A patrol device for cable wells

Abstract

This invention discloses a patrol device for cable wells, belonging to the field of cable well exploration technology, to solve the technical problem that existing patrol devices are unable to achieve precise positioning and high-precision surveying within cable wells. The patrol device of this invention includes a sensor system, an optical detection system, a calibration laser, a power system, and a control system. The sensor system includes a sonar detection system and an attitude sensor. The sonar detection system includes a six-beam ranging sonar, comprising 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. An angle A is provided between the two acoustic axes of the left front ranging sonar and the right front ranging sonar. The patrol device of this invention can accurately position itself, achieving high-precision surveying of the internal information of the cable well, thus improving the surveying effect and efficiency of the patrol device within the cable well.

Description

Technical Field

[0001] This invention belongs to the field of cable well exploration technology, and particularly relates to a patrol device for cable wells. Background Technology

[0002] Since underground cable wells are usually filled with water, when it is necessary to conduct an investigation inside the cable well, it is often necessary to drain the water or manually dive to complete the investigation, which is not only inefficient but also carries significant risks.

[0003] With the increasing maturity of equipment application technologies, more and more underwater operations are using patrol equipment to replace manual labor. Patrol equipment is generally equipped with sonar and camera systems, providing optical and sonar images of the underwater environment to complete tasks such as underwater exploration and detection. However, existing patrol equipment requires a connection to satellite signals for positioning. In the enclosed and confined space of cable wells, sound wave transmission underwater is affected by echo interference, and satellite communication positioning signals have difficulty reaching the limited water area. This makes it difficult for patrol equipment to achieve accurate positioning within cable wells, thus hindering the acquisition of precise and reliable information about the internal state of the cable wells. It can even lead to collisions, getting lost, and other malfunctions, affecting the progress of the exploration work. Summary of the Invention

[0004] Based on the above analysis, the present invention aims to provide a patrol device for cable wells to solve the technical problem that existing patrol devices are unable to achieve accurate positioning and high-precision surveying within cable wells.

[0005] The objective of this invention is mainly achieved through the following technical solutions.

[0006] This invention provides a patrol device for cable wells, including a sensor system and a control system; the sensor system includes a sonar detection system and an attitude sensor;

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

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

[0009] The six-beam ranging sonar can locate the position of the patrol equipment inside the cable well. The coordinate system is established with the measuring end face of the ranging sonar as the origin, and the ranging value of the sonar is the x-coordinate L. 后 The ranging values ​​of the left and right ranging sonars are used as the positive and negative y-axis coordinates L. 左 and L右 The ranging 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, with an included angle A between the two acoustic axes of the left front ranging sonar and the right front ranging sonar.

[0011] The ranging values ​​L of the left front ranging sonar and the right front ranging sonar 左前 L 右前 When the x-axis of the cruise device is equal to the inner wall of the cable well directly in front, the value transmitted back by the attitude sensor at this time is marked as the zero-point attitude value of the cruise device.

[0012] The attitude values ​​of the cruise equipment include the deflection angle B, which is the difference between the horizontal attitude value of the cruise equipment transmitted by the attitude sensor and the zero-point attitude. The distances of the cruise equipment 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′ was obtained by scanning with the left and right ranging sonars at different x-axis and y-axis positions. 左 and L′ 右 It can construct the internal contour curve of the cable well.

[0014] Furthermore, the control system can plan the cruise trajectory of the cruise equipment based on the internal contour curve of the cable well, and achieve cruise by controlling the positioning coordinates of the cruise equipment to be consistent with the cruise trajectory.

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

[0016] Furthermore, sonar detection systems also include multibeam 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 comprises at least four sets, located at the bow, bottom, and left and right sides of the cruise equipment, respectively.

[0019] Furthermore, the calibration laser is located at the bow of the cruise equipment and includes two horizontally arranged laser emitters for dimensional calibration of images captured by the bow of the optical detection system.

