CN116374098A - Underwater building detection system - Google Patents
Underwater building detection system Download PDFInfo
- Publication number
- CN116374098A CN116374098A CN202310521308.XA CN202310521308A CN116374098A CN 116374098 A CN116374098 A CN 116374098A CN 202310521308 A CN202310521308 A CN 202310521308A CN 116374098 A CN116374098 A CN 116374098A
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- CN
- China
- Prior art keywords
- detection
- inspection
- ship
- anchor
- underwater building
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- 238000001514 detection method Methods 0.000 title claims abstract description 89
- 230000007246 mechanism Effects 0.000 claims abstract description 21
- 238000007689 inspection Methods 0.000 claims description 17
- 210000001503 joint Anatomy 0.000 claims description 4
- 239000000523 sample Substances 0.000 claims description 3
- 230000000149 penetrating effect Effects 0.000 claims description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 13
- 238000010586 diagram Methods 0.000 description 4
- 238000011144 upstream manufacturing Methods 0.000 description 4
- 108010066278 cabin-4 Proteins 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000003032 molecular docking Methods 0.000 description 2
- 238000004873 anchoring Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
- B63B21/20—Adaptations of chains, ropes, hawsers, or the like, or of parts thereof
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
- B63B21/24—Anchors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
- B63B21/50—Anchoring arrangements or methods for special vessels, e.g. for floating drilling platforms or dredgers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01D—CONSTRUCTION OF BRIDGES, ELEVATED ROADWAYS OR VIADUCTS; ASSEMBLY OF BRIDGES
- E01D19/00—Structural or constructional details of bridges
- E01D19/10—Railings; Protectors against smoke or gases, e.g. of locomotives; Maintenance travellers; Fastening of pipes or cables to bridges
- E01D19/106—Movable inspection or maintenance platforms, e.g. travelling scaffolding or vehicles specially designed to provide access to the undersides of bridges
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/30—Assessment of water resources
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Testing Of Devices, Machine Parts, Or Other Structures Thereof (AREA)
- Examining Or Testing Airtightness (AREA)
Abstract
The invention discloses an underwater building detection system, which comprises: the ship comprises a ship body and is characterized in that a ship cabin penetrates through the ship body, the ship cabin is used for accommodating a detection executing mechanism, the detection executing mechanism is provided with a cable connecting end, the cable connecting end is connected with a detection cable, the detection cable is fixed on the ship body, the ship body is provided with a longitudinal power device, two sides of the advancing direction of the ship body are provided with a plurality of transverse power devices, the front end of the ship body is provided with a vertical anchor, and the tail end of the ship body is provided with a transverse anchor.
Description
Technical Field
The invention belongs to the technical field of detection, and particularly relates to an underwater building detection system.
Background
The traffic department 2021 version of the technical Specification for maintenance of highway bridge and culvert, and 2022 version of the technical Specification for on-site detection of highway bridge and bridge are all used for carrying out forced detection on underwater detection of bridge piers, which is the control of traffic safety from the national level, while other departments such as urban authorities in the building department, each railway authority in the railway department and the like refer to the above specifications and requirements in the regulations of the traffic department when carrying out bridge detection. The importance of the underwater detection of the bridge pier can be seen.
The bridge in the large, medium and small bridges in the China traffic system exceeds 100 ten thousand, the extra large bridge exceeds 1 ten thousand, and particularly, when bridge in the upstream section of the large river is subjected to underwater detection of piers, the technical difficulty is high, the water flow speed of partial river sections and river sections is high, the flow speed of water areas reaches 7 to 9 sections, and the current anti-flowing force of small underwater robots in the world is generally 2 to 3 sections, and the number of the small underwater robots in the world is 4 sections. The stable operation of the underwater detection robot is kept in the water-saving area of 7 to 9, which is a technical problem at present.
Disclosure of Invention
The invention aims to provide an underwater building detection system, which solves the technical problems that a shore-based detection robot cannot reach a water area to be detected with high water flow and keeps stable when the underwater detection is carried out in an emergency water area in the prior art.
The technical scheme adopted for solving the technical problems is as follows:
an underwater building inspection system comprising: the ship comprises a ship body, wherein the ship body is provided with a ship cabin penetrating through the ship body, the ship cabin is used for accommodating a detection executing mechanism, the detection executing mechanism is provided with a cable connecting end, the cable connecting end is connected with a detection cable, the detection cable is fixed on the ship body, the ship body is provided with a longitudinal power device, two sides of the traveling direction of the ship body are provided with a plurality of transverse power devices, the front end of the ship body is provided with a vertical anchor, and the tail end of the ship body is provided with a transverse anchor.
The invention relates to an underwater building detection system, which comprises a transverse left anchor and a transverse right anchor, wherein the transverse left anchor, the transverse right anchor and the vertical anchors are distributed in a triangular shape.
The invention relates to an underwater building detection system, wherein the number of transverse power devices is 2 or more, and the transverse power devices are symmetrically arranged on two sides of a mother ship respectively.
According to the underwater building detection system, the number of the detection execution mechanisms is two, and each detection execution mechanism is connected with a mother ship through a detection cable.
