Multi-degree-of-freedom intelligent cableway system for underwater repair and operation method

Abstract

The invention discloses a multi-degree-of-freedom intelligent cableway system for underwater repair and an operation method of the multi-degree-of-freedom intelligent cableway system, and belongs to the technical field of underwater repair equipment. The system comprises a fixed track, a cableway, a driving motor, a main control unit, a transverse pulley block, a power transmission mechanism and the like. A cableway is connected with first take-up reels on the two sides, a power transmission mechanism drives a fixed bent frame to longitudinally move along the cableway, a driving motor takes up and releases a force bearing cable to control vertical movement, and a main control unit cooperatively controls all driving devices. And pose calibration and real-time stable adjustment are realized through the six-degree-of-freedom inertial measurement unit and the tension sensor. According to the underwater repairing device, transverse, longitudinal and vertical multi-axis linkage of the repairing connecting base is achieved, positioning is accurate, the underwater repairing device adapts to the complex underwater environment, operation stability is ensured through sensor feedback and intelligent control, the equipment replacement efficiency is improved through an electromagnetic quick-release mechanism, and an efficient and reliable solution is provided for underwater repairing operation.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater maintenance of hydraulic structures, and in particular to a multi-degree-of-freedom intelligent cableway system and an operation method for underwater repair. Background Art

[0002] In water conservancy projects, underwater concrete structures such as dams, spillways, and energy dissipation basins are subject to long-term water erosion, cavitation, freeze-thaw cycles, and other effects, making them prone to defects such as cracks, erosion, and structural seam damage. Existing underwater repair technologies have the following main problems: Insufficient positioning accuracy: Traditional manual operations by divers rely on visual judgment, which is affected by low underwater visibility and water disturbances, resulting in large positioning errors. Existing underwater robots or simple cableway systems use thrusters or single-dimensional drives, making it difficult to achieve high-precision positioning in complex flow fields and unable to meet the requirements of precision repair. Limited movement dimensions: Conventional cableway systems can only achieve two-dimensional movement in the horizontal and vertical directions. They lack the ability to adjust pitch, yaw, and roll, making them difficult to adapt to the repair of curved structures or inclined cracks. As a result, the repair tools cannot be perpendicular to the surface of the structure, affecting the repair quality. Low level of intelligence: Currently, pipeline monitoring equipment is mainly used for monitoring and data uploading. It lacks automatic analysis and discrimination algorithms based on multiple parameters and relies on platforms or manual background analysis. It is difficult to timely detect potential problems such as inflow and infiltration into the pipeline network and excessive emissions. Summary of the Invention

[0003] In response to the shortcomings of the existing technology, the present invention provides a multi-degree-of-freedom intelligent cableway system device and operation method for underwater repair, aiming to solve the problems of low efficiency, poor safety, and insufficient positioning and mobility in existing underwater repair technologies. The intelligent cableway carrying system realizes precise positioning and multi-dimensional motion control of underwater repair equipment. To achieve the above objectives, the present invention adopts the following technical solutions: A multi-degree-of-freedom intelligent cableway system for underwater repair, comprising a fixed track, a first take-up drum, a cableway, a drive motor, a main control unit, a transverse pulley block, a fixed frame, a bearing platform, a power transmission mechanism, underwater repair equipment, a second take-up drum, and load-bearing cables; The fixed rails are arranged transversely along both sides of the water cushion pond platform, and are used to carry the transverse pulley blocks and guide the transverse movement of the carrying platform; The first take-up drum is fixedly mounted on the carrying platform, and both ends of the cableway are respectively connected to the first take-up drums located on both sides of the water cushion pond platform; The second take-up drum is installed on the top of the fixed frame through a bearing seat, one end of the load-bearing cable is wound around the take-up drum, and the other end is detachably connected to the top of the repair connection seat; The drive motor is connected to the second take-up drum for retracting and releasing the load-bearing cable; The transverse pulley assembly cooperates with the fixed track and is connected to the side of the load-bearing platform through the bracket, and is used to drive the load-bearing platform to move transversely along the fixed track; The power transmission mechanism is provided on the fixed frame and is used to drive the fixed frame to move in the longitudinal direction along the cableway; The main control unit is electrically connected to the longitudinal motion controller for controlling the drive motor, the lateral motion controller for controlling the lateral pulley set, and the power transmission mechanism, respectively, to control the devices for each drive motion; The underwater repair equipment can be detachably mounted on the bottom surface of the repair connection seat.

