Detection equipment

Abstract

The invention relates to the technical field of nuclear reaction, and provides detection equipment which comprises a traction device, a shell, a nozzle device and an image acquisition device. The traction device is configured to be capable of moving on the water pool; the shell is connected with the traction device through a connecting rope and is arranged in the water pool, and a mounting cavity and a detection port communicated with the mounting cavity are formed in the shell; a part of the nozzle device is arranged on the outer side of the shell, and the nozzle device is used for spraying water flow; the image acquisition device is arranged in the mounting cavity and is used for underwater detection through the detection opening. The detection equipment provided by the invention is relatively high in detection precision and efficiency.

Description

Technical Field

[0001] The present application relates to the field of nuclear reaction technology, and in particular to a detection device. Background Art

[0002] Underwater production water sites such as spent fuel storage pools are key underwater operating areas in nuclear facilities. A lot of waste has accumulated at the bottom due to long-term operation and needs to be cleaned and transported. In order to ensure retrieval efficiency and protect the health and safety of on-site operators, relevant information such as the location, shape, and radioactivity of the waste at the bottom of the pool is required.

[0003] In the related art, a camera is tied to a long pole to conduct one-by-one detection. However, due to the instability of manual operation and the obstruction of vision by the bottom mud, the detection accuracy and efficiency of this method are low. Summary of the invention

[0004] In view of this, an embodiment of the present application hopes to provide a detection device with high detection accuracy and efficiency.

[0005] In order to achieve the above-mentioned purpose, the technical solution of the embodiment of the present application is implemented as follows:

[0006] The present application embodiment discloses a detection device, including:

[0007] a traction device configured to be movable over the pool;

[0008] A shell, the shell is connected to the traction device through a connecting rope and is arranged in the water pool, the shell is formed with an installation cavity and a detection port communicated with the installation cavity;

[0009] A nozzle device, part of which is arranged outside the housing, and the nozzle device is used to spray water;

[0010] An image acquisition device is arranged in the installation cavity, and the image acquisition device performs underwater detection through the detection port.

[0011] In one embodiment, the detection device includes an angle detection device, which is disposed on the shell and is used to detect the tilt angle of the shell in the pool.

[0012] In one embodiment, the detection device includes a controller, which is communicatively connected to the angle detection device and the nozzle device respectively, and the controller can control the operation of the nozzle device according to the tilt angle of the shell in the pool.

[0013] In one embodiment, the angle detection device comprises:

[0014] a ball joint, the ball joint being rotatably disposed on the housing;

[0015] Two rotating brackets, the two rotating brackets are cross-arranged, the two ends of the rotating brackets are arranged on the housing through bearings, the middle parts of the two rotating brackets are formed with a slide groove, the connecting rope passes through the slide groove and is connected to the ball joint, and the connecting rope can push the rotating bracket to rotate;

[0016] Two angle sensors, each of which is connected to the corresponding rotating bracket, and the angle sensor is configured to rotate along with the rotating bracket to measure the corresponding tilt angle.

[0017] In one embodiment, the nozzle device comprises:

[0018] A plurality of first nozzles are arranged at intervals on the outer side of the shell, and the mouths of the first nozzles face the outer peripheral side of the shell;

[0019] A plurality of first water supply pipes, each of the first nozzles is connected to a corresponding first water supply pipe;

[0020] A plurality of first valves are arranged on the corresponding first water supply pipes, and the controller is electrically connected to the first valves for controlling the opening of the first valves.

[0021] In one embodiment, the detection device includes a second nozzle, a second water supply pipe and a second valve, the second nozzle is arranged on the outer side of the shell, the second water supply pipe is connected to the second nozzle, the second valve is arranged on the second water supply pipe, the controller is electrically connected to the second valve for controlling the opening of the second valve, and the mouth of the second nozzle is facing the image acquisition device.

[0022] In one embodiment, the nozzle device includes a horn member, which is arranged at the mouth of the second nozzle and is used to adjust the water flow.

