阅读说明：本技术 一种水域安全检测系统 (Water area safety detection system ) 是由 刘春梅 于 2019-09-29 设计创作，主要内容包括：本发明公开了一种水域安全检测系统,包括用于检测水域以及坝体并将检测数据传送至中央控制系统(200)的飞行检测船(100)和用于根据检测数据生成行动指令的中央控制系统(200)；飞行检测船(100)包括船体(1)、设置在船体(1)上方的支架(2)、设置在支架(2)内部的抓取装置(3)和水下机器人(4)、设置在支架(2)上的飞行装置(5)、设置在飞行装置(5)上的检测装置(6)和设置在支架(2)内部用于控制船体(1)运动、抓取装置(3)运动、飞行装置(5)运动、检测装置(6)工作的控制主机(7)。本发明所述的一种水域安全检测系统通过飞行巡逻的方式及时发现水域出现的安全隐患,提高水下机器人的检测效率和时效性。(The invention discloses a water area safety detection system, which comprises a flight detection ship (100) and a central control system (200), wherein the flight detection ship is used for detecting a water area and a dam body and transmitting detection data to the central control system (200), and the central control system (200) is used for generating action instructions according to the detection data; the flight detection ship (100) comprises a ship body (1), a support (2) arranged above the ship body (1), a grabbing device (3) and an underwater robot (4) which are arranged inside the support (2), a flight device (5) arranged on the support (2), a detection device (6) arranged on the flight device (5) and a control host (7) which is arranged inside the support (2) and used for controlling the movement of the ship body (1), the movement of the grabbing device (3), the movement of the flight device (5) and the work of the detection device (6). The water area safety detection system disclosed by the invention can timely find potential safety hazards in a water area in a flight patrol mode, and improve the detection efficiency and timeliness of the underwater robot.)

1. A water area safety detection system is characterized in that: the method comprises the following steps:

flight detection vessel (100): the dam body detection system is used for detecting a water area and a dam body, transmitting detection data to a central control system (200) for processing, and receiving an action instruction transmitted by the central control system (200);

central control system (200): for receiving detection data transmitted by the flight detection ship (100), for generating the action instruction according to the detection data and transmitting the action instruction to the flight detection ship (100);

flight detection ship (100) are in including hull (1), set up support (2) above hull (1), set up grabbing device (3) that are used for holding underwater robot (4) of below in the middle of support (2), set up grabbing device (3) inside underwater robot (4), set up flying device (5) on support (2) set up detection device (6) on flying device (5) are in with set up support (2) are inside to be used for control hull (1) motion grabbing device (3) motion flying device (5) motion control host computer (7) of detection device (6) work.

2. A water area security detection system as claimed in claim 1 wherein:

the support (2) comprises a first support plate (21) and a second support plate (22) which are arranged in parallel, and a support column (23) which is vertically connected with four corners of the first support plate (21) and the second support plate (22), wherein two ends of the first support plate (21) are provided with support arms (24) which incline downwards; the first support plate (21), the second support plate (22) and the strut (23) form a cavity, and the grabbing device (3) is arranged in the cavity; the lower sides of the left side and the right side of the first support plate (21) are fixedly connected with the ship body (1) through the end parts of the support arms (24), the flying device (5) is arranged above the first support plate (21), and the control host (7) is arranged on the first support plate (21).

3. A water area security detection system as claimed in claim 2 wherein: the left end and the right end of the first support plate (21) are respectively provided with a group of support arms (24), and the left group of support arms and the right group of support arms (24) are symmetrically arranged; a ship body (1) is fixedly arranged below each group of support arms (24).

4. A water area security detection system as claimed in claim 3 wherein: the grabbing device (3) comprises a grabbing motor (31) arranged on the second support plate (22), the middle position of a first swing rod (32) is connected with an output shaft of the grabbing motor (31), and two ends of the first swing rod (32) are symmetrically hinged with two connecting rods (33) respectively; the grabbing device (3) further comprises two second swing rods (34) which are arranged in bilateral symmetry, the free ends of the two connecting rods (33) are hinged to the upper ends of the two second swing rods (34), the middle positions of the two second swing rods (34) are hinged to the two sides of the second support plate (22) respectively, and the lower end of each second swing rod (34) is provided with a grabbing hand (36) extending towards the middle and used for grabbing or releasing the underwater robot (4).

