ROV underwater robot

Abstract

The ROV underwater robot comprises a frame, a propelling assembly and a flaw detection assembly, and the propelling assembly is installed on the frame and has propelling force for pushing the frame to advance in water. The flaw detection assembly comprises a controller, an impact hammer and an echo probe, the impact hammer is mounted on the frame, the impact hammer comprises an impact head for impacting concrete in a reciprocating manner, the echo probe is used for receiving vibration waves of the concrete, and the controller is in communication connection with the echo probe and is used for measuring and calculating internal damage of the concrete according to the vibration waves. The concrete is impacted by the impact head which vibrates in a reciprocating manner, so that vibration waves are formed in the concrete, and the echo probe receives the vibration waves to measure internal damage of the concrete. According to the ROV underwater robot provided by the invention, the internal damage of the concrete is measured and calculated through the transmitted wave generated by impact, and the vibration wave generated by impact has higher penetrating power, so that the defect of a deeper layer in the concrete can be detected.

Description

Technical Field

[0001] The present invention relates to the field of underwater concrete flaw detection, and in particular to an ROV underwater robot. Background Art

[0002] As ocean development continues to advance and marine engineering construction increases, the safety testing of underwater concrete structures has become increasingly important. Traditional testing methods, such as diver testing and core sampling, have significant shortcomings. Diver testing is inefficient and costly, and is severely constrained by marine environmental factors such as water depth, currents, and visibility. It also poses personal safety risks and is extremely difficult to operate underwater.

[0003] To replace divers, underwater concrete flaw detection can be performed using ROVs. Existing ROVs can be found in patent application number CN200810034150.9. Conventional ROV inspections rely primarily on optical or acoustic sensors, which can only detect surface cracks or rough topography. They struggle to penetrate the concrete to detect internal defects such as voids, delamination, and honeycombing.

[0004] Therefore, how to detect deep damage in underwater concrete is a technical problem that needs to be solved urgently. Summary of the Invention

[0005] The purpose of the present invention is to overcome the above technical deficiencies and propose an ROV underwater robot to solve the technical problem of how to detect deep damage to underwater concrete in the prior art.

[0006] In order to achieve the above technical objectives, the present invention adopts the following technical solutions: The present invention provides an ROV underwater robot, comprising: frame; a propulsion assembly mounted on the frame and having a propulsion force for pushing the frame to move in water; and The flaw detection component includes a controller, an impact hammer and an echo probe. The impact hammer is installed on the frame, and the impact hammer includes an impact head that reciprocates to strike the concrete. The echo probe is used to receive vibration waves from the concrete. The controller is communicatively connected to the echo probe, and it calculates internal damage to the concrete based on the vibration waves.

[0007] In some embodiments, the echo probe includes a base, an elastic member and a detection end, the base is mounted on the frame, the detection end is movably arranged on the base, the two ends of the elastic member are respectively connected to the base and the detection end, the elastic member has an elastic force that drives the detection end to protrude from the base, and the controller is communicatively connected to the detection end.

[0008] In some embodiments, a guide groove is provided at one end of the base, and the echo probe further includes a cover plate, which closes the guide groove and has a matching hole. The detection end is slidably arranged in the guide groove, and the detection end partially protrudes from the matching hole.

[0009] In some embodiments, the elastic member includes a spring, the spring is built into the guide groove, and two ends of the spring press against the inner wall of the guide groove and the detection end respectively.

[0010] In some embodiments, the propulsion assembly further comprises a vertical screw propeller, which is mounted on the frame and is used to propel the frame to move vertically in the water.

[0011] In some embodiments, the ROV underwater robot further includes a buoyancy component, wherein the buoyancy component includes a plurality of buoyancy blocks, and the plurality of buoyancy blocks are mounted on the frame.

[0012] In some embodiments, the frame has a plurality of storage compartments, and a plurality of the buoyancy blocks are embedded in the storage compartments in a one-to-one correspondence.

