Dam hidden danger and dangerous case detection ship

Abstract

The invention discloses a dam hidden danger and dangerous case detection ship, and belongs to the technical field of detection ships. The detection ship comprises a detection ship body and a pushing-aside mechanism, a radar sensor is arranged at the position, at the bow, of the detection ship body, a ship cavity base is arranged at the bottom of the detection ship body, a ground penetrating radar is arranged in the ship cavity base, a through opening is formed in the position, at the bow, of the ship cavity base in the longitudinal direction, and the pushing-aside mechanism is arranged in the through opening. And one end of the push-aside mechanism extends out of the through hole. The distance between the detection ship and the wharf and the distance between the detection ship and garbage and obstacles floating on the water surface are detected through the radar sensors, so that the detection ship can actively avoid the obstacles; when the detection ship cannot actively avoid due to more garbage and obstacles on the water surface, the garbage and the obstacles on the water surface can be pushed aside through the pushing-aside mechanism, so that the conditions of abrasion, deformation and even damage caused by collision between the bow of the detection ship and the garbage or the obstacles on the water surface are avoided.

Description

Technical Field

[0001] The invention relates to a dam hidden danger and dangerous situation detection ship, belonging to the technical field of detection ships. Background Art

[0002] Levee is a general term for dikes and dams, and also refers to buildings and structures that prevent water from entering. After long-term operation, levees and dams generally have many potential hidden dangers such as cracks, leakage and looseness, which will greatly increase the risk of dam disasters. Traditional dam hidden danger detection mainly relies on regular inspections by technical personnel, which not only consumes a lot of manpower and material resources, but also has extremely low work efficiency and low accuracy. Among them, the detection of underwater areas of dams with the highest risk factors has problems such as limited diving depth, short operation time and high risks. Manual inspections are difficult to carry out normal detection work in relevant areas.

[0003] To this end, the Chinese patent document with publication number CN118376995A discloses an automatic identification method for dam leakage detection based on ship-borne ground-penetrating radar, which uses ship-borne ground-penetrating radar to collect hidden dangers of underwater dam parts in real time, with simpler and more efficient operation, fast response speed, stronger environmental adaptability and anti-interference ability. It can realize efficient and intelligent identification of hidden dangers inside underwater dam bodies, improve the intelligent level of hidden danger detection for underwater dam bodies, greatly save the manpower and material resources required for underwater detection work, and provide a better foundation for large-scale underwater dam safety detection.

[0004] However, when the shipborne ground penetrating radar moves and works on the water surface, it is inevitable that it will rub against and collide with garbage or obstacles floating on the water surface. On the one hand, it will affect the normal detection work of the shipborne ground penetrating radar, and on the other hand, it will accelerate the wear of the hull surface, and even cause deformation and damage to the hull surface, resulting in a shortened service life of the shipborne ground penetrating radar.

[0005] Based on this, a Chinese patent document with publication number CN110539852A discloses an unmanned boat for river water quality inspection with autonomous obstacle avoidance and cruising function. The autonomous obstacle avoidance and cruising function of the unmanned boat is realized by using a circle of anti-collision airbag walls, a pair of thrusters, a 360° panoramic camera, an infrared or ultrasonic ranging sensor, an airbag inflation and deflation device and a main control system.

[0006] However, when there is a lot of garbage and obstacles on the water surface, it is difficult to avoid all of them only by active obstacle avoidance, which makes it easy for the bow to collide with the garbage or obstacles and become deformed or even damaged. Summary of the invention

[0007] In order to solve the above technical problems, the present invention provides a dam hidden danger and dangerous situation detection ship.

[0008] The present invention is achieved through the following technical solutions:

[0009] A dam hidden danger and dangerous situation detection ship comprises a detection ship body and a pushing mechanism, wherein the detection ship body is provided with a radar sensor at the bow position, the bottom of the detection ship body is provided with a ship cavity base, and a ground penetrating radar is provided in the ship cavity base, a through opening is opened in the longitudinal direction at the bow position on the ship cavity base, the pushing mechanism is arranged in the through opening, and one end of the pushing mechanism extends outside the through opening.

