CN212483851U - Dam detection underwater robot - Google Patents
Dam detection underwater robot Download PDFInfo
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- CN212483851U CN212483851U CN202020971206.XU CN202020971206U CN212483851U CN 212483851 U CN212483851 U CN 212483851U CN 202020971206 U CN202020971206 U CN 202020971206U CN 212483851 U CN212483851 U CN 212483851U
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Abstract
The utility model provides a dam detection underwater robot, which comprises a frame and a detection box body, wherein the detection box body is erected on the frame; a microcontroller and a wireless transmission module are arranged in the detection box body, and the microcontroller transmits control signals and detection data to the control terminal through the wireless transmission module; a walking mechanism, a first ultrasonic sensor, a first sonar detector, a first camera and a first light supplement lamp are arranged on one side, facing the water bottom, of the detection box body; one side of detecting the box orientation dykes and dams is provided with second ultrasonic sensor, second sonar detector, second camera and second light filling lamp. The utility model discloses a dykes and dams detection underwater robot can be walked to the surface of water by dykes and dams, and the convenience is to check out test set's input, has realized the detection to dykes and dams when detecting the box along dykes and dams walking to and to the detection of dykes and dams after detecting the box income water, the detection to dykes and dams just can be accomplished to the wireless control detection box on dykes and dams to the detection personnel, has also solved detection personnel's safety problem.
Description
Technical Field
The utility model belongs to the technical field of dykes and dams detection device, particularly, relate to a dykes and dams detection underwater robot.
Background
The dike is a general name of dikes and dams, and also refers to a building and a structure for preventing water and stopping water, and can block water potential so that the water potential does not spread to the ground, so that the dike needs to be constructed to prevent water trouble. Modern dams are mainly of two main types, earth-rock dams and concrete dams. In recent years, large dams are all constructed by high-tech reinforced cement, and in order to ensure the safe use of the dams, whether cracks exist on the surface of the dam or not needs to be regularly detected, and maintenance is carried out in time.
SUMMERY OF THE UTILITY MODEL
In order to solve the defects of the prior art, the utility model aims to provide a dam detection underwater robot to overcome the defects in the prior art.
In order to achieve the purpose, the utility model provides a dam detection underwater robot, which comprises a frame and a detection box body, wherein the detection box body is erected on the frame; the detection box body is internally provided with a microcontroller and a wireless transmission module, and the microcontroller transmits control signals and detection data to the control terminal through the wireless transmission module; a walking mechanism, a first ultrasonic sensor, a first sonar detector, a first camera and a first light supplement lamp are arranged on one side, facing the water bottom, of the detection box body; the travelling mechanism is electrically connected and in signal connection with the microcontroller so that the microcontroller controls the travelling mechanism to travel to the water surface on the dam; the first ultrasonic sensor is electrically connected and in signal connection with the microcontroller so as to enable the first ultrasonic sensor to detect the vertical distance between the detection box body and the water bottom; the first sonar detector is electrically connected and in signal connection with the microcontroller, so that the first sonar detector detects structural state information of the dam above the water surface; the first camera and the first light supplement lamp are respectively electrically connected and in signal connection with the microcontroller, so that the first camera collects the environmental state information of the dam above the water surface; a second ultrasonic sensor, a second sonar detector, a second camera and a second light supplement lamp are arranged on one side, facing the dam, of the detection box body; the second ultrasonic sensor is electrically connected and in signal connection with the microcontroller so that the second ultrasonic sensor can detect the horizontal distance between the detection box body and the dam; the second sonar detector is electrically connected with the microcontroller and is in signal connection, so that the second sonar detector detects structural state information of the dam below the water surface; the second camera and the second light supplement lamp are respectively electrically connected with the microcontroller and in signal connection with the microcontroller so that the second camera collects the environmental state information of the dam below the water surface.
Through the technical scheme, the setting has running gear's detection box, make this dykes and dams detection underwater robot can be walked to the surface of water by dykes and dams, conveniently detect dykes and dams and to check out test set's input, and with under the condition that detection box level was placed, all be provided with the sonar detection ware in detection box for one side towards the bottom and detection box for one side towards dykes and dams, camera and light filling lamp, realized when detecting box along dykes and dams the detection to dykes and dams, and to dykes and dams detection after detecting the box income, guaranteed to carry out comprehensive detection to dykes and dams, the detection to dykes and dams just can be accomplished through control terminal and the wireless control and the detection data transmission of detection box on dykes and dams, detection personnel's safety problem has also been solved.
