CN218559141U - Underwater detection intelligent robot system - Google Patents
Underwater detection intelligent robot system Download PDFInfo
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- CN218559141U CN218559141U CN202222272297.XU CN202222272297U CN218559141U CN 218559141 U CN218559141 U CN 218559141U CN 202222272297 U CN202222272297 U CN 202222272297U CN 218559141 U CN218559141 U CN 218559141U
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Abstract
The utility model provides an detect intelligent robot system under water. The underwater detection intelligent robot system is used for underwater detection of defects of a dam body of a hydropower station and comprises a rack; the driving assembly is arranged on the rack and used for driving the operation of the underwater detection intelligent robot system; the detection assembly is connected to the rack and used for detecting the defect position and comprises an acoustic detection obstacle avoidance unit and an optical camera detection unit; the positioning assembly is used for positioning the defect position and comprises a position acquisition unit and a calibration unit; and the control assembly is respectively in control connection with the driving assembly, the detection assembly and the positioning assembly so as to control the operation of each assembly to complete the detection, analysis and positioning of the defect position. The utility model discloses an it combines with the defect detection in the hydropower station dam body organically to detect the intelligent robot system under water, can realize the witnessed inspections to the complicated defect of hydropower station dam body in muddy water, has the advantage that the operating efficiency is high, detection speed is fast.
Description
Technical Field
The utility model relates to an underwater robot technical field, concretely relates to detect intelligent robot system under water.
Background
An underwater detection intelligent robot system is a device for detecting defects of a hydropower station dam body, so that the underwater part of the hydropower station dam body is overhauled, and the service life of the hydropower station dam body is prolonged.
However, the existing underwater detection intelligent robot system is influenced by the structure of the existing underwater detection intelligent robot system, when the existing underwater detection intelligent robot system works in a muddy water environment, the existing underwater detection intelligent robot system is influenced by muddy water and complicated underwater interference, and the existing underwater detection intelligent robot system is not accurate enough to position the underwater defect position of the dam body of the hydropower station, so that the defect detection positioning of the underwater detection intelligent robot system has deviation, the underwater part of the dam body of the hydropower station is slow in maintenance speed, and the working efficiency of the underwater detection intelligent robot system is reduced.
In view of the above, it is necessary to provide a new underwater detection intelligent robot system to solve the above problems.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide an detect intelligent robot system under water, this detect intelligent robot system under water combines the defect detection in with the hydropower station dam body with complicated operation, can realize the witnessed inspections to the complicated defect of hydropower station dam body in muddy water, has the advantage that the operating efficiency is high, detection speed is fast.
In order to realize the utility model discloses the purpose, the utility model provides an detect intelligent robot system under water for power station dam body defect detects under water, include: a frame; the driving assembly is arranged on the rack and used for driving the underwater detection intelligent robot system to operate; the detection assembly is connected to the rack and used for detecting the defect position and comprises an acoustic detection obstacle avoidance unit and an optical camera detection unit; the positioning assembly is used for positioning the defect position and comprises a position acquisition unit and a calibration unit; the operation assembly is used for realizing accurate detection and/or maintenance of the defect position and comprises a mechanical arm and a replaceable tool which are detachably connected to the rack; and the control assembly is respectively in control connection with the driving assembly, the detection assembly, the positioning assembly and the operation assembly so as to control the operation of each assembly to complete the detection, analysis and positioning of the defect position.
As the utility model discloses a further improvement, position acquisition unit includes inertial navigation structure, depth gauge, doppler's log and underwater sound location structure, and each structure independent distribution is in the frame or each structure is integrated to be set up as an organic whole in the frame, be used for right detect intelligent robot system's running position environmental information under water and gather.
As a further improvement, the separable setting of unit of demarcation is in the frame, including maring the main part, accommodating power supply structure and setting in the main part of demarcation are in the adsorption structure of demarcation main part bottom, mark the unit accessible adsorption structure adsorb defect position department, just be equipped with in the control assembly and be used for right the search structure who searches is carried out to the demarcation position of unit of demarcation.
