Cruise equipment for cable well

Abstract

The invention discloses cruise equipment for a cable well, belongs to the technical field of cable well exploration, and aims to solve the technical problem that existing cruise equipment is difficult to realize accurate positioning and high-precision exploration in the cable well. The cruise equipment comprises a sensor system, an optical detection system, calibration laser, a power system and a control system. The sensor system comprises a sonar detection system and an attitude sensor; the sonar detection system comprises a six-beam ranging sonar, and the six-beam ranging sonar comprises a left front ranging sonar, a right front ranging sonar, a rear ranging sonar, a left ranging sonar, a right ranging sonar and a bottom ranging sonar. And an included angle A is formed between two sound axes of the left front distance measuring sonar and the right front distance measuring sonar. According to the cruise equipment, the cruise equipment can be accurately positioned, high-precision survey of internal information of the cable well is achieved, and the survey effect and efficiency of the cruise equipment in the cable well are improved.

Description

Technical Field

[0001] The invention belongs to the technical field of cable well exploration, and in particular relates to a cruising device used in a cable well. Background Art

[0002] Since underground cable wells are usually filled with water, when it is necessary to survey the cable well, it is often necessary to drain the water in the well or to complete the survey by manual diving, which is not only inefficient but also involves great risks.

[0003] With the increasing maturity of equipment application technology, more and more underwater operations use cruise equipment to replace manual operations. Cruise equipment is generally equipped with sonar systems and camera systems, etc., which provide optical images and sonar images of the underwater environment to complete underwater surveys and detection tasks. Existing cruise equipment needs to be connected to satellite signals to achieve positioning of the cruise equipment. In the closed and limited space of the cable well, the sound wave is transmitted underwater and is interfered by the echo. The positioning signal of satellite communication is difficult to reach the limited space waters, making it difficult for the cruise equipment to achieve accurate positioning in the cable well, and thus unable to obtain accurate and reliable information on the internal status of the cable well, and even causing collisions, getting lost and other faults, affecting the progress of the survey work. Summary of the invention

[0004] In view of the above analysis, the present invention aims to provide a cruise device for a cable well to solve the technical problem that the existing cruise equipment is difficult to achieve accurate positioning and high-precision survey in the cable well.

[0005] The purpose of the present invention is mainly achieved through the following technical solutions.

[0006] The present invention provides a cruise device for a cable well, comprising a sensor system and a control system; the sensor system comprises a sonar detection system and a posture sensor;

[0007] The sonar detection system includes a six-beam ranging sonar, which includes a front ranging sonar, a rear ranging sonar, a left ranging sonar, a right ranging sonar and a bottom ranging sonar;

[0008] The front ranging sonar, rear ranging sonar, left ranging sonar and right ranging sonar are all arranged horizontally and located in the same plane, and are used to measure the distance value in the horizontal direction. The bottom ranging sonar is arranged vertically and is used to measure the distance value at the bottom.

[0009] The six-beam ranging sonar can realize the positioning of the cruise equipment in the internal space of the cable well. After the positioning coordinate system, the measuring end face of the ranging sonar is the coordinate origin, and the ranging value of the ranging sonar is the x coordinate L. 后 , the ranging values ​​of the left ranging sonar and the right ranging sonar 7 are the positive and negative y-axis coordinates L 左 and L右 , the range value of the bottom ranging sonar is the z coordinate L 底 ;

[0010] The front ranging sonar includes a left front ranging sonar and a right front ranging sonar, and an angle A is set between the two sound axes of the left front ranging sonar and the right front ranging sonar;

[0011] The range value L of the left front ranging sonar and the right front ranging sonar 左前 , L 右前 When they are equal, the x-axis of the cruise device is perpendicular to the end face of the inner wall of the cable well facing in front, and the value sent back by the attitude sensor at this time is marked as the zero-point attitude value of the cruise device;

[0012] The attitude value of the cruise device includes the deflection angle B. The deflection angle B is the difference between the attitude value of the cruise device in the horizontal direction transmitted by the attitude sensor and the attitude value at the zero point. The distances of the cruise device from the rear wall, left wall, and right wall of the cable well are L′ respectively. 后 =L 后 *cosB,L′ 左 =L 左 *cosB,L′ 右 =L 右 *cosB.

