產(chǎn)品概述與突破

跨海跨江橋梁所處的環(huán)境差，有必要對其橋墩水下部分進行質(zhì)量檢測，為橋梁的年度養(yǎng)護提供依據(jù)。

水下三維掃測機器人解決了現(xiàn)有技術(shù)無法實時檢測橋梁三維位移的問題，提供實時檢測橋梁三維位移的監(jiān)測方法，其應(yīng)用時可以實時對橋梁的三維位移進行監(jiān)測，可以對橋梁結(jié)構(gòu)的三維位移進行遠程實時、全面監(jiān)測，依靠現(xiàn)代網(wǎng)絡(luò)通信技術(shù)，可以組建大型監(jiān)控網(wǎng)。

Product overview and breakthrough

It is necessary to carry out quality inspection on the underwater part of the bridge pier in order to provide the basis for the annual maintenance of the bridge.

The underwater three-dimensional scanning robot solves the problem that the existing technology can not detect the three-dimensional displacement of the bridge in real-time, and provides a monitoring method for the real-time detection of the three-dimensional displacement of the bridge. When it is applied, it can monitor the three-dimensional displacement of the bridge in real-time and comprehensively. Relying on the modern network communication technology, it can establish a large-scale monitoring network.

應(yīng)用場景

Application scenarios

常泰大橋橋梁結(jié)構(gòu) 3D 檢測

3D Inspection of bridge foundation of Changtai bridge

技術(shù)參數(shù)

整備質(zhì)量：1200mm*800mm*650mm,150kg；

驅(qū)動系統(tǒng)：6 個無刷推進器，4 個水平推進器，2 個垂直升降推進器；

觀測系統(tǒng)：前置攝像機： 1080P, 圖像傳感器 2.0M pixels,云臺搭載三維實時聲吶。旋轉(zhuǎn)角度為豎向-90°~0°；

照明系統(tǒng)：主照明兩組 50W 高亮 LED 燈；

纜控系統(tǒng)：150m 中性浮力承重纜， 可承受拉力：不小于 200kg, 纜車：滑環(huán)卷線盤， 容纜量不小于 250m;

甲板單元：雙 15.6 英寸屏顯示器，嵌入式主機，17 處理器，1T 硬盤，有視頻疊加功能； 作業(yè)能力：下潛深度：200m, 航速：2 節(jié)；

傳感系統(tǒng)：三維電子羅盤，深度傳感器，溫度傳感器，GPS, 具有漏水、漏電、短路等自檢和自防護功能；

控制手柄：采用防濺機箱設(shè)計；工業(yè)級控制手柄，手柄可以控制設(shè)備基本動作，手柄可以通   過 USB 接口連接主機，

三維聲吶：操作頻率 375/630kHz 波束 128*64 (8192 總數(shù)）波最大范圍 120m(394ft),375kHz;

最小范圍 80m(262ft),630kHz 距離分辨率 2cm/3cm 更新率 20Hz；波束總范圍 50°*50°,24  °

*24 °，深度等級 250m; 波間距 0.39° (水平） *0.78 ° (垂直） ，375kHz , 0.19°（水平） *0.38 °(垂直），630kHz。

Technical parameters

Size& weight: 1200mm * 800mm * 650mm, 150kg;

Driving system: 6 brushless thrusters, 4 horizontal thrusters and 2 vertical lifting thrusters; Observation system: front camera: 1080p, image sensor 2 megapixel pixels, PTZ equipped with 3D real-time sonar. The rotation angle is - 90 °to 0 °vertically;

Lighting system: main lighting two groups of 50W high brightness LED lights;

Cable control system: 150m neutral buoyancy load-bearing cable, able to withstand tension: not less than 200kg, winch: slip ring reel, cable capacity not less than 250m;

Deck unit: Dual 15.6-inch screen display, embedded host, 17 processor, 1T hard disk, video &text overlay function;

Operation capacity: diving depth: 200m, speed: 2 knots;

Sensor system: Three dimensional electronic compass, depth sensor, temperature sensor, GPS, with water leakage, leakage, short circuit and other self-protection functions;

Control handle: It adopts splash proof chassis design; industrial control handle, which can control the basic action of equipment, can be connected to the host through USB interface,

Three dimensional sonar: Operating frequency 375 / 630khz, beam 128 * 64 (8192 total) beam, maximum range of 120m (394ft), 375khz;

The minimum range is 80m (262ft), 630khz, the range resolution is 2cm / 3cm, the update rate is 20Hz; the total beam range is 50 ° * 50 °, 24 ° * 24 °, depth level is 250m; the beam spacing is 0.39 ° (horizontal) * 0.78 ° (vertical), 375khz, 0.19 ° (horizontal) * 0.38 ° (vertical), 630khz.