As a further improvement, the control assembly controls the arm drives correspondingly the operation assembly, the operation assembly includes high-pressure squirt, probe at least, it is right that adsorption structure marks defective position clears up/washs, so that the detection unit can be right to optical camera detects defective position.
As a further improvement of the utility model, the detection unit setting of making a video recording of optics is in frame length direction's front side, the barrier array is kept away in the sonar detection that the barrier unit includes that the multiunit comprises the sonar subassembly, the sonar detection is kept away the barrier array and is set up respectively preceding, back, left and right four sides of frame, and be located the last and/or below of frame.
As a further improvement of the present invention, the optical imaging detection unit includes a light source supplement structure located on the front side of the frame and a camera structure located on the side of the light source supplement structure.
As a further improvement of the utility model, the light source supplement the structure with control assembly control connection, just the light source supplement the structure and be provided with 2 simultaneously, 2 the light source supplements the structural symmetry setting and is in the both sides of frame length direction central line.
As a further improvement of the utility model, the drive assembly is installed inside the frame, set up in pairs including the propeller of frame length direction both sides, every the propeller all includes fixed connection propulsion motor in the frame and with the screw that the propulsion motor drive is connected, just the screw with propulsion motor angularly adjustable connects.
As a further improvement, detect intelligent robot system under water still include with the walking subassembly of connection can be dismantled to the frame, the walking subassembly symmetry sets up the both sides of frame length direction central line, and with control assembly connects, so that walking subassembly can under control assembly's control action, drive detect intelligent robot system under water and remove.
As a further improvement of the present invention, the control assembly includes a detection signal processing unit connected with the detection assembly control signal, a positioning signal processing unit connected with the positioning assembly control signal, and a driving signal processing unit for sending the driving signal to the driving assembly.
The utility model has the advantages that:
the underwater detection intelligent robot system can preliminarily detect the defect position of the underwater dam body by arranging the positioning component so as to calibrate the defect position; furthermore, the defect position can be accurately detected in a defect state and environment through the detection assembly, the condition of the defect position can be conveniently and accurately judged, and the positioning function of the underwater detection intelligent robot system in closed spaces such as a flow channel is effectively improved; furthermore, the intelligent underwater detection robot system with the fault can be calibrated and positioned, and emergency rescue measures such as emergency recovery and the like after the intelligent underwater detection robot system has the fault are realized;
by using the driving assembly and replacing a propeller structure commonly used by a propeller, the problem that muddy water and sundries are wound when the propeller is driven is avoided, and meanwhile, the flow resistance of the underwater detection intelligent robot system is enhanced, so that the underwater detection intelligent robot system can adapt to the detection operation requirements in a certain range of a water inlet and tail water of a water channel, the stability of the driving assembly driving the underwater detection intelligent robot system is effectively improved, and meanwhile, the accuracy of image acquisition and environment detection is improved;
through setting up the walking subassembly of can dismantling the connection with the frame, realized detecting intelligent robot system's accurate position under water and injectd, make things convenient for detecting intelligent robot system under water to realize that the accurate condition of defective position judges and the maintenance is maintained.
Drawings
Fig. 1 is the structure block diagram of the intelligent robot system for underwater detection.
Fig. 2 is a schematic structural diagram of the underwater detection intelligent robot system in fig. 1.
Fig. 3 is the utility model discloses carry out sonar image acquisition's flow schematic diagram.
Fig. 4 is a schematic flow chart of the defect image segmentation of the present invention.
Fig. 5 is a schematic flow chart of the defect image locating of the present invention.
Fig. 6 is a block diagram of the structure of the calibration unit of fig. 1.
Fig. 7 is a schematic view of the assembled frame and walking unit of fig. 1.
Fig. 8 is a schematic structural view of the underwater detection intelligent robot system in fig. 1 in combination with an unmanned boat (or manned boat).
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
In order to avoid obscuring the present invention with unnecessary details, it should be noted that only the structures and/or processing steps closely related to the aspects of the present invention are shown in the drawings, and other details not relevant to the present invention are omitted.
In addition, it should be further noted that 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.
