The invention discloses a sea-turtle-imitating robot for submarine pipeline leakage monitoring and a multi-mode control method thereof.The sea-turtle-imitating robot comprises a trunk, a head, a top cover, two pectoral fin plates, a tail fin plate, pectoral fin driving devices, a gravity center adjusting mechanism and a detection control unit, and the two pectoral fin plates are symmetrically arranged on the left side and the right side of the front portion of the trunk; two pectoral fin driving devices are arranged on the inner side of the trunk in a bilateral symmetry mode, and each pectoral fin driving device drives the pectoral fin plate on the same side to move front and back and adjusts the angle posture of the pectoral fin plate. The gravity center adjusting mechanism comprises a balancing weight, a linear guide mechanism and a servo motor, and the servo motor drives the balancing weight to move front and back. Two second steering engines are symmetrically arranged on the two sides of the rear end of the trunk, the two tail fin plates are located on the left side and the right side of the rear portion of the trunk, and the execution ends of the second steering engines drive the tail fin plates on the same sides to swing up and down. According to the invention, polling along the sea bottom pipeline is realized through attitude control, image information is adopted and whether leakage occurs is judged, the maintenance cost is low, a leakage point can be found in time, and economic loss is reduced.
本发明公开了海底管道泄漏监测用的仿海龟机器人及其多模态控制方法,包括躯干、头部、顶盖、胸鳍板、尾鳍板、胸鳍驱动装置、重心调节机构及探测控制单元,胸鳍板有两个,对称设在躯干前部左右两侧,躯干内侧左右对称设有两个胸鳍驱动装置,各胸鳍驱动装置驱动同侧的胸鳍板前后运动,并调节胸鳍板的角度姿态。重心调节机构包括配重块、直线导向机构和伺服电机,伺服电机驱动配重块前后移动。躯干的后端两侧对称设有两个第二舵机,尾鳍板有两个,位于躯干后方左右两侧,第二舵机的执行端驱动同侧尾鳍板上下摆动。本发明通过姿态控制实现沿海底管道进行巡检,采用图像信息并判断是否发生泄露,维护成本低,能及时发现泄漏点,降低经济损失。
Sea-turtle-imitating robot for submarine pipeline leakage monitoring and multi-mode control method of sea-turtle-imitating robot
海底管道泄漏监测用的仿海龟机器人及其多模态控制方法
2025-02-14
Patent
Electronic Resource
Chinese
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 / B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen |
Fish-imitating robot motion control method, device and equipment and fish-imitating robot
European Patent Office | 2025
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