CN216386821U - Underwater defect observation robot with laser scale - Google Patents
Underwater defect observation robot with laser scale Download PDFInfo
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- CN216386821U CN216386821U CN202122755223.7U CN202122755223U CN216386821U CN 216386821 U CN216386821 U CN 216386821U CN 202122755223 U CN202122755223 U CN 202122755223U CN 216386821 U CN216386821 U CN 216386821U
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Abstract
The utility model discloses an underwater defect observation robot with a laser scale, which solves the technical problems that manual underwater operation is needed for underwater observation data acquisition, the safety is poor, time and labor are wasted, and the accuracy of acquired data is poor in the prior art. The utility model provides an underwater defect observation robot with a laser scale, which comprises a main body frame, wherein a floating body is arranged at the upper part of the main body frame, an electrical appliance bin is arranged in the main body frame, a propeller, the laser scale, a camera unit and a cloud deck which are electrically connected with a controller are arranged in the electrical appliance bin, the laser scale is two groups of laser transmitters which are arranged at the front end of the cloud deck in parallel, and the laser transmitters are electrically connected with the controller. The underwater observation robot can be widely applied to the technical field of underwater observation robots.
Description
Technical Field
The utility model relates to the technical field of underwater observation robots, in particular to an underwater defect observation robot with a laser scale.
Background
In the observation or operation process of natural water body environments such as oceans, reservoirs, riverways, gate pump stations, tail ponds and culverts, divers are often required to dive underwater firstly, observe underwater construction environments and acquire data, and then the workers analyze the acquired data to evaluate the damage of buildings in the underwater environments and then perform subsequent design and construction. The diver launches and measures and observes the data acquisition in-process to crack and damaged department, needs very big work intensity of labour, and long-time operation demand just can gather the observation data under water completely, and the underwater operation risk is very big, and personal safety can not obtain effectual guarantee.
In addition, among the current river course work progress, though often use the laser scale to be used for measuring the distance between objects such as the construction constructional column on the surface of water, but in the use of laser scale, there is not the support on the laser scale, and some scale volumes are less moreover, when using, the user is held in hand, the arm rocks easily, and then makes the laser scale also follow and rocks, cause measuring data error to appear, inconvenient user uses, more can't satisfy the demand of underwater operation accurate measurement.
Disclosure of Invention
Aiming at the defects and shortcomings in the prior art, the underwater defect observation robot with the laser scale has the functions of underwater observation, object measurement and underwater object grabbing, can complete dam and culvert crack measurement, damage measurement, underwater environment field investigation, picture transmission and other operations, can realize underwater omnibearing and multi-angle accurate observation, meets the requirement of actual underwater environment observation, has a wide application range, can replace a diver to launch to measure and observe cracks and damaged parts, effectively reduces the labor intensity of the diver, and improves the personal safety.
In order to achieve the purpose, the utility model is realized by the following technical scheme: the utility model provides an underwater defect observation robot with a laser scale, which comprises a main body frame, wherein a floating body is arranged at the upper part of the main body frame, an electrical appliance bin is arranged in the main body frame, and a propeller, the laser scale, a camera unit and a cloud deck which are electrically connected with a controller are arranged in the electrical appliance bin;
the laser scaleplates are two groups of laser transmitters which are arranged at the front end of the holder in parallel, and the laser transmitters are electrically connected with the controller.
Preferably, laser emitter includes laser lamp and laser lamp mount pad, and laser lamp mount pad fixed mounting is on the cloud platform, and the laser lamp that is located laser emitter inside passes through the spacing ring pressure equipment to be fixed on the laser lamp mount pad.
Preferably, an O-shaped ring is further connected between the limiting ring and the laser lamp; the distance between the laser beams emitted by the two groups of laser emitters is 80 mm.
Preferably, the cloud deck is also provided with a front camera which is matched with the two groups of laser transmitters, and the front camera can synchronously rotate forwards and backwards along with the cloud deck;
the front camera is fixed on the upper part of the holder through the protective shell and can rotate around the central line of the front camera.
Preferably, the camera unit further comprises a downward vertical overlooking camera, the camera unit is electrically connected with the controller, and an observation hole matched with the overlooking camera is further formed in the bottom plate inside the main body frame.
