Wireless underwater inspection robot

Abstract

The present invention discloses a wireless underwater detection robot, including a control system, the control system receives control signals on the water surface, and controls the movement of a motion mechanism through wireless signals; the motion mechanism realizes the detection robot to rise and fall in water and move along the detection surface; a cleaning device is used to clean the working surface of the workpiece to be detected; and a detection device is used to detect the surface to be detected and send the detected data to a water surface receiving device. The motion mechanism of the present invention can drive the whole to translate and rise and fall, and realize the whole detection robot to rise and fall in water and move along the detection surface. After reaching the target position, the present invention can use the cleaning device to clean the working surface of the workpiece to be detected, such as the surface of a dam with a lot of sediment, and use the cleaning device to remove the sediment to expose its real surface, and then use the detection device to detect the working surface, and send the detected data to the water receiving device.

Description

Technical Field

[0001] The invention relates to a wireless underwater detection robot, belonging to the technical field of robots. Background Art

[0002] At present, my country has more and more underwater structures due to the development and utilization of water resources in rivers, lakes and seas, as well as the exploration, development and utilization of offshore resources. Due to the passage of time and the erosion of water flow, many underwater structures have cracks, damage and other hidden dangers. With the rapid development of the economy, especially the development and utilization of water resources in rivers, lakes and seas, the construction of large and medium-sized hydropower stations and dams, and the exploration, development and utilization of offshore resources, the demand for underwater robots that can detect and operate in lakes, rivers and offshore is increasing. There are about 87,000 reservoirs in my country, of which about 37,000 are dangerous reservoirs, and the reservoir danger rate is relatively high. At present, the routine inspection of underwater facilities such as reservoir dams, flood control embankments, port shores, and ships is mainly completed by divers, and the diving cost of divers is high, the risk factor is high, and the current underwater robots are obviously insufficient in mobility, flow resistance and operation capabilities. Summary of the invention

[0003] The technical problem to be solved by the present invention is to overcome the deficiencies of the prior art and provide a wireless underwater detection robot to solve the problem of detecting underwater facilities.

[0004] In order to solve the above technical problems, the technical solution of the present invention is: a wireless underwater detection robot, comprising

[0005] A control system, the control system receives control signals on the water surface and controls the movement of the motion mechanism through wireless signals;

[0006] The motion mechanism enables the detection robot to rise and fall in water and move along the detection surface.

[0007] A cleaning device, used for cleaning the working surface of the workpiece to be inspected;

[0008] The detection device is used to detect the surface to be detected and send the detected data to the water surface receiving device.

[0009] Furthermore, the motion mechanism includes a carrier support and an omnidirectional wheel mechanism and a propeller mechanism installed on the carrier support; wherein the omnidirectional wheel mechanism is used to drive the carrier support to translate, and the propeller mechanism is used to drive the carrier support to rise and fall.

[0010] Furthermore, the carrier support comprises

[0011] A support plate, used for installing the propeller mechanism, with a first short rod fixedly connected to the support plate;

[0012] A plurality of main fixing plates, used for installing the omnidirectional wheel mechanism, the second short rods are fixedly connected to the main fixing plates, and the main fixing plates are evenly distributed around the supporting plate;

[0013] Each main fixing plate is connected to the supporting plate through a main support rod, one end of the main support rod is connected to the first short rod, and the other end is connected to the second short rod;

[0014] Two adjacent main fixing plates are connected by a main connecting rod;

[0015] The reinforcing ring is provided with connecting ears, and the main support rod passes through the corresponding connecting ears and is fixedly connected to the connecting ears.

[0016] Furthermore, the omnidirectional wheel mechanism comprises

[0017] The omnidirectional wheel motor is used to drive the omnidirectional wheel to rotate. The output shaft of the omnidirectional wheel motor is equipped with a coupling and connected to the first transmission shaft through the coupling.