Please refer to fig. 1, fig. 2 and fig. 7, which illustrate the intelligent robot system for underwater defect detection of a dam body of a hydropower station according to the present invention. The underwater detection intelligent robot system 100 comprises a rack 1, a driving component 2, a detection component 3, a positioning component 4 and a control component 5, wherein the rack 1 can bear the detection component 3, the positioning component 4 and the control component 5 and move underwater under the driving of the driving component 2, and further underwater defect detection and positioning repair of a dam body of a hydropower station are carried out through the detection component 3, the positioning component 4 and the control component 5.
Referring to fig. 1 and 2, the frame 1 is a hollow frame for facilitating the assembly of other components; meanwhile, the resistance generated due to the shielding of the outer wall of the rack 1 when the rack 1 in a closed arrangement drives other components to operate underwater can be effectively avoided, and the underwater detection intelligent robot system 100 can conveniently move underwater; and then effectively prevent that the rivers that produce because of the resistance from driving submarine silt to turn over, influence the detection and the location of detecting component 3 and/or locating component 4.
The driving assembly 2 is connected in the machine frame 1 and is used for driving the operation of the underwater detection intelligent robot system 100. The driving assembly 2 comprises propellers 21 which are arranged on two sides of the center line of the length direction of the frame 1 in pairs, each propeller 21 comprises a propulsion motor 211 fixedly connected in the frame 1 and a propeller 212 in driving connection with the propulsion motor 211, and the propeller 212 is in angle-adjustable connection with the propulsion motor 211. Concretely, screw 212 and propulsion motor 211 are connected with control assembly 5 control respectively, and propulsion motor 211 can start under control assembly 5's control action, and this moment, screw 212 can rotate then drive underwater detection intelligent robot system 100 and remove under water under propulsion motor 211's drive, and is further, control assembly 5 can adjust the angle that sets up between screw 212 and the propulsion motor 211, then accomplish underwater detection intelligent robot system 100 in the adjustment of underwater operation direction.
The detection assembly 3 is connected to the frame 1 and used for detecting the defect position. The detection component 3 comprises an acoustic detection obstacle avoidance unit 31 and an optical camera detection unit 32, the acoustic detection obstacle avoidance unit 31 comprises a plurality of groups of sonar detection obstacle avoidance arrays, the sonar detection obstacle avoidance arrays at least comprise 1-2 sonar components, the plurality of groups of sonar detection obstacle avoidance arrays are uniformly distributed in the front, the back, the left and the right of the rack 1, and are located above and/or below the rack 1. In a preferred embodiment of the present invention, the sonar detection obstacle avoidance array includes a first array 311, a second array 312, a third array 313, a fourth array 314, a fifth array 315 and a sixth array (not shown), wherein the first array 311 is located on the left side of the running direction of the rack 1, the second array 312 and the third array 313 are located on the front side of the running direction of the rack 1 and are symmetrically arranged above the rack 1, the fourth array 314 is located on the front side of the running direction of the rack 1 and is located below the rack 1, the fifth array 315 is located on the rear side of the running direction of the rack 1 and is located below the rack 1, and the sixth array is located on the left side of the running direction of the rack 1. Further, the second array 312 and the third array 313 are used for sonar detection imaging, and the first array 311, the fourth array 314, the fifth array 315 and the sixth array are used for obstacle avoidance.
The optical image pickup detection unit 32 is disposed at the front side of the length direction of the rack 1, and includes a light source supplement structure located at the front side of the rack 1 and an image pickup structure located at the side of the light source supplement structure. The light source supplyes the structure and control assembly 5 control connection, and the light source supplyes the structure and be provided with 2 simultaneously, and 2 light sources supplyes the structural symmetry and set up in the both sides of 1 length direction central line of frame the utility model discloses a in the preferred embodiment, the light source supplyes the structure for the light source of rotatable light filling supplyes the structure. The structure setting of making a video recording is between 2 light source supplement structures and is located the front side of 1 traffic direction of frame, and is further, the structure of making a video recording is located the top of frame 1 and with light source supplement structure front and back dislocation set, and is the same, but the structure of making a video recording of angle of camera shooting for the rotation regulation structure of making a video recording, so can avoid the light source to supplement the structure and cause the shielding to the scope of making a video recording of structure, guarantees image acquisition's completeness and accuracy.
