Underwater robot for cable working well exploration

Abstract

The utility model relates to an underwater robot for surveying a cable working well. The underwater robot comprises a main body, and a visual system, a propeller group, a laser scale and a multi-beam sonar which are arranged on the main body, the laser scale is arranged at the front side of the upper part of the main body, and the multi-beam sonar is arranged at the bottom of the main body; the visual system is used for shooting the distribution condition of cables in the cable working well; the propeller is used for providing power to drive the underwater robot to move; the multi-beam sonar is used for measuring the size of the cable working well. When the underwater robot is used, the underwater robot is placed in accumulated water of the cable working well, and the distribution condition of cables in the cable working well is shot through the visual system; the gyroscope detects the azimuth angle of the underwater robot, the propeller group provides power to control the robot to move and adjust the inclination angle of the main body, and the multi-beam sonar performs distance measurement; therefore, the surveying work of the cable working well is completed, manual well-descending surveying is not needed, and the surveying efficiency is improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of cable well survey, and in particular relates to an underwater robot used for cable well survey. Background Art

[0002] Before laying cables, existing cable wells and cable pipelines need to be surveyed. Underground cable wells are often flooded by rainwater or other water sources. The typical cable well survey involves pumping out and venting the water before a manual survey, a process that takes 4-5 hours. This method of surveying presents challenges such as low efficiency, significant safety risks, and environmental pollution. To address this issue, an underwater robot for cable well surveying was designed. This eliminates the need for manual surveying, ensuring personnel safety and improving survey efficiency. Utility Model Content

[0003] The utility model aims to provide an underwater robot for cable well surveying, so as to solve the technical problems raised in the background technology.

[0004] In order to achieve the above purpose, the technical solution adopted by the utility model is:

[0005] An underwater robot for cable well surveying, comprising: a main body and a visual system, a thruster group, a laser ruler, and a multi-beam sonar arranged on the main body; the laser ruler is arranged on the upper front side of the main body, and the multi-beam sonar is arranged on the bottom of the main body;

[0006] The visual system is used to capture the conditions inside the cable well; the thruster is used to provide power to drive the underwater robot to move; and the multi-beam sonar is used to measure the size of the cable well and the distribution of cables.

[0007] As a further improvement of the present invention, the visual system includes a main system and three auxiliary systems; the main system is arranged at the front end of the main body, and the three auxiliary systems are respectively arranged on the left and right sides of the bottom of the main body; among them, two of the auxiliary systems are used to shoot the conditions on the left and right sides of the underwater robot, and the remaining auxiliary system is used to shoot the conditions at the bottom of the underwater robot.

[0008] As a further improvement of the present invention, the main system and the auxiliary system both include cameras and fill lights.

[0009] As a further improvement of the present invention, the auxiliary system is bolted to the main body via an ear plate.

[0010] As a further improvement of the present invention, the center line of each propeller in the propeller group forms a certain angle with the three axes with the center point of the main body as the coordinate axis.

[0011] As a further improvement of the present invention, the propeller group includes 8 propellers, and the 8 propellers are respectively arranged at the four corners of the upper part and the bottom part of the main body.

[0012] As a further improvement of the present invention, two parallel laser emitters are provided inside the laser ruler, and the laser emitters are used to emit two parallel lasers toward the front of the main body.

[0013] As a further improvement of the present invention, the multi-beam sonar includes two front-end ranging sonars, a left-side ranging sonar, a right-side ranging sonar, a tail ranging sonar and a bottom ranging sonar.

[0014] As a further improvement of the present invention, the two front-end ranging sonars are horizontal.

[0015] As a further improvement of the present invention, a plurality of interfaces are provided on the rear end of the main body.