[0023] In one embodiment, the detection device includes a stabilizing device, and the stabilizing device is rotatably disposed in the mounting cavity.

[0024] In one embodiment, the detection device includes a controller and an inertial navigation unit, wherein the controller is communicatively connected to the stabilizing device and the inertial navigation unit respectively, the inertial navigation unit is used to measure the torsional torque of the shell in the water pool, and the controller can control the action of the stabilizing device according to the torsional torque.

[0025] In one embodiment, the stabilizing device includes a momentum wheel motor and an inertia wheel, the controller is communicatively connected to the momentum wheel motor, the motor shaft of the momentum wheel motor is drive-connected to the inertia wheel, and the motor shaft of the momentum wheel, the inertia wheel and the housing are coaxially arranged.

[0026] In one embodiment, the detection device includes a mechanical gripper, and the gripper is arranged at the detection port.

[0027] The detection device disclosed in the embodiment of the present application is provided with a shell, a mounting cavity and a detection head are formed in the shell, an image acquisition device is provided in the mounting cavity, and the image acquisition device detects underwater through the detection port, so that the shell can protect the image acquisition device inside it to a certain extent and improve its service life. By providing a traction device on the pool, the traction device can move on the pool, and the shell is connected to the traction device through a connecting rope, so that the traction device can drive the shell to move together to control the position of the shell in the pool, that is, the large-scale movement of the shell in the pool is achieved by the movement of the traction device on the pool, so that the disturbance of silt and debris in the pool can be reduced. In this way, on the one hand, the influence on the line of sight of the image acquisition device is reduced, and the detection accuracy and efficiency are improved; on the other hand, the silt and impurities can be re-suspended in the water to deteriorate the water quality and secondary pollution can be reduced; on the other hand, the shell is moved by the traction mechanism on the pool, and compared with the propeller method, the detection device provided by the present application can be suitable for narrow operating space and has strong adaptability. By setting up a nozzle device, it is possible to remove obstacles by jetting water, stabilize the shell's underwater posture, and push the shell to move in a small range, so as to improve the detection accuracy and efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 A schematic diagram of the structure of a detection device provided in an embodiment of the present application;

[0029] Figure 2 A structural block diagram of a nozzle device, a housing, and a controller provided in another embodiment of the present application;

[0030] Figure 3 A schematic structural diagram of a nozzle device, an image acquisition device, an angle detection device, a stabilization device, and an inertial navigation unit provided in yet another embodiment of the present application;

[0031] Figure 4 A schematic structural diagram of a housing, a nozzle device, an image acquisition device, an angle detection device, and a mechanical gripper provided in yet another embodiment of the present application;

[0032] Figure 5 for Figure 4 Schematic cross-section diagram of

[0033] Figure 6 A schematic structural diagram of a ball support and an angle detection device provided in accordance with yet another embodiment of the present invention.

[0034] Description of Reference Numerals

[0035] 100. Detection equipment; 1. Traction device; 11. Frame; 111. Column; 112. Vertical beam; 113. Horizontal beam; 12. Crane; 2. Shell; 2a. Installation cavity; 2b. Detection port; 2c. Ball support; 3. Nozzle device; 31. First nozzle; 32. First water supply pipeline; 33. First valve; 34. Second nozzle; 35. Second water supply pipeline; 36. Second valve; 37. Water pump; 38. Suction pipe; 39. Speaker; 3a. Flow meter; 4. Image acquisition device; 41. PTZ; 42. Camera; 43. Transparent waterproof cover; 5. Angle detection device; 51. Ball joint; 52. Rotating bracket; 52a. Slide; 53. Angle sensor; 6. Controller; 7. Stabilization device; 71. Momentum wheel motor; 72. Inertia wheel; 8. Inertial navigation unit; 9. Mechanical gripper; A. Connecting rope; B. Signal line; C. Water tank. DETAILED DESCRIPTION

[0036] It should be noted that, in the absence of conflict, the embodiments and technical features in the embodiments of the present application can be combined with each other, and the detailed description in the specific implementation method should be understood as an explanation of the purpose of the present application and should not be regarded as an improper limitation on the present application.

