The invention relates to the field of robot control, in particular to an underwater pile foundation inspection system based on a snakelike robot, which is provided with the snakelike robot, a data acquisition module, a controller and an upper computer, and the upper computer sends a control instruction to the controller, controls each joint of the snakelike robot to rotate and controls a side wing propeller to change the propelling direction. The snake-shaped robot ascends around the pile foundation, whether an obstacle appears in the moving direction of the snake-shaped robot is judged based on data sent by the distance measuring unit sets located on the connecting rods, and when the obstacle appears, all joints of the snake-shaped robot are controlled to rotate, so that the snake-shaped robot changes the posture to cross the obstacle. And the minimum distance between each connecting rod and the pile foundation when the snake-shaped robot performs the inspection action is determined based on the data sent by the distance measurement unit group, and the side wing propellers are controlled to change the propelling direction, so that the minimum distance between each connecting rod of the snake-shaped robot and the pile foundation is maintained in a preset safe distance interval, and the adaptability of the inspection process of the snake-shaped robot is ensured.
本发明涉及机器人控制领域,尤其涉及一种基于蛇形机器人的水下桩基巡检系统,本发明通过设置蛇形机器人、数据采集模块、控制器以及上位机,上位机向控制器发送控制指令,控制蛇形机器人的各关节转动,控制侧翼推进器改变推进方向,使蛇形机器人围绕桩基上升,基于处于各连杆的测距单元组所发送的数据判定蛇形机器人移动方向上是否出现障碍,在出现障碍时控制蛇形机器人各关节转动,使蛇形机器人改变姿态跨越障碍,基于测距单元组所发送的数据确定蛇形机器人进行巡检动作时各连杆与桩基的最小距离,控制侧翼推进器改变推进方向,使蛇形机器人的各连杆与桩基的最小距离维持在预设安全距离区间内,保证蛇形机器人巡检过程的适应性。
Underwater pile foundation inspection system based on snakelike robot
一种基于蛇形机器人的水下桩基巡检系统
2023-06-23
Patent
Elektronische Ressource
Chinesisch
IPC: | B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen / B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen / B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING |
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