CN217396784U - Water-sealed tunnel non-drainage detection primary-secondary type robot system - Google Patents
Water-sealed tunnel non-drainage detection primary-secondary type robot system Download PDFInfo
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- CN217396784U CN217396784U CN202220868423.5U CN202220868423U CN217396784U CN 217396784 U CN217396784 U CN 217396784U CN 202220868423 U CN202220868423 U CN 202220868423U CN 217396784 U CN217396784 U CN 217396784U
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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
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
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Abstract
The utility model discloses a non-drainage of water seal tunnel detects primary and secondary formula robot system, including bank base master control platform, female robot, submachine robot, optical fiber communication cable and zero buoyancy umbilical cable. The utility model discloses a set up bank base master console, female robot, the submachine robot, optical fiber communication cable and zero buoyancy umbilical cable, bank base master console can carry out data interaction with female robot and submachine robot in real time through optical fiber communication cable and zero buoyancy umbilical cable, it can not only realize that command control command's real-time transmission carries out the operation that becomes more meticulous to female robot and submachine robot, it can also read the gesture on female robot and the submachine robot in real time, data such as camera provide supplementarily for control operation, it can still accurately draw the effective characteristic information of tunnel defect, and save in real time and detect information, domestic water seal tunnel has been solved and has relied on artifical the detection, degree of automation is low, detect a great deal of problems such as the degree of difficulty is big.
Description
Technical Field
The utility model belongs to the technical field of primary and secondary formula robot, especially, relate to water seal tunnel non-drainage detects primary and secondary formula robot system.
Background
The number of the tunnels currently operated by the west-east gas transmission company is nearly 200, wherein 21 water tunnels, only 2 shields are not filled with water, and the rest tunnels are in a water-sealed operation state. In the water-sealed tunnel, the pipeline is arranged on a concrete buttress or a metal bracket in an overhead manner and is fixed by metal members such as pipe clamp bolts and the like, and all facilities are completely immersed in a water body. Because of the buoyancy of the water body, whether the fixing piece can keep good restraint on the pipeline is a key factor influencing the safety of the pipeline body, once the restraint fails, the pipeline can be greatly deformed, and therefore the adverse effects of leakage, even breakage and the like are caused. Meanwhile, the tunnel structure may have problems of cracks, lining hollowing, local area collapse and the like in the long-term operation process, and the safety of the pipeline in the tunnel is seriously affected. In addition to the above two major risks, the pipelines in the water-sealed tunnel also have many problems such as corrosion protection layer damage and cathode protection system failure. However, the water-sealed tunnel is filled with accumulated water, personnel cannot directly enter the tunnel, daily inspection cannot be carried out, the running state of the pipeline in the tunnel is difficult to grasp in time, and regular detection is generally carried out once every 5-8 years or 6-10 years according to the regulations of maintenance and maintenance regulations (SY/T6068-2014) of the overhead part of the oil and gas pipeline and auxiliary facilities thereof according to different tunnel maintenance grades.
At present, the existing detection mode is to empty the water in the tunnel, and then a detector enters the tunnel to detect and maintain facilities such as the tunnel and an internal pipeline. Mainly comprises the following procedures: opening a tunnel, installing a temporary elevator, detecting gas, ventilating the tunnel, pumping water into the tunnel, pumping and discharging slurry, laying illumination communication, comprehensively detecting, inspecting accessory facilities, repairing defects, checking and accepting the finished workers, recovering water injection, sealing a tunnel opening and the like.
This method has many problems such as: the water in the tunnel is emptied, which inevitably consumes a great deal of manpower and material resources and also influences the normal work of the tunnel and facilities in the tunnel. In addition, after the water is drained from the water-sealed tunnel, the pressure state of the inner wall of the tunnel changes, a tunnel structure is influenced to a certain extent, and risks of collapse, water inrush, water permeation and the like exist in the tunnel. The internal structure of the long-distance tunnel is complex, the environment is severe, and detection personnel entering the tunnel may face safety hidden dangers in the detection process.
Therefore, it is desired to develop an underwater detection device, which can realize an unmanned, all-directional, safe and intelligent detection method in a long-distance narrow space tunnel under a non-drainage state.