[0010] A circle of anti-collision airbags is arranged on the outer wall of the boat cavity base.

[0011] The pushing mechanism includes a mounting plate, two rotating rods, a reciprocating block and an electric cylinder. The mounting plate is fixedly arranged in the through opening. The two rotating rods are arranged side by side. One end of the two rotating rods is rotatably connected to the mounting plate respectively, and the two rotating rods are provided with a first gear and a pushing plate. One end of the pushing plate extends out of the through opening. The reciprocating block is slidably connected to the ship cavity base. Racks are provided on one pair of side surfaces of the reciprocating block, and the racks on the reciprocating block are meshed with the first gears on the two rotating rods. The electric cylinder is fixedly arranged in the ship cavity base, and the electric cylinder is connected to the reciprocating block.

[0012] The mounting plate is symmetrically provided with two arc grooves, and the push-away plates on the two rotating rods are provided with sliding rods which are slidably connected with the two arc grooves in a one-to-one correspondence.

[0013] A camera mechanism is provided on the detection ship body at the bow position.

[0014] The camera mechanism comprises a 360-degree rotating component and a camera, and the camera is arranged on the detection ship body through the 360-degree rotating component.

[0015] The 360-degree rotating assembly includes a bracket, a ring body, a sliding plate and a mounting frame. The bracket is arranged on the detection ship body, and a fixing plate is arranged on the top of the bracket. The ring body is arranged on the fixing plate. An annular groove is opened on the top of the ring body along the circumferential direction, and the cross-sectional shape of the annular groove is convex. An inner gear ring is arranged at the bottom of the ring body. The lower end of the sliding plate is convex and slidably connected to the annular groove. A second servo motor is arranged on the sliding plate. A second gear is arranged on the output shaft of the second servo motor, and the second gear is meshed with the inner gear ring. The mounting frame is arranged on the sliding plate.

[0016] The camera is mounted on a mounting bracket.

[0017] A sampling mechanism is also provided on the boat cavity base, and a portion of the sampling mechanism extends from the bow of the boat cavity base.

[0018] The sampling mechanism includes a water collecting tank, a roller, a first servo motor and a long hose. The water collecting tank is arranged in the base of the ship cavity. The roller is rotatably arranged in the base of the ship cavity. The first servo motor is fixedly arranged in the base of the ship cavity, and the output shaft of the first servo motor is connected to the roller. The middle part of the long hose is wound on the roller, one end of which extends into the water collecting tank and is provided with a water pump, and the other end extends from the bow and is connected with a water suction head.

[0019] Two limiting wheels are rotatably connected to the boat cavity base, V-shaped grooves are arranged on the limiting wheels along the circumference, and one end of the long hose close to the water suction head passes through between the two limiting wheels.

[0020] A temperature sensor, a wind direction sensor and a wind speed sensor are provided at the bow of the detection ship body, a propeller is provided at the bottom of the ship cavity base, a controller and a wireless transceiver module are provided in the ship cavity base, and the controller is electrically connected to the temperature sensor, wind direction sensor, wind speed sensor, propeller, wireless transceiver module, ground penetrating radar and the opening mechanism.

[0021] The beneficial effects of the present invention are:

[0022] 1. Use ground-penetrating radar to detect dams, and use radar sensors to detect the distance between the detection ship and the dock, as well as the distance between the detection ship and garbage and obstacles floating on the water, so that the detection ship can actively avoid obstacles. At the same time, when there are a lot of garbage and obstacles on the water surface, which makes it impossible for the detection ship to actively avoid them, the garbage and obstacles on the water surface can be pushed away by the pushing mechanism, thereby avoiding the collision between the bow of the detection ship and the garbage or obstacles on the water surface, causing wear, deformation or even damage.

