High-precision immersed tube butt joint detection device capable of being operated by underwater robot

Abstract

The utility model discloses a high-precision immersed tube butt joint detection device capable of being operated by an underwater robot. The high-precision immersed tube butt joint detection device comprises an anti-corrosion material, an acoustic transmission material, a probe, a return spring, a laser range finder, a cylindrical roller, a connecting bracket, a sonar, a sonar control system, a sonar protection cover, a storage battery, a fixing clamp and a wiring port, a plurality of miniature probes are distributed on the outer ring of the cylindrical roller, when the roller passes through an object to be detected, the probes are moved and contracted towards the inside of the roller under the action of external force, the contour lines of the probes are flatly spread and unfolded to restore the contour of a detection area, and the contracted distance is accurately detected through a laser range finder; the sonar is arranged on the upper portion of the cylindrical roller and protected by the sound transmission protection cover, the orientation of the sonar is adjusted according to needs through the control system, the immersed tube butt joint posture can be judged and the detection path can be optimized through the cooperation of the sonar and the robot, real-time detection data are fed back to the sonar control system, and the scanning posture of the sonar is adjusted and controlled. And finally, high-precision real-time three-dimensional image reconstruction of the underwater sinking pipe attitude is realized.

Description

Technical Field

[0001] The utility model relates to underwater object detection, in particular to a high-precision submerged pipe docking detection device which can be operated by an underwater robot. Background Art

[0002] Underwater submerged pipe docking is an important process in many underwater projects. The precision of underwater submerged pipe docking is high. It is common for engineering to be shut down due to misalignment of submerged pipe docking, which also causes huge losses to the environment and economy. The submerged pipe docking measurement and control technology is an important guarantee for the precise docking of submerged pipes. Due to the complexity, concealment and one-time characteristics of submerged pipe construction, the quality control of the project, especially the quality control of the submerged pipe docking process, is of great significance.

[0003] At present, most of the cable-controlled underwater robots (ROVs) are mainly used for basic functions such as underwater search, video recording, and detection, and they need to undergo complex post-processing. They are unable to monitor the status of underwater submerged pipes in real time, and their accuracy and efficiency cannot be guaranteed. If a detection device specifically used for underwater submerged pipe docking can be designed, it will greatly improve the efficiency and accuracy of underwater submerged pipe docking projects.

[0004] Lu Shengli disclosed an underwater exploration flexible robot (CN219770145), which relates to the field of underwater exploration technology of flexible robots, including a first and a second flexible joint, a sealing pad fixedly connected between the first and second flexible joints; a driving assembly is provided on the inner side of the first and second flexible joints; a flexible connection layer is fixedly connected to the inner wall of the first and second flexible joints; a sealing cover is connected to one side of the first flexible joint and one side of the second flexible joint. The beneficial effects of the device are: it is convenient to obtain target information in a turbid water environment through a turbid water camera, it is convenient to illuminate the underwater environment through an underwater light, which is beneficial to the turbid water camera, and it is convenient to drive the driving paddle to rotate through a submersible motor, which is convenient to provide an auxiliary driving force between the first and second flexible joints, and it is convenient to assist in pushing the first and second flexible joints to move under water. The system mainly relies on the auxiliary effect of an optical camera to explore underwater, but the signal attenuation of light in water is fast, it is difficult to accurately obtain the exploration path, and the work efficiency is low. In addition, the exploration structure of the device is relatively large, it is difficult to explore the contour of the fine concave or protruding area on the surface of the object, and the exploration accuracy is not high. Utility Model Content