5. A water area safety detection system as claimed in claim 4, wherein: the gripping device (3) further comprises two gripping brackets (35), the gripping brackets (35) having: a vertical connecting plate (351) for being fixed to a side of the second holder plate (22); the two connecting lugs (352) are used for being in butt joint with the two swing rod connecting lugs (341) arranged on the second swing rod (34) and hinging the second swing rod (34) to the side surface of the second bracket plate (22) through a hinging shaft (37); the free end of the handle (36) is provided with a guide wheel (38).

6. A water area safety detection system as claimed in any one of claims 2 to 5 wherein: the flying device (5) comprises an aircraft bracket (51) fixedly connected with the first bracket plate (21), an oil tank (52) arranged on the aircraft bracket (51) and a plurality of aircrafts (53) uniformly distributed on the outer side of the circumference of the aircraft bracket (51); the aircraft (53) comprises a rotor (531), a rotor motor (532) for driving the rotor (531) to rotate and an oil pipe (533) for connecting the rotor motor (532) and the oil tank (52).

7. A water area safety detection system as claimed in claim 6, wherein: aircraft support (51) include several stand (511) and establish fixed plate (512) in several stand (511) upper end, the lower extreme of stand (511) with connect above first support plate (21), radially outwards radiate in the side of fixed plate (512) and evenly be provided with several spinal branch poles (513), aircraft (53) are established the tip of spinal branch pole (513).

8. A water area security detection system as claimed in claim 7 wherein: the number of the supporting rods (513) of the aircraft support (51) is 8, the supporting rods are uniformly distributed around the fixing plate (512), and 8 groups of the aircraft (53) are arranged at the end parts of the supporting rods (513).

9. A water area safety detection system as claimed in any one of claims 2 to 7 wherein: the ship body (1) comprises a ship body (11) fixedly connected with the support arm (24), a propeller (12) arranged below the tail part of the ship body (11) and a power device arranged in the ship body (11) and used for driving the propeller (12) to move; and a protective frame (14) for protecting the propeller (12) is arranged at the tail part of the ship body (1).

10. A water area safety detecting system as claimed in any one of claims 1 to 9, wherein: an umbilical cable (8) for providing energy and data transmission for the underwater robot (4) is arranged on the support (2).

11. A water area safety detection system as claimed in any one of claims 2 to 10 wherein: and a positioning camera (9) used for positioning the underwater robot (4) is arranged at the position below the second support plate (22) of the support (2).

Technical Field

The invention relates to the field of water area detection, in particular to a water area safety detection system.

Background

The water area refers to rivers, lakes, canals, channels, reservoirs, ponds, management ranges and hydraulic facilities thereof, and the coverage range is wide. Generally, when monitoring and managing water areas such as rivers, lakes, seas and the like, not only the water quality of the water areas to be managed needs to be monitored, but also the managed water areas need to be patrolled at regular time, so that measures can be taken in time when accidents happen to the water areas.

One type of ROV, Remote Operated Vehicle (Remote Operated Vehicle), Unmanned Underwater Vehicle (UUV), generally comprises: the device comprises a power propeller, a remote control electronic communication device, a black-white or color camera, a camera pitching tripod head, a user peripheral sensor interface, a real-time online display unit, a navigation positioning device, an automatic rudder navigation unit, an auxiliary illuminating lamp, a Kevlar zero-buoyancy towing cable and other unit components. The function is various. Different types of ROVs are used for executing different tasks and are widely applied to various fields of army, coast guard, maritime affairs, customs, nuclear power, water and electricity, marine oil, fishery, marine rescue, pipeline detection, marine scientific research and the like.

In the prior art, people transport the ROV to a place needing to be detected regularly for detection, and the detection mode has poor timeliness and cannot find problems and potential safety hazards in a water area in time.

