Primary-secondary type inspection system suitable for diversion tunnel

Abstract

The utility model discloses a primary-secondary type inspection system suitable for a diversion tunnel, and relates to the technical field of underwater inspection devices. Comprising a mother type underwater robot and a ground control system which are connected through a first cable, a sealed cabin and an equipment cabin are arranged in the mother type underwater robot, a child type underwater robot and an electric cable shaft are arranged in the equipment cabin, control equipment is arranged in the sealed cabin, the control equipment is connected with the child type underwater robot through a second cable, and the ground control system is connected with the child type underwater robot through a third cable. The second cable is wound on the electric cable shaft, the control device controls the electric cable shaft to rotate forwards and backwards, and cable unwinding and cable winding of the second cable are achieved. According to the utility model, the child-type underwater robot arrives near a target area in a manner that the mother-type underwater robot carries the child-type underwater robot, and the mother-type underwater robot is used as a transfer station of power, communication and cables of the child-type underwater robot, so that the communication stability is improved, and the communication efficiency is improved. And the motion limitation of the sub-type underwater robot caused by direct cable connection is avoided.

Description

Technical Field

[0001] The utility model belongs to the technical field of underwater inspection devices, and particularly relates to a mother - son type inspection system suitable for diversion tunnels. Background Technique

[0002] As a key structure of major projects, the diversion tunnel will have typical defects such as cracks, collapses, and exposed steel bars after years of operation. Also, due to its long tunnel line, large tunnel diameter, high water pressure, and complex surrounding rock geology, underwater inspection robots have great application value.

[0003] However, traditional cable - carrying underwater inspection robots or mother - son type inspection equipment composed of an unmanned boat and an underwater robot cannot well adapt to the inspection work in diversion tunnels:

[0004] (1) Due to the limited space in the diversion tunnel, the mother - son type inspection equipment composed of an unmanned boat and an underwater robot will be restricted by space during operation. Especially in turns or narrow places, this mother - son type system is difficult to be flexible and maneuverable, increasing the risk of collision and jamming.

[0005] (2) The cable in traditional cable - carrying underwater inspection equipment is directly connected to the underwater robot and the ground control system. In a narrow or complex - environment diversion tunnel, the cable may be restricted, making it difficult for the underwater robot to move and operate freely, and the mobility of the robot is limited.

[0006] (3) The communication stability is affected by the cable length and the underwater environment, and the communication level is not stable enough. Content of the Utility Model

[0007] The purpose of the utility model is to provide a mother - son type inspection system suitable for diversion tunnels. By the way that the mother - type underwater robot carries the son - type underwater robot to make the son - type underwater robot reach near the target area, and the mother - type underwater robot serves as a transfer station for the power, communication, and cable of the son - type underwater robot, while improving the communication stability, it greatly avoids the movement limitation of the son - type underwater robot caused by direct cable connection, and solves the problems in the prior art.

[0008] To solve the above - mentioned technical problems, the utility model is realized through the following technical solutions:

[0009] The utility model relates to a mother - son type inspection system applicable to a water diversion tunnel, which comprises a mother - type underwater robot and a ground control system connected by a No. 1 cable. A sealed cabin and an equipment cabin are arranged inside the mother - type underwater robot. A son - type underwater robot and an electric cable reel are arranged inside the equipment cabin. Control equipment is arranged inside the sealed cabin. The control equipment is connected to the son - type underwater robot by a No. 2 cable. The No. 2 cable is wound around the electric cable reel. The control equipment controls the forward and reverse rotation of the electric cable reel to realize the cable pay - out and cable retraction of the No. 2 cable.

[0010] Optionally, a motor is further arranged inside the equipment cabin. The motor is electrically connected to the control equipment. An opening and closing door is arranged on the bottom wall of the equipment cabin. The output shaft of the motor is connected to the opening and closing door through a transmission device. The control equipment realizes the opening and closing of the opening and closing door by controlling the forward and reverse rotation of the motor.

