that the positioning device includes surveying high sonar, ranging sound
It receives, depth gauge, compass, acoustic responder.
7. underwater robot as described in claim 1, which is characterized in that the detection device include section sonar, high frequency into
As sonar, video camera.
8. underwater robot as claimed in claim 7, which is characterized in that the section sonar is multiple beam section sonar.
9. underwater robot as claimed in claim 7, which is characterized in that the high frequency imaging sonar is multi-beam forward sight image
Sonar or 3-D scanning imaging sonar.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721750982.1U CN207595225U (en) | 2017-12-15 | 2017-12-15 | A kind of underwater robot for detecting port and pier |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721750982.1U CN207595225U (en) | 2017-12-15 | 2017-12-15 | A kind of underwater robot for detecting port and pier |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207595225U true CN207595225U (en) | 2018-07-10 |
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ID=62765324
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721750982.1U Expired - Fee Related CN207595225U (en) | 2017-12-15 | 2017-12-15 | A kind of underwater robot for detecting port and pier |
Country Status (1)
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109229314A (en) * | 2018-10-12 | 2019-01-18 | 上海彩虹鱼深海装备科技有限公司 | A kind of submersible frame structure and submersible |
| CN109229315A (en) * | 2018-10-12 | 2019-01-18 | 上海彩虹鱼深海装备科技有限公司 | A kind of submersible frame structure and submersible |
| CN109229316A (en) * | 2018-10-12 | 2019-01-18 | 上海彩虹鱼深海装备科技有限公司 | A kind of submersible frame structure and submersible |
| CN109515657A (en) * | 2018-12-29 | 2019-03-26 | 南京工程学院 | A kind of prolongable underwater robot |
| CN110081936A (en) * | 2019-05-24 | 2019-08-02 | 博纳德（天津）港口工程有限公司 | A kind of device detected automatically for the underwater multi-parameter of diaphram wall |
| WO2020082440A1 (en) * | 2018-10-22 | 2020-04-30 | 博雅工道（北京）机器人科技有限公司 | Handheld underwater flying vehicle |
| CN112249282A (en) * | 2020-12-02 | 2021-01-22 | 陕西中建建乐智能机器人股份有限公司 | Water conservancy dam underwater detection's robot |
-
2017
- 2017-12-15 CN CN201721750982.1U patent/CN207595225U/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109229314A (en) * | 2018-10-12 | 2019-01-18 | 上海彩虹鱼深海装备科技有限公司 | A kind of submersible frame structure and submersible |
| CN109229315A (en) * | 2018-10-12 | 2019-01-18 | 上海彩虹鱼深海装备科技有限公司 | A kind of submersible frame structure and submersible |
| CN109229316A (en) * | 2018-10-12 | 2019-01-18 | 上海彩虹鱼深海装备科技有限公司 | A kind of submersible frame structure and submersible |
| CN109229315B (en) * | 2018-10-12 | 2020-08-04 | 上海彩虹鱼深海装备科技有限公司 | Submersible frame structure and submersible |
| CN109229316B (en) * | 2018-10-12 | 2020-09-11 | 上海彩虹鱼深海装备科技有限公司 | Submersible frame structure and submersible |
| WO2020082440A1 (en) * | 2018-10-22 | 2020-04-30 | 博雅工道（北京）机器人科技有限公司 | Handheld underwater flying vehicle |
| CN109515657A (en) * | 2018-12-29 | 2019-03-26 | 南京工程学院 | A kind of prolongable underwater robot |
| CN110081936A (en) * | 2019-05-24 | 2019-08-02 | 博纳德（天津）港口工程有限公司 | A kind of device detected automatically for the underwater multi-parameter of diaphram wall |
| CN110081936B (en) * | 2019-05-24 | 2024-06-11 | 博纳德（天津）港口工程有限公司 | Device for automatically detecting underwater multiple parameters of underground continuous wall |
| CN112249282A (en) * | 2020-12-02 | 2021-01-22 | 陕西中建建乐智能机器人股份有限公司 | Water conservancy dam underwater detection's robot |
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Granted publication date: 20180710 Termination date: 20211215 |