Submerged body intelligent balancing device for water pipe

Abstract

The utility model discloses a submerged body intelligent balancing device for a water pipe, and relates to the technical field of water supply pipeline equipment. In order to solve the problem that stability of postures and positions cannot be guaranteed when existing submerged detection equipment faces changes of water pressure and water flow speed, the technical scheme includes that the underwater detection equipment comprises a steering engine body, a rudder wing and a steering engine support, a connecting port is formed in the top of the steering engine body, the rudder wing is connected with the connecting port, and the steering engine support is arranged at the bottom of the steering engine body. The steering engine body is provided with a microcontroller and a posture detection sensor, and the microcontroller is in communication connection with the posture detection sensor. The utility model has the beneficial effects of accurately controlling the posture of the water pipe, improving the underwater stability and reliability, flexibly adapting to different application scenes, realizing intelligent control, real-time monitoring and feedback adjustment, being easy to maintain and upgrade and the like. Efficient and stable operation of the device in an underwater environment is ensured, and powerful technical support is provided for underwater operation.

Description

TECHNICAL FIELD

[0001] The utility model relates to water supply pipeline equipment technical field, concretely relates to a water pipe uses intelligent balancing device of submarine body. BACKGROUND

[0002] At present, the existing patent (announcement number CN216924033U) discloses a kind of water supply pipeline water pressure detection equipment, including flow guide device, fixed structure and pressure sensor.The flow guide device is connected with water supply pipeline, and pressure sensor is detachably connected by fixed structure, and pressure sensor is embedded in the inside work of flow guide device.This design stabilizes water pressure by flow guide, reduces the impact of water flow on detector, and further improves the precision of pressure detection, while providing better protection for detector.

[0003] Although the prior art provides a solution to water pressure detection, when the submarine body type detection equipment operating inside the pipeline faces changes in water pressure and water flow speed, it often cannot guarantee the stability of posture and position, affecting the detection accuracy.Due to the complexity of the pipeline environment and the limitation of the narrow space, the posture adjustment and position control of the equipment face great challenges, and water flow fluctuations may cause the equipment to lose balance, which may further cause the detector to be damaged. UTILITY MODEL CONTENT

[0004] The utility model aims to provide a kind of water pipe uses intelligent balancing device of submarine body to solve the problem that existing submarine body type detection equipment cannot guarantee the stability of posture and position when facing changes in water pressure and water flow speed.

[0005] The technical solution of the utility model to solve the above technical problem is as follows:

[0006] A kind of water pipe uses intelligent balancing device of submarine body, it includes: rudder body, rudder wing and rudder support, the top of rudder body is equipped with connection port, rudder wing is connected connection port, rudder support is set in the bottom of rudder body, microcontroller and attitude detection sensor are arranged on rudder body, microcontroller is connected with attitude detection sensor, microcontroller is connected with terminal.

[0007] As preferred, connection port includes bolt fixing structure and waterproof sealing ring, connection port is bolted to rudder body, and connection port is connected with rudder wing by screw thread.

[0008] As preferred, rudder wing bottom is equipped with rubber washer.

[0009] As preferred, sliding buckle is arranged on rudder support, and rudder support is connected with rudder body by sliding buckle.

[0010] As preferred, microcontroller includes single-chip microcomputer, storage module and communication interface, which are connected with each other.

[0011] As a preferred, the attitude detection sensor is connected to the microcontroller through a waterproof cable, and a temperature compensation module is arranged on the attitude detection sensor.

[0012] As a preferred, O-shaped sealing rings and waterproof glue layers are arranged at the connection positions of the rudder body, the connecting port and the rudder wing.

[0013] As a preferred, the rudder body is internally provided with an electrical protection module, a communication module and a power module.

[0014] The utility model has the following beneficial effects:

[0015] Accurate control of water pipe posture: through terminal observation posture, the posture information of water pipe under water can be obtained in real time. The microcontroller as the control center can receive external instructions and process data, so as to accurately control the operation of the rudder motor, and then adjust the rudder wing angle. The accuracy and response speed of posture adjustment are ensured.