[0013] Furthermore, L′ is obtained by scanning the left and right ranging sonars at different x-axis positions and y-axis positions. 左 and L′ 右 , which can construct the internal contour curve of the cable well.

[0014] Furthermore, the control system can plan the cruising trajectory of the cruising device according to the internal contour curve of the cable well, and realize cruising by controlling the positioning coordinates of the cruising device to be consistent with the cruising trajectory.

[0015] Furthermore, the angle A is times the horizontal beam angles of the left front ranging sonar and the right front ranging sonar, so that the two opposite beam edges of the left front ranging sonar and the right front ranging sonar are parallel.

[0016] Furthermore, the sonar detection system also includes a multi-beam imaging sonar.

[0017] Furthermore, the sensor system also includes an optical detection system and a calibration laser.

[0018] Furthermore, the optical detection system includes cameras and lighting, and the optical detection system includes at least four groups, which are respectively located at the bow, bottom, left and right sides of the cruise equipment.

[0019] Furthermore, the calibration laser is located at the bow of the cruise device, and includes two horizontally arranged laser transmitters for calibrating the size of the image captured by the bow of the optical detection system.

[0020] Furthermore, it also includes an equipment carrier, which is made of aluminum alloy material and high-density polyethylene material.

[0021] Furthermore, it also includes a power system, which includes a plurality of propeller propellers, and the plurality of propeller propellers are fixed on the equipment carrier and distributed in a vectorial manner.

[0022] Compared with the prior art, the present invention can achieve at least one of the following beneficial effects:

[0023] 1. The cruise device of the present invention can measure the distance between the device and the inner wall of the cable well in real time by arranging a six-beam ranging sonar, which can not only realize high-precision survey of the internal contour of the cable well, but also locate the position of the cruise device inside the cable well, so that the cruise device can improve the efficiency of underwater survey inside the cable well.

[0024] 2. The cruise device of the present invention, by arranging the left front ranging sonar and the right front ranging sonar in the six-beam ranging sonar, can quickly and easily locate the initial survey position of the cruise device in a direction consistent with a certain direction of the internal space of the cable well, thereby calibrating the zero point position of the cruise device in the horizontal direction, and providing the necessary basic positioning conditions for the subsequent direct survey of the internal contour of the cable well.

[0025] 3. The cruise equipment of the present invention can calibrate the size of the target object in the captured image by arranging the calibration laser, so as to obtain more complete, true and effective survey results.

[0026] 4. The cruise equipment of the present invention, by setting up an optical detection system, can perform optical surveys on the pipe hole resources, cable layout conditions and layout conditions of other equipment in the cable well, and combine the positioning function of the six-beam ranging sonar to splice the images of the same end face to complete the survey of the entire end face information.

[0027] In the present invention, the above-mentioned technical solutions can also be combined with each other to achieve more preferred combination solutions. Other features and advantages of the present invention will be described in the subsequent description, and some advantages can become obvious from the description, or can be understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained through the contents particularly pointed out in the embodiments of the description and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is a schematic diagram of the overall structure of the device in Example 1 of the present invention;

[0029] Figure 2 It is a schematic side view of the internal structure of the device of Example 1 of the present invention;

[0030] Figure 3 This is a schematic diagram of the front structure of the device of Embodiment 1 of the present invention;

[0031] Figure 4 A schematic diagram of the internal structure of a six-beam ranging sonar according to an embodiment of the present invention;

[0032] Figure 5 A schematic diagram of the positional relationship between the left front ranging sonar and the right front ranging sonar according to an embodiment of the present invention;

