CN212112236U - Unmanned bionic ship for detecting diseases of underwater concrete structure - Google Patents
Unmanned bionic ship for detecting diseases of underwater concrete structure Download PDFInfo
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- CN212112236U CN212112236U CN202021311275.4U CN202021311275U CN212112236U CN 212112236 U CN212112236 U CN 212112236U CN 202021311275 U CN202021311275 U CN 202021311275U CN 212112236 U CN212112236 U CN 212112236U
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- 201000010099 disease Diseases 0.000 title claims abstract description 18
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 title claims abstract description 18
- 239000011664 nicotinic acid Substances 0.000 title claims description 24
- 238000007667 floating Methods 0.000 claims abstract description 59
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 55
- 210000001015 abdomen Anatomy 0.000 claims abstract description 38
- 238000001514 detection method Methods 0.000 claims abstract description 33
- 238000004891 communication Methods 0.000 claims abstract description 6
- 239000007921 spray Substances 0.000 claims description 7
- 230000000694 effects Effects 0.000 claims description 6
- 230000008878 coupling Effects 0.000 claims description 5
- 238000010168 coupling process Methods 0.000 claims description 5
- 238000005859 coupling reaction Methods 0.000 claims description 5
- 230000005284 excitation Effects 0.000 claims description 5
- 230000003187 abdominal effect Effects 0.000 claims description 2
- 238000009659 non-destructive testing Methods 0.000 claims description 2
- 241000252254 Catostomidae Species 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 238000005507 spraying Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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Abstract
The utility model discloses an unmanned bionical ship of concrete structure disease detection under water, including the head casing, belly casing and afterbody casing, head casing and belly casing fixed connection, belly casing passes through one-way swing joint with the afterbody casing and is connected, head casing front end fixed mounting has camera module and waterproof GPS module, be provided with first self-floating cavity in the head casing, be provided with integrated communication and control center in the first self-floating cavity, be provided with the second self-floating cavity in the belly casing, the water jet has been seted up to belly casing upper end, six movable legs of belly casing outside fixedly connected with, belly casing below is still fixed and is provided with a rectangle casing, the third self-floating cavity that includes circumference setting in the afterbody casing, the third is provided with the group battery from floating cavity middle part. The utility model has the advantages of can realize accurately that the outage can be realized simultaneously from floating to the location and the detection of concrete structure disease under water, improve work efficiency, it is more convenient.
Description
Technical Field
The utility model relates to an underwater detector detects technical field, in particular to concrete structure disease detects unmanned bionical ship under water.
Background
Along with the rapid development of shipping economy, a large number of water transportation projects are built, underwater structures are difficult to detect after construction due to the covering problem of water, when the problems of the underwater concrete structures are found to be serious, frogmans are often required to be dispatched to dive to find the general situation of the underwater structures, actual detection work is difficult to carry out, if detection needs to be carried out, water is emptied by adopting methods such as a steel cofferdam, and then the detection is carried out, so that the workload is large, and the period is long. In order to solve the problem of daily detection of the underwater concrete structure by common detection personnel, it is necessary to develop a nondestructive detection device for the underwater concrete structure, which is convenient to operate.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing an unmanned bionical ship of concrete structure disease detection under water.
The above technical purpose of the present invention can be achieved by the following technical solutions:
an unmanned bionic ship for detecting diseases of an underwater concrete structure is characterized by comprising a head shell, an abdomen shell and a tail shell, wherein the head shell is fixedly connected with the abdomen shell, the abdomen shell is connected with the tail shell through a one-way movable joint, a camera module and a waterproof GPS module are fixedly mounted at the front end of the head shell, a first self-floating cavity is arranged in the head shell, and an integrated communication and control center is arranged in the first self-floating cavity;
a second self-floating cavity is arranged in the abdomen shell, a water spray nozzle is arranged at the upper end of the abdomen shell, water pumps are arranged in the abdomen shell and the water spray nozzle, the water spray nozzle is communicated with the second self-floating cavity, six movable legs are fixedly connected to the outer side of the abdomen shell, the movable legs are divided into three pairs and are sequentially and respectively arranged in the front area, the middle area and the rear area outside the abdomen shell, a rectangular shell is further fixedly arranged below the abdomen shell, the rectangular shell is divided into two parts which are respectively an emergency floating compressed air area and a nondestructive detection area, the emergency floating compressed air area is communicated with the second self-floating cavity, an air pump inflation interface is arranged on one side of the emergency floating compressed air area, and a micro camera, an elastic wave signal excitation device and an elastic wave signal receiving device are fixedly arranged at the bottom in the nondestructive detection area;
the tail shell is internally provided with a third self-floating cavity which is circumferentially arranged, and the middle part of the third self-floating cavity is provided with a battery pack.
