Dam face detection underwater robot system based on collaborative operation of multiple acoustic devices

Abstract

The invention discloses a dam face detection underwater robot system based on collaborative operation of multiple acoustic devices. The underwater acoustic positioning system comprises underwater acoustic positioning equipment, a main control cabin, a battery cabin connected to the main control cabin, an underwater propeller installed in the main control cabin and the battery cabin, an underwater robot body frame connected to the main control cabin and the battery cabin, and underwater acoustic detection equipment installed on the underwater robot body frame. The underwater acoustic positioning equipment comprises an underwater acoustic positioning sound production device mounted on a buoyancy panel of the underwater robot and an underwater acoustic positioning sound receiving device connected to the shore-based console and arranged in water; the underwater acoustic positioning device and the underwater acoustic detection device are both in modular design and both have a complete buoyancy state. And an energy storage module is arranged in the battery cabin. According to the invention, the underwater acoustic positioning device and the underwater acoustic detection device are integrated in the underwater robot system for cooperative operation, so that the purpose of efficient dam surface detection is achieved.

Description

technical field [0001] The invention relates to the field of water conservancy engineering robots, in particular to an underwater robot system for detecting underwater structures. Background technique [0002] The domestic reservoir dam was built earlier, and it has solved the reasonable utilization needs of the general public for many years. After the dam is built, under the long-term action of hydraulic power, the dam body is prone to damage, cracks, etc., especially the metal structure, rust The degree is more serious. The part on the water surface is relatively easy to detect, but the underwater part is not easy to find. The traditional frogman underwater inspection can only check the key parts, which is limited by the diving time and depth, and the risk factor is extremely high. High, it is difficult to conduct health checks on a large area of ​​the reservoir. [0003] Traditional detection methods have low detection efficiency, high cost, low safety, and long service ...

AI Technical Summary

Problems solved by technology

[0002] The domestic reservoir dam was built earlier, and it has solved the reasonable utilization needs of the general public for many years. After the dam is built, under the long-term action of hydraulic power, the dam body is prone to damage, cracks, etc., especially the metal structure, rust The degree is more serious. The part on the water surface is relatively easy to detect, but the underwater part is not easy to find. The traditional frogman underwater inspection can only check the key parts, which is limited by the diving time and depth, and the risk factor is extremely high. High, it is difficult to conduct health checks on large areas of the reservoir

[0003] Traditional detection methods have low detection efficiency, high cost, low safety, and long service life, so foreseeable problems cannot be effectively evaluated. In order to solve these problems in the detection of the underwater part of the dam body, intelligent equipment is used to realize the detection of the dam. The need is more and more urgent

[0004] At this stage, there are also some underwater detection equipment equipped with image acquisition systems that dive into the water for detection. Although the problems encountered by manual detection are solved to a certain extent, due to the complex underwater environment, operators still need to operate for a long time, and the visual image effect Can only roughly assess health status, and cannot provide sufficient data information for fine measurement and overall situation assessment

[0005] With the rapid development of science and technology, the previously expensive and immature technology, after in-depth research, has accelerated the process of product commercialization. Among them, sonar equipment for underwater surveys has gradually been widely used. For different operating scenarios, it can be There are more and more types of equipment to choose, which can make up for the shortcomings of relying solely on image acquisition equipment in the field of underwater detection, single function, low accuracy, and incomplete evaluation

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