The invention relates to the technical field of bionic machines, in particular to a bionic robotic fish for daily inspection of the whole line of an open channel. Comprising a fish-shaped machine body, a processor, a power manager, a multi-beam sounding sonar and an inertial navigation device are regularly arranged in the fish-shaped machine body, and a foresight sonar, an underwater optical camera and a water quality monitoring sensor are regularly arranged at the position, close to the head end, of the interior of the fish-shaped machine body. The design of the invention has the advantages of low noise, high speed, maneuvering and the like, is suitable for working under complex water terrains, and can randomly enter an inverted siphon section to realize full-watershed detection; the control system can realize unmanned autonomous cruise detection, and is extremely high in safety, relatively good in cost economy and flexible in operation; the overall conditions of the open channel and the inverted siphon pipe can be subjected to normalized inspection, the cross sections of the open channel and the inverted siphon pipe are scanned, three-dimensional data are generated, the deformation, the plate collapse condition and the deposition condition in each section of the open channel and the inverted siphon pipe are detected clearly, and local defect details are checked carefully.

    本发明涉及仿生机器技术领域,具体地说,涉及一种用于明渠全线日常巡检的仿生机器鱼。包括鱼型机器主体,鱼型机器主体内部规则设有处理器、电源管理器、多波束测深声呐和惯性导航装置,鱼型机器主体靠近内部靠近头端处规则设有前视声呐、水下光学摄像头和水质监测传感器。本发明设计具有低噪、高速、机动等优势,适于在复杂水域地形下工作,可以随意进入倒虹段,实现全流域检测;其控制系统可以实现无人自主巡航检测,安全性极高且成本经济性较好,灵活作业;可以对明渠以及倒虹吸管道整体情况进行常态化巡检,扫描明渠及倒虹的横断面,生成三维数据,探测清楚每一段的明渠和倒虹吸管内的变形量、塌板情况以及淤积情况,仔细检查局部缺陷细节。


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    Title :

    Bionic robotic fish for daily inspection of whole line of open channel


    Additional title:

    一种用于明渠全线日常巡检的仿生机器鱼


    Contributors:
    GAO LEI (author) / XU BIN (author) / LI JIEWEN (author)

    Publication date :

    2022-04-12


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G01N Untersuchen oder Analysieren von Stoffen durch Bestimmen ihrer chemischen oder physikalischen Eigenschaften , INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES / B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G01K MEASURING TEMPERATURE , Messen der Temperatur / G01S RADIO DIRECTION-FINDING , Funkpeilung



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