Preferably, the activity leg includes first scalable frame leg and the scalable frame leg of second, be provided with a water hose in the activity leg, the water hose link up inside first scalable frame leg and the scalable frame leg of second, the scalable frame leg afterbody of second is provided with the sucking disc, the water hose both ends that absorb water communicate with water pump and sucking disc respectively, first scalable frame leg all is provided with step motor and angle sensor with abdominal shell body junction, first scalable frame leg and the scalable frame leg junction of second, the scalable frame leg of second and sucking disc junction.
Preferably, an electromagnetic valve air release opening is formed between the emergency floating compressed air area and the second self-floating cavity.
Preferably, a coupling pressure sensor is arranged outside the bottom of the nondestructive testing area.
Preferably, the lowest end of the tail shell is provided with a spare cable interface and an ultrasonic range finder.
Preferably, each module and equipment in the head shell, the abdomen shell and the tail shell are electrically connected through a main cable.
Preferably, the first self-floating chamber, the second self-floating chamber and the third self-floating chamber are communicated with each other.
Preferably, a battery dismounting port is arranged on the outer side of the tail shell.
Preferably, the telescopic bracket legs are telescopic through screw rods to adjust the length.
To sum up, the utility model discloses following beneficial effect has:
1. the utility model discloses an inside setting of unmanned bionic ship is from floating cavity and emergent come-up compressed air district, and the dive of bionic ship is realized through the water injection from floating the cavity, when needs are from floating, only need open the solenoid valve relief port, thereby it discharges water to begin the release compressed air entering from floating the cavity, realizes that the power-off state of unmanned bionic ship is from floating.
2. The utility model discloses in through the hose intercommunication water pump and the sucking disc that absorbs water, the water pump will absorb water the water in the hose and take out from water jet department to form the negative pressure in sucking disc department, unmanned bionical ship can adsorb to fix on the underwater structure.
3. The utility model discloses a pass through angle sensor and step motor cooperation in each junction of activity leg, the lead screw is adjusted the activity and is pushed away length, can deal with various operational environment under water in a flexible way, improves work efficiency.
4. The utility model discloses set up the convenient battery of battery dismouting mouth and change on afterbody casing, set up reserve cable interface in lower extreme one side again, when the project detected, also can adopt manual remote control with external power source.
Drawings
Fig. 1 is a sectional view of the overall structure of the present invention;
FIG. 2 is a schematic view of the movable leg structure of the present invention;
FIG. 3 is a schematic diagram of the posture of the present invention for slab-type underwater concrete detection;
figure 4 is the utility model discloses gesture schematic diagram to column underwater concrete detection.
Detailed Description
The following description will be further described with reference to the accompanying drawings, which are not intended to limit the present invention.
The underwater concrete structure disease detection unmanned bionic ship comprises a head shell 1, an abdomen shell 2 and a tail shell 3, wherein the head shell 1 is fixedly connected with the abdomen shell 2, the abdomen shell 2 is connected with the tail shell 3 through a one-way movable joint 4, a camera module 5 and a waterproof GPS module 6 are fixedly mounted at the front end of the head shell 1, a first self-floating cavity 7 is arranged in the head shell 1, and an integrated communication and control center 8 is arranged in the first self-floating cavity 7.
The abdomen shell 2 is internally provided with a second self-floating cavity 9, the upper end of the abdomen shell 2 is provided with a water spraying port 10, the abdomen shell 2 is internally provided with a water pump 11 in the water spraying port 10, the water spraying port 10 is communicated with the second self-floating cavity 9, six movable legs 12 are fixedly connected to the outer side of the abdomen shell 2, the movable legs 12 are divided into three pairs and are sequentially and respectively arranged in the front, middle and rear areas outside the abdomen shell 2, each movable leg 12 comprises a first telescopic bracket leg 13 and a second telescopic bracket leg 14, a water absorbing hose 15 is arranged in each movable leg 12, the water absorbing hose 15 penetrates through the interiors of the first telescopic bracket leg 13 and the second telescopic bracket leg 14, the tail part of the second telescopic bracket leg 14 is provided with a sucking disc 16, two ends of the water absorbing hose 15 are respectively communicated with the water pump 11 and the sucking disc 16, and the joint of the first telescopic bracket leg 13 and the abdomen shell 2, The connection parts of the first telescopic frame leg 13 and the second telescopic frame leg 14 and the connection parts of the second telescopic frame leg 14 and the suckers 16 are respectively provided with a stepping motor 17 and an angle sensor 18, the first telescopic frame leg 13 and the second telescopic frame leg 14 stretch and retract through screws to adjust the length, the six movable legs 12 are effectively adjusted in posture and angle through controlling the stepping motor 17, the angle sensor 18 and the screws, the underwater concrete structure can be effectively fixed, the water is sprayed out from the water pump 12 through the water spray ports 14 due to the fact that the two ends of the water suction hose 15 are respectively communicated with the water pump 11 and the suckers 16, negative pressure is formed at the suckers 16, and the unmanned bionic boat is fixedly sucked on the underwater concrete structure.