[0018] The omnidirectional wheel has a first transmission shaft, which is in transmission connection with the omnidirectional wheel, a rolling bearing is installed outside the first transmission shaft, the first transmission shaft is assembled with the main fixed plate through the rolling bearing, the outer ring of the rolling bearing is in rolling cooperation with the main fixed plate, and the inner ring is in rolling cooperation with the first transmission shaft;

[0019] The first fixing device is used to carry the omnidirectional wheel motor, and the first fixing device is connected to the main fixing plate.

[0020] Furthermore, the first fixing device includes a rear fixing plate, a first long pin, a front fixing plate, an L-shaped plate and a second connecting rod, the front fixing plate and the rear fixing plate are provided with a first circular groove adapted to the omnidirectional wheel motor, the omnidirectional wheel motor is clamped in the first circular groove on the front fixing plate and the rear fixing plate, the rear end of the first long pin is threadedly connected to the rear fixing plate, the front end of the first long pin is connected to the front fixing plate by bolts, the L-shaped plate is sleeved on the first long pin, one end of the second connecting rod is fixedly connected to the L-shaped plate, and the other end is fixedly connected to the main fixing plate.

[0021] Furthermore, the propeller mechanism includes a propeller motor and a propeller, and the propeller motor is transmission-connected to the propeller to drive the propeller to rotate and achieve lifting.

[0022] Furthermore, the detection device comprises

[0023] The detection device sealed cabin is provided with an underwater camera, an underwater camera, a video processing unit, a sonar, and an underwater sensor, wherein the video processing unit is used to collect signals from the underwater camera and the underwater camera and send them to a transmission device arranged in the main sealed cabin, and the sonar and the underwater sensor also send the detected signals to the transmission device in the main sealed cabin;

[0024] The main sealed cabin is provided with a transmission device, which is used to send a detection signal to a surface receiving device.

[0025] Furthermore, the first short rod passes through and is fixedly connected to the support plate, and the upper end of the second short rod is used to connect to the main sealed cabin, and the lower end of the second short rod is connected to the main support rod.

[0026] Furthermore, the cleaning device includes a brush motor, a brush, an upper fixed plate, a lower fixed plate, and a second long pin. The lower fixed plate has a second circular groove that is compatible with the brush motor. The brush motor is stuck in the second circular groove, and the brush motor is connected to the brush transmission after passing through the second circular groove to drive the brush to rotate. The lower end of the second long pin is threadedly connected to the lower fixed plate, and the upper end of the second long pin is connected to the upper fixed plate by bolts. A third connecting rod is installed on the lower fixed plate, one end of the third connecting rod is connected to the lower fixed plate, and the other end is connected to the sealed cabin of the detection device by a fastening bolt.

[0027] After adopting the above technical solution, the present invention has the following beneficial effects:

[0028] The motion mechanism of the present invention can drive the whole to translate and lift, so as to realize the lifting and lowering of the whole detection robot in water and the movement along the detection surface. After reaching the target position, the present invention can use a cleaning device to clean the working surface of the workpiece to be detected, such as the surface of a dam with a lot of sediment, and use the cleaning device to remove the sediment to expose its real surface, and then use the detection device to detect the working surface, and send the detected data to the receiving device on the water. The present invention integrates cleaning and detection, has the advantages of simple structure, compact overall structure, stable operation, and strong maneuverability, and solves the problem of poor maneuverability of existing underwater detection robots. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 A stereogram of the wireless underwater detection robot of the present invention;

[0030] Figure 2 is a three-dimensional diagram of a carrier support of the present invention;

[0031] Figure 3 is a three-dimensional diagram of the omnidirectional wheel mechanism of the present invention;

[0032] Figure 4 is a three-dimensional diagram of the cleaning device of the present invention;

[0033] Figure 5 It is a three-dimensional diagram of the propeller mechanism of the present invention. DETAILED DESCRIPTION

[0034] In order to make the contents of the present invention more clearly understood, the present invention is further described in detail below based on specific embodiments in conjunction with the accompanying drawings.

[0035] Unless otherwise defined, the technical or scientific terms used herein shall have the common meanings understood by persons with ordinary skills in the field to which the present invention belongs. The words "first", "second" and similar words used in the patent specification and claims of the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. Similarly, words such as "one" or "an" do not indicate quantity restrictions, but indicate the existence of at least one.