The invention relates to an underwater building detection system, which comprises a detection execution body, wherein the connecting end of a cable is arranged at one end of the detection execution body, the other end of the detection execution body is provided with a detection execution butt joint end, and the two detection execution mechanisms can be connected into a whole through the detection execution butt joint end.
The invention relates to an underwater building detection system, wherein a plurality of detection execution power devices are circumferentially arranged at the bottom of a detection execution body.
The invention relates to an underwater building detection system, which is characterized in that a plurality of detection probes are arranged on a detection execution body.
The invention relates to an underwater building detection system, wherein a detection executing mechanism (5) is a detection boat or a detection robot.
The invention has the beneficial effects that: the underwater building detection system is provided, and a detection executing mechanism stably and accurately reaches the vicinity of a detection destination through carrying of a mother ship; the mother ship is positioned more firmly and stably on the water surface by arranging triangular anchoring positioning; by arranging the transverse power device, the mother ship can provide the moving power of the transverse anchors left and right after the vertical anchors are positioned; by arranging one or more detection executing mechanisms, two boats can be mutually butted, so that the two boats can be connected into a whole during downstream side detection, and the tail parts of the two detection executing mechanisms are connected with a mother boat through detection cables, so that the impact force of water flow is resisted.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
FIG. 1 is a schematic diagram of an embodiment of the present invention;
FIG. 2 is a schematic diagram of a detection actuator according to an embodiment of the present invention;
FIG. 3 is a diagram of a detected upstream face state according to an embodiment of the present invention;
FIG. 4 is a diagram of a detected downstream face state according to an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1-4, an underwater building inspection system comprising: the ship 1, the ship 1 afterbody has the cabin 4 that runs through, cabin 4 is used for holding detection actuating mechanism 5, detection actuating mechanism 5 has cable link 44, cable link 44 is connected with detection cable 51, detection cable 51 is fixed in on the ship 1, the ship 1 afterbody has vertical power device 2, ship 1 advancing direction both sides have a plurality of transverse power devices 3, ship 1 front end has vertical anchor 11, ship 1 tail end has transverse anchor.
It should be noted that the vertical anchor 11 and the horizontal anchor are provided with anchor heads of the hoisting equipment, the fixing sequence is to fix the vertical anchor 11 first and then fix the horizontal anchor, and the position is to fix the mother ship after the mother ship reaches the upstream of the position to be detected through the longitudinal power device 2.
As a preferred embodiment, the lateral anchors include a lateral left anchor 12 and a lateral right anchor 13, and the lateral left anchor 12, the lateral right anchor 13, and the vertical anchor 11 are distributed in a triangular shape.
After the vertical anchors 11 are fixed, the mother ship is subjected to the impulsive force in the water flow direction, the power vertical to the water flow direction is realized through the transverse power device 3, the mother ship transversely moves, one of the transverse right anchors 13 or the transverse left anchors 12 is fixed when the mother ship moves to the set position, then the transverse power device 3 provides different rotating speeds under the action of the control system, the other transverse anchor is fixed, and after the anchor is placed under the three anchors and the tightening ropes are fixed, the length direction of the ship body of the mother ship is the same as the water flow direction.
As a preferred embodiment, the number of the transverse power units 3 is 2 or more, and the transverse power units are symmetrically arranged at two sides of the mother ship 1.
As a preferred embodiment, the number of the detecting actuators 5 is one or more, and each detecting actuator 5 is connected to the mother ship 1 through a detecting cable 51.
As shown in fig. 3, after the mother ship 1 is anchored, the detection actuator 5 operates to move out of the mother ship 1, perform various operations such as floating, sinking, advancing, retreating, and the like, detect the object 6 to be detected, and cancel the impulsive force of the water flow by detecting the tension of the cable 51, so that the detection actuator 5 can be kept stable in the rapid flow.
As a preferred embodiment, the detection actuator 5 includes a detection actuator body 41, the cable connection end 44 is disposed at one end of the detection actuator body 41, the other end of the detection actuator body 41 has a detection actuator docking end 45, and the two detection actuators 5 may be integrally connected through the detection actuator docking end 45.
As shown in fig. 4, since the object 6 to be detected is generally large, if the downstream side needs to be detected, the direction of the detecting and executing body 41 is changed, and the end connected with the detecting cable 51 is opposite to the direction of the mother ship 1, so that the water flow impulse cannot be counteracted, at this time, the two detecting and executing mechanisms 5 need to be butted, and are arranged in parallel with the downstream surface to be detected after being butted, so that the detecting cable 51 pulls the two ends and bypasses the two sides of the object 6 to be detected, and the two detecting and executing mechanisms 5 are rigid and counteract the water flow impulse through the pulling force of the detecting cable 51.
As a preferred embodiment, the bottom of the detecting and executing body 41 is circumferentially provided with a plurality of detecting and executing power devices 42.
As a preferred embodiment, the detection executing body 41 has a plurality of detection probes 43 thereon.
The detection executing mechanism 5 is a detection boat or a detection robot.