As a further explanation of the dam detection underwater robot of the present invention, preferably, an electronic compass is disposed in the detection box, and is electrically connected and signal-connected to the microcontroller, so that when the frame and the detection box float on the water surface or enter the water, the electronic compass is in a horizontal state, and the microcontroller controls the first ultrasonic sensor, the second sonar detector, the second camera and the second light supplement lamp to enter a working state; when frame and detection box go up to the surface of water walking on the dykes and dams, the electron compass is the tilt state, and microcontroller control first sonar detection ware, first camera and first light filling lamp get into operating condition.
Through above-mentioned technical scheme, can detect the motion state that detects the box through setting up the electron compass, realized detecting that the box floats on the surface of water or get into and start first ultrasonic sensor when under water, second ultrasonic sensor, the second sonar detector, second camera and second light filling lamp detect the dykes and dams below the surface of water, detect the box and start first sonar detector when walking to the surface of water on dykes and dams, first camera and first light filling lamp detect the dykes and dams above the surface of water, manual control has been saved.
As right dykes and dams detection underwater robot's further explanation, preferably, be provided with diversified water jet propulsion ware in the frame, diversified water jet propulsion ware is connected with microcontroller electricity and signal connection to make the removal of the diversified water jet propulsion ware of microcontroller control adjustment frame and detection box.
Through above-mentioned technical scheme, through setting up diversified water jet propulsion ware, make things convenient for below frame and the detection box body gets into the surface of water to and the adjustment is for the direction and the position of dykes and dams.
As right dykes and dams detection underwater robot's further explanation, preferably, control terminal is provided with main rolling ware, is provided with in the detection box from the rolling ware, the one end of cable is connected to main rolling ware, from the other end of rolling ware connection cable to when making the detection box go up to the surface of water walking on dykes and dams, main rolling ware unreels the cable, when the detection box was walked on to the dykes and dams by under water, from rolling ware rolling cable.
Through above-mentioned technical scheme, through setting up cable connection control terminal and detection box, conveniently detect the box and return.
As to the further explanation of the dam detection underwater robot of the present invention, preferably, the frame is an annular base, and the outer side of the frame is annularly provided with a floating body material layer.
Through above-mentioned technical scheme, be annular frame through the setting to the protection detects the box, prevents to detect box and dykes and dams and produce the collision.
The utility model has the advantages that:
1. the utility model discloses a setting has running gear's detection box, make this dykes and dams detection underwater robot can be walked to the surface of water by dykes and dams, the convenience detects dykes and dams and the input to check out test set, and with the condition that detection box level was placed under, all be provided with the sonar detection ware for one side of orientation submarine and detection box for one side of orientation dykes and dams at detection box, camera and light filling lamp, realized when detecting box along dykes and dams walking the detection to dykes and dams, and to the detection of dykes and dams after detecting box income water, guaranteed to carry out comprehensive detection to dykes and dams, the detection of dykes and dams just can be accomplished through control terminal and the wireless control and the detection data transmission of detection box on dykes and dams, the safety problem of detection personnel has also been solved.
2. The utility model discloses a set up the motion state that the electron compass can be to detecting the box and detect, realized that it floats on the surface of water or gets into and starts first ultrasonic sensor when under water to detect the box, second ultrasonic sensor, second sonar detection ware, second camera and second light filling lamp detect the dykes and dams below the surface of water, it starts first sonar detection ware to detect the box when walking to the surface of water on dykes and dams, first camera and first light filling lamp detect the dykes and dams above the surface of water, manual control has been saved.
Drawings
Fig. 1 is a schematic structural view of the walking state of the dam detection underwater robot on the dam of the present invention.
Fig. 2 is a schematic structural view of the underwater state of the dam detection underwater robot of the present invention.
Fig. 3 is a control schematic block diagram of the dam detection underwater robot of the present invention.
Detailed Description
In order to further understand the structure, characteristics and other objects of the present invention, the following detailed description is given with reference to the accompanying preferred embodiments, which are only used to illustrate the technical solution of the present invention and are not intended to limit the present invention.