[0013] In some embodiments, the impact hammer further comprises a cylinder, wherein the cylinder is mounted on the frame, and the piston rod of the cylinder is connected to the impact head.

[0014] In some embodiments, the propulsion assembly includes a plurality of balancing screw propellers, which are circumferentially arranged on the frame, and a controller is communicatively connected to the plurality of balancing screw propellers. The controller regulates the propulsion force of each of the balancing screw propellers to balance the reaction force of the impact hammer.

[0015] In some embodiments, the propulsion assembly further comprises a horizontal screw propeller, which is mounted on the frame and is used to propel the frame to move horizontally in the water.

[0016] Compared with the prior art, the ROV underwater robot provided by the present invention has the following advantages: First, the ROV underwater robot is placed in the water. The propulsion assembly then drives the frame through the water, which in turn drives the impact hammer and echo probe close to the concrete to be tested. The reciprocating impact head then strikes the concrete, generating vibration waves within the concrete. The echo probe receives the vibration waves and measures internal damage to the concrete. Using the ROV provided in this application, the vibration waves generated by the impact are used to measure internal damage to the concrete. Because the vibration waves generated by the impact have greater penetrating power, they can detect deeper defects within the concrete. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 Schematic diagram of the structure of the ROV underwater robot provided by an embodiment of the present invention; Figure 2 This is a schematic structural diagram of the ROV underwater robot from another perspective provided by an embodiment of the present invention; Figure 3 Schematic diagram of the internal structure of the echo probe provided by an embodiment of the present invention; Figure 4 Schematic diagram of the vibration wave flaw detection principle provided by an embodiment of the present invention; Explanation of the accompanying drawings: frame 100, storage bin 110, propulsion assembly 200, vertical screw propeller 210, balancing screw propeller 220, horizontal screw propeller 230, flaw detection assembly 300, controller 310, impact hammer 320, impact head 321, cylinder 322, echo probe 330, detection end 331, base 332, guide groove 3321, elastic member 333, spring 3331, cover plate 334, buoyancy assembly 400, buoyancy block 410. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0019] In order to solve the technical problem of how to detect deep damage to underwater concrete, the present invention provides an ROV underwater robot that measures internal damage to concrete through vibration waves generated by impact. Since the vibration waves generated by impact have stronger penetrating power, they can detect deeper defects in the concrete.

[0020] It should be noted that the ROV underwater robot described in the present invention is used for but not limited to shore-based concrete flaw detection, etc. For the sake of convenience, in the present invention, only the application of the ROV underwater robot to shore-based concrete flaw detection is used as an example for explanation. The principles of applying the ROV underwater robot to other types of equipment are essentially the same as those applied to shore-based concrete flaw detection, and will not be described in detail here.

[0021] See also Figure 1 , Figure 1The figure is a schematic diagram of the structure of an ROV underwater robot according to one embodiment of the present invention. The ROV underwater robot includes a frame 100, a propulsion assembly 200, and a flaw detection assembly 300. The propulsion assembly 200 is mounted on the frame 100 and provides the propulsion force that propels the frame 100 through the water. The flaw detection assembly 300 includes a controller 310, an impact hammer 320, and an echo probe 330. The impact hammer 320 is mounted on the frame 100 and includes an impact head 321 that reciprocally strikes the concrete. The echo probe 330 is used to receive vibration waves from the concrete. The controller 310 is communicatively connected to the echo probe 330, which measures internal damage to the concrete based on the vibration waves.

[0022] First, the ROV underwater robot is placed in the water. The propulsion assembly 200 then drives the frame 100 through the water, thereby driving the impact hammer 320 and echo probe 330 close to the concrete to be tested. The reciprocating impact head 321 then strikes the concrete, generating vibration waves within the concrete. The echo probe 330 receives these vibration waves and measures internal concrete damage. Using the ROV provided in this application, internal concrete damage is measured using the transmitted waves generated by the impact. Because the vibration waves generated by the impact have greater penetrating power, deeper defects within the concrete can be detected.

