Dam latent danger detecting underwater robot system and detecting method

An underwater robot and robot system technology, applied in the field of underwater robot systems, can solve problems such as dam cracks and lesions, aging of dam body materials, and low dam safety, so as to achieve fast detection speed and ensure timely detection and alarm Effect

Inactive Publication Date: 2005-02-23
HARBIN ENG UNIV +1
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Problems solved by technology

However, a considerable number of dams currently have unsafe factors. Some have been in operation for more than 30 years or even longer, and the dam body materials are gradually aging; some have cracks and lesions that endanger the safety of the dam; Dam safety is low; some dams have low flood control standards, etc.

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  • Dam latent danger detecting underwater robot system and detecting method
  • Dam latent danger detecting underwater robot system and detecting method
  • Dam latent danger detecting underwater robot system and detecting method

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Embodiment Construction

[0028] The underwater robot carrier [1] can be a remote control type or an autonomous underwater robot, and the present invention uses a remote control type. The underwater robot carrier [1] can be designed and manufactured according to the detection requirements of different dams [28] or select existing models. The propellers can be multiple pairs. The present invention uses 3 pairs of 6 propellers [7], [8], [9], [10], [11], [12], and its thrust is 21Kg (imported from the United States) . The underwater power conversion cabin [13] selects a self-developed power system, which can provide 5000KW power. The underwater optical transceiver [14] and the surface optical transceiver [27] are both self-developed. Doppler Velocity Meter [15] uses 1.5MHz Argoncut-DVLM. Altitude sonar [16] uses CG-1 type (self-developed). Ranging sonar [17] uses CJ-1 type (self-developed). The depth sensor [18] uses MY-26; the compass [19] uses HM-3000. The GPS receiver [20] uses the Etrex type. The high-res...

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Abstract

A underwater robot system consists of underwater robot formed by combined frame and control carbin; navigation device formed by Doppler speedometer, sonar for measuring distance and height; detection device formed by high resolution ratio sonar; bank equipment of display and control device. The method includes moving the robot in various directions continuously, sending sonar to dam, forming three dimentional sound image for evaluating lesion of whole dam structure.

Description

Technical field [0001] The invention relates to an underwater robot system and a detection method for detecting the quality and safety of various dams. Background technique [0002] At present, the materials available at home and abroad for detecting damages and lesions of various water conservancy, hydropower, reservoirs and river dams are basically the use of geophysical methods, such as high-density resistivity method, surface wave exploration method, and exploration method. Ground radar, transient electromagnetic method, sound velocity measurement method or embedded stress sensor and other methods. These methods have obvious shortcomings and shortcomings. For example, the high-density resistivity method requires a large number of electrodes to be arranged on the dam. Through instruments and manual control, the power supply and measurement electrodes are constantly changed to obtain resistivity data at different horizontal positions. The water content of the material is direct...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J13/00
CPCG01N2291/044
Inventor 桑恩方
Owner HARBIN ENG UNIV
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