[0005] The purpose of the utility model is to overcome the shortcomings and deficiencies of the above-mentioned prior art, and to provide a high-precision submerged pipe docking detection device that can be operated by an underwater robot, a single-beam scanning sonar that can be used for underwater submerged pipe docking monitoring, and a cylindrical roller for underwater submerged pipe docking detection, with many micro-probes evenly distributed on the outer ring surface, which can be retracted and controlled by a restoring spring. Driven by the roller, when the micro-detection needle passes through the detection object, the detection needle moves and shrinks toward the inner side of the roller, and the contour lines of all the micro-detection needles are flattened together, which can restore the contour of the detection area with high precision. The laser rangefinder is used to accurately measure the distance of the probe extension and retraction. After obtaining the distance, the image is restored using computer programming language. That is, the greater the extension distance of the probe needle, the darker the displayed color. When leaving the probe object, the roller probe needle returns to its original position under the action of the recovery spring. The sonar can rotate around its own axis at a constant speed and swing around the horizontal and vertical axes at a constant speed as needed. With the single-beam sonar scanning device and the self-compiled sonar post-processing program, real-time object detection can be achieved. Based on this, the robot can judge the terrain contour more flexibly, quickly locate the direction of the object to be explored, and improve work efficiency; the use of anti-corrosion materials can prevent the device from being corroded; in addition, the use of a sound-permeable material protective cover can protect the sonar without affecting the detection accuracy of the sonar. Finally, combining the sonar real-time scanning data and precise exploration data, high-precision real-time three-dimensional image reconstruction of the underwater submerged pipe posture can be achieved.

[0006] The utility model is implemented by at least one of the following technical solutions.

[0007] A high-precision submerged tube docking detection device that can be operated by an underwater robot, comprising a battery, a sound-permeable material protective cover, a sonar, a sonar control system, a cylindrical roller detection device and a connection structure;

[0008] The battery is provided with an anti-corrosion sealed shell on the outside, and the cylindrical roller detection device is connected to the anti-corrosion sealed shell through a connecting structure; the sonar is connected to the battery through a sonar control system; the sound-permeable material protective cover is arranged on the surface of the battery and is sheathed on the outer periphery of the sonar;

[0009] The battery is provided with positive and negative electrodes and a connection port;

[0010] The sound-permeable material protective cover is arranged on the surface of the anti-corrosion sealing shell and is sleeved on the periphery of the sonar;

[0011] There are positive and negative terminals and wiring ports on the battery.

[0012] Furthermore, the sonar control system includes a horizontal movement control device, a rotation control device and a vertical movement control device connected in sequence; the horizontal movement control device is used to adjust the position of the sonar in the horizontal direction, the rotation control device is used to control the rotation of the sonar, and the vertical movement control device is used to adjust the position of the sonar in the vertical direction.

[0013] Furthermore, the horizontal movement control device includes a horizontal movement housing and a first reduction gear group, a direct output transmission shaft, a first potentiometer, an indirect output transmission shaft, a first circuit board and a first motor arranged in the horizontal movement housing; the first circuit board is fixed to the inner wall of the horizontal movement housing through a circuit board frame and is connected to the first motor, the first motor is fixed on the inner wall of the horizontal movement housing, the first motor is connected to the direct output transmission shaft through the first reduction gear group, the direct output transmission shaft is connected to the anti-corrosion sealing tube to drive the anti-corrosion sealing tube to rotate, so as to change the different positions of the sonar 3 at the same height, the first potentiometer is arranged on the indirect output transmission shaft and is connected to the direct output transmission shaft through the first reduction gear group, the first potentiometer is used to transmit voltage to the first circuit board to drive the first motor to work, and the first circuit board is connected to the battery through wires to obtain electrical energy.

[0014] Furthermore, the rotation control device includes a rotation control housing and a second motor, a second reduction gear set, a rotation output shaft, an indirect output shaft, a second potentiometer, and a second circuit board arranged in the rotation control housing. The rotation control housing is fixedly connected to the horizontally movable housing, the second circuit board is fixed to the inner wall of the rotation movable housing through a circuit board frame, the second motor is fixed to the inner wall of the rotation control housing, the second circuit board is connected to the second motor, and the rotation of the second motor drives the second reduction gear set; the second motor is connected to the rotation output shaft through the second reduction gear set, the second potentiometer is an angle potentiometer, which is arranged on the indirect output shaft, the indirect output shaft is connected to the rotation output shaft through the second reduction gear set, and the rotation output shaft is connected to the vertical movement control device.

