| 摘要 |
The invention relates to an autonomous submersible for inspection of tunnels. An instrument carrying unit (2) with a shape providing minimum resistance comprises a computer (8) with a memory unit (9), an A/D converter (6), a power unit (7) and a control unit (4). In the front and upper parts and on the one side of the unit, sonars (14, 15, 16) are provided for continuous scanning the walls and the running of the tunnel in three scanning planes (S1, S2, S3), that are perpendicular to each other, along a programmed route (F). The sonar signals are converted in the A/D converter into digital form and stored by a data collecting program (17) in the memory unit (9) of the computer for later treatment to depictions of the running and th esurface profile of the tunnel and according to a control program (18) calculate control information in real time for first and second motor powered propeller units (10, 11) for propulsion and changing of heading and for second and third motor powered propeller units (12, 13) for positioning in the cross section of the tunnel. |
