CN207817204U - Underwater real-time prospecting apparatus for zero visibility waters - Google Patents
Underwater real-time prospecting apparatus for zero visibility waters Download PDFInfo
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- CN207817204U CN207817204U CN201721445253.5U CN201721445253U CN207817204U CN 207817204 U CN207817204 U CN 207817204U CN 201721445253 U CN201721445253 U CN 201721445253U CN 207817204 U CN207817204 U CN 207817204U
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
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Abstract
The utility model is used for the underwater real-time prospecting apparatus in zero visibility waters, it includes mobile workstation, communication cable and underwater robot.Mobile workstation includes mainly host computer, and host computer is connected by communication cable with underwater robot, and communication cable is that mobile workstation and underwater robot establish communication；Underwater robot includes dynamical system, control system, sensing system, picture system and accumulator.The underwater robot of the utility model is configured with Multi-beam Imaging Sonar, real-time Transmission sonar image may be implemented, underwater robot can be made to observe the contour structures of underwater structure under zero visibility waters, the underwater Hidden Danger Detection of all kinds of buildings can not be carried out in zero visibility waters (muddy water) by solving the problems, such as existing underwater robot, and the underwater hidden danger of complexity that the utility model is especially suitable for all kinds of hydraulic structures in hydraulic engineering field is detected and failure is detected.
Description
Technical field
The utility model is related to the underwater real-time prospecting apparatus of all kinds of hydraulic structures in hydraulic engineering field, and in particular to
The device that one kind is detected in real time for the underwater portion of all kinds of hydraulic structures in zero visibility waters (muddy water).
Background technology
Operation for all kinds of hydraulic structures in hydraulic engineering field (including reservoir dam, power station, pumping plant, lock station etc.)
For management and maintenance, check that all kinds of reservoir dams, turbine-generator units, pump station, the underwater sites of gate are practical
Working condition carries out underwater hidden danger and detects and malfunction elimination, is daily operation management and safeguards essential work, and tired
Disturb a great problem of administrative staff.We must use diver to carry out underwater operation in the past, but this mode cost is higher, and
And since the complexity of sub-marine situations has certain danger for diver；Meanwhile the ground for the depth of water more than 50 meters
Side, can not detect by diver.So only few reservoir dam, power station, pumping plant, lock station carried out underwater work
Industry.
At present in hydraulic engineering field, start to detect using small underwater robot progress underwater video, as daily
A part for operational management and maintenance work.But the existing, small underwater robot that can be applied in hydraulic engineering field,
In zero visibility waters (muddy water), the underwater Hidden Danger Detection of all kinds of buildings can not be carried out.Utilize underwater robot technology, needle
To all kinds of reservoir dams in hydraulic engineering field, turbine-generator units, pump station, gate use environment, a kind of use is developed
Underwater real-time prospecting apparatus in zero visibility waters, to solve existing small underwater robot at zero visibility waters (muddy water)
In, the technical issues of can not carrying out the underwater Hidden Danger Detection of all kinds of buildings, the complexity for carrying out all kinds of hydraulic structures is underwater hidden
Trouble is detected and failure is detected, and becomes particularly necessary.
Underwater real-time prospecting apparatus of the utility model for zero visibility waters carries out this kind of underwater operation, solves each
Class reservoir dam, turbine-generator units, pump station, gate zero visibility waters (muddy water) underwater hidden danger detect and therefore
Hinder the problem detected.The utility model can detect the practical operation situation of all kinds of reservoir dam underwater sites, including upstream is prevented
Ooze the actual conditions of panel underwater portion, dam upstream spats washes away situation etc.；All kinds of hydraulic turbines or water pump electricity can be detected
The practical submerged condition of motivation group shows turbine-generator units water part (spiral case), water-guiding element (guide vane), work department in real time
Part (runner), sluicing component (draft tube) and the underwater diversion division of pump station grade underwater portion sonar image and camera shooting
Machine video, such as damage situation, card resistance situation, underwater dirt situation；The virtual condition of all kinds of gates can also be detected, is opened up in real time
The overall sonar image and camera video of existing gate underwater portion, such as damage situation, card resistance situation, underwater dirt situation,
Make operational management personnel in daily maintenance, inspection or service work, can understand accurately and in time, investigate all kinds of waterworks
The underwater hidden danger of object.
Utility model content
The purpose of this utility model is to provide the underwater real-time prospecting apparatus for zero visibility waters, to solve water conservancy
The underwater hidden danger of all kinds of hydraulic structures is detected in engineering field and failure is detected.