[0033] Figure 6 A schematic diagram of a device coordinate system constructed for an embodiment of the present invention;

[0034] Figure 7 This is a schematic diagram of the relationship between the device sonar coordinate system and the position of the device in a limited space at a deflection angle B according to an embodiment of the present invention;

[0035] Figure 8 A schematic diagram of a survey result of a cable well profile with two ear chambers according to an embodiment of the present invention;

[0036] Fig. 9 A schematic diagram of an image stitching process for a cable well pipe hole resource survey process according to an embodiment of the present invention;

[0037] Fig.10 Schematic diagram of the overall structure of the device of Example 2 of the present invention.

[0038] Reference numerals:

[0039] 1-equipment carrier; 11-electronic control cabin; 12-carrier frame; 121-connecting component; 122-buoyancy component;

[0040] 2-power system; 21-propeller thruster;

[0041] 3-Sensor system; 31-Sonar detection system; 311-Six-beam ranging sonar; 3111-Sonar housing; 3112-Mounting plate; 3113-Left front ranging sonar; 3114-Right front ranging sonar; 3115-Rear ranging sonar; 3116-Left ranging sonar; 3117-Right ranging sonar; 3118-Bottom ranging sonar; 312-Multi-beam imaging sonar; 32-Optical detection system; 321-Camera; 322-Lighting; 33-Calibration laser;

[0042] 101-included angle A; 102-deflection angle B. DETAILED DESCRIPTION

[0043] The preferred embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of the present invention and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not used to limit the scope of the present invention.

[0044] Example 1

[0045] This embodiment provides a cruising device for a cable well, including a device carrier 1, a power system 2, a sensor system 3, a control system, and a power supply system. Figure 1 As shown, the overall shape of the cruise device is a cube, with the length direction being the X-axis direction, the width direction being the Y-axis direction, and the height direction being the Z-axis direction. The cruise device includes a bow, a midship, and a stern in sequence along the X-axis direction, and the structures on both sides of the XZ plane are symmetrically arranged.

[0046] Further, such as Figure 2 As shown, the device carrier 1 is a cubic structure as a whole, including an electronic control cabin 11 and a carrier frame 12. The electronic control cabin 11 is located in the middle of the cruise equipment and is a sealed cabin with negative pressure, which is used to fix and install some sensors of the control system and the sensor system 3.

[0047] Exemplarily, the carrier frame 12 includes a connecting component 121. The carrier frame 12 is made of a metal alloy material treated with corrosion resistance, and is used to carry and install the power system 2, part of the sensors of the sensor system 3, and the power supply system. Preferably, the connecting component 121 is made of 6061 aluminum alloy material.

[0048] For example, Figure 2 As shown, the carrier frame 12 also includes a buoyancy component 122; the buoyancy component 122 is fixed to the connecting component 121, and is used to increase the buoyancy of the cruise device. Optionally, the buoyancy component 122 is arranged on the top, bow, both sides of the midship and the periphery of the power system 2 of the cruise device to ensure the balance of the cruise device; preferably, the buoyancy component 122 is made of high-density polyethylene (HDPE) material.

[0049] The equipment carrier 1 adopts a combination of 6061 aluminum alloy material and high-density polyethylene (HDPE) material, which can provide strong support for various structural components of the cruise equipment while greatly reducing the weight of the body.

[0050] Further, such as Figure 3 As shown, the power system 2 includes eight propeller thrusters 21, and the eight propeller thrusters 21 are fixed on the carrier frame 12. The power system 2 is used to realize the navigation and attitude control of the cruise equipment.

[0051] Optionally, the eight propeller thrusters 21 are vector-distributed, and four propeller thrusters 21 are arranged at the bow and stern of the cruise device, respectively. By setting eight propeller thrusters 21 distributed in vectors, the cruise device can have full-space motion capabilities with six degrees of freedom, including forward and backward, buoyancy, diving, left and right translation, left and right turning, front and back pitching, and left and right flipping, and can also achieve stable directional navigation and depth-fixed navigation.

