A portable device and method suitable for underwater structure inspection

Abstract

The present application relates to the technical field of water area engineering inspection, in particular to a kind of underwater structure surface for marine ranching net cage, river revetment, reservoir dam and lake dike visual detection and method.The device is modularized and can be disassembled: the main frame includes display screen and controller;the foldable module is composed of multiple articulated folding frames;the underwater camera in the image acquisition module moves vertically in the folding frame sliding groove through the slider;the number is optional;in the drive module, the speed reducer motor pulls the camera through the fixed pulley;the propeller can provide thrust to resist water flow disturbance.The inspection process includes unfolding the folding module, controlling the camera to scan vertically, adjusting the pose of the propeller and observing and recording in real time.The present application can be adapted to seawater / freshwater environment, and the operating depth can be adjusted according to actual needs, which significantly reduces the safety risk of water area engineering structure inspection and improves the operating efficiency.

Description

Technical Field

[0001] The present invention relates to the field of water engineering inspection technology, and is particularly suitable for visual inspection of the surfaces of underwater structures such as marine ranch cages, river bank protection, reservoir dams and lake embankments. Background Art

[0002] Marine fisheries are booming, and cage aquaculture in marine ranches is contributing to the efficient utilization of fishery resources. However, cages are constantly impacted by the marine environment and face severe wear and tear. Among physical factors, ocean currents cause friction and wear between cages and supports, strong winds and waves can easily deform frames and tear nets, and seawater immersion accelerates corrosion and aging of materials. Biological factors include barnacles and other attached organisms that increase the weight of cages and damage protective coatings, and some fish, shrimp, and crabs will actively gnaw on the cages.

[0003] Underwater structures such as river bank protection and reservoir dams are subject to long-term erosion by water flow and biological attachment. Traditional manual inspections have many blind spots, poor safety, and high costs.

[0004] However, existing detection technologies for underwater structures face limitations: manual inspections are inefficient and susceptible to environmental influences; visual monitoring is limited by detection range; and sensor monitoring has incomplete coverage and is susceptible to interference. Therefore, developing efficient, accurate, and comprehensive underwater structure detection equipment is crucial for ensuring the stability of underwater structures such as marine ranch cages, river revetments, and reservoir dams, while minimizing economic losses. Summary of the Invention

[0005] In response to the shortcomings of existing inspection technologies for underwater structures such as marine ranch cages, river revetments, and reservoir dams, the present invention provides a portable device for inspecting water structures that can be carried by a single person. It is an inspection device used to inspect the conditions of underwater structures such as marine ranch cages, river revetments, and reservoir dams.

[0006] In the existing technology, cage net inspection relies on divers to go into the sea or multiple people to work together in a complex marine environment, which poses multiple safety risks: divers face the risk of drowning, being attacked by marine life (such as being bitten by fish, shrimp and crabs), and colliding with cage supports; harsh marine environments such as strong winds, huge waves, and ocean currents further increase the danger of operations and the probability of falling into the water; insufficient coordination in operations when multiple people work together may lead to equipment collisions or personal accidents.

[0007] The traditional inspection model has significant shortcomings in efficiency. It requires large manpower input and the collaboration of multiple people (such as divers, ground assistants, etc.); the time cost is high, the manual inspection process is cumbersome, and the inspection of a single cage takes a long time; the operation is complex, and the equipment is inconvenient to carry and deploy, which further extends the operation cycle and leads to high operation and maintenance costs.

[0008] Existing detection technologies have limitations in the comprehensiveness and accuracy of data collection, which affects the reliability of underwater structure status assessment and has incomplete coverage: visual monitoring is restricted by the detection distance and it is difficult to fully cover the three-dimensional area of ​​underwater structures; sensor monitoring has blind spots and cannot fully capture the status of underwater structures at different heights and angles; the accuracy is insufficient, the data collection lacks three-dimensionality, and it is difficult to reflect the details of underwater structures; the equipment movement and camera positioning accuracy are low, resulting in the omission of key information; it is susceptible to interference, the sensor is easily affected by corrosion, biological attachment, etc., and the data stability is poor; visual signals are easily distorted under complex water flows.

