CN113386930B - Underwater robot applied to pier maintenance and maintenance method thereof - Google Patents
Underwater robot applied to pier maintenance and maintenance method thereof Download PDFInfo
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- CN113386930B CN113386930B CN202110525585.9A CN202110525585A CN113386930B CN 113386930 B CN113386930 B CN 113386930B CN 202110525585 A CN202110525585 A CN 202110525585A CN 113386930 B CN113386930 B CN 113386930B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/38—Arrangement of visual or electronic watch equipment, e.g. of periscopes, of radar
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01D—CONSTRUCTION OF BRIDGES, ELEVATED ROADWAYS OR VIADUCTS; ASSEMBLY OF BRIDGES
- E01D19/00—Structural or constructional details of bridges
- E01D19/10—Railings; Protectors against smoke or gases, e.g. of locomotives; Maintenance travellers; Fastening of pipes or cables to bridges
- E01D19/106—Movable inspection or maintenance platforms, e.g. travelling scaffolding or vehicles specially designed to provide access to the undersides of bridges
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01D—CONSTRUCTION OF BRIDGES, ELEVATED ROADWAYS OR VIADUCTS; ASSEMBLY OF BRIDGES
- E01D22/00—Methods or apparatus for repairing or strengthening existing bridges ; Methods or apparatus for dismantling bridges
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
- G01C21/1652—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments with ranging devices, e.g. LIDAR or RADAR
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Architecture (AREA)
- Structural Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Bridges Or Land Bridges (AREA)
Abstract
The invention provides an underwater robot applied to pier maintenance and a maintenance method thereof, and belongs to the technical field of underwater robots. The underwater robot solves the problem that the existing underwater robot cannot stably work in a torrent area. The invention relates to an underwater robot applied to pier maintenance and a maintenance method thereof.
Description
Technical Field
The invention belongs to the technical field of underwater robots, and relates to an underwater robot applied to pier maintenance and a maintenance method thereof.
Background
After the bridge is used for many years, the bridge piers in the underwater part are cracked, diseased or partially damaged due to factors such as water flow scouring and corrosion or impact of foreign objects, and therefore the bridge and the underwater part need to be inspected and maintained regularly. The conventional method is that bridge underwater detection operation is finished by professional divers, but the detection method has high personnel safety risk and is difficult to implement on most bridges with high flow rate and large water depth; to solve this problem, attempts have been made to detect the underwater portion of the bridge using underwater robots instead of human beings.
When the conventional underwater robot carries out underwater detection and auxiliary operation, the following problems exist:
1. the method can only be applied to occasions with gentle flow velocity and small depth, when the flow velocity of a detected water area is high, the flow field near the pier becomes very complex and is generally accompanied by local turbulence and vortex, and a common operation robot cannot perform detection operation near the pier;
2. although the balance of the underwater robot during underwater operation can be adjusted through power distribution of the propellers, when the underwater robot carries the mechanical arm to perform underwater operation, large and unstable working loads are generated during operation (such as drilling, cutting and the like) between the mechanical arm and the pier, and it is difficult to ensure stable operation of the mechanical arm.
Disclosure of Invention
The invention aims to solve the problems in the prior art and provides an underwater robot which can stably work in a torrent area and is applied to pier maintenance and a maintenance method thereof.
The purpose of the invention can be realized by the following technical scheme: an underwater robot applied to pier overhauling comprises:
the bridge comprises a frame, wherein one end of the frame is provided with a pair of wall holding mechanisms, each wall holding mechanism can rotate relative to the frame, and each wall holding mechanism can be adsorbed on a bridge pier;
the first propellers are arranged inside the frame;
and the mechanical arm is arranged at one end of the frame and is positioned between the two wall holding mechanisms.
In the above-mentioned underwater robot who is applied to pier maintenance, every embraces wall mechanism and all includes first rocking arm, second rocking arm and at least one and embraces and inhale the subassembly, the one end and the frame swing joint of first rocking arm, the other end swing joint of second rocking arm and first rocking arm, embrace and inhale the subassembly and install on the second rocking arm.