The technical solution adopted in the utility model is：
For the underwater real-time prospecting apparatus in zero visibility waters, it includes underwater robot, communication cable and mobile work
It stands.
The underwater robot, including dynamical system, control system, sensing system, picture system and accumulator；It is described
Underwater robot is provided with main cabin and battery flat；
The mobile workstation includes mainly host computer, is built in bank work；Host computer real-time display and preservation
The image of the Multi-beam Imaging Sonar of underwater robot, the video of video camera and other data (including underwater robot posture, electricity
Source electricity, the depth of water, the video of video camera and sonar image etc.), while the dynamical system of underwater robot is controlled, according to detecting need
Adjust movement velocity and direction (advance, retreat, float, sink and turn to) of robot；
The communication cable, one end connect host computer, and the other end connects underwater robot, for mobile workstation and under water
Communication is established between robot.
The communication cable, is designed using neutral buoyancy, it is ensured that cable not will produce huge weight in water；The communication
Cable also uses tensile materials, to increase the drag force that can bear.
The mobile workstation further includes having cable reel, and the communication cable is wrapped on cable reel, cable reel
Function is folding and unfolding communication cable, i.e., the distance travelled according to underwater robot (100 meters of standard configuration) corresponds to length to discharge or recycle
The cable of degree；Meanwhile underwater robot is taken out by pulling communication cable when robot breaks down under water.With according to
The distance that underwater robot is travelled discharges or recycles the cable of corresponding length, and when robot breaks down under water pulls
Cable takes out underwater robot.
The dynamical system includes 6 symmetrical underwater propellers, before being respectively located at underwater robot front
Left propeller, front right propeller and left vertical pusher in the middle part of underwater robot, right vertical pusher and it is located at water
Rear left propeller, the rear right propeller at lower robot rear portion；By converting the direction of different spiral propellers, robot is realized
The movement of all directions in water；
Described image system includes Multi-beam Imaging Sonar, video camera and underwater LED illumination lamp, and Multi-beam Imaging Sonar is used
In real-time Transmission sonar image, to make equipment user of service can observe underwater sonar image in mobile workstation.Video camera
For closely observing, transmitting video image is to realize the function of auxiliary detection；
The sensing system, including gyroscope and pressure sensor, for monitoring the water residing for underwater robot in real time
Middle posture and the depth of water；
The control system completes power supply control, dynamical system controls, carrier wave is logical using customization embedded control system
Letter control completes the movement speed of adjustment underwater robot by controlling dynamical system according to the feedback of sensing system gyroscope
Degree and direction；
The sensing system of underwater robot, the video camera of picture system, control system and electricity are installed in the main cabin
Line interface, electrical wire interface are used for the external accumulator of circuit board electric wire, propeller and the multi-beam imaging sound of main cabin controlling system
；Portion's upper wall is equipped with Multi-beam Imaging Sonar to the master out of my cabin；The promising underwater robot power supply of installation in the battery flat
Accumulator.
The underwater robot is equipped with buffer gear, and buffer gear includes side support plate and bottom support plate；Side support plate is solid
Surely it is set to the arranged on left and right sides of underwater robot；Bottom support plate is fixedly installed on the bottom of underwater robot, solid with side support plate
Fixed connection.
When underwater robot carries other outside plants, the underwater robot is provided with buoyant module, by adjusting
The buoyancy that buoyant module generates, so that underwater robot is in neutral buoyancy state in water；Buoyant module is placed in underwater robot
Top quadrangle.Buoyant module material needs long period of soaking in water in actual use, and use is water-fast, pressure-resistant, corrosion-resistant, impact resistance
Material, density is usually the 0.3~0.6 of water density.
When the underwater robot carries other outside plants, underwater robot is provided with clump weight, adjusts underwater machine
Device people's center of gravity, in order to underwater robot held stationary posture.Clump weight is placed in the bottom of underwater robot.Counterweight block of material is real
Border using when need long period of soaking in water, it is desirable that water-fast, pressure-resistant, corrosion-resistant, impact resistance, the highdensity heavy metal material of generally use
Material is made, such as iron, lead, copper etc..
The utility model has the beneficial effects that：
The underwater robot of the utility model configures Multi-beam Imaging Sonar, and real-time Transmission sonar image, energy may be implemented
So that underwater robot is observed the contour structures of underwater structure under zero visibility waters, solves existing underwater robot and exist
In zero visibility waters (muddy water), the underwater Hidden Danger Detection of all kinds of buildings can not be carried out, be especially suitable in hydraulic engineering field
The underwater hidden danger of complexity of all kinds of hydraulic structures is detected and failure is detected.