[0036] like Figures 1 to 5 As shown, a wireless underwater detection robot includes a control system, a motion mechanism, a cleaning device and a detection device.

[0037] The control system receives control signals from the water surface and controls the movement of the motion mechanism through wireless signals.

[0038] The motion mechanism realizes the lifting and lowering of the entire detection robot in water and the movement along the detection surface. The motion mechanism of the present invention preferably includes a carrier support and an omnidirectional wheel mechanism and a propeller mechanism installed on the carrier support. Among them, the omnidirectional wheel mechanism is used to drive the carrier support to translate, and the propeller mechanism is used to drive the carrier support to lift. The translation and lifting of the carrier support drive the control system, cleaning device and detection device installed thereon to translate and lift together, and the movement is flexible to meet various detection requirements.

[0039] The cleaning device is used to clean the working surface of the workpiece to be inspected.

[0040] The detection device is used to detect the working surface and send the detection data to the receiving equipment on the water.

[0041] The motion mechanism of the present invention can drive the whole to translate and lift, so as to realize the lifting and lowering of the whole detection robot in water and the movement along the detection surface. After reaching the target position, the present invention can use a cleaning device to clean the working surface of the workpiece to be detected, such as the surface of a dam with a lot of sediment, and use the cleaning device to remove the sediment to expose its real surface, and then use the detection device to detect the working surface, and send the detected data to the receiving device on the water. The present invention integrates cleaning and detection, has the advantages of simple structure, compact overall structure, stable operation, and strong maneuverability, and solves the problem of poor maneuverability of existing underwater detection robots.

[0042] The detection device comprises a detection device sealed cabin 25 and a main sealed cabin 27 .

[0043] The detection device sealed cabin 25 is provided with an underwater camera, an underwater camera, a video processing unit, a sonar, and an underwater sensor. The underwater sensor includes a water temperature sensor, a water depth (water pressure) sensor, a flow rate sensor, and a water quality combination sensor, which can detect the underwater environment. The video processing unit is used to collect the signals of the underwater camera and the underwater camera, and send them to the transmission device arranged in the main sealed cabin 27, and the sonar and the underwater sensor also send the detected signals to the transmission device in the main sealed cabin 27.

[0044] The main sealed cabin 27 is provided with a transmission device, which is used to send a detection signal to a surface receiving device. The underwater video camera, underwater camera, video processing unit, sonar, underwater sensor and other detection devices in the detection device sealed cabin 25 detect the dam, and the obtained data is transmitted back to the surface receiving device in real time through the transmission device in the main sealed cabin 27. A variety of detection devices are arranged in the detection device sealed cabin 25 of the present invention, so that the detection robot of the present invention has the advantages of various detection means, and solves the shortcomings of the existing underwater detection robot such as insufficient operation capacity. A part of the power supply device of the detection robot is located in the main sealed cabin 27, and a part is located at the tail of each motor, so that the entire detection robot can support long-term underwater work.

[0045] In this embodiment, the carrier support includes a support plate 2 , a main fixing plate 1 , a main support rod 3 , a main connecting rod 4 , a first short rod 5 , a second short rod 6 and a reinforcement ring 7 .

[0046] The support plate 2 is used to install the propeller mechanism, and a first short rod 5 is fixedly connected to the support plate 2. The second short rod 6 penetrates and is fixedly connected to the main fixed plate 1. The upper end of the second short rod 5 is used to connect the main sealed cabin 27, and the lower end of the second short rod 5 is connected to the main support rod 3. In this embodiment, three main fixed plates 1 are provided, and the main fixed plates 1 are used to install the omnidirectional wheel mechanism. An omnidirectional wheel mechanism is installed on each main fixed plate 1, for a total of three omnidirectional wheel mechanisms. The three main fixed plates 1 are evenly distributed around the support plate 2, and the support plate 2 is located on the mid-perpendicular line of the three main fixed plates 1 arranged in an equilateral triangle. One support plate 2 and the three main fixed plates 1 form a tetrahedron-like structure, forming the main structure of the carrier support, which has the advantages of stable structure, strong flow resistance and strong impact resistance. The second short rod 6 is fixedly connected to the main fixed plate 1.