[0015] Furthermore, the vertical movement control device includes a vertical movement housing and a third reduction gear group, a third potentiometer, a third circuit board, a third motor, a rack and a vertical movement output shaft arranged in the vertical movement housing. The vertical movement housing is connected to the rotation output shaft of the rotation control device, the third circuit board is fixed to the inner wall of the vertical movement housing through a circuit board frame and is connected to the third motor, the third motor is fixed to the inner wall of the vertical movement housing, the third reduction gear group is connected to the output end of the third motor, the rack is connected to the output end of the third reduction gear group, the vertical movement output shaft is connected to the rack, and the vertical movement output shaft is connected to the sonar; the third potentiometer is connected to the indirect output shaft of the rotation control device.

[0016] Furthermore, the vertical movement control device also includes a sonar fixing clamp, which is arranged between the vertical movement output shaft and the sonar.

[0017] Furthermore, the cylindrical roller detection device includes a cylindrical roller, a detection needle, a restoring spring, a spring protective shell, and a laser rangefinder; a plurality of detection needles are arranged outside the cylindrical roller, the plurality of detection needles are connected to the restoring spring, and a spring protective shell is provided outside the restoring spring.

[0018] Furthermore, the laser rangefinder includes a laser emitter, an objective lens, a light receiving lens, a CCD and an image processor; the laser emitter is arranged at the top of the inner shell of the cylindrical roller, and the lower end of the laser emitter is connected to the objective lens; the image processor is arranged at the top of the inner shell of the cylindrical roller, the height is lower than the laser emitter, and the direction forms an angle with the laser emitter; the CCD is connected to the lower end of the image processor; the light receiving lens is arranged at the lower end of the CCD.

[0019] Furthermore, the connection structure is a cylindrical arm, and wires for power and signal transmission are built into the connection structure.

[0020] Furthermore, the sonar control system is arranged in an anti-corrosion sealed tube, and both ends of the anti-corrosion sealed tube are respectively connected to the anti-corrosion sealed shell and the sonar; the anti-corrosion sealed shell is provided with a fixing structure for transportation.

[0021] Compared with the prior art, the utility model has the following advantages and effects:

[0022] The utility model is a high-precision submerged pipe docking detection device that can be operated by an underwater robot, and is intended to improve the accuracy and work efficiency of underwater submerged pipe docking. The device's detection technology can detect the contour of the object in real time to help reconstruct the image. At the same time, the high-sensitivity probe is equipped with laser detection technology, which is convenient for engineering construction and improves work efficiency. It is also equipped with single-beam scanning sonar equipment and technology, which can obtain underwater acoustic topography maps of the target area in real time, greatly improving the work efficiency of the robot; the use of anti-corrosion materials can protect the components from corrosion; the sound-permeable materials can protect the sonar without affecting the detection accuracy of the sonar;

[0023] In addition, the sonar control system of this device can make the sonar rotate at a constant speed around its own central axis and swing at a constant speed around the horizontal and vertical axes. It can track the detection area and define the optimal detection path, greatly improving work efficiency. It makes full use of the sonar system and detection system technology, and realizes the mutual connection and coordination between the two through the control system. Finally, combined with the real-time sonar scanning data and real-time accurate detection data, it can realize high-precision detection of the underwater submerged tube posture, which is helpful for real-time three-dimensional image reconstruction, so as to make accurate judgment on the docking posture of the underwater submerged tube.

[0024] This device can be used as a high-precision immersed tube docking detection device operated by an underwater robot and can flexibly respond to different working environments and task requirements. It is not limited to immersed tube docking detection, but can also be used for other underwater or marine engineering projects, and has multifunctionality. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a schematic diagram of a high-precision submerged tube docking detection device that can be operated by an underwater robot according to an embodiment of the present invention;

[0026] Figure 2 This is a diagram of battery placement in an embodiment;

[0027] Figure 3 It is a schematic diagram of a sonar control system of an embodiment;

[0028] Figure 4 Schematic diagram of a sonar horizontal movement control device according to an embodiment;

[0029] Figure 5 It is a schematic diagram of a sonar vertical movement control device of an embodiment;

[0030] Figure 6 It is a partial schematic diagram of the detection roller of the embodiment;

[0031] Figure 7 A schematic diagram of a probe needle system in an embodiment;

[0032] Figure 8 Schematic diagram of a laser rangefinder according to an embodiment;

[0033] Fig. 9 It is a circuit diagram of intelligent coordinated control of sonar and detection system in an implementation example. DETAILED DESCRIPTION

[0034] In order to enable those skilled in the art to better understand the present invention, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific implementation methods. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0035] like Figure 1 As shown, the utility model discloses a high-precision immersed tube docking detection device that can be operated by an underwater robot. The main components include a battery 1, a sound-permeable material protection cover 2, a sonar 3, a sonar control system 4, a cylindrical roller detection device 5, a wiring port 6, a fixing structure 7, an anti-corrosion sealing shell 9 and a connecting structure 10.