Application number is CN201910377873.7 discloses a surface of water robot that independently cruises, which comprises a ship body, first cavity has been seted up on the hull, the hole has been seted up to the rotation on the top inner wall of first cavity, rotate downthehole rotation and install the internal thread pipe, the threaded rod is installed to internal thread intraductal screw thread, the top of threaded rod extends to outside the internal thread pipe, the bottom of internal thread pipe extends to in the first cavity and fixed mounting has first conical gear, fixed mounting has first motor in the first cavity, fixed mounting has second conical gear on the output shaft of first motor, second conical gear and first conical gear meshing, the top fixed mounting of threaded rod has panoramic camera and three-dimensional laser radar. The problem is timely found through real-time operation on the water surface, but the detection process has limitations.

Disclosure of Invention

The invention aims to solve the problem that the timeliness of an underwater robot in the detection process in the prior art is poor, and provides a water area safety detection system.

The invention provides a water area safety detection system, which comprises:

flight detection ship: the dam body detection system is used for detecting a water area and a dam body, transmitting detection data to a central control system for processing, and receiving action instructions transmitted by the central control system;

the central control system: the flight detection ship is used for receiving detection data transmitted by the flight detection ship, generating the action instruction according to the detection data and transmitting the action instruction to the flight detection ship;

the flight detection ship comprises a ship body, a support arranged above the ship body, a grabbing device arranged below the support in the middle and used for holding an underwater robot, the grabbing device is arranged on the underwater robot inside the grabbing device, the flying device on the support is arranged on the flying device, the flying device is arranged inside the support and used for controlling the ship body to move, the grabbing device to move, the flying device to move and a control host for working of the detecting device.

The water area safety detection system comprises a support, a first support plate, a second support plate and a support, wherein the first support plate and the second support plate are arranged in parallel; the first support plate, the second support plate and the support column form a cavity, and the grabbing device is arranged in the cavity; the lower sides of the left side and the right side of the first support plate are fixedly connected with the ship body through the end parts of the support arms, the flying device is arranged above the first support plate, and the control host is arranged on the first support plate.

The water area safety detection system is characterized in that a first support plate is provided with a support arm group, a second support plate is provided with a support arm group, and the support arm group is arranged at the left end and the right end of the first support plate; and a ship body is fixedly arranged below each group of support arms.

The water area safety detection system is characterized in that the grabbing device comprises a grabbing motor arranged on the second support plate, the middle position of a first swing rod is connected with an output shaft of the grabbing motor, and two ends of the first swing rod are symmetrically hinged with two connecting rods respectively; the grabbing device further comprises two second swing rods which are arranged in bilateral symmetry, the free ends of the two connecting rods are respectively hinged to the upper ends of the two second swing rods, and the middle positions of the two second swing rods are respectively hinged to two sides of the second support plate; the lower end of the second swing rod is provided with a gripper extending towards the middle and used for gripping or releasing the underwater robot.

As a preferred mode, the gripping device further includes two gripping brackets, and each gripping bracket includes: a vertical connecting plate for fixing with a side surface of the second bracket plate; the two connecting lugs are used for being butted with the two swing rod connecting lugs arranged on the second swing rod and hinging the second swing rod to the side surface of the second bracket plate through a hinging shaft; and the free end of the hand grip is provided with a guide wheel.

The invention relates to a water area safety detection system, and as a preferred mode, the flight device comprises an aircraft bracket fixedly connected with a first bracket plate; the fuel tank is arranged on the aircraft bracket, and the plurality of aircrafts are uniformly distributed on the outer side of the circumference of the aircraft bracket; the aircraft includes a rotor, a rotor engine for driving the rotor to rotate, and an oil line for connecting the rotor engine to the oil tank.

The invention relates to a water area safety detection system, which is characterized in that as a preferred mode, an aircraft support comprises a plurality of upright posts and a fixing plate arranged at the upper ends of the upright posts, the lower ends of the upright posts are connected with the upper surface of a first support plate, a plurality of support rods are uniformly arranged on the side surface of the fixing plate in a radial outward radiation mode, and the aircraft is arranged at the end parts of the support rods.