[0047] Each main fixing plate 1 is connected to the support plate 2 via a main support rod 3, one end of the main support rod 3 is connected to the first short rod 5, and the other end is connected to the second short rod 6. Two adjacent main fixing plates 1 are connected via a main connecting rod 4. In this embodiment, three groups of main support rods 3 are also provided, and one main fixing plate and the support plate 2 are fixedly connected via a group of main support rods 3, so that three main fixing plates 1 and one support plate 2 form a whole. There are also three groups of main connecting rods 4, and the detection device sealed cabin 25 is fixed on the main connecting rod 4, preferably fixed in the middle position of the main connecting rod 4. Each main connecting rod 4 is equipped with a detection device sealed cabin 25. The main sealed cabin 27 is fixedly connected to the upper end of the first short rod 5.

[0048] The reinforcing ring 7 is provided with a connecting ear, and the main support rod 3 passes through the corresponding connecting ear and is fixedly connected to the connecting ear, that is, the reinforcing ring 7 is fixedly connected to the main support rod 3. The reinforcing ring 7 is provided to increase the stability of the entire carrier support.

[0049] Each main fixed plate 1 is equipped with a set of omnidirectional wheel mechanisms, and the entire detection robot has three sets of omnidirectional wheel mechanisms, which can meet the requirements of translation in any direction. When the detection surface is detected, the entire detection robot can move along the working surface to be detected through the adjustment of the three sets of omnidirectional wheel mechanisms, and can perform a comprehensive detection of the working surface. The omnidirectional wheel mechanism includes an omnidirectional wheel motor 10 and an omnidirectional wheel 8, and a first fixing device that serves to fix the omnidirectional wheel motor 10.

[0050] The omnidirectional wheel 8 has a first transmission shaft 12, which is in transmission connection with the omnidirectional wheel 8. A rolling bearing 9 is installed outside the first transmission shaft 12, and the first transmission shaft 12 is assembled with the main fixed plate 1 through the rolling bearing 9. The outer ring of the rolling bearing 9 is in rolling cooperation with the main fixed plate 1, and the inner ring of the rolling bearing 9 is in rolling cooperation with the first transmission shaft 12, so that the omnidirectional wheel 8 can rotate freely relative to the main fixed plate 1. The omnidirectional wheel motor 10 is used to drive the omnidirectional wheel 8 to rotate. The output shaft of the omnidirectional wheel motor 10 is installed with a coupling 11, which is connected to the first transmission shaft 12 through the coupling 11. The output shaft of the omnidirectional wheel motor 10 transmits the rotational motion to the first transmission shaft 12 through the coupling 11, and the first transmission shaft 12 then drives the omnidirectional wheel 8 to rotate. The omnidirectional wheel 8 can move in many different directions, thereby meeting the requirements of flexible movement of the entire detection robot.

[0051] The first fixing device is used to carry the omni-directional wheel motor 10, and the first fixing device is connected to the main fixing plate 1. In this embodiment, the first fixing device includes a rear fixing plate 16, a first long pin 14, a front fixing plate 15, an L-shaped plate 17 and a second connecting rod 18. The front fixing plate 15 and the rear fixing plate 16 are both provided with a first circular groove adapted to the omni-directional wheel motor 10, and the omni-directional wheel motor 10 is stuck in the first circular groove on the front fixing plate 15 and the rear fixing plate 16. The rear end of the first long pin 14 is threadedly connected to the rear fixing plate 16, and the front end of the first long pin 14 is connected to the front fixing plate 15 by bolts. The four corners of the front fixing plate 15 are each sleeved with an L-shaped plate 17, and the L-shaped plate 17 plays a role of connecting transition. The L-shaped plate 17 is sleeved on one end of the first long pin 14 close to the front fixing plate 15, one end of the second connecting rod 18 is fixedly connected to the L-shaped plate 17, and the other end is fixedly connected to the main fixing plate 1, so that the omni-directional wheel motor 10 is fixed on the main fixing plate 1.

