設(shè)計概述

大直徑長引水隧洞水下檢測系統(tǒng)實現(xiàn)取水隧洞運行有水流工況下的海生物生長監(jiān)測、淤泥沉沙聚集監(jiān)測及隧洞內(nèi)的其余環(huán)境參數(shù)監(jiān)測，獲取隧洞內(nèi)部的海生物生長清況分布、生長量評估，為后續(xù)隧洞的維護(hù)、隧洞的清理、海生物的防護(hù)等提供基礎(chǔ)數(shù)據(jù)和決策依據(jù)。

另外可對水下建筑及礦洞架構(gòu)進(jìn)行三維掃描檢測，可搭載不同的檢測設(shè)備實施作業(yè)，適用于水下建筑物、大壩管道橋梁碼頭等局部地區(qū)的損壞情況進(jìn)行圖像掃描分析，其最大優(yōu)點是在不影響施工位置正常作業(yè)的情況下對其進(jìn)行檢測。

通過掃描儀的旋轉(zhuǎn)掃描可得到掃描區(qū)域的點云圖，后期經(jīng)過處理軟件可將點云圖數(shù)據(jù)轉(zhuǎn)變?yōu)?  三維視圖航測實時生成三維點云數(shù)據(jù)，高密度點云數(shù)據(jù)便于識別微小特征、結(jié)構(gòu)缺陷和精細(xì)   測量，可應(yīng)用于長距離測線快速數(shù)據(jù)采集。

Design Overview

The underwater detection system of large-diameter and long diversion tunnel can monitor the growth of marine organisms, sediment accumulation and other environmental parameters in the tunnel during the operation of the water intake tunnel, and obtain the distribution and growth assessment of marine organisms in the tunnel, so as to provide basic data and decision-making basis for subsequent tunnel maintenance, tunnel cleaning and marine biological protection.

In addition, it can carry out three-dimensional scanning detection for underwater buildings and mine cave structures, and carry different detection equipment to carry out operation. It is suitable for image scanning and analysis of the damage of underwater buildings, dams, pipelines, bridges and wharves. Its greatest advantage is that it can be detected without affecting the normal operation of the construction position.

The point cloud image of the scanning area can be obtained through the rotation scanning of the scanner. After the processing software, the point cloud image data can be transformed into three-dimensional view, and the three-dimensional point cloud data can be generated in real-time. The high-density point cloud data is easy to identify micro features, structural defects and fine measurement, and can be used for rapid data acquisition of long-distance survey lines.

應(yīng)用場景 Application scenarios

中廣核核電隧洞監(jiān)測 Tunnel monitoring of CGN nuclear power plant

海底設(shè)備結(jié)構(gòu)檢測 Structural inspection of submarine equipment

管線外部內(nèi)部完好性檢測 External and internal integrity inspection of pipeline

其他應(yīng)用掃描圖像 Other applications scan images

輸油管線檢測 Oil pipeline inspection        海底救撈 Sea Bottom salvage

海底古建筑勘測 Marine Ancient Architecture Survey        防洪墻檢測 Detection of flood wall

突破短板

• 抗水流和姿態(tài)調(diào)節(jié)能力；

• 具有一定的耐沖擊耐震耐海水腐蝕能力；

• 具有歷程記錄儀；

• 良好的密封性保證無泄漏，連續(xù)工作穩(wěn)定性優(yōu)；

• 具有應(yīng)急處理功能，遇緊急情況可實現(xiàn)主動力馬達(dá)驅(qū)動軸與驅(qū)動輪分離，變滑動摩擦為滾   動摩擦；

• 具有足夠的牽引力；

• 良好的接口適應(yīng)性，能夠滿足二次搭載設(shè)備的對接。

Break through the short board

• Resistance to water flow and attitude adjustment;

• It has certain impact resistance, shatter proof and seawater corrosion resistance;

• With history recorder;

• Good sealing performance, no leakage and excellent continuous working stability;

• It has the function of emergency treatment. In case of emergency, the driving shaft of the main power motor can be separated from the driving wheel, and the sliding friction can be changed into rolling friction;

•  Adequate traction;

• Good interface adaptability, which can meet the docking of secondary carrying equipment.

管網(wǎng)掃描檢測 Pipeline scanning detection

技術(shù)參數(shù)

尺寸重量：機器人 3750*1650mmx1700mm, 2200Kg （水中）； 動力系統(tǒng)：整體液壓驅(qū)動系統(tǒng)；

作業(yè)能力：作業(yè)深度習(xí)≥100m, 速度 40m/min, 抗水流能力>3m/s, 爬坡能力 30°,  水下牽引力≥800kg;

觀測系統(tǒng)：200 萬微光全彩高清網(wǎng)絡(luò)模組，低照度：0.001Lux@F1.2  彩色模式；0.005Lux@F1.2黑白模式；

3D 掃描：掃描范圍 1.5-20m 覆蓋角度 50°, 分辨率： 0.2mm@3m—7.1mm@20m,

深度儀： 量程: 0-100m, 精度等級: 0.1%FS, 響應(yīng):<500Hz;

流速儀：流速范圍：0.02m/s-10m/s, 流速測量精度：士 0.2%,水深分辨率：2mm;

機械臂：水平旋轉(zhuǎn)-45°~+45°，豎直擺動: 0-45°, 攝像云臺-45°~ +45° (上下對稱）

狀態(tài)顯示盒：記錄纜繩的放纜長度，電壓電流及各功能參數(shù)，反饋基站在水中的位置、姿態(tài)，   整體工作狀況 ；

吊裝系統(tǒng)：載重為 20T, 起吊高度為井上 6m, 井下 50m;

吊裝本體： 雙 10T 加長定制款電葫蘆，24#高強度軌道，框架表面做耐腐蝕噴涂處理； 專用手控盒：無線遙控器，控制系統(tǒng)可實現(xiàn)單獨控制和同時控制兩種工作模式。

Technical parameters

Size and weight: robot 3750 * 1650mmx1700mm, 2200kg (in water); Power system: integral hydraulic drive system;

Working capacity: working depth ≥ 100m, speed 40m/min, anti flow capacity > 3m/s, climbing capacity 30 °and underwater traction force≥800kg;

Observation system: 2 million LLL full color HD network module, low illumination: 0 001Lux@F1.2 Color mode; 0 005Lux@F1.2 Black and white mode;

3D scanning:scanning range:1.5-20m, coverage angle: 50 ° ,resolution:0.2mm@3m —

7.1mm@20m ;

Depth gauge: range: 0-100m, accuracy grade: 0.1% FS, response: < 500Hz;

Velocity instrument: velocity range: 0.02m/s-10m/s, velocity measurement accuracy: 0.2%, water depth resolution: 2mm;

Mechanical arm: Horizontal rotation - 45°to + 45 °, vertical swing: 0-45°and camera pan tilt - 45°to + 45° (symmetrical up and down)

Status display box:record the cable laying length,voltage,current and various function parameters of the cable, and feed back the position and attitude of the base station in the water, and the overall working condition;

Hoisting system: the load is 20t, the hoisting height is 6m above the well and 50m under the well; Hoisting body:Double 10t long customized electric hoist,24#high-strength rail, corrosion-resistant spraying treatment for frame surface;

Special manual control box: wireless remote control, the control system can realize two working modes of independent control and simultaneous control.