[0011] Optionally, a plurality of thrusters are evenly arranged around the mother - type underwater robot. The control equipment is electrically connected to the thrusters to control the floating, diving, rotation direction and rotation speed of the thrusters.

[0012] Optionally, cameras and underwater searchlights are arranged at both the front and rear ends of the mother - type underwater robot.

[0013] Optionally, cameras and a variety of sensors are arranged on the son - type underwater robot. The sensors include sonar and water quality sensors.

[0014] Optionally, communication and positioning equipment is further arranged inside the sealed cabin. The communication and positioning equipment is electrically connected to the control equipment. The control equipment is connected to the ground control system through a No. 1 cable.

[0015] Optionally, the mother - type underwater robot powers the son - type underwater robot through a No. 2 cable, and the ground control system powers the mother - type underwater robot through a No. 1 cable.

[0016] Optionally, the number of son - type underwater robots arranged inside the equipment cabin is set to one or more. When the number of son - type underwater robots is more than one, multiple son - type underwater robots are respectively connected to the control equipment through No. 2 cables.

[0017] Optionally, the sealed cabin and the equipment cabin are arranged at the middle position of the mother - type underwater robot, and the sealed cabin is arranged on top of the equipment cabin.

[0018] Optionally, the overall shape of the mother - type underwater robot is a horizontal barrel shape, and the corners are provided with smooth transition sections.

[0019] The utility model has the following beneficial effects:

[0020] 1. The utility model provides a mother - son type inspection system applicable to diversion tunnels, which improves the way of directly connecting the cable between the underwater robot and the ground control system in the existing cable - carried underwater detection equipment. The mother - type underwater robot accommodates and carries the son - type underwater robot. The mother - type underwater robot is connected to the ground control system through a first cable, and the mother - type underwater robot is connected to the son - type underwater robot through a second cable. This method is convenient for overall obstacle avoidance and makes the movement of the son - type underwater robot more flexible and free, avoiding the mobility limitation of the son - type underwater robot.

[0021] 2. The utility model improves the mother - son type inspection equipment composed of an unmanned ship and an underwater robot in the prior art. Through multiple thrusters, the mother - type underwater robot can carry the son - type underwater robot to float, dive, and rotate, so as to achieve perfect obstacle avoidance, be more adapted to the spatial environment of the diversion tunnel, and avoid collision and jamming.

[0022] 3. It can avoid the influence of cable length and underwater environment on communication stability in the prior art. The mother - type underwater robot of the utility model can be used as a communication relay between the son - type underwater robot and the ground control system to ensure the stability of transmitted data and make the communication more stable.

[0023] 4. The utility model can carry multiple son - type underwater robots for operation at one time, realizing the ability of multitasking.

[0024] Of course, it is not necessary for any product implementing the utility model to achieve all the above - mentioned advantages simultaneously. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the utility model, the following will briefly introduce the drawings required for describing the embodiments. Obviously, the drawings in the following description are only some embodiments of the utility model. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0026] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0027] Figure 2 It is a schematic diagram of the structure of the mother - type underwater robot of the utility model.

[0028] In the drawings, the list of components represented by each reference numeral is as follows:

[0029] 1 cable, 2 mother underwater robot, 3 ground control system, 4 sealed cabin, 5 equipment cabin, 6 son underwater robot, 7 electric cable reel, 8 control equipment, 9 second cable, 10 motor, 11 opening and closing door, 12 thruster, 13 camera, 14 underwater searchlight, 15 communication and positioning equipment, 16 water surface. Specific implementation manner

[0030] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work belong to the protection scope of the present invention.

[0031] Embodiment 1:

[0032] Please refer to Figure 1-2 As shown, the present invention is a mother-son type inspection system applicable to diversion tunnels, including a mother underwater robot 2 and a ground control system 3 connected by a first cable 1. A sealed cabin 4 and an equipment cabin 5 are arranged in the mother underwater robot 2. A son underwater robot 6 and an electric cable reel 7 are arranged in the equipment cabin 5. A control device 8 is arranged in the sealed cabin 4. The control device 8 is connected to the son underwater robot 6 by a second cable 9. The second cable 9 is wound around the electric cable reel 7. The control device 8 controls the forward and reverse rotation of the electric cable reel to realize the cable release and cable retraction of the second cable 9.