The utility model discloses a in a preferred embodiment, the structure of making a video recording is high definition camera system, and high definition camera system cooperation light source supplyes the structure and can realize the high definition image acquisition to dam body under water to further guarantee image acquisition's under water accuracy.
Referring to fig. 1 in combination with fig. 6, the positioning assembly 4 is used to position the defect location, so as to facilitate searching the defect location again and repairing the defect. The positioning assembly 4 comprises a position acquisition unit 41 and a calibration unit 42, specifically, the position acquisition unit 41 comprises an inertial navigation structure, a depth meter, a doppler range finder and an underwater acoustic positioning structure, each structure is independently distributed on the rack 1 or each structure is integrated on the rack 1 for collecting the environment information of the running position of the underwater detection intelligent robot system 100, and further, the control assembly 5 receives the position environment information returned by the position acquisition unit 41 and analyzes and identifies the environment of the defect position.
The calibration unit 42 is used for calibrating the defect position so as to find and repair the defect position again. In the utility model, the frame 1 is provided with the calibration bracket 11 for bearing the calibration unit, so that the calibration unit 42 can be separately arranged on the frame 1, and further, the calibration unit 42 comprises a calibration main body 421, a power supply structure 422 accommodated in the calibration main body 421 and an adsorption structure 423 arranged at the bottom of the calibration main body 421; calibration unit 42 can be adsorbed in defect position department through adsorption structure 423, and further, control assembly 5 still includes the search structure that corresponds the setting with the navigation beacon to make things convenient for underwater detection intelligent robot system 100 to look for calibration unit 421 through the search structure, make things convenient for underwater detection intelligent robot system 100 to carry the maintenance subassembly and return to defect position again and maintain, maintain the defect position.
In a preferred embodiment of the present invention, the calibration main body 421 is a hollow calibration structure 421 having a navigation beacon, and the power supply structure 422 is enclosed and contained in the calibration main body 421 through the absorption structure 423 disposed at the bottom of the calibration main body 421, so as to supply power to the navigation beacon and the absorption structure 423, and ensure the normal operation of the navigation beacon and/or the absorption structure 423; preferably, the navigation beacon is one or more of a radar reflector, a radio beacon, a sound wave and a visual signal beacon, the adsorption structure 423 is a flowing water negative pressure adsorption structure, wherein the flowing water negative pressure adsorption structure is based on a flowing water negative pressure adsorption principle, water around the adsorption structure 423 is pressed into a low-pressure pipeline, meanwhile, a sucker deforms and adsorbs at a defect position, and the adsorption pressure is adjustable, so that the defect position is marked, the searching is performed again, and further, 2 calibration units 42 are arranged at the same time and are symmetrically distributed on the rack 1.
Referring to fig. 1 in conjunction with fig. 3 to 5, the control module 5 is used to control the operation of the other modules, and process and analyze the position, environment and image information collected by the detection module 3 and the positioning module 4 to complete the detection, analysis and positioning of the defect position. Specifically, the control component 5 includes a detection signal processing unit 51 connected with a control signal of the detection component 3, and the detection signal processing unit 51 can receive information returned by sonar to generate a sonar image according to the distribution of the time when the echo is received, and further perform image target position estimation, image noise reduction and enhancement and image defect positioning on the defect position included in the sonar image (as shown in fig. 3). The detection signal processing unit 51 may further process image information of the defect position acquired by the camera structure, and further, the detection signal processing unit 51 may identify and segment a defect target feature in the image information to fit acquisition of a high-definition image of the underwater dam body, so as to accurately determine a defect condition of the acquired defect position (as shown in fig. 4 and 5).
The control assembly 5 further comprises a positioning signal processing unit 52 in signal connection with the positioning assembly 4 for processing the position and environment signals collected by the positioning assembly 4. Specifically, the positioning signal processing unit 52 may collect and process various signals collected by the inertial navigation structure, the depth meter, the doppler range finder, and the underwater acoustic positioning structure, so as to identify and analyze the position and the environment of the defect position. The utility model discloses in, positioning signal processing unit 52 includes the high accuracy underwater sound locating component, the unsteady state inertial navigation locating component of anti multiple pass echo and based on the high accuracy of multisource information fusion makes up orientation module component under water.