According to the water area safety detection system, as a preferable mode, the number of the supporting rods of the aircraft support is 8, the supporting rods are uniformly distributed around the fixing plate, and 8 groups of the aircraft are arranged at the end parts of the supporting rods.

According to the water area safety detection system, as a preferred mode, the ship body comprises a ship body fixedly connected with the support arm; the propeller is arranged below the tail part of the ship body, and the power device is arranged in the ship body and used for driving the propeller to move; and a protective frame for protecting the propeller is arranged at the tail part of the ship body.

According to the water area safety detection system, as a preferable mode, an umbilical cable used for providing energy and data transmission for the underwater robot is arranged on the support.

In the water area safety detection system, as a preferable mode, a positioning camera for positioning the underwater robot is arranged at a position below the second support plate of the support.

When the flight detection device is used, the flight detection ship inspects a detection water area in the air, when the detection device finds that the water area is abnormal, the flight detection device sends signals and data to the control host, and the control host judges whether the flight detection device needs to land on the water surface or not according to the received signals and data to further check. When further inspection is needed, the control host controls the flight detection ship to land near the abnormal position and then run to the abnormal position through the ship body for inspection. When the ship body reaches an abnormal position, the ship body stops moving, and meanwhile, the underwater robot is released by the grabbing arm to enter a water area to work. And if the control host cannot judge whether to perform landing inspection, related data needs to be sent to the central control system for manual judgment. And after the detection is finished, the control host sends the related data to the central control system for storage.

The invention uses the amphibious flight detection ship to detect the water area and the dam body, and the ship body is arranged under the flight device, so that the detection mode is adjusted according to the actual situation in the detection process, and the detection efficiency and the detection precision are improved.

The underwater robot is arranged on the ship body, and when the underwater condition needs to be further detected, the underwater robot can be discharged for further detection, so that the detection accuracy is improved.

Drawings

FIG. 1 is a schematic view of a water area safety detection system according to the present invention;

FIG. 2 is a front view of a flight detection ship of the water area safety detection system according to the present invention;

FIG. 3 is a side view of a flight inspection ship for a water area safety inspection system according to the present invention;

FIG. 4 is a perspective view of a flight detection vessel of the water area safety detection system according to the present invention;

FIG. 5 is a perspective view of a hull of the water area safety detecting system according to the present invention;

FIG. 6 is a perspective view of a bracket of the water area safety detecting system according to the present invention;

FIG. 7 is a front view of a gripping device and an underwater robot of the water area safety detection system according to the present invention;

FIG. 8 is a perspective view of a gripping device of the water area safety inspection system of the present invention;

FIG. 9 is a perspective view of a flying device of the water area safety detecting system according to the present invention;

FIG. 10 is an exploded view of a flight inspection boat for a water area safety inspection system according to the present invention;

FIG. 11 is a schematic view of an underwater robot of a flight detection ship of the water area safety detection system in an operating state.

Reference numerals:

100-a flight detection vessel; 200-a central control system; 1-hull, 11-hull, 12-propeller, 13-battery compartment; 2-bracket, 21-first bracket plate, 22-second bracket plate, 23-pillar, 24-bracket arm, 241-left bracket arm, 242-right bracket arm; 3-a grabbing device, 31-a grabbing motor, 32-a first swing rod, 33-a connecting rod, 34-a second swing rod, 341-a swing rod connecting lug, 35-a grabbing bracket, 351-a vertical connecting plate, 352-a connecting lug, 36-a gripper, 37-a hinge shaft and 38-a guide wheel; 4-an underwater robot; 5-flight device, 51-aircraft bracket, 511-upright column, 512-fixed plate, 513-strut, 52-oil tank, 53-aircraft, 531-rotor, 532-rotor engine, 533-oil pipe; 6-detection device, 61-radar monitor, 62-camera; 7-control the host computer; 8-umbilical cables; 9-positioning the camera.