[0037] The present application is further described in detail below in conjunction with the accompanying drawings and specific embodiments. The descriptions of "first", "second", etc. in the embodiments of the present application are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly including at least one feature. In the description of the embodiments of the present application, the meaning of "multiple" is at least two, such as two, three, etc., unless otherwise clearly and specifically limited.

[0038] Underwater production water sites such as spent fuel storage pools are key underwater operating areas in nuclear facilities. A lot of waste has accumulated at the bottom due to long-term operation and needs to be cleaned and transported. In order to ensure retrieval efficiency and protect the health and safety of on-site operators, relevant information such as the location, shape, and radioactivity of the waste at the bottom of the pool is required.

[0039] Some related technologies use cameras tied to long poles for exploration. However, due to the instability of manual operation and the obstruction of vision by the bottom mud, the exploration accuracy and efficiency are low. In other related technologies, exploration is carried out by propeller underwater robots. However, the rotation of the propellers will disturb the water environment, easily stir up the bottom mud and debris, affect the vision, and bring additional difficulties and risks to the exploration work.

[0040] In view of this, the present application embodiment provides a detection device 100, see Figures 1 to 6 The detection device 100 includes a traction device 1, a housing 2, a nozzle device 3 and an image acquisition device 4. The traction device 1 is configured to be movable on the pool C. The housing 2 is connected to the traction device 1 by a connecting rope A and is disposed in the pool C. The housing 2 is formed with an installation cavity 2a and a detection port 2b connected to the installation cavity 2a. Part of the nozzle device 3 is disposed outside the housing 2, and the nozzle device 3 is used to spray water. The image acquisition device 4 is disposed in the installation cavity 2a, and the image acquisition device 4 detects underwater through the detection port 2b.

[0041] The detection device 100 provided in the embodiment of the present application is provided with a shell 2, in which an installation cavity 2a and a detection head are formed, and an image acquisition device 4 is arranged in the installation cavity 2a. The image acquisition device 4 detects underwater through a detection port 2b. In this way, the shell 2 can protect the image acquisition device 4 inside it to a certain extent and improve its service life. By setting the traction device 1 on the pool C, the traction device 1 can move on the pool C, and the shell 2 is connected to the traction device 1 through the connecting rope A, so that the traction device 1 can drive the shell 2 to move together to control the position of the shell 2 in the pool C, that is, the large-scale movement of the shell 2 in the pool C is achieved by the movement of the traction device 1 on the pool C, so that the disturbance of the silt and debris in the pool C can be reduced. In this way, on the one hand, the visual impact on the image acquisition device 4 is reduced, and the detection accuracy and efficiency are improved; on the other hand, the silt and impurities can be reduced from being re-suspended in the water to deteriorate the water quality and secondary pollution; on the other hand, the shell 2 is moved by the traction mechanism on the pool C. Compared with the propeller method, the detection device 100 provided by the present application can be suitable for narrow operating spaces and has strong adaptability. By setting the nozzle device 3, it is possible to remove obstacles by spraying water, stabilize the posture of the shell 2 underwater, and push the shell 2 to move slightly to improve the detection accuracy and efficiency.

[0042] Exemplarily, in one embodiment, the water pool C can be a semi-sealed liquid water pool C.

[0043] Exemplarily, in one embodiment, the shape of the shell 2 is not limited, for example, the shape of the shell 2 can be a cylindrical tube.

[0044] For example, in one embodiment, please refer to Figure 1The traction device 1 includes a frame 11 and a trolley 12. The frame 11 can be arranged above the pool C. A guide rail is formed on the frame 11. The trolley 12 can be slidably arranged on the guide rail. The shell 2 is connected to the hook of the trolley 12 through a connecting rope A. In this way, when it is necessary to move the shell 2 in the pool C, the trolley 12 above the pool C can be moved to drive the shell 2 to move. In this way, the disturbance to the water body in the pool C can be reduced, and the narrow space in the pool C can be explored, and the adaptability is strong.

