Water surface and underwater integrated robot detection kit

Abstract

The utility model discloses a water surface and underwater integrated robot detection suite which comprises a water surface unmanned ship assembly and an underwater robot assembly. Two electric control bins, a network bridge, a wireless data radio and a satellite compass are arranged on the upper portion of the rear end of a hull frame of the water surface unmanned ship assembly, two propellers are installed at the bottom of the rear end, three ultrasonic transducers are triangularly arranged on the plane of the bottom, an underwater robot winding and unwinding mechanism comprising a cage is arranged in the middle of the hull frame, and an umbilical cable winding and unwinding mechanism and a ball machine are arranged at the front end of the hull frame. A take-up turntable and a pay-off roller are arranged in the umbilical cable take-up and pay-off mechanism and connected with the zero-buoyancy umbilical cable; an ultrasonic transducer and a relative positioning box are fixed to the top of a frame of the underwater robot assembly, and eight propellers are installed in the underwater robot assembly. The water surface unmanned ship assembly and the underwater robot assembly are connected through a zero-buoyancy umbilical cable, and communication, power transmission and collaborative operation are achieved. The detection suite is low in operation difficulty, can effectively improve the inspection accuracy, is suitable for various water area environments, and efficiently completes the detection operation.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of water area detection operation, concretely to a water surface underwater integrated robot detection kit suitable for underwater building inspection, has autonomous retraction, cooperative operation and real -time communication function. BACKGROUND

[0002] With the construction and use of underwater buildings (such as dam body, cross-sea bridge pier and offshore wind power station foundation structure), the routine inspection of underwater structures becomes particularly important. These structures are exposed to harsh underwater environments for a long time, affected by multiple factors such as marine environment, corrosion, biological attachment, etc., prone to cracks, corrosion, loosening, water leakage, etc. In order to ensure its safety, it is crucial to find problems in time and carry out maintenance. With the continuous development of marine industry, the underwater structure inspection market is also growing rapidly. According to the report of Mordor Intelligence, it is estimated that by 2026, the global underwater structure inspection market size will reach about 5.6 billion US dollars. Currently, the inspection of underwater buildings mainly relies on divers for manual operation. This way not only costs a lot, but also has high safety risks, and cannot fully utilize some advanced acoustic and optical technologies for detection. Although using underwater robots for inspection is the trend of current technology development, the existing underwater robots have certain limitations when performing tasks. For example, tethered remote control underwater robots (ROV) are limited by the length of the cable and cannot quickly switch scenes, making them unsuitable for inspection of scattered piers or offshore wind power bases; while autonomous underwater vehicles (AUV) have certain autonomy, but their decision-making ability and ability to adapt to complex underwater environments are still insufficient, making it difficult to cope with complex obstacles and flow field conditions of underwater buildings. Therefore, in the field of underwater building inspection, there is an urgent need for a robot system that can replace manual inspection. However, existing unmanned inspection technology has not yet fully met the needs of safety, environmental adaptability and operational flexibility, and there is an urgent need for a new robot system to better meet these challenges. SUMMARY

[0003] The utility model aims at making up for the deficiencies of existing robots in safety, environmental adaptability and operational flexibility when performing underwater building inspection tasks, and designs a water surface underwater integrated robot detection kit with large coverage and adaptability to various complex water areas.

[0004] In order to achieve the above purpose, the utility model is realized by the following technical scheme:

[0005] The application discloses a water surface and underwater integrated robot detection kit which comprises a water surface unmanned ship component and an underwater robot component; the water surface unmanned ship component comprises a ship body frame, two electric control bins are arranged on the upper part of the rear end of the ship body frame, a network bridge, a wireless data transmission radio and a satellite compass are arranged on the rear end, two propellers are arranged on the bottom of the rear end, three ultrasonic transducers are arranged in a triangular shape on the bottom plane of the middle part, an underwater robot autonomous winding and releasing mechanism comprising a cage is arranged on the middle part, a umbilical cable winding and releasing mechanism and a ball camera are arranged on the front end, the umbilical cable winding and releasing mechanism is internally provided with a winding disc and is connected with a zero-float umbilical cable; the underwater robot component comprises an underwater robot frame, ultrasonic transducers and a relative positioning box are fixed on the top of the underwater robot frame, and eight underwater robot propellers are arranged in the underwater robot frame; the water surface unmanned ship component and the underwater robot component are connected through the zero-float umbilical cable to realize communication, power transmission and cooperative operation.

[0006] Further, the two propellers of the water surface unmanned ship component are symmetrically arranged on the bottom of the rear end of the ship body frame.

[0007] Further, the three ultrasonic transducers are arranged in a triangular shape on the bottom plane to form an underwater relative positioning system.

[0008] Further, the underwater robot winding and releasing mechanism is in a cuboid structure, and the cage is vertically lifted through an electric winch.

[0009] Further, the umbilical cable winding and releasing mechanism comprises a winding disc and a pay-off roller.

