Rope-driven underwater detection robot

Abstract

The invention relates to a rope-driven underwater detection robot, which can be used for visual detection on an underwater structure and comprises an above water platform, a winch unit, an underwater mobile platform, an underwater mechanical arm unit, a camera, a light source, a power supply, a controller unit and an interactive control unit, wherein a winch is connected with the mobile platform by a rope, and the rope is wound on the winch; the camera and the light source respectively sleeve one end of the underwater mechanical arm unit; an underwater control unit is fixed on the underwater mobile platform, and the underwater mechanical arm unit, the camera, the light source, a mobile platform attitude sensor and the controller unit are respectively connected with the underwater control unit. By means of rope driving, the mobile platform is controlled to do the actions of ascending and horizontal movement, and a mechanical arm adjusts the camera in a small scope; the condition that a propeller is adopted, so that a water body is more turbid and imaging detecting quality is reduced can be avoided, and thus a final detection effect can be improved, and the underwater imaging detecting sensitivity is improved.

Description

Technical field [0001] The invention relates to an underwater detection robot, in particular to an underwater vision detection robot driven by a rope. Background technique [0002] Underwater inspection equipment such as underwater engineering, underwater inspection robots, and underwater televisions have been widely used in underwater inspection and operations. At present, most commonly used underwater inspection robots are driven by propellers, especially in marine equipment. Propeller propellers drive underwater robots to lift and move. However, in rivers, rivers, and lakes with poor water quality, propeller-propelled underwater robots have obvious shortcomings. Propeller propellers are agitated due to large amounts of agitation during operation. The mud and sand in the water body can easily increase the turbidity of the water body and cause the quality of imaging detection to decrease. On the other hand, the underwater TV adopts a single rope hanging, and the underwater came...

AI Technical Summary

Problems solved by technology

[0002] Underwater engineering, underwater detection robots, underwater TV and other underwater detection equipment have been widely used in underwater detection and operations. At present, most of the commonly used underwater detection robots are driven by propeller propellers, especially in marine equipment. Propeller propellers drive underwater robots to lift and move. However, in rivers, rivers, and lakes with poor water quality, propeller-propelled underwater robots have obvious deficiencies. During the operation of propeller propellers, due to a large amount of stirring If the sediment in the water body is removed, it is easy to increase the turbidity of the water body, resulting in a decrease in the quality of imaging detection

On the other hand, the underwater TV is suspended by a single rope, and the underwater camera system can only adjust the angle and position in a small range, and it is impossible to quickly move the visual inspection within the three-dimensional underwater space.

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