[0016] Improve the stability and reliability under water: the device adopts bolt fixing structure and waterproof sealing ring design, which ensures the firmness and waterproof performance of the connection position, so that the device can run stably under water for a long time. The rubber washer at the bottom of the rudder wing not only plays the role of buffering and shock absorption, but also enhances the sealing performance between the rudder wing and the connecting port, further improving the reliability of the device.

[0017] Flexible adaptation to different application scenarios: the rudder support is provided with a sliding buckle, which is convenient for connecting and fixing to the water pipe, and also convenient for disassembling and replacing. By adjusting the position of the sliding buckle, the installation position of the rudder body on the water pipe can be flexibly adjusted to meet the needs of different underwater environments and application scenarios.

[0018] Intelligent control: the microcontroller internally contains single-chip microcomputer, storage module and communication interface, etc. Complex control algorithm and logic operation can be realized. The attitude detection sensor monitors the posture information of the water pipe under water in real time, including angle, inclination, etc. and feeds back these information to the microcontroller. The microcontroller calculates the rudder wing angle to be adjusted according to the received posture information and the preset control algorithm, and realizes accurate control through controlling the rudder motor.

[0019] Easy to maintain and upgrade: the structure of the device is reasonable, the connection and fixing mode between various components are simple and reliable, which is convenient for daily maintenance and fault diagnosis. The key components such as microcontroller and attitude detection sensor are easy to replace and upgrade to adapt to the development of underwater technology and application requirements. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 The utility model discloses a structure diagram of the intelligent balance device of the submarine body for water pipe;

[0021] Figure 2 The pose condition principle diagram of the intelligent balance device for the underwater body used by the water pipe is shown in the utility model.

[0022] Figure 1 The reference signs shown in the drawings are respectively: rudder body 1, connection port 2, rudder wing 3, rudder support 4. DETAILED DESCRIPTION

[0023] The technical solutions of the utility model are described clearly and completely in combination with the drawings. Obviously, the described embodiments are only some of the embodiments of the utility model, not all. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor are within the protection scope of the utility model.

[0024] Referring to Figures 1-2 The embodiment relates to an intelligent balance device for an underwater body used by a water pipe. The device is mainly used for adjusting and balancing the posture of the water pipe in an underwater environment to ensure the stability and reliability of the water pipe under water. The following is a detailed description of the specific implementation of the device.

[0025] Firstly, the core components of the intelligent balance device for the underwater body include a rudder body 1, a rudder wing 3 and a rudder support 4. The rudder body 1 is the power and control center of the entire device, which is responsible for receiving instructions and driving the rudder wing 3 to adjust the posture. The rudder wing 3 serves as an execution mechanism, which adjusts the posture of the water pipe by changing the angle. The rudder support 4 is used to fix the rudder body 1 on the water pipe, ensuring the stability and reliability of the entire device.

[0026] On the top of the rudder body 1, a connection port 2 is provided. The connection port 2 is a connecting bridge between the rudder body 1 and the rudder wing 3, which is responsible for transmitting the power and control signals of the rudder body 1 to the rudder wing 3. The connection port 2 is designed with a bolt fixing structure and a waterproof sealing ring to ensure the firmness and waterproof performance of the connection. The bolt fixing structure makes the connection between the connection port 2 and the rudder body 1 more reliable and not easy to loosen. The waterproof sealing ring effectively prevents water from seeping into the device from the connection, ensuring the normal operation of the device in the underwater environment. The model of the rudder body 1 is SG90-180°, which can adapt to different water pressure environments in the pipeline, enhancing the adaptability.

[0027] The rudder wing 3 is also crucial as an actuator. At the bottom of the rudder wing 3, there is a rubber gasket. This rubber gasket not only plays a buffering and shock-absorbing role, but also further enhances the sealing performance between the rudder wing 3 and the connection port 2. When the rudder wing 3 adjusts the angle under the drive of the rudder body 1, the rubber gasket can absorb part of the impact force, protecting the connection port 2 from damage. At the same time, the elasticity of the rubber gasket can also help the rudder wing 3 better fit the water flow, improving the accuracy and efficiency of posture adjustment.

