The invention discloses an autonomous line patrol underwater helicopter for diversion tunnel detection. The autonomous line patrol underwater helicopter comprises a helicopter body, and a detection system, a transmission system, a line patrol system, a navigation system, a driving system, an obstacle avoidance system, a control system and a power supply which are arranged on the helicopter body. Raspberry Pi 3B + in the control system acquires a path of a light band as a line patrol path in real time through the line patrol system, and sends the path to a STM32 single-chip microcomputer through a serial port; the STM32 single-chip microcomputer receives position information transmitted by the navigation system through a serial port, receives a line patrol path instruction transmitted by the Raspberry Pi 3B + through I2C, generates a corresponding motor control instruction and controls the driving system, so that the helicopter body travels along a light band in a line patrol mode. In the running process, the helicopter body is controlled to ascend or descend through the obstacle avoidance system, so that the helicopter body is stably kept at the hole center position of the tunnel;raspberry Pi 3B + obtains the internal environment condition of the tunnel through the detection system and records the internal environment condition in a storage card. According to the invention, autonomous tracking and obstacle avoidance can be realized, and diversion tunnel detection is carried out.

    一种用于引水隧洞检测的自主巡线水下直升机,包括直升机本体,直升机本体上设有检测系统、传输系统、巡线系统、导航系统、驱动系统、避障系统、控制系统和电源。控制系统中树莓派3B+通过巡线系统实时获取光带的路径作为巡线路径,并通过串口发送给STM32单片机;STM32单片机通过串口接收导航系统传输的位置信息,通过IC接收树莓派3B+传输的巡线路径指令,并生成相应的电机控制指令,控制驱动系统,使得直升机本体沿着光带巡线行驶;行驶过程中,通过避障系统,控制直升机本体的上升或下潜,使其稳定保持在隧洞的洞心位置;树莓派3B+通过检测系统获得隧洞的内部环境情况,并记录于储存卡中。利用本发明,可实现自主寻迹避障,进行引水隧洞检测。


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    Titel :

    Autonomous line patrol underwater helicopter for diversion tunnel detection


    Weitere Titelangaben:

    一种用于引水隧洞检测的自主巡线水下直升机


    Beteiligte:
    HUANG HAOCAI (Autor:in) / CHEN YING (Autor:in) / ZHU CHENGCHENG (Autor:in) / SI YULIN (Autor:in) / WANG ZHIKUN (Autor:in) / WANG ZHANGLIN (Autor:in) / FENG RENDONG (Autor:in)

    Erscheinungsdatum :

    2020-07-28


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen / B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen



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