[0010] Further, the water surface unmanned ship component is integrated with the underwater robot autonomous winding and releasing mechanism, the umbilical cable winding and releasing mechanism and a relative positioning module.

[0011] Further, the water surface unmanned ship component is further integrated with the network bridge, the wireless data transmission radio and the satellite compass and supports GPS / Beidou dual-mode positioning.

[0012] Further, the eight underwater robot propellers of the underwater robot component are symmetrically arranged in two groups, each group comprising four underwater robot propellers arranged in a plane, so that multi-degree-of-freedom motion control is realized.

[0013] Further, the ball camera is a 360-degree rotation waterproof camera with a maximum tilt angle of 90 degrees and a resolution of no less than 1080P.

[0014] Further, the zero-float umbilical cable is internally provided with a power line and a communication line.

[0015] The water surface and underwater integrated robot detection kit has the advantages that the system is designed to be integrated, the structure is simple, the operation difficulty is low, the operator does not need to wade, the patrol inspection accuracy can be effectively improved, the operation safety can be optimized, the operation cost can be reduced, the kit can adapt to various water environments and can efficiently complete the detection operation. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 It is a water surface and underwater integrated robot detection kit structure schematic view of the utility model;

[0017] Figure 2 It is a water surface unmanned ship assembly structure front view in the utility model;

[0018] Figure 3 It is a water surface unmanned ship assembly structure plan view in the utility model;

[0019] Figure 4 It is a water surface unmanned ship assembly structure side view in the utility model;

[0020] Figure 5 It is a underwater robot assembly structure front view in the utility model;

[0021] Figure 6 It is a underwater robot assembly structure plan view in the utility model;

[0022] Figure 7 It is a underwater robot assembly structure side view in the utility model. Specific implementation

[0023] The following structural drawing and embodiment further introduce the utility model.

[0024] As Figures 1 to 7 shown, the utility model embodiment proposes a water surface and underwater integrated robot detection kit, including water surface unmanned ship assembly 18, underwater robot assembly 12. Water surface unmanned ship assembly 18 passes through umbilical cable 11 and communicates with underwater robot assembly 12 and transports power energy to it;Water surface unmanned ship assembly 18 and underwater robot assembly 12 have cooperative work capacity, and water surface unmanned ship assembly 18 autonomously follows underwater robot assembly 12 during work.

[0025] Water surface unmanned ship assembly 18 is composed of electric control bin 1, electric control bin 2, communication positioning module 2~4, propeller 1, relative positioning module 14, underwater robot autonomous take-up mechanism 8, umbilical cable take-up mechanism 20, ball machine 13, umbilical cable 11, ship body frame 21.

[0026] The electric control bin 5, the electric control bin 6, the network bridge, the wireless data transmission radio station and the satellite compass are arranged on the upper part of the rear end of the ship body frame 21, the two propellers 1 are fixed on the bottom of the rear end of the ship body frame 21 at a certain interval, the three ultrasonic transducers are fixed on the bottom of the ship body frame 21 in a planar triangular relationship, the underwater robot autonomous winding and unwinding mechanism 8 is arranged in the middle part of the ship body frame 21, the umbilical cable winding and unwinding mechanism 20 is arranged at the front end of the ship body frame 21, the ball machine 13 is arranged on the bottom of the umbilical cable winding and unwinding mechanism 20, and the umbilical cable 11 is arranged in the take-up reel 9 of the umbilical cable winding and unwinding mechanism 20.

[0027] The underwater robot assembly 12 is composed of the ultrasonic transducer 15, the relative positioning box 16, the underwater robot frame 22 and the underwater robot propeller 17.

[0028] Further, the water surface unmanned ship assembly 18 integrates the underwater robot autonomous winding and unwinding mechanism 8, the umbilical cable winding and unwinding mechanism 20 and the relative positioning module 14.

[0029] Further, the underwater robot autonomous winding and unwinding mechanism 8 is arranged in the middle part of the water surface unmanned ship assembly 18, and the whole body is in the shape of a cuboid.

[0030] Further, the umbilical cable winding and unwinding mechanism 20 is arranged at the front part of the water surface unmanned ship assembly 18, and the whole body is in the shape of a rectangle.

[0031] Further, the relative positioning system composed of the three ultrasonic transducers is arranged at the bottom of the water surface unmanned ship assembly 18, and the whole body is arranged in a planar triangular shape.

[0032] Further, the relative positioning module 14 comprises three ultrasonic transducers, the three ultrasonic transducers are arranged on a plane to form a planar triangle, and are arranged on the bottom of the ship body and are spaced apart from the propeller by more than 0.5 m.