[0016] The beneficial effects of adopting the above technical solution are:

[0017] The underwater robot designed by the utility model is placed in the accumulated water of the cable well when in use. The situation in the cable well is photographed through the visual system, so as to realize the photographing of the distribution status of the cables in the well and perform obstacle avoidance action at the same time. The gyroscope is used to monitor the orientation of the underwater robot, the thruster group provides power to control the movement of the robot and adjust the tilt angle of the main body according to the signal detected by the gyroscope, and the multi-beam sonar is used to measure the distance. Thus, the survey work of the cable well is completed, and the survey does not need to be conducted manually, thereby ensuring the safety of personnel and improving the survey efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the three-dimensional structure of the utility model;

[0019] Figure 2 This is a schematic diagram of the three-dimensional structure of the utility model from another angle;

[0020] Figure 3 This is the main view of the utility model;

[0021] Explanation of the markings in the figure: 1 main body, 2 laser ruler, 3 multi-beam sonar, 4 camera, 5 fill light, 6 ear plate, 7 thruster, 8 laser transmitter, 9 interface. DETAILED DESCRIPTION

[0022] In order to better understand the purpose, structure and function of the present invention, the present invention is described clearly and completely below with reference to the accompanying drawings.

[0023] The survey found that although there is a lot of water in most cable wells, it is still stagnant compared to the waters on land. Many impurities in the water will also settle to the bottom of the water. Based on this, the following is proposed: Figure 1-Figure 3 An underwater robot for cable well survey is shown, which is used for underwater visual survey of cable wells.

[0024] The underwater robot includes: a main body 1 and a visual system, 7 thrusters, a laser ruler 2, and a multi-beam sonar 3 arranged on the main body 1; in addition, the main body 1 is also provided with a gyroscope for real-time monitoring. The visual system is used to capture the conditions inside the cable well; the thrusters 7 are used to provide power to drive the underwater robot to move; and the multi-beam sonar 3 is used to measure the size of the cable well and the distribution of cables. When the robot is in use, it is placed in the accumulated water of the cable well. The visual system captures the conditions inside the cable well, achieving the capture of the distribution of cables in the well while performing obstacle avoidance actions. The gyroscope is used to monitor the orientation of the underwater robot, the thrusters 7 provide power to control the movement of the main body 1 and adjust the tilt angle of the main body 1 according to the signals detected by the gyroscope, and the multi-beam sonar 3 performs distance measurement, thereby completing the survey of the cable well. In addition, several interfaces 9 are provided on the rear end of the main body 1. For the convenience of control, the underwater robot is electrically connected to the control system. The control system uses an stm32 microprocessor, which is electrically connected to the visual system, 7 groups of thrusters, laser ruler 2, gyroscope and multi-beam sonar 3 respectively. For the convenience of staff operation, the processor is also connected to the terminal.

[0025] The visual system includes a main system and three auxiliary systems. The main system is located at the front end of the main body 1, and the three auxiliary systems are located on the left and right sides of the bottom of the main body 1. Two of the auxiliary systems are used to capture the conditions on the left and right sides of the underwater robot, and the remaining auxiliary system is used to capture the conditions on the bottom of the underwater robot. Specifically, the auxiliary systems are bolted to the main body 1 via lugs 6. Both the main system and the auxiliary systems include a camera 4 and a fill light 5. In this embodiment, the main system includes a camera 4 and two fill lights 5. The camera 4 is embedded in the front end of the main body 1, and the fill lights 5 are symmetrically distributed on both sides of the camera 4 and bolted to the main body 1. The three auxiliary systems each include a camera 4 and a fill light 5. The cameras 4 and fill lights 5 are threadedly connected to the main body 1 via lugs 6. The cameras 4 and fill lights 5 of the auxiliary system for capturing the bottom are distributed on the left and right sides of the main body 1.