[0033] The mother underwater robot 2 supplies power to the son underwater robot 6 through the second cable 9 and communicates with the son underwater robot 6. The ground control system 3 supplies power to the mother underwater robot 2 through the first cable 1 and communicates with the mother underwater robot 2.

[0034] A communication and positioning device 15 is also arranged in the sealed cabin 4. The communication and positioning device 15 is electrically connected to the control device 8. The control device 8 is connected to the ground control system 3 by a first cable 1.

[0035] A motor 10 is also arranged in the equipment cabin 5. The motor 10 is electrically connected to the control device 8. An opening and closing door 11 is arranged on the bottom wall of the equipment cabin 5. The output shaft of the motor 10 is connected to the opening and closing door 11 through a transmission device. The control device 8 controls the opening and closing of the opening and closing door 11 by controlling the forward and reverse rotation of the motor 10. When the opening and closing door 11 is closed, the equipment cabin 5 is in a sealed state. When the opening and closing door 11 is opened, the equipment cabin 5 communicates with the outside, and the son underwater robot 6 is released into the water.

[0036] The ground control system 3 of this embodiment powers the mother underwater robot 2 through the first cable 1, and communicates with the control device 8 of the mother underwater robot 2 at the same time, so as to drive the mother underwater robot 2 to near the destination; then, through the control of the electric cable reel 7 by the control device 8, the second cable 9 is payed out, and at the same time, the motor 10 and the transmission device are controlled to open the opening and closing door 11, so that the son underwater robot 6 enters the underwater environment for operation.

[0037] In this embodiment, the mother underwater robot 2 powers the son underwater robot 6 through the second cable 9, and communicates with the son underwater robot 6 through the control device 8 at the same time, so as to realize the functions of power supply, communication and cable transfer of the mother underwater robot 2 for the son underwater robot 6. Since the first cable 1 and the second cable 9 are two independent cables, and the volume of the mother underwater robot 2 is larger than that of the son underwater robot 6, it is convenient to avoid obstacles during the process of the mother underwater robot 2 reaching the destination and is not easily restricted by the complex environment in the diversion tunnel; after the mother underwater robot 2 releases the son underwater robot 6, the son underwater robot 6 uses the second cable 9 to transmit data, transmits the data to the control device 8, and then transmits it to the ground control system 3 through the first cable 1.

[0038] In order to control the movement of the mother underwater robot 2, a plurality of thrusters 12 are evenly arranged around the mother underwater robot 2, and the control device 8 is electrically connected to the thrusters 12 to control the floating, diving, rotation direction and rotation speed of the thrusters 12, so as to facilitate timely adjustment according to the environment of the diversion tunnel.

[0039] In order to collect surrounding environment data during the movement and when reaching the target location, cameras 13 and underwater searchlights 14 are arranged at the front and rear ends of the mother underwater robot 2. The data collected by the cameras 13 are timely transmitted to the control device 8, and then transmitted to the ground control system 3 by the control device 8, so that the ground control system 3 can timely master the real-time environment.

[0040] A camera and a variety of sensors are arranged on the son underwater robot 6, and the sensors include sonar and water quality sensors, which are convenient for inspection operations.

[0041] In order to meet the requirements of multi-tasks, the number of son underwater robots 6 in the equipment cabin 5 can be set to one or more; when the number of son underwater robots 6 is multiple, the multiple son underwater robots 6 are respectively connected to the control device 8 through the second cable 9, and the second cable 9 of each son underwater robot 6 corresponds to an electric cable reel 7.