[0045] For example, in one embodiment, please refer to Figure 1 The frame 11 includes four columns 111, two vertical beams 112 and a cross beam 113. The four columns 111 are arranged at an interval of 90° at the edge of the pool C. The two vertical beams 112 are respectively connected to the two columns 111 on both sides of the pool C. The cross beam 113 is connected between the two vertical beams 112. A guide rail is formed on the cross beam 113, and the carriage 12 can be slidably arranged on the guide rail, so that the horizontal area of ​​the pool C can be covered.

[0046] Exemplarily, in one embodiment, the total mass of the shell 2 and its internal and external parts is greater than the buoyancy of the shell 2 and its internal and external parts in the water pool C. In this way, it can be ensured that the connecting rope A between the traction device 1 and the shell 2 is in a taut state. In this way, the traction mechanism can control the movement of the shell 2 in the water pool C through the tension of the connecting rope A, with high movement accuracy and reliable detection results.

[0047] In one embodiment, please refer to Figures 3 to 6 The detection device 100 includes an angle detection device 5, which is disposed on the housing 2 and is used to detect the posture of the housing 2 in the pool C. In this way, the posture of the housing 2 in the pool C, such as tilt, can be obtained through the angle detection device 5, which is convenient for operators to make timely adjustments and further improve the detection accuracy.

[0048] In one embodiment, please refer to Figure 6 The angle detection device 5 includes a ball joint 51, two rotating brackets 52 and two angle sensors 53. The ball joint 51 is rotatably arranged on the housing 2. The two rotating brackets 52 are arranged crosswise, and both ends of the rotating brackets 52 are arranged on the housing 2 through bearings. A slide groove 52a is formed in the middle of the two rotating brackets 52. The connecting rope A passes through the slide groove 52a and is connected to the ball joint 51. The connecting rope A can push the rotating bracket 52 to rotate. Each angle sensor 53 is connected to the corresponding rotating bracket 52, and the angle sensor 53 is configured to be able to rotate with the rotating bracket 52 to measure the corresponding tilt angle.

[0049] Exemplarily, a ball support 2c may be formed at the top wall of the housing 2, and a ball joint 51 is disposed in the ball support 2c so that the ball joint 51 can rotate relative to the housing 2. The two rotating brackets 52 may be arranged 90° crosswise, with one rotating bracket 52 being located above the other rotating bracket 52. The opposite ends of the rotating bracket 52 may be arranged on the ball support 2c through bearings, so that the rotating bracket 52 can be rotatably disposed on the housing 2. The middle portion of the rotating bracket 52 is arched upward to form a slide groove 52a. The connecting rope A passes through the slide grooves 52a of the two rotating brackets 52 and is connected to the ball joint 51. Each angle sensor 53 is connected to the corresponding rotating bracket 52 so that the angle sensor 53 can rotate with the rotating bracket 52 to measure the corresponding tilt angle. In this way, when the connecting rope A and the shell 2 are tilted, the connecting rope A can easily push the rotating bracket 52 to rotate through the slide groove 52a, and then drive the corresponding angle sensor 53 to rotate, so as to obtain the angle between the connecting rope A and the shell 2 along the first direction and the angle along the second direction, wherein the first direction, the second direction and the top and bottom directions are perpendicular to each other.

[0050] It should be noted that when the housing 2 is stationary in the pool C, due to the gravity of the housing 2, the housing 2 and the connecting rope A are arranged roughly vertically. When the traction device 1 drives the housing 2 to move, the water exerts a certain resistance on the housing 2, causing the housing 2 to lag behind the traction device 1. At this time, the connecting rope A and the housing 2 will be misaligned in the up-down direction, resulting in a certain degree of inclination between the connecting rope A and the housing 2, which will reduce the detection reliability of the image acquisition device 4.

[0051] Exemplarily, in one embodiment, the shape of the ball support 2c is not limited. For example, the shape of the ball support 2c can be a cuboid or a cube.