SUMMERY OF THE UTILITY MODEL
The problem to prior art exists, the utility model provides a non-drainage in water seal tunnel detects primary and secondary formula robot system, the invention purpose is under the condition that does not need the drainage, get into the tunnel by underwater robot after to the pipeline body, the fixed stay, tunnel structure carries out all-round observation, realize the normal position inspection of key risk point, detect, the robot can adapt to the tunnel that the company has current different structure size, the space size simultaneously, satisfy certain commonality requirement, need promptly inspect in the water seal tunnel, can develop the operation fast during the detection, it is unmanned to possess in the narrow and small space tunnel of long distance under the non-drainage state, it is all-round, safety, intellectual detection's advantage, domestic water seal tunnel has been solved and has relied on artifical the detection, degree of automation is low, a great deal of problems such as the detection degree of difficulty is big.
The utility model discloses a realize like this, water seal tunnel non-drainage detects primary and secondary formula robot system, including bank base master control platform, mother's machine robot, son's machine robot, optical fiber communication cable and zero buoyancy umbilical cable, mother's machine robot is connected through optical fiber communication cable with bank base master control platform;
the submachine robot is arranged on the master robot and connected through a zero-buoyancy umbilical cable;
one end of the optical fiber communication cable is connected with the master robot;
the other end of the optical fiber communication cable is connected with a shore-based master console, and the submachine robot is installed on the master robot.
As an optimization of the utility model, the parent robot comprises a robot body, the upper part of the robot body is provided with a first buoyancy block, a storage rack of the child robot and a distribution and recovery hanging ring, and the robot body is provided with a vertical pushing propeller, a lateral pushing propeller, a main pushing propeller and an active release optical fiber spool;
still set up the first LED auxiliary lighting lamp of multichannel camera and corresponding direction on the robot body respectively, the camera is installed on the robot body, in front, left side and right side.
As a preferred aspect of the present invention, the sub-robot comprises a body frame, a transparent pressure-resistant cabin, a multi-way propeller, a second LED auxiliary illuminating lamp, a high-definition binocular camera, and a second buoyancy block, wherein the propeller is respectively installed on both sides of the body frame along a horizontal plane and a vertical plane;
the high-definition binocular camera is installed at the inner side of the transparent pressure-resistant cabin close to the head, the transparent pressure-resistant cabin is installed in the middle of the engine body frame, and the second buoyancy block is installed on the upper portion of the engine body frame.
Compared with the prior art, the beneficial effects of the utility model are as follows:
1. the utility model discloses a set up bank base master console, female robot, the submachine robot, optical fiber communication cable and zero buoyancy umbilical cable, bank base master console can carry out data interaction with female robot and submachine robot in real time through optical fiber communication cable and zero buoyancy umbilical cable, it can not only realize that command control command's real-time transmission carries out the operation that becomes more meticulous to female robot and submachine robot, it can also read the gesture on female robot and the submachine robot in real time, data such as camera provide supplementarily for control operation, it can still accurately draw the effective characteristic information of tunnel defect, and save in real time and detect information, domestic water seal tunnel has been solved and has relied on artifical the detection, degree of automation is low, detect a great deal of problems such as the degree of difficulty is big.
2. The utility model discloses an optic fibre can be in female robot navigation in-process from the initiative release on female robot, and the resistance consumption that communication cable brought when can avoiding female robot long distance navigation.
3. The utility model discloses an adopt zero buoyancy umbilical cable to communicate and power supply between submachine robot and the master robot, the energy station and the communication relay of master robot as submachine robot, submachine robot motion carries out the meticulous operation of observing under the control operation of bank base master control platform.
4. The utility model discloses a satisfy female mechanical robot's mobility's requirement, push away the propeller through arranging on the robot body perpendicularly, the side pushes away the propeller and mainly pushes away the propeller, its come-up that can realize female mechanical robot, dive, control the rotation, control translation, roll and every single direction motion of every single move, can eliminate the unbalanced disturbance of gesture that brings after the optic fibre release after long distance operation.
