阅读说明：本技术 一种堤坝作业水下机器人 (Dam operation underwater robot ) 是由 肖海燕 李广华 卢丙举 侯冬冬 陈飞宇 王彦涛 王凯 秦丽萍 马永 经慧祥 巩少 于 2021-10-29 设计创作，主要内容包括：本发明公开了一种堤坝作业水下机器人,包括结构框架、控制舱、以及与控制舱电连接和通信连接的动力系统、组合导航仪器、漏点检测系统和漏点封堵系统；所述动力系统、控制舱、组合导航仪器、漏点检测系统及漏点封堵系统均安装在结构框架内。本发明具有定点精准封堵、安全高效、施工快捷、省料省力、作业深度大、对各类漏洞和施工水域适应性好等优点,自动化程度高并具备一定的智能化,在水利、海上风电等水下结构物运行维护领域应用前景广阔。(The invention discloses a dam operation underwater robot, which comprises a structural framework, a control cabin, a power system, a combined navigation instrument, a leakage point detection system and a leakage point plugging system, wherein the power system is electrically and communicatively connected with the control cabin; and the power system, the control cabin, the combined navigation instrument, the leakage point detection system and the leakage point plugging system are all arranged in the structural framework. The invention has the advantages of accurate plugging at fixed points, safety, high efficiency, quick construction, material and labor saving, large operation depth, good adaptability to various leaks and construction water areas and the like, has high automation degree and certain intellectualization, and has wide application prospect in the field of operation and maintenance of underwater structures such as water conservancy, offshore wind power and the like.)

1. A dam operation underwater robot which characterized in that: the device comprises a structural framework, a control cabin, a power system, a combined navigation instrument, a leakage point detection system and a leakage point plugging system, wherein the power system is electrically and communicatively connected with the control cabin; and the power system, the control cabin, the combined navigation instrument, the leakage point detection system and the leakage point plugging system are all arranged in the structural framework.

2. A dam working underwater robot as claimed in claim 1, wherein: the power system comprises a horizontal plane propulsion device and a vertical plane propulsion device, the robot provides power to drive the robot to move underwater, the horizontal plane propulsion device comprises at least 2 horizontal propellers which are respectively arranged on the left side and the rear side of the structural frame, the vertical plane propulsion device comprises 4 vertical propellers, and the 4 vertical propellers are respectively arranged on four corners of the upper surface of the structural frame.

3. A dam working underwater robot as claimed in claim 1, wherein: the leak source detection system comprises a current meter, a binocular vision camera and an illuminating lamp, wherein the current meter is electrically connected with a control cabin and is in signal connection, the speed and the flow direction of water flow are acquired in real time and are sent to the control cabin, the binocular vision camera and the illuminating lamp are respectively electrically connected with the control cabin and are in signal connection, and the binocular vision camera acquires the position, the size and the distribution information of a leak source.

4. A dam working underwater robot as claimed in claim 1, wherein: the leakage point plugging system comprises a launching box, a high-pressure gas cylinder and a spray gun, wherein matrix distributed launching tubes are arranged on the launching box, expansion bodies are filled in the launching tubes, a rear bin of the launching box is connected with the high-pressure gas cylinder through a high-pressure hose, and an air supply electromagnetic valve is arranged on the high-pressure hose and electrically connected with a control cabin; one end of the spray gun is connected with the onshore pump station through a composite umbilical cable, one end of the spray gun is fixed at the middle position of the underwater robot, and the spray gun is provided with a flow control valve which is electrically connected with the control cabin.

5. A dam working underwater robot as claimed in claim 4, wherein: the composite umbilical cable is characterized by further comprising a power supply cable and a communication cable, wherein the power supply cable is connected with a power supply to supply power to the control cabin, and the communication cable is connected with the control cabin and used for controlling command receiving and sending and video signal transmission.

6. A dam working underwater robot as claimed in claim 4, wherein: the composite umbilical cable is wrapped with a material with density less than that of water, and a floating ball connected with the composite umbilical cable is arranged on the water surface.

7. A dam working underwater robot as claimed in claim 1, wherein: the combined navigation instrument includes an inertial navigation, a DVL, and an electronic compass.

8. A dam working underwater robot as claimed in claim 1, wherein: the upper part of the structural frame is fixed with floating materials.

Technical Field

The invention relates to the field of underwater robots, in particular to a robot for dam leakage point plugging operation.