Description of the drawings
Fig. 1 is the system structure diagram of the utility model embodiment；
Fig. 2 is the underwater robot front view of the utility model embodiment；
Fig. 3 is the underwater robot side view of the utility model embodiment；
Fig. 4 is the underwater robot vertical view of the utility model embodiment；
Fig. 5 is the underwater robot rearview of the utility model embodiment；
Fig. 6 is the underwater robot upward view of the utility model embodiment；
Fig. 7 is the System Working Principle schematic diagram of the utility model embodiment.
In figure：1- mobile workstations；101- host computers；102- cable reeles；2- communication cables；3- underwater robots；
31- picture systems；311-LED headlamps；312- video cameras；313- Multi-beam Imaging Sonars；32- dynamical systems；321- front lefts
Propeller；322- front right propellers；The left vertical pushers of 323-；The right vertical pushers of 324-；325- rear left propellers；After 326-
Right propeller；33- buffer gears；331- side support plates；The bottoms 332- support plate；34- clump weights；35- buoyant modules；The main cabins 36-；
361- electrical wire interfaces；37- battery flats.
Specific implementation mode
The utility model is described in further detail below in conjunction with the accompanying drawings.
As shown in Figures 1 to 6, it is used for the underwater real-time prospecting apparatus in zero visibility waters, including mobile workstation 1, logical
Communication cable 2 and underwater robot 3.
Underwater robot 3 includes dynamical system 32, sensing system, picture system 31, control system and accumulator；It is described
Underwater robot is provided with main cabin 36 and battery flat 37, wherein the video camera 312 of 36 inside installation underwater robot of main cabin, control
System circuit board and electrical wire interface 361 are equipped with the accumulator of underwater robot inside battery flat 37.
Picture system 31, including 1 Multi-beam Imaging Sonar, 313,1 video cameras 312 and 2 underwater LED illumination lamps
311；The equipment that Multi-beam Imaging Sonar 313 uses BlueView M900-45 models, the equipment can realize 45 degree of the visual angle in front
Scanning, 2 meters to 60 meters of effective range；Using special 2,000,000 pixel low-light (level), (your sharp prestige of Shenzhen regards RER- to video camera 312
USBFHD01M underwater colour TV camera 312)；Underwater luminaire 311 uses 24V/30W array daylight type LED illumination lamps.
Dynamical system 32, including 6 underwater propellers, control the movement velocity and direction of underwater robot 3, this
6 underwater propellers are symmetrical, including are located at 3 front front left propeller 321 of the underwater robot, front right propeller 322；
Left vertical pusher 323 positioned at 3 middle part of the underwater robot, right vertical pusher 324；Positioned at the underwater robot 3
The rear left propeller 325 at rear portion, rear right propeller 326.Pass through front left propeller 321, front right propeller 322, rear left propeller
325, the cooperation of rear right propeller 326 realize the advance of underwater robot 3, retrogressing, left, right translation, rotate clockwise and
The motor function rotated counterclockwise.Underwater robot is realized by the cooperation of left vertical pusher 323 and right vertical pusher 326
3 floating and dive motor function.The position that underwater fortune robot 3 can be achieved is precisely controlled, to ensure multi-beam imaging sound
313 and the different location under water of video camera 312 observation.
Sensing system, including 1 set of (multigroup) gyroscope are used to monitor posture in the water residing for underwater robot 3 in real time,
Using MPU9150 type gyroscopes；1 sleeve pressure sensor for monitoring the depth of water residing for underwater robot 3 in real time, using MS5803
Type pressure sensor.
Control system completes the control of dynamical system 32 (6 underwater propeller control) and electricity using customization embedded system
Source controls；According to the feedback of the video camera 312 and Multi-beam Imaging Sonar 313 of picture system 31, by controlling dynamical system 32
Complete movement velocity and the direction of adjustment underwater robot 3.According to the orientation and angular speed of the gyroscope of sensing system feedback
The rotating speed of information, 6 underwater propellers of adjust automatically dynamical system 32 is modified the athletic posture of underwater robot 3.
Control system obtains underwater posture according to gyroscope, by controlling front left propeller 321, front right propeller 322, rear left propeller
325, rear right propeller 326 can be such that 3 direction of underwater robot remains unchanged；Control system obtains underwater depth according to hydraulic pressure sensor
Degrees of data, by controlling left vertical pusher 323, right vertical pusher 324 makes 3 depthkeeping of underwater robot.