Preferably, the cradle head is a rotating cradle head device, the rotating cradle head device comprises a rotating cradle head, a first motor, a connecting rod device, a front fixing base and a rear fixing base, the front fixing base and the rear fixing base are respectively and fixedly connected with a bottom plate in the main body frame, a motor shell of the first motor is fixed on the bottom plate in the main body frame through a motor fixing base, and an output shaft of the first motor transversely penetrates through the rear fixing base and then is hinged with the rear fixing base;
the upper portion of preceding fixed baseplate articulates there is the rotation cloud platform, and the leading camera of laser scale and camera unit all sets up on rotating the cloud platform, and the output shaft of first motor still drives through link means and rotates cloud platform synchronous revolution.
Preferably, the connecting rod device comprises an L-shaped connecting rod and a vertical rotating piece, and the vertical rotating piece is fixedly arranged on the output shaft of the first motor between the rear fixing base and the motor fixing seat;
the front end kink of L type connecting rod is articulated with rotating the cloud platform, and the rear end of L type connecting rod passes through the horizontal pole and articulates with the upper end of vertical rotor.
Preferably, the output shaft of the first motor transversely penetrates through the rear fixing base and then is connected with the angle sensor, and the angle sensor is electrically connected with the controller.
Preferably, the bottom of the front end of the bottom plate of the main body frame is further provided with a double-shaft manipulator electrically connected with the controller, and the front end of the double-shaft manipulator is further provided with a picking clamping jaw.
Preferably, a height meter arranged downwards is further arranged in the electrical appliance bin of the main body frame, and a measuring hole matched with the height meter is further formed in a bottom plate in the main body frame;
the front end of the main body frame is also provided with a lighting lamp electrically connected with the controller; the controller is provided with a display screen.
The utility model provides an underwater defect observation robot with a laser scale. The method has the following beneficial effects:
(1) the underwater defect observation robot with the laser scale is an observation robot, is ingenious and reasonable in structural design, has the functions of underwater observation, object measurement and underwater object grabbing, can meet the operation requirements of dam and culvert crack measurement, damage measurement, underwater environment field investigation, picture transmission and the like, can realize underwater all-dimensional multi-angle accurate observation, meets the requirement of actual underwater environment observation, and is wide in application range.
(2) This robot is through the design to the device structure, make it be applicable to the ocean, the reservoir, the river course, the floodgate pump station, the tailrace pond, survey among the natural water body environment such as culvert, can replace diver's offal to measure and survey crack and damaged department, and through the all-round cooperation of laser scale, camera unit and rotatory cloud platform device, the realization is showing the improvement to the degree of accuracy and the accuracy of environmental measurement data under water, for the staff to provide support to damaged aassessment and follow-up restoration, effectively alleviate diver's intensity of labour, the security of the person has been improved.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural view of the front view of FIG. 1;
FIG. 3 is a schematic structural diagram of a top view of FIG. 1;
FIG. 4 is a schematic left side view of FIG. 1;
FIG. 5 is a schematic structural view of the bottom view of FIG. 1;
FIG. 6 is a schematic structural diagram of the right side view of FIG. 1;
FIG. 7 is a schematic structural view of the perspective view of FIG. 1;
fig. 8 is a schematic structural view of the rotary head device in fig. 1;
FIG. 9 is a schematic structural view of the perspective view of FIG. 8;
FIG. 10 is a schematic structural view of the perspective view of FIG. 8;
FIG. 11 is a schematic structural view of the rear view of FIG. 8;
fig. 12 is a schematic structural view of the right side view of fig. 8 (rotational pan/tilt head normal state);
fig. 13 is a structural schematic view of the right side view of fig. 8 (the rotating pan/tilt head is in a forward tilting state);
fig. 14 is a schematic structural view of the right side view of fig. 8 (the rotating pan/tilt head in a reclined state);
FIG. 15 is a schematic structural view of the mount of FIG. 11;
fig. 16 is a schematic diagram of the internal structure of the laser transmitter in fig. 11.