[0023] 2. When the electric cylinder pushes the reciprocating block forward, the reciprocating block drives the two rotating rods to rotate a certain angle through the first gear, thereby driving the two pushing plates to rotate a certain angle in the direction away from each other, so as to push away the garbage and obstacles floating on the water surface in front of the detection ship; similarly, when the electric cylinder pulls the reciprocating block back, the two pushing plates rotate a certain angle in the direction close to each other for reset; the electric cylinder drives the reciprocating block to make reciprocating linear motion, so as to continuously push away the garbage and obstacles floating on the water surface in front of the detection ship, and avoid the collision between the bow of the detection ship and the garbage and obstacles.

[0024] 3. The detection ship floats near the dam, and uses the camera to record the environmental images around the detection ship in real time, including the water environment and dam images, etc. After the camera transmits the real-time images to the controller, the real-time images are transmitted to the remote computer for display through the wireless transceiver module, so that the staff can grasp the changes in the dam water level and the hidden dangers of the dam in real time. If there is an early warning of danger, it is convenient to take response measures at the first time and make relevant deployments in advance, which is of great significance to the local dam danger monitoring and flood prevention and disaster reduction work.

[0025] 4. When sampling is required, the first servo motor drives the roller to rotate counterclockwise to release the long hose. The end of the long hose close to the water suction head dives into the water for sampling under the drag of the water suction head. The diving depth of the water suction head in the water is controlled by controlling the counterclockwise rotation angle of the first servo motor, and then the water pump is started to sample water at different depths. After sampling, the first servo motor rotates clockwise to reel in the long hose until the water suction head is reset. In the process of releasing and reeling in the long hose, the long hose is limited in radial direction by two limiting wheels. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a structural schematic diagram of the present invention;

[0027] Figure 2 It is a structural schematic diagram of the opening mechanism of the present invention;

[0028] Figure 3 This is a schematic diagram of the structure of the present invention after the propeller is removed;

[0029] Figure 4 This is a schematic diagram of the structure of the sampling mechanism of the present invention after the water collecting tank is removed;

[0030] Figure 5 It is a structural schematic diagram of the video recording mechanism of the present invention;

[0031] Figure 6 This is a schematic diagram of the structure of the camera mechanism of the present invention after the bracket is removed;

[0032] Figure 7 The figure is a schematic diagram of the assembly structure of the camera, the mounting bracket, the sliding plate, the second servo motor and the second gear of the present invention.

[0033] In the figure: 1-detection ship body, 2-ship cavity base, 21-port, 3-sampling mechanism, 31-water suction head, 32-roller, 33-limiting wheel, 34-long hose, 35-first servo motor, 36-water collecting tank, 4-camera mechanism, 41-bracket, 42-fixed plate, 43-camera, 44-mounting frame, 45-sliding plate, 46-ring body, 47-annular groove, 48-inner gear ring, 49-second servo motor, 491-second gear, 5-opening mechanism, 51-electric cylinder, 52-reciprocating block, 53-mounting plate, 54-rotating rod, 55-first gear, 56-arc groove, 57-sliding rod, 58-opening plate. DETAILED DESCRIPTION

[0034] The technical solution of the present invention is further described below, but the scope of protection claimed is not limited to the description.

[0035] like Figures 1 to 7As shown, a dam hidden danger and dangerous situation detection ship of the present invention comprises a detection ship body 1 and a pushing mechanism 5, wherein the detection ship body 1 is provided with a radar sensor at the bow position, the bottom of the detection ship body 1 is provided with a ship cavity base 2, and a ground penetrating radar is provided in the ship cavity base 2, and a through opening 21 is opened in the longitudinal direction on the ship cavity base 2 at the bow position, and the pushing mechanism 5 is arranged in the through opening 21, and one end of the pushing mechanism 5 extends outside the through opening 21. When in use, the dam is detected by the ground penetrating radar, and the distance between the detection ship and the dock, and the detection ship and the garbage and obstacles floating on the water surface are detected by the radar sensor, so that the detection ship can actively avoid obstacles. At the same time, when there are a lot of garbage and obstacles on the water surface, which makes it impossible for the detection ship to actively avoid them, the garbage and obstacles on the water surface can be pushed away by the pushing mechanism 5, so as to avoid the collision between the bow of the detection ship and the garbage or obstacles on the water surface, resulting in wear, deformation or even damage.