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

[0021] Furthermore, it also includes a power system, which comprises multiple propellers fixed to the equipment carrier and distributed in a vector pattern.

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

[0023] 1. The cruise equipment of the present invention, by arranging a six-beam ranging sonar, can measure the distance between the equipment and the inner wall of the cable well in real time. It can not only achieve high-precision survey of the inner contour of the cable well, but also locate the position of the cruise equipment inside the cable well, thereby improving the efficiency of the cruise equipment in underwater exploration inside the cable well.

[0024] 2. The cruise equipment 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 equipment in a direction consistent with a certain direction of the internal space of the cable well, thereby calibrating the zero point attitude of the cruise equipment in the horizontal direction, providing the necessary basic positioning conditions for subsequent direct survey of the internal contour of the cable well.

[0025] 3. The cruise device of the present invention, by arranging calibration lasers, can calibrate the size of target objects in captured images, thereby obtaining more complete, accurate and effective survey results.

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

[0027] In this invention, the above-described technical solutions can be combined with each other to achieve more preferred combinations. Other features and advantages of this invention will be set forth in the following description, and some advantages may become apparent from the description or be learned by practicing the invention. The objects and other advantages of this invention can be realized and obtained through the embodiments described and the accompanying drawings, which are particularly pointed out. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the overall structure of the device according to Embodiment 1 of the present invention;

[0029] Figure 2 This is a side view of the internal structure of the device according to Embodiment 1 of the present invention;

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

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

[0032] Figure 5 This is a schematic diagram showing the positional relationship between the left front ranging sonar and the right front ranging sonar in an embodiment of the present invention;

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

[0034] Figure 7 This is a schematic diagram illustrating the relationship between the device's sonar coordinate system and its position within a confined space under a deflection angle B, as per an embodiment of the present invention.

[0035] Figure 8 This is a schematic diagram of the outline survey results of a cable well with two side chambers, as an embodiment of the present invention.

[0036] Figure 9 This is a schematic diagram of the image stitching process during the exploration of cable well borehole resources, as described in an embodiment of the present invention.

[0037] Figure 10 A schematic diagram of the overall structure of the device in Embodiment 2 of the present invention.

[0038] Figure label:

[0039] 1-Equipment carrier; 11-Electronic control cabin; 12-Carrier frame; 121-Connecting components; 122-Buoyancy components;

[0040] 2-Power system; 21-Propeller;

[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-Illumination lamp; 33-Calibration laser;

[0042] 101 - Angle A; 102 - Deflection angle B. Detailed Implementation

[0043] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which 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 intended to limit the scope of the present invention.

[0044] Example 1

[0045] This embodiment provides a patrol device for cable wells, 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 cruise equipment is generally cubic in shape, with its length along the X-axis, its width along the Y-axis, and its height along the Z-axis. The cruise equipment comprises a bow, midships, and stern along the X-axis, and the structures are symmetrically arranged on both sides of the XZ plane.

[0046] Further, such as Figure 2 As shown, the equipment carrier 1 has a cubic structure, 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, used to fix and install some sensors of the control system and sensor system 3.

[0047] For example, the carrier frame 12 includes a connecting component 121. The carrier frame 12 is made of a corrosion-resistant metal alloy material and is used to support and install some sensors and power systems of the power system 2 and sensor system 3. Preferably, the connecting component 121 is made of 6061 aluminum alloy.

[0048] For example, such as 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 equipment. Optionally, the buoyancy components 122 are arranged on the top, bow, midships sides and around the power system 2 of the cruise equipment to ensure the balance of the cruise equipment; preferably, the buoyancy component 122 is made of high-density polyethylene (HDPE) material.

