Long-distance water conveyance tunnel underwater inspection robot and method

Abstract

The invention discloses a long-distance water conveyance tunnel underwater inspection robot and method. The long-distance water conveyance tunnel underwater inspection robot comprises a main body, a front distance measuring head, a rear distance measuring head, a drainage hole, a recovery bin, a driving wheel, a steering shaft, a front window, a rail, a positioning sucker, sucker supporting legs and a detection head. The front distance measuring head and the rear distance measuring head are fixed to the top of the main body, the driving wheel and the steering shaft are fixed to the two sides of the main body, the rail, the positioning sucker, the sucker supporting legs and the detection head are located on the lower portion of the main body, and the front window is located in the front ofthe main body. In the invention, structure damage target positioning and high-precision measurement can be carried out in the water conveyance tunnel, and long-distance and automatic inspection operation is realized.

Description

technical field [0001] The invention relates to the field of inspection and management of long-distance water conveyance tunnels, in particular to an underwater automatic robot for patrolling and inspecting surface defects of the internal structure of long-distance water conveyance tunnels. Background technique [0002] With the advancement of modern science and technology, the monitoring and testing of engineering buildings has gradually realized automation from manual work. Various automated mechanical equipment have the characteristics of lightness, automation, and intelligence, high work efficiency, low cost, and can replace manual labor in some dangerous situations. Work in an environment that avoids the dangers faced by workers. [0003] Water conveyance tunnels are usually buried deep underground, with a length of several kilometers to more than ten kilometers. During the excavation and construction period, people can enter the interior of the tunnel for inspection an...

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Problems solved by technology

[0003] Water conveyance tunnels are usually buried deep underground, with a length of several kilometers to more than ten kilometers. During the excavation and construction period, people can enter the interior of the tunnel for inspection and inspection. However, during the normal operation period, there is water flow inside the tunnel, and the water flow must be stopped. Otherwise, it is difficult for personnel to enter for on-site inspection, testing and inspection

[0004] In these dangerous areas, it is necessary to use automatic robots or automatic equipment to replace human work. Most of the existing inspection robot equipment needs to be connected to the robot with cables, which are used in tunnels that are tens of kilometers long. The cost of cables is high, and it is difficult to deploy and recover; In the confined space of the underground tunnel, it is difficult for the equipment to locate the defects found relative to the entire engineering structure. In addition, most robots have no fixed devices and are shaken by the influence of water flow, so the accuracy of short-distance measurement of defects is low.

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