CN111645834A - Robot base and panel vertical seam underwater inspection device - Google Patents
Robot base and panel vertical seam underwater inspection device Download PDFInfo
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- CN111645834A CN111645834A CN202010384368.8A CN202010384368A CN111645834A CN 111645834 A CN111645834 A CN 111645834A CN 202010384368 A CN202010384368 A CN 202010384368A CN 111645834 A CN111645834 A CN 111645834A
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- 238000007689 inspection Methods 0.000 title claims abstract description 30
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 18
- 239000000428 dust Substances 0.000 claims description 9
- 230000007246 mechanism Effects 0.000 claims description 4
- 238000001514 detection method Methods 0.000 description 8
- 230000003287 optical effect Effects 0.000 description 6
- 238000000034 method Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000009189 diving Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 210000001364 upper extremity Anatomy 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 229920006395 saturated elastomer Polymers 0.000 description 1
- 238000009958 sewing Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 238000003756 stirring Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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Classifications
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- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
Abstract
The invention relates to an underwater inspection device for a vertical seam of a robot base and a panel. The technical scheme of the invention is as follows: a robot base, its characterized in that: the left support and the right support which can be distributed on two sides of the vertical seam of the panel are arranged, the lower ends of the left support and the right support are respectively provided with a roller, and the upper ends of the left support and the right support are connected through a connecting frame. And the lower parts of the front ends of the left support and the right support are respectively provided with a horizontal front extension rod for preventing forward overturn during sliding. And the left bracket and the right bracket are both provided with a front roller and a rear roller, wherein the front roller adopts a universal wheel, and the rear roller adopts a directional wheel. The utility model provides a panel vertical joint is inspection device under water, has underwater robot which characterized in that: the underwater robot is fixedly arranged on a connecting frame of the robot base, the robot base is arranged across the vertical seam of the panel, and the left side and the right side of the robot base are connected with cables for controlling the gliding direction and speed of the robot base. The invention is suitable for the field of inspection of the water stopping joint of the concrete panel.
Description
Technical Field
The invention relates to an underwater inspection device for a vertical seam of a robot base and a panel. The method is suitable for the field of inspection of the water stopping joints of the concrete panels.
Background
The concrete panels need to be inspected for appearance safety during routine periodic inspections, wherein the inspection of water-stopping seams generally falls into three categories, including vertical seam inspection, horizontal seam inspection and peripheral seam inspection of the panels. The check of the water stop joint is carried out on the position above the water surface, the long-term monitoring by arranging a joint meter is taken as the main, and the manual check is assisted. However, the underwater crack meter is used for monitoring below the water surface, and an underwater camera means is also needed for regular inspection. Early underwater inspections relied on divers carrying hand-held cameras for underwater camera work. Generally, the conventional diving is not suitable when the water depth is more than 60 meters or the water depth is more than 40 meters in a plateau area, the saturated diving needs to be considered, and the required time cost and the equipment cost are greatly increased.
An underwater robot, also called an rov (remote optical vehicle), is an unmanned underwater vehicle that uses an optical camera and various sonar devices mounted under water. The underwater manipulator and the propeller are configured, data and control signals are transmitted between the umbilical cable at the tail part and the control platform on the shore, the operation requirement of an underwater complex environment can be met, and underwater observation, detection and even construction operation are carried out.
Theoretically, the underwater robot can directly carry optical cameras and various sonar equipment to replace divers to check and operate in the underwater environment of the reservoir dam. In practice, however, there are two fundamental problems to be solved, one is the positioning of the submersible in the water and the other is the positioning of the inspection targets (i.e., various apparent defects) on the surface of the underwater structure. In different examination objects, the two basic problems have different expressions and need different methods to be solved.