In foretell underwater robot who is applied to pier and overhauls, first motor is installed to the one end that the second rocking arm was kept away from to first rocking arm, and movable mounting has first carousel on the first motor, can dismantle on the frame to be connected with the swivel mount that is used for installing first carousel.
In foretell underwater robot who is applied to pier maintenance, the second motor is installed to the one end of first carousel, and movable mounting has the second carousel that is used for connecting the second rocking arm on the second motor.
In the above-mentioned underwater robot who is applied to pier maintenance, every embraces and inhales the subassembly and all includes the second propeller and install the sucking disc on the second propeller, and the one end of second rocking arm is equipped with the connecting plate that is used for connecting each second propeller.
In foretell underwater robot who is applied to pier and overhauls, be equipped with the transmission head on the frame, the both sides of frame and the one end that the frame is close to the arm all are equipped with the camera, every camera all with transmission head wireless connection, every embraces wall mechanism all with transmission head wireless connection.
In foretell an underwater robot who is applied to pier and overhauls, the one end that the frame is close to the arm is equipped with the second sonar with transmission head wireless connection, and the one end that the frame is close to the arm still is equipped with the locating lever, is equipped with the range sensor with transmission head wireless connection on the locating lever.
The maintenance method of the underwater robot applied to pier maintenance comprises the underwater robot applied to pier maintenance and further comprises the following steps:
step 1, placing an underwater robot in a water area to be detected, checking a searchlight and a camera by an operator, and testing whether the power supply condition of the underwater robot is normal or not;
step 2, starting the underwater robot, and controlling the underwater robot to be in an underwater balance state by controlling the first propeller;
step 3, operating the underwater robot to move to a working place according to a planned path through a navigation cabin of the underwater robot, and when the underwater robot moves to the working place, transmitting a real-time picture back to a receiver of the underwater robot through a transmission head by a camera and a second sonar, so that an operator can judge whether an arrival area reaches a pier area to be detected, if so, immediately carrying out pier detection, and if not, controlling the underwater robot to continue to move until the arrival area reaches the pier area to be detected;
step 4, when the underwater robot reaches a pier region to be detected to carry out pier detection, carrying out surrounding, reciprocating and spiral detection on the pier surface according to a preset track route through a distance set by a distance measuring sensor arranged on a positioning rod and a camera, and returning a real-time detection picture;
step 5, in the bridge pier detection process, judging whether the surface of the bridge pier is abnormal or not through the detection picture returned in real time, and if the abnormality is not found, controlling the underwater robot to move to the next place to be detected to continue detection operation; if the surface of the pier is abnormal or foreign matter is adsorbed, the operator can perform the following treatment according to the real-time returned picture condition: when the surface failure of the pier can be processed by the underwater robot, an operator can control the underwater robot according to the operation flow of the surface of the deep water foundation to process the surface failure of the pier; when the surface fault of the pier cannot be processed by the underwater robot, a camera and a second sonar of the underwater robot can be used for shooting and storing a video image and a sonar image of the fault part, and meanwhile, the fault part on the pier is positioned, recorded and numbered through a navigation cabin;
and 6, controlling the underwater robot to return and recovering the underwater robot after the detection task is finished.
In the method for overhauling the underwater robot applied to pier overhauling, in the detection process of the step 4, when the water quality is turbid and the camera cannot acquire a clear picture, a second sonar is started to acquire a real-time picture of the pier surface.
In the above method for repairing an underwater robot applied to pier repair, the deepwater foundation surface work flow of step 5 includes:
step 51, when finding that there is the foreign matter absorption need to handle on the pier surface, control underwater robot and be close to the pier, when the locating lever contacts with the pier, two are embraced the wall mechanism and are opened, and after embracing the wall mechanism and expand to predetermined angle, open the second propeller to make the sucking disc adsorb on the surface of pier.
And step 52, after the underwater robot is confirmed to be connected with the pier, operating the manipulator to remove foreign matters on the surface of the pier or punch holes on the surface of the pier.
