Underwater detection method and detection robot of water tunnel based on dynamic window
A water tunnel and dynamic window technology, applied in the direction of optical testing flaws/defects, etc., can solve the problems of being easily eroded by water flow, cracking of the wall of the water tunnel, and high requirements for robot operation, so as to improve accuracy and real-time performance , improve speed and real-time performance, and improve detection efficiency
Active Publication Date: 2017-12-22
ZHEJIANG UNIV OF WATER RESOURCES & ELECTRIC POWER
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Problems solved by technology
However, since the water delivery tunnel is exposed to the air for many years, it is easy to be eroded by natural factors such as wind erosion. After a long time, it is easy to cause the wall of the water delivery tunnel to crack, which seriously affects the safety of water delivery. Cracks can be observed and repaired on the wall above the water surface of the water tunnel, but for the wall immersed in water for a long time, once cracks are formed, it is easy to be eroded by water flow
[0003] Maintenance personnel in the prior art usually use artificial water to detect cracks on the cave wall. Due to the poor light underwater, the detection effect on the cave wall is not good. Therefore, people began to use underwater robots for detection. However, due to the rapid underwater flow Different, the operation requirements of the robot are high, and it is easy to consume the energy of the underwater robot, which seriously affects the continuity of underwater detection
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[0038] Such as Figure 1 to Figure 3 Shown is the underwater detection method of the water delivery tunnel based on the dynamic window of the present invention, comprising the following steps:
[0039] (1) Underwater initial detection of water tunnel
[0040] 1) Put the detection robot into the water delivery tunnel, make the detection robot quickly dive to the target depth, decelerate when it is close to the target depth of 30cm, and then perform initial identification on the water delivery tunnel to obtain the characteristic curve of the tunnel wall. If the deviation between the centerlines of the cave wall is less than 5mm, it is determined that the detection robot has detected the crack position, and the detection robot will stay at the initial detection position stably to prevent misalignment from affecting the final image synthesis;
[0041] 2) Then, a dynamic window is used to limit the detection area by using the feature change characteristics between the sequenced ca...
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The present invention discloses a water conveyance tunnel underwater detection method based on dynamic window and a detection robot thereof. Water conveyance tunnel underwater initial detection and water conveyance tunnel underwater tracking detection achieve detection of water conveyance tunnel wall. The detection robot includes a body, an infrared camera, lifting thrusters, horizontal thrusters, a main thruster and a guidance empennage. The front and rear ends of the body are provided with a front end cover and a rear end cover; the main thruster is arranged inside the rear end cover; the left and right sides of the body are provided with lifting thrusters; the side edge of the lifting thruster is provided with the horizontal thruster; a main storage battery and a control panel are arranged in the body; a retractable pinch plate and a horizontal hydrofoil are arranged on the side surface of the body; and both sides of the bottom of the body are provided with cylindrical holders. The detection method is simple, not only improves the detection effect and detection quality of water conveyance tunnel, improves the accuracy and real-time performance of the system, but also effectively extends the battery life and the detection ability of the detection and has significant economic benefits.
Description
technical field [0001] The invention relates to the field of underwater detection, in particular to an underwater detection method of a water delivery tunnel based on a dynamic window and a detection robot thereof. Background technique [0002] With the increasing scarcity of water resources, more and more places realize the irrigation of river water through the construction of water delivery tunnels, and have achieved good economic results. However, since the water delivery tunnel is exposed to the air for many years, it is easy to be eroded by natural factors such as wind erosion. After a long time, it is easy to cause the wall of the water delivery tunnel to crack, which seriously affects the safety of water delivery. Cracks can be observed and repaired on the wall above the water surface of the water tunnel, but for the wall immersed in water for a long time, once cracks are formed, it is easy to be eroded by water flow. [0003] Maintenance personnel in the prior art u...
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IPC IPC(8): G01N21/88
Inventor 刘学应史雅婷史广喜胡群革
Owner ZHEJIANG UNIV OF WATER RESOURCES & ELECTRIC POWER