[0036] A circle of anti-collision airbags is arranged on the outer wall of the ship cavity base 2. The anti-collision airbags prevent the detection ship from directly rubbing or colliding with garbage or obstacles on the water surface. The anti-collision airbags have a buffering and protective effect on the detection ship, and can extend the service life of the detection ship while ensuring that the ground penetrating radar can work normally.

[0037] The displacing mechanism 5 includes a mounting plate 53, two rotating rods 54, a reciprocating block 52 and an electric cylinder 51. The mounting plate 53 is fixedly arranged in the through opening 21. The two rotating rods 54 are arranged side by side. One end of the two rotating rods 54 is rotatably connected to the mounting plate 53 respectively, and the two rotating rods 54 are provided with a first gear 55 and a displacing plate 58. One end of the displacing plate 58 extends out of the through opening 21. The reciprocating block 52 is slidably connected to the boat cavity base 2. A rack is provided on one pair of side surfaces of the reciprocating block 52, and the rack on the reciprocating block 52 is meshed with the first gear 55 on the two rotating rods 54. The electric cylinder 51 is fixedly arranged in the boat cavity base 2, and the electric cylinder 51 is connected to the reciprocating block 52. When the electric cylinder 51 pushes the reciprocating block 52 forward, the reciprocating block 52 drives the two rotating rods 54 to rotate a certain angle through the first gear 55, thereby driving the two displacing plates 58 to rotate a certain angle in the direction of moving away from each other, thereby pushing away the garbage and obstacles floating on the water surface in front of the detection ship; similarly, when the electric cylinder 51 pulls the reciprocating block 52 back, the two displacing plates 58 rotate a certain angle in the direction of moving closer to each other for reset; the electric cylinder 51 drives the reciprocating block 52 to perform reciprocating linear motion, thereby continuously pushing away the garbage and obstacles floating on the water surface in front of the detection ship, thereby preventing the bow of the detection ship from colliding with the garbage and obstacles.

[0038] The mounting plate 53 is symmetrically provided with two arc grooves 56, and the push-out plates 58 on the two rotating rods 54 are provided with slide bars 57 that are slidably connected to the two arc grooves 56 in a one-to-one correspondence. The slide bars 57 are slidably connected to the arc grooves 56, which improves the stability of the push-out plates 58 and the rotating rod 54 rotating together around the central axis of the rotating rod 54, and also helps to improve the strength and rigidity of the push-out plates 58.

[0039] The detection ship body 1 is provided with a camera mechanism 4 at the bow position.

[0040] The camera mechanism 4 includes a 360-degree rotating assembly and a camera 43 , and the camera 43 is arranged on the detection ship body 1 through the 360-degree rotating assembly.

[0041] The 360-degree rotating assembly includes a bracket 41, a ring body 46, a sliding plate 45 and a mounting frame 44. The bracket 41 is arranged on the detection ship body 1, and a fixing plate 42 is arranged on the top of the bracket 41. The ring body 46 is arranged on the fixing plate 42. An annular groove 47 is opened on the top of the ring body 46 along the circumferential direction, and the cross-sectional shape of the annular groove 47 is convex. An inner gear ring 48 is arranged at the bottom of the ring body 46. The lower end of the sliding plate 45 is convex and slidably connected to the annular groove 47. A second servo motor 49 is arranged on the sliding plate 45. A second gear 491 is arranged on the output shaft of the second servo motor 49, and the second gear 491 is meshed with the inner gear ring 48. The mounting frame 44 is arranged on the sliding plate 45;

[0042] The camera 43 is arranged on the mounting frame 44. When in use, the detection ship floats near the dam, and the camera 43 records the environmental images around the detection ship in real time, including the water environment and the dam images, etc., and after the camera 43 transmits the real-time images to the controller, the real-time images are transmitted to the remote computer through the wireless transceiver module for display, so that the staff can grasp the changes in the dam water level and the dangerous environment of the dam in real time. If there is an early warning of a dangerous situation, it is convenient to take countermeasures in the first time and make relevant deployments in advance, which is of great significance to the local dam dangerous situation monitoring and flood prevention and disaster reduction work.

