CN109250053B - Underwater construction detection crawling robot - Google Patents
Underwater construction detection crawling robot Download PDFInfo
- Publication number
- CN109250053B CN109250053B CN201811124167.3A CN201811124167A CN109250053B CN 109250053 B CN109250053 B CN 109250053B CN 201811124167 A CN201811124167 A CN 201811124167A CN 109250053 B CN109250053 B CN 109250053B
- Authority
- CN
- China
- Prior art keywords
- vehicle body
- water
- underwater
- collecting pipe
- water collecting
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000001514 detection method Methods 0.000 title claims abstract description 22
- 230000009193 crawling Effects 0.000 title claims abstract description 20
- 238000010276 construction Methods 0.000 title claims abstract description 15
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 64
- 230000001502 supplementing effect Effects 0.000 claims abstract description 11
- 238000005507 spraying Methods 0.000 claims description 6
- 239000013049 sediment Substances 0.000 abstract description 7
- 239000011159 matrix material Substances 0.000 abstract description 2
- 238000000034 method Methods 0.000 abstract description 2
- 238000004140 cleaning Methods 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/02—Cleaning by the force of jets or sprays
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Manipulator (AREA)
- Cleaning By Liquid Or Steam (AREA)
- Cleaning In General (AREA)
Abstract
The invention provides a crawling robot for detecting the surface of an underwater construction, which is characterized in that a water collecting pipe, a nozzle and a water pump are respectively arranged in front of and behind a vehicle body, so that the balance of the vehicle body is better, and sediment on the slope surface of the underwater construction is cleaned through the nozzle in the advancing process of the vehicle body; the modularized high-definition camera matrix is arranged in front of the vehicle body, so that the surface of the underwater construction can be subjected to large-area photographing and video recording detection while being cleaned, the detection working efficiency is improved, and the light supplementing lamp is further arranged, so that the vehicle is suitable for dark underwater operation; the underwater structure detection crawling robot has reasonable counterweight, stable operation and clear shooting picture, and can adapt to the surface operation work of the underwater structure with different inclination angles.
Description
Technical Field
The invention relates to the field of crawling robots, in particular to an underwater structure detection crawling robot.
Background
For the slope of the underwater construction of the hydropower station, the detection needs to be carried out regularly, so that potential safety hazards are eliminated. However, hydropower station building ramp surfaces accumulate over time and thick deposits can be present. When the surface of the slope of the hydropower station building is detected, the sediment can block the sight, and the conventional detection methods cannot obtain cracks and other abnormal conditions on the surface of the slope of the hydropower station building.
Disclosure of Invention
In view of the above, the invention provides an underwater construction detection crawling robot which can clean sediment in time and acquire the surface condition of a detected object at the same time.
The technical scheme of the invention is realized as follows: the invention provides an underwater building detection crawling robot which comprises a vehicle body (1), a water pump (2) and a water spraying device (3), wherein the water spraying device (3) comprises a water collecting pipe (31) and a plurality of nozzles (32), the water collecting pipe (31) is transversely fixed in front of the vehicle body (1), the nozzles (32) are sequentially fixed on the water collecting pipe (31) and are communicated with the water collecting pipe, and the water pump (2) is transversely fixed on the vehicle body (1) and is communicated with the water collecting pipe (31).
On the basis of the technical scheme, preferably, the water pump (2) is transversely fixed at the rear part of the vehicle body (2), and the water feeding mouth (21) is arranged on the central axis of the vehicle body (2).
On the basis of the technical scheme, the nozzle (32) is preferably an angle-adjustable nozzle.
On the basis of the technical scheme, the vehicle body (1) is preferably driven by a crawler belt.
On the basis of the technical scheme, the camera shooting device preferably further comprises a fixing frame (4) and a plurality of cameras (5), wherein the fixing frame (4) is arranged above the water collecting pipe (31) in parallel and is fixed with the car body (1), and the cameras (5) are uniformly fixed below the fixing frame (4). Further preferably, the camera further comprises a plurality of light supplementing lamps (6), wherein the light supplementing lamps (6) are fixed below the fixing frame (4) and are arranged between the adjacent cameras (5). Further preferably, the camera comprises a camera head (7) which is fixed in front of the car body (1) and is arranged between the camera (5) and the water collecting pipe (31). Still more preferably, the vehicle further comprises a searchlight (8) fixed in front of the vehicle body (1),
Compared with the prior art, the underwater structure detection crawling robot has the following beneficial effects:
(1) The water collecting pipes, the nozzles and the water pumps are respectively arranged at the front and the rear of the vehicle body, so that the balance of the vehicle body is better, and sediment on the surface of the underwater construction is cleaned through the nozzles in the running process of the vehicle body;
(2) The modularized high-definition camera matrix is arranged in front of the vehicle body, so that the surface of an underwater structure can be photographed and recorded for detection while being cleaned, the detection working efficiency is improved, and the light supplementing lamp is further arranged, so that the vehicle is suitable for dark underwater operation;
(3) The underwater construction detection crawling robot has reasonable counterweight, stable operation and clear shooting picture, and can adapt to construction surface operations with different inclination angles.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a front view of an underwater build inspection crawling robot of the present invention;
fig. 2 is a perspective view of the underwater structure inspection crawling robot of the present invention.