Compared with the prior art, the invention has the following beneficial effects:
1. in the invention, when the underwater robot moves to the pier needing to be overhauled, the wall-embracing mechanism is unfolded and adsorbed on the pier needing to be overhauled, so that the stable connection between the underwater robot and the pier is realized, the condition that the underwater robot is flushed away by a rapid flow beside the pier is avoided, and then an operator can control the mechanical arm to maintain the surface of the pier.
2. When the picture of shooing when the camera can't satisfy and control the requirement, for example the sea water in operation area is comparatively muddy, and when the clear picture can't be shot to the camera, can start the second sonar and acquire the real-time picture in work waters to pass back the real-time picture to the receiver through the transmission head, so that operating personnel can see clear picture under water.
3. By the overhauling method in the second embodiment, the underwater robot can flexibly move underwater, and the stable connection between the underwater robot and the pier is also realized, so that the underwater robot is prevented from being washed away by a rapid current beside the pier, and then an operator can control the mechanical arm to maintain the surface of the pier.
4. The both sides of frame and the one end that the frame is close to the arm all are equipped with the searchlight, every searchlight all with transmission head wireless connection, after putting into underwater robot into the aquatic, alright open this searchlight, through searchlight illumination underwater robot environment all around to make things convenient for the camera to shoot underwater photo.
5. During operation, picture and video are shot to the camera and are passed back to this underwater robot's receiver through the transmission head, and picture and video that operating personnel passed back on through the receiver to make corresponding instruction operation on the receiver, the transmission head just can be transmitted to the receiver, and the transmission head transmits the camera or first motor or second propeller or the second motor that corresponds for making this embrace wall mechanism can be accurate absorption on the pier.
Drawings
Fig. 1 is a schematic view of the underwater robot.
Fig. 2 is a schematic structural diagram of the wall embracing mechanism.
Fig. 3 is a schematic view of fig. 2 from another perspective.
Fig. 4 is a schematic structural view of fig. 1 with the wall embracing mechanism removed.
Detailed Description
The following are specific embodiments of the present invention and are further described with reference to the drawings, but the present invention is not limited to these embodiments.
Example one
As shown in fig. 1 to 4, the underwater robot applied to pier maintenance of the present embodiment includes a frame 100, a wall embracing mechanism 200, a first propeller 110, and a robot arm 120.
The underwater robot comprises a frame 100, a pair of wall-holding mechanisms 200 are arranged at one end of the frame 100, each wall-holding mechanism 200 can rotate relative to the frame 100, each wall-holding mechanism 200 can be adsorbed on a pier, a plurality of first propellers 110 are arranged inside the frame 100, a mechanical arm 120 is arranged at one end of the frame 100, the mechanical arm 120 is located between the two wall-holding mechanisms 200, a floating plate 190 is arranged on the frame 100, a plurality of pushing holes 191 are formed in the floating plate 190, third propellers (not marked in the drawing) are arranged in the pushing holes 191, the specifications and the sizes of the third propellers and the first propellers 110 are identical, furthermore, the first propellers 110 respectively have certain angles with an X axis and a Y axis, so that when the first propellers 110 are started in water, the first propellers 110 can generate different component forces in the X axis and the Y axis, so as to control the motion trajectory of the underwater robot in the horizontal direction, in addition, the third propellers respectively have certain angles with the X axis, the Y axis and the Z axis, so that when the third propellers are started in water, the third propellers can generate different component forces in the X axis, the Y axis and the Z axis, the motion trajectory of the underwater robot can control the motion trajectory of the underwater robot to remove foreign matters which are needed, and the underwater robot can operate the underwater robot to control the underwater robot to remove the foreign matters which are absorbed on the surfaces of the underwater robot 200, so that the underwater robot can be easily, when the underwater robot breaks away from the underwater robot, the underwater robot can operate the underwater robot, and the underwater robot can operate the underwater robot, the underwater robot can stably operate the underwater robot, and the foreign matters which the underwater robot can overhaul the underwater robot, the underwater robot can overhaul mechanism 200, and the underwater robot can overhaul the foreign matters which the underwater robot can be controlled, when the underwater robot, the pier, the foreign matters which are needed to overhaul the underwater robot can be easily, and the underwater robot.