[0023] It should be noted that the controller 310 of the present application should be understood as a general term for a series of electronic control components. Figure 1 only shows the sealed shell outside the controller 310. A series of electronic control components such as PLC, A / D converter, signal conditioner, etc. are installed inside the shell, which are not described one by one here.

[0024] It is understandable that after the impact head 321 impacts the concrete, a reaction force is generated on the frame 100, thereby pushing the frame 100 to move slightly away from the concrete, making it difficult for the detection end 331 to adhere to the concrete.

[0025] To solve the above technical problems, please refer to Figure 3 In some embodiments, the echo probe 330 includes a detection end 331, a base 332, and an elastic member 333. The base 332 is mounted on the frame 100, and the detection end 331 is movably mounted on the base 332. The elastic member 333 is connected to the base 332 and the detection end 331 at both ends. The elastic member 333 has an elastic force that drives the detection end 331 to protrude from the base 332. The controller is in communication with the detection end. Before the impact head 321 impacts the concrete, the propulsion assembly 200 is used to drive the frame 100 toward the concrete, causing the concrete to press against the detection end 331 and compress the elastic member 333, and then the impact head 321 impacts the concrete.

[0026] At this time, under the action of the reaction force, the frame 100 retreats slightly, and the elastic member 333 releases elastic potential energy, so that the detection end 331 is always attached to the concrete, so that the detection end 331 can stably receive vibration waves, thereby improving the detection accuracy of the echo probe 330.

[0027] In some embodiments, based on the above embodiments, a guide groove 3321 is defined at one end of the base 332. The echo probe 330 further includes a cover plate 334 that seals the guide groove 3321 and defines a mating hole. The detection end 331 is slidably disposed within the guide groove 3321, with a portion of the detection end 331 protruding from the mating hole. The outer periphery of the detection end 331 abuts against the inner wall of the guide groove 3321. Guided by the inner wall of the guide groove 3321, the detection end 331 slides relative to the base 332. The detection end 331 can partially protrude from the mating hole to contact concrete. The cover plate 334 seals the guide groove 3321 to prevent water from entering the guide groove 3321.

[0028] Any implementation method of the elastic member 333 is feasible as long as it can push the detection end 331 to protrude outside the guide groove 3321. In some embodiments, the elastic member 333 includes a spring 3331, which is built into the guide groove 3321, and the two ends of the spring 3331 respectively press against the inner wall of the guide groove 3321 and the detection end 331, and the elastic force of the spring 3331 pushes the detection end 331 to protrude from the guide groove 3321.

[0029] In some embodiments, the propulsion assembly 200 further includes a vertical screw propeller 210, which is mounted on the frame 100 and is used to propel the frame 100 in the vertical direction in the water. The vertical screw propeller 210 can propel the frame 100 in the vertical direction, thereby changing the depth of the frame 100 in the water. It is understandable that if the combined force of the thrust of the vertical screw propeller 210, the gravity of the ROV underwater robot, and the buoyancy of the ROV underwater robot is upward, the ROV underwater robot can be made to float. If the combined force of the thrust of the vertical screw propeller 210, the gravity of the ROV underwater robot, and the buoyancy of the ROV underwater robot is downward, the ROV underwater robot can be made to sink. In some embodiments, the ROV underwater robot also includes a buoyancy component 400, which includes a plurality of buoyancy blocks 410, and the plurality of buoyancy blocks 410 are installed on the frame 100. The buoyancy blocks 410 are installed on the frame 100, and the buoyancy blocks 410 can increase the displacement volume of the ROV underwater robot as a whole, thereby increasing the buoyancy of the ROV underwater robot as a whole. If the buoyancy of the ROV underwater robot as a whole is greater than the gravity of the ROV underwater robot as a whole, the ROV underwater robot can float on its own without the intervention of the vertical screw propeller 210. Therefore, the vertical screw propeller 210 only needs to provide a vertical downward propulsion force to control the ROV underwater robot to sink or float in the water. If the vertical screw propeller 210 overcomes the buoyancy of the ROV underwater robot, the ROV underwater robot can be driven to sink. If the propulsion force of the vertical screw propeller 210 is equal to the buoyancy of the ROV underwater robot, the ROV underwater robot can be made to float. If the propulsion force of the vertical propeller 210 is smaller than the buoyancy of the ROV underwater robot, the ROV underwater robot can float up.