In the figure: 1. the robot comprises a main body frame, a floating body, a propeller, a manipulator, a rotating holder, a motor, a connecting rod device, a front fixing base, a rear fixing base, a front camera, a downward camera, a laser emitter, a height gauge, a lamp, an angle sensor, a limiting ring, a motor shell, a motor fixing seat, a connecting rod, a vertical rotating piece, a laser lamp and a laser lamp mounting seat, wherein the main body frame comprises a main body frame, a floating body 2, a propeller 3, a manipulator 4, a rotating holder 5, a first motor 6, a connecting rod device 7, a front fixing base 8, a rear fixing base 9, a front camera 10, a downward camera 11, a laser emitter 12, a height gauge 13, a lighting lamp, an angle sensor 15, a limiting ring, a motor shell, a motor fixing seat 602, an L-shaped connecting rod, a vertical rotating piece 702, a laser lamp 1201 and a laser lamp mounting seat 1202.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
In the present invention, unless otherwise expressly stated or limited, the terms "connected," "secured," and the like are to be construed broadly, e.g., as meaning permanently attached, removably attached, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Referring to fig. 1 to fig. 16, the present invention provides a technical solution:
as shown in fig. 1-11, the underwater defect observation robot with the laser scale provided by the utility model comprises a main body frame 1, wherein a floating body 2 is arranged at the upper part of the main body frame 1, and the specific position of the floating body 2, which ascends and descends underwater, is controlled by the floating body, so that the underwater operation requirement is met. An electrical bin is arranged inside the main body frame 1, and a battery, a propeller 3, a laser scale, a camera unit and a rotating holder device which are electrically connected with the controller are installed in the electrical bin. The robot can move to the assigned position according to the command requirement of the controller through the propeller 3 carried by the robot, the camera unit can finish underwater environment on-site investigation and picture transmission, the laser scale can finish the measurement of underwater cracks and damaged parts, and the manipulator 4 finishes the function of grabbing objects underwater. The underwater all-dimensional multi-angle precise observation can be realized, the actual underwater environment observation requirement is met, and the application range is wide.
The rotating tripod head device comprises a rotating tripod head 5, a first motor 6, a connecting rod device 7, a front fixing base 8 and a rear fixing base 9 which are respectively fixedly connected with the bottom plate in the main body frame 1, a motor shell 601 of the first motor 6 is fixed on the bottom plate in the main body frame 1 through a motor fixing seat 602, and an output shaft of the first motor 6 transversely penetrates through the rear fixing base 9 and then is hinged with the rear fixing base 9; the upper portion of preceding fixed baseplate 8 articulates there is rotation cloud platform 5, and the leading camera 10 of laser scale and camera unit all sets up on rotating cloud platform 5, and the output shaft of first motor 6 still passes through connecting rod device 7 and drives rotation cloud platform 5 synchronous revolution. The connecting rod device 7 comprises an L-shaped connecting rod 701 and a vertical rotor 702, the vertical rotor 702 is fixedly arranged on an output shaft of the first motor 6 between the rear fixing base 9 and the motor fixing seat 602, a front end bending part of the L-shaped connecting rod 701 is hinged with the rotating holder 5, and the rear end of the L-shaped connecting rod 701 is hinged with the upper end of the vertical rotor 702 through a cross rod. The output shaft of the first motor 6 transversely passes through the rear fixing base 9 and then is connected with the angle sensor 15, and the angle sensor 15 is electrically connected with the controller.
As shown in fig. 12-14, the front end of the robot of the present invention is equipped with a laser scale, and the robot is equipped with a rotating pan/tilt head device, and the front and back rotating angles of the rotating pan/tilt head 5 can be adjusted in real time by controlling the link device 7 through the first motor 6. When the first motor 6 rotates forwards, the connecting rod device 7 is driven to move, and the rotating holder 5 is pushed to tilt forwards; when the first motor 6 rotates reversely, the link device 7 is driven to move reversely, and the rotating holder 5 is pulled to tilt backwards. Meanwhile, the angle sensor 15 is connected with the output shaft of the motor, so that the rotating angle of the first motor 6 can be further accurately controlled and detected in real time, and the accurate control of the rotating direction and the angle of the rotating holder 5 is realized.
The front camera 10 is a high-definition network camera, and carries one high-definition network camera by rotating the holder 5, and the front camera 10 can synchronously pitch back and forth along with the rotating holder 5 of the rotating holder device, so that the visual range of the camera is effectively enlarged. The front camera 10 is fixed on the upper part of the rotating holder 5 through a protective shell, and the front camera 10 can rotate around the central line thereof. The protective shell is made of aviation aluminum, and has strong underwater corrosion resistance after oxidation treatment, and the service life of the device is prolonged.
The camera unit further comprises a downward vertical overlooking camera 11, the camera unit is electrically connected with the controller through an optical fiber core conducting wire, and an observation hole matched with the overlooking camera 11 is further formed in a bottom plate inside the main body frame 1. The overlooking camera 11 is a high-definition network turbid water treatment wide-angle camera, meets the requirements of underwater observation, and has a wide application range.
The laser scaleplates are two groups of laser transmitters 12 which are arranged at the front end of the cloud deck in parallel, and the laser transmitters 12 are electrically connected with the controller through transmission wires; the rotating cloud deck 5 is also provided with a front camera 10 which is matched with the two groups of laser transmitters 12, and the front camera can synchronously rotate back and forth along with the rotating cloud deck 5.