5. The utility model discloses a satisfy mobility and the little space trafficability characteristic requirement of submachine robot, through arranging the propeller at the organism frame horizontal plane and perpendicular, it can realize the come-up of submachine robot, dive, side-to-side motion and the many items conventional motions of perpendicular roll, reduces the volume and the consumption of submachine robot as far as possible satisfying the motion performance condition.
Drawings
Fig. 1 is a schematic diagram of a system according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a parent robot according to an embodiment of the present invention;
fig. 3 is an axis view of a parent robot according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a sub-robot according to an embodiment of the present invention;
fig. 5 is a schematic diagram of a detection process provided by the embodiment of the present invention.
In the figure: 1. a shore-based master control station; 2. a parent robot; 201. a robot body; 202. a first buoyancy block; 203. a storage rack for the sub-robot; 204. laying and recovering lifting rings; 205. vertically pushing the propeller; 206. laterally pushing the propeller; 207. a main pusher; 208. actively releasing the optical fiber spool; 209. a camera; 210. a first LED auxiliary illuminating lamp; 3. a sub-robot; 301. a machine body frame; 302. a transparent pressure-resistant cabin; 303. a propeller; 304. a second LED auxiliary illuminating lamp; 305. a high-definition binocular camera; 306. a second buoyancy block; 4. a fiber optic communications cable; 5. a zero buoyancy umbilical.
Detailed Description
In order to further understand the contents, features and functions of the present invention, the following embodiments are illustrated and described in detail with reference to the accompanying drawings.
The structure of the present invention will be described in detail with reference to the accompanying drawings.
As shown in fig. 1 to 5, the embodiment of the present invention provides a water-sealed tunnel non-drainage detection master-slave robot system, which comprises a shore-based master control station 1, a master robot 2, a slave robot 3, an optical fiber communication cable 4 and a zero-buoyancy umbilical cable 5, wherein the master robot 2 is connected to the shore-based master control station 1 through the optical fiber communication cable 4;
the sub-robot 3 is arranged on the main robot 2 and connected through a zero-buoyancy umbilical cable 5;
one end of the optical fiber communication cable 4 is connected with the master robot 2;
the other end of the optical fiber communication cable 4 is connected with the shore-based master control station 1, and the submachine robot 3 is arranged on the master robot 2;
the shore-based master control station 1 can perform data interaction with the master robot 2 and the slave robot 3 in real time through the optical fiber communication cable 4 and the zero-buoyancy umbilical cable 5, can achieve real-time transmission of command control commands to perform refined operation on the master robot 2 and the slave robot 3, can read data such as postures and cameras 209 on the master robot 2 and the slave robot 3 in real time to provide assistance for control operation, can accurately extract effective characteristic information of tunnel defects, and can store detection information in real time.
Referring to fig. 2 and 3, the parent robot 2 includes a robot body 201, a first buoyancy block 202, a storage rack 203 for the child robot 3 and a laying and recovery hanging ring 204 are arranged on the upper portion of the robot body 201, and a vertical pushing propeller 205, a lateral pushing propeller 206, a main pushing propeller 207 and an active releasing optical fiber spool 208 are arranged on the robot body 201;
the robot body 201 is also provided with a plurality of paths of cameras 209 and first LED auxiliary illuminating lamps 210 in corresponding directions, and the cameras 209 are arranged on the robot body 201, in front of the robot body, on the left of the robot body and on the right of the robot body.
The scheme is adopted: the optical fiber can be actively released from the parent robot in the navigation process of the parent robot 2, resistance consumption caused by a communication cable can be avoided when the parent robot 2 navigates in a long distance, communication and power supply are carried out by adopting a zero-buoyancy umbilical cable 5 between the submachine robot 3 and the parent robot 2, the parent robot 2 is used as an energy station and a communication relay of the submachine robot 3, the submachine robot 3 moves to carry out fine observation operation under the control operation of a shore-based master console 1, and the vertical pushing propeller 205, the lateral pushing propeller 206 and the main pushing propeller 207 are arranged on the robot body 201, so that the floating, submerging, left-right rotation, left-right translation, transverse rolling and pitching all-direction movement of the parent robot 2 can be realized, and the unbalanced disturbance of the posture caused by the release of the optical fiber can be eliminated after the long-distance operation.
