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A robot for underwater detection and disposal of water tunnel and its application method

A technology for water conveyance tunnels and robots, which is applied to underwater operation equipment, transportation and packaging, hulls, etc., and can solve problems such as lack of cable-free autonomous detection capabilities, underwater damage repair capabilities, and robots lack of repair capabilities.

Active Publication Date: 2021-11-05
SOUTHEAST UNIV
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  • 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

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  • A robot for underwater detection and disposal of water tunnel and its application method
  • A robot for underwater detection and disposal of water tunnel and its application method
  • A robot for underwater detection and disposal of water tunnel and its application method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0036] like figure 1 and figure 2 FIG An underwater tunnel testing and disposal of water robot, comprising a frame body 1, a hydraulic rod 2, the central distance measuring module 3, the cover plate 4, power system 5, the job positions 6, the front view of the detector navigation operations on the cartridge module 7, the umbilical 8, the lighting module 9, the cartridge within the cartridge binocular stereo vision module 10, work tool magazine 11, water purification systems 12, 13 underwater robot arm. The frame body 1 using a natural transition low resistance profile, the lower surface of the frame body 1 over curved design, the radius of the arc with the same radius as water tunnel, seamless wall surface adhesion, control systems fitted inside the fuselage, with to control the propulsion system, and detects the job control module, data processing and communication.

[0037] The cartridge 6 is mounted on the front working a frame body, the cartridge 6 can be automatically control...

Embodiment 2

[0051] like Figure 8 , The force of the case AUV underwater work at rest is analyzed, when the robot is calculated from the stress analysis map may still work to adapt the maximum water flow rate.

[0052] Figure 8 middle, P Force is generated by the two hydraulic rod, the angle between the pusher 30 °, i.e. P is a pressure force of the robot body, P’ Its reaction force, f s Robot with a tunnel wall static friction, F D Robot suffered flow resistance in the water, the present embodiment not consider the quality of the robot itself.

[0053] According to common sense, single actual hydraulic thrust rod takes 1500 ( N ), Calculate the maximum pressure P = 1500 * COS (15 °) * 2≈2898 ( N ); Static friction is calculated as f s = μ * p, (μ For the case of water, the surface friction coefficient of steel and cement, the general value 0.6), thereby calculating the maximum static friction f s = 0.6 * 2898 ( N ) ≈1739 ( N .

[0054] Object suffered water resistance is calculated as: F D =...

Embodiment 3

[0058] A method of detecting and disposal disposal inspection robot, comprising the steps of:

[0059] Sl, the robot from the upstream openings or adit dipping into water, the ground handling staff by umbilical 8, the remote power system 5 is turned on, the central distance measuring module 3, the front view of the detector 7 navigation module starts testing operations. If the water turbidity, using sonar detection and obstacle avoidance, if the water is clear, the use of sonar and camera simultaneous detection and obstacle avoidance. Detection, Doppler SINS navigation device can measure the speed and distance of travel for positioning.

[0060] S2, when the robot into the water, prior to the image recognition by the visual obstacle avoidance radar scanned hole, into the tunnel. After setting the length of detecting time, starting at the entrance tunnel, opener robot automatic detection, real-time detection data returned by an umbilical, the defect is detected, the recording posit...

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PUM

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Abstract

The invention discloses an underwater detection and disposal robot for a water delivery tunnel, which comprises a fuselage body and a control system. The fuselage body is provided with a working cabin that can be retracted and extended to the outside of the fuselage body. The working cabin includes at least The lighting module in the warehouse, the binocular stereo vision module in the warehouse and the operation tool library. The operation tool library is designed in a circular rotation, and the tools in the operation tool library can be selectively clamped by the underwater robotic arm; it also includes the power system, the front The visual detection navigation module and the middle distance measuring module realize the movement, position navigation and measurement of the fuselage body; a hydraulic rod is installed in the upper middle of the fuselage body, an umbilical cable is installed at the tail of the fuselage body, and the lower surface of the fuselage body is curved. It is closely attached to the wall of the tunnel, and the shrinkage operation chamber is used to form a partially closed operation space to separate the high-speed turbid water flow. At the same time, there are a large number of tools in the operation tool library, which have the functions of non-stop water stability detection and disposal operations, and can be used in water delivery tunnels inspection operation and maintenance.

Description

Technical field [0001] The present invention relates to the detection of underwater robots and disposal techniques, and thereof is disclosed in water detection and disposal robots and their use methods for water tunneling. Background technique [0002] Due to the uneven distribution of water resources in my country, there is a small number of southern southern south, so the water supply project and urban water supply project are increasing. In a wide range of water-saving projects in a wide range of cross-river basins, there are mostly in the form of water tunnels, and through the water in the mountains. After the operation of the water supply tunnel, the long-term scour of the water flows will cause damage, earthquake, geological, and floods, will also bring more serious damage, and require regular inspection and maintenance. [0003] Since there is a high flow rate water flow in the tunnel, the existing detection treatment method mainly uses a stop-water emptying manual testing...

Claims

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Application Information

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Patent Type & Authority Patents(China)
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