Detailed Description
The following description of the embodiments of the present invention will clearly and fully describe the technical aspects of the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, are intended to fall within the scope of the present invention.
As shown in fig. 1, in combination with fig. 2, the underwater structure detection crawling robot of the present invention comprises a vehicle body 1, a water pump 2, a water spraying device 3, a fixing frame 4, a plurality of cameras 5, a plurality of light supplementing lamps 6, a camera head 7 and a searchlight 8.
Wherein, automobile body 1 adopts water-fast design, can adapt to the water pressure environment. In order to improve the strength of the fit with the underwater structure and to adapt to the inclined underwater structure surface, the vehicle body 1 is driven by a track.
The water spraying device 3 comprises a water collecting pipe 31 and a plurality of nozzles 32, wherein the water collecting pipe 31 is transversely fixed in front of the vehicle body 1, and the nozzles 32 are sequentially fixed on the water collecting pipe 31 and communicated with the water collecting pipe 31. The water collecting pipe 31 is provided horizontally, so that the width of the cleaning surface can be increased, and the working efficiency can be improved. The nozzle 32 is an adjustable angle nozzle that accommodates different underwater build incline planes.
As a water supply portion, the water pump 2 is laterally fixed to the vehicle body 1 and communicates with the water collecting pipe 31. Specifically, the water outlet of the water pump 2 is communicated with the water collecting pipe 31 through a pipeline. In this way, the pump 2 can pump the surrounding water and feed it into the water collection pipe 31, finally to spray out through the nozzle 32, cleaning the surface of the construction. Specifically, the water pump 2 is transversely fixed at the rear part of the vehicle body 2, and the water feeding mouth 21 is arranged on the central axis of the vehicle body 2. Thus, the water pump 2 and the water collecting pipe 31 are arranged in tandem, and the stability of the vehicle body 1 can be improved. Further, the water feed mouth 21 is far from the nozzle 32, and the sediment just washed out by the nozzle 32 is prevented from being sucked into the water feed mouth 21, and the nozzle 32 is prevented from being blocked.
And the camera 5 is used for photographing and video recording the surface of the washed construction. Specifically, the fixing frame 4 is disposed above the water collecting pipe 31 in parallel and fixed with the vehicle body 1, and the camera 5 is uniformly fixed below the fixing frame 4. In this way, the camera 5 is ensured to be far away from the nozzle 32 as much as possible, and the sediment just flushed out is prevented from shielding the shooting vision.
And the light supplementing lamp 6 is used for lighting and adapting to the working environment of the dark water bottom. Specifically, the light supplementing lamp 6 is fixed below the fixing frame 4 and is arranged between the adjacent cameras 5.
The camera cradle head 7 is used for shooting an object right in front of the vehicle body 1 and providing a view for the operation of the vehicle body 1. The camera head 7 is fixed to the front of the vehicle body 1 and is disposed between the camera 5 and the water collecting pipe 31. In this way, the camera 5, the water collecting pipe 31 and the light supplementing lamp 6 can be prevented from shielding the shooting view of the shooting tripod head 7.
A searchlight 8 is fixed in front of the vehicle body 1 and provides illumination for the camera head 7.
The underwater structure detection crawling robot of the invention is used as follows:
firstly, the water pump 2 is started, water is sprayed from the nozzle 32, and sediment on the surface of the underwater construction is washed;
secondly, starting a camera 5 and a light supplementing lamp 6 to shoot the surface of the underwater construction;
Finally, the image of the front of the vehicle body 1 is shot through the shooting cloud deck 7, and is transmitted back to the rear end server, and an operator operates the vehicle body 1 to advance or retreat according to the shot image of the shooting cloud deck 7.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the invention.
