The invention relates to the technical field of pressure water-passing tunnel structure disease detection, and discloses a pressure water-passing tunnel structure disease detection self-adaptive attitude control underwater vehicle and a control method, the underwater vehicle comprises directional wheels, a propulsion module, a slide rail, an attitude adjustment module, an underwater detection module, a support and a tunnel lining structure; the method comprises the steps that after the underwater vehicle is started, the automatic control module conducts self-inspection, and initial attitude data are obtained through the attitude monitoring module for calibration; according to different conditions in the tunnel, the posture adjusting module adjusts the pressure levels of the water pressure bin and the air pressure bin; the automatic control module drives the underwater vehicle to advance by controlling the propulsion motor and the turbine; the visual detection device realizes multidirectional synchronous detection in the tunnel; and the automatic control module is connected with each component through an electronic circuit, and dynamically adjusts the gravity and buoyancy in the device according to the attitude monitoring data obtained by the attitude monitoring module. According to the invention, solid technical support is provided for tunnel structure disease detection work.

    本发明涉及有压过水隧洞结构病害检测技术领域,公开了一种有压过水隧洞结构病害检测自适应姿控潜航器及控制方法,潜航器包括定向轮、推进模块、滑轨、姿态调节模块、水下检测模块、支架及隧道衬砌结构;方法包括启动潜航器后,自动控制模块进行自检,通过姿态监控模块获取初始姿态数据,进行校准;根据隧洞中的不同情况,姿态调节模块通过调节水压仓和气压仓的压力水平;自动控制模块通过控制推进电机和涡轮,驱动潜航器前进;视觉检测装置实现隧洞内多方位同步检测;自动控制模块通过电子线路与各部件相连,根据姿态监控模块获得的姿态监控数据,动态调节装置中的重力和浮力。本发明为隧洞结构病害检测工作提供坚实的技术支撑。


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    Title :

    Self-adaptive attitude control underwater vehicle for disease detection of pressure water-passing tunnel structure and control method of self-adaptive attitude control underwater vehicle


    Additional title:

    有压过水隧洞结构病害检测自适应姿控潜航器及控制方法


    Contributors:
    XIANG TIANBING (author) / ZHU YONG (author) / YANG XIAOLONG (author) / DUAN ZIWEI (author) / MA SHOUXUN (author) / XU HUI (author) / WANG JUN (author) / YANG ZHIQUAN (author) / LUO JUNYAO (author) / YAN SHANGLONG (author)

    Publication date :

    2025-02-18


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G01N Untersuchen oder Analysieren von Stoffen durch Bestimmen ihrer chemischen oder physikalischen Eigenschaften , INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES / G01S RADIO DIRECTION-FINDING , Funkpeilung



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