CN106672181A - Water sealed culvert detecting robot system and implementation method - Google Patents
Water sealed culvert detecting robot system and implementation method Download PDFInfo
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- CN106672181A CN106672181A CN201510755078.9A CN201510755078A CN106672181A CN 106672181 A CN106672181 A CN 106672181A CN 201510755078 A CN201510755078 A CN 201510755078A CN 106672181 A CN106672181 A CN 106672181A
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Abstract
The invention relates to a water sealed culvert detecting robot system and an implementation method. The water sealed culvert detecting robot system comprises two parts which are an external remote control device and an underwater robot, wherein the underwater robot part comprises a boat body, a lighting device, an underwater sealed propeller, a detection sensing device, an electronic control system sealed cabin, an inertial navigation module and an executing device. The intelligent underwater working platform external remote control device is connected with the underwater robot through an umbilical cable; a power supply cable and a data transmission optical fiber are included in the umbilical cable; and the umbilical cable is connected with the underwater robot part by using a water sealed plug. After the robot is underwater, the underwater robot obtains underwater working environment information through the detection sensing device and transmits the information to an operator in time; the operator performs specific task operations of underwater or ocean engineering by using the external remote control device. According to the water sealed culvert detecting robot system, the underwater robot can accurately reach a designated underwater position, has the advantages of large range and small influence from weathers and can finish multiple underwater tasks while different working ends are carried on the executing device.
Description
Technical field
The present invention is to be related to a kind of water seal culvert detection robot system and implementation, concretely relate to it is a kind of can be under water or ocean engineering provides the intelligent platform of working end carry, adapt to changeable underwater environment and complicated landform, underwater robot can accurately arrive at specified location under water, voyage is big, affected little by weather, various subsea tasks can be completed by carrying different working ends in performs device.
Background technology
21 century is the century that the mankind march to ocean.Deep-sea has become the grand strategy target of various countries as one of the treasured place and high-tech sector of human development, is also one of focus for competing in the world in recent years.Unmanned remotely controlled submersible vehicle（Remote Operated Vehicles,
ROV）, also referred to as underwater robot.A kind of limit operation robot for working under water, the replacement people that can pull the plug completes some operations, also known as submersible.Underwater environment is badly dangerous, and the diving depth of people is limited, so underwater robot becomes the important tool of exploitation ocean.Its function is varied, and different types of ROV is used to perform different tasks, is widely used in the every field such as army, coast guard, maritime affairs, customs, nuclear power, water power, offshore oil, fishery, marine salvage, pipeline detection and scientific research of seas.
The content of the invention
The invention aims to overcome the shortcoming that prior art is present, there is provided it is a kind of can be under water or ocean engineering provides the intelligent platform of working end carry, adapt to changeable underwater environment and complicated landform, underwater robot can accurately arrive at specified location under water, voyage is big, affected little by weather, various subsea tasks can be completed by carrying different working ends in performs device, complete people be unable to and task water seal culvert detection robot system.
To achieve these goals, the technical scheme is that：
A kind of water seal culvert detection robot system and implementation, its system composition includes external remote control and underwater robot two parts；Described external remote control includes main control computer, joystick, display system and subsurface communication interface and umbilical cables, hawser retractable equipment, power-supply system；Described underwater robot adopts frame-type modular construction, including kayak body, lighting device, underwater sealing propeller, detection sensing device, electronic control system sealed compartment, inertial navigation module, performs device.
Kayak body framework in described underwater robot part adopts PP composite material, the equipped high intensity buoyant material of other parts.
Lighting device in described underwater robot part is made up of 4 waterproof, illuminating lamps, wherein 1, kayak body front end waterproof, illuminating lamp provides light source for monitoring work environment, and neck uniform 3 concrete operations for monitoring work end of illuminating lamp on kayak body 360 deg direction provide light source.
Underwater sealing propeller in described underwater robot part is made up of shell, propulsion electric machine, decelerator, closure, screw and baffle circle, wherein propulsion electric machine is connected with decelerator, it is fixed on inside the shell, sealed with sealing ring between shell and closure, other spaces of inside the shell are sealed with transformer oil, and reducer shaft end is equipped with screw.
Detection sensing device in described underwater robot part includes wide-angle camera 4, wherein camera capable of taking pictures 1, can recorded video camera 3,4 cameras can 360 deg rotary taking, its position is：The camera of 1 take pictures camera and 1 recorded video is located at the head end of kayak body, in addition 2 can recorded video camera respectively positioned at the left and right sides of kayak body.
Electronic control system sealed compartment in described underwater robot part is made up of end cap, circle cab body, light end switch, power panel, mainboard, sealing ring, control panel, driving plate and inertial navigation module, mode with bolts between end cap and circle cab body, circle cab body surrounding is sealed with sealing ring, and space fills transformer oil in cabin.
There is waterproof holding wire slot on described sealed compartment end cap.