[0036] like Figure 2 As shown, the battery 1 is protected by an anti-corrosion sealed shell 9, and the battery 1 is provided with positive and negative electrodes 11, which are connected to other internal devices through wires 12 and wiring ports 6 to provide stable power. The battery 1 is a colloid battery, which is maintenance-free and avoids frequent replacement, thereby improving work efficiency.

[0037] The wiring port 6 is located above the anti-corrosion sealed housing 9. The anti-corrosion sealed housing 9 is made of anti-corrosion material super duplex stainless steel, which has good corrosion resistance. The wiring port 6 can be used to connect the wires to the robot terminal for data transmission;

[0038] The sound-permeable material protective cover 2 is connected to the edge of the anti-corrosion sealing shell 9 of the battery 1 and is sleeved on the outer periphery 3 of the sonar to protect the sonar 3. It can play a protective role without affecting the scanning results.

[0039] The sound-permeable material protective cover 2 is made of carbon fiber composite material, which has epoxy resin as the matrix material and T700 carbon fiber as the reinforcing material, and has good sound permeability. The sound-permeable material protective cover 2 is made into a thin wire sphere and is used to protect the sonar 3. At the same time, it has good sound permeability and has little effect on the sonar scanning results.

[0040] The sonar 3 is installed under the battery 1 and connected to other structures through the sonar control system 4, which can be used to scan the acoustic topography of the construction area. Combined with the computer real-time imaging program, it can realize accurate positioning of the construction area and improve the efficiency of the robot's exploration work;

[0041] The sonar 3 uses a single-beam scanning sonar. After the sonar works, it transmits the scanning data to the robot terminal through the wire, and then transmits the signal to the land computer operating system. Through the self-compiled computer language real-time imaging program, the sonar scanning acoustic landform is reconstructed in real time; at the same time, the control signal can be fed back to the sonar control system 4 through the wire, and the sonar scanning area can be adjusted;

[0042] The cylindrical roller detection device 5 is installed at the bottom of the device, below the displacement sonar 3. The cylindrical roller detection device 5 is connected to the connecting structure 10. By applying a force to the connecting structure 10, the force is transmitted through the connecting structure 10, the fixed structure 7 and the robot, so that the cylindrical roller detection device 5 can move forward, and the detection area is detected by the detection target, and data is transmitted through the connecting structure 10 and the wires built into the anti-corrosion sealing shell 9. After obtaining the detection data, the detection area is reconstructed in real time through the water computer operating system to obtain the position change, and then the control signal is fed back to the sonar control system 4 to adjust the scanning area of ​​the sonar 3.

[0043] The fixed structure 7 is a square wall located on the side of the anti-corrosion sealing shell 9. The material is super duplex stainless steel with high strength and corrosion resistance. The fixed structure 7 is used to fix the underwater robot, and the movement of the robot can drive the device to perform construction.

[0044] The connecting structure 10 is a cylindrical arm with a rotating bearing inside for transmitting force to the detection cylindrical roller; the internal material of the connecting structure 10 is high-strength steel, and the external part is oil-coated with anti-corrosion material, which has high strength and corrosion resistance; the connecting structure 10 has built-in wires that can be used for power and signal transmission.

[0045] like Figure 3 As shown, it is a schematic diagram of the sonar 3, the sonar fixing clamp 13, and the sonar control system 4 ( Figure 3 The right side of the figure is a schematic diagram of the internal structure of the control device). The sonar control system 4 is placed under the battery 2, and the sonar control system 4 includes a horizontal movement control device 14, a rotation control device 15 and a vertical movement control device 16 connected in sequence. The sonar fixing clamp 13 is arranged on the vertical movement control device 16 to fix the sonar 3; the horizontal movement control device 14 can adjust the sonar 3 to different positions in the horizontal direction; the rotation control device 15 can control the sonar 3 to rotate at a constant speed around the output shaft of the rotation control device 15; the vertical movement control device 16 can adjust the position of the sonar 3 in the vertical direction.