Communication cable 2 is wrapped on cable reel 102, and communication is established between host computer 101 and underwater robot 3,
Communication cable 2 designs (fresh water) using neutral buoyancy, it is ensured that cable not will produce huge weight in water；Communication cable 2 uses
Tensile materials increase the drag force that can bear of cable, it is ensured that with enough intensity come underwater machine when pulling unpowered
Device people 3.
Mobile workstation 1 includes host computer 101 and cable reel 102.Host computer 101 is used for real-time display and guarantor
Deposit the sonar image of underwater robot 3, the video of video camera and other data (including 3 posture of underwater robot, electric quantity of power supply,
The depth of water, video and sonar image etc.), while the control system of underwater robot 3 is controlled, it needs to adjust underwater according to detecting
The movement velocity of people 3 and direction (advance, retreat, float, sink and turn to)；Cable reel 102 controls the receipts of communication cable 2
It puts, the distance (100 meters of standard configuration) travelled according to underwater robot 3 discharges or recycles the cable of corresponding length, meanwhile, in water
Lower robot 3 being capable of drag cable taking-up underwater robot 3 when breaking down.
Accumulator is 1 set, is used for the power supply of underwater robot 3.
Underwater robot 3 is equipped with buffer gear 33, is worked as a buffer when robot 3 is collided with immersed body under water.It is slow
Punch mechanism 33 includes side support plate 331 and bottom support plate 332, and side support plate 331 is fixedly installed on the left and right of underwater robot 3
On both sides；Bottom support plate 332 is fixedly installed on the bottom of underwater robot 3, is fixedly connected with side support plate 331.
(include but not limited to more underwater searchlights, underwater dissolving when underwater robot 3 carries other outside plants
Oxygen, acidity-basicity sensor, video camera etc.) when, underwater robot 3 is provided with buoyant module 35, is produced by adjusting buoyant module 35
Raw buoyancy, so that underwater robot 3 is in neutral buoyancy state in water；Buoyant module 35 is placed in the top of underwater robot 3
Quadrangle.The material of buoyant module 35 needs long period of soaking in water in actual use, and use is water-fast, pressure-resistant, corrosion-resistant, impact-resistant
Material, density are usually the 0.3~0.6 of water density.
When the underwater robot 3 carry other outside plants (include but not limited to more underwater searchlights, it is underwater molten
Solve oxygen, acidity-basicity sensor, video camera etc.) when, the bottom of underwater robot is provided with clump weight 34, adjusts underwater robot 3
Center of gravity, in order to 3 held stationary posture of underwater robot.The material of clump weight 34 needs long period of soaking in water in actual use
In, it is desirable that water-fast, pressure-resistant, corrosion-resistant, impact resistance, the highdensity heavy metal material of generally use is made, such as iron, lead, copper etc..
As shown in fig. 7, workflow of the utility model for the underwater real-time prospecting apparatus in zero visibility waters is：It is logical
Cross mobile workstation 1, the movement velocity of control the utility model underwater robot 3, the direction of motion, diving depth simultaneously open LED
After headlamp 311, this underwater robot 3 is positioned in zero visibility waters (muddy water), underwater robot 3 will dive under water；Under water
Robot in the process of moving by picture system 31 record under pump water seal needed for detect the sonar image of part, upload in real time
To host computer 101.Host computer 101 stores the total data that underwater robot 3 uploads.
Underwater robot 3 of the utility model for the underwater real-time prospecting apparatus in zero visibility waters is configured with multi-beam
Imaging sonar, the underwater hidden of all kinds of buildings can not be carried out in zero visibility waters (muddy water) by solving existing underwater robot
Suffer from detection, zero visibility waters (muddy water) hidden danger for being especially suitable for all kinds of hydraulic structures in hydraulic engineering field is detected and failure
It detects.
Finally it should be noted that：Embodiment of above is merely to illustrate the technical solution of the utility model, rather than limits it
System；Although the utility model is described in detail with reference to aforementioned embodiments, those skilled in the art should
Understand：It can still modify to the technical solution recorded in aforementioned each embodiment, or special to which part technology
Sign carries out equivalent replacement；And these modifications or replacements, each reality of the utility model that it does not separate the essence of the corresponding technical solution
Apply the spirit and scope of mode technical solution.
