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
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[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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