[0046] like Figure 4 As shown, the horizontal movement control device 14 includes a horizontal movement housing and a first reduction gear set 17, a first potentiometer 18, a first circuit board 19, a first motor 20, a wire 21, an indirect output transmission shaft and a direct output transmission shaft arranged in the horizontal movement housing. The first circuit board 19 is fixed to the inner wall of the horizontal movement housing through a circuit board frame and is connected to the first motor 20. The first motor 20 is fixed to the inner wall of the horizontal movement housing through a motor frame. The first motor 20 is connected to the direct output transmission shaft through the first reduction gear set 17. The direct output transmission shaft is connected to the anti-corrosion sealing tube 8. The first potentiometer 18 is an angle potentiometer, which is arranged on the indirect output transmission shaft and is connected to the direct output transmission shaft through the first reduction gear set 17. The first potentiometer 18 changes the resistance value through the angle of rotation driven by the indirect output transmission shaft, and transmits the corresponding voltage to the first circuit board 19, thereby driving the first motor 20 to work, and driving the direct output shaft to rotate at a uniform speed through the first reduction gear set 17, thereby driving the anti-corrosion sealing tube 8 to rotate at a uniform speed, thereby driving the sonar 3 to rotate at a uniform speed in the horizontal direction, so that the different positions of the sonar 3 at the same height can be changed. That is, the horizontal position of the sonar 3 can be adjusted as needed by the horizontal movement control device 14. At the same time, the rotation of the gear changes the resistance value of the first potentiometer 18, thereby changing the voltage of the first circuit board 19, and so on and so forth until the current position reaches the target position.

[0047] In some embodiments, the first motor 20 is a DC motor. The first reduction gear set 17 is made of a copper and steel mixed gear, which can increase the torque of the system and improve the control accuracy;

[0048] In some embodiments, the first circuit board 19 is connected to the wiring 21 and the attached Figure 1 The battery 1 shown is connected to obtain electrical energy, and at the same time, the attached Figure 1 The connection port 6 shown can transmit signals with the onshore operating system.

[0049] The rotation control device 15 includes a rotation control housing and a second motor, a second reduction gear set, a rotation output shaft, an indirect output shaft, a second potentiometer, and a second circuit board arranged in the rotation control housing. The rotation control housing is fixedly connected to the horizontal moving housing. The second circuit board is fixed to the inner wall of the rotation moving housing through a circuit board frame and is connected to the second motor. The second motor is fixed to the inner wall of the rotation control housing through a motor fixing frame. The second motor is connected to the rotation output shaft through a second motor reduction gear set. The second potentiometer is an angle potentiometer and is arranged on the indirect output shaft. The indirect output shaft is connected to the rotation output shaft through a second motor reduction gear set. The rotation output shaft is connected to the vertical moving control device 16. The connection and function of the second reduction gear set, the second potentiometer, the second circuit board and the second motor are the same Figure 4 After power is turned on, the second circuit board drives the second motor, and the second motor rotates, driving the second reduction gear set, and then driving the sonar 3 to rotate around the rotating output shaft at a constant speed through the rotating output shaft. At the same time, the second potentiometer is connected to the indirect output shaft, and the rotation of the indirect output shaft drives the second potentiometer structure to rotate, changing its resistance value, and then changing the line voltage.