Each wall holding mechanism 200 comprises a first rotating arm 210, a second rotating arm 220 and at least one holding and sucking assembly 250, one end of the first rotating arm 210 is movably connected with the frame 100, the second rotating arm 220 is movably connected with the other end of the first rotating arm 210, the holding and sucking assembly 250 is installed on the second rotating arm 220, one end, far away from the second rotating arm 220, of the first rotating arm 210 is provided with a first motor 230, a first rotating disc 231 is movably installed on the first motor 230, a rotating disc 231a used for installing the first rotating disc 231 is detachably connected onto the frame 100, one end of the first rotating disc 231 is provided with a second motor 240, a second rotating disc 241 used for connecting the second rotating arm 220 is movably installed on the second motor 240, each holding and sucking assembly 250 comprises a second propeller 251 and a suction cup 252 installed on the second propeller 251, one end of the second rotating arm 220 is provided with a connecting plate 253 used for connecting each second propeller 251, when the underwater robot moves to an pier to be overhauled, the first motor 230 and the second motor 240 operate simultaneously, so that the first motor 230 drives the first rotary plate 231 to rotate, the second motor 240 drives the second rotary plate 241 to rotate, because the first rotary plate 231 is installed on the rotary seat 231a, the rotary seat 231a is installed on the frame 100 of the underwater robot, the first motor 230 is installed at one end of the first rotary arm 210, so that the first rotary arm 210 rotates around the rotary seat 231a, i.e. the first rotary arm 210 rotates relative to the frame 100, meanwhile, because the second motor 240 is installed at one end of the first rotary arm 210 far away from the first motor 230, the second rotary plate 241 is installed at one end of the second rotary arm 220 far away from the holding and sucking component 250, and the joint of the first rotary arm 210 and the second rotary plate 241 is arc-shaped, the first rotary arm 210 and the second rotary arm 220 are parallel, so that the second rotary arm 220 can rotate around the second rotary plate 241, i.e., the rotation of the second rotating arm 220 with respect to the first rotating arm 210 is achieved, when the first rotating arm 210 rotates to a first preset angle with respect to the swivel base 231a and the second rotating arm 220 rotates to a second preset angle with respect to the first rotating arm 210, the sucking assembly 250 just contacts the surface of the abutment, and thereafter, the first motor 230 is manipulated from the operating state to the braking state so that the first rotating arm 210 no longer rotates with respect to the swivel base 231a, and at the same time, the second motor 240 is turned off and the second propeller 251 is turned on so that the second motor 240 has no force to the second rotating disc 241 and so that the second rotating arm 220 can rotate with respect to the first rotating arm 210, and thus, the second propeller 251 generates a thrust and pushes the sucking disc 252 toward the surface of the abutment, in the process, the thrust generated by the second thruster 251 is opposite to the direction of the water flow disturbed by the rotation of the propeller in the second thruster 251, when the suction cup 252 is pushed to the surface of the pier, the suction cup 252 is compressed, and meanwhile, the liquid in the inner space of the suction cup 252 is discharged to form a certain negative pressure, so that the suction cup 252 is tightly connected with the surface of the pier, then, the second motor 240 is adjusted to be in a braking state, so that the underwater robot is stably connected with the pier, the situation that the underwater robot is flushed away by the torrent beside the pier is avoided, and then, an operator can control the mechanical arm 120 to maintain the surface of the pier.
The frame 100 is provided with the transmission head 130, two sides of the frame 100 and one end of the frame 100 close to the mechanical arm 120 are respectively provided with the camera 140, each camera 140 is wirelessly connected with the transmission head 130, each wall embracing mechanism 200 is wirelessly connected with the transmission head 130, specifically, each camera 140, each first motor 230, each second propeller 251 and each second motor 240 are wirelessly connected with the transmission head 130, when the underwater robot works, the camera 140 shoots pictures and videos and transmits the pictures and the videos back to a receiver of the underwater robot through the transmission head 130, an operator transmits the pictures and the videos back through the receiver and makes corresponding command operations on the receiver, the receiver transmits the pictures and the videos to the transmission head 130, and the transmission head 130 transmits the pictures and the videos to the corresponding camera 140 or the first motor 230 or the second propeller 251 or the second motor 240, so that the wall embracing mechanism 200 can be accurately adsorbed on a bridge pier.