[0052] Further, such as Figure 2 , Figure 3 As shown, the sensor system 3 includes a sonar detection system 31 , an optical detection system 32 and a posture sensor.

[0053] The sonar detection system 31 includes a six-beam ranging sonar 311, which is fixed to the bottom of the carrier frame 12. The six-beam ranging sonar 311 is generally cylindrical in shape, and the center line of the cylinder is located on the XZ plane and parallel to the Z axis.

[0054] Among them, Figure 4 As shown, the six-beam ranging sonar 311 includes a sonar housing 3111, a mounting plate 3112, a left front ranging sonar 3113, a right front ranging sonar 3114, a rear ranging sonar 3115, a left ranging sonar 3116, a right ranging sonar 3117, and a bottom ranging sonar 3118. The left front ranging sonar 3113, the right front ranging sonar 3114, the rear ranging sonar 3115, the left ranging sonar 3116, the right ranging sonar 3117, and the bottom ranging sonar 3118 can respectively measure the distance of the objects in front of them in real time, and the ranging values ​​are set to L 左前 , L 右前 , L 后 , L 左 , L 右 and L 底 .

[0055] Exemplarily, the sonar housing 3111 is a sealed housing, the mounting plate 3112 is fixed in the sonar housing 3111 and is parallel to the XY plane, the left front ranging sonar 3113, the right front ranging sonar 3114, the rear ranging sonar 3115, the left ranging sonar 3116 and the right ranging sonar 3117 are all fixed on the mounting plate 3112, and the sound axes are all located on the XY plane.

[0056] The left front ranging sonar 3113 and the right front ranging sonar 3114 are fixed to the front end of the mounting plate 3112 and are symmetrically arranged on both sides of the XZ plane. Preferably, an angle A101 is provided between the two acoustic axes of the left front ranging sonar 3113 and the right front ranging sonar 3114 to avoid signal interference between the two ranging sonars.

[0057] Preferably, Figure 5 As shown, the angle A101 is twice the horizontal beam angle of the left front ranging sonar 3113 and the right front ranging sonar 3114, so that the two opposite beam edges of the left front ranging sonar 3113 and the right front ranging sonar 3114 are parallel, thereby effectively avoiding signal interference and improving the reliability of measurement data.

[0058] When the cruise device is started in the water in the cable well, the power system 2 is operated to adjust the horizontal attitude of the cruise device until the ranging value L of the left front ranging sonar 3113 and the right front ranging sonar 3114 is 左前 =L 右前 ; Since the internal space of the cable well is usually a rectangular parallelepiped or a rectangular parallelepiped with square ear chambers on both sides, when the distance data measured by the left front ranging sonar 3113 and the right front ranging sonar 3114 are the same, it indicates that the x-axis of the cruise device is perpendicular to the inner wall of the cable well in front of the bow. Therefore, it can be confirmed that the fuselage direction of the cruise device is consistent with a certain direction of the internal space of the cable well. The value sent back by the 9-axis attitude sensor at this time is recorded, and the azimuth attitude of the cruise device at this time is marked as the zero point attitude.

[0059] This embodiment arranges the left front ranging sonar 3113 and the right front ranging sonar 3114 in the six-beam ranging sonar 311, so as to quickly and easily calibrate the zero-point angle of the cruise device in the horizontal direction and complete the angle initialization of the cruise device in the horizontal direction, thereby providing the necessary basic positioning conditions for the subsequent direct survey of the internal contour of the cable well.

[0060] Among them, Figure 4 As shown, the left ranging sonar 3116 and the right ranging sonar 3117 are symmetrically fixed on both sides of the mounting plate 3112, and the acoustic axes of the left ranging sonar 3116 and the right ranging sonar 3117 are perpendicular to the XZ plane, and are used to measure the distance between the cable entering the inner wall and the left and right sides of the six-beam ranging sonar 311.

