Cleaning robot suitable for attachments on underwater damaged surface of tunnel and using method

Abstract

The invention discloses a cleaning robot suitable for attachments on an underwater damaged surface of a tunnel and a using method.The cleaning robot comprises a chassis, a movement module, a vision module, a cleaning tool module and a control communication module, the cleaning tool module is located at the front end of the top of the chassis and comprises a tool mounting frame and a mechanical arm, and a hexagonal groove is formed in the tool mounting frame; a controllable electromagnet is arranged in each groove and at least can accommodate the high-pressure water gun and the rotary steel brush; the mechanical arm is installed at the front end of the top of the chassis through a base, the mechanical arm is in electric drive joint integration and is wrapped with a waterproof sealing film layer, and a clamping jaw and a six-dimensional force sensor are arranged at the tail end of the mechanical arm. The underwater operation robot serves as a carrier, two cleaning tools including a high-pressure water gun and a rotating steel brush are used, a construction method of a cleaning area and a cleaning track is provided for underwater wall surface defects, full-coverage cleaning of the wall surface defect positions can be guaranteed, and the underwater wall surface defect cleaning device is safe, efficient, good in cleaning effect, high in automation degree and beneficial to subsequent repairing operation.

Description

Technical field [0001] The present invention belongs to the field of underwater robot detection and operation technology, in particular to a cleaning robot suitable for underwater damage surface adhesions of tunnels and methods of use. Background [0002] Tunnel is a kind of large-scale infrastructure with functions such as irrigation, power generation, water supply, water discharge, and water transmission, and occupies an important position in China's water conservancy projects. Due to the characteristics of tunnel concealment, complex geological conditions, difficult construction of engineering, poor operating conditions, etc., the concrete surface under the tunnel is prone to damage, if the tunnel defects cannot be detected and repaired in time, it will cause accidents such as tunnel fracture collapse and pipeline settlement. [0003] The treatment process of underwater surface defects in tunnels mainly includes: surface cleaning, seam expansion, buried grout pipe, grouting ...

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Problems solved by technology

[0004] The present invention is aimed at the problems of single cleaning tools, inaccurate detection, incapable of automatic cleaning and poor cleaning effect in the prior art, and provides a cleaning robot suitable for underwater damaged surface attachments in tunnels and its use. The method, including the chassis, motion module, vision module, cleaning tool module and control communication module, uses the proposed underwater operation robot as a carrier, uses two cleaning tools, a high-pressure water gun and a rotating steel brush, and proposes a A construction method of cleaning area and cleaning trajectory can ensure the full coverage cleaning of wall defect positions, safe and efficient, good cleaning effect, high degree of automation, and conducive to subsequent repair operations

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