本发明公开了一种用于检测有压输水隧洞情况的智能探测装置,探测装置本体的外壳设计为轴对称椭球形结构,外部周向均匀布置防撞条,外壳内部的耐压总舱为五舱一体式结构,由动力舱、集成探测设备舱、核心控制舱和两个集成测距声呐舱构成,探测装置本体内部两端还各有一组垂向和横向推进器,推进器推力方向和测距声呐方向一致,探测装置本体的首端设有一个前视摄像头。本发明可实现多种水下机动动作;基于本发明的结构特点和运动控制方式,提出对有压输水隧洞的探测详细流程,通过周向摄像机采集洞壁图像,前视摄像机采集前方图像并识别障碍物重新规划航线,保证智能探测装置自主安全地完成隧洞探测任务。

    The invention discloses an intelligent detecting device for detecting the situation of a pressurized water conveyance tunnel. A shell of a detecting device body is designed into an axisymmetric ellipsoid structure; anti-collision strips are evenly arranged outside the shell along the circumferential direction; a pressure-resistant main cabin arranged in the shell has a five-compartment integratedstructure which consists of a power compartment, an integrated detection equipment compartment, a core control compartment and two integrated ranging sonar compartments; the two ends of the interior of the detecting device body are separately provided with a group of vertical and horizontal thrusters, and the thrust directions of the thrusters are consistent with the direction of ranging sonar; the head end of the detecting device body is provided with a front-view camera. The intelligent detecting device can realize multiple underwater maneuvering actions; based on the structural characteristics and motion control modes of the intelligent detecting device, a detailed process for detecting the pressurized water conveyance tunnel is proposed; the image of the hole wall is collected by meansof a circumferential camera, and the front-view camera is used for acquiring front images, identifying obstacles and re-planning the route, so that the intelligent detecting device is enabled to autonomously and safely complete the tunnel detection task.


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    Titel :

    一种有压输水隧洞智能探测装置


    Erscheinungsdatum :

    2024-02-20


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    G01D MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE , Anzeigen oder Aufzeichnen in Verbindung mit Messen allgemein / B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen