Underwater robot capable of being used for bridge detection

Abstract

The utility model provides an underwater robot capable of being used for bridge detection, which belongs to the technical field of underwater robots and comprises a top layer plate, an interlayer plate, a bottom layer plate, a left side plate, a right side plate, a multi-beam imaging sonar, a laser range finder, an electronic sealing buoyancy providing cabin, a water link DVL and a sonar altimeter. The left side plate and the right side plate are partially hollowed out in appearance and are divided into a combined frame type structure, the side face of the robot utilizes the stability of triangles, a plurality of triangular hollows are adopted, and it is guaranteed that the robot keeps stable under strong water flow impact; the electronic sealing buoyancy providing cabin is arranged, the electronic sealing buoyancy providing cabin serves as a waterproof device for protecting the circuit board and also serves as a buoyancy device to replace a traditional buoyancy device, and the operation resistance of the robot in water can be effectively reduced in combination with the semicircular spherical cover.

Description

TECHNICAL FIELD

[0001] The utility model belongs to bridge detection robot technical field, specifically a kind of underwater robot for bridge detection. BACKGROUND

[0002] Bridge detection is an important means to assess the safety and durability of bridge structure, can find the defects of bridge, so as to formulate maintenance scheme, when bridge underwater detection, through underwater robot operation.

[0003] The existing underwater robot is unstable in underwater operation due to complex structure and unreasonable structure layout during detection process, cannot stable navigation, and is limited by existing structure of robot, resulting in that the navigation resistance of robot in water is large, influence the navigation effect of robot, influence underwater operation effect, therefore, aiming at the above problems, a kind of underwater robot for bridge detection is provided. UTILITY MODEL CONTENT

[0004] In order to make up for the deficiency of prior art, in view of the problems that existing equipment is unstable in underwater operation due to complex structure and unreasonable structure layout, cannot stable navigation, and is limited by existing structure of robot, resulting in that the navigation resistance of robot in water is large, influence the navigation effect of robot, influence underwater operation effect, the utility model provides a kind of underwater robot for bridge detection.

[0005] The utility model solves the technical scheme that it adopts a kind of underwater robot for bridge detection, including left side plate, right side plate, electronic sealing buoyancy providing cabin, water connection DVL, sonar altimeter, wherein:

[0006] The left side plate and the right side plate are installed side by side, and the top layer plate and the bottom layer plate are connected between the left side plate and the right side plate respectively.

[0007] The electronic sealing buoyancy providing cabin is installed between the top layer plate and the partition layer plate, the electronic sealing buoyancy providing cabin includes electronic installation part and buoyancy providing part, the electronic installation part is used to install waterproof component, the buoyancy providing part is an aeration space, and the end of electronic sealing buoyancy providing cabin is packaged with a ball cover.

[0008] The water connection DVL and the sonar altimeter are installed on the top side of the bottom layer plate respectively, and the water connection DVL and the sonar altimeter are located at both ends of the bottom layer plate.

[0009] The top layer plate is provided with a laser range finder on the top, and the top side of the top layer plate is provided with a multi-beam imaging sonar.

[0010] Preferably, the top side of the partition plate is equipped with a left navigation light and a right navigation light, and the left navigation light and the right navigation light are respectively located on the two sides of the electronic sealed buoyancy providing cabin, which is not only a protection device for the circuit, but also a buoyancy device to replace the traditional buoyancy device, and in combination with the semicircular spherical cover, the running resistance of the robot in water can be effectively reduced when the robot runs underwater.

[0011] Preferably, the installation direction of the multi-beam imaging sonar and the laser range finder is the same as that of the left navigation light and the right navigation light, so that the monitoring of the multi-beam imaging sonar and the laser range finder can be ensured, and the robot can also drive the attack of underwater animals under the irradiation of the navigation light when advancing on the water bottom.

[0012] Preferably, the top layer plate is an X-shaped mechanism, left front, right front, left rear and right rear thrusters are respectively installed at the four corner positions of the top layer plate, the left front thruster and the right rear thruster are installed at an oblique angle, the right front thruster and the left rear thruster are installed at an oblique angle, a right middle thruster is installed on the inner side of the right side plate, and a left middle thruster is installed on the inner side of the left side plate, the left middle thruster and the right middle thruster are installed side by side, the thrusters are reasonably distributed, the robot can complete six degrees of freedom motion in water, and the functions of depth keeping, orientation, pitch and attitude keeping can be realized.

