The invention provides an amphibious drainage pipeline in-water detection robot and a control method thereof. The robot structurally comprises a robot body, a detection module, a propelling module, a structure conversion module, a ground end controller, a mobile end controller and a power module. The detection module is used for detecting a surrounding environment state and pose information; the propelling module is used for controlling the movement of the robot and comprises a vehicle type propelling module and a ship type propelling module; the structure conversion module is used for realizing conversion between the two modes; the ground end controller is used for remote information monitoring and instruction issuing; and the mobile end controller is used for receiving the instruction and controlling movement and structure transformation of the robot. According to the control method, data are displayed through the ground end controller, environment information collected by the detection module is judged, the working mode of the robot is switched through the structure conversion module according to the environment information, the ship type working mode is adopted in the deep water environment, and the vehicle type working mode is adopted in the water-free or shallow water environment, so that in-water detection in the pipeline is achieved.
本发明提出一种水陆两栖排水管道在水检测机器人及其控制方法,机器人结构包括机器人主体、检测模块、推进模块、结构转换模块、地面端控制器、移动端控制器和电源模块;检测模块用于检测周围环境状态及位姿信息;推进模块用于控制机器人的移动,推进模块包括车式推进模块和船式推进模块;结构转换模块用于实现两种模式之间的转换;地面端控制器用于远程信息监视和指令下达;移动端控制器用于接收指令并控制机器人的移动与结构变换。控制方法通过地面端控制器显示数据,判断检测模块采集的环境信息,根据环境信息通过结构转换模块切换机器人的工作模式,在深水环境采用船式工作模式,在无水或浅水环境采用车式工作模式,以实现管道内的在水检测。
Amphibious drainage pipeline in-water detection robot and control method thereof
一种水陆两栖排水管道在水检测机器人及其控制方法
2022-12-09
Patent
Elektronische Ressource
Chinesisch
AMPHIBIOUS ROBOT FOR IN-SERVICE INSPECTION OF DRAINAGE PIPELINES AND CONTROL METHOD THEREOF
Europäisches Patentamt | 2024
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