The invention relates to the field of robot control, in particular to a snakelike robot for underwater pile foundation inspection and a control method.The snakelike robot is controlled to inspect an underwater pile foundation, and during inspection, the posture of the snakelike robot is controlled to be converted into an arc shape from a linear shape; the distance between the snake-shaped robot and the pile foundation is adjusted by keeping the snake-shaped robot in an arc-shaped posture, the propelling direction of the propeller is adjusted after the snake-shaped robot surrounds the pile foundation, the snake-shaped robot spirally ascends around the pile foundation, complete pile foundation surface data is collected to complete pile foundation inspection, and meanwhile, in the inspection process, the obstacle avoidance action is executed when an obstacle is encountered; according to the method, the posture of the snake-shaped robot and the propelling direction of the propeller are changed, the snake-shaped robot is made to cross obstacles, the shortest distance between the snake-shaped robot and the pile foundation is controlled in real time by controlling the propelling direction of the propeller, collision of the robot is avoided, and the method has wide application prospects and is worthy of popularization. Pile foundations in various complex environment conditions can be inspected.

    本发明涉及机器人控制领域,尤其涉及一种用于水下桩基巡检的蛇形机器人及控制方法,本发明通过控制蛇形机器人对水下桩基进行巡检,巡检时,控制蛇形机器人的姿态由直线状转变为弧形状,使蛇形机器人保持弧形状姿态调整与桩基的距离,环抱桩基后调整推进器的推进方向,使得蛇形机器人围绕桩基螺旋上升,采集完整的桩基表面数据完成对桩基的巡检,同时,在巡检过程中,遇到障碍时执行避障动作,改变蛇形机器人的姿态以及推进器的推进方向,使得蛇形机器人跨越障碍,并且,通过控制推进器的推进方向,实时控制蛇形机器人与桩基的最近距离,避免机器人发生碰撞,通过本发明的方法具备广泛的应用前景,能够对处于各类复杂环境状况的桩基完成巡检。


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    Titel :

    Snakelike robot for underwater pile foundation inspection and control method


    Weitere Titelangaben:

    一种用于水下桩基巡检的蛇形机器人及控制方法


    Beteiligte:
    REN CHAO (Autor:in) / GONG MEIQI (Autor:in)

    Erscheinungsdatum :

    2023-07-25


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / 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



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