[0013] Preferably, the inside of the electronic sealed buoyancy providing cabin is equipped with a circuit board, the circuit board is used for data transmission and reception, and simultaneously controls the start and stop operation of the multi-beam imaging sonar, the laser range finder, the left navigation light, the right navigation light, the left front thruster, the right front thruster, the left middle thruster, the right middle thruster, the left rear thruster, the right rear thruster, the water-linked DVL and the sonar altimeter.

[0014] Preferably, a sealed waterproof line interface is arranged on the electronic sealed buoyancy providing cabin, and the communication line of the waterproof component inside the electronic sealed buoyancy providing cabin communicates with the outside through the sealed waterproof line interface.

[0015] The robot has the advantages that:

[0016] The robot has the advantages that:

[0017] The electronic sealing buoyancy providing cabin is a waterproof device for protecting the circuit board and is also a buoyancy device to replace the traditional buoyancy device, and in combination with the semicircular spherical cover, when the robot runs underwater, the running resistance of the robot in water can be effectively reduced due to the cancellation of the traditional top buoyancy device.

[0018] The robot can run stably on the water bottom through the multi-beam imaging sonar, the laser range finder, the water-connected DVL and the sonar altimeter.

[0019] The underwater detection robot can quickly and flexibly select and configure multiple sensor devices according to the task requirements, and is used for detecting multiple scenes such as underwater structures of bridges. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to more clearly illustrate the technical scheme in the embodiments of the present application or the prior art, the drawings needed to be used in the following embodiment or prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained on the basis of these drawings without creative labor.

[0021] Figure 1 It is a whole front view structural schematic diagram.

[0022] Figure 2 It is a whole front view structural schematic diagram.

[0023] Figure 3 It is a whole rear view structural schematic diagram.

[0024] Figure 4 It is a whole top view structural schematic diagram.

[0025] Figure 5 It is a whole bottom view structural schematic diagram.

[0026] In the figure: 1, top layer plate, 2, partition layer plate, 3, bottom layer plate, 4, left side plate, 5, right side plate, 6, multi-beam imaging sonar, 7, laser range finder, 8, electronic sealed buoyancy providing cabin, 9, dome, 10, left navigation light, 11, right navigation light, 12, left front propeller, 13, right front propeller, 14, left middle propeller, 15, right middle propeller, 16, left rear propeller, 17, right rear propeller, 18, water-linked DVL, 19, sonar altimeter. DETAILED DESCRIPTION

[0027] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the utility model.

[0028] Please refer to Figures 1-5 As shown in the figure, an underwater robot for bridge detection, comprising left side plate 4, right side plate 5, electronic sealed buoyancy providing cabin 8, water-linked DVL 18, sonar altimeter 19, the left side plate 4 and the right side plate 5 are installed side by side, and the left side plate 4 and the right side plate 5 are connected with the top layer plate 1 and the bottom layer plate 3 between the upper and lower sides respectively. The left side plate 4 and the right side plate 5 are connected with the partition layer plate 2 at the middle position, and the top layer plate 1, the partition layer plate 2 and the bottom layer plate 3 are arranged in parallel.

[0029] The electronic sealed buoyancy providing cabin 8 is installed between the top layer plate 1 and the partition layer plate 2, and the electronic sealed buoyancy providing cabin 8 is a cylindrical structure, located in the middle of the entire device, ensuring that the center of the entire device is located on the electronic sealed buoyancy providing cabin 8, the electronic sealed buoyancy providing cabin 8 comprises an electronic mounting part and a buoyancy providing part, the electronic mounting part is used for mounting waterproof components, and the buoyancy providing part is an inflatable space, which is actually an air-filled space, providing buoyancy for the entire device. The end of the electronic sealed buoyancy providing cabin 8 is packaged with a dome 9, the electronic sealed buoyancy providing cabin 8 is opened through the dome 9, and the waterproof components are installed in the electronic sealed buoyancy providing cabin 8, and the top side of the partition layer plate 2 is equipped with a left navigation light 10 and a right navigation light 11, and the left navigation light 10 and the right navigation light 11 are located on the two sides of the electronic sealed buoyancy providing cabin 8 respectively, the electronic sealed buoyancy providing cabin 8 is a waterproof device for protecting the circuit board, and in this design, the electronic sealed buoyancy providing cabin is also a buoyancy device to replace the traditional buoyancy device, combined with the semicircular dome 9, when the robot runs underwater, it can effectively reduce the running resistance of the robot in water, and under the cooperation of the left navigation light 10 and the right navigation light 11, it can provide a field of vision for the robot.