[0050] like Figure 5 As shown, the vertical movement control device 16 includes a vertical movement housing and a third motor 26, a third reduction gear set 23, a third potentiometer 24, a third circuit board 25, a rack 22 and a vertical movement output shaft arranged in the vertical movement housing. The vertical movement housing is connected to the rotation output shaft in the rotation control device 15. The connection and function of the third reduction gear set 23, the third potentiometer 24, the third circuit board 25 and the third motor 26 are the same as those of FIG. Figure 4Similarly, the third circuit board 25 is fixed to the inner wall of the vertical moving housing through the circuit board frame and connected to the third motor 26. The third motor 26 is fixed to the inner wall of the vertical moving housing through the motor frame. The third reduction gear set 23 is connected to the output end of the third motor 26. The third potentiometer 24 is an angle potentiometer. The rack 22 is connected to the output end of the third reduction gear set 23. The vertical moving output shaft is connected to the rack 22, and the vertical moving output shaft is connected to the sonar fixing clamp 13. After the third motor 26 works and drives the third reduction gear set 23 to work, the rack 22 moves at a uniform speed along the length direction of the vertical moving output shaft, and then the sonar 3 can be driven to move at a uniform speed, so that the position of the sonar 3 in the height direction can be changed. At the same time, the third potentiometer 24 is connected to the indirect output shaft. The rotation of the indirect output shaft drives the third potentiometer 24 structure to rotate, changing its resistance value, and then changing the line voltage.

[0051] In some embodiments, the rack 22 is a rectangular straight tooth.

[0052] The cylindrical roller detection device 5 includes a cylindrical roller, a laser rangefinder 28 , and a detection needle system 27 .

[0053] like Figure 6 As shown, the detection needle system 27 is evenly arranged on the outer ring of the cylindrical roller, and the laser rangefinder 28 is arranged on the top of the inner shell of the cylindrical roller.

[0054] Attached Figure 7 Schematic diagram of a probe needle system, the probe needle system 27 includes a probe needle 29, a restoring spring 30 and a spring protection shell 31. The probe needle 29 and the restoring spring 30 are connected and exist in pairs. The probe needle 29 is evenly distributed on the outside of the cylindrical roller, and the restoring spring 30 is evenly distributed on the inside of the cylindrical roller; the restoring spring 30 is provided with a spring protection shell 31 outside. When the probe needle 29 is acted upon by an external force, it is displaced to compress the restoring spring 30. When the external force is removed, the restoring spring 30 returns to its original state, thereby restoring the probe needle 29 to its original position. When the robot applies a forward force to the device, the cylindrical roller detection device (5) moves forward, and the probe needle (29) is displaced toward the center axis of the roller after being acted upon by an external force. The laser rangefinder (28) transmits the displacement data to the computer operating system on the shore through wires, and then a three-dimensional image reconstruction of the detection area can be performed through a three-dimensional real-time imaging program.

[0055] In some of the embodiments, the detection needle 29 is made of anti-corrosion material super duplex stainless steel, which has good corrosion resistance.

[0056] In some of the embodiments, the material of the restoring spring 30 is beryllium bronze wire, which has high wear resistance and corrosion resistance.

[0057] like Figure 8 As shown, the laser rangefinder 28 includes a laser emitter 32, an objective lens 33, an image processor 34, a CCD 35 and a light receiving lens 36. The laser emitter (32) is vertically mounted and fixed on the top of the inner shell of the cylindrical roller, and is connected to the objective lens (33) at the bottom; the image processor (34) is mounted and fixed on the top of the inner shell of the cylindrical roller, and its height is slightly lower than that of the laser emitter (32), and its orientation forms a certain angle with the laser emitter (32); the CCD (35) is connected to the lower end of the image processor (34); and the light receiving lens (36) is arranged at the lower end of the CCD (35). When the laser emitter (32) is working, it will emit the laser through the objective lens (33) to the detection needle (29) at the lower end of the cylindrical roller, and then the detection needle (29) will reflect the laser through the light receiving lens (36) to the CCD (35) and the image processor (34). By moving the detection needle (29) relative to the sensor, the complete contour measurement result can be obtained.

[0058] The laser distance meter is a linear laser distance meter, which adopts the principle of laser triangulation measurement and projects the laser onto the surface of the object to be measured through the objective lens 33 by using the transmitter 32. Figure 7 The probe needle 29 shown, when the laser encounters an object, reflects the light to the light receiving lens 36, and then through the CCD35 and the image processor 34, the complete contour measurement result can be obtained by moving the probe needle 29 relative to the sensor. The optical triangulation method is generally suitable for high-precision, short-distance measurement. The advantage is that the detection and reception of the laser is continuous, high-precision measurement can be achieved within a short distance, and it has a strong acceptance of the environment and is not easily disturbed by external conditions; the advantage of the linear laser rangefinder is that the light is concentrated, the volume is small, and it is suitable for objects with rough surfaces.

