DEVICE FOR EXTERNAL FLAW DETECTION OF UNDERWATER VERTICAL HYDRAULIC STRUCTURES Russian patent published in 2020 - IPC G01S15/88 

FIELD: underwater equipment.

SUBSTANCE: invention relates to underwater equipment used for maintenance and periodic inspection of underwater parts of hydraulic engineering infrastructure, namely to remote-controlled underwater robotic systems providing high-accuracy examination, including using non-destructive testing methods, profiling of underwater extended, mainly vertically located surfaces of objects. Device for external flaw detection of underwater vertical hydraulic structures, comprising a serial rope connection of anchor, movable carrier and floating buoy, creating a rope line. At that, anchor and floating buoy are arranged on ends of rope line, and floating buoy is equipped with control unit, storage battery, matched pair of horizontal propellers, a global satellite positioning system navigation module and a Wi-Fi antenna for transmitting hydroacoustic information to an operator and receiving control commands therefrom. Accumulator battery, the navigation module of the global satellite positioning system and the Wi-Fi antenna are connected to the inputs of the control unit, and the pair of horizontal buoy movers is connected to outputs of the control unit. Movable carrier is installed on rope with possibility of movement along rope line and is equipped with sonar with switched operating frequency, central control computer, inertial measuring system, vertical propulsor for vertical movement of movable carrier and matched pair of horizontal propellers intended for angular orientation of movable carrier around vertical axis of rope line. Central control computer is configured to receive commands from the control unit via the multi-wire submarine cable and generate control commands through the electrically connected vertical propulsor, matched pair of movable carrier movers, inertial measurement system and sonar with switched operating frequency, which is also connected through multi-wire submarine cable with control unit and Wi-Fi antenna.

EFFECT: technical result of the proposed invention consists in expansion of the range of technical means intended for external flaw detection of underwater vertical hydraulic structures with high image detail when shooting at depth, as well as possibility of more accurate image binding to object.

1 cl, 4 dwg