[0052] Exemplarily, in one embodiment, the first direction may be one of the width direction and the length direction of the ball holder 2c, and the second direction may be the other of the width direction and the length direction of the ball holder 2c.

[0053] Exemplarily, in one embodiment, Figure 6 R1 may be the first direction, and R2 may be the second direction.

[0054] In one embodiment, please refer to Figure 2 The detection device 100 includes a controller 6, which is respectively connected to the angle detection device 5 and the nozzle device 3 for communication. The controller 6 can control the movement of the nozzle device 3 according to the posture of the shell 2 in the pool C.

[0055] Exemplarily, the controller 6 can be respectively connected to the nozzle device 3 and the angle sensor 53. In this way, the controller 6 can adjust the posture of the housing 2 in the pool C by obtaining the tilt angle of the angle sensor 53 and then controlling the nozzle device 3 to move, such as spraying water, so as to improve the detection precision and accuracy of the image acquisition device 4.

[0056] In one embodiment, please refer to Figures 2 to 5 The nozzle device 3 includes a plurality of first nozzles 31, a plurality of first water supply pipes 32 and a plurality of first valves 33. The plurality of first nozzles 31 are arranged at intervals on the outside of the housing 2, and the mouths of the first nozzles 31 face the outer peripheral side of the housing 2. Each first nozzle 31 is connected to the corresponding first water supply pipe 32. The plurality of first valves 33 are arranged on the corresponding first water supply pipes 32, and the controller 6 is electrically connected to the first valves 33 for controlling the opening of the first valves 33.

[0057] For example, the plurality of first nozzles 31 may be arranged at intervals on the outer peripheral side of the housing 2. Each first valve 33 may be arranged on a corresponding first water supply pipe 32. The controller 6 may be connected to the plurality of first valves 33 through a signal line B for communication.

[0058] Here, when the traction device 1 drives the shell 2 to move, the connecting rope A will be tilted with the shell 2, and the controller 6 can control the opening of the first valve 33 and the opening of the first water supply pipe 32 in the corresponding tilt direction according to the tilt angle of the shell 2 obtained by the angle detection device 5. The reaction vector synthesis of the water flow ejected by the first nozzle 31 is used to adjust the posture of the shell 2 in the pool C so that the connecting rope A and the axis of the shell 2 remain coincident, thereby ensuring that the connecting rope A is always perpendicular to the water surface during operation. In this way, the detection accuracy of the image acquisition device 4 can be improved.

[0059] Exemplarily, in one embodiment, the length and position of the connecting rope A can be used to identify the position of the housing 2 in the pool C for an operator.

[0060] Exemplarily, in one embodiment, the first nozzle 31 can eject a fine and high-speed jet, and maintain stable operation only during the movement of the shell 2, and the working time is short. In this way, the disturbance to the surrounding water body can be reduced, the occurrence of turbulence can be reduced, which is conducive to maintaining the stability of the bottom silt, improving the cleanliness and stability of the water quality, and increasing the accuracy and reliability of the detection data.

[0061] Exemplarily, in one embodiment, the first nozzle 31 can be positioned on a horizontal plane where the center of gravity of the shell 2 and its internal and external parts are located, so that the posture of the shell 2 in the water can be better stabilized by spraying water.

[0062] In one embodiment, please refer to Figures 2 to 5 The detection device 100 includes a second nozzle 34, a second water supply pipe 35 and a second valve 36. The second nozzle 34 is arranged on the outer side of the shell 2. The second water supply pipe 35 is connected to the second nozzle 34. The second valve 36 is arranged on the second water supply pipe 35. The controller 6 is electrically connected to the second valve 36 for controlling the opening of the second valve 36. The mouth of the second nozzle 34 faces the image acquisition device 4.

[0063] Exemplarily, the second nozzle 34 can be arranged on the outer side of the housing 2 between two adjacent first nozzles 31. The second valve 36 can be arranged on the second water supply pipe 35, the controller 6 can be electrically connected to the second valve 36 via the signal line B, and the mouth of the second nozzle 34 can be oriented toward the acquisition window of the image acquisition device 4.