First, please refer to fig. 1, fig. 1 is a schematic structural diagram of a dam detection underwater robot according to the present invention. As shown in fig. 1 and 3, the underwater dam inspection robot of the present invention comprises a frame 1 and an inspection box 2, wherein the inspection box 2 is erected on the frame 1; wherein, be provided with microcontroller 21 and wireless transmission module 22 in the detection box 2, microcontroller 21 passes through between wireless transmission module 22 and the control terminal 13 transmission control signal and detection data, and the detection personnel just can accomplish the detection to the dykes and dams through control terminal 13 and the wireless control and the detection data transmission of detection box 2 on the dykes and dams like this, and detection data can in time pass back, has still solved detection personnel's safety problem.
As shown in fig. 1 and 3, a walking mechanism 3, a first ultrasonic sensor 4, a first sonar detector 5, a first camera 6, and a first fill-in light 7 are provided on the side of the detection box 2 facing the water bottom. One side of detecting box 2 towards dykes and dams is provided with second ultrasonic sensor 8, second sonar detector 9, second camera 10 and second light filling lamp 11.
The walking mechanism 3 is electrically connected and in signal connection with the microcontroller 21, so that the microcontroller 21 controls the walking mechanism 3 to walk on the dam to the water surface, and the structure of the walking mechanism 3 is like that of a water-land amphibious ship or a vehicle in the prior art, so that the dam detection underwater robot can walk on the water surface from the dam, and the dam can be conveniently detected and detection equipment can be conveniently thrown in.
The first ultrasonic sensor 4 is electrically connected and in signal connection with the microcontroller 21, so that the microcontroller 21 controls the first ultrasonic sensor 4 to detect the vertical distance between the detection box body 2 and the water bottom, after the detection box body 2 enters the water surface or the water, the first ultrasonic sensor 4 starts to detect the vertical distance between the detection box body 2 and the water bottom, due to the difference of the water level and the difference of the size of the detection box body 2 and the inclination of the dam, the vertical distance between the detection box body 2 and the water bottom may not be detected by the first ultrasonic sensor 4, and as the detection box body 2 can move in the water, the vertical distance data between the detection box body 2 and the water bottom can be controlled by the vertical distance data between the detection box body 2 and the water bottom to obtain the vertical distance between the detection box body 2 and the water bottom, namely the height of the water level or the position of the dam, the detection box body 2 can also be provided with a positioning module to position the position of the dam by the, and will not be described in detail herein. The first ultrasonic sensor 4 is not required during the travel of the inspection box 2 on the dam.
The first sonar detector 5 is electrically connected and in signal connection with the microcontroller 21 so that the microcontroller 21 controls the first sonar detector 5 to detect structural state information of the dam above the water surface, and the first camera 6 and the first light supplement lamp 7 are respectively electrically connected and in signal connection with the microcontroller 21 so that the microcontroller 21 controls the first camera 6 to acquire environmental state information of the dam above the water surface; the in-process of walking on the dykes and dams is being detected box 2, and detect box 2 orientation dykes and dams this moment to submarine one side, consequently, set up first sonar detector 5, first camera 6 and first light filling lamp 7 and walk the in-process on the dykes and dams to the surface of water above-mentioned dykes and dams and carry out sonar detection and image or video acquisition on detecting box 2, realize the location through the technical means among the prior art and detect the position of box 2 at the dykes and dams.
The second ultrasonic sensor 8 is electrically and signal-connected to the microcontroller 21 so that the microcontroller 21 controls the second ultrasonic sensor 8 to detect the horizontal distance between the inspection box 2 and the dam. Since the inspection box 2 may be adjusted in relative position with respect to the dam after the inspection box 2 enters the water surface or the water, the horizontal distance between the inspection box 2 and the dam detected by the second ultrasonic sensor 8 can be used as a distance reference for the inspection box 2 to get away from the dam and then get close to the dam.
The second sonar detector 9 is electrically connected and in signal connection with the microcontroller 21, so that the microcontroller 21 controls the second sonar detector 9 to detect structural state information of the dam below the water surface; the second camera 10 and the second fill light 11 are respectively electrically connected and in signal connection with the microcontroller 21, so that the microcontroller 21 controls the second camera 10 to collect the environmental state information of the dam below the water surface. After detecting box 2 and entering the surface of water or under water, detect box 2 and towards the dykes and dams one side of dykes and dams this moment, consequently, set up second sonar detector 9, second camera 10 and second light filling lamp 11 and carry out sonar detection and image or video acquisition to the dykes and dams below the surface of water after detecting box 2 and entering the surface of water or under water, realize the location through the technical means among the prior art and detect the position of box 2 at the dykes and dams.