The end of the frame 100 close to the mechanical arm 120 is further provided with a positioning rod 160, the positioning rod 160 is provided with a distance measuring sensor 161 wirelessly connected with the transmission head 130, the end of the positioning rod 160 is further provided with a contact sensor 162 wirelessly connected with the transmission head 130, in the process that the underwater robot searches for and approaches a bridge pier, the distance measuring sensor 161 constantly detects the distance between the positioning rod 160 and the bridge pier and feeds the distance back to the transmission head 130, the transmission head 130 transmits a signal to a receiver of the underwater robot so that an operator can constantly monitor the distance between the underwater robot and the bridge pier, when the underwater robot is to be sucked on the bridge pier, one end of the positioning rod 160 far away from the frame 100 contacts the surface of the bridge pier so that the contact sensor 162 is directly contacted with the bridge pier, at the moment, the contact sensor 162 generates a signal and transmits the signal to the transmission head 130, the transmission head 130 transmits the signal to the two wall holding mechanisms 200, namely, the transmission head 130 transmits the signal to the first motor 230, the second motor 240 and the second propeller 251 so that the two wall holding mechanisms 200 can be accurately sucked on the bridge pier, and the underwater robot can stably work nearby the bridge pier.
Both sides of frame 100 and the one end that frame 100 is close to arm 120 all are equipped with searchlight 170, and every searchlight 170 all with transmission head 130 wireless connection, when putting into underwater robot back in the aquatic, alright open this searchlight 170, through searchlight 170 illumination underwater robot environment all around to make things convenient for camera 140 to shoot underwater photo.
The frame 100 is provided with a storage basket 180 at one end close to the mechanical arm 120, the mechanical arm 120 is movably provided with a mechanical arm 121, tools such as a drill bit and a grinding wheel are placed in the storage basket 180, and when the underwater robot performs a deep water foundation surface operation process, the mechanical arm 121 on the mechanical arm 120 can pick up a proper tool to perform operations such as grinding and sampling on foreign matters on the surface of a pier.
A control cabin 310 for controlling the corresponding first propeller 110 is arranged in the frame 100, further, one control cabin 310 controls one first propeller 110 and one third propeller (not labeled in the figure), and each control cabin 310 is wirelessly connected with the transmission head 130; the frame 100 is internally provided with a navigation cabin 320 wirelessly connected with the transmission head 130, the navigation cabin 320 is internally integrated with an optical fiber inertial navigation system (not labeled in the figure) and an underwater log (not labeled in the figure) for navigation and speed measurement of the underwater robot, the frame is provided with a first sonar 330 for positioning the position of the underwater robot in real time, the first sonar 330 is wirelessly connected with the navigation cabin, and when the underwater robot moves, the first sonar 330 accurately positions the position, the speed and the course of the underwater robot so that an operator can make the best judgment on the state of the underwater robot.