[0049] The equipment carrier 1 is made of a combination of 6061 aluminum alloy and high-density polyethylene (HDPE) material, which can provide strong support for the 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, which 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 propellers 21 are vector-distributed, with four propellers 21 arranged at the bow and four at the stern of the cruise equipment. By setting the eight propellers 21 in a vector distribution, the cruise equipment can have a full-space motion capability of six degrees of freedom, including forward and backward movement, surfacing and diving, left and right translation, left and right turning, forward and backward pitching, and left and right roll. It can also achieve stable directional navigation and constant-depth 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 an attitude 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, such as 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, right front ranging sonar 3114, rear ranging sonar 3115, left ranging sonar 3116, right ranging sonar 3117, and bottom ranging sonar 3118 can each measure the distance to objects in front of them in real time, with the ranging values ​​set to L. 左前 L 右前 L 后 L 左 L 右 and L 底 .

[0055] For example, the sonar housing 3111 is a sealed housing, and the mounting plate 3112 is fixed inside the sonar housing 3111 and 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 their acoustic 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 symmetrically arranged on both sides of the XZ plane. Preferably, an included 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] Preferred, such as Figure 5 As shown, the included 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 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] After the cruise equipment is started in the water in the cable well, operate the power system 2 to adjust the horizontal attitude of the cruise equipment until the ranging values ​​L of the left front ranging sonar 3113 and the right front ranging sonar 3114 are reached. 左前 =L 右前 Since the internal space of the cable well is usually a cuboid or a cuboid 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 equipment is perpendicular to the inner wall of the cable well in front of the bow. This confirms that the fuselage direction of the cruise equipment is consistent with a certain direction of the internal space of the cable well. Record the value returned by the 9-axis attitude sensor at this time and mark the azimuth attitude of the cruise equipment at this time as the zero-point attitude.

[0059] This embodiment, by arranging the left front ranging sonar 3113 and the right front ranging sonar 3114 inside the six-beam ranging sonar 311, can quickly and easily calibrate the zero-point angle of the cruise equipment in the horizontal direction, complete the angle initialization of the cruise equipment in the horizontal direction, and provide the necessary basic positioning conditions for subsequent direct survey of the internal contour of the cable well.

[0060] Among them, such as 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. 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, such as Figure 4 As shown, the rear ranging sonar 3115 is fixed to the rear end of the mounting plate 3112 and 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, such as Figure 4 As shown, the bottom ranging sonar 3118 is fixed inside the sonar housing 3111 by the 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 deployed in the patrol equipment of this embodiment can realize the positioning of the patrol equipment in the internal space of the cable well and the survey of the internal space outline by measuring the distance between the equipment and the inner wall of the cable well in real time.

[0064] Specifically, the six-beam ranging sonar 311's positioning method for cruise equipment is as follows:

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

[0066] 2) such as Figure 7 As shown, the deflection angle B of the cruise equipment relative to the zero position attitude in the horizontal direction is measured during operation. Based on the deflection angle B and the sonar coordinate position, the position of the cruise equipment in the cable well is determined.

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

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

[0069] Distance from the posterior wall: L′ 后 =L 后 *cosB

[0070] Distance from bottom: L 底 =L 底

[0071] Using the two sets of data above, the position of the patrol device inside the cable well can be determined in the newly established coordinate system. Combined with the horizontal rotation angle of the patrol device provided by the attitude sensor, the current orientation (L') of the patrol device inside the cable well can be displayed in the new coordinate system. 后 L' 右 L' 左 L 底 ).

[0072] Specifically, the six-beam ranging sonar 311's method for surveying the internal spatial contours of cable wells is as follows:

[0073] 1) Determine the contour survey plane; keep the zero-point attitude of the cruise equipment unchanged, and control the power system 2 to make the cruise equipment move left and right and rise and fall until L 左前 L 右前 L 后 L 左 L 右 Numerical stability, avoiding occlusion of the ranging process by other objects in a limited space;

[0074] 2) Determine the starting point for contour surveying; keep the zero-point attitude of the cruise equipment unchanged, control the power system 2 to make the cruise equipment translate towards the first end face of the cable well, when L 后After the value stabilizes at its minimum, this position is taken as the starting position for the contour survey, and L is recorded. 后 L 左 L 右 The values ​​of x and y are used as the starting points for the contour survey, respectively. 正 and y 负 coordinate;

[0075] 3) Obtain scan profile values; control the power system 2 to make the cruise equipment 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, up to L 后 The value remains stable at its maximum value;

[0076] 4) Establish the contour curve; use the L obtained by scanning with a six-beam ranging sonar 311 at different x positions. 左 and L 右 The value of L′ forms the value of L′. 左 and L′ 右 The two boundary curves formed by the values ​​are superimposed on the two end faces to establish the internal contour curve of the cable well.

