The invention relates to a method for cleaning away surface attachments of an underwater concave slot of a pier and a robot, and belongs to the technical field of underwater operation robots. The method comprises the steps that (1) the spraying direction is adjusted, so that the attachments between a flexible caterpillar band on one side and the concave groove are cleaned away; (2) a propeller iscontrolled to drive the underwater cleaning robot to be transferred to the other side of the concave slot, and the spraying direction is adjusted, so that the attachments, between a flexible caterpillar band on the other side and the concave slot, on the surface of the pier are cleaned away; and (3) the propeller is controlled to drive the underwater cleaning robot to be transferred to the sides,supported on the concave slot, of the flexible caterpillar bands on the two sides, and the spraying direction is adjusted, so that the slot side walls of the concave slot and the slot bottom face arecleaned. The cleaning method is suitable for cleaning the surface of a non-steel structure, especially the surface of the pier with the concave slot, and the cleaning method can be widely applied to the fields of pier surface cleaning and the like.
本发明涉及一种桥墩水下内凹狭槽的表面附着物的清洗方法及机器人,属于水下作业机器人技术领域。该方法包括:(1)调整喷射方向,以对位于一侧柔性履带与内凹狭槽之间的附着物进行清洗;(2)控制螺旋桨推进器驱使水下清洗机器人换位至位于内凹狭槽的另一侧;再调整喷射方向,以对位于另一侧柔性履带与内凹狭槽之间的桥墩表面上的附着物进行清洗;(3)控制螺旋桨推进器驱使水下清洗机器人换位至两侧柔性履带各支撑在内凹狭槽的一侧上;调整喷射方向,以对内凹狭槽的槽侧壁与槽底面进行清洗。该清洗方法适用对非钢铁结构表面进行清洗,尤其是具有内凹狭槽的桥墩表面进行清洗,其可广泛应用于桥墩表面清洗等领域。
Method for cleaning away surface attachments of underwater concave slot of pier and robot
一种桥墩水下内凹狭槽的表面附着物的清洗方法及机器人
2020-05-19
Patent
Elektronische Ressource
Chinesisch
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