The invention provides a robot system for diversion tunnel detection and a control method, and relates to the field of heterogeneous robots, the robot system comprises a water surface robot and an underwater robot, the underwater robot is connected with the water surface robot through a cable, the underwater robot comprises an underwater communication assembly, and the water surface robot comprises a tracking assembly and a water surface communication assembly. Underwater acoustic communication and network communication are established between the underwater communication assembly and the water surface communication assembly; in order to solve the problems that remote control is difficult to realize and wired transmission is inconvenient to establish in current diversion tunnel investigation, a heterogeneous robot system in which a water surface robot and an underwater robot cooperatively work is established, and the position in a tunnel is obtained by utilizing linear track movement cooperation of the water surface robot. Relative position positioning and data transmission are achieved through underwater acoustic communication and network communication, it is guaranteed that detection data in the diversion tunnel correspond to detection positions, and investigation in the diversion tunnel is effectively achieved.

    本发明提供一种面向引水隧洞检测的机器人系统及控制方法,涉及异构机器人领域,包括水面机器人和水下机器人,水下机器人通过线缆连接水面机器人,水下机器人包括水下通信组件,水面机器人包括循迹组件和水面通信组件,水下通信组件与水面通信组件建立水声通信和网络通信;针对目前引水隧洞勘察难以实现远程控制以及有线传输不便建立的问题,建立水面机器人和水下机器人协同工作的异构机器人系统,利用水面机器人的直线轨迹移动配合实现来获取在隧道内的位置,通过水声通信和网络通信实现相对位置定位和数据传输,保证了引水隧洞内检测数据与检测位置的对应,有效实现引水隧洞内的勘察。


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    Title :

    Robot system for diversion tunnel detection and control method


    Additional title:

    一种面向引水隧洞检测的机器人系统及控制方法


    Contributors:
    WAN YI (author) / WANG ZHIYONG (author) / LIANG XICHANG (author) / HAN BO (author) / HOU JIARUI (author)

    Publication date :

    2022-08-09


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS / B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen



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