[0004] Furthermore, the transverse pulley group includes a symmetrically arranged main pulley and a guide pulley, the main pulley is connected to a driving device that drives the main pulley to move, the top surface of the fixed track is provided with a T-shaped guide groove, the main pulley is rollingly engaged with the bottom surface of the T-shaped guide groove, and the guide pulley is in contact with the side surface of the T-shaped guide groove.

[0005] Furthermore, the load-bearing cable and the repair connecting seat are detachably connected through an inverted U-shaped hook and an elastic clamp, and the end of the load-bearing cable is provided with a ring terminal that cooperates with the elastic clamp.

[0006] Furthermore, the fixed rail is made of corrosion-resistant stainless steel profile, and the inner wall in contact with the transverse pulley set is provided with an anti-slip rubber pad.

[0007] Furthermore, the bottom surface of the repair connector is integrated with a six-degree-of-freedom inertial measurement unit for collecting posture data in real time and transmitting it to the main control unit.

[0008] Furthermore, the power transmission mechanism includes a driving wheel, a driven wheel, a power device and a transmission belt. The power device is a dual-output shaft servo motor, which drives the driving wheel and the driven wheel to move differentially through the transmission belt. The driving wheel and the driven wheel are in rolling contact with the cableway.

[0009] Furthermore, the underwater repair equipment is connected to the repair connection seat through an electromagnetic quick-release mechanism, and the electromagnetic quick-release mechanism includes an electromagnetic suction seat arranged on the repair connection seat and a metal connection plate arranged on the underwater repair equipment.

[0010] Furthermore, a tension sensor is installed on the bearing platform, and the tension sensor is used to monitor the tension of the cableway in real time and control the first take-up drum to retract and release the cableway.

[0011] Furthermore, the main control unit is integrated with a PLC controller and an edge computing module, and the edge computing module has a built-in posture solution algorithm based on Kalman filtering.

[0012] The present invention also provides an operating method of a multi-degree-of-freedom intelligent cableway system for underwater repair, using the cableway system as described above, comprising the following steps: Track anchoring: fix the fixed track to both sides of the cushion pond platform through embedded bolts; Cable connection: detachably connect the end of the load-bearing cable to the repair connection seat, and reel in the load-bearing cable through the driving motor so that the repair connection seat is suspended under the fixed rack; Posture calibration: obtain initial data through the six-degree-of-freedom inertial measurement unit and tension sensor to establish the system coordinate system; Multi-axis linkage control, the main control unit coordinates the control of the transverse pulley group, power transmission mechanism and drive motor to achieve the horizontal, longitudinal and vertical movement of the repair connection seat; Real-time stable adjustment: the main control unit dynamically adjusts each driving motion device according to sensor feedback data to stabilize the posture of underwater repair equipment; Equipment quick replacement: the main control unit controls the power on and off of the electromagnetic quick-release mechanism to achieve rapid replacement of underwater repair equipment.

[0013] Compared with the prior art, the present invention has the following beneficial effects: 1. Precise multi-degree-of-freedom control: This invention uses a multi-degree-of-freedom intelligent cableway control system. Through the coordinated cooperation of fixed tracks, lateral and longitudinal motion controllers, it can achieve flexible motion control of underwater repair equipment in the lateral, longitudinal, pitch, and yaw directions, achieving precise control capabilities in six degrees of freedom. This multi-degree-of-freedom motion significantly improves the adaptability and flexibility of repair equipment in complex underwater environments, overcoming the problems of inaccurate positioning and insufficient flexibility of existing underwater robots. 2. Intelligent tension adjustment and real-time monitoring: This invention uses a tension sensor to monitor the tension distribution of the load-bearing cable in real time, feeds the monitoring data back to the main control unit, and intelligently adjusts the operating parameters of the drive motor and motion controller to ensure the stability of the underwater repair equipment under strong current conditions and avoid equipment deviation or instability. This tension adjustment mechanism significantly improves the safety and operational stability of the system; 3. Improve operational efficiency and reduce operational complexity: Compared with the traditional method of relying on divers for underwater repair, the present invention realizes automated operation through the main control unit, reducing dependence on manual operation, reducing operational complexity and safety risks; 4. Ability to adapt to complex environments: The present invention is specifically optimized for the stability of underwater repair equipment in complex working conditions. The intelligent cableway bearing system and fixed rails support the lateral and longitudinal movement of the repair equipment, ensuring that the repair equipment can still maintain a stable operating state in complex underwater environments, especially in deep and multi-directional repair operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The present invention will be further described below with reference to the accompanying drawings and examples: Figure 1 It is an overall front view of an embodiment of the present invention; Figure 2 This is an overall top view of an embodiment of the present invention; Figure 3 for Figure 1 A magnified view of point A in the figure; Figure 4 for Figure 1 Enlarged view of point B in FIG. Figure 5 for Figure 2 Enlarged view of point C in the figure; Figure 6 for Figure 2 The enlarged view of point D in the figure; Figure 7 Operation flow chart of the multi-degree-of-freedom intelligent cableway system for underwater repair.