[0009] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0010] This invention allows a single person to inspect underwater structures at the edge of a water area, greatly reducing the risk of underwater operations and alleviating safety hazards.

[0011] The camera is fixed on a folding frame and moves vertically along slots in the frame to collect status information of underwater structures. To enable the camera to complete a three-dimensional inspection of underwater structures in one go while ensuring the inspection device's portability, a folding module for the camera's movement was designed.

[0012] Since the folding module is designed with a detachable structure, the number of folding frames and image receiving modules can be determined according to the specific depth of the water area to be inspected.

[0013] Taking the underwater operation depth of 7 meters as an example, the 7 cameras are respectively fixed to the 7 folding frames in the folding module through sliders. The sliders are connected in the folding frames through connecting lines passing through the connecting holes at both ends of the back, and are moved vertically by a reduction motor. The folding module has seven folding frames connected by the upper and lower connecting holes of the folding frames. When not working, the vertical footprint is reduced by folding, and the diving depth of the equipment is extended by manually unfolding when working. This detachable structure allows the present invention to more flexibly cover the application scenarios of structure inspection in various water working environments.

[0014] The bottom thruster assists in propulsion when the device is working underwater. The rotation and displacement of the device are controlled by pressing the thruster controller during operation.

[0015] As a further optimization of this invention, the motor housing is equipped with a motor slot, within which is located a reduction motor with its output shaft fixed to the axis of an internal gear. This invention aims to provide an innovative underwater structure inspection solution, the core advantage of which is that a single person can complete the inspection work at the edge of the water. The operation method is to unfold the bottom folding module. Once fully unfolded, the worker moves along the edge of the water to collect status information of the underwater structure.

[0016] Traditional underwater structure inspections often require the collaboration of multiple personnel, working in complex and ever-changing environments with high safety risks such as falling into the water and collisions. However, the present invention significantly reduces operational risks through a series of ingenious structural designs and functional configurations, achieving zero-diving operations, eliminating the risks of drowning and attacks by aquatic organisms, and significantly reducing safety hazards. This provides a safer and more efficient approach to the daily operation and maintenance of underwater structures such as marine ranch cages, river bank protection, reservoir dams, and lake embankments.

[0017] By means of the above technical solution, the present invention provides an inspection device for underwater structures, which has at least the following beneficial effects:

[0018] 1. The present invention uses an observation module so that a single person can observe the data transmitted by the underwater camera without going into the water, with full-view coverage, reducing manpower input and enhancing safety.

[0019] 2. The present invention adopts a foldable design, which facilitates the carrying of the inspection device and can quickly and efficiently unfold the folding module. The single-person operation time in handling underwater structure inspection work is greatly shortened, the efficiency is improved compared to manual inspection, and time costs are greatly saved.

[0020] 3. The present invention achieves anti-flow stability by installing a propeller at the bottom of the inspection device, which can offset the shape and position changes of the inspection device caused by the water flow, making the collected data more accurate and convincing. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0022] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0023] Figure 2 Schematic diagram of the structure of the observation module of the present invention;

[0024] Figure 3 It is a structural schematic diagram of the folding frame of the present invention;

[0025] Figure 4 Schematic diagram of the cross-section of the image receiving module of the present invention;

[0026] Figure 5 This is a schematic diagram of the bottom propeller structure of the present invention;

[0027] Figure 6 Schematic diagram of the cross-sectional structure of the fixed pulley of the outlet of the present invention;

[0028] Figure 7 The folding frame hinge connection structure of the present application is shown in the figure.

[0029] Figure 8 The exploded structure of the folding module of the present application is shown in the figure.

[0030] Figure 9 The folding frame hinge fixing structure of the present application is shown in the figure.

[0031] Figure 10 The work flow chart of the present application is shown in the figure.

