Auxiliary obstacle cleaning device matched with underwater pipeline detection

Abstract

The utility model discloses an auxiliary obstacle cleaning device matched with underwater pipeline detection, which belongs to the technical field of underwater pipeline detection, and adopts the technical scheme that the auxiliary obstacle cleaning device comprises an unmanned underwater vehicle as well as a lighting system and a camera shooting system which are carried on the unmanned underwater vehicle, and the camera shooting system is matched with the lighting system to collect underwater pipeline images; the unmanned underwater vehicle is connected with a cable, an obstacle removing mechanical arm and an anchor are installed on the unmanned underwater vehicle, the obstacle removing mechanical arm is used for removing a first object attached to an underwater pipeline, the anchor is used for hooking a second object attached to the underwater pipeline, and when the cable is operated, the unmanned underwater vehicle is pulled to move towards the shore. And the anchorage device drags the second object back to the shore, so that the problem that in the prior art, a conventional obstacle removing mechanical arm is difficult to clean some large objects attached to a pipeline can be solved.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the field of special equipment, concretely relates to an auxiliary obstacle cleaning device matched with underwater pipeline detection. BACKGROUND

[0002] The unmanned underwater vehicle is adopted to carry the detection system to carry out underwater pipeline detection, it is the emerging technology of underwater pipeline detection at present. But underwater pipeline is easy to be covered by silt and waterweeds etc., therefore usually will set up cleaning robot to carry out cleaning specially. Reference announcement number for CN216447687 U Chinese utility model patent application, discloses a kind of underwater pipeline detection cleaning robot, including top plate, baffle, bottom plate, ultrasonic sensor, illuminating lamp, camera, mechanical arm, vibration motor, recycling bin, first propeller, electrical box, battery, total controller, pressure sensor, second propeller, propelling propeller, electrical box, battery, total controller and pressure sensor are embedded and installed on the top of bottom plate, camera is embedded and installed at the tip of bottom plate, illuminating lamp is installed below camera, three ultrasonic sensors are respectively installed in the left and right lower three directions of bottom plate, recycling bin and first propeller are installed on the top of top plate, mechanical arm is installed in the front of bottom plate tip, vibration motor is installed on mechanical arm, second propeller is installed below bottom plate, propelling propeller is installed in the tail of bottom plate.

[0003] Although the mechanical arm can clean silt, waterweeds and other sundries, it is difficult for conventional obstacle cleaning mechanical arm to clean some larger objects, such as branches attached to the pipeline. CONTENT OF UTILITY MODEL

[0004] In view of the deficiencies of the prior art, the technical problem to be solved by the utility model is to provide an auxiliary obstacle cleaning device matched with underwater pipeline detection, which solves the problem that conventional obstacle cleaning mechanical arm cannot clean some larger objects attached to the pipeline in the prior art.

[0005] To solve the above technical problems, the utility model adopts the following technical solutions:

[0006] An auxiliary obstacle cleaning device matched with underwater pipeline detection, comprising an unmanned underwater vehicle, an illumination system and a camera system carried on the unmanned underwater vehicle, the camera system collects underwater pipeline images in cooperation with the illumination system, the unmanned underwater vehicle is connected with a cable, a barrier-removing mechanical arm is installed on the unmanned underwater vehicle and configured with an anchor, the barrier-removing mechanical arm is used to remove first objects attached to the underwater pipeline, the anchor is used to hook second objects attached to the underwater pipeline, the cable is operated to pull the unmanned underwater vehicle to move towards the shore, and the second objects are dragged back to the shore by the anchor.

[0007] Preferably, the anchor is connected with a winding and unwinding rope, and the winding and unwinding rope is connected with a winch.

[0008] Preferably, the unmanned underwater vehicle is provided with a cavity for accommodating the anchor.

[0009] Preferably, the free end of the obstacle removing mechanical arm is provided with a gripper.

[0010] Preferably, the obstacle removing mechanical arm is provided with a multi-degree-of-freedom joint, and the obstacle removing mechanical arm realizes rotation and stretching of the gripper through the multi-degree-of-freedom joint.