Example two
As shown in fig. 1 to 4, the present embodiment is an inspection method of an underwater robot applied to pier inspection, including:
step 1, placing the underwater robot in a water area to be detected, checking a searchlight 170 and a camera 140 by an operator, and testing whether the power supply condition of the underwater robot is normal;
step 2, starting the underwater robot, and controlling the underwater robot to be in an underwater balance state by controlling the first propeller 110;
step 3, operating the underwater robot to move to a working place according to a planned path through a navigation cabin 320 of the underwater robot, and when the underwater robot moves to the working place, transmitting a real-time picture back to a receiver of the underwater robot through a transmission head 130 by a camera 140 and a second sonar 150, so that an operator can judge whether an arrival area reaches a pier area to be detected, if so, immediately carrying out pier detection, and if not, controlling the underwater robot to continue to move until the arrival area reaches the pier area to be detected;
step 4, when the underwater robot reaches a pier region to be detected to detect the pier, the distance set by the distance measuring sensor 161 arranged on the positioning rod 160 and the camera 140 are used for carrying out surrounding, reciprocating and spiral detection on the pier surface according to a preset track route, and a real-time detection picture is returned for reference of a later-stage maintainer;
step 5, in the bridge pier detection process, judging whether the surface of the bridge pier is abnormal or not through the detection picture returned in real time, and if the surface of the bridge pier is not abnormal, controlling the underwater robot to move to the next site to be detected to continue detection operation; if the surface of the pier is abnormal or foreign matter is adsorbed, the operator can perform the following treatment according to the real-time returned picture condition: when pier surface trouble accessible underwater robot handled, operating personnel can handle the trouble on pier surface according to deep water foundation surface operation flow control underwater robot, specifically, deep water foundation surface operation flow includes following step:
step 51, when it is found that foreign matter is adsorbed on the surface of the bridge pier and needs to be treated, controlling the underwater robot to approach the bridge pier, when the positioning rod 160 contacts the bridge pier, the contact sensor 162 directly contacts the bridge pier, at this time, the contact sensor 162 generates a signal and transmits the signal to the transmission head 130, the transmission head 130 transmits the signal to the two wall clasping mechanisms 200, i.e., the transmission head 130 transmits the signal to the first motor 230, the second motor 240 and the second propeller 251, at this time, the first motor 230 and the second motor 240 operate first, so that the first motor 230 drives the first rotating disc 231 to rotate, the second motor 240 drives the second rotating disc 241 to rotate, because the first rotating disc 231 is mounted on the rotating disc 231a, the rotating disc 231a is mounted on the frame 100 of the underwater robot, the first motor 230 is mounted on one end of the first rotating arm 210, so that the first rotating arm 210 rotates around the rotating disc 231a, i.e., the first rotating arm 210 rotates relative to the frame 100, and at the same time, because the second motor 240 is mounted on one end of the first rotating disc 230, the rotating disc 241 rotates relative to the rotating disc 220, and when the second rotating disc 210 rotates relative to the rotating disc 220, the rotating disc 250, the rotating disc 220, the rotating disc is set to be in a state that the second rotating angle is just opposite to be parallel to the first rotating disc 250, and the rotating disc 210 is set to be capable of rotating disc 250, and the rotating disc 220, so that the rotating disc 210 rotates relative rotation angle is set to be capable of rotating disc 210, and the rotating disc 250, and the second rotating disc 220, and the rotating disc 210 is set to be capable of rotating disc 210 is set to be in parallel to rotate relative rotation angle, and the second rotating disc 220, and the rotating disc 210 is set to be capable of rotating disc 250, and the rotating disc 210 is set to rotate relative rotation angle is set to be capable of rotating disc 210. The second motor 240 has no force on the second turntable 241, that is, the second rotating arm 220 can rotate relative to the first rotating arm 210, so that the second thruster 251 generates thrust and pushes the suction cup 252 to the surface of the pier, and in the process, the thrust generated by the second thruster 251 is opposite to the direction in which the propeller in the second thruster 251 disturbs the water flow due to rotation, when the suction cup 252 is pushed to the surface of the pier, the suction cup 252 is compressed, and meanwhile, the liquid in the inner space of the suction cup 252 is discharged to form a certain negative pressure, so that the suction cup 252 is tightly connected with the surface of the pier, and then the second motor 240 is adjusted to a braking state, so that the underwater robot is stably connected with the pier, and the situation that the underwater robot is flushed away by the rush current beside the pier is avoided.
Step 52, after the connection between the underwater robot and the pier is confirmed, operating the mechanical arm 120 to enable the mechanical arm 121 to pick up a proper tool to perform operations such as grinding and sampling on foreign matters on the surface of the pier, and when the pier needs blasting demolition, selecting a drilling tool in the storage basket 180 through the mechanical arm 121 to drill on the surface of the pier needing demolition so as to facilitate explosive installation by people; when the surface failure of the pier cannot be processed by the underwater robot, a video image and a sonar image of the failure part can be shot and stored by the camera 140 and the second sonar 150 of the underwater robot, and meanwhile, the failure part on the pier is positioned, recorded and numbered by the navigation cabin 320;
and 6, controlling the underwater robot to return and recovering the underwater robot after the detection task is finished.