[0032] In the figure: 1, screen storage box; 2, display screen; 3, handheld frame; 4, motor storage box; 5, reduction motor; 6, retractable wire frame; 7, fixed pulley; 8, lower equipment fixing hole; 9, support frame; 14, upper equipment fixing hole; 22, bearing;

[0033] 10, folding frame; 11, underwater camera; 12, upper folding frame connecting hole; 13, thruster; 17, lower folding frame connecting hole; 18, module expansion hole; 19, camera sliding rod; 15, upper folding frame fixing hole; 20, lower folding frame fixing hole; 21, sliding groove;

[0034] 23, reduction motor controller; 24, thruster controller; 25, hexagonal flange face locking nut; 26, sliding rod connecting hole; 27, Q500 split pin; 31, aluminum alloy plate; 32, M5 hexagonal head bolt;

[0035] 28, chamferless M6 hexagonal thin nut; 29, equal-length double-headed stud; 30, AKXC split pin; 33, connecting wire; 34, M6 bolt; 35, M6 nut. DETAILED DESCRIPTION

[0036] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of protection of the present application.

[0037] First embodiment

[0038] The portable device for underwater structure inspection is a high-precision device used for inspection and research of underwater structures such as marine ranch cages, river bank protection, reservoir dams and lake embankments. It is specially designed to collect underwater structure data in aquatic environments while ensuring the original state and authenticity of the image transmission. In special operating environments, such as marine ranch cage inspection, long-term use in the marine environment may cause the equipment to rust or be invaded by salt crystals, making it difficult to maintain effectiveness and reliability. In order to effectively and long-term maintain the normal use of the underwater structure inspection device to prevent seawater erosion, the main body of the portable device for underwater structure inspection is made of aluminum alloy. Figure 1 As shown, this embodiment provides a portable device for underwater structure inspection, which comprises a main frame (composed of a screen storage box 1; a display screen 2; a handheld frame 3; a motor placement box 4; a lower device fixing hole 8; a support frame 9; a bearing 22; a reduction motor controller 23; and a thruster controller 24), a drive module (composed of a reduction motor 5; a retractable wire frame 6; a fixed pulley 7; and a connecting line 33), a folding module (composed of a folding frame 10; a folding frame upper connecting hole 12; a folding frame lower connecting hole 17; a module expansion hole 18; a sliding slot 21; a folding frame upper fixing hole 15; and a folding module). The underwater camera is composed of a bottom fixing hole 20 of the stacking frame; a thin M6 hexagonal nut 28 without chamfer; an equal-length double-ended stud 29; and an AKXC cotter pin 30), an image receiving module (consisting of an underwater camera 11; a camera sliding rod 19; a hexagonal flange locking nut 25; a sliding rod connecting hole 26; a Q500 cotter pin 27; an M6 bolt 34; an M6 nut 35; an aluminum alloy plate 31; and an M5 hexagonal head bolt 32) and a thruster 13. In order to realize the three-dimensional inspection of underwater structures by the underwater camera while taking into account the portability of the inspection device, a camera motion folding module is designed.

[0039] The folding module features a foldable design. When in use, adjacent folding frames are hinged together through upper and lower folding frame connection holes. The joints (upper folding frame connection hole 12; lower folding frame connection hole 17) are locked with equal-length studs 29, secured with thin, unchamfered M6 hexagonal nuts 28, and locked with AKXC cotter pins 30. The folding module can be deployed from 0° (stowed) to 180° (operating). When fully deployed, M6 bolts 34 and M6 nuts 35 secure the upper folding frame fixing holes 15 and lower folding frame fixing holes 20. For deeper water inspections (e.g., 7 meters), all seven folding frames 10 and image receiving modules are installed, resulting in a fully deployed length of between 8 and 8.5 meters. For shallower water inspections (e.g., 3 meters), only three folding frames 10 and image receiving modules are installed, resulting in an deployed length of 3.5 meters. When not in use, the folding module can be folded and stored to a length between 1.2 and 1.3 meters, effectively reducing the device's footprint and making it easier for operators to carry and transport. When inspection operations are required, the folding module can be quickly unfolded to form a stable support structure to ensure the stability of the underwater camera 11 during movement. The folding module is installed at the end of the main frame. The main frame is a fixed frame for storing the screen and the reduction motor, which is convenient for equipment installation; the image module is installed in the sliding groove 21 of the folding frame 10 and slides therein. The folding module is straightened when working. The entire folding module straightening process is achieved by manually unfolding the folding module. When it is fully unfolded, it can penetrate into the water area required for observation. When the equipment needs to be moved for three-dimensional inspection of underwater structures, press the thruster controller 24 to control the movement of the entire equipment, and press the reduction motor controller 23 to control the reduction motor 5 through the encoder feedback signal to achieve a movement accuracy of the camera sliding rod 19 of ±1cm, driving the underwater camera 11 to move up and down along the folding frame 10.