The underwater Robot (ROV) propulsion control angle is used for expressing the self underwater position positioning of the submersible vehicle on different inspection objects, and the inspection objects need to be abstractly described as various combinations of a horizontal plane, a vertical plane, an inclined plane and a curved surface; for example, a slope dam face can be regarded as a single inclined face, a horizontal/vertical tunnel can be regarded as a combination of a horizontal face/vertical face and a curved face, and an inclined tunnel can be regarded as a combination of an inclined face and a curved face. Due to the arrangement mode of the propeller of the underwater robot, the inspection objects of the horizontal plane and the vertical plane are most easily realized (corresponding to the horizontal seam of the panel and the vertical seam of the vertical dam surface), and the inspection of the slope dam surface and the curved surface is difficult. The underwater robot propeller is almost arranged along the combination of the horizontal direction and the vertical direction, namely the horizontal-vertical-horizontal-vertical, approximate zigzag track, and along the operation route of a slope surface and a curved surface, and has higher requirements on the control accuracy of the propeller. Meanwhile, the influence of underwater visibility is considered, and underwater shooting is generally carried out close to a dam surface. The forward stable submergence is difficult to achieve on the inclined plane, and the inclination of a detection object caused by lateral horizontal observation can occur; or the device is stopped on an inclined dam surface for observation, so that deviation is caused to the target positioning of the detection object, and the detection continuity is influenced.
The underwater robot is mainly provided with an underwater high-definition camera and a lighting lamp for optical camera shooting operation. The quality effect of the underwater optical image is mainly limited by the water environment except the parameter requirements on the hardware aspect, and comprises the definition influence of different water qualities and the underwater dust raising phenomenon caused by the surface covering of an underwater detection object and the stirring of a propeller.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: in order to solve the existing problems, the robot base and the panel vertical seam underwater inspection device are provided.
The technical scheme adopted by the invention is as follows: a robot base, its characterized in that: the left support and the right support which can be distributed on two sides of the vertical seam of the panel are arranged, the lower ends of the left support and the right support are respectively provided with a roller, and the upper ends of the left support and the right support are connected through a connecting frame.
And the lower parts of the front ends of the left support and the right support are respectively provided with a horizontal front extension rod for preventing forward overturn during sliding.
And the left bracket and the right bracket are both provided with a front roller and a rear roller, wherein the front roller adopts a universal wheel, and the rear roller adopts a directional wheel.
The utility model provides a panel vertical joint is inspection device under water, has underwater robot which characterized in that: the underwater robot is fixedly arranged on a connecting frame of the robot base, the robot base is arranged across the vertical seam of the panel, and the left side and the right side of the robot base are connected with cables for controlling the gliding direction and speed of the robot base.
And an underwater dust collection mechanism is arranged on the robot base.
The invention has the beneficial effects that: the underwater robot detects the state of the vertical seam by the sliding of the robot base along the vertical seam of the panel, and has the advantages of simple structure, convenient application, safety and reliability.
According to the invention, the left support and the right support on two sides of the robot base can be respectively arranged on two sides of the vertical seam, the bottom parts of the left support and the right support are provided with the rollers, and the robot base is supported on the surface of the dam through the rollers and can slide along the surface of the dam. According to the invention, the horizontal front extension rod is arranged on the front side of the robot base, so that the base is prevented from overturning forwards when sliding downwards.
Drawings
Fig. 1 is a schematic structural diagram of the embodiment.
Fig. 2 is a top view of the embodiment.
Fig. 3 is a schematic structural diagram of a robot base in the embodiment.
1. An underwater robot; 2. a robot base; 201. a horizontal front extension rod; 202. a front roller; 203. a rear roller; 204. a left front leg; 205. a left rear leg; 206. a connecting frame; 207. a right front leg; 208. a right rear leg; 3. a cable; 4. and (4) vertically sewing.
Detailed Description
As shown in fig. 1, the present embodiment is an underwater inspection device for a vertical seam of a panel, which has an underwater robot and a robot base.