[0059] Through the above technologies, the sonar and exploration systems can be coordinated and intelligently controlled, and the real-time sonar scanning data and real-time accurate exploration data can be fully utilized to complete the high-precision real-time 3D image reconstruction of the underwater submerged pipe posture, accurately obtain the underwater submerged pipe docking posture, and greatly improve work efficiency. Fig. 9As shown. First, after the sonar obtains the detection data of the scanning area, the data signal is transmitted to the computer operating system through the wire; the computer operating system reconstructs the acoustic topography of the sonar scanning area in real time through computer language, and through the image data, it can monitor the position change of the detection area, and then feed back the position information to the computer operating system; then, the computer operating system transmits the control signal to the control circuit, drives the motor to rotate, and then drives the gear and rack transmission, the gear rotates to change the resistance value of the potentiometer, and then changes the voltage of the circuit, and the wire transmits the voltage value to the circuit, so that the azimuth of the sonar can be adjusted continuously in this cycle; after the azimuth of the sonar changes, the detection area also changes, and then the robot's exploration path can be optimized; by reconstructing the exploration data in real time, the position change can be monitored, and then the position information can be fed back to the computer operating system, and the computer operating system transmits the control signal to the sonar control system, so that the detection azimuth of the sonar can be adjusted, the sonar detection area also changes, and then the new acoustic topography detection data is obtained, and then the new detection data is transmitted through the wire. Repeatedly, the sonar and exploration system can cooperate with each other and intelligent operation control can be achieved. By combining real-time sonar scanning data and real-time precise exploration data, high-precision real-time three-dimensional image reconstruction of the detected object can be completed.

[0060] The preferred embodiments of the utility model disclosed above are only used to help explain the utility model. The preferred embodiments do not describe all the details in detail, nor do they limit the utility model to the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the utility model, so that those skilled in the art can well understand and use the utility model.

Claims

1. A high-precision immersed tube docking detection device that can be operated by an underwater robot, characterized in that: It comprises a storage battery (1), a sound-transmitting material protective cover (2), a sonar (3), a sonar control system (4), a cylindrical roller detection device (5) and a connecting structure (10); The battery (1) is provided with an anti-corrosion sealed housing (9) on the outside, and the cylindrical roller detection device (5) is connected to the anti-corrosion sealed housing (9) via a connecting structure (10); the sonar (3) is connected to the battery (1) via a sonar control system (4); the sound-permeable material protective cover (2) is arranged on the surface of the battery (1) and is sheathed around the outer periphery of the sonar (3); The battery (1) is provided with positive and negative electrodes (11) and a connection port (6); The sound-transmitting material protective cover (2) is arranged on the surface of the anti-corrosion sealing shell (9) and is sleeved on the periphery of the sonar (3); The storage battery (1) is provided with positive and negative electrode terminals and a wiring port (6).

2. The high-precision submerged tube docking detection device operable by an underwater robot according to claim 1, characterized in that: The sonar control system (4) comprises a horizontal movement control device (14), a rotation control device (15) and a vertical movement control device (16) which are connected in sequence; the horizontal movement control device (14) is used to adjust the position of the sonar (3) in the horizontal direction, the rotation control device (15) is used to control the rotation of the sonar (3), and the vertical movement control device (16) is used to adjust the position of the sonar (3) in the vertical direction.

3. The high-precision submerged tube docking detection device operable by an underwater robot according to claim 2, characterized in that: The horizontal movement control device (14) comprises a horizontal movement housing and a first reduction gear set (17) arranged in the horizontal movement housing, a direct output transmission shaft, a first potentiometer (18), an indirect output transmission shaft, a first circuit board (19) and a first motor (20); the first circuit board (19) is fixed to the inner wall of the horizontal movement housing through a circuit board frame, the first motor (20) is fixed to the inner wall of the horizontal movement housing, the first motor (20) is connected to the direct output transmission shaft through the first reduction gear set (17), the direct output transmission shaft is connected to the anti-corrosion sealing tube (8) to drive the anti-corrosion sealing tube (8) to rotate, so as to change different positions of the sonar (3) at the same height, the first potentiometer (18) is arranged on the indirect output transmission shaft and connected to the direct output transmission shaft through the first reduction gear set (17), the first potentiometer (18) is used to transmit voltage to the first circuit board (19) to drive the first motor (20) to work, and the first circuit board (19) is connected to the battery (1) through an electric wire (21) to obtain electric energy.