A rectangular shell is fixedly arranged below the abdomen shell 2, the rectangular shell is divided into two parts, namely an emergency floating compressed air zone 19 and a nondestructive detection zone 20, the emergency floating compressed air zone 19 is communicated with the second self-floating cavity 9 through an electromagnetic valve air release port 21, an air pump inflation port 22 is arranged on one side of the emergency floating compressed air zone 19, compressed gas is inflated into the emergency floating compressed air zone 19 through the air pump inflation port 22, a micro camera 23, an elastic wave signal excitation device 24 and an elastic wave signal receiving device 25 are fixedly arranged at the bottom in the nondestructive detection zone 20, a coupling pressure sensor 26 is arranged on the outer side of the bottom of the nondestructive detection zone 20, when the coupling pressure sensor 26 catches the pressure of an external structure, a signal is transmitted to the nondestructive detection zone 20, and the nondestructive detection zone 20 enters a working state, the micro camera 23, the elastic wave signal excitation device 24 and the elastic wave signal receiving device 25 start to work, so that the underwater concrete structure disease is detected.
The third that sets up including circumference in afterbody casing 3 is from floating cavity 27, the third is provided with group battery 28 from floating cavity 27 middle part, afterbody casing 3 is provided with reserve cable interface 29 and ultrasonic ranging appearance 30 bottom, the 3 outsides of afterbody casing are provided with battery dismouting mouth 31, the utility model discloses a group battery 28 supplies power to integrated device, sets up the change of the convenient follow-up battery of battery dismouting mouth 31, can extension fixture's operating time, and ultrasonic ranging appearance 30 is used for understanding the position under water that unmanned bionical ship located, reserve cable interface 29 also can carry out manual remote control with external power supply or external control.
All carry out electric connection through leader cable 32 with equipment in head casing 1, belly casing 2 and afterbody casing 3 each module, the utility model discloses in each module, sensor, interface and each camera all be connected with integrated communication and control center 8 through leader cable 32, integrated communication and control center 8 choose for use the singlechip, the singlechip model is STC89C52 RC.
First from floating chamber 7, second from floating chamber 9 and third from floating chamber 27 and all communicate each other, through cooperating with emergent come-up compressed air district 19, when needs sink, through 11 injected water on the water pump, when perhaps unexpected outage leads to unmanned bionic ship can not the come-up when needs come-up, solenoid valve relief port 21 is automatic to be opened, gets into from floating the intracavity with compressed gas release to discharge water, realize that the outage state of unmanned bionic ship is from floating.
The utility model discloses an operation method does: firstly, the unmanned bionic ship is released from the water surface, the unmanned bionic ship is pushed to a working area by adjusting the movable legs 12 and utilizing the water pump 11, manual visual observation can be adopted according to the depth, or the unmanned bionic ship is positioned and controlled by combining a camera of the unmanned bionic ship with a GPS, after the unmanned bionic ship reaches a detection position, the movable legs 12 are adjusted again, the water pump is utilized to continue underwater submerging, whether the ship body reaches the bottom is known by the ultrasonic range finder 30, then the detection is carried out from the lower part of the structure to the upper part, during the detection, the ship body is fixed on the concrete structure to be detected by six movable legs 12 and suckers, when the pressure of the external structure is captured by the coupling pressure sensor 26, a module in the detection area 20 is started, the miniature camera 23 carries out picture acquisition, the elastic wave signal excitation device 24 and the elastic wave signal receiving device 25 are arranged on the concrete surface, and the knocking echo signal is collected, or through connecting reserve cable interface 29 direct connection to ground station, handle the signal of gathering, can supply power through reserve cable interface 29 or from taking the group battery in the testing process, when unexpected outage, emergent floating area compressed air releases, realizes floating certainly.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and those skilled in the art can make various modifications or equivalent substitutions within the spirit and scope of the present invention, and such modifications or equivalent substitutions should also be considered as falling within the scope of the present invention.