Specifically, the high-precision underwater sound positioning component capable of resisting multipath echo can be used for direct sound selection of multipath echo interference and interference suppression and waveform recovery under multipath effect. Direct sound of multi-path callback interference is selected, and the multi-path interference caused by the water surface, the dam body and the like on the basis of data acquired and transmitted by the position acquisition unit 41 is subjected to input signal preprocessing methods such as amplitude normalization, time delay differentiation, continuous value preprocessing and the like; meanwhile, the judgment criterion of the system is automatically adjusted according to the characteristics of the received signals in different underwater sound environments so as to optimize the judgment criterion and accurately select the direct sound. Furthermore, interference suppression and waveform recovery under the multipath effect mainly solve the problem that the waveform received by a receiving end is distorted under the multipath effect, a received signal is equivalent to a convolution result of a source signal and a multipath channel impulse response function, an accurate multipath signal estimation method is established through the spatial characteristic difference between the source signal and the multipath interference, the multipath influence is removed through a deconvolution method, and the waveform recovery of a target signal is realized.
The unsteady inertial navigation positioning component is used for realizing unsteady environment inertial navigation error suppression, long-term high-precision course measurement under strong nonlinear low-speed motion, inertial device error calibration based on combined filtering and high-precision navigation positioning in enclosed spaces such as a flow channel.
The high-precision underwater combined positioning module component based on multi-source information fusion is used for realizing asynchronous multi-rate multi-sensor data processing under disturbance, sensor fault diagnosis based on multi-scale decomposition and multi-source data fusion estimation. The method comprises the steps of processing asynchronous multi-rate multi-sensor data, solving the problem of multi-scale characteristics of measured data caused by asynchronous sampling frequency and sampling time of each sensor, establishing an underwater navigation multi-scale model by introducing scale variables, and fully considering the influence of a complex environment on an underwater detection intelligent robot system 100; the distortion or failure of the acoustic sensor data in a shaking state is avoided, and meanwhile, distortion data correction and invalid data outlier elimination and processing are achieved on the basis of a multi-scale theoretical method through combination of a carrier kinematics model.
The method comprises the steps that the fault diagnosis of the sensor based on multi-scale decomposition aims at the problems of data distortion and invalidation caused by the fact that a combined navigation system breaks down, and the fault condition of each sensor in the underwater detection intelligent robot system 100 is diagnosed; and then, a multi-scale fault feature extraction method is provided, the fault signals are subjected to multi-scale decomposition, the performance characteristics of different faults on different scales are analyzed, the data of the sensor with the fault are reconstructed, the fault is accurately identified and estimated, the position of the underwater detection intelligent robot system 100 is positioned in real time when the fault of the underwater detection intelligent robot system 100 is detected, and the intelligent robot system 100 with the fault is further recovered in time.
The multi-source data fusion estimation aims at the problems of time-varying sampling intervals and data transmission lag of an underwater navigation sensor, integrates underwater navigation data fusion precision and calculation complexity, establishes a system model under the highest sampling rate, builds an underwater navigation multi-scale decomposition and reconstruction frame, fully considers the correlation problem, data distortion and the relation between a filtering algorithm and parameters and scales in the scale decomposition process, and provides a multi-scale-based multi-source data fusion algorithm.
In a preferred embodiment of the present invention, the underwater detection intelligent robot system 100 further includes a walking assembly 6 and a working assembly 7 detachably connected to the frame 1. Specifically, the walking assemblies 6 are symmetrically arranged on two sides of the rack 1 in the length direction and connected with the control assembly 5, so that the walking assemblies 6 can drive the underwater detection intelligent robot system 100 to move at the bottom under the control of the control assembly 5. Preferably, the walking assembly 6 is a crawler mechanism and comprises a crawler chassis, a hanger, a connecting flange, a walking controller and a crawler, wherein the connecting flange arranged on the side wall of the crawler chassis is used for realizing the fixed connection between the crawler mechanism and the rack 1, and the crawler is controlled to walk by the walking controller; further, the crawler mechanism and the driving assembly are mutually matched to realize that the underwater detection intelligent robot system 100 climbs on a dam surface with a certain slope angle to accurately detect the defect position (as shown in fig. 7).
