Underwater inspection control method and underwater inspection system

A control method and inspection point technology, applied in two-dimensional position/channel control, measuring devices, material analysis through optical means, etc., can solve the problems that cannot meet the apparent defects of concrete

Inactive Publication Date: 2020-04-14
SICHUAN ENERGY INTERNET RES INST TSINGHUA UNIV
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Problems solved by technology

Moreover, underwater buildings such as stilling pools, due to the accumulation of a layer of silt on the surface, general-purpose observation-level underwater robots cannot meet the observation of the apparent defects of building concrete

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  • Underwater inspection control method and underwater inspection system

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Embodiment Construction

[0039] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of embodiments of the present invention, but not all embodiments. The components of the embodiments of the invention generally described and illustrated in the figures herein may be arranged and designed in a variety of different configurations.

[0040] Accordingly, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art wi...

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Abstract

The invention relates to the technical field of underwater detection, in particular to an underwater inspection control method and an underwater inspection system. The underwater inspection control method for detecting an underwater building comprises the following steps: receiving and scanning image data of an underwater environment and forming an underwater environment map; acquiring an underwater operation drawing according to the underwater environment map and a preset underwater building engineering drawing; planning a first inspection path and a second inspection path according to the underwater operation drawing; controlling a robot to inspect according to the first inspection path, and receiving first image information collected by camera equipment mounted on the robot; controllingthe robot to inspect according to the second inspection path, and receiving second image information collected by the camera equipment; and combining the first image information with the second imageinformation to obtain an underwater building defect situation graph. According to the underwater inspection control method, the underwater inspection difficulty can be reduced, and clear image data of the underwater building can be formed.

Description

technical field [0001] The invention relates to the technical field of underwater detection, in particular to an underwater inspection control method and an underwater inspection system. Background technique [0002] In hydropower and water conservancy projects, the concrete underwater buildings are immersed in water for a long time, coupled with structural aging and the impact of geological disasters such as earthquakes, the safety issues have become increasingly prominent. Compared with underwater detection methods, underwater detection methods are less, equipment accuracy is low, and inspection operations are more difficult. In addition, for underwater buildings such as stilling pools, due to the accumulation of a layer of silt on the surface, general-purpose observation-level underwater robots cannot meet the observation of the apparent defects of building concrete. Contents of the invention [0003] The object of the present invention includes, for example, providing...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01N21/88G01N21/01G05D1/02
CPCG01N21/88G01N21/01G05D1/02
Inventor 王皓冉李永龙陈永灿张华
Owner SICHUAN ENERGY INTERNET RES INST TSINGHUA UNIV
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