[0061] Among them, Figure 4 As shown, the rear ranging sonar 3115 is fixed to the rear end of the mounting plate 3112 and is located on the XZ plane, and is used to measure the distance between the inner wall of the cable well and the rear end of the six-beam ranging sonar 311.

[0062] Among them, Figure 4 As shown, the bottom ranging sonar 3118 is fixed in the sonar housing 3111 through a mounting plate 3112 or other components. The bottom ranging sonar 3118 is arranged perpendicular to the mounting plate 3112 and is used to measure the distance between the bottom of the cable well and the bottom of the six-beam ranging sonar 311.

[0063] The six-beam ranging sonar 311 arranged in the cruise device of this embodiment can realize the positioning of the cruise device in the internal space of the cable well and the survey of the internal space contour by measuring the distance between the device and the inner wall of the cable well in real time.

[0064] Specifically, the positioning method of the six-beam ranging sonar 311 for cruise equipment is:

[0065] 1) If Figure 6 As shown, first construct the coordinate system (x, y 正 ,y 负, z), wherein the measuring end face of the rear ranging sonar 3115 is the x-axis 0 point, the y-axis is 0, the bottom is the z-axis 0, the measuring value of the rear ranging sonar 3115 is the x-coordinate, the measuring values ​​of the left ranging sonar 3116 and the right ranging sonar 3117 are the positive and negative y-axis coordinates, and the measuring value of the bottom ranging sonar 3118 is the z-coordinate.

[0066] 2) If Figure 7 As shown, the deflection angle B of the cruise equipment in the azimuth attitude relative to the zero-point attitude in the horizontal direction is measured during operation, and the position of the cruise equipment in the cable well is determined according to the deflection angle B and the sonar coordinate position;

[0067] Distance to right wall: L′ 右 =L 右 *cosB

[0068] Distance to left wall: L′ 左 =L 左 *cosB

[0069] Distance to rear wall: L′ 后 =L 后 *cosB

[0070] Distance from bottom: L 底 =L 底

[0071] Through the above two sets of data, the position of the cruise device inside the cable well can be obtained in the established new coordinate system. Combined with the horizontal rotation angle of the cruise device given by the attitude sensor, the position of the cruise device inside the cable well at this time (L' 后 , L' 右 , L' 左 , L 底 ).

[0072] Specifically, the six-beam ranging sonar 311 surveys the internal spatial contour of the cable well as follows:

[0073] 1) Determine the contour survey plane; keep the zero-point attitude of the cruise device unchanged, control the power system 2, and make the cruise device move left and right, up and down, until L 左前 , L 右前 , L 后 , L 左 , L 右 The numerical value is stable, avoiding the occlusion of other objects in the limited space during the ranging process;

[0074] 2) Determine the starting point of the contour survey; the zero point posture of the cruise device remains unchanged, and the power system 2 is controlled to make the cruise device move toward the first end face of the cable well. 后After the value of is stable at the minimum value, this position is used as the starting position of the contour survey and L is recorded. 后 , L 左 , L 右 The values ​​of are used as the x and y starting points of the contour survey. 正 and 负 coordinate;

[0075] 3) Obtain the scan profile value; control the power system 2 to make the cruise device translate along the x-axis to the second end face opposite to the first end face, and the six-beam ranging sonar 311 scans the inside of the cable well and records L in real time. 后 , L 左 , L 右 The value of L 后 The value of is stable at the maximum value;

[0076] 4) Establishing the contour curve; using the L obtained by scanning the six-beam ranging sonar 311 at different x positions 左 and L 右 The value of L′ 左 and L′ 右 The two boundary curves are composed of the values ​​of , and the two end faces are superimposed on this basis to establish the internal contour curve of the cable well.

[0077] like Figure 8 Shown is the result of the cable well profile survey with two auricle chambers.