[0040] Second embodiment

[0041] The underwater camera 11, as the core data acquisition component of the entire inspection device, is fixedly mounted on a special folding frame 10. The folding frame 10 is made of aluminum alloy to adapt to the harsh environment of high salt and humidity. The folding frame 10 is provided with a sliding groove 21 of specific specifications. The design size of the sliding groove 21 has been structurally optimized to ensure that the underwater camera 11 can move vertically and provide stable support. The underwater camera can move vertically in the sliding groove 21, and the angle between the underwater camera 11 and the folding frame 10 is adjustable. Therefore, the underwater camera 11 can achieve full-view coverage of the underwater structure and collect status information at any position of the underwater structure, including key data such as whether the underwater structure is damaged and the accumulation of attachments, providing a detailed basis for subsequent underwater structure status assessment.

[0042] The underwater camera 11 is directly secured to the camera slide rod 19 via M5 hexagonal bolts 32 and hexagonal flange lock nuts 25. The camera slide rod 19 is secured to the folding frame 10 via Q500 cotter pins and aluminum alloy plates 31. The design of the camera slide rod 19 fully considers the installation requirements and movement characteristics of the underwater camera 11. Its connection to the underwater camera 11 utilizes a precise threaded structure, ensuring secure installation and easy disassembly and maintenance. The camera slide rod 19 moves within the folding frame 10 via connection holes 26 at each end of its back. Connecting wires 33 pass through these holes and connect to the reduction motor 5. The reduction motor 5, serving as the power source, precisely controls the speed and torque to drive the camera slide rod 19 vertically within the folding frame 10, thereby enabling the underwater camera 11 to capture images at different heights of underwater structures. Module expansion holes 18 support the installation of monitoring sensors, enabling integrated inspection and environmental monitoring.

[0043] Inspection personnel are equipped with a display screen 2, which is connected to the underwater camera 11 via a data transmission line. Supporting 4G / satellite communication for remote real-time image transmission, the display screen 2 can receive and display images of underwater structures captured by the underwater camera 11 in real time. During inspections, personnel can observe the real-time status of underwater structures on the display screen 2, promptly identify any problems, and mark and record them accordingly. Display screen 2 boasts high-definition display capabilities, and when placed in the screen storage box 1, it can clearly display images of underwater structures even in bright sunlight. This effectively assists in precise inspections, improving efficiency and accuracy.

[0044] The bottom propeller 13 is an important auxiliary component of the present invention when working underwater. When the device is put into use, the propeller 13 is manually controlled to open during manual inspection operations. The propeller 13 provides thrust to offset the influence of the water flow and reduce the underwater bending effect of the water flow on the device, thereby ensuring that the entire inspection device is in a vertical state, ensuring the stability of the collected data, and providing propulsion for the movement of the entire device in the water. The propeller controller 24 is the core component that controls the operation of the propeller 13. By pressing the operating button on the propeller controller 24, the operator can accurately control the rotation direction and displacement speed of the bottom propeller 13.

[0045] The motor housing box 4 is equipped with a dedicated motor slot. The output shaft of the reduction motor 5 is fixedly connected to the axis of the retractable wire frame 6. The fixed pulley 7 diverts the connecting wire 33 to the retractable wire frame 6 during operation. This connection method, through precise mechanical design, ensures that the power of the reduction motor can be efficiently and stably transmitted to the fixed pulley 7, thereby driving the relevant components to move, providing reliable power support for the operation of the entire inspection device.

[0046] See alsoFigure 10 , which shows a workflow of the present invention, using the folding device of the first embodiment and the driving device of the second embodiment, including the following steps:

[0047] Step S01, selecting the working water area of ​​the present invention.