Claims (9)
1. An unmanned bionic ship for detecting diseases of an underwater concrete structure is characterized by comprising a head shell, an abdomen shell and a tail shell, wherein the head shell is fixedly connected with the abdomen shell, the abdomen shell is connected with the tail shell through a one-way movable joint, a camera module and a waterproof GPS module are fixedly mounted at the front end of the head shell, a first self-floating cavity is arranged in the head shell, and an integrated communication and control center is arranged in the first self-floating cavity;
a second self-floating cavity is arranged in the abdomen shell, a water spray nozzle is arranged at the upper end of the abdomen shell, water pumps are arranged in the abdomen shell and the water spray nozzle, the water spray nozzle is communicated with the second self-floating cavity, six movable legs are fixedly connected to the outer side of the abdomen shell, the movable legs are divided into three pairs and are sequentially and respectively arranged in the front area, the middle area and the rear area outside the abdomen shell, a rectangular shell is further fixedly arranged below the abdomen shell, the rectangular shell is divided into two parts which are respectively an emergency floating compressed air area and a nondestructive detection area, the emergency floating compressed air area is communicated with the second self-floating cavity, an air pump inflation interface is arranged on one side of the emergency floating compressed air area, and a micro camera, an elastic wave signal excitation device and an elastic wave signal receiving device are fixedly arranged at the bottom in the nondestructive detection area;
the tail shell is internally provided with a third self-floating cavity which is circumferentially arranged, and the middle part of the third self-floating cavity is provided with a battery pack.
2. The underwater concrete structure disease detection unmanned bionic ship of claim 1, characterized in that: the activity leg includes first scalable frame leg and the scalable frame leg of second, be provided with a water hose in the activity leg, the water hose link up inside first scalable frame leg and the scalable frame leg of second, the scalable frame leg afterbody of second is provided with the sucking disc, the water hose both ends that absorb water communicate with water pump and sucking disc respectively, first scalable frame leg all is provided with step motor and angle sensor with abdominal shell body junction, first scalable frame leg and the scalable frame leg junction of second, the scalable frame leg of second and sucking disc junction.
3. The underwater concrete structure disease detection unmanned bionic ship of claim 1, characterized in that: an electromagnetic valve air release port is arranged between the emergency floating compressed air area and the second self-floating cavity.
4. The underwater concrete structure disease detection unmanned bionic ship of claim 1, characterized in that: and a coupling pressure sensor is arranged on the outer side of the bottom of the nondestructive testing area.
5. The underwater concrete structure disease detection unmanned bionic ship of claim 1, characterized in that: and a spare cable interface and an ultrasonic range finder are arranged at the lowest end of the tail shell.
6. The underwater concrete structure disease detection unmanned bionic ship of claim 1, characterized in that: and the modules and the equipment in the head shell, the belly shell and the tail shell are electrically connected through main cables.
7. The underwater concrete structure disease detection unmanned bionic ship of claim 1, characterized in that: the first self-floating chamber, the second self-floating chamber and the third self-floating chamber are communicated with each other.
8. The underwater concrete structure disease detection unmanned bionic ship of claim 1, characterized in that: and a battery dismounting port is arranged on the outer side of the tail shell.
9. The underwater concrete structure disease detection unmanned bionic ship of claim 2, characterized in that: the telescopic bracket legs are telescopic through the lead screws to adjust the length.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021311275.4U CN212112236U (en) | 2020-07-07 | 2020-07-07 | Unmanned bionic ship for detecting diseases of underwater concrete structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021311275.4U CN212112236U (en) | 2020-07-07 | 2020-07-07 | Unmanned bionic ship for detecting diseases of underwater concrete structure |
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| CN212112236U true CN212112236U (en) | 2020-12-08 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202021311275.4U Expired - Fee Related CN212112236U (en) | 2020-07-07 | 2020-07-07 | Unmanned bionic ship for detecting diseases of underwater concrete structure |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111857175A (en) * | 2020-07-07 | 2020-10-30 | 江苏航运职业技术学院 | Underwater concrete structure disease detection unmanned bionic ship and operation method thereof |
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2020
- 2020-07-07 CN CN202021311275.4U patent/CN212112236U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111857175A (en) * | 2020-07-07 | 2020-10-30 | 江苏航运职业技术学院 | Underwater concrete structure disease detection unmanned bionic ship and operation method thereof |
| CN111857175B (en) * | 2020-07-07 | 2024-07-05 | 江苏航运职业技术学院 | Unmanned bionic ship for detecting diseases of underwater concrete structure and operation method thereof |
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Granted publication date: 20201208 |
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| CF01 | Termination of patent right due to non-payment of annual fee |