[0078] This embodiment can enable the cruise device to achieve positioning in a closed and narrow cable well by arranging a six-beam ranging sonar 311. The positioning data acquisition is simple and direct, and the positioning accuracy is high. At the same time, a high-precision contour curve of the internal space of the cable well can be established simply and quickly. The control system plans the cruise trajectory according to the contour curve and the layout status of the equipment in the cable well, including the cables arranged on both sides, and controls the positioning coordinates of the cruise device to be consistent with the planned cruise trajectory during the cruise process, and uses the sensor system 3 to complete the survey of the inside of the cable well.

[0079] Further, such as Figure 2 and Figure 3 As shown, the optical detection system 32 is fixed on the carrier frame 12, and includes a combination of four groups of cameras 321 and lighting lamps 322, which are respectively located at the bottom of the bow and the left and right sides of the midship of the cruise equipment. Optionally, considering the different light and water quality in the cable well, the lighting lamp 322 has 8 levels of brightness control settings to obtain clearer and more effective optical survey images. Since the camera 321 located at the bow is used most frequently and the images taken are more complex, two lighting lamps 322 can also be equipped at the bow.

[0080] This embodiment arranges the images captured by the optical detection system 32 and combines the positioning function of the six-beam ranging sonar 311 to perform optical surveys of the pipe hole resources, cable layout conditions and layout conditions of other equipment in the cable well.

[0081] Specifically, the method for surveying the end face of the cable well by the optical detection system 32 and the six-beam ranging sonar 311 includes:

[0082] 1) The optical detection system 32 captures images and calibrates the shooting position (L′) of the device for each captured image 后 , L′ 左 , L′ 右 , L′ 底 );

[0083] 2) According to the calibration coordinates of each image (L′ 后i , L′ 左i , L′ 右i , L′ 底i ), stitching the images of the same end face;

[0084] 3) The images taken on the same end face are stitched together to complete the survey of the entire end face information.

[0085] like Fig. 9 The figure shows a schematic diagram of the image stitching process during the cable well pipe hole resource survey.

[0086] Furthermore, the sensor system 3 also includes a gyroscope, an accelerometer, a 9-axis attitude sensor, a magnetometer, a depth gauge, a water leak, an internal barometer or other functional sensors for measuring information such as the attitude, depth position and sealing state of the cruise device.

[0087] Example 2

[0088] The cruising equipment for a cable well in this embodiment is different from that in Embodiment 1 in that the sensor system 3 further includes a calibration laser 33 .

[0089] like Fig.10 As shown, the calibration laser 33 is fixed at the bow of the cruise device, and includes two laser emitters, and the beam directions of the two laser emitters are consistent with the refraction direction of the camera 321 located at the bow. Preferably, the connecting line of the two laser emitters is perpendicular to the XZ plane.

[0090] By arranging the calibration laser 33, this embodiment enables the camera 321 located at the bow to simultaneously obtain two laser spots formed by the calibration laser 33 on the inner contour of the cable well when taking images. Since the installation positions of the two laser emitters of the calibration laser 33 are known and fixed, the size of the pipe hole or other objects in the captured image is calibrated, thereby obtaining more complete, true and effective survey results.

[0091] Furthermore, the sonar detection system 31 also includes a multi-beam imaging sonar 312, which is fixed to the bow of the carrier frame 12 and can achieve three-dimensional imaging of the internal state of the cable well by utilizing multiple beams, thereby further acquiring richer and more comprehensive survey information.

[0092] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by any technician familiar with the technical field within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention.