The quick-connection structure is arranged at the extending end of the mechanical arm so as to facilitate the quick installation of the mechanical arm and the replaceable tool, and the quick-connection structure on the mechanical arm and the quick-connection structure on the replaceable tool have the same specification so as to facilitate the quick replacement connection of the replaceable tool; preferably, the quick-connect structure is a rotary chuck, so that the replaceable tool can be clamped through the rotary chuck. Furthermore, the replaceable tool at least comprises a high-pressure water gun, a probe, a clamping jaw and the like, so that the defect position is cleaned, high-precision image acquisition, depth detection, sundry cleaning and the like, meanwhile, muddy water near the defect to be detected can also be treated, the muddy water near the defect to be detected can be cleaned, and therefore depth detection and basic maintenance of the defect position are achieved.
Please refer to fig. 8, when using the utility model discloses an it carries out the defect detection of dam body under water to detect intelligent robot system 100 under water, uses unmanned ship (or manned boat) as the removal support system who detects intelligent robot system 100 under water at the surface of water, through carrying on the rope, realizes detecting intelligent robot system's synchronous transportation under water, and it can assist detects intelligent robot system 100 under water and revises the location under water.
Then, the underwater detection intelligent robot system 100 is placed into water, the walking assembly 6 and the operation assembly 7 are not required to be additionally installed, the driving assembly 2 drives the underwater detection intelligent robot system 100 to carry out rough inspection tour underwater, at the moment, the control assembly 5 controls the detection assembly 3 to carry out preliminary detection on the defect position, and the defect position is roughly calibrated through the calibration unit 42. Furthermore, the underwater detection intelligent robot system 100 is recovered by carrying a rope, the walking component 6 and the operation component 7 are assembled on the rack 1, the underwater detection intelligent robot system 100 is put into the water again, the calibration unit 42 is searched through the control component 5, and the driving component 2 drives the underwater detection intelligent robot system 100 to move to the position of the calibration unit 42; when the underwater detection intelligent robot system 100 moves to the position near the calibration unit 42, the center of gravity and the posture of the underwater detection intelligent robot system 100 are adjusted through the driving assembly 2, so that the underwater detection intelligent robot system 100 is driven by the walking assembly 6 to crawl on the dam surface for fine detection, and the operation assembly 7 is adopted to perform accurate detection and/or surface cleaning of the defect position. After the operation is finished, the unmanned boat (or manned boat) carries the rope to recover the underwater detection intelligent robot system 100. If the underwater detection intelligent robot system 100 has faults that the driving assembly 2 stops working and the like, the underwater detection intelligent robot system 100 can be recovered in an emergency mode by carrying a rope.
To sum up, the underwater detection intelligent robot system 100 of the present invention can perform preliminary detection on the defect position of the underwater dam body by setting the positioning component 4, so as to calibrate the defect position; furthermore, the detection assembly 3 can accurately detect the defect state and the environment of the defect position, and the condition of the defect position is conveniently and accurately judged. Through using drive assembly 2, use propeller 21 to replace propeller structure commonly used, avoided the screw in the drive in-process disturbance muddy water and the winding problem of debris, effectively promoted drive assembly 2 drive and detected intelligent robot system 100's stability under water, simultaneously, promoted image acquisition and environment detection's accuracy. Meanwhile, the walking assembly 6 detachably connected with the frame 1 is arranged, so that accurate position limitation of the underwater detection intelligent robot system 100 is realized, and the underwater detection intelligent robot system 100 can conveniently judge, maintain and maintain accurate conditions of defect positions.
Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art will appreciate that various modifications and equivalent arrangements can be made without departing from the spirit and scope of the present invention.