[0042] As Figure 2As shown, the sealed cabin 4 and the equipment cabin 5 are arranged in the middle position of the mother underwater robot 2, and the sealed cabin 4 is arranged on the top of the equipment cabin 5. The overall shape of the mother underwater robot 2 is a horizontal barrel shape, and the corners are provided with smooth transition sections. The smooth outer shape structure can better adapt to the traveling environment.

[0043] The utility model improves the traditional mother-son type inspection equipment composed of an unmanned ship and an underwater robot. It adopts a ground control system 3, a mother underwater robot 2 with the function of an unmanned ship, and a son underwater robot 6 responsible for inspection. These three parts form a new type of mother-son type intelligent inspection device, as Figure 1 shown.

[0044] The mother underwater robot 2 with the function of an unmanned ship is connected to the ground control system 3 through a cable and is powered by the cable. Its specific structure is as Figure 2 shown. The upper part of the middle section of the mother underwater robot 2 is a sealed cabin 4, which is equipped with the control device 8 and the communication and positioning device 15 of the mother underwater robot 2; the lower part of the middle section is the equipment cabin 5 of the son underwater robot 6. The second cable 9 extending from the sealed cabin 4 is wound around a small electric cable reel 7 and then connected to the son underwater robot 6; the rotation of the motor 10 in the equipment cabin 5 of the son underwater robot 6 can open the opening and closing door 11 of the equipment bottom plate; cameras 13, underwater searchlights 14 and other required sensors are equipped at the front and rear of the mother underwater robot 2, and four thrusters 12 are equipped around to control the movement of the mother underwater robot 2. By controlling the rotation direction and speed of the thrusters 12, the mother underwater robot 2 can float to the water surface 16 or dive underwater to complete obstacle avoidance and navigation, and control the movement and positioning of the underwater system.

[0045] The mother underwater robot 2 is connected to the son underwater robot 6 through a cable, carries the son underwater robot 6 responsible for inspection to the working area, provides energy for the son underwater robot 6, is responsible for deploying and recovering the son underwater robot 6, and at the same time illuminates the entire inspection environment to facilitate the son underwater robot 6 to quickly locate the inspection position. The mother underwater robot 2 can also act as a communication relay between the son underwater robot 6 and the ground control station to ensure the stability of the transmitted data.

[0046] The son underwater robot 6 is connected to the mother underwater robot 2 through a cable and is powered by the mother underwater robot 2. It is equipped with various sensors, such as cameras, sonars, water quality sensors, etc., for obtaining environmental information, and transmits the collected data back to the mother underwater robot 2 through the cable.

[0047] The ground control system 3 is connected to the mother underwater robot 2 through a cable 1 to supply power to the entire underwater system. It is responsible for formulating the navigation path and planning tasks of the underwater system, monitoring the status of the underwater system in real time, receiving and processing the data transmitted back by the underwater system, and performing real-time analysis and interpretation.

[0048] Working principle:

[0049] The ground control system 3 issues a positioning instruction for the underwater system to reach the inspection area, controls the thrusters 12 of the mother underwater robot 2 to float or dive to avoid obstacles, carries the son underwater robot 6 to the designated working position, and illuminates the surrounding environment. It controls the motor 10 in the equipment cabin 5 of the mother underwater robot 2 to rotate, opens the bottom plate of the equipment cabin, releases the son underwater robot 6, and the electric cable reel 7 automatically pays out the cable. After the son underwater robot 6 finds the working position, it performs inspection tasks in the underwater environment, detects and records various situations in the diversion tunnel, such as structural damage, leakage, collapse, etc., and transmits the collected data back to the mother underwater robot 2, and then back to the ground control system 3.

[0050] After the inspection is completed, the electric cable reel 7 winds up the cable, the son underwater robot 6 returns to the equipment cabin 5 of the mother underwater robot 2, the bottom plate is closed, and the mother underwater robot 2 carries the son underwater robot 6 back.

[0051] In the present utility model, a new type of mother-son intelligent inspection system applicable to the diversion tunnel is composed of two underwater robots with different functions, integrating the advantages of two common inspection devices, namely the traditional cable-carrying underwater inspection robot or the mother-son inspection equipment composed of an unmanned ship and an underwater robot.