[0048] Step S02: The image receiving module of the present invention is powered on for testing to ensure normal operation of the present invention.

[0049] Step S03: unfold the folding frame 10 of the present invention. After the device is fully unfolded, the present invention is safely placed in water.

[0050] Step S04: Turn on the propeller 13 to assist the present invention in moving in water and resisting turbulence.

[0051] Step S05 , turning on the reduction motor 5 to provide power control for the camera module movement.

[0052] In step S06 , the underwater camera 11 moves vertically in the sliding slot 21 so that the detection range covers structures at different water depths.

[0053] Step S07: Acquire image status and inspection data of water engineering structures.

[0054] In step S08, the underwater camera 11 feeds back the image status to the display screen 2 and transmits the picture back in real time.

[0055] Step S09: observe using a mobile device to obtain data information of underwater structures in more areas.

[0056] Step S10: After completing the inspection data collection, the device is retracted, the operation is ended, and the present invention is retrieved from the water area.

[0057] In step S11, the folding frame 10 is collapsed to store the device for next use.

[0058] It should be noted that, in this article, the terms "comprises", "includes" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or apparatus that includes 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 apparatus.

[0059] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A portable device for underwater structure inspection, characterized in that: include: (a) a main frame, comprising a handheld frame (3), a screen storage box (1), a display screen (2) disposed in the screen storage box, a motor placement box (4), a reduction motor controller (23), and a thruster controller (24); (b) a folding module, comprising a plurality of detachably connected folding frames hingedly connected to the folding frame upper connection holes (12) via the folding frame lower connection holes (17), the folding frames (10) being provided with sliding slots (21), the folding module being 8-8.5 meters in length when unfolded and 1.2-1.3 meters in length when folded and stored, and the number of folding frames (10) being user-defined when the depth of the water area changes; (c) an image acquisition module, comprising at least one underwater camera (11) and a camera sliding rod (19) detachably mounted on a folding frame, wherein the underwater camera (11) is embedded in a sliding groove (21) via a slider and can be vertically moved along the folding frame (10). When the depth of the water area changes, the user can reduce the number of folding frames (10) and the number of underwater cameras (11); (d) a driving module, comprising a reduction motor (5), a retractable wire frame (6) and a fixed pulley (7), wherein the output shaft of the reduction motor (5) is fixedly connected to the retractable wire frame (6), and the connecting wire (33) pulls the camera sliding rod (19) through the fixed pulley (7) to achieve vertical movement; (e) a propeller (13), which is arranged at the bottom of the folding module and controls the displacement and rotation speed through the propeller controller (24) to offset water flow disturbance to maintain the vertical posture of the device.

2. The device according to claim 1, wherein the folding frame (10) is made of aluminum alloy, and the size of the sliding groove (21) is calculated to ensure the vertical movement stability of the underwater camera (11).

3. The device according to claim 1, wherein both ends of the camera sliding rod (19) are provided with connecting The connecting hole (26) is connected to the connecting wire (33), which passes through the connecting hole (26) and is linked to the reduction motor (5).

4. The device according to claim 1, wherein the number of the folding frames (10) is optional, and the number of the underwater cameras (11) is optional, and they are respectively installed in the sliding groove (21) of each folding frame for three-dimensional inspection of structures at different depths.

5. The device according to claim 1, wherein the number of the folding frames (10) and underwater cameras (11) can be reduced according to the depth of the operating waters, and adaptation can be achieved by disassembling part of the folding frames and corresponding cameras.

6. The device according to claim 1 is suitable for surface inspection of underwater structures of river bank protection, reservoir dam or lake embankment, and the length of the folding frame is configured according to the depth of the target water area.

7. A method for inspecting underwater structures based on the device according to any one of claims 1 to 6, characterized in that: include: (a) Manually unfold the folding module to the straight state; (b) the device is moved deep into the water area for inspection, and the underwater camera (11) is controlled by the reduction motor controller (23) to move vertically along the sliding groove (21) to collect images of underwater structures; (c) adjusting the device posture through the thruster controller (24) to achieve three-dimensional inspection of underwater structures; (d) Observe and record the status of underwater structures in real time through the display screen (2).

Images