[0043] The boat cavity base 2 is also provided with a sampling mechanism 3 , and a portion of the sampling mechanism 3 extends from the bow of the boat cavity base 2 .

[0044] The sampling mechanism 3 includes a water collecting tank 36, a roller 32, a first servo motor 35 and a long hose 34. The water collecting tank 36 is arranged in the boat cavity base 2. The roller 32 is rotatably arranged in the boat cavity base 2. The first servo motor 35 is fixedly arranged in the boat cavity base 2, and the output shaft of the first servo motor 35 is connected to the roller 32. The middle part of the long hose 34 is wound around the roller 32, one end of which extends into the water collecting tank 36 and is provided with a water pump, and the other end extends from the bow and is connected to a water suction head 31.

[0045] Two limiting wheels 33 are rotatably connected to the boat cavity base 2. The limiting wheels 33 are provided with V-shaped grooves along the circumference, and one end of the long hose 34 close to the water suction head 31 passes between the two limiting wheels 33. Figure 4 As shown, when sampling is required, the first servo motor 35 drives the roller 32 to rotate counterclockwise to release the long hose 34. The end of the long hose 34 close to the water suction head 31 is dragged by the water suction head 31 to dive into the water for sampling. The diving depth of the water suction head 31 in the water is controlled by controlling the counterclockwise rotation angle of the first servo motor 35, and then the water pump is started to sample water at different depths. After the sampling is completed, the first servo motor 35 rotates clockwise to reel in the long hose 34 until the water suction head 31 is reset. In the process of releasing and reeling in the long hose 34, the long hose 34 is limited in radial direction by two limiting wheels 33.

[0046] A temperature sensor, a wind direction sensor and a wind speed sensor are provided at the bow of the detection ship body 1, a propeller is provided at the bottom of the ship cavity base 2, a controller and a wireless transceiver module are provided in the ship cavity base 2, and the controller is electrically connected to the temperature sensor, the wind direction sensor, the wind speed sensor, the propeller, the wireless transceiver module, the ground penetrating radar and the opening mechanism 5. When in use, the controller is electrically connected to the electric cylinder 51 in the opening mechanism 5, and is also electrically connected to the second servo motor 49, the camera 43, the first servo motor 35 and the water pump, so as to control the detection ship as a whole. The temperature of the environment in which the detection ship is located is detected by the temperature sensor, the wind direction is detected by the wind direction sensor, the wind speed is detected by the wind speed sensor, and the functions of the detection ship moving forward, backward, slowing down, stopping and turning are realized by the propeller. In addition, the controller transmits data to the cloud and the computer in the background through the wireless transceiver module.

Claims

1. A dam hidden danger and dangerous situation detection ship, characterized by: The invention comprises a detection ship body (1) and a displacing mechanism (5), wherein the detection ship body (1) is provided with a radar sensor at the bow position, a ship cavity base (2) is provided at the bottom of the detection ship body (1), and a ground penetrating radar is provided in the ship cavity base (2), a through opening (21) is provided in the longitudinal direction at the bow position on the ship cavity base (2), the displacing mechanism (5) is provided in the through opening (21), and one end of the displacing mechanism (5) extends outside the through opening (21).

2. The dam hidden danger and dangerous situation detection ship according to claim 1, characterized in that: A circle of anti-collision airbags is arranged on the outer wall of the boat cavity base (2).