[0015] In the above drawings: fixed track 1, first take-up drum 2, cableway 3, drive motor 4, main control unit 5, lateral motion controller 6, lateral pulley set 7, fixed rack 8, carrying platform 9, driving wheel 10, driven wheel 11, power unit 12, transmission belt 13, longitudinal motion controller 14, tension sensor 15, underwater repair equipment 16, repair connecting seat 17, second take-up drum 18, load-bearing cable 19. DETAILED DESCRIPTION

[0016] The technical solution of the present invention is further described below with reference to the accompanying drawings and embodiments.

[0017] like Figures 1 to 6 As shown, an embodiment of the present invention proposes a multi-degree-of-freedom intelligent cableway system for underwater repair, including a fixed track 1, a first take-up drum 2, a cableway 3, a drive motor 4, a main control unit 5, a transverse pulley group 7, a fixed frame 8, a bearing platform 9, a power transmission mechanism, underwater repair equipment 16, a second take-up drum 18 and a load-bearing cable 19.

[0018] The fixed track 1 is arranged horizontally along both sides of the water cushion pond platform and is made of corrosion-resistant stainless steel profiles. The inner wall in contact with the transverse pulley group 7 is provided with an anti-skid rubber pad to improve the wear resistance and anti-skid performance of the track. The transverse pulley group 7 includes a symmetrically arranged main pulley and a guide pulley. The main pulley is connected to a drive device that drives the main pulley movement. The top surface of the fixed track 1 is provided with a T-shaped guide groove. The main pulley rolls with the bottom surface of the T-shaped guide groove, and the guide pulley fits with the side of the T-shaped guide groove. This design makes the load-bearing platform 9 more stable and smooth when moving horizontally. The drive device can use a power device such as a motor. By controlling the operation of the drive device, the load-bearing platform 9 can be moved horizontally along the fixed track 1.

[0019] The first take-up drum 2 is fixedly installed on the carrying platform 9, and the two ends of the cableway 3 are respectively connected to the first take-up drum 2 located on both sides of the water cushion pond platform. A tension sensor 15 is installed on the carrying platform 9, which is used to monitor the tension of the cableway 3 in real time and control the first take-up drum 2 to retract and release the cableway 3, so as to keep the tension of the cableway 3 stable and ensure the stable operation of the fixed frame 8 on the cableway 3.

[0020] The second take-up drum 18 is mounted on the top of the fixed frame 8 through a bearing seat. One end of the load-bearing cable 19 is wound around the take-up drum, and the other end is detachably connected to the top of the repair connection seat 17 through an inverted U-shaped hook and an elastic snap ring. The end of the load-bearing cable 19 is provided with a ring terminal that cooperates with the elastic snap ring. This connection method facilitates the installation and removal of the load-bearing cable 19 and the repair connection seat 17. The drive motor 4 is transmission-connected to the second take-up drum 18. The forward and reverse rotation of the drive motor 4 realizes the retraction and extension of the load-bearing cable 19, thereby controlling the movement of the repair connection seat 17 in the vertical direction.

[0021] The power transmission mechanism is arranged on the fixed frame 8, including a driving wheel 10, a driven wheel 11, a power device 12 and a transmission belt 13. The power device 12 is a dual-output shaft servo motor, which drives the driving wheel 10 and the driven wheel 11 to move differentially through the transmission belt 13. The driving wheel 10 and the driven wheel 11 are in rolling contact with the cableway 3. By controlling the speed and direction of the servo motor, the fixed frame 8 is moved in the longitudinal direction along the cableway 3.