4. The high-precision submerged tube docking detection device operable by an underwater robot according to claim 2, characterized in that: The rotation control device (15) comprises a rotation control housing and a second motor, a second reduction gear set, a rotation output shaft, an indirect output shaft, a second potentiometer, and a second circuit board arranged in the rotation control housing. The rotation control housing is fixedly connected to the horizontal movable housing. The second circuit board is fixed to the inner wall of the rotation movable housing via a circuit board frame. The second motor is fixed to the inner wall of the rotation control housing. The second circuit board is connected to the second motor, and the second motor rotates to drive the second reduction gear set. The second motor is connected to the rotation output shaft via the second reduction gear set. The second potentiometer is an angle potentiometer arranged on the indirect output shaft. The indirect output shaft is connected to the rotation output shaft via the second reduction gear set. The rotation output shaft is connected to the vertical movable control device (16).

5. The high-precision submerged tube docking detection device operable by an underwater robot according to claim 2, characterized in that: The vertical movement control device (16) comprises a vertical movement housing and a third reduction gear set (23), a third potentiometer (24), a third circuit board (25), a third motor (26), a rack (22) and a vertical movement output shaft arranged in the vertical movement housing. The vertical movement housing is connected to the rotation output shaft of the rotation control device (15). The third circuit board (25) is fixed to the inner wall of the vertical movement housing through a circuit board frame and is connected to the third motor (26). The third motor (26) is fixed to the inner wall of the vertical movement housing. The third reduction gear set (23) is connected to the output end of the third motor (26). The rack (22) is connected to the output end of the third reduction gear set (23). The vertical movement output shaft is connected to the rack (22), and the vertical movement output shaft is connected to the sonar (3). The third potentiometer (24) is connected to the indirect output shaft of the rotation control device (15).

6. The high-precision submerged tube docking detection device operable by an underwater robot according to claim 5, characterized in that: The vertical movement control device (16) further comprises a sonar fixing clamp (13), wherein the sonar fixing clamp (13) is arranged between the vertical movement output shaft and the sonar (3).

7. The high-precision submerged tube docking detection device operable by an underwater robot according to claim 1, characterized in that: The cylindrical roller detection device (5) comprises a cylindrical roller, a detection needle (29), a restoring spring (30), a spring protection shell (31), and a laser rangefinder (28); a plurality of detection needles (29) are arranged outside the cylindrical roller, the plurality of detection needles (29) are connected to the restoring spring (30), and a spring protection shell (31) is arranged outside the restoring spring (30).

8. The high-precision submerged tube docking detection device operable by an underwater robot according to claim 7, characterized in that: The laser rangefinder (28) comprises a laser emitter (32), an objective lens (33), a light receiving lens (36), a CCD (35) and an image processor (34); the laser emitter (32) is arranged at the top of the inner shell of the cylindrical roller, and the lower end of the laser emitter (32) is connected to the objective lens (33); the image processor (34) is arranged at the top of the inner shell of the cylindrical roller, the height is lower than the laser emitter (32), and the orientation forms an angle with the laser emitter (32); the CCD (35) is connected to the lower end of the image processor (34); and the light receiving lens (36) is arranged at the lower end of the CCD (35).

9. The high-precision submerged tube docking detection device operable by an underwater robot according to claim 1, characterized in that: The connection structure (10) is a cylindrical arm, and wires for electric energy and signal transmission are built into the connection structure (10).

10. The high-precision submerged tube docking detection device operable by an underwater robot according to claim 1, characterized in that: The sonar control system (4) is arranged in an anti-corrosion sealed tube (8), and the two ends of the anti-corrosion sealed tube (8) are respectively connected to an anti-corrosion sealed shell (9) and the sonar (3); a fixed structure (7) for transportation is provided on the anti-corrosion sealed shell (9).

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