[0030] The electronic sealed buoyancy providing cabin 8 is provided with a sealed waterproof line interface, and the communication line of the waterproof part inside the electronic sealed buoyancy providing cabin 8 communicates with the outside through the sealed waterproof line interface.

[0031] The water combined DVL 18 and the sonar altimeter 19 are respectively installed on the top side of the bottom layer plate 3, and are respectively located at two ends of the bottom layer plate 3. The top of the top layer plate 1 is provided with a laser range finder 7, and the top side of the top layer plate 1 is provided with a multi-beam imaging sonar 6; the installation directions of the multi-beam imaging sonar 6 and the laser range finder 7 are the same as those of the left navigation light 10 and the right navigation light 11; and the underwater detection robot can quickly and flexibly select and configure to be mounted with multiple sensor devices according to task requirements, and is used for detecting multiple scenes such as bridge underwater structures.

[0032] The top layer plate 1 is an X-shaped mechanism, left front thrusters 12, right front thrusters 13, left rear thrusters 16 and right rear thrusters 17 are respectively installed at four corner positions of the top layer plate 1, the left front thrusters 12 and the right rear thrusters 17 are installed at an oblique angle, the right front thrusters 13 and the left rear thrusters 16 are installed at an oblique angle, a right middle thruster 15 is installed on the inner side of the right side plate 5, a left middle thruster 14 is installed on the inner side of the left side plate 4, the left middle thruster 14 and the right middle thruster 15 are installed side by side, the robot can complete six degrees of freedom motion in water, and can realize depth keeping, orientation, pitch, attitude keeping and other functions, and can realize free motion in water, and can better meet detection travel.

[0033] The inside of the electronic sealed buoyancy providing cabin 8 is provided with a circuit board, the circuit board is used for data transmission and reception, and simultaneously controls the multi-beam imaging sonar 6, the laser range finder 7, the left navigation light 10, the right navigation light 11, the left front thruster 12, the right front thruster 13, the left middle thruster 14, the right middle thruster 15, the left rear thruster 16, the right rear thruster 17, the water combined DVL 18 and the sonar altimeter 19 start and stop operation.

[0034] The utility model discloses a robot main body support structure is assembled to use top layer plate 1, interlayer plate 2, bottom layer plate 3, left side plate 4, right side plate 5, and left side plate 4 and right side plate 5 are partially hollowed out and combined frame type structure design on the appearance, and the stability of triangle is utilized to the side of robot, adopts multiple triangle hollows, ensures that robot keeps stable under the strong water flow impact.

[0035] By setting the electronic sealed buoyancy providing cabin 8, the electronic sealed buoyancy providing cabin 8 is a waterproof device for protecting the circuit board, and is also a buoyancy device in the design, so as to replace the traditional buoyancy device; in combination with the semicircular spherical cover 9, when the robot runs underwater, the running resistance of the robot in water can be effectively reduced.

[0036] The multi-beam imaging sonar 6, the laser range finder 7, the water-connected DVL 18 and the sonar altimeter 19 are mounted on the support structure of the robot body, the multi-beam imaging sonar 6 generates a high-resolution three-dimensional terrain image by emitting a plurality of acoustic beams and receiving reflection signals of the seabed or underwater objects. The laser range finder 7 measures the distance from the target object by using laser pulses. The water-connected DVL 18 measures the speed of the carrier relative to the seabed by emitting acoustic waves to the seabed through the Doppler effect. The sonar altimeter 19 is used for emitting narrow-beam acoustic waves vertically downward to measure the height of the carrier from the seabed, and is usually used for real-time obstacle avoidance or height-keeping navigation. The multi-beam imaging sonar 6, the laser range finder 7, the water-connected DVL 18 and the sonar altimeter 19 can ensure the stability of the robot running on the seabed. The underwater detection robot can quickly and flexibly select and mount multiple sensor devices according to the task requirements, and is used for detecting multiple scenes such as underwater structures of bridges.

