A platform for research: civil engineering, architecture and urbanism
A platform for research: civil engineering, architecture and urbanism
Underwater crawling method of pier detection robot
The invention relates to the technical field of bridge pier detection robots, in particular to an underwater crawling method of a bridge pier detection robot. The underwater robot comprises an underwater robot body, a plurality of vertical propellers arranged at the top of the underwater robot body and a crawler belt module arranged at the bottom of the underwater robot body. The underwater crawling method comprises the following steps that the underwater robot is positioned and moves to the position of a bridge pier after reaching the seabed, the vertical propeller is controlled to enable the robot to do pitching motion and reverse rotation by 90 degrees, meanwhile, the crawler belts rapidly crawl towards the bridge pier, and the underwater robot is pressed on the bridge pier through thrust provided by the vertical propeller; and the crawler belt module is started, and the underwater robot moves upwards along the pier to monitor the pier. According to the invention, the underwater robot can have an underwater thrust adsorption crawling function, is not influenced by high-speed turbulent flow, and can normally complete crawling work in a turbulent flow environment.
本发明涉及桥墩检测机器人技术领域，具体涉及一种桥墩检测机器人的水下爬行方法。应用于水下机器人，所述水下机器人包括水下机器人本体、若干设置在所述水下机器人本体顶部的垂向推进器和设置在所述水下机器人本体底部的履带模块；所述水下爬行方法包括以下步骤：水下机器人到海底后定位并运动到桥墩的位置，通过控制垂向推进器使机器人做俯仰运动，反转90度，同时履带快速向桥墩爬行，通过垂向推进器提供的推力将水下机器人压在桥墩上；履带模块启动，水下机器人沿着桥墩向上运动，对桥墩进行监测。本发明可以使水下机器人具备水下推力吸附爬行功能，不受高速紊流的影响，即在紊流环境中也可正常完成爬行工作。
Underwater crawling method of pier detection robot
The invention relates to the technical field of bridge pier detection robots, in particular to an underwater crawling method of a bridge pier detection robot. The underwater robot comprises an underwater robot body, a plurality of vertical propellers arranged at the top of the underwater robot body and a crawler belt module arranged at the bottom of the underwater robot body. The underwater crawling method comprises the following steps that the underwater robot is positioned and moves to the position of a bridge pier after reaching the seabed, the vertical propeller is controlled to enable the robot to do pitching motion and reverse rotation by 90 degrees, meanwhile, the crawler belts rapidly crawl towards the bridge pier, and the underwater robot is pressed on the bridge pier through thrust provided by the vertical propeller; and the crawler belt module is started, and the underwater robot moves upwards along the pier to monitor the pier. According to the invention, the underwater robot can have an underwater thrust adsorption crawling function, is not influenced by high-speed turbulent flow, and can normally complete crawling work in a turbulent flow environment.
本发明涉及桥墩检测机器人技术领域，具体涉及一种桥墩检测机器人的水下爬行方法。应用于水下机器人，所述水下机器人包括水下机器人本体、若干设置在所述水下机器人本体顶部的垂向推进器和设置在所述水下机器人本体底部的履带模块；所述水下爬行方法包括以下步骤：水下机器人到海底后定位并运动到桥墩的位置，通过控制垂向推进器使机器人做俯仰运动，反转90度，同时履带快速向桥墩爬行，通过垂向推进器提供的推力将水下机器人压在桥墩上；履带模块启动，水下机器人沿着桥墩向上运动，对桥墩进行监测。本发明可以使水下机器人具备水下推力吸附爬行功能，不受高速紊流的影响，即在紊流环境中也可正常完成爬行工作。
Underwater crawling method of pier detection robot
一种桥墩检测机器人的水下爬行方法
WANG LEI (author) / ZHANG XINGQI (author) / FU GUOXIN (author) / ZHANG HAIPENG (author) / ZHUANG MEIXIA (author) / WANG HAN (author) / SI XINJUN (author) / DING MINGWEN (author) / SUN YUNLI (author) / LYU JIANLONG (author)
2023-07-21
Patent
Electronic Resource
Chinese
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