The invention discloses a submarine pipeline inner wall autonomous inspection underwater vehicle and a working method thereof. Vertical propellers of the vehicle are arranged on two sides of a waterproof cabin shell, horizontal propellers are arranged on the outer side of the waterproof cabin shell in an inverted triangle shape, the bottom of the waterproof cabin shell is connected with an undercarriage, and a vehicle main board is arranged in the waterproof cabin shell. According to the invention, the gyroscope sensor and the acceleration sensor are used to realize preliminary self-positioning and attitude detection functions of the aircraft; three wide-angle cameras of the intelligent camera module and reflective marks laid on the inner wall of the submarine pipeline are utilized to form an optical positioning system, and secondary self-positioning and posture detection of the aircraft are achieved; the control module formed by the Raspberry Pi can automatically adjust the motion trail and motion attitude of the vehicle by using the propeller on the outer side according to the attitude and position of the vehicle, and the submarine pipeline internal condition can be autonomously inspected, and the submarine pipeline internal condition inspection system has the advantages of high detection efficiency, low production cost, high practicability, convenience in use and the like.
本发明公开了一种海底管道内壁自主巡检水下航行器及其工作方法,航行器的垂直推进器布置在防水舱外壳两侧,水平推进器呈倒三角型布置在防水舱外壳外侧,防水舱外壳底部连接有起落架,防水舱外壳内部装有航行器主板。本发明使用陀螺仪传感器和加速度传感器实现航行器的初步自我定位和姿态检测功能;利用智能摄像模块的三个广角摄像头与海底管道内壁铺设的反光标识组成光学定位系统,实现航行器的二次自我定位和姿态检测;树莓派构成的控制模块根据航行器的姿态和位置,可以利用外侧的推进器自行调节航行器的运动轨迹及运动姿态,本发明可以自主巡检海底管道内部状况,具有检测效率高、生产成本低,实用性强、使用方便等优点。
Submarine pipeline inner wall autonomous inspection underwater vehicle and working method thereof
一种海底管道内壁自主巡检水下航行器及其工作方法
2023-03-03
Patent
Elektronische Ressource
Chinesisch
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