Claims (6)
1. An underwater structure detection crawling robot comprising a vehicle body (1), characterized in that: the device also comprises a water pump (2), a water spraying device (3), a fixing frame (4) and a plurality of cameras (5);
the water spraying device (3) comprises a water collecting pipe (31) and a plurality of nozzles (32), wherein the water collecting pipe (31) is transversely fixed in front of the vehicle body (1), and the nozzles (32) are sequentially fixed on the water collecting pipe (31) and are communicated with the water collecting pipe;
the water pump (2) is transversely fixed at the rear part of the vehicle body (1) and is communicated with the water collecting pipe (31), a water feeding mouth (21) of the water pump (2) is arranged on the central axis of the vehicle body (1), the water pump (2) is used for extracting water at the rear part of the vehicle body (1) and inputting the water into the water collecting pipe (31), and the water is sprayed to the front part of the vehicle body (1) from the nozzle (32) so as to clean the surface of a construction;
The fixing frame (4) is arranged above the water collecting pipe (31) in parallel and is fixed with the vehicle body (1), the cameras (5) are uniformly fixed below the fixing frame (4), and the cameras (5) are used for photographing and video recording the surface of the cleaned building.
2. The underwater build detection crawling robot of claim 1, wherein: the nozzle (32) is an adjustable angle nozzle.
3. The underwater build detection crawling robot of claim 1, wherein: the vehicle body (1) is driven by a crawler belt.
4. The underwater build detection crawling robot of claim 1, wherein: the camera also comprises a plurality of light supplementing lamps (6), wherein the light supplementing lamps (6) are fixed below the fixing frame (4) and are arranged between the adjacent cameras (5).
5. The underwater build detection crawling robot of claim 1, wherein: the camera shooting device also comprises a camera shooting holder (7), is fixed in front of the car body (1), and is arranged between the camera (5) and the water collecting pipe (31).
6. The underwater build detection crawling robot of claim 5, wherein: the vehicle further comprises a searchlight (8) fixed in front of the vehicle body (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811124167.3A CN109250053B (en) | 2018-09-26 | 2018-09-26 | Underwater construction detection crawling robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811124167.3A CN109250053B (en) | 2018-09-26 | 2018-09-26 | Underwater construction detection crawling robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109250053A CN109250053A (en) | 2019-01-22 |
| CN109250053B true CN109250053B (en) | 2024-06-18 |
Family
ID=65047848
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811124167.3A Active CN109250053B (en) | 2018-09-26 | 2018-09-26 | Underwater construction detection crawling robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109250053B (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106017424A (en) * | 2016-05-19 | 2016-10-12 | 天津大学 | Single shallow-water photogrammetric device |
| CN205949433U (en) * | 2016-07-29 | 2017-02-15 | 北京石油化工学院 | Product oil internal floating roof tank cleaning robot |
| CN208931616U (en) * | 2018-09-26 | 2019-06-04 | 武汉力博物探有限公司 | Underwater structure detects climbing robot |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202379073U (en) * | 2011-12-22 | 2012-08-15 | 姜东超 | Multifunctional underwater operation robot device |
| CN104998850B (en) * | 2014-09-10 | 2017-02-15 | 山东鲁能智能技术有限公司 | Electrification water washing robot system of transformer substation and method |
| CN105195488B (en) * | 2015-09-17 | 2017-07-04 | 中国船舶重工集团公司第七一三研究所 | A kind of photovoltaic array cleaning Vehicle and its photovoltaic array cleaning method |
| CN106218836B (en) * | 2016-09-06 | 2018-01-30 | 吉林大学 | A kind of multistage crawler type underwater intelligent clears up robot |
| WO2018057394A1 (en) * | 2016-09-20 | 2018-03-29 | Saudi Arabian Oil Company | Underwater vehicles and inspection methods |
| CN206417161U (en) * | 2016-12-14 | 2017-08-18 | 中国人民解放军镇江船艇学院 | A kind of shallow water operations ROV |
-
2018
- 2018-09-26 CN CN201811124167.3A patent/CN109250053B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106017424A (en) * | 2016-05-19 | 2016-10-12 | 天津大学 | Single shallow-water photogrammetric device |
| CN205949433U (en) * | 2016-07-29 | 2017-02-15 | 北京石油化工学院 | Product oil internal floating roof tank cleaning robot |
| CN208931616U (en) * | 2018-09-26 | 2019-06-04 | 武汉力博物探有限公司 | Underwater structure detects climbing robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109250053A (en) | 2019-01-22 |
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