[0028] The design of the rudder support 4 also takes into account stability and reliability. On the rudder support 4, there is a sliding buckle. This sliding buckle makes the rudder support 4 easily connect and fix to the water pipe, and also facilitates disassembly and replacement when needed. The design of the sliding buckle not only simplifies the installation process, but also improves the stability and reliability of the installation. By adjusting the position of the sliding buckle, the installation position of the rudder body 1 on the water pipe can be flexibly adjusted to meet the needs of different application scenarios.

[0029] Inside the rudder body 1, there is a microcontroller and a posture detection sensor. The microcontroller is the control center of the entire device, which is responsible for receiving external instructions, processing data and controlling the operation of the rudder motor 12. The microcontroller includes a single-chip microcomputer, a storage module and a communication interface. The single-chip microcomputer is responsible for executing various control algorithms and logical operations; the storage module is used to store programs and data to ensure that the device can retain necessary information after power failure; the communication interface is used for data exchange and communication with external devices or systems. The single-chip microcomputer uses STM32F4 series single-chip microcomputer.

[0030] The posture detection sensor is used to monitor the posture information of the water pipe underwater in real time, including angle, inclination, etc. The posture detection sensor is connected to the microcontroller through a waterproof cable to ensure that the data can be accurately and reliably transmitted to the microcontroller for processing. In order to improve the accuracy and stability of posture detection, a temperature compensation module is also provided on the posture detection sensor. This temperature compensation module can monitor the working temperature of the sensor in real time and make corresponding corrections to the measurement results according to the temperature changes, so as to eliminate the influence of temperature on the measurement results. The posture detection sensor uses MPU6050 combined with temperature compensation algorithm to improve the data accuracy under environmental changes.

[0031] O-rings and waterproof adhesive layers are provided at the connection between the rudder body 1, the connection port 2 and the rudder wing 3. These sealing measures further enhance the waterproof performance of the device, ensuring that the device can operate stably for a long time in underwater environment. As the main sealing element, the O-ring has the advantages of simple structure, reliable sealing, easy installation, etc. The waterproof adhesive layer can fill the small gaps at the connection to prevent water from seeping into the device from the gaps.

[0032] In addition to the core components mentioned above, the intelligent balancing device for underwater bodies also includes auxiliary components such as an electrical protection module, a communication module, and a power supply module. The electrical protection module is used to protect the electrical components inside the device from short circuits, overloads, and other faults. The communication module is used to exchange data and communicate between the device and external equipment or systems, so as to remotely monitor and control the device. The power supply module is responsible for providing stable power supply for the entire device, ensuring that the device can work normally.

[0033] In the specific implementation, the installation process of the intelligent balancing device for underwater bodies is as follows: first, the rudder support 4 is fixed to the water pipe through the sliding buckle, ensuring that the position and angle of the support meet the design requirements. Then, the connection port 2 is connected to the top of the rudder body 1 through the bolt fixing structure, and waterproof glue is applied at the connection to enhance the sealing performance. Next, the rudder wing 3 is connected to the connection port 2 through the thread, and O-shaped sealing rings and rubber washers are installed at the connection to ensure the sealing and stability. Finally, the auxiliary components such as the electrical protection module, the communication module, and the power supply module are connected to the rudder body 1, and the installation and debugging of the entire device are completed.

[0034] In use, the working principle of the intelligent balancing device for underwater bodies is as follows: when the device is working in the water supply pipeline, the attitude detection sensor collects the attitude information of the device through the accelerometer and gyroscope, such as the pitch angle, roll angle, and yaw angle, and processes the data through the Kalman filtering algorithm to obtain the optimal estimated attitude and position of the device. Then, the microcontroller 5 adjusts the rotation of the rudder wing 3 driven by the rudder body 1 according to the attitude deviation, and uses the moment generated by the water flow rate difference to adjust the attitude of the device to maintain balance.