Referring to fig. 4, the submachine robot 3 comprises a machine body frame 301, a transparent pressure-resistant cabin 302, a multi-path propeller 303, a second LED auxiliary illuminating lamp 304, a high-definition binocular camera 305 and a second buoyancy block 306, wherein the propeller 303 is respectively installed on two sides of the machine body frame 301 along a horizontal plane and a vertical plane;
the high-definition binocular camera 305 is installed at the position close to the head inside the transparent pressure-resistant cabin 302, the transparent pressure-resistant cabin 302 is installed in the middle of the machine body frame 301, and the second buoyancy block 306 is installed at the upper part of the machine body frame 301.
Adopt above-mentioned scheme: by arranging the propellers 303 on the horizontal plane and the vertical plane of the body frame 301, the multi-item conventional motions of floating, diving, side-to-side motion and vertical plane rolling of the sub-robot 3 can be realized, and the volume and the power consumption of the sub-robot are reduced as much as possible under the condition of meeting the motion performance.
The utility model discloses a theory of operation:
when the all-round detection process of water seal tunnel goes on in three steps during the use, female robot 2 and 3 of submachine-robot of this invention only go forward to one direction, until lining up the tunnel, can be easily drawn and retrieved by manpower after the optical fiber communication cable 4 is cut off from the initiative release of female robot 2 during the recovery, and female robot 2 is retrieved by the water seal tunnel mouth, first step: arranging a system; the master robot 2 carrying the slave robot 3 integrally hangs down along the wellhead through the laying and recovering hanging ring 204 until the water surface is lower, the optical fiber communication cable 4 is slowly released under the slight traction force of the optical fiber spool 208 actively released in the process of entering the tunnel, and the slave robot 3 is pulled out from the master robot 2 after entering the water; the second step is that: navigation inspection; in the checking process, the submachine robot 3 always keeps navigating in front of the master robot 2, the master robot 2 always keeps in a wide area in a tunnel in the navigating process, the camera 209 is used for positioning in the tunnel and providing motion reference for the motion of the submachine robot 3, the shore-based master console 1 carries out real-time identification processing according to information returned underwater, controls the submachine robot 3 to carry out fine detection on the structure in the tunnel and captures the image information of the key part in real time; in the navigation process, the monitoring video with visual fields in all directions is provided, the three-dimensional size is small, the omnibearing detection can be carried out without surrounding pipelines and structural objects, an operator can keep the safety distance between a robot and the pipelines and the accessory facilities according to the video, and a passive cable laying mode from the robot is adopted, a communication cable is slowly paved at the bottom of a tunnel under the action of gravity, so the collision and winding problems in the tunnel can not occur, the whole process can not generate new safety risks to the pipelines, a submachine robot 3 can carry out size measurement on observed key structures such as anticorrosive coating defect points, lining cracks and the like through a high-definition binocular camera 305 and finally feed back to a shore-based main control console 1 for storage, the robot video and photographing monitoring system are matched with an image enhancement system for observing an underwater turbid water body, and the problem of difficult detection of the turbid water body environment can be effectively solved, sufficient preparation is made for possible muddy water in the tunnel to ensure that video and image can clearly reflect key characteristics of the target object, an emergency system in the tunnel is arranged in the control system, the robot can automatically advance along the middle of the tunnel under a preset control instruction under the condition that the robot loses control until the exit of the tunnel, the barrier is automatically avoided according to the image in the process, and the collision to the pipe wall is prevented, and the third step is carried out: recovering the system; after the complete water seal tunnel detection is completed, the parent robot 2 and the child robot 3 are recovered through the tunnel portal, the child robot 3 is operated to open back to the child robot 3 storage rack 203 of the parent robot 2, the parent robot 2 sails to the tunnel portal by means of the navigation, the child robot is lifted and recovered manually, the self-releasing optical fibers are cut after the recovery, and the optical fibers retained in the tunnel are recovered by manual traction.