[0030] In some embodiments, the frame 100 has a plurality of storage compartments 110, into which a plurality of buoyancy blocks 410 are embedded. The buoyancy blocks 410 are embedded in the storage compartments 110, thereby ensuring a more stable connection between the buoyancy blocks 410 and the frame 100. Furthermore, the operator can adjust the buoyancy of the ROV by increasing or decreasing the number of buoyancy blocks 410 installed on the frame 100.

[0031] Any embodiment is feasible as long as it can drive the impact head 321 to impact concrete. In some embodiments, the impact hammer 320 further includes a cylinder 322, which is mounted on the frame 100. The cylinder 322 is mounted on the frame 100, and the piston rod of the cylinder 322 is connected to the impact head 321. The impact head 321 can be driven to impact the concrete by moving the piston rod of the cylinder 322 relative to the cylinder body of the cylinder 322.

[0032] Specifically, an air pump can be used to input compressed air into the rear chamber of the cylinder 322, thereby compressing the air in the front chamber of the cylinder 322 and accumulating energy until the air pressure in the front chamber of the cylinder 322 reaches a preset value. Then, a solenoid valve connected to the front chamber of the cylinder 322 is operated to release the compressed air in the front chamber of the cylinder 322, pushing the piston rod to move, thereby driving the impact head 321 to impact the concrete. After the impact operation is completed, the air in the front chamber of the cylinder 322 can be released, allowing the piston rod to drive the impact head 321 to return to its original position, preparing for the next impact operation.

[0033] It is understandable that after the impact head 321 hits the concrete, a reaction force will be generated on the frame 100, thereby pushing the frame 100 to move slightly away from the concrete. Therefore, it is necessary to use the propulsion assembly 200 as much as possible to offset the reaction force generated by the impact and maintain the stability of the frame 100.

[0034] In some embodiments, the propulsion assembly 200 includes a plurality of balancing screw propellers 220, which are arranged circumferentially about the frame 100. A controller 310 is in communication with the plurality of balancing screw propellers 220. The controller 310 regulates the propulsion force of each balancing screw propeller 220 to balance the reaction force of the impact hammer 320. The balancing screw propellers 220 are arranged circumferentially about the frame 100, and each balancing screw propeller 220 can provide propulsion force in different directions. The controller 310 regulates the propulsion force of each balancing screw propeller 220 so that the combined force of the propulsion force of each balancing screw propeller 220 is equal to the reaction force generated by the impact, thereby offsetting the impact of the reaction force generated by the impact and improving the stability of the frame 100.

[0035] In addition, the controller 310 can also regulate the propulsion force of each balanced screw propeller 220 to drive the ROV underwater robot to rotate, so as to drive the ROV underwater robot to turn with the help of the balanced screw propeller 220.

[0036] In some embodiments, the propulsion assembly 200 further includes a horizontal screw propeller 230 , which is mounted on the frame 100 and configured to propel the frame 100 horizontally in the water.