Claims (7)
1. the underwater real-time prospecting apparatus for zero visibility waters, it is characterised in that：It includes underwater robot, communication cable
And mobile workstation；
The underwater robot, including dynamical system, control system, sensing system, picture system and accumulator；It is described underwater
Robot is provided with main cabin and battery flat；Described image system, including Multi-beam Imaging Sonar and video camera, multi-beam imaging sound
It is used for real-time Transmission sonar image；Video camera is for closely observing, and transmitting video image is to realize the function of auxiliary detection；
The mobile workstation includes mainly host computer, is built in bank work；Host computer real-time display and preservation are underwater
The sonar image of robot graphics' system and the video of video camera, while controlling the control system of underwater robot, according to detecting
Need movement velocity and the direction of adjustment robot；
The communication cable, one end connect host computer, and the other end connects underwater robot, are mobile workstation and underwater
Communication is established between people.
2. the underwater real-time prospecting apparatus according to claim 1 for zero visibility waters, it is characterised in that：The shifting
Dynamic work station further includes having cable reel, and the communication cable is wrapped on cable reel, is travelled according to the underwater robot
Distance discharge or recycle the cable of corresponding length, and drag cable takes out underwater when robot breaks down under water
People.
3. the underwater real-time prospecting apparatus according to claim 1 for zero visibility waters, it is characterised in that：It is described logical
Communication cable is designed using neutral buoyancy.
4. the underwater real-time prospecting apparatus according to claim 1 for zero visibility waters, it is characterised in that：
The dynamical system includes 6 symmetrical underwater propellers, and the front left for being respectively located at underwater robot front pushes away
Into device, front right propeller and left vertical pusher in the middle part of underwater robot, right vertical pusher and it is located at underwater machine
Rear left propeller, the rear right propeller at device people rear portion；By converting the direction of different spiral propellers, realize robot in water
In all directions movement, ensure picture system under water different location work；
The control system completes power supply control, dynamical system control, according to sensor using customization embedded control system
The gyroscope of system is fed back, and movement velocity and the direction of adjustment underwater robot are completed by controlling dynamical system；
The sensing system, including gyroscope and pressure sensor, for monitoring appearance in the water residing for underwater robot in real time
State and the depth of water；
The sensing system of underwater robot, the video camera of picture system, control system and electric wire are installed to connect in the main cabin
Mouthful, electrical wire interface is used for the external accumulator of circuit board electric wire, propeller and the Multi-beam Imaging Sonar of main cabin controlling system；Institute
It states main portion's upper wall out of my cabin and Multi-beam Imaging Sonar is installed；The electric power storage of the promising underwater robot power supply of installation in the battery flat
Pond.
5. the underwater real-time prospecting apparatus according to claim 1 for zero visibility waters, it is characterised in that：The water
Lower robot is equipped with buffer gear, and buffer gear includes side support plate and bottom support plate；Side support plate is fixedly installed on underwater machine
The arranged on left and right sides of device people；Bottom support plate is fixedly installed on the bottom of underwater robot, is fixedly connected with side support plate.
6. the underwater real-time prospecting apparatus according to claim 1 for zero visibility waters, it is characterised in that：The water
It is floating to make underwater robot be in zero in water by adjusting the buoyancy that buoyant module generates that lower robot is provided with buoyant module
Power state, buoyant module are placed in the top quadrangle of underwater robot.
7. the underwater real-time prospecting apparatus according to claim 1 for zero visibility waters, it is characterised in that：Underwater machine
Device people is provided with clump weight makes underwater robot held stationary posture, clump weight be arranged under water to adjust underwater robot center of gravity
The bottom of robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721445253.5U CN207817204U (en) | 2017-11-02 | 2017-11-02 | Underwater real-time prospecting apparatus for zero visibility waters |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721445253.5U CN207817204U (en) | 2017-11-02 | 2017-11-02 | Underwater real-time prospecting apparatus for zero visibility waters |
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| Publication Number | Publication Date |
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| CN207817204U true CN207817204U (en) | 2018-09-04 |
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ID=63333923
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107678033A (en) * | 2017-11-02 | 2018-02-09 | 浙江省水利水电勘测设计院 | A kind of underwater real-time prospecting apparatus for zero visibility waters |
-
2017
- 2017-11-02 CN CN201721445253.5U patent/CN207817204U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107678033A (en) * | 2017-11-02 | 2018-02-09 | 浙江省水利水电勘测设计院 | A kind of underwater real-time prospecting apparatus for zero visibility waters |
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