As shown in fig. 3, an electronic compass 23 is arranged in the detection box body 2, the electronic compass 23 is electrically connected and in signal connection with the microcontroller 21, so that when the rack 1 and the detection box body 2 float on the water surface or enter the water, the electronic compass 23 is in a horizontal state, and the microcontroller 21 controls the first ultrasonic sensor 4, the second ultrasonic sensor 8, the second sonar detector 9, the second camera 10 and the second light supplement lamp 11 to enter a working state; when frame 1 and detection box 2 go up to the surface of water walking at the dykes and dams, electron compass 23 is the tilt state, and microcontroller 21 controls first sonar detection ware 5, first camera 6 and first light filling lamp 7 entering operating condition. Can detect the motion state that detects the box through setting up the electron compass, realized that the detection box floats on the surface of water or gets into and starts first ultrasonic sensor when under water, second ultrasonic sensor, the second sonar detector, second camera and second light filling lamp detect the dykes and dams below the surface of water, detect the box and start first sonar detector when walking to the surface of water on dykes and dams, first camera and first light filling lamp detect the dykes and dams above the surface of water, manual control has been saved.
As shown in fig. 3, a multi-directional water-jet propeller 12 is disposed on the rack 1, and the multi-directional water-jet propeller 12 is electrically connected and signal-connected to the microcontroller 21, so that the microcontroller 21 controls the multi-directional water-jet propeller 12 to adjust the movement of the rack 1 and the detection box 2. The multidirectional water-jet propeller 12 adopts the technical means in the prior art to achieve the effects of facilitating the machine frame and the detection box body to enter the water surface for submerging and floating and adjusting the direction and the position relative to the dam.
As shown in fig. 1 and 3, the control terminal 13 is provided with a main winder 14, a secondary winder 15 is arranged in the detection box body 2, the main winder 14 is connected with one end of a cable 16, the secondary winder 15 is connected with the other end of the cable 16, so that when the detection box body 2 travels to the water surface on a dam, the control terminal 13 controls the main winder 14 to unwind the cable 16, the control terminal 13 sends a control signal to control the dam detection underwater robot to stop detection, after the wireless transmission module 22 receives the control signal, the microcontroller 21 controls the secondary winder 15 to wind the cable 16, and the detection box body 2 travels to the dam from the water. The winding and unwinding speed of the main winder 14 and the slave winder 15 can be obtained according to a plurality of tests before using the dam to detect the underwater robot, the control terminal 13 stores the winding and unwinding speed and controls the winding and unwinding speed when using the dam to detect the underwater robot, so that the dam detection underwater robot can normally walk along the dam, and the speed control can not be collided with the dam when the winding and unwinding speed is recovered at the detection box body 2, therefore, the winding and unwinding speed and the unwinding speed of the slave winder 15 are conveniently obtained by setting a cable connection control terminal and the detection box body, and the detection box body is convenient to.
As shown in fig. 1, the frame 1 is a ring-shaped base, and a floating body material layer is provided around the outer side of the frame 1. Through setting up to be annular frame to the protection detects the box, prevents to detect box and dykes and dams and produce the collision. The whole detection box body 2 is a waterproof shell. First ultrasonic sensor 4, first sonar detection ware 5, first camera 6, first light filling lamp 7, second ultrasonic sensor 8, second sonar detection ware 9, second camera 10 and second light filling lamp 11 all do water repellent. Other unrecited structures such as power supplies and the like all adopt the technical scheme of the prior art.
It should be noted that the above mentioned embodiments and embodiments are intended to demonstrate the practical application of the technical solution provided by the present invention, and should not be interpreted as limiting the scope of the present invention. Various modifications, equivalent substitutions and improvements will occur to those skilled in the art and are intended to be within the spirit and scope of the present invention. The protection scope of the present invention is subject to the appended claims.
