Unlock instant, AI-driven research and patent intelligence for your innovation.

Water tunnel underwater detection and disposal robot and use method thereof

A technology for water conveyance tunnels and robots, which is applied in the fields of underwater operation equipment, transportation and packaging, ships, etc., can solve the problems that robots do not have the ability to repair, do not have the ability to detect and repair operations, and do not have the function of underwater damage repair.

Active Publication Date: 2021-09-10
SOUTHEAST UNIV
View PDF10 Cites 3 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, it has the following disadvantages: 1. It does not have the function of underwater damage repair; 2. It does not have the ability to operate at a high flow rate above 2 meters per second underwater; 3. It does not have the ability to detect and repair operations in turbid water environments; 4. .Does not have cable-free self-detection capability
It was in a still water state during the detection, and damage phenomena such as concrete falling blocks, cracking, and horizontal reinforcement exposure were detected, but the robot did not have the ability to repair, so it was not repaired
Therefore, there are many problems in the robot in this project, such as problem 1. It does not have the ability to repair underwater damage; 2. It does not have the ability to operate at a high flow rate above 2 meters per second underwater; 3. It does not have the ability to operate in turbid water environments. Detection and repair functions
[0006] To sum up, the detection and disposal of water stoppage and emptying of water transfer tunnels are costly, and the range of manual detection and disposal is limited. At present, most underwater robots in water transfer tunnels focus on detection. At the same time, it is an underwater robot for water tunnels that can detect and dispose of water, and has the ability to operate at a high flow rate of more than 2 meters per second underwater

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Water tunnel underwater detection and disposal robot and use method thereof
  • Water tunnel underwater detection and disposal robot and use method thereof
  • Water tunnel underwater detection and disposal robot and use method thereof

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0036] Such as figure 1 and figure 2 As shown in the figure, an underwater detection and disposal robot for a water conveyance tunnel includes a main body 1, a hydraulic rod 2, a distance measuring module 3 in the middle, an upper cover plate 4 of an operation compartment, a power system 5, an operation compartment 6, and a forward-looking detection and navigation system. Module 7, umbilical cable 8, in-cabin lighting module 9, in-cabin binocular stereo vision module 10, operating tool storehouse 11, water purification system 12, and underwater robotic arm 13. The fuselage body 1 adopts a natural transition low-resistance shape, and the lower surface of the fuselage body 1 is designed in an arc-shaped transition. The radius of the arc is the same as that of the water delivery tunnel, which can be seamlessly attached to the wall. To promote system control, detection and operation module control, data processing and communication.

[0037] The operation chamber 6 is installed...

Embodiment 2

[0051] Such as Figure 8 As shown, the force of the underwater robot in this case is analyzed when it is still operating in the water, and the maximum water flow speed that the robot can adapt to when it is operating statically can be calculated from the force analysis diagram.

[0052] Figure 8 middle, P It is the resultant force generated by two hydraulic rods, the angle between the push rods is 30°, that is, P is the resultant force of the downward pressure on the robot body, P’ for its reaction force, f s is the static friction between the robot and the tunnel wall, F D is the water flow resistance suffered by the robot in the water, and the quality of the robot itself is not considered in this embodiment.

[0053] According to common sense, the single hydraulic rod thrust is actually taken as 1500 ( N ), calculate the maximum downforce P =1500*COS(15°)*2≈2898( N ); the formula for static friction is f s = μ*P, (μ In the case of water, the friction coefficien...

Embodiment 3

[0058] A detection and disposal method for a detection and disposal robot, comprising the following steps:

[0059] S1. Lift the robot into the water from the upstream hole or branch hole, and the ground operator uses the umbilical cable 8 to remotely start the power system 5, the middle ranging module 3, and the forward-looking detection and navigation module 7 to start the detection operation. If the water quality is turbid, use sonar to detect and avoid obstacles; if the water quality is clear, use sonar and camera to detect and avoid obstacles at the same time. During detection, the Doppler strapdown inertial navigation integrated navigation device can measure the driving speed and distance for positioning.

[0060] S2. After the robot enters the water, it recognizes the opening through the image scanned by the forward-looking obstacle avoidance radar and enters the tunnel. Then set the detection length, start from the tunnel entrance, start the automatic detection of the...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention discloses a water tunnel underwater detection and disposal robot which comprises a robot body and a control system, an operation bin which can be telescopically stored and can extend to the outside of the robot body is arranged in the robot body, and the operation bin at least internally comprises an in-bin illumination module, an in-bin binocular stereoscopic vision module and an operation tool library; the operation tool library is designed in a circular rotation mode, and tools in the operation tool library can be selectively clamped through the underwater mechanical arm. The robot further comprises a power system, a foresight detection navigation module and a middle distance measurement module, and movement, position navigation and measurement of the vehicle body are achieved. A hydraulic rod is arranged in the middle of the upper portion of the machine body, an umbilical cable is arranged on the tail portion of the machine body, the lower surface of the machine body is in an arc shape and tightly attached to the wall face of the tunnel, a local closed operation space is formed by contracting the operation bin, high-speed turbid water flow is separated, meanwhile, a large number of tools are arranged in the operation tool library, and the functions of non-water-stop stable detection and disposal operation are achieved. The robot can be used for inspection operation and maintenance of the water tunnel.

Description

technical field [0001] The invention relates to the technical field of underwater robot detection and disposal, and specifically discloses an underwater detection and disposal robot of a water delivery tunnel and a use method thereof. Background technique [0002] Due to the uneven geographical distribution of my country's water resources, there are more in the south and less in the north, so water transfer projects and urban water diversion projects are increasing day by day. In large-scale cross-basin water diversion projects, most of the water conveyance structures adopt the form of water conveyance tunnels to divert water through mountains. After the water tunnel is completed and put into operation, the long-term erosion of the water flow will cause damage to the structure inside the tunnel, and natural disasters such as earthquakes, geology, and floods will also cause more serious damage, which requires regular inspection and maintenance. [0003] Due to the high-veloc...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
IPC IPC(8): B63C11/52B63B1/40
CPCB63C11/52B63B1/40Y02T70/10
Inventor 宋光明毛巨正褚振忠秦留界吴刚宋爱国
Owner SOUTHEAST UNIV