[0011] Preferably, the unmanned underwater vehicle comprises a sealed shell, a buoyancy cavity arranged in the sealed shell, and a propulsion system for propelling the unmanned underwater vehicle to move underwater.

[0012] Preferably, the shell is a cylindrical structure.

[0013] Preferably, the camera system is provided with a spherical camera, and the obstacle removing mechanical arm is provided with two, which are arranged side by side on the front side of the spherical camera.

[0014] Preferably, the anchor is located in the middle of the unmanned underwater vehicle and on the rear side of the spherical camera.

[0015] Preferably, the unmanned underwater vehicle is provided with an IMU module.

[0016] The utility model adopts the above technical scheme, and has the following beneficial effects:

[0017] When the unmanned underwater vehicle runs along the extension direction of the underwater pipeline, the camera system cooperates with the lighting system to collect the underwater pipeline image, according to the collected underwater pipeline image, some silt and waterweed attached to the underwater pipeline, defined as the first object here, can be removed by the obstacle removing mechanical arm, but some larger objects, such as larger branches, defined as the second object here, are difficult to remove by the obstacle removing mechanical arm, the unmanned underwater vehicle is provided with an anchor, the anchor is used for hooking the second object attached to the underwater pipeline, the cable is operated to pull the unmanned underwater vehicle to move to the shore, and the second object is dragged back to the shore by the anchor, so that the problem that the conventional obstacle removing mechanical arm is difficult to clean some larger objects attached to the pipeline in the prior art is solved.

[0018] The free end of the obstacle removing mechanical arm is provided with a gripper, the gripper can clamp the object, the obstacle removing mechanical arm is provided with a multi-degree-of-freedom joint, the obstacle removing mechanical arm realizes rotation and stretching of the gripper through the multi-degree-of-freedom joint, the gripper can be torn after clamping and rotating, and the object can be separated from the pipeline by pulling the object backward. The gripper can also be opened, and then pushed along the surface of the pipeline, so that the silt on the surface of the pipeline can be removed.

[0019] In addition, the obstacle removing mechanical arm can realize stretching and folding through the multi-degree-of-freedom joint, which is convenient for transportation.

[0020] The features and advantages of the present application will be illustrated in detail in the following specific embodiments and drawings. BRIEF DESCRIPTION OF DRAWINGS

[0021] The utility model makes further explanation from the following combined with the drawings:

[0022] Figure 1 It is the structure schematic drawing of the utility model;

[0023] Figure 2 It is the structure schematic drawing of the utility model;

[0024] Figure 3 It is the schematic diagram of the closing of the clamping jaw;

[0025] Figure 4 It is the schematic diagram of the opening of the clamping jaw and removing the adhering matter on the surface of the pipeline;

[0026] The drawings show: unmanned underwater vehicle 100, propulsion system 11, camera system 12, obstacle removing mechanical arm 13, clamping jaw 131, multi-degree-of-freedom joint 132, cable 14, winch 15, anchor 16, lighting system 17, underwater pipeline 200.

DETAILED DESCRIPTION

[0027] The technical scheme of the embodiments of the utility model will be explained and described in combination with the drawings of the embodiments of the utility model, but the following embodiments are only preferred embodiments of the utility model, and not all.

[0028] Those skilled in the art can understand that the features in the following embodiments and embodiments can be combined with each other without conflict.

[0029] The terms used in the utility model are only for the purpose of describing specific embodiments, and are not intended to limit the utility model. For example, the following words indicating orientation or positional relationship, such as "front", "back", "left", "right", etc. are based on the orientation or positional relationship shown in the drawings, only for the convenience of describing the utility model and simplifying the description, and are not intended to indicate or imply that the device / element must have a specific orientation or be constructed and operated in a specific orientation, so it cannot be understood as a limitation on the utility model.

[0030] In the utility model, unless another definite provision and limitation, first feature is in second feature "on" or "under" can include that first and second features are in direct contact, also can include that first and second features are not in direct contact but contact through other feature between them.Moreover, first feature is in second feature "on", "above" and "upper" include that first feature is in second feature directly above and obliquely above, or just indicate that first feature horizontal height is higher than second feature.First feature is in second feature "under", "below" and "under" include that first feature is in second feature directly below and obliquely below, or just indicate that first feature horizontal height is less than second feature.