Instant invention overcomes the key position waterproof problem of underwater robot, can long-time underwater operation, can not only be in the underwater work of various environment, it is also possible in bottom work with a varied topography.
Description of the drawings
The angle of rake structural representation of underwater sealing that Fig. 1 is provided for the present invention；
The underwater electronic control system sealing structure schematic diagram that Fig. 2 is provided for the present invention；
The underwater robot structure schematic diagram that Fig. 3 is provided for the present invention.
Specific embodiment
In order that the objects, technical solutions and advantages of the present invention become more apparent, with reference to embodiments, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein is not intended to limit the present invention only to explain the present invention.
For convenience of description, illustrate only part related to the present invention.
A kind of water seal culvert detects robot system, and its system composition includes external remote control and underwater robot two parts；Described external remote control includes main control computer, joystick, display system and subsurface communication interface and umbilical cables, hawser retractable equipment, power-supply system；Described underwater robot adopts frame-type modular construction, including kayak body, lighting device, underwater sealing propeller, detection sensing device, electronic control system sealed compartment, inertial navigation module, performs device.
Kayak body framework in described underwater robot part adopts PP composite material, other parts to be equipped with high intensity buoyant material, and the purpose for being equipped with high intensity buoyant material is to realize the neutral buoyancy of underwater robot part so as to which under water attitude is more stable.
Lighting device in described underwater robot part is made up of 4 waterproof, illuminating lamps, wherein 1, kayak body front end waterproof, illuminating lamp provides light source for monitoring work environment, and neck uniform 3 concrete operations for monitoring work end of illuminating lamp on kayak body 360 deg direction provide light source.
Underwater sealing propeller in described underwater robot part is made up of shell 1, propulsion electric machine 2, decelerator 3, closure 4, screw 5 and baffle circle 6, wherein propulsion electric machine 2 is connected with decelerator 3, it is fixed in shell 1, sealed with sealing ring between shell 1 and closure 4, other spaces are sealed with transformer oil in shell 1, and the shaft end of decelerator 3 is equipped with screw 5.
Detection sensing device in described underwater robot part includes wide-angle camera 4, wherein camera capable of taking pictures 1, can recorded video camera 3,4 cameras can 360 deg rotary taking, its position is：The camera of 1 take pictures camera and 1 recorded video is located at the head end of kayak body, in addition 2 can recorded video camera respectively positioned at the left and right sides of kayak body.
Electronic control system sealed compartment in described underwater robot part is made up of end cap 7, circle cab body 8, light end switch 9, power panel 10, mainboard 11, sealing ring 12, control panel 13, driving plate 14 and inertial navigation module 15, mode with bolts between end cap 7 and circle cab body 8, the circle surrounding sealing ring 12 of cab body 8 is sealed, and space fills transformer oil in cabin.
There is waterproof holding wire slot on described sealed compartment end cap.
Further, specifically when underwater operation is carried out, underwater robot is first had to hang into water, then external remote control waterborne is instructed by umbilical cables to underwater robot transmission, control plate analysis in sealed compartment assign instruction, driving plate drives underwater sealing propeller to make robot move ahead according to predetermined direction, at the same time lighting device and detection sensing device also begin to illuminate, image and detection, display system waterborne can be shown that its video for shooting and detailed detection information, and store.
In sum, instant invention overcomes the most critical waterproof problem of underwater robot, can long-time underwater operation, can not only be in the underwater work of various environment, it is also possible in bottom work with a varied topography, be conducive to the development of underwater robot industry.
Claims (7)
1. a kind of water seal culvert detects robot system and implementation, it is characterised in that its system composition includes external remote control and underwater robot two parts；Described external remote control includes main control computer, joystick, display system and subsurface communication interface and umbilical cables, hawser retractable equipment, power-supply system；Described underwater robot adopts frame-type modular construction, including kayak body, lighting device, underwater sealing propeller, detection sensing device, electronic control system sealed compartment, inertial navigation module, performs device.
2. a kind of water seal culvert according to claim 1 detects robot system, it is characterised in that the kayak body framework in described underwater robot part adopts PP composite material, the equipped high intensity buoyant material of other parts.
3. a kind of water seal culvert according to claim 1 detects robot system, it is characterized in that, lighting device in described underwater robot part is made up of 4 waterproof, illuminating lamps, wherein 1, kayak body front end waterproof, illuminating lamp, neck uniform 3, waterproof, illuminating lamp on kayak body 360 deg direction.
4. a kind of water seal culvert according to claim 1 detects robot system, it is characterized in that, underwater sealing propeller in described underwater robot part is made up of shell, propulsion electric machine, decelerator, closure, screw and baffle circle, wherein propulsion electric machine is connected with decelerator, it is fixed on inside the shell, sealed with sealing ring between shell and closure, other spaces of inside the shell are sealed with transformer oil, reducer shaft end is equipped with screw.