[0077] like Figure 8 The image shows the results of the outline survey of a cable well with two side chambers.

[0078] This embodiment utilizes a six-beam ranging sonar 311 to enable the patrol device to achieve positioning within a confined and narrow cable well. Positioning data acquisition is simple, direct, and highly accurate. It also allows for the rapid and simple establishment of a high-precision contour curve of the cable well's interior space. Based on this contour curve and the arrangement of equipment within the cable well, including cables on both sides, the control system plans the patrol trajectory and ensures that the patrol device's positioning coordinates align with the planned trajectory during the patrol process. Simultaneously, the sensor system 3 performs surveying of the cable well's interior.

[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 sets of cameras 321 and illumination lights 322, located at the bottom of the left and right sides of the bow and midships of the cruise equipment, respectively. Optionally, considering the different light and water quality inside the cable well, the illumination lights 322 have eight brightness adjustment settings to obtain clearer and more effective optical survey images. Since the cameras 321 located at the bow are used most frequently and capture more complex images, two illumination lights 322 can also be equipped at the bow.

[0080] This embodiment uses images captured by the optical detection system 32, combined with the positioning function of the six-beam ranging sonar 311, to conduct optical surveys of the pipe resources, cable layout, and other equipment arrangement within the cable well.

[0081] Specifically, the survey methods for the cable well end face of the optical detection system 32 and the six-beam ranging sonar 311 include:

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

[0083] 2) Based on the calibration coordinates (L′) of each image 后i , L′ 左i , L′ 右i , L′ 底i Images from the same end face are stitched together.

[0084] 3) By stitching together the images taken from the same end face, the survey of the entire end face information is completed.

[0085] like Figure 9 The image shown is a schematic diagram of the image stitching process during the exploration of cable well borehole resources.

[0086] Furthermore, the sensor system 3 also includes a gyroscope, accelerometer, 9-axis attitude sensor, magnetometer, depth gauge, water leakage sensor, internal barometer, or other functional sensors to measure information such as the attitude, depth position, and sealing status of the cruise equipment.

[0087] Example 2

[0088] The difference between the patrol device for cable wells in this embodiment and Embodiment 1 is that the sensor system 3 further includes a calibration laser 33.

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

[0090] In this embodiment, by arranging the calibration laser 33, the camera 321 located at the bow can simultaneously acquire two laser spots formed by the calibration laser 33 on the inner contour of the cable well when capturing images. Since the installation positions of the two laser emitters of the calibration laser 33 are known and fixed, it plays a role in dimensional calibration of the size of the pipe holes or other objects in the captured images, thereby obtaining more complete, accurate and effective survey results.

[0091] Furthermore, the sonar detection system 31 also includes a multibeam 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 using multiple beams, thereby obtaining richer and more comprehensive survey information.