[0037] In order to better understand the present invention, the following Figures 1 to 4 The technical solution of the present invention is described in detail: First, the ROV is placed in the water. The propulsion assembly 200 then drives the frame 100 through the water, thereby driving the hammer 320 and echo probe 330 toward the concrete to be tested. Before the impact head 321 strikes the concrete, the propulsion assembly 200 drives the frame 100 toward the concrete, causing the concrete to press against the probe end 331 and compress the elastic member 333. An air pump then pumps compressed air into the rear chamber of the cylinder 322, compressing the air in the front chamber of the cylinder 322 and accumulating energy until the air pressure in the front chamber of the cylinder 322 reaches a preset value. The solenoid valve connected to the front chamber of the cylinder 322 is then operated to release the compressed air in the front chamber of the cylinder 322, pushing the piston rod to move and driving the impact head 321 to strike the concrete. At this point, under the action of the impact reaction force, the frame 100 retreats slightly. The elastic member 333 releases its elastic potential energy, allowing the detection end 331 to remain attached to the concrete. This allows the detection end 331 to stably receive vibration waves, improving the detection accuracy of the echo probe 330. The echo probe 330 receives the vibration waves and measures internal damage to the concrete. The ROV provided in this application measures internal damage to the concrete using the transmitted waves generated by the impact. Because the vibration waves generated by the impact have greater penetrating power, they can detect deeper defects in the concrete.

[0038] In the description of this application, it should be noted that the terms "upper" and "lower" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application. Unless otherwise expressly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be internal communication between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0039] It should be noted that, in this application, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprising a ..." does not exclude the presence of other identical elements in the process, method, article or device comprising the element.

[0040] The above specific embodiments of the present invention do not constitute a limitation on the scope of protection of the present invention. Any other corresponding changes and modifications made based on the technical concept of the present invention should be included in the scope of protection of the claims of the present invention.

Claims

1. An ROV underwater robot, characterized in that: include: frame; a propulsion assembly mounted on the frame and having a propulsion force for pushing the frame to move in water; as well as The flaw detection component includes a controller, an impact hammer and an echo probe. The impact hammer is installed on the frame, and the impact hammer includes an impact head that reciprocates to strike the concrete. The echo probe is used to receive vibration waves from the concrete. The controller is communicatively connected to the echo probe, and it calculates internal damage to the concrete based on the vibration waves.

2. The ROV underwater robot according to claim 1, characterized in that: The echo probe includes a base, an elastic member and a detection end. The base is installed on the frame, and the detection end is movably arranged on the base. The two ends of the elastic member are respectively connected to the base and the detection end. The elastic member has an elastic force that drives the detection end to protrude from the base, and the controller is communicatively connected to the detection end.

3. The ROV underwater robot according to claim 2, characterized in that: A guide groove is provided at one end of the base, and the echo probe further comprises a cover plate, which closes the guide groove and has a matching hole. The detection end is slidably arranged in the guide groove, and the detection end partially protrudes from the matching hole.

4. The ROV underwater robot according to claim 3, characterized in that: The elastic member includes a spring, the spring is built into the guide groove, and two ends of the spring press against the inner wall of the guide groove and the detection end respectively.

5. The ROV underwater robot according to claim 1, characterized in that: The propulsion assembly includes a vertical screw propeller, which is installed on the frame and is used to propel the frame to move vertically in the water.

6. The ROV underwater robot according to claim 5, characterized in that: The ROV underwater robot further includes a buoyancy component, which includes a plurality of buoyancy blocks, and the plurality of buoyancy blocks are installed on the frame.

7. The ROV underwater robot according to claim 6, characterized in that: The frame has a plurality of storage compartments, and a plurality of buoyancy blocks are embedded in the storage compartments in a one-to-one correspondence.

8. The ROV underwater robot according to claim 1, characterized in that: The impact hammer further includes a cylinder, which is mounted on the frame, and a piston rod of the cylinder is connected to the impact head.

9. The ROV underwater robot according to claim 1, characterized in that: The propulsion assembly includes a plurality of balancing screw propellers, which are circumferentially arranged on the frame, and a controller is communicatively connected with the plurality of balancing screw propellers. The controller regulates the propulsion force of each balancing screw propeller to balance the reaction force of the impact hammer.

10. The ROV underwater robot according to claim 1, characterized in that: The propulsion assembly further includes a horizontal screw propeller, which is mounted on the frame and is used to propel the frame to move horizontally in the water.

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