As shown in fig. 2, the robot base in this embodiment has a left support and a right support which can be distributed on both sides of the vertical seam of the panel, the upper ends of the left support and the right support are connected through a connecting frame, the height of the base can be adjusted by the left support and the right support in a telescopic manner, and the width of the base can be adjusted by the connecting frame in a telescopic manner.
The left bracket is provided with a left front supporting leg and a left rear supporting leg, the upper ends of the left front supporting leg and the left rear supporting leg are fixedly connected with the connecting frame, the lower end of the left front supporting leg is provided with a front roller, and the lower end of the left rear supporting leg is provided with a rear roller; the right support has right front landing leg and right back landing leg, and right front landing leg and right back landing leg upper end all with connection frame fixed connection, and the front roller is equipped with to right front landing leg lower extreme, and the rear roller is equipped with to right back landing leg lower extreme. In this embodiment, the front roller adopts a universal wheel, and the rear roller adopts a directional wheel.
In the embodiment, the lower parts of the left front supporting leg and the right front supporting leg are respectively provided with a horizontal front extension rod extending forwards, so that the base is prevented from overturning forwards when sliding downwards.
In the embodiment, the underwater robot is fixed in the upper middle part of the connecting frame of the robot base, the robot base is arranged across the vertical seam of the panel, and the left support and the right support of the robot base are respectively positioned on two sides of the vertical seam. The left side and the right side of the robot base are both connected with a cable rope, and the cable ropes on the two sides can control the sliding direction and speed of the robot base and the underwater robot on the robot base along the surface of the dam.
The embodiment is an underwater inspection method of an underwater inspection device for a vertical seam of a panel, which comprises the following specific steps:
the width of the cross vertical seam of the robot base and the height from the vertical seam are determined by measuring the vertical seam on the water surface on site, so that the requirement of underwater close-range observation is met, and the positioning of a detection target can be obtained by simple conversion according to the water depth data of the underwater robot;
the panel vertical seam underwater inspection device is arranged on the surface of a dam and is arranged across the panel vertical seam, and the release speed of the panel vertical seam underwater inspection device is controlled through two cables;
when the panel vertical seam underwater inspection device slides downwards across the panel vertical seam and moves forwards, an underwater camera of an underwater robot is used for observing a detection object at the front part, and potential obstacles are found;
through balance of the balance weight, the front obstacle is found in the gliding process of the panel vertical seam underwater inspection device, and the vertical propeller of the underwater robot can be used for assisting the base to lift up and avoid the obstacle; the horizontal thruster of the underwater robot can also push the base along the dam surface to assist in controlling the gliding direction, so that exposed steel bars, branches and other obstacles can be avoided, and the underwater robot can also be kept to be positioned along the direction of the vertical seam;
the underwater robot slides downwards from the dam top along the vertical seam on the robot base, and a stable observation visual angle can be maintained till the seam on the periphery of the toe board.
In the embodiment, the underwater camera of the underwater robot observes downwards along the inclination of the dam surface, so that the tail umbilical cable is not required to be wound up to the bottom of the reservoir.
For the interference of the dust emission phenomenon in the embodiment, under the condition of ensuring the stability of the underwater camera of the underwater robot, the gliding speed of the robot base is increased by matching the operation of the two mooring ropes, and optical detection data can be acquired before the dust emission interference. In the embodiment, an underwater dust collection mechanism is additionally arranged on a base of the robot, the underwater dust collection mechanism is provided with a water pump, the water pump is matched with a suction pipe to suck and discharge dust vertically slotted on a panel, the suction pipe is fixed on two sides of the base, the suction and discharge are carried out in the process that the base slides downwards, the dust is sucked and discharged to a uniform and concentrated area, and the working state and the suction and discharge effects of the suction pipe can be checked by an underwater camera. After the surface covering is removed, the surface covering is checked again, so that the underwater observation effect of the vertical seam of the dam panel can be ensured to be more accurate.
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 (5)
1. A robot base, its characterized in that: the left support and the right support which can be distributed on two sides of the vertical seam of the panel are arranged, the lower ends of the left support and the right support are respectively provided with a roller, and the upper ends of the left support and the right support are connected through a connecting frame.