Claims (10)
1. The utility model provides an detect intelligent robot system under water for power station dam body defect's detection under water, its characterized in that includes:
a frame;
the driving assembly is arranged on the rack and used for driving the underwater detection intelligent robot system to operate;
the detection assembly is connected to the rack and used for detecting the defect position and comprises an acoustic detection obstacle avoidance unit and an optical camera detection unit;
the positioning assembly is used for positioning the defect position and comprises a position acquisition unit and a calibration unit;
the operation assembly is used for realizing accurate detection and/or maintenance of the defect position and comprises a mechanical arm and a replaceable tool which are detachably connected to the rack; and
and the control assembly is respectively in control connection with the driving assembly, the detection assembly, the positioning assembly and the operation assembly so as to control the operation of each assembly to complete the detection, analysis and positioning of the defect position.
2. The underwater detection intelligent robot system according to claim 1, characterized in that: the position acquisition unit comprises an inertial navigation structure, a depth meter, a Doppler range finder and an underwater sound positioning structure, wherein each structure is independently distributed on the rack or the structures are integrated into a whole and arranged on the rack, and the position acquisition unit is used for acquiring the running position environment information of the underwater detection intelligent robot system.
3. The underwater detection intelligent robot system according to claim 2, characterized in that: the calibration unit is detachably arranged on the rack and comprises a calibration main body, a power supply structure accommodated in the calibration main body and an adsorption structure arranged at the bottom of the calibration main body, the calibration unit can be adsorbed at the defect position through the adsorption structure, and a search structure used for searching the calibration position of the calibration unit is arranged in the control assembly.
4. The underwater detection intelligent robot system according to claim 3, wherein: the control assembly controls the mechanical arm to drive the corresponding operation assembly, the operation assembly at least comprises a high-pressure water gun and a probe, and the defect position calibrated by the adsorption structure is cleaned, so that the optical camera detection unit can detect the defect position.
5. The underwater detection intelligent robot system according to claim 3, wherein: the optical camera detection unit is arranged on the front side of the rack in the length direction, the acoustic detection obstacle avoidance unit comprises a plurality of sets of sonar detection obstacle avoidance arrays consisting of sonar components, and the sonar detection obstacle avoidance arrays are respectively arranged on the front side, the rear side, the left side and the right side of the rack and are positioned on the upper side and/or the lower side of the rack.
6. The underwater detection intelligent robot system according to claim 2, characterized in that: the optical camera detection unit comprises a light source supplement structure positioned on the front side of the rack and a camera structure positioned on the side of the light source supplement structure.
7. The underwater detection intelligent robot system according to claim 6, wherein: the light source supplementing structures are in control connection with the control assembly, 2 light source supplementing structures are arranged at the same time, and the 2 light source supplementing structures are symmetrically arranged on two sides of the center line of the rack in the length direction.
8. The underwater detection intelligent robot system according to claim 1, characterized in that: the driving assembly is installed inside the rack and comprises thrusters arranged on two sides of the length direction of the rack in pairs, each thruster comprises a propulsion motor fixedly connected to the inside of the rack and a propeller connected with the propulsion motor in a driving mode, and the propeller is connected with the propulsion motor in an angle-adjustable mode.
9. The underwater detection intelligent robot system of claim 8, wherein: the underwater detection intelligent robot system further comprises walking components detachably connected with the rack, the walking components are symmetrically arranged on two sides of the central line of the length direction of the rack and connected with the control component, so that the walking components can drive the underwater detection intelligent robot system to move underwater under the control action of the control component.
10. The underwater detection intelligent robot system according to claim 1, characterized in that: the control assembly comprises a detection signal processing unit connected with the detection assembly through control signals, a positioning signal processing unit connected with the positioning assembly through control signals, and a driving signal processing unit used for sending driving signals to the driving assembly.
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| CN202222272297.XU CN218559141U (en) | 2022-08-29 | 2022-08-29 | Underwater detection intelligent robot system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117289286A (en) * | 2023-11-24 | 2023-12-26 | 中国电建集团西北勘测设计研究院有限公司 | Sonar obstacle avoidance device for underwater robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117289286A (en) * | 2023-11-24 | 2023-12-26 | 中国电建集团西北勘测设计研究院有限公司 | Sonar obstacle avoidance device for underwater robot |
| CN117289286B (en) * | 2023-11-24 | 2024-02-09 | 中国电建集团西北勘测设计研究院有限公司 | Sonar obstacle avoidance device for underwater robot |
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