As shown in fig. 15 to 16, the laser emitter 12 includes a laser lamp 1201 and a laser lamp mounting seat 1202, the laser lamp mounting seat 1202 is fixedly mounted on the rotating platform 5, and the laser lamp 1201 located inside the laser emitter 12 is press-fitted and fixed on the laser lamp mounting seat 1202 through a limiting ring 16. An O-shaped ring is further connected between the limiting ring 16 and the laser lamp 1201, so that the fact that two laser beams are parallel can be guaranteed through fine adjustment of the laser lamp 1201, the accuracy and precision of the detection size of the laser scale are further guaranteed, and the actual underwater measurement requirement is met. The diameter of the laser beams emitted by the two groups of laser emitters 12 is 1mm, the distance between the laser beams is 80mm, the laser beams emitted by the laser emitters 12 can be used for measuring cracks and damaged sizes of dams, culverts, pump stations, tail water pools and the like, the device is stable in structure and high in operability, and the preparation degree and accuracy of detection are remarkably improved.
The front end bottom of the bottom plate of the main body frame 1 is also provided with a double-shaft mechanical arm 4 electrically connected with the controller, and the front end of the double-shaft mechanical arm 4 is also provided with a picking clamping jaw which can grab objects at different angles, so that operations such as underwater sampling are facilitated.
Still be equipped with the altimeter 13 that sets up downwards in the electrical apparatus storehouse of main body frame 1, still be equipped with on the inside bottom plate of main body frame 1 with altimeter 13 assorted measuring hole, altimeter 13 can measure the degree of depth of observing the hole according to the difference of measuring the data of setting a relative position.
The front end of the main body frame 1 is also provided with a lighting lamp 14 electrically connected with the controller; the controller is provided with a display screen.
The underwater defect observation robot with the laser scale is an observation robot, has the functions of underwater observation, object measurement and underwater object grabbing, and can meet the operation requirements of dam and culvert crack measurement, damage measurement, underwater environment field investigation, picture transmission and the like.
In the using process, the camera set is used for shooting the picture/image of the object to be detected and sending the picture/image to the controller; the laser emitter 12 is used for emitting two parallel lasers with known spacing, and is used as a scale in an image shot by the front camera 10; the controller controls the synchronous rotation direction of the front camera 10 and the laser emitter 12 of the camera set by controlling the rotating holder device, sends a command for taking pictures/images to the camera set, receives and displays the pictures/images taken by the camera set, and simultaneously displays the inclination angle of the angle sensor 15. The underwater all-dimensional multi-angle precise observation can be realized, the actual underwater environment observation requirement is met, and the application range is wide.
The robot is suitable for natural water bodies such as oceans, reservoirs, riverways, gate pump stations, tailstocks and culverts, can replace divers to launch to measure and observe cracks and damaged positions, and enables the accuracy and precision of underwater environment measurement data to be remarkably improved through the all-dimensional cooperation of laser scales, camera units and rotary holder devices, and supports are provided for workers to evaluate and subsequently repair damages. The labor intensity of divers is reduced, and the personal safety is improved.
In conclusion, the underwater defect observation robot with the laser scale is ingenious in structural design, can realize underwater omnibearing multi-angle accurate observation, meets the requirement of actual underwater environment observation, is wide in application range, is particularly suitable for natural water bodies with unknown environments such as oceans, reservoirs, riverways, gate pump stations, tail ponds and culverts, and provides support for damage assessment and follow-up repair of workers. Meanwhile, the labor intensity of divers is effectively reduced, and the personal safety is improved.
The above is only an embodiment of the present invention, for example, the diameter of the laser beams emitted by the two groups of laser emitters 12 is 1mm, and the distance between the laser beams is 50mm to 150mm, so that the underwater defect observation robot with the laser scale of the present invention can be realized.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and equivalent alternatives or modifications according to the technical solution of the present invention and the inventive concept thereof should be covered by the scope of the present invention.
Claims (10)
1. The underwater defect observation robot with the laser scale is characterized by comprising a main body frame (1), wherein a floating body (2) is installed at the upper part of the main body frame (1), an electrical cabinet is arranged inside the main body frame (1), and a propeller (3), the laser scale, a camera unit and a holder which are electrically connected with a controller are installed in the electrical cabinet;
the laser scales are two groups of laser transmitters (12) which are arranged at the front end of the holder in parallel, and the laser transmitters (12) are electrically connected with the controller.
