Underwater vehicle capable of automatically navigating in well chamber and method

Abstract

The invention relates to an underwater vehicle capable of automatically navigating in a well chamber. The underwater vehicle comprises an electrical cabin, a battery cabin, a vertical conduit propeller, a horizontal conduit propeller, a sonar, an upper shell, a lower shell, a front-view camera, an upper-view camera, a light supplementing lamp and a mounting plate, a front-view camera, an upper-view camera and a light supplementing lamp are arranged in the electrical cabin; the electrical cabin, the upper shell and the lower shell are jointly fixed on a mounting plate, the battery cabin is fixed on the lower shell, and a vertical conduit propeller, a horizontal conduit propeller and two mechanical ring scanning sonars are fixed on the mounting plate; the two mechanical ring scan sonars are arranged vertically to each other. According to the scheme of the invention, data can be obtained to carry out spatial positioning and attitude discrimination on the underwater vehicle, so that an operator can easily obtain the relative position of the underwater vehicle in a well chamber, the efficiency of underwater detection work is improved, the process that an underwater robot enters a transverse pipe is automated, and the well chamber is reconstructed in real time by using a three-dimensional reconstruction technology.

Description

technical field [0001] The invention relates to the field of drainage pipe network detection, in particular to a submersible capable of automatic navigation in a well chamber and a method thereof. Background technique [0002] Existing pipeline inspection robots often carry sensors such as cameras and fill lights, laser radars, etc., but the cameras are limited underwater, especially in drainage pipe networks where the water quality is turbid and black, and the cameras must be attached to the pipe wall to obtain effective results. Significant images, LiDAR is also unusable due to light scattering and impurities in the water. Most of the existing underwater detection robots only carry a sonar, which is used to detect pipelines and obtain pipeline data. The existing underwater detection robot cannot accurately calibrate its own position, cannot accurately identify the characteristics in the well chamber, cannot describe the position of the identified features, the work effici...

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to provide a submersible and a method that can automatically navigate in the well, so as to solve the problems that the existing underwater detection robot cannot calibrate its own position in the well, cannot accurately distinguish the characteristics of the well and cannot describe the characteristic position

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