[0052] That is:

[0053] Compared with the traditional cable-carrying underwater inspection robot, the mother-son intelligent inspection system in the present utility model can carry multiple son robots by the mother ship to achieve the ability of multi-tasks, and at the same time can avoid the influence of the cable length and the underwater environment on the communication stability, and the communication is more stable;

[0054] Compared with the mother-son inspection equipment composed of an unmanned ship and an underwater robot, the mother-son inspection system in the present utility model has greatly improved obstacle avoidance ability, and can complete the avoidance of obstacles by the overall floating or diving of the underwater system and reach the working area in the diversion tunnel.

[0055] The preferred embodiments of the present utility model disclosed above are only used to help illustrate the present utility model. The preferred embodiments do not describe all the details in detail, nor do they limit the present utility model to the specific embodiments described. Obviously, many modifications and variations can be made according to the content of this specification. These embodiments are selected and specifically described in this specification to better explain the principle and practical application of the present utility model, so that those skilled in the relevant technical field can well understand and utilize the present utility model. The present utility model is only limited by the claims and their full scope and equivalents.

Claims

1. A mother - son type inspection system applicable to a water diversion tunnel, characterized in that, It includes a mother underwater robot and a ground control system connected by a first cable. A sealed cabin and an equipment cabin are arranged inside the mother underwater robot. A son underwater robot and an electric cable reel are arranged inside the equipment cabin. Control equipment is arranged inside the sealed cabin. The control equipment and the son underwater robot are connected by a second cable, and the second cable is wound around the electric cable reel. The control equipment controls the forward and reverse rotation of the electric cable reel to realize the cable payout and cable retraction of the second cable.

2. The parent-child type inspection system applicable to a water diversion tunnel according to claim 1, wherein, A motor is also arranged inside the equipment cabin, and the motor is electrically connected to the control equipment; an opening and closing door is arranged on the bottom wall of the equipment cabin, and the output shaft of the motor is connected to the opening and closing door through a transmission device; the control equipment realizes the opening and closing of the opening and closing door by controlling the forward and reverse rotation of the motor.

3. The mother-child type inspection system applicable to diversion tunnels according to claim 1, characterized in that, A plurality of thrusters are evenly arranged around the mother underwater robot, and the control equipment is electrically connected to the thrusters to control the floating, diving, rotation direction and rotation speed of the thrusters.

4. The mother-child type inspection system applicable to a water diversion tunnel according to claim 1, wherein, Cameras and underwater searchlights are arranged at both the front and rear ends of the mother underwater robot.

5. The mother-child type inspection system applicable to a water diversion tunnel according to claim 1, characterized in that, Cameras and a variety of sensors are arranged on the son underwater robot, and the sensors include sonar and water quality sensors.

6. The mother-child type inspection system applicable to a water conveyance tunnel according to claim 1, wherein, Communication and positioning equipment is also arranged inside the sealed cabin. The communication and positioning equipment is electrically connected to the control equipment, and the control equipment is connected to the ground control system through the first cable.

7. The mother - son type inspection system applicable to diversion tunnels according to claim 1, characterized in that, The mother underwater robot powers the son underwater robot through the second cable, and the ground control system powers the mother underwater robot through the first cable.

8. The mother-child type inspection system applicable to a water diversion tunnel according to claim 1, characterized in that, The number of son underwater robots arranged inside the equipment cabin is set to one or more; when the number of son underwater robots is multiple, the multiple son underwater robots are respectively connected to the control equipment through the second cable.

9. The mother-child type inspection system applicable to a water diversion tunnel according to claim 1, characterized in that, The sealed cabin and the equipment cabin are arranged at the middle position of the mother underwater robot, and the sealed cabin is arranged on top of the equipment cabin.

10. The mother-child type inspection system applicable to a water diversion tunnel according to claim 1, wherein The overall shape of the mother underwater robot is a horizontal barrel shape, and smooth transition sections are arranged at the corners.

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