[0026] The thruster group 7 is the power component of the main body 1. In this embodiment, the thruster 7 is a vector thruster 7, that is, the center line of each thruster 7 forms a certain angle with the three axes with the center point of the main body 1 as the coordinate axis, which can provide power for the robot's movement in any direction, so that the underwater robot has a more flexible control scheme in the cable manhole. The thruster group 7 includes 8 thrusters 7, and the 8 thrusters 7 are respectively arranged at the four corners of the upper and bottom parts of the main body 1; further, two adjacent thrusters 7 are symmetrically arranged. The laser ruler 2 is arranged on the upper front side of the main body 1. Two parallel laser emitters 8 are provided inside the laser ruler 2. The laser emitter 8 is used to emit two parallel lasers in front of the main body 1, mark the target object, and cooperate with the visual system to take screenshots, and then analyze the size of the measured object.

[0027] The multi-beam sonar 3 is disposed at the bottom of the main body 1; the multi-beam sonar 3 includes two front-end ranging sonars, a left-side ranging sonar, a right-side ranging sonar, a tail ranging sonar, and a bottom ranging sonar. The two front-end ranging sonars are used to confirm the orientation of the underwater robot body and the cable well during measurement. When the data detected by the two front-end ranging sonars are consistent, it proves that the front end of the main body 1 is parallel to the wall of the cable well. At this time, the measured data can be processed to obtain the accurate size of the cable well. In this embodiment, the two front-end ranging sonars are both horizontally arranged, perpendicular to the left-side ranging sonar.

[0028] It is understood that the present invention is described by way of certain embodiments, and those skilled in the art will appreciate that various changes or equivalent substitutions may be made to these features and embodiments without departing from the spirit and scope of the present invention. Furthermore, under the guidance of the present invention, these features and embodiments may be modified to suit specific circumstances and materials without departing from the spirit and scope of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application are intended to be protected by the present invention.

Claims

1. An underwater robot for cable well survey, characterized by: It includes: A main body (1) and a visual system, a propeller (7) group, a laser ruler (2) and a multi-beam sonar (3) arranged on the main body (1); the laser ruler (2) is arranged on the upper front side of the main body (1), and the multi-beam sonar (3) is arranged at the bottom of the main body (1); The visual system is used to photograph the conditions in the cable well; the propeller (7) is used to provide power to drive the underwater robot to move; and the multi-beam sonar (3) is used to measure the size of the cable well and the distribution of cables.

2. The underwater robot for cable well survey according to claim 1, characterized in that: The visual system includes a main system and three auxiliary systems; the main system is arranged at the front end of the main body (1), and the three auxiliary systems are respectively arranged on the left and right sides of the bottom of the main body (1); wherein two of the auxiliary systems are used to photograph the conditions on the left and right sides of the underwater robot, and the remaining auxiliary system is used to photograph the conditions on the bottom of the underwater robot.

3. The underwater robot for cable well survey according to claim 2, characterized in that: The main system and the auxiliary system both include a camera (4) and a fill light (5).

4. The underwater robot for cable well survey according to claim 2, characterized in that: The auxiliary system is bolted to the main body (1) via a lug (6).

5. The underwater robot for cable well survey according to claim 1, characterized in that: The center line of each propeller (7) in the propeller (7) group forms a certain angle with the three axes with the center point of the main body (1) as the coordinate axis.

6. The underwater robot for cable well survey according to claim 1, characterized in that: The propeller (7) group comprises eight propellers (7), and the eight propellers (7) are respectively arranged at the four corners of the upper part and the bottom part of the main body (1).

7. The underwater robot for cable well survey according to claim 1, characterized in that: Two parallel laser emitters (8) are provided inside the laser ruler (2), and the laser emitters (8) are used to emit two parallel lasers toward the front of the main body (1).

8. The underwater robot for cable well survey according to claim 1, characterized in that: The multi-beam sonar (3) comprises two front-end ranging sonars, a left-side ranging sonar, a right-side ranging sonar, a tail ranging sonar and a bottom ranging sonar.

9. The underwater robot for cable well survey according to claim 8, characterized in that: The two front-end ranging sonars are horizontal.

10. The underwater robot for cable well survey according to claim 1, characterized in that: A plurality of interfaces (9) are provided on the rear end of the main body (1).

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