Detailed Description

Example 1

As shown in fig. 1, the present invention provides a water area safety detection system, comprising:

flight detection vessel 100: the system is used for detecting the water area and the dam body, transmitting detection data to the central control system 200 for processing, and receiving action instructions transmitted by the central control system 200;

the central control system 200: the flight detection ship 100 is used for receiving detection data transmitted by the flight detection ship 100, generating action instructions according to the detection data and transmitting the action instructions to the flight detection ship 100;

as shown in fig. 2 to 4 and 10, the flight detection ship 100 includes a ship body 1, a support 2 disposed above the ship body 1, a grabbing device 3 disposed below the middle of the support 2, the grabbing device 3 being used for grabbing or holding an underwater robot 4, the underwater robot 4 being disposed inside the grabbing device 3, the underwater robot being an ROV, a remote-controlled unmanned submersible vehicle being an underwater robot for underwater observation, inspection and construction, and the apparatus belongs to the prior art. A flying device 5 is arranged on the support 2 and used for driving the whole ship body 1 and the underwater robot 4 to fly; the flying device 5 is provided with a detection device 6 for exploring abnormal objects on the water surface and shooting the conditions of the surface of the water dam body; a control host 7 for controlling the movement of the ship body 1, the movement of the grabbing device 3, the movement of the flying device 5 and the work of the detection device 6 is arranged in the support 2. An umbilical cable 8 is arranged on the support 2, and the umbilical cable 8 is connected with the underwater robot 4 and used for providing energy and data transmission for the underwater robot 4. A positioning camera 9 (see fig. 7) for positioning the underwater robot 4 is provided at a central position above the underwater robot 4 on the lower side of the stand 2.

As shown in fig. 6, the rack 2 includes a first rack plate 21 and a second rack plate 22 which are horizontally arranged in parallel, four pillars 23 are vertically connected at four corners between the first rack plate 21 and the second rack plate 22, and the control host 7 is arranged on the first rack plate 21; a group of support arms 24 are respectively arranged at the left end and the right end of the first support plate 21, namely, two left support arms 241 are arranged at the front and back positions of the left end of the first support plate 21, the two left support arms 241 are obliquely inclined and arranged in parallel, two right support arms 242 are arranged at the front and back positions of the right end of the first support plate 21, the right support arms 242 and the left support arms 241 are arranged in a bilateral symmetry manner, and the left support arms 241 and the right support arms 242 are respectively used for connecting the ship body 1 which is arranged in a bilateral symmetry manner; connect first bracing board 21, second bracing board 22 and pillar 23 and constitute a cavity, grabbing device 3 sets up in the cavity below, hull 1 and support arm 24 fixed connection, and flying device 5 sets up in first bracing board 21 top, and main control system 7 sets up on first bracing board 21.

As shown in fig. 5, two hulls 1 are provided, and the hull 1 includes a hull 11 fixedly connected with the free ends of the support arms 24, that is, the hull 1 on the left side is connected with two left support arms 241; the right hull 1 is connected to a right support arm 242, the free end of which support arm 24 is provided with a connection plate by means of which it is connected to the upper surface of the hull 11. A propeller 12 is arranged below the tail part of the ship body 11, and the power device for providing power for the propeller 12 can be a storage battery which is arranged in a battery compartment 13 on the ship body, and certainly, power sources such as a fuel engine and the like can also be adopted; the hull 1 is provided at the rear with a fender bracket 14 for protecting the propeller 12, and as shown in fig. 5, the fender bracket 14 is formed by connecting 5 fender rods, and the shape thereof is not limited thereto, as long as the propeller 12 is protected. .