[0037] The underwater balance is assisted by the three transverse wing plates of the top layer plate 1, the interlayer plate 2 and the bottom layer plate 3, and the left front thruster 12, the right front thruster 13, the left middle thruster 14, the right middle thruster 15, the left rear thruster 16 and the right rear thruster 17 are installed in different directions and have different effects. The thrusters are reasonably distributed, the robot can complete six-degree-of-freedom motion in water, can realize depth keeping, orientation, pitch, attitude keeping and other functions, can realize free motion in water, and can better meet the detection travel.

[0038] The basic principle, main features and advantages of the utility model are shown and described above. It should be understood by those skilled in the art that the utility model is not limited by the above embodiments, and the above embodiments and descriptions in the specification are only to illustrate the principle of the utility model, and various changes and improvements can be made to the utility model without departing from the spirit and scope of the utility model, and these changes and improvements all fall within the scope of the utility model claimed.

Claims

1. An underwater robot that can be used for bridge inspection, characterized by: It comprises left side plate (4), right side plate (5), electronic sealed buoyancy providing cabin (8), water connection DVL (18), sonar altimeter (19), wherein: The left side plate (4) and the right side plate (5) are installed side by side, and the top layer plate (1) and the bottom layer plate (3) are connected between the upper and lower sides of the left side plate (4) and the right side plate (5) respectively; The middle position between the left side plate (4) and the right side plate (5) is connected with the partition plate (2), and the top layer plate (1), the partition plate (2) and the bottom layer plate (3) are arranged in parallel. The electronic sealed buoyancy providing cabin (8) is installed between the top layer plate (1) and the partition plate (2), and the electronic sealed buoyancy providing cabin (8) comprises an electronic installation part and a buoyancy providing part, the electronic installation part is used for installing waterproof components, and the buoyancy providing part is an inflatable space, and the end of the electronic sealed buoyancy providing cabin (8) is packaged with a ball cover (9). The water connection DVL (18) and the sonar altimeter (19) are respectively installed on the top side of the bottom layer plate (3), and the water connection DVL (18) and the sonar altimeter (19) are respectively located at both ends of the bottom layer plate (3). The top of the top layer plate (1) is provided with a laser range finder (7), and the top side of the top layer plate (1) is provided with a multi-beam imaging sonar (6).

2. The underwater robot for bridge inspection according to claim 1, wherein: The top side of the partition plate (2) is provided with a left navigation light (10) and a right navigation light (11), and the left navigation light (10) and the right navigation light (11) are respectively located on both sides of the electronic sealed buoyancy providing cabin (8).

3. The underwater robot for bridge inspection according to claim 2, wherein: The installation direction of the multi-beam imaging sonar (6) and the laser range finder (7) is the same as that of the left navigation light (10) and the right navigation light (11).

4. The underwater robot for bridge inspection according to claim 3, wherein: The top layer plate (1) is an X-shaped mechanism, and the left front thruster (12), the right front thruster (13), the left rear thruster (16) and the right rear thruster (17) are respectively installed at the four corners of the top layer plate (1), the left front thruster (12) and the right rear thruster (17) are installed at an oblique angle, and the right front thruster (13) and the left rear thruster (16) are installed at an oblique angle.

5. The underwater robot for bridge inspection according to claim 4, characterized in that: The inner side of the right side plate (5) is provided with a right middle thruster (15), and the inner side of the left side plate (4) is provided with a left middle thruster (14), and the left middle thruster (14) and the right middle thruster (15) are installed side by side.

6. The underwater robot for bridge inspection according to claim 5, wherein: The inside of the electronic sealed buoyancy providing cabin (8) is provided with a circuit board, which is used for data transmission and reception, and controls the start and stop of the multi-beam imaging sonar (6), the laser range finder (7), the left navigation light (10), the right navigation light (11), the left front thruster (12), the right front thruster (13), the left middle thruster (14), the right middle thruster (15), the left rear thruster (16), the right rear thruster (17), the water connection DVL (18) and the sonar altimeter (19).

7. The underwater robot for bridge inspection according to claim 6, wherein: A sealed waterproof line interface is arranged on the electronic sealed buoyancy providing cabin (8), and the communication line of the waterproof component in the electronic sealed buoyancy providing cabin (8) communicates with the outside through the sealed waterproof line interface.

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