[0022] The main control unit 5 is integrated with a PLC controller and an edge computing module. The edge computing module has a built-in posture solution algorithm based on Kalman filtering, which is electrically connected to the longitudinal motion controller 14, the lateral motion controller 6, and the power transmission mechanism, respectively, to control the devices driving the motion. The bottom surface of the repair connection seat 17 is integrated with a six-degree-of-freedom inertial measurement unit for real-time acquisition of posture data and transmission to the main control unit 5. The main control unit 5 coordinates and controls each drive device based on this data and sensor feedback information to achieve multi-axis linkage control and real-time stable adjustment of the repair connection seat 17. The six-degree-of-freedom inertial measurement unit can be selected from Epson's M-G370PDS0 inertial measurement unit. It is a small size with an external dimension of 24x24x10mm³ and a weight of only 10g, which is convenient for integrated installation on the bottom surface of the repair connection seat without excessively increasing the volume and weight burden of the overall equipment.

[0023] The underwater repair equipment 16 is connected to the repair connecting seat 17 through an electromagnetic quick-release mechanism. The electromagnetic quick-release mechanism includes an electromagnetic suction seat arranged on the repair connecting seat 17 and a metal connecting plate arranged on the underwater repair equipment 16. The main control unit 5 controls the power on and off of the electromagnetic quick-release mechanism to achieve rapid replacement of the underwater repair equipment 16.

[0024] The present invention also provides a sewage pipe network monitoring and problem identification device based on salt temperature depth, the device uses the above-mentioned identification method, such as Figure 7 As shown, the following steps are included: Track anchoring: Fix the fixed track 1 to both sides of the water cushion pond platform with embedded bolts to ensure the stability of the track and provide a stable foundation for subsequent operations.

[0025] Cable connection: The end of the load-bearing cable 19 is detachably connected to the repair connection seat 17 through an inverted U-shaped hook and an elastic clip, and then the load-bearing cable 19 is reeled in by the driving motor 4 so that the repair connection seat 17 is suspended under the fixed rack 8 to complete the cable connection and the preliminary installation of the equipment.

[0026] Posture calibration: The initial posture data of the repair connector 17 is obtained through the six-degree-of-freedom inertial measurement unit, and the tension sensor 15 obtains the initial tension data of the cableway 3. The main control unit 5 establishes a system coordinate system based on these data to provide a benchmark for subsequent motion control.

[0027] Multi-axis linkage control: The main control unit 5 coordinates the control of the drive device of the transverse pulley group 7, the servo motor of the power transmission mechanism and the drive motor 4, so that the carrying platform 9 moves laterally along the fixed track 1, the fixed frame 8 moves longitudinally along the cableway 3, and the repair connecting seat 17 moves vertically through the load-bearing cable 19, thereby realizing the multi-axis linkage movement of the repair connecting seat 17 in the transverse, longitudinal and vertical directions, so that the underwater repair equipment 16 can accurately reach the working position.

[0028] Real-time stable adjustment: During the operation, the six-degree-of-freedom inertial measurement unit collects the position data of the repair connecting seat 17 in real time, and the tension sensor 15 monitors the tension of the cableway 3 in real time. After these data are transmitted to the main control unit 5, the main control unit 5 dynamically adjusts each driving motion device according to the sensor feedback data, such as adjusting the driving speed of the transverse pulley group 7, the motor speed of the power transmission mechanism and the retracting and releasing speed of the drive motor 4, etc., to stabilize the posture of the underwater repair equipment 16 and ensure the stability and safety of the operation.

[0029] Quick equipment replacement: When the underwater repair equipment 16 needs to be replaced, the main control unit 5 controls the electromagnetic quick-release mechanism to cut off the power, so that the electromagnetic suction seat loses its magnetism, and the metal connecting plate of the underwater repair equipment 16 is separated from the electromagnetic suction seat. Then, the new underwater repair equipment 16 is aligned with the electromagnetic suction seat through the metal connecting plate. The main control unit 5 controls the electromagnetic quick-release mechanism to be energized, and the electromagnetic suction seat attracts the metal connecting plate to realize the rapid replacement of the underwater repair equipment 16.

