Underwater robot for shallow water subsea pipeline detection
By incorporating air inlets, inclined structures, and drainage outlets into the underwater robot's floating structure, the problem of robot motion deviation in strong water flow environments was solved, enabling stable detection.
Patent Information
- Application Number
- CN202423281122.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-30
- Publication Date
- 2025-11-04
- Estimated Expiration
- 2034-12-30
AI Technical Summary
Existing underwater robot floating structures are difficult to maintain stability in strong water flow environments, leading to movement deviation and affecting detection results.
An underwater robot with a floating structure was designed. The floating structure is equipped with an air inlet, a sloping structure, a drain outlet, and an air outlet. These structures reduce water flow resistance and maintain the robot's stable posture.
This effectively reduces the resistance of water flow to the underwater robot, ensuring that the robot moves along the predetermined path and improving the stability and effectiveness of the detection.
Smart Images
Figure CN223508459U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to the field of sea pipe detection, especially relate to underwater robot for shallow sea pipe detection. BACKGROUND
[0002] Ocean natural gas pipeline is long distance pipeline system for conveying natural gas under the sea, after the installation of ocean natural gas pipeline, the state of pipeline needs to be checked regularly, so that problems can be found and handled in time, using underwater robot to detect ocean gas pipeline is one of important means to ensure the safe operation of pipeline, the operator releases the underwater robot into water, the robot moves along the pipeline according to the predetermined route, the detector collects image, sonar data and electromagnetic signal information in real time, and the propeller continuously operates to enable the underwater robot to move in water, the float structure provides buoyancy for the underwater robot, and also can maintain the attitude stability of the underwater robot, but due to the complex and changeable seabed environment, there can be strong current on the seabed, the float structure on the existing underwater robot can not completely cope with the strong current situation, the strong current can affect the movement of the underwater robot, which can cause the underwater robot to deviate from the predetermined path, and affect the detection effect.
[0003] In view of the above problems, the underwater robot for shallow sea pipe detection is developed. UTILITY MODEL CONTENT
[0004] In order to overcome the shortcomings that due to the complex and changeable seabed environment, there can be strong current on the seabed, the float structure on the existing underwater robot can not completely cope with the strong current situation, the strong current can affect the movement of the underwater robot, which can cause the underwater robot to deviate from the predetermined path, and affect the detection effect, the technical problem to be solved is to provide the underwater robot for shallow sea pipe detection.
[0005] The technical scheme is: the underwater robot for shallow sea pipe detection, including first mounting frame, the first mounting frame middle part is connected with second mounting frame, the second mounting frame front upper side is installed with detector, the first mounting frame lower part upper side is installed with first propeller, the first propeller is located between the first mounting frame and the second mounting frame, the first propeller is 4 in total, the first propeller is all front and back orientation, the first mounting frame upper part inner left and right sides are all connected with front and back symmetry second propeller, the second propeller is 4 in total, the second propeller is all upper orientation, the second mounting frame is installed with float structure.
[0006] As a further preferred embodiment, the floating structure includes an air inlet, which is located on the front upper part of the floating structure. The floating structure has an inclined surface on its upper side, drainage outlets on both the left and right sides of the upper part of the floating structure, and an air outlet on the rear upper side of the floating structure. The lower part of the floating structure is provided with four mounting blocks, and each of the four adjacent mounting blocks is connected to the second mounting frame by two fasteners.
[0007] As a further preferred option, both the first mounting bracket and the second mounting bracket have a hollow structure.
[0008] As a further preferred embodiment, the left part of the floating structure is higher than the right part, and the front part is higher than the rear part.
[0009] As a further preferred embodiment, the floating structure can fit snugly against the second mounting bracket.
[0010] As a further preferred embodiment, the height of the front side of the inclined structure is higher than the height of the rear side, and the height of the left and right sides is lower than the height of the middle part.
[0011] The present invention has the following advantages: the inclined structure on the floating body structure facilitates the flow of water from the top, and the water flowing into the inclined structure from the air inlet will be quickly discharged outward through the drain outlet and air outlet, thereby reducing the water flow resistance encountered by the underwater robot, thus maintaining the stability of the underwater robot's posture, enabling the underwater robot to perform detection according to the predetermined path, and thus ensuring the detection effect of the underwater robot. Attached Figure Description
[0012] Figure 1 This is a three-dimensional structural diagram of the present invention.
[0013] Figure 2 This is a schematic diagram of the exploded three-dimensional structure of this utility model.
[0014] Figure 3 This is a partial cross-sectional three-dimensional structural diagram of the present invention.
[0015] Figure 4 This is a partial cross-sectional structural diagram of the present invention.
[0016] Figure 5 This is a partial three-dimensional structural diagram of the present invention.
[0017] Wherein: 1-first mounting bracket, 2-second mounting bracket, 3-detector, 4-first thruster, 5-second thruster, 6-floating structure, 61-air inlet, 62-sloping structure, 63-drain outlet, 64-air outlet, 65-mounting block, 7-fastener. Detailed Implementation
[0018] The present invention will be further described below with reference to specific embodiments. It should also be noted that, unless otherwise explicitly specified and limited, terms such as "setting," "installing," "connecting," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in the present invention based on the specific circumstances.
