The embodiment of the invention provides an underwater facility troubleshooting device. The underwater facility troubleshooting device comprises a device body, a propelling device, an environment monitoring device and an inertial sensor used for sensing the operation pose of the device body. The propelling device, the monitoring device and the inertial sensor are all mounted on the equipment body; the two sides of the middle section of the equipment body are provided with inwards-concave obstacle avoidance parts used for advancing and obstacle avoidance in the corner scene. When the underwater facility troubleshooting equipment passes through the corner, the turning angle of the underwater facility troubleshooting equipment reaches a specific angle and the middle section area runs to the right-angle corner, the concave obstacle avoidance part reserves a space for the right-angle corner through the concave structure, so that the probability of interference and collision with the right-angle corner is reduced, and the underwater facility troubleshooting equipment passes through the corner area as far as possible under the condition that the size space of the corner is limited.

    本公开实施例提供一种水下设施排查设备,包括设备本体、推进装置、环境监测装置和用于感知所述设备本体运行位姿的惯性传感器;所述推进装置、所述监测装置和所述惯性传感器均安装在所述设备本体上;所述设备本体的中段两侧设置用于在转角场景下行进并避障的内凹避障部。在水下设施排查设备经过转角时,当其转弯角度达到特定角度并且中段区域运行至直角拐角,内凹避障部通过内凹结构为直角拐角留出空间,进而减小与直角拐角干涉碰撞的概率,尽可能地在拐角处尺寸空间有限的情况下通过拐角区域。


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    Title :

    Underwater facility troubleshooting equipment


    Additional title:

    水下设施排查设备


    Contributors:
    DENG XUEJIAO (author) / ZHANG DONGLIN (author) / ZHAO YUCHAO (author) / HE CHUNWEI (author) / YANG JING (author) / TAN WEI (author) / LI MIN (author) / LI BO (author) / SHI YAOLONG (author) / LYU YIBING (author)

    Publication date :

    2024-12-20


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G01N Untersuchen oder Analysieren von Stoffen durch Bestimmen ihrer chemischen oder physikalischen Eigenschaften , INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES / B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS



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