As shown in fig. 7 and 8, the grabbing device 3 includes a grabbing motor 31 disposed on the second frame plate 22 of the frame 2, the center of the first swing link 32 is connected to the output shaft of the grabbing motor 31, that is, two free ends of the first swing link 32 are in central symmetry, and two ends of the first swing link 32 are symmetrically hinged to two connecting rods 33 respectively; the two second swing rods 34 are symmetrically hinged and fixed on two sides of the second bracket plate 22, the free ends of the two connecting rods 33 are hinged to the upper ends of the two second swing rods 34 respectively, and the lower end of each second swing rod 34 is provided with two grippers 36 extending towards the middle for gripping or releasing the underwater robot 4. Preferably, the second swing link 34 is connected to both sides of the second supporting plate 22 through a grabbing bracket 35, each grabbing bracket 35 has a vertical connecting plate 351, the vertical connecting plate 351 is fixed to a side surface of the second supporting plate 22, two connecting lugs 352 are vertically extended outwards from front and rear end portions of the vertical connecting plate 351, two swing link connecting lugs 341 are arranged at a middle position of the second swing link 34, and the second swing link 34 is hinged to the grabbing bracket through a hinge shaft 37 after the swing link connecting lugs 341 are abutted to the connecting lugs 352; a guide wheel 38 is preferably provided at the free end of the gripper 36 to facilitate a reduction of the drag when releasing the underwater robot 4. The grabbing motor 31 is connected with the control host 7. As shown in fig. 7, when the underwater robot needs to be released, the grabbing motor 31 rotates counterclockwise to drive the first swing link 32 to rotate, and then the connecting rod 33 pulls the second swing link 34 on the left side in the drawing to rotate clockwise around the hinge shaft 37, the connecting rod 33 on the right side pulls the second swing link 34 on the right side to rotate counterclockwise around the hinge shaft 37, and the grippers 36 on the two sides are opened, so that the underwater robot 4 is released; referring to fig. 11, the underwater robot 4 enters the water with the umbilical cable 8, the underwater robot 4 is driven by its own power propeller to move underwater, when the underwater robot 4 returns to the position below the hull, the underwater robot 4 is aimed by the positioning camera 9, and when the underwater robot is aimed at the grabbing position, the grabbing motor 31 rotates clockwise to drive the grabs 36 on both sides to close up and hold the underwater robot 4 tightly.

As shown in fig. 9, the flying device 5 includes an aircraft support 51 fixedly connected to the first support plate 21, the aircraft support 51 includes 4 vertical columns 511, the lower ends of the vertical columns 511 are connected to the upper support plate 21 of the support 2, the upper ends of the vertical columns 511 are provided with fixing plates 512, the fixing plates are provided with oil tanks 52 thereon, the fixing plates are preferably circular or regular polygon, 8 support rods 513 are uniformly extended radially outwards around the fixing plates 512, and an aircraft 53 is provided on the end of each support rod 513; aircraft 53 includes rotor 531, rotor motor 532 for driving rotor 531 in rotation, and oil line 533 for connecting rotor motor 532 to tank 52. Rotary drive is provided to rotor 531 via rotor motor 532, causing the rotor to rotate and thereby effect flight. Wherein rotor 531, rotor engine 532 are both prior art.

As shown in fig. 2 and 3, the detection device 6 includes a radar monitor 61 and a camera 62 for detecting foreign objects in the water area, and shooting the water surface or the dam surface and transmitting the shot to the control host 7.

In the using process of the invention, the flight detection ship 100 inspects the detection water area in the air, when the detection device 6 (not limited to a camera and a radar monitor) finds that the water area is abnormal, the detection device sends signals and data to the control host 7, and the control host 7 judges whether the detection device needs to land on the water surface for further inspection according to the received signals and data; when further inspection is needed, the control host 7 controls the flight detection ship 100 to land near the abnormal position and then run to the abnormal position through the ship body 1 for inspection; when the ship body 1 reaches the abnormal position, the movement is stopped, see fig. 11, and meanwhile, the underwater robot 4 is released by the grabbing arm 33 and enters the water area to work; if the control host 7 cannot judge whether to perform the landing check, the relevant data needs to be sent to the central control system 200 for manual judgment.

The foregoing description is intended to be illustrative rather than limiting, and it will be understood by those of ordinary skill in the art that any modification, variation or equivalent may be made without departing from the spirit and scope of the invention as defined in the claims, for example: the number of aircrafts and ship bodies is increased or decreased; it is within the scope of the present invention to add other detection devices, such as an infrared detector, to the detection apparatus.