[0030] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not limiting. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the purpose and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A multi-degree-of-freedom intelligent cableway system for underwater repair, characterized in that: It includes a fixed track, a first take-up drum, a cableway, a drive motor, a main control unit, a transverse pulley block, a fixed frame, a load-bearing platform, a power transmission mechanism, underwater repair equipment, a second take-up drum and load-bearing cables; The fixed rails are arranged transversely along both sides of the water cushion pond platform, and are used to carry the transverse pulley blocks and guide the transverse movement of the carrying platform; The first take-up drum is fixedly mounted on the carrying platform, and both ends of the cableway are respectively connected to the first take-up drums located on both sides of the water cushion pond platform; The second take-up drum is installed on the top of the fixed frame through a bearing seat, one end of the load-bearing cable is wound around the take-up drum, and the other end is detachably connected to the top of the repair connection seat; The drive motor is connected to the second take-up drum for retracting and releasing the load-bearing cable; The transverse pulley assembly cooperates with the fixed track and is connected to the side of the load-bearing platform through the bracket, and is used to drive the load-bearing platform to move transversely along the fixed track; The power transmission mechanism is provided on the fixed frame and is used to drive the fixed frame to move in the longitudinal direction along the cableway; The main control unit is electrically connected to the longitudinal motion controller for controlling the drive motor, the lateral motion controller for controlling the lateral pulley set, and the power transmission mechanism, respectively, to control the devices for each drive motion; The underwater repair equipment can be detachably mounted on the bottom surface of the repair connection seat.

2. A multi-degree-of-freedom intelligent cableway system for underwater repair according to claim 1, characterized in that: The transverse pulley group includes a symmetrically arranged main pulley and a guide pulley, the main pulley is connected to a driving device that drives the main pulley to move, the top surface of the fixed track is provided with a T-shaped guide groove, the main pulley is in rolling engagement with the bottom surface of the T-shaped guide groove, and the guide pulley is in contact with the side surface of the T-shaped guide groove.

3. The multi-degree-of-freedom intelligent cableway system for underwater repair according to claim 1, characterized in that: The load-bearing cable and the repair connection seat are detachably connected through an inverted U-shaped hook and an elastic clamping ring, and the end of the load-bearing cable is provided with a ring terminal that cooperates with the elastic clamping ring.

4. The multi-degree-of-freedom intelligent cableway system for underwater repair according to claim 1, characterized in that: The fixed rail is made of corrosion-resistant stainless steel profile, and the inner wall in contact with the transverse pulley block is provided with an anti-skid rubber pad.

5. The multi-degree-of-freedom intelligent cableway system for underwater repair according to claim 1, characterized in that: The bottom surface of the repair connector is integrated with a six-degree-of-freedom inertial measurement unit for collecting posture data in real time and transmitting it to the main control unit.

6. The multi-degree-of-freedom intelligent cableway system for underwater repair according to claim 1, characterized in that: The power transmission mechanism includes a driving wheel, a driven wheel, a power device and a transmission belt. The power device is a dual-output shaft servo motor, which drives the driving wheel and the driven wheel to move differentially through the transmission belt. The driving wheel and the driven wheel are in rolling contact with the cableway.

7. The multi-degree-of-freedom intelligent cableway system for underwater repair according to claim 1, characterized in that: The underwater repair equipment is connected to the repair connection seat through an electromagnetic quick-release mechanism, and the electromagnetic quick-release mechanism includes an electromagnetic suction seat arranged on the repair connection seat and a metal connection plate arranged on the underwater repair equipment.

8. The multi-degree-of-freedom intelligent cableway system for underwater repair according to claim 1, characterized in that: A tension sensor is installed on the bearing platform, and the tension sensor is used to monitor the tension of the cableway in real time and control the first take-up drum to retract and release the cableway.

9. The multi-degree-of-freedom intelligent cableway system for underwater repair according to claim 1, characterized in that: The main control unit is integrated with a PLC controller and an edge computing module, and the edge computing module has a built-in posture solution algorithm based on Kalman filtering.

10. An operating method for a multi-degree-of-freedom intelligent cableway system for underwater repair, characterized in that: The device uses the cableway system according to any one of claims 1 to 9, comprising the following steps: Track anchoring: fix the fixed track to both sides of the cushion pond platform through embedded bolts; Cable connection: detachably connect the end of the load-bearing cable to the repair connection seat, and reel in the load-bearing cable through the driving motor so that the repair connection seat is suspended under the fixed rack; Posture calibration: obtain initial data through the six-degree-of-freedom inertial measurement unit and tension sensor to establish the system coordinate system; Multi-axis linkage control, the main control unit coordinates the control of the transverse pulley group, power transmission mechanism and drive motor to achieve the horizontal, longitudinal and vertical movement of the repair connection seat; Real-time stable adjustment: the main control unit dynamically adjusts each driving motion device according to sensor feedback data to stabilize the posture of underwater repair equipment; Equipment quick replacement: the main control unit controls the power on and off of the electromagnetic quick-release mechanism to achieve rapid replacement of underwater repair equipment.

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