Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
The invention discloses a desilting robot control method and system, a desilting robot and a medium. The method comprises the steps that a desilting head is moved, and movement driving force information of the desilting head is obtained; comparing the searched expert database with the moving driving force information to determine whether the desilting head is in contact with sludge or not; if the desilting head makes contact with the sludge, position information of the current desilting head is obtained, and the desilting range is determined according to the position information of the desilting head; based on the dredging range, the dredging head is driven to work, and work driving force information of the dredging head is obtained; comparing the searched expert database with the working driving force information to determine whether the desilting head works normally or not; and if the desilting head breaks down, the working state of the desilting head is adjusted. According to the method, the sludge concentration position can be continuously found in real time, the underwater sludge condition can be autonomously judged, the posture of the desilting head can be fed back while the desilting efficiency is greatly improved, and the hidden danger that the desilting robot collides with the interior of the box culvert when moving can be effectively eradicated.
本发明公开了一种清淤机器人控制方法、系统、清淤机器人及介质，方法包括移动清淤头并获取清淤头的移动驱动力信息；根据查找专家库与移动驱动力信息进行比对，以确定清淤头是否接触淤泥；若清淤头接触淤泥，获取当前清淤头的位置信息，并根据清淤头的位置信息确定清淤范围；基于清淤范围，驱动清淤头工作并获取清淤头的工作驱动力信息；根据查找专家库与工作驱动力信息进行比对，以确定清淤头是否正常工作；若清淤头工作故障，调整清淤头的工作状态。本发明实施例的方法可以实时不间断的寻找淤泥集中位置，并自主判断水下淤泥情况，在大大提升了清淤效率的同时，还能够反馈清淤头的姿态，能有效杜绝清淤机器人移动时碰撞箱涵内部隐患。
The invention discloses a desilting robot control method and system, a desilting robot and a medium. The method comprises the steps that a desilting head is moved, and movement driving force information of the desilting head is obtained; comparing the searched expert database with the moving driving force information to determine whether the desilting head is in contact with sludge or not; if the desilting head makes contact with the sludge, position information of the current desilting head is obtained, and the desilting range is determined according to the position information of the desilting head; based on the dredging range, the dredging head is driven to work, and work driving force information of the dredging head is obtained; comparing the searched expert database with the working driving force information to determine whether the desilting head works normally or not; and if the desilting head breaks down, the working state of the desilting head is adjusted. According to the method, the sludge concentration position can be continuously found in real time, the underwater sludge condition can be autonomously judged, the posture of the desilting head can be fed back while the desilting efficiency is greatly improved, and the hidden danger that the desilting robot collides with the interior of the box culvert when moving can be effectively eradicated.
本发明公开了一种清淤机器人控制方法、系统、清淤机器人及介质，方法包括移动清淤头并获取清淤头的移动驱动力信息；根据查找专家库与移动驱动力信息进行比对，以确定清淤头是否接触淤泥；若清淤头接触淤泥，获取当前清淤头的位置信息，并根据清淤头的位置信息确定清淤范围；基于清淤范围，驱动清淤头工作并获取清淤头的工作驱动力信息；根据查找专家库与工作驱动力信息进行比对，以确定清淤头是否正常工作；若清淤头工作故障，调整清淤头的工作状态。本发明实施例的方法可以实时不间断的寻找淤泥集中位置，并自主判断水下淤泥情况，在大大提升了清淤效率的同时，还能够反馈清淤头的姿态，能有效杜绝清淤机器人移动时碰撞箱涵内部隐患。
Dredging robot control method and system, dredging robot and medium
一种清淤机器人控制方法、系统、清淤机器人及介质
WU GUOJUN (Autor:in)
30.01.2024
Patent
Elektronische Ressource
Chinesisch
Dredging robot, dredging system and control method of dredging system
| Europäisches Patentamt | 2024