By the maintenance method, the underwater robot can flexibly move underwater, and can be stably connected with the pier, so that the underwater robot is prevented from being washed away by a rapid flow beside the pier, and an operator can control the mechanical arm 120 to maintain the surface of the pier.
EXAMPLE III
In this embodiment, a step is added to step 4 of the second embodiment.
Specifically, when the water quality is turbid and the camera 140 cannot acquire a clear picture, the second sonar 150 is started to acquire a real-time picture of the surface of the pier.
It should be noted that all directional indicators (such as up, down, left, right, front, back \8230;) in the embodiments of the present invention are only used to explain the relative positional relationship between the components, the motion situation, etc. in a specific posture (as shown in the attached drawings), and if the specific posture is changed, the directional indicator is changed accordingly.
Furthermore, descriptions of the present invention as related to "first," "second," "a," etc. are for descriptive purposes only and are not to be construed as indicating or implying relative importance or to imply that the number of technical features indicated is indicative. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise explicitly stated or limited, the terms "connected", "fixed", and the like are to be understood broadly, for example, "fixed" may be fixedly connected, may be detachably connected, or may be integrated; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In addition, the technical solutions in the embodiments of the present invention may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination of technical solutions should not be considered to exist, and is not within the protection scope of the present invention.
Claims (7)
1. An overhaul method of an underwater robot applied to bridge pier overhaul, the underwater robot comprising: the bridge comprises a frame, wherein one end of the frame is provided with a pair of wall holding mechanisms, each wall holding mechanism can rotate relative to the frame, and each wall holding mechanism can be adsorbed on a bridge pier;
the first propellers are arranged inside the frame;
the mechanical arm is arranged on one end of the frame and is positioned between the two wall holding mechanisms; the frame is provided with a transmission head, cameras are arranged on two sides of the frame and one end of the frame close to the mechanical arm, each camera is wirelessly connected with the transmission head, each wall holding mechanism is wirelessly connected with the transmission head, a second sonar wirelessly connected with the transmission head is arranged at one end of the frame close to the mechanical arm, a positioning rod is further arranged at one end of the frame close to the mechanical arm, and a distance measuring sensor wirelessly connected with the transmission head is arranged on the positioning rod; searchlights are arranged on both sides of the frame and at one end of the frame close to the mechanical arm; the mechanical arm is movably provided with a mechanical arm; a navigation cabin wirelessly connected with the transmission head is arranged in the frame;
it is characterized by also comprising the following steps:
step 1, placing an underwater robot in a water area to be detected, checking a searchlight and a camera by an operator, and testing whether the power supply condition of the underwater robot is normal or not;
step 2, starting the underwater robot, and controlling the underwater robot to be in an underwater balance state by controlling the first propeller;
step 3, operating the underwater robot to move to a working place according to a planned path through a navigation cabin of the underwater robot, and when the underwater robot moves to the working place, transmitting a real-time picture back to a receiver of the underwater robot through a camera and a second sonar;
step 4, when the underwater robot reaches a pier region to be detected to carry out pier detection, carrying out surrounding, reciprocating and spiral detection on the pier surface according to a preset track route through a distance set by a distance measuring sensor arranged on a positioning rod and a camera, and returning a real-time detection picture;
step 5, in the bridge pier detection process, judging whether the surface of the bridge pier is abnormal or not through the detection picture returned in real time, and if the abnormality is not found, controlling the underwater robot to move to the next place to be detected to continue detection operation; if the surface of the pier is abnormal or foreign matter is adsorbed, the operator can perform the following treatment according to the real-time returned picture condition: when the surface fault of the pier can be processed by the underwater robot, an operator can control the underwater robot according to the operation flow of the surface of the deep water foundation to process the surface fault of the pier; when the surface fault of the pier cannot be processed by the underwater robot, a camera and a second sonar of the underwater robot can be used for shooting and storing a video image and a sonar image of the fault part, and meanwhile, the fault part on the pier is positioned, recorded and numbered through a navigation cabin;
and 6, controlling the underwater robot to return and recovering the underwater robot after the detection task is finished.