[0035] In addition, in order to further improve the reliability and durability of the device, redundant design and fault detection and diagnosis can be performed on the key components. Redundant design means that backup or redundant elements are provided on the key components, so that when the main element fails, the backup element can be quickly switched to continue working. Fault detection and diagnosis can monitor the running state of the device in real time and detect potential faults, so that timely measures can be taken for repair or replacement.

[0036] In specific application scenarios, the underwater body intelligent balancing device can be widely used in underwater pipeline laying, underwater robot navigation, underwater monitoring and other fields. For example, during underwater pipeline laying, the device can monitor the attitude information of the pipeline in real time and adjust as needed to ensure the accuracy and stability of pipeline laying. In terms of underwater robot navigation, the device can help the robot better adapt to complex underwater environments and maintain a stable sailing posture. In the field of underwater monitoring, the device can be used to monitor the running state and attitude information of underwater equipment to discover and handle potential safety hazards in a timely manner.

[0037] In summary, the present embodiment provides an underwater body intelligent balancing device for water pipes, which has the advantages of simple structure, easy installation, strong waterproof performance, high intelligent level, etc. By introducing intelligent control algorithms and adaptive control strategies, as well as redundancy design, fault detection and diagnosis and other technical means, the reliability and durability of the device can be further improved and its application range can be expanded. Therefore, the present embodiment has broad market prospects and application value.

[0038] It should be noted that the above specific embodiments only describe the preferred embodiments of the present embodiment, and do not limit the scope of the present embodiment. Those skilled in the art can make various modifications and variations to the technical solutions of the present embodiment without departing from the design spirit of the present embodiment. For example, the specific structure and shape of the rudder body 1, the connection port 2 and the rudder wing 3 can be improved and optimized; the model and performance of the microcontroller and the attitude detection sensor can be selected and adjusted; the auxiliary components such as the electrical protection module, the communication module and the power module can be improved and upgraded, etc. These modifications and variations should fall within the protection scope of the present embodiment. Therefore, the protection scope of the present embodiment should be limited by the scope defined in the claims.

Claims

1. A submersible intelligent balancing device for use in water pipes, characterized in that, include: The servo motor body (1), rudder wing (3), and servo motor bracket (4) are provided. The top of the servo motor body (1) is provided with a connection port (2), and the rudder wing (3) is connected to the connection port (2). The bottom of the servo motor body (1) is provided with the servo motor bracket (4). The servo motor body (1) is provided with a microcontroller, attitude detection sensor, accelerometer, and gyroscope. The attitude detection sensor, accelerometer, and gyroscope are all connected to the microcontroller in communication.

2. The submersible intelligent balancing device for water pipes according to claim 1, characterized in that, The connection port (2) includes a bolt fixing structure and a waterproof sealing ring. The connection port (2) is bolted to the servo body (1), and the connection port (2) is threaded to the rudder wing (3).

3. The submersible intelligent balancing device for water pipes according to claim 1, characterized in that, The bottom of the rudder (3) is provided with a rubber gasket.

4. The submersible intelligent balancing device for water pipes according to claim 1, characterized in that, The servo bracket (4) is provided with a sliding buckle, and the servo bracket (4) is connected to the servo body (1) through the sliding buckle.

5. The submersible intelligent balancing device for water pipes according to claim 1, characterized in that, The microcontroller includes a microcontroller, a storage module, and a communication interface that are interconnected.

6. The submersible intelligent balancing device for water pipes according to claim 1, characterized in that, The attitude detection sensor is connected to the microcontroller via a waterproof cable, and the attitude detection sensor is equipped with a temperature compensation module.

7. The submersible intelligent balancing device for water pipes according to claim 1, characterized in that, The connection points of the servo motor body (1), the connection port (2), and the servo wing (3) are all equipped with O-rings and waterproof adhesive layers.

8. The submersible intelligent balancing device for water pipes according to claim 1, characterized in that, The servo motor body (1) is equipped with an electrical protection module, a communication module, and a power supply module that are respectively connected to the microcontroller.

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