In conclusion: this non-drainage in water seal tunnel detects primary and secondary formula robot system, through setting up bank base master console 1, female robot 2, submachine robot 3, optical fiber communication cable 4 and zero buoyancy umbilical cable 5, bank base master console 1 can carry out data interaction with female robot 2 and submachine robot 3 in real time through optical fiber communication cable 4 and zero buoyancy umbilical cable 5, it can not only realize the real-time transmission of command control command and carry out the operation that becomes more meticulous to female robot 2 and submachine robot 3, it can also read gesture on female robot 2 and the submachine robot 3 in real time, data such as camera 209 provide the assistance for control operation, it can still accurately extract the effective characteristic information of tunnel defect, and save detection information in real time, domestic water seal tunnel relies on artifical detection, degree of automation is low, a great deal of problem such as the detection degree of difficulty is big.
It should be noted that, in this document, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (2)
1. Non-drainage detection primary and secondary formula robot system in water seal tunnel includes bank base master console (1), female machine robot (2), submachine robot (3), optical fiber communication cable (4) and zero buoyancy umbilical cable (5), its characterized in that: the parent robot (2) is connected with the shore-based master control console (1) through an optical fiber communication cable (4);
the submachine robot (3) is arranged on the master robot (2) and connected through a zero-buoyancy umbilical cable (5);
one end of the optical fiber communication cable (4) is connected with the master robot (2);
the other end of the optical fiber communication cable (4) is connected with a shore-based master console (1), and the submachine robot (3) is installed on the master robot (2);
the master robot (2) comprises a robot body (201), wherein a first buoyancy block (202), a sub-robot storage rack (203) and a distribution and recovery hanging ring (204) are arranged at the upper part of the robot body (201), and a vertical pushing propeller (205), a lateral pushing propeller (206), a main pushing propeller (207) and an active release optical fiber spool (208) are arranged on the robot body (201);
still set up first LED auxiliary lighting lamp (210) of multichannel camera (209) and corresponding direction on robot body (201) respectively, install above robot body (201), preceding, left side and right side camera (209).
2. The water seal tunnel non-drainage detection primary and secondary robot system of claim 1, wherein: the submachine robot (3) comprises a machine body frame (301), a transparent pressure-resistant cabin (302), a multi-path propeller (303), a second LED auxiliary illuminating lamp (304), a high-definition binocular camera (305) and a second buoyancy block (306), wherein the propeller (303) is respectively arranged on two sides of the machine body frame (301) along a horizontal plane and a vertical plane;
high definition binocular camera (305) are installed and are leaned on the head position at transparent withstand voltage cabin (302) inboard, transparent withstand voltage cabin (302) are installed in the middle of organism frame (301), second buoyancy piece (306) are installed on organism frame (301) upper portion.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202220868423.5U CN217396784U (en) | 2022-04-14 | 2022-04-14 | Water-sealed tunnel non-drainage detection primary-secondary type robot system |
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| CN202220868423.5U CN217396784U (en) | 2022-04-14 | 2022-04-14 | Water-sealed tunnel non-drainage detection primary-secondary type robot system |
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| CN217396784U true CN217396784U (en) | 2022-09-09 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116620527A (en) * | 2023-05-26 | 2023-08-22 | 武汉船舶职业技术学院 | Primary and secondary formula underwater robot |
| CN116697190A (en) * | 2023-08-08 | 2023-09-05 | 国网安徽省电力有限公司电力科学研究院 | Robot and inspection method suitable for synchronous inspection of long branch pipeline and main pipeline |
-
2022
- 2022-04-14 CN CN202220868423.5U patent/CN217396784U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116620527A (en) * | 2023-05-26 | 2023-08-22 | 武汉船舶职业技术学院 | Primary and secondary formula underwater robot |
| CN116697190A (en) * | 2023-08-08 | 2023-09-05 | 国网安徽省电力有限公司电力科学研究院 | Robot and inspection method suitable for synchronous inspection of long branch pipeline and main pipeline |
| CN116697190B (en) * | 2023-08-08 | 2023-10-31 | 国网安徽省电力有限公司电力科学研究院 | Robot and inspection method suitable for synchronous inspection of long branch pipeline and main pipeline |
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