[0092] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. A patrol device for cable wells, characterized in that, Includes sensor system (3) and control system; The sensor system (3) includes a sonar detection system (31) and an attitude sensor; The sonar detection system (31) includes a six-beam ranging sonar (311), which includes 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 horizontally arranged and located on the same plane, used to measure the distance value in the horizontal direction, and the bottom ranging sonar (3118) is vertically arranged, used to measure the distance value at the bottom. The six-beam ranging sonar (311) can locate the position of the patrol equipment inside the cable well. The positioning coordinate system uses the measuring end face of the ranging sonar (3115) as the 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 to determine the positive and negative y-axis coordinates L. 左 and L 右 The ranging value of the bottom ranging sonar (3118) is the z-coordinate L. 底 ; The front ranging sonar includes a left front ranging sonar (3113) and a right front ranging sonar (3114), and the two acoustic axes of the left front ranging sonar (3113) and the right front ranging sonar (3114) are provided with an included angle A (101); The included 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 beam edges of the left front ranging sonar (3113) and the right front ranging sonar (3114) are parallel. The ranging value L of the left front ranging sonar (3113) and the right front ranging sonar (3114) 左前 L 右前 When the x-axis of the cruise equipment is equal to the end face of the inner wall of the cable well directly opposite the bow, the value returned by the attitude sensor at this time is marked as the zero-point attitude value of the cruise equipment. The attitude values ​​of the cruise device include a deflection angle B(102), which is the difference between the horizontal attitude value of the cruise device transmitted by the attitude sensor and the zero-point attitude. 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; Determine the contour survey plane: Keep the zero-point attitude of the cruise equipment unchanged, and move the cruise equipment left and right and up and down until L 左前 L 右前 L 后 L 左 L 右 Numerical stability, avoiding occlusion of the ranging process by other objects in a limited space; Determine the starting point for contour surveying: Keeping the zero-point attitude of the cruise equipment unchanged, move the cruise equipment towards the first end face of the cable well. When L... 后 After the value of L stabilizes at its minimum, record L. 后 L 左 L 右 The values ​​of x and y are respectively used as the starting points of the contour survey. 正 and y 负 Coordinates; Obtain scan contour values: Translate the cruise device along the x-axis to the second end face opposite to the first end face, and record L in real time. 后 L 左 L 右 The value, up to L 后 The value stabilizes at its maximum value; a contour curve is established: using L′ at different x positions. 左 L′ 右 The values ​​of the two boundary curves are superimposed to establish the internal contour curve of the cable well. The sensor system (3) also includes an optical detection system (32) and a calibration laser (33); the calibration laser (33) includes two laser emitters, the beam direction of the two laser emitters is consistent with the refraction direction of the camera, and can calibrate the size of the target object in the captured image; The optical detection system (32) captures images, and for each captured image, the shooting position (L′) of the calibrating device is determined. 后 L′ 左 L′ 右 L′ 底 ), based on the calibration coordinates (L′) of each image 后i L′ 左i 、L′righti、L′bottom i Images taken from the same end face are stitched together to complete the optical survey of the entire end face information.

2. The patrol device for cable wells according to claim 1, characterized in that, The L′left and L′right obtained by scanning the left ranging sonar (3116) and the right ranging sonar (3117) at different x-axis and y-axis positions can be used to construct the internal contour curve of the cable well.

3. The patrol device for cable wells according to claim 2, characterized in that, The control system can plan the cruise trajectory of the cruise equipment based on the internal contour curve of the cable well, and achieve cruise by controlling the positioning coordinates of the cruise equipment to be consistent with the cruise trajectory.

4. The patrol device for cable wells according to claim 3, characterized in that, The sonar detection system (31) also includes a multibeam imaging sonar (312).

5. The patrol device for cable wells according to claim 4, characterized in that, The optical detection system (32) includes a camera (321) and an illumination lamp (322). The optical detection system (32) includes at least four sets, located at the bow, bottom and left and right sides of the cruise equipment, respectively.

6. The patrol device for cable wells according to claim 5, characterized in that, The calibration laser (33) is located at the bow of the cruise equipment and includes two horizontally arranged laser emitters for calibrating the size of images captured by the bow of the optical detection system (32).

7. The patrol device for cable wells according to claim 1, characterized in that, It also includes an equipment carrier (1), which is made of aluminum alloy and high-density polyethylene.

8. The patrol device for cable wells according to claim 7, characterized in that, It also includes a power system (2), which includes multiple propellers fixed on the equipment carrier (1) and distributed in a vector manner.

Images