Underwater robot for ship hull detection

An underwater robot and water detection technology, which is applied in the direction of underwater operation equipment, instruments, measuring devices, etc., can solve the problem of inaccurate magnetic compass data, and achieve the effect of high precision and high transmission rate

Inactive Publication Date: 2009-03-18
HARBIN ENG UNIV
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  • Abstract
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Problems solved by technology

However, the magnetic compass cannot be used near ferromagnetic materials such as hull plates, which will affect the geomagnetic field, resulting in inaccurate magnetic compass data

Method used

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  • Underwater robot for ship hull detection
  • Underwater robot for ship hull detection
  • Underwater robot for ship hull detection

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Experimental program
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Embodiment Construction

[0023] The present invention is described in more detail below in conjunction with accompanying drawing example:

[0024] combine figure 1 and figure 2 , the composition of the hull detection underwater robot includes: frame 1, two left and right pressure chambers 2,3 installed on the frame, left main thrust propeller 4, right main thrust propeller 5, rear side thrust propeller 6, rear vertical thrust propeller 7 1. The main body of the underwater robot consisting of the front side thrust propeller 8 and the front vertical thrust propeller 9 is equipped with environmental sensing equipment, motion sensing equipment and motion execution equipment on the underwater robot main body. The environmental sensing equipment includes an ultrasonic thickness gauge 10. Image sonar 11, underwater low-light camera 12; the motion sensing device includes a fiber optic compass 13 and a depth gauge 14; the motion execution device includes a duct propeller and a three-degree-of-freedom platfor...

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Abstract

The present invention provides a hull detection underwater robot that comprises an underwater robot body which is equipped with an environment sensing device, a movement sensing device and a movement executing device. The environment sensing device comprises an ultrasonic thickness gauge, image sonar and an underwater low light level camera. The movement sensing device comprises an optical fiber compass and a depth gauge. The movement executing device comprises a conduit propeller and a three degree of freedom tripod head. All devices are connected with a PC/104 computer in a hyperbaric chamber of the underwater robot body. A control program is embedded in the PC/104 computer. The PC/104 computer collects the information of the environment sending device and the movement sensing device, then communicated with a water surface main control computer for the large data volume network communication of mixed data and outputs a control instruction of the water surface main control computer to the propeller.

Description

(1) Technical field [0001] The invention relates to an underwater robot, in particular to a control system architecture of a hull detection underwater robot. (2) Background technology [0002] According to the inspection regulations of classification societies, ships in operation must regularly inspect the thickness of the hull steel plates to determine whether repairs and reinforcements are required. Over the past few decades, much of this work has been done in shipyards. This greatly affects the efficiency of use of docks in shipyards. With the development in recent years, more and more hull steel plate thickness detection has been transferred to underwater. Using diver's handheld equipment for underwater detection is not only inefficient, but also very dangerous. This has just given birth to the appearance of hull detection remote control type underwater robot. The United States and other countries were the first to develop underwater robots for hull detection. The M...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B63C11/52G01B17/02
Inventor 李晔万磊邹劲庞永杰孙俊岭陈小龙唐旭东张磊吕翀
Owner HARBIN ENG UNIV
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