5. a kind of water seal culvert according to claim 1 detects robot system, it is characterized in that, detection sensing device in described underwater robot part includes wide-angle camera 4, camera wherein capable of taking pictures 1, can recorded video camera 3,4 cameras can 360 deg rotary taking, its position is：The camera of 1 take pictures camera and 1 recorded video is located at the head end of kayak body, in addition 2 can recorded video camera respectively positioned at the left and right sides of kayak body.
6. a kind of water seal culvert according to claim 1 detects robot system, it is characterized in that, electronic control system sealed compartment in described underwater robot part is made up of end cap, circle cab body, light end switch, power panel, mainboard, sealing ring, control panel, driving plate and inertial navigation module, mode with bolts between end cap and circle cab body, circle cab body surrounding is sealed with sealing ring, and space fills transformer oil in cabin.
7. a kind of water seal culvert according to claim 6 detects robot system, it is characterised in that have waterproof holding wire slot on described sealed compartment end cap.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510755078.9A CN106672181B (en) | 2015-11-09 | 2015-11-09 | Water seal culvert detects robot system and implementation |
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| CN201510755078.9A CN106672181B (en) | 2015-11-09 | 2015-11-09 | Water seal culvert detects robot system and implementation |
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| CN106672181A true CN106672181A (en) | 2017-05-17 |
| CN106672181B CN106672181B (en) | 2018-10-09 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107697255A (en) * | 2017-08-09 | 2018-02-16 | 深圳微孚智能信息科技有限公司 | Submarine navigation device |
| CN108016586A (en) * | 2018-01-04 | 2018-05-11 | 西南石油大学 | A kind of small-sized hanging underwater robot platform device |
| CN109283363A (en) * | 2018-08-08 | 2019-01-29 | 国网辽宁省电力有限公司葫芦岛供电公司 | Transformer detection robot exempts to tear lossless injection device open |
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| EP0691264A1 (en) * | 1994-07-08 | 1996-01-10 | Societe Eca | Improved method for the destruction of an underwater object, especially of an underwater sea mine |
| CN102975833A (en) * | 2012-12-10 | 2013-03-20 | 上海大学 | Teleoperation unmanned submersible for detecting and disposing submarine target |
| CN104590516A (en) * | 2015-02-16 | 2015-05-06 | 福州大学 | Underwater detection robot for shallow water piers and detection method of detection robot |
| CN104613275A (en) * | 2015-02-13 | 2015-05-13 | 山东省水利科学研究院 | Pipeline underwater robot detection device |
| CN104960651A (en) * | 2015-07-16 | 2015-10-07 | 安徽科微智能科技有限公司 | Underwater exploring robot with function of autonomous navigation |
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2015
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0691264A1 (en) * | 1994-07-08 | 1996-01-10 | Societe Eca | Improved method for the destruction of an underwater object, especially of an underwater sea mine |
| CN102975833A (en) * | 2012-12-10 | 2013-03-20 | 上海大学 | Teleoperation unmanned submersible for detecting and disposing submarine target |
| CN104613275A (en) * | 2015-02-13 | 2015-05-13 | 山东省水利科学研究院 | Pipeline underwater robot detection device |
| CN104590516A (en) * | 2015-02-16 | 2015-05-06 | 福州大学 | Underwater detection robot for shallow water piers and detection method of detection robot |
| CN104960651A (en) * | 2015-07-16 | 2015-10-07 | 安徽科微智能科技有限公司 | Underwater exploring robot with function of autonomous navigation |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107697255A (en) * | 2017-08-09 | 2018-02-16 | 深圳微孚智能信息科技有限公司 | Submarine navigation device |
| CN108016586A (en) * | 2018-01-04 | 2018-05-11 | 西南石油大学 | A kind of small-sized hanging underwater robot platform device |
| CN109283363A (en) * | 2018-08-08 | 2019-01-29 | 国网辽宁省电力有限公司葫芦岛供电公司 | Transformer detection robot exempts to tear lossless injection device open |
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| CN106672181B (en) | 2018-10-09 |
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Address after: 200000 Shanghai Pudong New Area port high tech industrial base A0201 2082 Applicant after: Shanghai voyage Zhihui Marine Equipment Co., Ltd. Address before: 200000 building 3, 333 marine Road, Nanhui new town, Pudong New Area, Shanghai. Applicant before: SHANGHAI FLAGSHIP MARINE EQUIPMENT CO., LTD. |
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Effective date of registration: 20201012 Address after: 264200 Huancui District, Weihai City, Shandong Province, 298-1 Sun Jiatuan Huanhai Road Patentee after: Zhizhen Marine Science and Technology (Weihai) Co.,Ltd. Address before: 2082 A0201 Neighborhood, Lingang Marine Hi-tech Industrialization Base, Pudong New Area, Shanghai Patentee before: Upper Hainan Airlines Shi Zhihui marine settings Co.,Ltd. |