2. The underwater defect observation robot with the laser scale is characterized in that the laser emitter (12) comprises a laser lamp (1201) and a laser lamp mounting seat (1202), the laser lamp mounting seat (1202) is fixedly mounted on the holder, and the laser lamp (1201) located inside the laser emitter (12) is fixed on the laser lamp mounting seat (1202) in a press-fitting mode through a limiting ring (16).
3. The underwater defect observation robot with the laser scale is characterized in that an O-shaped ring is further connected between the limiting ring (16) and the laser lamp (1201); the distance between the laser beams emitted by the two groups of laser emitters (12) is 50mm-150 mm.
4. The underwater defect observation robot with the laser scale according to claim 2, wherein the cradle head is further provided with a front camera (10) which is matched with the two groups of laser emitters (12) and can synchronously rotate back and forth along with the cradle head;
leading camera (10) are fixed in through protecting sheathing cloud platform upper portion, just leading camera (10) can be around its central line rotation.
5. The underwater defect observation robot with the laser scale is characterized in that the camera unit further comprises a downward looking camera (11), the camera unit is electrically connected with the controller, and an observation hole matched with the downward looking camera (11) is further formed in the bottom plate inside the main body frame (1).
6. The underwater defect observation robot with the laser scale is characterized in that the cloud deck is a rotating cloud deck device, the rotating cloud deck device comprises a rotating cloud deck (5), a first motor (6), a connecting rod device (7), a front fixing base (8) and a rear fixing base (9) which are fixedly connected with an inner bottom plate of a main body frame (1) respectively, a motor shell (601) of the first motor (6) is fixed on the inner bottom plate of the main body frame (1) through a motor fixing seat (602), and an output shaft of the first motor (6) transversely penetrates through the rear fixing base (9) and then is hinged with the rear fixing base;
the upper portion of preceding fixed baseplate (8) articulates there is rotation cloud platform (5), the laser scale with leading camera (10) of camera unit all set up in rotate on cloud platform (5), the output shaft of first motor (6) still passes through link means (7) drive rotate cloud platform (5) synchronous revolution.
7. The underwater defect observation robot with the laser scale is characterized in that the connecting rod device (7) comprises an L-shaped connecting rod (701) and a vertical rotating piece (702), and the vertical rotating piece (702) is fixedly arranged on an output shaft of the first motor (6) between the rear fixing base (9) and the motor fixing seat (602);
the front end bending part of the L-shaped connecting rod (701) is hinged to the rotating holder (5), and the rear end of the L-shaped connecting rod (701) is hinged to the upper end of the vertical rotating piece (702) through a cross rod.
8. The underwater defect observation robot with the laser scale according to claim 7, characterized in that the output shaft of the first motor (6) transversely penetrates through the rear fixing base (9) and is connected with an angle sensor (15), and the angle sensor (15) is electrically connected with a controller.
9. The underwater defect observation robot with the laser scale is characterized in that a double-shaft mechanical arm (4) electrically connected with the controller is further arranged at the bottom of the front end of the bottom plate of the main body frame (1), and a picking clamping jaw is further arranged at the front end of the double-shaft mechanical arm (4).
10. The underwater defect observation robot with the laser scale is characterized in that a height meter (13) arranged downwards is further arranged in an electrical appliance bin of the main body frame (1), and a measuring hole matched with the height meter (13) is further arranged on a bottom plate in the main body frame (1);
the front end of the main body frame (1) is also provided with an illuminating lamp (14) electrically connected with the controller; the controller is provided with a display screen.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202122755223.7U CN216386821U (en) | 2021-11-11 | 2021-11-11 | Underwater defect observation robot with laser scale |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202122755223.7U CN216386821U (en) | 2021-11-11 | 2021-11-11 | Underwater defect observation robot with laser scale |
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| CN216386821U true CN216386821U (en) | 2022-04-26 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115824413A (en) * | 2023-02-14 | 2023-03-21 | 长春理工大学 | Self-adaptive underwater polarization detection device, method, equipment and medium |
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2021
- 2021-11-11 CN CN202122755223.7U patent/CN216386821U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115824413A (en) * | 2023-02-14 | 2023-03-21 | 长春理工大学 | Self-adaptive underwater polarization detection device, method, equipment and medium |
| CN115824413B (en) * | 2023-02-14 | 2023-04-21 | 长春理工大学 | Self-adaptive underwater polarization detection device, method, equipment and medium |
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