The invention provides a biped obstacle crossing detection robot for a ship cubicle, which comprises a trunk detection unit, a first walking unit, a second walking unit and a magnetic attraction foot unit, the trunk detection unit is located between the first walking unit and the second walking unit, the first walking unit and the second walking unit are of an asymmetric structure, and the magnetic attraction foot unit is located between the first walking unit and the second walking unit. The magnetic attraction foot unit is connected with the mounting end of the first walking unit and the mounting end of the second walking unit. The obstacle crossing detection method comprises the steps that according to an instruction sent by an upper computer, the rotating angles of the T-shaped joint modules in the first walking unit and the second walking unit and the power-on or power-off state of the power-on degaussing electromagnets of the magnetic attraction foot units are sequentially controlled, and moving or turning motion of the double-foot obstacle crossing detection robot is completed. Under the remote control of remote operation, obstacle crossing, detection and real-time monitoring tasks under the working conditions of multiple obstacles and narrow space are completed by utilizing the adsorption of the electrified degaussing electromagnets in the ship cubicles, so that the detection efficiency is improved.

    本发明提供一种用于船舶格子间的双足越障检测机器人,其包括躯干检测单元、第一行走单元、第二行走单元和磁吸足部单元,躯干检测单元位于第一行走单元和第二行走单元之间,第一行走单元和第二行走单元为非对称结构,磁吸足部单元分别与第一行走单元和第二行走单元的安装端连接。本发明的越障检测方法包括根据上位机发送的指令,分别依次控制第一行走单元和第二行走单元中T型关节模组的转动角度以及磁吸足部单元通电消磁电磁铁的通电或者断电状态,完成双足越障检测机器人的移动或者转弯运动。本发明在远程操作的遥控下,在船舶格子间利用通电消磁电磁铁的吸附,完成多障碍且空间狭小工况下的越障、检测及实时监控任务,从而提高检测效率。


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    Titel :

    Biped obstacle crossing detection robot for ship cubicles and obstacle crossing detection method


    Weitere Titelangaben:

    用于船舶格子间的双足越障检测机器人及越障检测方法


    Beteiligte:
    BIAN HUI (Autor:in) / AN YONGZHI (Autor:in) / YANG FAN (Autor:in) / WANG CHENGZHEN (Autor:in) / ZHANG YUHAN (Autor:in)

    Erscheinungsdatum :

    2024-02-13


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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