The invention provides a control method of an underwater separation robot considering wall rock terrain and undercurrent impact, and the method comprises the following steps: 1, enabling the robot to dive to a position parallel to a rock wall task point, carrying out the environment index evaluation, and generating an environment index; step 2, according to the environment index, continuously propelling the underwater separation type robot until the system displays that an environment index rated value is reached; thirdly, the underwater separation type robot is separated into a diving machine body and an underwater rock climbing adsorption type robot; fourthly, the underwater rock climbing adsorption type robot is fixed and climbed through a suction cup tentacle, a propeller at the tail provides additional advancing and impact resistance power for the underwater rock climbing adsorption type robot, and when the impact force of water flow reaches a danger threshold value, the adsorption standby state is kept; 5, when the impact force of the water flow is lower than a danger threshold value, the underwater rock climbing adsorption type robot is pushed forwards to climb. According to the method, aiming at the underwater separation robot, a most appropriate advancing path is planned and formed by integrating the wall rock terrain.

    本发明提供一种考虑壁岩地形及暗流冲击的水下分离机器人的控制方法,包括如下步骤:步骤一、机器人下潜至与岩壁任务点平行位置处,进行环境指标评估,生成环境指数;步骤二、根据环境指数,水下分离式机器人不断推进,直至系统显示达到环境指标额定值;步骤三、水下分离式机器人分离为下潜机本体和水下攀岩吸附式机器人;步骤四、水下攀岩吸附式机器人通过吸盘触手进行固定及攀爬,尾部的螺旋桨为水下攀岩吸附式机器人提供额外前进及抗冲击动力,当水流冲击力达到危险阈值时,保持吸附待命状态;步骤五、当水流冲击力低于危险阈值,水下攀岩吸附式机器人向前推进攀爬。该方法针对水下分离机器人,综合壁岩地形,规划形成一条最合适的行进路径。


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    Title :

    Underwater separation robot control method considering wall rock terrain and undercurrent impact


    Additional title:

    考虑壁岩地形及暗流冲击的水下分离机器人的控制方法


    Contributors:
    WANG BUWEI (author) / PAN PENGCHENG (author) / CHEN FAFA (author)

    Publication date :

    2024-01-26


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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



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