[0064] In this way, when the image acquisition device 4 is performing image acquisition, if there is an obstacle or obstruction blocking it, the second valve 36 can be opened or the opening of the second valve 36 can be controlled by the controller 6, and the water in the second water supply pipe 35 can be sprayed to the image acquisition device 4 through the second nozzle 34 to clear the obstruction, which can improve the detection accuracy of the image acquisition device 4 and improve the reliability and stability of the detection.

[0065] For example, in one embodiment, please refer to Figure 2 The nozzle device 3 includes a water pump 37 and a water suction pipe 38. The water pump 37 can be arranged at the edge of the pool C or on the traction device 1. The water suction port of the water suction pipe 38 can be arranged on the upper water surface in the pool C. The first water supply pipe 32 and the second water supply pipe 35 are both connected to the water pump 37. In this way, not only can the disturbance of the silt and debris at the bottom of the pool C be reduced, but also the water flow sprayed by the first nozzle 31 and the second nozzle 34 can be cleaner.

[0066] For example, in one embodiment, please refer to Figure 4 There are two second nozzles 34, two second water supply pipes 35 and two second valves 36. The two second nozzles 34 are arranged on opposite sides. Each second water supply pipe 35 is connected to the corresponding second nozzle 34. Each second valve 36 is set on the corresponding second water supply pipe 35. In this way, the clearing of obstacles or obstructions can be accelerated and the detection efficiency can be improved.

[0067] Exemplarily, in one embodiment, the second nozzle 34 can spray a large flow rate, a low flow rate and a stable water flow, which can not only reduce the disturbance to the bottom of the pool C, but also can more stably push away obstructions such as silt on the image acquisition device 4, so that the image acquisition device 4 can provide a clearer underwater field of view.

[0068] In one embodiment, the nozzle device 3 includes a horn member 39, which is disposed at the mouth of the second nozzle 34 to adjust the water flow.

[0069] Exemplarily, the horn member 39 has two openings, the diameter of one of the two openings is larger than the diameter of the other opening, so as to be horn-shaped, and the side of the opening with a smaller diameter of the horn member 39 is connected to the edge of the shell 2 having the detection port 2b, and the side of the opening with a larger diameter is set downward.

[0070] In this way, the water flow sprayed from the second nozzle 34 can be blocked by the horn member 39 to reduce the flow rate of the water flow. In this way, the disturbance of the water flow to the bottom of the pool C can be further reduced, and the detection accuracy of the image acquisition device 4 can be improved.

[0071] In one embodiment, please refer to Figure 3 and Figure 5 The detection device 100 includes a stabilizing device 7, which is rotatably disposed in the mounting cavity 2a.

[0072] It can be understood that the shell 2 is located in the pool C through the connecting rope A. When the traction device 1 drives the shell 2 to move through the connecting rope A and collides with an obstacle or a manufacturing defect, the shell 2 will not only tilt relative to the connecting rope A, but also rotate, making it inconvenient for the image acquisition device 4 to collect images.

[0073] In this way, by arranging the stabilizing device 7 in the installation cavity 2a, on the one hand, when the traction device 1 drives the shell 2 to move through the connecting rope A, and collides with an obstacle or a manufacturing defect causes the shell 2 to generate a torsional moment, the stabilizing device 7 can rotate to generate a reverse torque, thereby improving the stability of the shell 2 in the up and down directions; on the other hand, the stabilizing device 7 can reduce the disturbance to the bottom of the pool C by rotating in the shell 2; on the other hand, the stabilizing device 7 can also rotate itself to drive the shell 2 to rotate and adjust the angle, thereby indirectly adjusting the viewing angle of the image acquisition device 4.

[0074] In one embodiment, please refer to Figure 3 and Figure 5 The detection device 100 includes a controller 6 and an inertial navigation unit 8. The controller 6 is respectively connected to the stabilizing device 7 and the inertial navigation unit 8 for communication. The inertial navigation unit 8 is used to measure the torsional moment of the shell 2 in the water pool C. The controller 6 can control the action of the stabilizing device 7 according to the torsional moment.