[0031] Furthermore, the terms "first", "second", etc. are used only for descriptive purposes and should not be construed as indicating or implying relative importance or an indicated number of technical features. Thus, features defined with "first", "second" can explicitly or implicitly include at least one of the features.

[0032] Referring to Figures 1 to 2 The utility model discloses an auxiliary obstacle cleaning device that cooperates with underwater pipeline detection, including unmanned underwater vehicle 100 and the illumination system 17, camera system 12 that are carried on unmanned underwater vehicle, camera system 12 cooperates with illumination system 17 and gathers underwater pipeline image.In addition, the unmanned underwater vehicle 100 is connected with cable 14, and the unmanned underwater vehicle is installed with the obstacle removing mechanical arm 13 and is equipped with anchor 16, the obstacle removing mechanical arm 13 is used for removing the first object attached on underwater pipeline, and the anchor 16 is used for hooking the second object attached on underwater pipeline, the cable is operated and pulls the unmanned underwater vehicle to move to the shore, and the second object is dragged back to the shore by the anchor.

[0033] It can be understood that the cable is normally used for power supply and information transmission, and the unmanned underwater vehicle needs to meet the corresponding strength requirement.

[0034] Among them, the anchor 16 is connected with the take-up and pay-off rope, and the take-up and pay-off rope is connected with the winch 15, so that the winch 15 controls the taking-up and paying-off of the anchor, and the anchor can be taken up and paid out. The winch can be installed with a force sensor to detect the force of the second object on the anchor, in combination with the camera system 12, to determine whether the second object needs to be dragged to the shore (the second object is large enough, or other conditions that the mechanical arm is difficult to remove). The shell of the unmanned underwater vehicle is provided with a recess for accommodating the anchor. When not in use, the anchor can be accommodated to avoid affecting the normal operation of the unmanned underwater vehicle 100.

[0035] In the embodiment, the free end of the obstacle removing mechanical arm 13 is provided with a gripper 131. The obstacle removing mechanical arm is provided with a multi-degree-of-freedom joint 132. The obstacle removing mechanical arm realizes rotation and extension of the gripper 131 through the multi-degree-of-freedom joint 132.

[0036] When the UUV runs along the extension direction of the underwater pipeline, the camera system cooperates with the lighting system to collect images of the underwater pipeline. According to the collected images of the underwater pipeline, some silt and waterweeds attached to the underwater pipeline, which are defined as first objects herein, can be removed by the obstacle-removing mechanical arm, but some larger objects, such as larger branches, which are defined as second objects herein, are difficult to be removed by the obstacle-removing mechanical arm. The anchor is used to hook the second objects attached to the underwater pipeline, and the cable is operated to pull the UUV to move towards the shore, and the second objects are dragged back to the shore by the anchor, thus solving the problem that the conventional obstacle-removing mechanical arm is difficult to clean some larger objects attached to the pipeline in the prior art.

[0037] As shown in Figure 3 , the gripper 131 can be closed and clamped to an object. The obstacle-removing mechanical arm realizes rotation and extension of the gripper through a multi-degree-of-freedom joint. After the gripper is clamped, the object can be pulled off by rotation, and the object can also be separated from the pipeline by pulling it backward. Figure 4 As shown in , the gripper 131 can also be opened, and then pushed along the surface of the pipeline to remove the silt on the surface of the pipeline.

[0038] In addition, the obstacle-removing mechanical arm can be stretched and folded through the multi-degree-of-freedom joint 132, which is convenient for transportation.

[0039] The specific structure of the UUV can be the prior art, which includes a sealed shell, a buoyancy chamber provided in the sealed shell, and a propulsion system 11 for moving the UUV underwater. The buoyancy chamber provides buoyancy, and the propulsion system provides a driving force, so that the UUV can run underwater, including some actions that the existing UUV can complete, such as up and down, forward, transverse, rotation, etc. The shell is a cylindrical structure.