Background

China has the most reservoir dams in the world, and currently, 9.8 thousands of dams are provided, wherein more than 95% of dams are earth-rock dams; there are also 44.5 million kilometer dikes, which are mostly built in soil, of which 30% have various degrees of risk hazards. The earth-rock dam has the problems of incompact dikes, complex internal structure, hanging rivers on the ground, historical breach sites, 22525and riprap in the dikes, and the like, leakage is a common disease, typically represents a yellow river levee, and once leakage occurs, the integral strength of the dam is reduced, and then larger leakage or dam body breakage occurs, thus seriously threatening the life and property safety of people.

The conventional leakage stopping technology comprises modes of excavation backfill, filling grouting technology, on-shore cage throwing, frogman underwater plugging and the like, wherein the excavation backfill needs to be carried out in a dry season and is not suitable for leakage points below a water level, and the application range is narrow; the filling grouting technology needs to accurately determine a leakage channel inside a dam body and drill holes, so that the construction period is long, the efficiency is low and the cost is high; the method of casting the cage on the bank is more traditional, is more effective for larger loopholes and emergency occasions, but has large feeding amount, low utilization rate and difficult complete sealing; the mode safety of the frogman plugging under water is poor, the frogman can not work for a long time, and the method is not suitable for deep water depth occasions. In conclusion, the conventional plugging technologies all have problems and deficiencies of different degrees, are difficult to adapt to new requirements of intelligent water conservancy, and need to develop new dam plugging operation technologies.

Disclosure of Invention

The invention provides an underwater robot for dam operation, aiming at solving the problems of low operation efficiency, unsatisfactory plugging effect and the like of the traditional plugging technology.

The object of the invention is achieved in the following way:

a dam operation underwater robot comprises a structural framework, a control cabin, a power system, a combined navigation instrument, a leakage point detection system and a leakage point plugging system, wherein the power system is electrically and communicatively connected with the control cabin; and the power system, the control cabin, the combined navigation instrument, the leakage point detection system and the leakage point plugging system are all arranged in the structural framework.

Further, driving system includes horizontal plane advancing device and perpendicular plane advancing device, for the robot provides power in order to drive the robot and move under water, horizontal plane advancing device includes 2 at least horizontal propellers, sets up respectively in structural framework's left side and rear side, perpendicular plane advancing device includes 4 perpendicular propellers, and 4 perpendicular propellers are installed respectively on four angles on structural framework's the higher authority.

Further, leak source detecting system includes current meter, binocular vision camera and light, current meter and control cabin electricity are connected and signal connection, acquire the speed and the flow direction of rivers in real time and send to the control cabin, binocular vision camera and light are connected and signal connection with the control cabin electricity respectively, and position, size and the distribution information of leak source are gathered to binocular vision camera.

Further, the leakage point plugging system comprises a launching box, a high-pressure gas cylinder and a spray gun, wherein a matrix distributed launching tube is arranged on the launching box, an expansion body is filled in the launching tube, a rear bin of the launching box is connected with the high-pressure gas cylinder through a high-pressure hose, and an air supply electromagnetic valve is arranged on the high-pressure hose and electrically connected with the control cabin; one end of the spray gun is connected with the onshore pump station through a composite umbilical cable, one end of the spray gun is fixed at the middle position of the underwater robot, and the spray gun is provided with a flow control valve which is electrically connected with the control cabin.

Furthermore, still include supply cable, communication cable in the compound umbilical cable, connect the power supply through supply cable and supply power for the control cabin power, be connected with the control cabin through communication cable for control command receiving and dispatching and video signal transmission.

Furthermore, the composite umbilical cable is wrapped with a material with density less than that of water, and a floating ball connected with the composite umbilical cable is arranged on the water surface.

Further, the integrated navigation instrument includes an inertial navigation, a DVL, and an electronic compass.

Furthermore, the upper part of the structural frame is fixed with a floating material.

The invention has the beneficial effects that: the invention has the advantages of accurate plugging at fixed points, safety, high efficiency, quick construction, material and labor saving, large operation depth, good adaptability to various leaks and construction water areas and the like, has high automation degree and certain intellectualization, has wide application prospect in the field of operation and maintenance of underwater structures such as water conservancy, offshore wind power and the like, and has higher economic and social benefits.