[0075] Exemplarily, the inertial navigation unit 8 can be arranged in the installation cavity 2a below the stabilizing device 7 to measure the torsional moment of the housing 2 in the pool C. In this way, when the traction device 1 drives the housing 2 to move through the connecting rope A, collides with an obstacle or a manufacturing defect causes the housing 2 to generate a torsional moment, the inertial navigation unit 8 will send the data to the controller 6. After receiving the data, the controller 6 controls the stabilizing device 7 to rotate in the installation cavity 2a to generate a reverse torque to offset it, thereby forming a feedback control loop to achieve the effect of stabilizing the housing 2 in its up and down direction.

[0076] In one embodiment, please refer to Figure 3 and Figure 5 The stabilizing device 7 includes a momentum wheel motor 71 and an inertia wheel 72. The controller 6 is in communication connection with the momentum wheel motor 71. The motor shaft of the momentum wheel motor 71 is drivingly connected with the inertia wheel 72. The motor shaft of the momentum wheel, the inertia wheel 72 and the housing 2 are coaxially arranged.

[0077] Exemplarily, the momentum wheel motor 71 may be disposed in the mounting cavity 2a below the angle detection device 5 . The momentum wheel motor 71 may be connected to the controller 6 via a signal line B. The inertia wheel 72 may be drivingly connected to the motor shaft of the momentum wheel motor 71 .

[0078] In this way, when the inertial navigation unit 8 detects the torsional torque of the shell 2 and sends it to the controller 6, the controller 6 controls the momentum wheel motor 71 to rotate in the opposite direction according to the rotation of the shell 2 after receiving it, and controls the speed of the momentum wheel motor 71 according to the torsional torque to drive the inertia wheel 72 to rotate. The momentum wheel motor 71, the inertia wheel 72 and the shell 2 are coaxially arranged. In this way, the torque generated by the rotation of the inertia wheel 72 can offset the torsional torque.

[0079] In one embodiment, please refer to Figure 4 and Figure 5 The detection device 100 includes a mechanical gripper 9, which is arranged at the detection port 2b. In this way, the mechanical gripper 9 can be used to grab obstacles or shielding objects, which is convenient for the image acquisition device 4 to detect.

[0080] Illustratively, in one embodiment, the mechanical gripper 9 can be communicatively connected with the controller 6 and the image acquisition device 4 respectively. When the image acquisition device 4 detects that there is an obstacle or obstruction, in addition to spraying water to remove it through the second nozzle 34, the image acquisition device 4 can also send an obstacle removal signal to the controller 6. After receiving the obstacle removal signal, the controller 6 can drive the mechanical gripper to grab and remove the obstacle or obstruction. In this way, the degree of automation is high and the detection effect is good.

[0081] In one embodiment, please refer to Figure 5The image acquisition device 4 includes a pan-tilt platform 41 and a camera 42 . The pan-tilt platform 41 is disposed in the mounting cavity 2 a . The camera 42 is connected to the pan-tilt platform 41 . The pan-tilt platform 41 is configured to drive the camera 42 to swing.

[0082] For example, the pan-tilt 41 can be arranged in the installation cavity 2a below the inertial navigation unit 8, and the camera 42 can be connected to the pan-tilt 41 to drive the camera 42 to swing in the up and down direction. In this way, by using the pan-tilt 41 and the camera 42, the pan-tilt 41 can drive the camera 42 to swing, so that the camera 42 can obtain a larger and more detection field of view, thereby improving the detection effect.

[0083] In one embodiment, please refer to Figure 4 and Figure 5 The image acquisition device 4 includes a transparent waterproof cover 43 , which is arranged at the detection port 2 b , and the pan / tilt 41 and the camera 42 are both located in the transparent waterproof cover 43 .