2. The overhauling method of the underwater robot applied to pier overhauling is characterized in that in the detection process of the step 4, when the water quality is turbid and the camera cannot acquire a clear picture, a second sonar is started to acquire a real-time picture of the pier surface.
3. The method for overhauling the underwater robot applied to the pier overhauling as claimed in claim 1, wherein the surface operation process of the deepwater foundation in the step 5 comprises the following steps:
step 51, when the foreign matter is found to be adsorbed on the surface of the pier and needs to be treated, controlling the underwater robot to approach the pier, when the positioning rod is in contact with the pier, opening the two wall embracing mechanisms, and after the wall embracing mechanisms are unfolded to a preset angle, opening the second propeller so that the suckers are adsorbed on the surface of the pier;
and step 52, after the connection between the underwater robot and the pier is confirmed, operating the manipulator to remove foreign matters on the surface of the pier or punch the surface of the pier.
4. The method for overhauling the underwater robot applied to pier overhauling is characterized in that each wall embracing mechanism comprises a first rotating arm, a second rotating arm and at least one embracing and sucking assembly, one end of the first rotating arm is movably connected with the frame, the second rotating arm is movably connected with the other end of the first rotating arm, and the embracing and sucking assembly is arranged on the second rotating arm.
5. The overhauling method of the underwater robot applied to the pier overhauling is characterized in that a first motor is installed at one end, far away from the second rotating arm, of the first rotating arm, a first rotating disc is movably installed on the first motor, and a rotating seat used for installing the first rotating disc is detachably connected to the frame.
6. The overhauling method of the underwater robot applied to the pier overhauling is characterized in that a second motor is installed at one end of the first rotary table, and a second rotary table used for being connected with a second rotating arm is movably installed on the second motor.
7. The method for repairing an underwater robot applied to pier repairing according to claim 4, wherein each holding and sucking assembly comprises a second propeller and a suction cup installed on the second propeller, and one end of the second rotating arm is provided with a connecting plate for connecting each second propeller.
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| CN113959500A (en) * | 2021-11-16 | 2022-01-21 | 中国铁路南昌局集团有限公司科学技术研究所 | Railway bridge underwater pier disease detection device |
| CN115027649A (en) * | 2022-08-10 | 2022-09-09 | 青岛澳西智能科技有限公司 | Underwater pier detection robot |
| CN116534223A (en) * | 2023-05-12 | 2023-08-04 | 港珠澳大桥管理局 | Underwater structure detection robot |
| CN116626054B (en) * | 2023-07-26 | 2023-09-22 | 德州华恒环保科技有限公司 | Underwater building quality detection device |
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| JP2016094137A (en) * | 2014-11-15 | 2016-05-26 | 株式会社ハイボット | Underwater observation device |
| CN204489154U (en) * | 2015-02-16 | 2015-07-22 | 福州大学 | A kind of shallow water bridge pier underwater detecting robot |
| CN106428482B (en) * | 2016-11-07 | 2019-02-15 | 山东省水利科学研究院 | A kind of underwater detecting robot with auxiliary side suction cup stabilising arrangement |
| CN106514668A (en) * | 2016-12-19 | 2017-03-22 | 华南理工大学 | Underwater robot positioning system based on double-manipulator encircling pile column |
| CN108382551A (en) * | 2018-04-03 | 2018-08-10 | 上海圭目机器人有限公司 | A kind of robot system detected under water for bridge pier |
| CN209441584U (en) * | 2018-11-13 | 2019-09-27 | 山东科技大学 | A kind of Multi-purpose underwater robot |
| CN110886215B (en) * | 2019-12-16 | 2021-11-09 | 创辉达设计股份有限公司 | Bridge detection structure and detection method thereof |
| CN111521619B (en) * | 2020-04-20 | 2023-06-13 | 中国船舶科学研究中心 | Dam crack detection robot based on ROV and application method thereof |
| CN212919414U (en) * | 2020-08-06 | 2021-04-09 | 威海浦鲸智能设备有限公司 | Robot for underwater climbing operation |
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