After the detection is completed, the remote control unlocking is carried out, the detection executing mechanisms 5 return to the mother ship 1 after being separated, the anchor heads are lifted by winding and unwinding the transverse left anchor 12 and the transverse right anchor 13, the fixation of the mother ship 1 in the transverse direction is completed, the power of the longitudinal power device 2 of the mother ship 1 is started, the running in the upstream direction is resisted, the anchor heads of the vertical anchors 11 are lifted, the anchor heads return to the shore, and the whole underwater detection of the bridge pier is realized.
In the description of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, merely to facilitate description of the present invention and simplify the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art. Furthermore, in the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more.
It will be understood that modifications and variations will be apparent to those skilled in the art from the foregoing description, and it is intended that all such modifications and variations be included within the scope of the following claims.
Claims (8)
1. An underwater building inspection system, comprising: the novel ship is characterized in that the tail of the mother ship (1) is provided with a cabin (4) penetrating through, the cabin (4) is used for accommodating a detection executing mechanism (5), the detection executing mechanism (5) is provided with a cable connecting end (44), the cable connecting end (44) is connected with a detection cable (51), the detection cable (51) is fixed on the mother ship (1), the tail of the mother ship (1) is provided with a longitudinal power device (2), two sides of the advancing direction of the mother ship (1) are provided with a plurality of transverse power devices (3), the front end of the mother ship (1) is provided with a vertical anchor (11), and the tail of the mother ship (1) is provided with a transverse anchor.
2. An underwater building detection system as claimed in claim 1, wherein the lateral anchors comprise a lateral left anchor (12) and a lateral right anchor (13), the lateral left anchor (12), lateral right anchor (13) and vertical anchor (11) being distributed in a triangular shape.
3. The underwater building detection system according to claim 1, wherein the number of the transverse power devices (3) is 2 or more, and the transverse power devices are symmetrically arranged on both sides of the mother ship (1).
4. An underwater building inspection system according to claim 1, characterized in that the number of inspection actuators (5) is two, each inspection actuator (5) being connected to the mother vessel (1) by an inspection cable (51).
5. The underwater building detection system according to claim 4, wherein the detection executing mechanism (5) comprises a detection executing body (41), the cable connecting end (44) is arranged at one end of the detection executing body (41), the other end of the detection executing body (41) is provided with a detection executing butt joint end (45), and the two detection executing mechanisms (5) can be connected into a whole through the detection executing butt joint end (45).
6. An underwater building inspection system as claimed in claim 5, wherein the inspection execution body (41) has a plurality of inspection execution power devices (42) circumferentially at the bottom.
7. An underwater building inspection system as claimed in claim 6, characterized in that the inspection execution body (41) has a plurality of inspection probes (43) thereon.
8. An underwater building inspection system as claimed in claim 7, characterized in that the inspection actuator (5) is an inspection boat or inspection robot.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310521308.XA CN116374098A (en) | 2023-05-10 | 2023-05-10 | Underwater building detection system |
| PCT/CN2024/091681 WO2024230726A1 (en) | 2023-05-10 | 2024-05-08 | Underwater building inspection system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310521308.XA CN116374098A (en) | 2023-05-10 | 2023-05-10 | Underwater building detection system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116374098A true CN116374098A (en) | 2023-07-04 |
Family
ID=86967729
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310521308.XA Pending CN116374098A (en) | 2023-05-10 | 2023-05-10 | Underwater building detection system |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN116374098A (en) |
| WO (1) | WO2024230726A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024230726A1 (en) * | 2023-05-10 | 2024-11-14 | 为天(深圳)检测科技有限公司 | Underwater building inspection system |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN119268643B (en) * | 2024-12-09 | 2025-03-11 | 安徽省建筑工程质量监督检测站有限公司 | A hydraulic structure deformation detection device based on unmanned boat |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109625220A (en) * | 2018-11-01 | 2019-04-16 | 国网浙江省电力有限公司 | There are cable remote underwater robot cruising inspection system and a method with light, sound, magnetic machine |
| CN211076277U (en) * | 2019-09-10 | 2020-07-24 | 上海拓境船舶科技有限公司 | Maintenance ship mother ship |
| CN110886279A (en) * | 2019-11-26 | 2020-03-17 | 无锡德林海环保科技股份有限公司 | Intelligent blue algae enrichment robot on water |
| CN112478072B (en) * | 2020-12-17 | 2021-10-01 | 安徽中科合鼎科技发展有限公司 | Water surface garbage cleaning method |
| CN114435545B (en) * | 2022-03-16 | 2024-11-05 | 上海交通大学 | Aircraft retracting and deploying device with dynamic positioning function, and recovery and deployment method |
| CN116374098A (en) * | 2023-05-10 | 2023-07-04 | 为天(深圳)检测科技有限公司 | Underwater building detection system |
-
2023
- 2023-05-10 CN CN202310521308.XA patent/CN116374098A/en active Pending
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2024
- 2024-05-08 WO PCT/CN2024/091681 patent/WO2024230726A1/en unknown
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024230726A1 (en) * | 2023-05-10 | 2024-11-14 | 为天(深圳)检测科技有限公司 | Underwater building inspection system |
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| Publication number | Publication date |
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| WO2024230726A1 (en) | 2024-11-14 |
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