The invention belongs to the technical field of underwater robots, and provides an underwater maintenance robot, system and method for a pier. The robot comprises a central controller, and an image acquisition device, a high-pressure cleaning device, a closed operation device and a mechanical arm which are in communication connection with the central controller, the image acquisition device is used for acquiring an underwater bridge pier image within the operation range of the mechanical arm at each preset maintenance position; the sum of the operation ranges of the mechanical arms at all the maintenance positions covers the outer surface of the whole pier; a three-dimensional model of the current bridge pier is pre-stored in the central controller; the central controller is used for receiving the underwater pier images of each preset maintenance position and carrying out crack identification on the underwater pier images; when the crack is identified, the position and the state of the crack are marked in the three-dimensional bridge pier model, then the high-pressure cleaning device and the sealing operation device are sequentially controlled to conduct cleaning operation and sealing operation on the crack respectively, and meanwhile the state of the corresponding crack in the three-dimensional bridge pier model is correspondingly modified.

    本发明属于水下机器人技术领域,提供了一种桥墩用水下检修机器人、系统及方法。其中,该机器人包括中央控制器及与其通信连接的图像采集装置、高压清洗装置、封闭作业装置和机械臂;所述图像采集装置用于采集各个预设检修位置处机械臂作业范围内的水下桥墩图;其中,所有检修位置处的机械臂作业范围之和覆盖整个桥墩外表面;所述中央控制器内预先存储有当前桥墩的三维模型;所述中央控制器用于:接收各个预设检修位置的水下桥墩图像并对其进行裂缝识别;当识别出裂缝时在所述桥墩三维模型中标注出裂缝位置及其状态,再依次控制高压清洗装置和封闭作业装置分别对裂缝进行清洗作业和封闭作业,同时将桥墩三维模型中相应裂缝的状态也进行对应修改。


    Access

    Download


    Export, share and cite



    Title :

    Underwater overhauling robot, system and method for bridge pier


    Additional title:

    一种桥墩用水下检修机器人、系统及方法


    Contributors:
    ZHAO FENG (author) / ZHANG LINLIN (author) / FANG MING (author) / ZHU XINYUAN (author) / FENG ZEHUAN (author) / YUAN FANGJUN (author) / YANG ZEYING (author) / WANG CHENGHE (author) / QU JIANBO (author) / SUN YINGLIN (author)

    Publication date :

    2022-04-08


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    E01D BRIDGES , Brücken / B08B Reinigen allgemein , CLEANING IN GENERAL / B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen / F16M Rahmen, Gehäuse oder Grundplatten von Kraftmaschinen oder anderen Maschinen oder von Apparaten, nicht auf eine besondere Art von Maschine oder Apparat eingeschränkt, die anderweitig vorgesehen ist , FRAMES, CASINGS, OR BEDS, OF ENGINES OR OTHER MACHINES OR APPARATUS, NOT SPECIFIC TO AN ENGINE, MACHINE, OR APPARATUS PROVIDED FOR ELSEWHERE / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G06V



    Underwater bridge pier detection robot

    DING JIANQIANG | European Patent Office | 2022

    Free access

    Bridge pier underwater surface attachment washing system and robot with improved structure

    YANG CANJUN / ZHAO YIBING / CHEN YANHU et al. | European Patent Office | 2020

    Free access

    Bridge tower overhauling vehicle

    GOU HONGBING / LI NAIHUI / JIN YI et al. | European Patent Office | 2021

    Free access

    Underwater bridge pier detection robot equipment, control method, medium and program

    WANG LEI / ZHANG XINGQI / FU GUOXIN et al. | European Patent Office | 2023

    Free access

    Encircling crawling robot and method for highway bridge underwater pier column detection

    SONG GUANGMING / XIE FENG / MAO JUZHENG et al. | European Patent Office | 2023

    Free access