[0033] The specific implementation process of the utility model is as follows:

[0034] When the water surface unmanned ship assembly 18 carries the underwater robot assembly to the work site, the underwater robot assembly 12 is placed inside the water surface lifting cage 19 of the underwater robot autonomous launching and recovering mechanism 8, and the operator on the shore can remotely control or set the latitude and longitude points of the target position to make the water surface unmanned ship assembly 18 go to the target work site. After arriving at the work site, the water surface unmanned ship assembly 18 is stationary on the water surface, and the carried underwater robot autonomous launching and recovering mechanism 8 starts to release the lifting cage 19 into the water, and the operator controls the underwater robot to exit the cage and then releases the lifting cage 19 from the water surface. The underwater robot assembly 12 moves away from the water surface unmanned ship assembly 18 to a certain distance and then starts work. During the work, the operator controls the underwater robot assembly 12 to approach the underwater detection target, observes the underwater structure in the environment with obstacle distribution, collects image information, and confirms the suspected disease found. In this process, through the cooperative control technology, the water surface unmanned ship assembly 18 autonomously follows the underwater robot assembly 12, and simultaneously acts as a communication relay to realize real-time reporting of underwater information and real-time issuance of shore-based instructions, so that the operator can inspect the underwater target without wading. During the inspection, the release length of the umbilical cable 11 is reasonably adjusted, on the one hand to avoid the umbilical cable 11 from being entangled with the underwater structure or affecting the movement of the underwater robot assembly 12 during observation, and on the other hand to avoid excessive release of the umbilical cable 11 to cause excessive resistance and increase energy consumption. After completing the inspection at one place, the water surface unmanned ship assembly 18 releases the lifting cage 19 to the water, and the operator controls the underwater robot assembly 12 to the inside of the lifting cage 19 and then lifts the lifting cage 19 to separate from the water surface, thereby completing the recovery of the underwater robot assembly 12. Then the water surface unmanned ship assembly 18 carries the underwater robot assembly 12 to a new work site and deploys it, realizing rapid scene change and continuing work. After the work is completed, the operator can remotely control or set the latitude and longitude points of the recovery position to recall and recover the water surface unmanned ship assembly 12.

Claims

1. A surface and underwater integrated robotic detection kit, characterized in that: The unmanned surface vessel component (18) comprises a hull frame (21), two electric control warehouses are arranged on the upper part of the rear end of the hull frame (21), a network bridge, a wireless data transmission radio and a satellite compass are arranged on the upper part of the rear end, two propellers (1) are arranged on the bottom of the rear end, three ultrasonic transducers are arranged in a triangular plane on the bottom, an underwater robot autonomous launching and recovering mechanism (8) containing a cage (19) is arranged on the middle part, an umbilical cable launching and recovering mechanism (20) and a ball camera (13) are arranged on the front end, the umbilical cable launching and recovering mechanism (20) is internally provided with a winding disc (9) and is connected with a zero-float umbilical cable (11); the underwater robot component (12) comprises an underwater robot frame (22), an ultrasonic transducer (15) and an opposite positioning box (16) are fixed on the top of the underwater robot frame (22), and eight underwater robot propellers (17) are arranged in the underwater robot frame (22); the unmanned surface vessel component (18) is connected with the underwater robot component (12) through the zero-float umbilical cable (11), so as to realize communication, power transmission and cooperative operation.

2. The surface-underwater integrated robotic exploration kit of claim 1, wherein: The two propellers (1) of the unmanned surface vessel component are symmetrically arranged on the bottom of the rear end of the hull frame (21).

3. The surface-underwater integrated robotic exploration kit of claim 1, wherein: The three ultrasonic transducers are arranged in a triangular plane, and constitute an underwater relative positioning system.

4. The surface-underwater integrated robotic exploration kit of claim 1, wherein: The underwater robot autonomous launching and recovering mechanism (8) is a cuboid structure, and the cage (19) is vertically lifted through an electric winch.

5. The surface-underwater integrated robotic exploration kit of claim 1, wherein: The umbilical cable launching and recovering mechanism (20) comprises a winding disc (9) and a pay-off roller (10).

6. The surface-underwater integrated robotic exploration kit of claim 1, wherein: The unmanned surface vessel component (18) integrates the underwater robot autonomous launching and recovering mechanism (8), the umbilical cable launching and recovering mechanism (20) and the relative positioning module (14).

7. The surface-underwater integrated robotic exploration kit of claim 1, wherein: The unmanned surface vessel component (18) further integrates the network bridge, the wireless data transmission radio and the satellite compass, and supports GPS / Beidou dual-mode positioning.

8. The surface-underwater integrated robotic exploration kit of claim 1, wherein: The eight underwater robot propellers (17) of the underwater robot component are symmetrically arranged in two groups, each group comprising four underwater robot propellers (17) arranged in a plane, for realizing multi-degree-of-freedom motion control.

9. The surface-underwater integrated robotic exploration kit of claim 1, wherein: The ball camera (13) is a 360° rotation waterproof camera, the maximum pitch angle is 90°, and the resolution is not less than 1080P.

10. The surface-underwater integrated robotic exploration kit of claim 1, wherein: The zero-float umbilical cable (11) is internally provided with a power line and a communication line.

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