[0040] It can be understood that the UUV is also provided with an IMU module for navigation and control, and is also provided with a power system. The propulsion system includes a vertical propeller and a horizontal propeller, so that the UUV can flexibly dive underwater. The power system includes a battery and a motor, which are provided in a waterproof shell. The battery supplies power to the motor, and the motor can drive the propulsion system. The navigation and propulsion of the UUV belong to the prior art, and will not be described here.

[0041] In this embodiment, the camera system 12 is provided with a spherical camera, and the obstacle-removing mechanical arm 13 is provided with two, which are arranged side by side on the front side of the spherical camera. The cooperation of the two obstacle-removing mechanical arms can improve the obstacle-removing efficiency. The spherical camera can collect images at multiple angles, which is beneficial to the obstacle-removing mechanical arm to clean the objects on the pipeline according to the collected images.

[0042] Preferably, the anchor 16 is located in the middle of the unmanned underwater vehicle and behind the spherical camera.

[0043] It can be understood that the utility model is matched with the detection of underwater pipeline, so the unmanned underwater vehicle can carry the detection system. The detection system comprises a receiver and a sonar device. When the detection is carried out, the electromagnetic signal transmitter applies a set current signal to the pipeline, the current signal extends to the far field along the pipeline, and an electromagnetic field is formed around the pipeline. The receiver is used for detecting the current intensity in the pipeline and detecting the pipeline burial depth. The sonar device is used for detecting the distance from the water bottom.

[0044] The above is only a specific implementation of the utility model, but the protection scope of the utility model is not limited to this. Those skilled in the art should understand that the utility model includes but is not limited to the contents described in the drawings and the above specific implementation. Any modification not deviating from the function and structural principle of the utility model will be included in the scope of claims.

Claims

1. An auxiliary obstacle cleaning device cooperating with underwater pipeline detection, comprising an unmanned underwater vehicle and a lighting system and a camera system carried on the unmanned underwater vehicle, the camera system cooperating with the lighting system to collect underwater pipeline images, characterized in that, The unmanned underwater vehicle is connected with a cable, a barrier removing mechanical arm is installed on the unmanned underwater vehicle, and an anchor is arranged on the unmanned underwater vehicle, the barrier removing mechanical arm is used for removing a first object attached to an underwater pipeline, the anchor is used for hooking a second object attached to the underwater pipeline, the cable is operated to pull the unmanned underwater vehicle to move towards the shore, and the second object is dragged back to the shore by the anchor.

2. The secondary barrier cleanup device of claim 1, wherein, The anchor is connected with a winding and unwinding rope, and the winding and unwinding rope is connected with a winch.

3. The secondary barrier cleanup device of claim 1, wherein, The shell of the unmanned underwater vehicle is provided with a recess for accommodating the anchor.

4. The secondary barrier cleanup device of claim 1, wherein, A clamping jaw is arranged at a free end of the barrier removing mechanical arm.

5. The secondary barrier cleanup device of claim 4, wherein, The barrier removing mechanical arm is provided with a multi-degree-of-freedom joint, and the barrier removing mechanical arm is capable of rotating and stretching the clamping jaw through the multi-degree-of-freedom joint.

6. The secondary barrier cleanup device of claim 1, wherein, The unmanned underwater vehicle comprises a sealed shell, a buoyancy chamber arranged in the sealed shell, and a propelling system for propelling the unmanned underwater vehicle to move underwater.

7. The secondary barrier cleanup device of claim 6, wherein, The shell is in a cylindrical structure.

8. The secondary barrier cleanup device of claim 6, wherein, The camera system is provided with a spherical camera, and the barrier removing mechanical arm is provided with two, and the two barrier removing mechanical arms are arranged side by side on the front side of the spherical camera.

9. The secondary barrier cleanup device of claim 8, wherein, The anchor is arranged at the middle of the unmanned underwater vehicle and on the rear side of the spherical camera.

10. The secondary barrier cleanup device of claim 1, wherein, The unmanned underwater vehicle is provided with an IMU module.

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