Claims (5)
1. A dam detection underwater robot is characterized by comprising a rack (1) and a detection box body (2), wherein the detection box body (2) is erected on the rack (1); wherein the content of the first and second substances,
a microcontroller (21) and a wireless transmission module (22) are arranged in the detection box body (2), and the microcontroller (21) transmits control signals and detection data to the control terminal (13) through the wireless transmission module (22);
a walking mechanism (3), a first ultrasonic sensor (4), a first sonar detector (5), a first camera (6) and a first light supplement lamp (7) are arranged on one side, facing the water bottom, of the detection box body (2); the walking mechanism (3) is electrically connected and in signal connection with the microcontroller (21) so that the microcontroller (21) controls the walking mechanism (3) to walk on the dam to the water surface; the first ultrasonic sensor (4) is electrically connected and in signal connection with the microcontroller (21) so that the first ultrasonic sensor (4) can detect the vertical distance between the detection box body (2) and the water bottom; the first sonar detector (5) is electrically connected and in signal connection with the microcontroller (21) so that the first sonar detector (5) can detect structural state information of the dam above the water surface; the first camera (6) and the first light supplement lamp (7) are respectively electrically connected and in signal connection with the microcontroller (21) so that the first camera (6) can collect the environmental state information of the dam above the water surface;
a second ultrasonic sensor (8), a second sonar detector (9), a second camera (10) and a second light supplement lamp (11) are arranged on one side, facing the dam, of the detection box body (2); the second ultrasonic sensor (8) is electrically and signal-connected with the microcontroller (21) so that the second ultrasonic sensor (8) detects the horizontal distance between the detection box body (2) and the dam; the second sonar detector (9) is electrically connected and in signal connection with the microcontroller (21) so that the second sonar detector (9) can detect the structural state information of the dam below the water surface; the second camera (10) and the second light supplement lamp (11) are respectively electrically connected and in signal connection with the microcontroller (21) so that the second camera (10) can collect the environmental state information of the dam below the water surface.
2. An underwater dam detection robot as claimed in claim 1, wherein an electronic compass (23) is arranged in the detection box body (2), the electronic compass (23) is electrically connected and in signal connection with a microcontroller (21), so that when the frame (1) and the detection box body (2) float on the water surface or enter underwater, the electronic compass (23) is in a horizontal state, and the microcontroller (21) controls the first ultrasonic sensor (4), the second ultrasonic sensor (8), the second sonar detector (9), the second camera (10) and the second fill-in light (11) to enter a working state; when frame (1) and detection box (2) go up to the surface of water walking on the dykes and dams, electron compass (23) are the tilt state, and microcontroller (21) control first sonar detector (5), first camera (6) and first light filling lamp (7) get into operating condition.
3. A dam inspection underwater robot as claimed in claim 1, wherein the frame (1) is provided with a multi-directional water jet (12), the multi-directional water jet (12) being electrically and signal connected to the microcontroller (21), so that the microcontroller (21) controls the multi-directional water jet (12) to adjust the movement of the frame (1) and the inspection box (2).
4. A dam inspection underwater robot as claimed in claim 1, wherein the control terminal (13) is provided with a main winder (14), a sub-winder (15) is provided in the inspection housing (2), the main winder (14) is connected to one end of the cable (16), the sub-winder (15) is connected to the other end of the cable (16), so that the main winder (14) unwinds the cable (16) when the inspection housing (2) travels to the water surface on the dam, and the sub-winder (15) winds the cable (16) when the inspection housing (2) travels to the dam from the water.
5. A dam inspection underwater robot as claimed in claim 1, wherein the frame (1) is a ring-shaped base, and a floating body material layer is provided around the outside of the frame (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020971206.XU CN212483851U (en) | 2020-06-01 | 2020-06-01 | Dam detection underwater robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020971206.XU CN212483851U (en) | 2020-06-01 | 2020-06-01 | Dam detection underwater robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212483851U true CN212483851U (en) | 2021-02-05 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020971206.XU Expired - Fee Related CN212483851U (en) | 2020-06-01 | 2020-06-01 | Dam detection underwater robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN212483851U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116879135A (en) * | 2023-07-21 | 2023-10-13 | 南通海洋水利工程检测有限公司 | Hydraulic engineering building prevention of seepage quality monitoring devices |
-
2020
- 2020-06-01 CN CN202020971206.XU patent/CN212483851U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116879135A (en) * | 2023-07-21 | 2023-10-13 | 南通海洋水利工程检测有限公司 | Hydraulic engineering building prevention of seepage quality monitoring devices |
| CN116879135B (en) * | 2023-07-21 | 2024-01-30 | 南通海洋水利工程检测有限公司 | Hydraulic engineering building prevention of seepage quality monitoring devices |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20210205 |
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| CF01 | Termination of patent right due to non-payment of annual fee |