3. The dam hidden danger and dangerous situation detection ship according to claim 1, characterized in that: The displacing mechanism (5) comprises a mounting plate (53), two rotating rods (54), a reciprocating block (52) and an electric cylinder (51). The mounting plate (53) is fixedly arranged in the through opening (21). The two rotating rods (54) are arranged side by side. One end of each of the two rotating rods (54) is rotatably connected to the mounting plate (53) respectively. The two rotating rods (54) are provided with a first gear (55) and a displacing plate (58). One end of the displacing plate (58) extends out of the through opening (21). The reciprocating block (52) is slidably connected to the boat cavity base (2). A rack is provided on one pair of side surfaces of the reciprocating block (52). The rack on the reciprocating block (52) meshes with the first gear (55) on the two rotating rods (54). The electric cylinder (51) is fixedly arranged in the boat cavity base (2), and the electric cylinder (51) is connected to the reciprocating block (52).

4. The dam hidden danger and dangerous situation detection ship as claimed in claim 3, characterized in that: The mounting plate (53) is symmetrically provided with two arc grooves (56), and the push-away plates (58) on the two rotating rods (54) are both provided with sliding rods (57) which are slidably connected with the two arc grooves (56) in a one-to-one correspondence.

5. The dam hidden danger and dangerous situation detection ship according to claim 1, characterized in that: The detection ship body (1) is provided with a camera mechanism (4) at the bow position.

6. The dam hidden danger and dangerous situation detection ship according to claim 5, characterized in that: The camera mechanism (4) comprises a 360-degree rotating component and a camera (43), and the camera (43) is arranged on the detection ship body (1) via the 360-degree rotating component.

7. The dam hidden danger and dangerous situation detection ship according to claim 6, characterized in that: The 360-degree rotating assembly comprises a bracket (41), a ring body (46), a sliding plate (45) and a mounting frame (44); the bracket (41) is arranged on the detection ship body (1); a fixing plate (42) is arranged on the top of the bracket (41); the ring body (46) is arranged on the fixing plate (42); an annular groove (47) is opened on the top of the ring body (46) along the circumferential direction; the cross-sectional shape of the annular groove (47) is convex; an inner gear ring (48) is arranged on the bottom of the ring body (46); the lower end of the sliding plate (45) is convex and slidably connected to the annular groove (47); a second servo motor (49) is arranged on the sliding plate (45); a second gear (491) is arranged on the output shaft of the second servo motor (49); the second gear (491) is meshed with the inner gear ring (48); and the mounting frame (44) is arranged on the sliding plate (45); The camera (43) is arranged on the mounting frame (44).

8. The dam hidden danger and dangerous situation detection ship according to claim 1, characterized in that: A sampling mechanism (3) is also provided on the boat cavity base (2), and a portion of the sampling mechanism (3) extends out from the bow of the boat cavity base (2).

9. The dam hidden danger and dangerous situation detection ship according to claim 8, characterized in that: The sampling mechanism (3) comprises a water collecting tank (36), a roller (32), a first servo motor (35) and a long hose (34); the water collecting tank (36) is arranged in the ship cavity base (2); the roller (32) is rotatably arranged in the ship cavity base (2); the first servo motor (35) is fixedly arranged in the ship cavity base (2); and the output shaft of the first servo motor (35) is connected to the roller (32); the middle part of the long hose (34) is wound around the roller (32); one end of the long hose (34) extends into the water collecting tank (36) and is provided with a water pump; the other end extends from the bow and is connected to a water suction head (31); Two limiting wheels (33) are rotatably connected to the boat cavity base (2), and a V-shaped groove is provided on the limiting wheel (33) along the circumference, and one end of the long hose (34) close to the water suction head (31) passes between the two limiting wheels (33).

10. The dam hidden danger and dangerous situation detection ship according to claim 1, characterized in that: A temperature sensor, a wind direction sensor and a wind speed sensor are provided at the bow of the detection ship body (1); a propeller is provided at the bottom of the ship cavity base (2); a controller and a wireless transceiver module are provided in the ship cavity base (2); the controller is electrically connected to the temperature sensor, the wind direction sensor, the wind speed sensor, the propeller, the wireless transceiver module, the ground penetrating radar and the opening mechanism (5).

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