Claims

1. A cruising device for a cable well, characterized in that: including a sensor system (3) and a control system; The sensor system (3) comprises a sonar detection system (31) and a posture sensor; The sonar detection system (31) comprises a six-beam ranging sonar (311), and the six-beam ranging sonar (311) comprises a front ranging sonar, a rear ranging sonar (3115), a left ranging sonar (3116), a right ranging sonar (3117) and a bottom ranging sonar (3118); The front ranging sonar, the rear ranging sonar (3115), the left ranging sonar (3116) and the right ranging sonar (3117) are all arranged horizontally and located in the same plane, and are used to measure the distance value in the horizontal direction; the bottom ranging sonar (3118) is arranged vertically, and is used to measure the distance value at the bottom; The six-beam ranging sonar (311) can realize the position positioning of the cruise equipment in the internal space of the cable well. After the positioning coordinate system, the measuring end face of the ranging sonar (3115) is the coordinate origin, and the ranging value of the ranging sonar (3115) is the x coordinate L. 后 , the ranging values ​​of the left ranging sonar (3116) and the right ranging sonar (3117) are used as the positive and negative y-axis coordinates L 左 and L 右 , the range value of the bottom ranging sonar (3118) is the z coordinate L 底 ; The front ranging sonar comprises a left front ranging sonar (3113) and a right front ranging sonar (3114), and an angle A (101) is provided between two sound axes of the left front ranging sonar (3113) and the right front ranging sonar (3114); The distance measurement values ​​L of the left front distance measurement sonar (3113) and the right front distance measurement sonar (3114) 左前 , L 右前 When the values ​​are equal, the x-axis of the cruise device is perpendicular to the end face of the inner wall of the cable well directly facing the bow, and the value sent back by the attitude sensor at this time is marked as the zero-point attitude value of the cruise device; The attitude value of the cruise device includes a deflection angle B (102), which is the difference between the attitude value of the cruise device in the horizontal direction transmitted by the attitude sensor and the attitude at the zero point. The distances of the cruise device from the rear wall, left wall, and right wall of the cable well are L′, respectively. 后 =L 后 *cosB,L′ 左 =L 左 *cosB,L′ 右 =L 右 *cosB.

2. The cruising equipment for a cable well according to claim 1, characterized in that: L′ obtained by scanning the left ranging sonar (3116) and the right ranging sonar (3117) at different x-axis positions and y-axis positions 左 and L′ 右 , which can construct the internal contour curve of the cable well.

3. The cruising equipment for a cable well according to claim 2, characterized in that: The control system can plan the cruising trajectory of the cruising device according to the internal contour curve of the cable well, and realize cruising by controlling the positioning coordinates of the cruising device to be consistent with the cruising trajectory.

4. The cruising equipment for a cable well according to claim 3, characterized in that: The angle A (101) is twice the horizontal beam angle of the left front ranging sonar (3113) and the right front ranging sonar (3114), so that the two opposite beam edges of the left front ranging sonar (3113) and the right front ranging sonar (3114) are parallel.

5. The cruising equipment for a cable well according to claim 4, characterized in that: The sonar detection system (31) also includes a multi-beam imaging sonar (312).

6. The cruising equipment for a cable well according to claim 1, characterized in that: The sensor system (3) also includes an optical detection system (32) and a calibration laser (33).

7. The cruising equipment for a cable well according to claim 6, characterized in that: The optical detection system (32) comprises a camera (321) and a lighting lamp (322), and the optical detection system (32) comprises at least four groups, which are respectively located at the bow, bottom, and left and right sides of the cruise device.

8. The cruising equipment for a cable well according to claim 7, characterized in that: The calibration laser (33) is located at the bow of the cruise device and comprises two horizontally arranged laser emitters, and is used to calibrate the size of the image captured by the bow of the optical detection system (32).

9. The cruising equipment for a cable well according to claim 1, characterized in that: It also comprises a device carrier (1), wherein the device carrier (1) is made of aluminum alloy material and high-density polyethylene material.

10. The cruising equipment for a cable well according to claim 9, characterized in that: It also includes a power system (2), wherein the power system (2) includes a plurality of propeller propellers, wherein the plurality of propeller propellers are fixed on the equipment carrier (1) and are distributed in a vectorial manner.

Images