[0084] In this way, the transparent waterproof cover 43 will not affect the detection effect of the image acquisition device 4, but can also provide waterproof protection for the image acquisition device 4 to a certain extent, reduce the situation where water enters the accommodating cavity and causes damage to the image acquisition device 4 and internal components, and has good safety.

[0085] For example, in one embodiment, please refer to Figure 1 Flow meters 3a are provided in the first water supply pipe 32 and the second water supply pipe 35. The flow meters 3a are used to detect the amount of water in the pipes. The flow meters 3a can be electrically connected to the controller 6, so that it is convenient to control the opening of the corresponding first valve 33 and the second valve 36.

[0086] The above is only a preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. All modifications, equivalent substitutions, improvements, etc. within the spirit and principles of the present application are included in the protection scope of the present application.

Claims

1. A detection device, characterized in that: include: a traction device configured to be movable over the pool; A shell, the shell is connected to the traction device through a connecting rope and is arranged in the water pool, the shell is formed with an installation cavity and a detection port communicated with the installation cavity; A nozzle device, part of which is arranged outside the housing, and the nozzle device is used to spray water; An image acquisition device is arranged in the installation cavity, and the image acquisition device performs underwater detection through the detection port.

2. The detection device according to claim 1, characterized in that The detection device comprises an angle detection device, which is arranged on the shell and is used to detect the tilt angle of the shell in the pool.

3. The detection device according to claim 2, characterized in that: The detection device includes a controller, which is communicatively connected with the angle detection device and the nozzle device respectively, and the controller can control the action of the nozzle device according to the tilt angle of the shell in the pool.

4. The detection device according to claim 2 or 3, characterized in that: The angle detection device comprises: a ball joint, the ball joint being rotatably disposed on the housing; Two rotating brackets, the two rotating brackets are cross-arranged, the two ends of the rotating brackets are arranged on the housing through bearings, the middle parts of the two rotating brackets are formed with a slide groove, the connecting rope passes through the slide groove and is connected to the ball joint, and the connecting rope can push the rotating bracket to rotate; Two angle sensors, each of which is connected to the corresponding rotating bracket, and the angle sensor is configured to rotate along with the rotating bracket to measure the corresponding tilt angle.

5. The detection device according to claim 3, characterized in that: The nozzle device comprises: A plurality of first nozzles are arranged at intervals on the outer side of the shell, and the mouths of the first nozzles face the outer peripheral side of the shell; A plurality of first water supply pipes, each of the first nozzles is connected to a corresponding first water supply pipe; A plurality of first valves are arranged on the corresponding first water supply pipes, and the controller is electrically connected to the first valves for controlling the opening of the first valves.

6. The detection device according to claim 5, characterized in that The detection device includes a second nozzle, a second water supply pipe and a second valve. The second nozzle is arranged on the outer side of the shell. The second water supply pipe is connected to the second nozzle. The second valve is arranged on the second water supply pipe. The controller is electrically connected to the second valve for controlling the opening of the second valve. The mouth of the second nozzle faces the image acquisition device.

7. The detection device according to claim 6, characterized in that The nozzle device comprises a horn member, which is arranged at the mouth of the second nozzle and is used for adjusting the water flow.

8. The detection device according to claim 1, characterized in that The detection device comprises a stabilizing device, and the stabilizing device is rotatably arranged in the mounting cavity.

9. The detection device according to claim 8, characterized in that The detection device includes a controller and an inertial navigation unit. The controller is communicatively connected to the stabilizing device and the inertial navigation unit respectively. The inertial navigation unit is used to measure the torsional torque of the shell in the water pool. The controller can control the action of the stabilizing device according to the torsional torque.

10. The detection device according to claim 9, characterized in that The stabilizing device comprises a momentum wheel motor and an inertia wheel, the controller is communicatively connected with the momentum wheel motor, the motor shaft of the momentum wheel motor is drivingly connected with the inertia wheel, and the motor shaft of the momentum wheel, the inertia wheel and the housing are coaxially arranged.

11. The detection device according to claim 1, characterized in that The detection device comprises a mechanical gripper, and the gripper is arranged at the detection port.

Images