[0019] Underwater robots used for shallow-water pipeline inspection, such as Figure 1 and Figure 2 As shown, it includes a first mounting frame 1, a second mounting frame 2 connected to the middle of the first mounting frame 1, both the first mounting frame 1 and the second mounting frame 2 are hollow structures, a detector 3 is installed on the upper front side of the second mounting frame 2, a first thruster 4 is located on the upper lower side of the first mounting frame 1, the first thrusters 4 are all located between the first mounting frame 1 and the second mounting frame 2, there are a total of 4 first thrusters 4, all of which face forward and backward, the upper inner left and right sides of the first mounting frame 1 are connected to symmetrical second thrusters 5, there are a total of 4 second thrusters 5, all of which face upward, the second mounting frame 2 is equipped with a floating structure 6, the left part of the floating structure 6 is higher than the right part, the front part is higher than the rear part, the floating structure 6 can fit closely with the second mounting frame 2.
[0020] like Figures 1-5 As shown, the floating structure 6 includes an air inlet 61, an air inlet 61 on the upper front side of the floating structure 6, an inclined structure 62 on the upper side of the floating structure 6, the front height of the inclined structure 62 is higher than the rear height, and the height on the left and right sides is lower than the middle height, drainage outlets 63 are opened on the upper left and right sides of the floating structure 6, an air outlet 64 is opened on the upper rear side of the floating structure 6, and mounting blocks 65 are provided at the lower part of the floating structure 6. There are 4 mounting blocks 65 in total, and the left and right adjacent mounting blocks 65 are connected to the second mounting bracket 2 by 2 fasteners 7.
[0021] It should be noted that offshore natural gas pipelines are long-distance pipeline systems used to transport natural gas on the seabed. After installation, the pipeline's condition needs to be inspected regularly to detect and address problems promptly. Using underwater robots for pipeline inspection is a crucial means of ensuring safe pipeline operation. The operator releases the underwater robot into the water, and the robot moves along the pipeline along a predetermined route. Detector 3 collects images, sonar data, and electromagnetic signals in real time. The continuous operation of the first thruster 4 and the second thruster 5 enables the underwater robot to move in the water. The hollow structure of the first mounting frame 1 and the second mounting frame 2 reduces the drag during the underwater robot's movement. The buoyancy... Structure 6 provides buoyancy for the underwater robot and maintains its attitude stability. However, due to the complex and changeable seabed environment, there may be strong currents. The existing floating structure 6 on the underwater robot may not be able to fully cope with strong currents. Strong currents can affect the movement of the underwater robot and may cause it to deviate from the predetermined path, affecting the detection effect. The inclined structure 62 on the floating structure 6 of this device facilitates the passage of water from the top. The water flowing into the inclined structure 62 from the air inlet 61 will be quickly discharged outward through the drain outlet 63 and the air outlet 64, thereby reducing the resistance of the water flow to the underwater robot and enhancing the stability of the underwater robot on the seabed.
[0022] The above description is only a preferred embodiment of the present utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present utility model, and these improvements and modifications should also be considered within the protection scope of the present utility model.
Claims
1. An underwater robot for shallow-water subsea pipeline inspection, characterized in that: It includes a first mounting frame (1), a second mounting frame (2) connected to the middle of the first mounting frame (1), a detector (3) installed on the upper front side of the second mounting frame (2), a first thruster (4) on the upper lower side of the first mounting frame (1), the first thrusters (4) are all located between the first mounting frame (1) and the second mounting frame (2), there are a total of 4 first thrusters (4), all of the first thrusters (4) are facing forward and backward, the upper inner left and right sides of the first mounting frame (1) are connected to symmetrical second thrusters (5), there are a total of 4 second thrusters (5), all of the second thrusters (5) are facing upward, and a floating structure (6) is installed on the second mounting frame (2).
2. The underwater robot for shallow water pipeline inspection as described in claim 1, characterized in that: The floating structure (6) includes an air inlet (61), the air inlet (61) is opened on the upper front side of the floating structure (6), the upper side of the floating structure (6) is provided with a sloping structure (62), the upper left and right sides of the floating structure (6) are provided with drain outlets (63), the upper rear side of the floating structure (6) is provided with an air outlet (64), the lower part of the floating structure (6) is provided with mounting blocks (65), there are 4 mounting blocks (65), and the left and right adjacent mounting blocks (65) are connected to the second mounting frame (2) by 2 fasteners (7).
3. The underwater robot for shallow water pipeline inspection as described in claim 1, characterized in that: Both the first mounting bracket (1) and the second mounting bracket (2) are hollow structures.
4. The underwater robot for shallow water pipeline inspection as described in claim 1, characterized in that: The left part of the floating structure (6) is higher than the right part, and the front part is higher than the rear part.
5. The underwater robot for shallow-water subsea pipeline inspection as described in claim 1, characterized in that: The floating structure (6) can fit into the second mounting bracket (2).
6. The underwater robot for shallow-water pipeline inspection as described in claim 2, characterized in that: The height of the front side of the inclined structure (62) is higher than that of the rear side, and the height of the left and right sides is lower than that of the middle.