[0052] The support plate 2 is used to install the propeller mechanism. The propeller mechanism is fixedly connected to the lower side of the support plate 2. The propeller mechanism includes a propeller motor 28 and a propeller 29, and the propeller motor 28 is transmission-connected to the propeller 29 to drive the propeller 29 to rotate and realize lifting. The detection robot of the present invention controls the forward direction through the propeller 29. When it reaches the detection position, the rotation of the propeller generates a back thrust, and a gravity block or a buoyancy block is installed on the carrier bracket according to the diving depth detected by the underwater sensor, so that the detection robot is close to the detected surface, and has the advantage of a large diving depth. By controlling the speed of the three omnidirectional wheels 8 installed at the bottom of the robot, the detection robot can move in any direction close to the detection surface.

[0053] The cleaning device includes a brush motor 19, a brush 20, an upper fixing plate 21, a lower fixing plate 22, and a second long pin 23. The lower fixing plate 22 has a second circular groove adapted to the brush motor 19, the brush motor 19 is stuck in the second circular groove, and the brush motor 19 is connected to the brush 20 after passing through the second circular groove, so as to drive the brush 20 to rotate. The lower end of the second long pin 23 is threadedly connected to the lower fixing plate 22, and the upper end of the second long pin 23 is connected to the upper fixing plate 21 by bolts. A third connecting rod 24 is installed on the lower fixing plate 22, one end of the third connecting rod 24 is connected to the lower fixing plate 22, and the other end is connected to the detection device sealed cabin 25 by a fastening bolt 26. When the working surface to be detected does not need to be cleaned, the cleaning device can be removed, so that the underwater detection of the detection robot is more flexible.

[0054] The working principle of the present invention is as follows:

[0055] The wireless underwater detection robot of the present invention controls the forward direction through the propeller 29. When it reaches the detection position, the propeller 29 rotates to generate back thrust, and a gravity block or a buoyancy block is installed on the carrier bracket according to the diving depth, so that the detection robot can better adhere to the working surface to be detected. By driving the three omnidirectional wheels 8 installed at the bottom of the robot, the detection robot can move in any direction close to the detection plane. For the working surface of the dam with a lot of sediment, the brush 20 can be used to clean it, and then the detection device installed in the three detection device sealed cabins 25 can be used to detect the dam. The data obtained is transmitted back to the surface receiving device in real time through the transmission device in the main sealed cabin 27.