Drawings

Fig. 1 is a schematic view of the overall structure of the present invention.

FIG. 2 is a front view of the underwater robot of the present invention;

fig. 3 is a side view of fig. 2.

Fig. 4 is a top view of fig. 2.

Fig. 5 is a partial cross-sectional view of the inflation body launching device of the present invention.

The system comprises a horizontal plane propelling device, a combined navigation instrument, a launching box, a 4-expansion body, a control cabin, a high-pressure gas cylinder, a 7-spray gun, an 8-illuminating lamp, a 9-structural frame, a 10-vertical plane propelling device, a 11-binocular vision camera, a 12-floating material, a 13-flow meter, a 14-composite umbilical cable, a 15-sealing membrane and a 16-gas supply electromagnetic valve, wherein the horizontal plane propelling device, the 2-combined navigation instrument, the 3-launching box, the 4-expansion body, the 5-control cabin, the 6-high-pressure gas cylinder, the 7-spray gun, the 8-illuminating lamp, the 9-structural frame, the 10-vertical plane propelling device, the 11-binocular vision camera, the 12-floating material, the 13-flow meter, the 14-composite umbilical cable, the 15-sealing membrane and the 16-gas supply electromagnetic valve are arranged in sequence. .

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure as claimed. Unless defined otherwise, all technical and scientific terms used herein have the same technical meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

As shown in fig. 1 to 5, a dam operation underwater robot comprises a structural framework, a control cabin, a power system, a combined navigation instrument, a leakage point detection system and a leakage point plugging system, wherein the power system is electrically and communicatively connected with the control cabin; and the power system, the control cabin, the combined navigation instrument, the leakage point detection system and the leakage point plugging system are all arranged in the structural framework.

Power system includes horizontal plane advancing device and perpendicular advancing device, does the robot provides power and moves under water with driving robot, horizontal plane advancing device includes 2 at least horizontal propellers, sets up respectively in structural framework's left side and rear side, perpendicular advancing device includes 4 perpendicular propellers, and 4 perpendicular propellers are installed respectively on four angles of the higher authority of structural framework, be 45 contained angles and arrange, improve robot structural framework inner space utilization.

The control cabin is internally provided with an actuating mechanism control module, a task planning module, a multi-sensor information acquisition and fusion processing module, a communication module, a power module and the like, further, the control cabin comprises an industrial personal computer, the control cabin is used as a secondary control link, can receive various control instructions on the shore, various sensor information of the control cabin and carry out real-time processing and analysis, can upload state information of the control cabin, has a self-adaptive power positioning function, controls the rotating speed and matching of a horizontal plane propulsion device and a vertical plane propulsion device through a thrust distribution algorithm, can resist water flow near a leakage point not less than 3m/s and reaction force generated by emission of an expansion body and working of a spray gun, and realizes accurate fixed-point control during underwater leakage stoppage.

The leak source detection system comprises a current meter, a binocular vision camera and an illuminating lamp, wherein the current meter is electrically connected with a control cabin and is in signal connection, the speed and the flow direction of water flow are acquired in real time and are sent to the control cabin, the binocular vision camera and the illuminating lamp are respectively electrically connected with the control cabin and are in signal connection, and the binocular vision camera acquires the position, the size and the distribution information of a leak source.

The leakage point plugging system comprises a launching box, a high-pressure gas cylinder and a spray gun, wherein matrix distributed launching tubes are arranged on the launching box, expansion bodies are filled in the launching tubes, a rear bin of the launching box is connected with the high-pressure gas cylinder through a high-pressure hose, and an air supply electromagnetic valve is arranged on the high-pressure hose and electrically connected with a control cabin; one end of the spray gun is connected with the onshore pump station through a composite umbilical cable, one end of the spray gun is fixed at the middle position of the underwater robot, and the spray gun is provided with a flow control valve which is electrically connected with the control cabin. The flow of the slurry is controlled through the flow control valve, and the robot can achieve complete coverage of a leakage point area through path planning. The slurry is prepared by spraying water-resistant dispersion mortar and other materials on a leakage point area under the action of pump pressure, and is solidified and hardened into a whole when meeting water, so that tiny cracks are blocked. Through the combination mode of the expansion body of launching many specifications and the closed thick liquids of injection surface, can be according to realizing the selective shutoff of leak size, application scope is wider.