2. The robot base of claim 1, wherein: and the lower parts of the front ends of the left support and the right support are respectively provided with a horizontal front extension rod for preventing forward overturn during sliding.
3. The robot base of claim 1, wherein: and the left bracket and the right bracket are both provided with a front roller and a rear roller, wherein the front roller adopts a universal wheel, and the rear roller adopts a directional wheel.
4. The utility model provides a panel vertical joint is inspection device under water, has underwater robot which characterized in that: the underwater robot is arranged and fixed on a connecting frame of a robot base according to claim 1, 2 or 3, the robot base is arranged across a vertical seam of a panel, and cables for controlling the gliding direction and speed of the robot base are connected to the left side and the right side of the robot base.
5. The underwater inspection device for vertical seams of panels according to claim 4, characterized in that: and an underwater dust collection mechanism is arranged on the robot base.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010384368.8A CN111645834A (en) | 2020-05-07 | 2020-05-07 | Robot base and panel vertical seam underwater inspection device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010384368.8A CN111645834A (en) | 2020-05-07 | 2020-05-07 | Robot base and panel vertical seam underwater inspection device |
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| Publication Number | Publication Date |
|---|---|
| CN111645834A true CN111645834A (en) | 2020-09-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010384368.8A Pending CN111645834A (en) | 2020-05-07 | 2020-05-07 | Robot base and panel vertical seam underwater inspection device |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205809002U (en) * | 2016-06-12 | 2016-12-14 | 山西水利职业技术学院 | One dam slope perils detecting device under water |
| CN107444506A (en) * | 2017-06-27 | 2017-12-08 | 清华大学 | Robot adhesion type Overthrow preventing device and robot |
| CN108502764A (en) * | 2018-05-09 | 2018-09-07 | 吴博恩 | Rock-fill dams draw transverse shifting job platform under water |
| CN109484514A (en) * | 2019-01-09 | 2019-03-19 | 湖南农业大学 | A kind of telescopic farm work machine people's platform of four-wheel independent steering driving |
| CN109715491A (en) * | 2016-09-20 | 2019-05-03 | 沙特***石油公司 | Underwater vehicle and inspection method |
| CN212074379U (en) * | 2020-05-07 | 2020-12-04 | 浙江华东测绘与工程安全技术有限公司 | Robot base and panel vertical seam underwater inspection device |
-
2020
- 2020-05-07 CN CN202010384368.8A patent/CN111645834A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205809002U (en) * | 2016-06-12 | 2016-12-14 | 山西水利职业技术学院 | One dam slope perils detecting device under water |
| CN109715491A (en) * | 2016-09-20 | 2019-05-03 | 沙特***石油公司 | Underwater vehicle and inspection method |
| CN107444506A (en) * | 2017-06-27 | 2017-12-08 | 清华大学 | Robot adhesion type Overthrow preventing device and robot |
| CN108502764A (en) * | 2018-05-09 | 2018-09-07 | 吴博恩 | Rock-fill dams draw transverse shifting job platform under water |
| CN109484514A (en) * | 2019-01-09 | 2019-03-19 | 湖南农业大学 | A kind of telescopic farm work machine people's platform of four-wheel independent steering driving |
| CN212074379U (en) * | 2020-05-07 | 2020-12-04 | 浙江华东测绘与工程安全技术有限公司 | Robot base and panel vertical seam underwater inspection device |
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| PB01 | Publication | ||
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| CB03 | Change of inventor or designer information |
Inventor after: Lv Ji Inventor after: Cheng Wuwei Inventor after: Zhou Huasheng Inventor after: Shi Jinxiang Inventor after: Cui Lianzhong Inventor before: Lv Ji Inventor before: Cheng Wuwei Inventor before: Zhou Huasheng |
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| CB03 | Change of inventor or designer information |