[0056] The specific embodiments described above further illustrate the technical problems, technical solutions and beneficial effects solved by the present invention. It should be understood that the above are only specific embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A wireless underwater detection robot, characterized in that: include A control system, the control system receives control signals on the water surface and controls the movement of the motion mechanism through wireless signals; The motion mechanism enables the detection robot to rise and fall in water and move along the detection surface; A cleaning device, used for cleaning the working surface of the workpiece to be inspected; A detection device, used for detecting the surface to be detected and sending the detected data to a water surface receiving device; The motion mechanism includes a carrier support and an omnidirectional wheel mechanism and a propeller mechanism installed on the carrier support; wherein the omnidirectional wheel mechanism is used to drive the carrier support to translate, and the propeller mechanism is used to drive the carrier support to move up and down; The carrier support comprises The support plate (2) is used to install the propeller mechanism, and a first short rod (5) is fixedly connected to the support plate (2). A plurality of main fixing plates (1) for mounting the omnidirectional wheel mechanism, the main fixing plates (1) being fixedly connected to a second short rod (6), and the main fixing plates (1) being evenly distributed around the supporting plate; Each main fixing plate (1) is connected to the supporting plate via a main support rod (3), one end of the main support rod (3) is connected to a first short rod (5), and the other end of the main support rod (3) is connected to a second short rod (6); Two adjacent main fixing plates are connected via a main connecting rod (4); A reinforcing ring (7) is provided with a connecting ear, and the main support rod passes through the corresponding connecting ear and is fixedly connected to the connecting ear; The omnidirectional wheel mechanism comprises An omnidirectional wheel motor (10) is used to drive the omnidirectional wheel to rotate, and an output shaft of the omnidirectional wheel motor is provided with a coupling and connected to a first transmission shaft (12) via the coupling; The omnidirectional wheel (8) has a first transmission shaft (12), the first transmission shaft (12) is in transmission connection with the omnidirectional wheel (8), a rolling bearing is installed outside the first transmission shaft, the first transmission shaft is assembled with the main fixed plate through the rolling bearing, the outer ring of the rolling bearing (9) is in rolling fit with the main fixed plate (1), and the inner ring is in rolling fit with the first transmission shaft (12); A first fixing device, used for carrying the omnidirectional wheel motor (10), and the first fixing device is connected to the main fixing plate; The first fixing device comprises a rear fixing plate (16), a first long pin (14), a front fixing plate (15), an L-shaped plate (17) and a second connecting rod (18); the front fixing plate (15) and the rear fixing plate (16) are provided with a first circular groove matched with the omnidirectional wheel motor (10); the omnidirectional wheel motor (10) is clamped in the first circular groove on the front fixing plate (15) and the rear fixing plate (16); the rear end of the first long pin (14) is threadedly connected to the rear fixing plate (16); the front end of the first long pin (14) is connected to the front fixing plate (15) by bolts; the L-shaped plate (17) is sleeved on the first long pin (14); one end of the second connecting rod (18) is fixedly connected to the L-shaped plate (17); and the other end is fixedly connected to the main fixing plate (1); The propeller mechanism comprises a propeller motor (28) and a propeller (29), and the propeller motor (28) is connected to the propeller (29) in a transmission manner to drive the propeller (29) to rotate and realize lifting and lowering. The wireless underwater detection robot controls the forward direction through the propeller (29). When reaching the detection position, the propeller (29) rotates to generate back thrust, and a gravity block or a buoyancy block is installed on the carrier bracket according to the diving depth, so that the detection robot can better adhere to the working surface to be detected. By driving three omnidirectional wheels (8) installed at the bottom of the robot, the detection robot can move in any direction in close contact with the detection plane. For the working surface of the dam with a lot of sediment, the brush (20) can be used to clean it, and then the detection device installed in the three detection device sealed cabins (25) can be used to detect the dam. The obtained data is transmitted back to the water surface receiving device in real time through the transmission device in the main sealed cabin (27).

2. The wireless underwater detection robot according to claim 1, characterized in that: The detection device comprises A detection device sealed cabin (25) is provided with an underwater camera, an underwater camera, a video processing unit, a sonar, and an underwater sensor, wherein the underwater sensor comprises a water temperature sensor, a water depth sensor, a flow rate sensor, and a water quality combination sensor, wherein the video processing unit is used to collect signals from the underwater camera and the underwater camera, and send them to a transmission device arranged in the main sealed cabin (27), and the sonar and the underwater sensor also send the detected signals to the transmission device in the main sealed cabin (27); The main sealed cabin (27) is provided with a transmission device therein, and the transmission device is used to send a detection signal to a water surface receiving device.

3. The wireless underwater detection robot according to claim 2, characterized in that: The first short rod (5) passes through and is fixedly connected to the support plate (2), and the upper end of the second short rod is used to connect to the main sealed cabin (27), and the lower end of the second short rod is connected to the main support rod.

4. The wireless underwater detection robot according to claim 3, characterized in that: The cleaning device comprises a brush motor (19), a brush (20), an upper fixing plate (21), a lower fixing plate (22) and a second long pin (23); the lower fixing plate (22) has a second circular groove matched with the brush motor (19); the brush motor (19) is stuck in the second circular groove, and the brush motor (19) is connected to the brush (20) after passing through the second circular groove, so as to drive the brush (20) to rotate; the lower end of the second long pin (23) is threadedly connected to the lower fixing plate (22); the upper end of the second long pin (23) is connected to the upper fixing plate (21) by bolts; a third connecting rod (24) is installed on the lower fixing plate; one end of the third connecting rod (24) is connected to the lower fixing plate, and the other end is connected to the sealing cabin (25) of the detection device by a fastening bolt (26).

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