The launching box takes high-pressure air and the like as power sources, a plurality of launching tubes are arranged in an array arrangement mode, each launching tube is internally filled with an expansion body, the expansion bodies are sealed by flexible sealing films, and the expansion bodies are used for plugging larger cracks or leaks. The high-pressure gas cylinder is used for storing high-pressure air, and the on-off of a gas circuit is controlled by a power supply electromagnetic valve. The expansion body is divided into a plurality of specifications of slender structures according to the diameter, can be launched according to the size of a leakage point, is embedded into a leakage channel at a certain speed and trajectory, and can be expanded to 2-3 times by adopting water-swelling rubber and the like as materials.

The composite umbilical cable is characterized by further comprising a power supply cable and a communication cable, wherein the power supply cable is connected with a power supply to supply power to the control cabin, and the communication cable is connected with the control cabin and used for controlling command receiving and sending and video signal transmission.

The composite umbilical cable is wrapped with a material with density less than that of water, and a floating ball connected with the composite umbilical cable is arranged on the water surface.

The integrated navigation instrument comprises inertial navigation, a DVL (dynamic video recorder) and an electronic compass and is used for acquiring the self pose information of the underwater robot in real time.

The upper part of the structural frame is fixed with floating materials. The structure frame adopts light materials such as aluminum alloy pipe, high strength plastics and carries out the connection of adjacent structure with the corner fittings, and frame rack structure is convenient for carry on all kinds of sensors and operation instrument and barycenter, floating center and adjusts.

The working process of the invention is as follows: firstly, the dam operation underwater robot is hung to a water area, the floating material 12 is fixed on the upper part of the structural frame 9, the underwater resultant force of the underwater robot is approximately zero, the floating center is higher than the mass center, the power is supplied to the control cabin 5 through the composite umbilical cable 14 in a manual remote control mode, the control cabin 5 controls the horizontal plane propulsion device 1 to provide a transverse moving force or a forward moving force, the vertical plane propulsion device 10 provides a lifting force, six-degree-of-freedom motion control is realized, and the underwater robot is driven to sail to the vicinity of a leakage area.

Based on the flow field characteristic that the central flow velocity of the position of the leakage point is maximum, the velocity meter 13 is adopted to sense and obtain the velocity and the flow direction of the water flow in real time, and the velocity and the flow direction are sent to the control cabin to preliminarily judge the position of the leakage point. When the underwater robot is further close to the position of the leaking point and enters the field range of the binocular camera 11, the characteristics of the size, the position, the distribution and the like of the leak are accurately identified by means of the binocular camera 11, the illuminating lamp 8 and an image processing algorithm. The control cabin 5 starts a dynamic positioning function, the integrated navigation instrument 2 is adopted to solve pose information in real time, and the underwater robot is enabled to keep a hovering state under the action of external loads such as flow field disturbance and the like through a thrust distribution technology. When the leak is large, the underwater robot aims the launching box 3 at the leakage position, the matrix distributed launching tubes are arranged on the launching box 3, the expansion body 4 with the corresponding specification is selected to be launched, the air supply electromagnetic valve 16 is opened, high-pressure air flows out of the high-pressure air bottle 6 and flows into the bottom of the corresponding launching tube, the expansion body 4 is driven to break through the sealing film 15 and exit the tube at a high speed, the expansion body is embedded into the leakage channel, the expansion body gradually expands after meeting water to completely block the leakage channel, and repeated launching is carried out until the large leak is filled. And then, starting a loophole surface sealing operation flow, finishing the planning of a spray gun scanning path and starting a power positioning function by the control cabin 5, starting a flow control valve, enabling high-pressure slurry to sequentially flow through the composite umbilical cable 14 and the spray gun 7, spraying the slurry at a high speed to cover the surface of the loophole, solidifying and hardening the slurry into a whole when meeting water, and finally forming a compact and hard waterproof layer on the surface of the loophole.

By the development and combined use of the underwater robot operation platform and the specialized operation tool, the underwater robot has the advantages of accurate plugging at fixed points, safety, high efficiency, quick construction, material and labor saving, large operation depth, good adaptability to various leaks and construction water areas and the like, has high automation degree, certain intellectualization, wide application prospect in the field of operation and maintenance of underwater structures such as water conservancy, offshore wind power and the like, and has higher economic and social benefits.

Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive efforts by those skilled in the art based on the technical solution of the present invention.