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Robot for cleaning up attachments on damaged underwater surfaces of tunnels and method of use

A technology for robots and attachments, applied in manipulators, motor vehicles, hydroelectric power generation, etc., can solve the problems of inability to automate cleaning, poor cleaning effect, single cleaning tool, etc., to achieve excellent cleaning effect, improve cleaning effect, and high degree of automation Effect

Active Publication Date: 2022-07-19
SOUTHEAST UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

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

Method used

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  • Robot for cleaning up attachments on damaged underwater surfaces of tunnels and method of use
  • Robot for cleaning up attachments on damaged underwater surfaces of tunnels and method of use
  • Robot for cleaning up attachments on damaged underwater surfaces of tunnels and method of use

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Embodiment 1

[0035] A cleaning robot suitable for attachments on damaged underwater surfaces of tunnels, such as figure 1 shown, including chassis 1, motion module, vision module, cleaning tool module and control communication module,

[0036] The motion module includes a pair of traveling wheels 3 and corresponding tracks 2. The two traveling wheels 3 are located on both sides of the chassis 1 respectively, and are symmetrically distributed with the center of the chassis 1. 2 is covered on the corresponding walking wheel 3, and then drives the robot to move underwater.

[0037] The vision module is located in the middle of the top of the chassis 1, and includes an electric lift rod 4 and a pan-tilt camera 5 connected to the electric lift rod 4. The top of the electric lift rod 4 is threaded to fix the pan-tilt camera 5, and the pan-tilt camera 5 is used to obtain water. Download the image to identify the defects and their positions on the underwater wall of the tunnel, so as to construct...

Embodiment 2

[0044] This embodiment discloses that the underwater surface cleaning robot performs on-site cleaning of the walls around the crack 11 underwater in the tunnel 10, such as Image 6 As shown, the tunnel 10 is a horseshoe-shaped water conveyance tunnel, and the crack 11 is located on the underwater side wall of the tunnel 10, which is a typical type of tunnel defect; Perform surface cleaning.

[0045] A method of using a robot for cleaning up attachments on damaged underwater surfaces of tunnels, and its work flow is as follows: Figure 7 shown, including the following steps:

[0046] Step S1: Put the cleaning robot into the underwater tunnel 10, obtain the picture information of the underwater damaged wall surface of the tunnel 10 through the vision module, transmit the picture information to the control communication module for identification, identify the underwater wall surface defects of the tunnel 10, and record the defects of the defects. Spatial position, according to ...

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Abstract

The invention discloses a cleaning robot suitable for attachments on damaged underwater surfaces of a tunnel and a method of using the robot, comprising a chassis, a motion 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 includes Tool mounting frame and mechanical arm. The tool mounting frame is provided with hexagonal grooves, and each groove is provided with a controllable electromagnet, which can accommodate at least a high-pressure water gun and a rotating steel brush; the mechanical arm is installed on the top of the chassis through the base At the front end, the mechanical arm is integrated with electric drive joints, and is covered with a waterproof sealing film layer. The end of the mechanical arm is provided with a gripper and a six-dimensional force sensor. The proposed underwater operation robot is used as a carrier, using a high-pressure water gun and a rotating steel brush. A cleaning tool, aiming at underwater wall defects, proposes a construction method of cleaning area and cleaning trajectory, which can ensure full coverage and cleaning of wall defect positions, safe and efficient, good cleaning effect, and high degree of automation, which is conducive to subsequent repair operations.

Description

technical field [0001] The invention belongs to the technical field of underwater robot detection and operation, and in particular relates to a cleaning robot suitable for the attachments on the underwater damaged surface of a tunnel and a method for using the same. Background technique [0002] Tunnel is a large-scale infrastructure with functions such as irrigation, power generation, water supply, drainage, and water delivery, and occupies an important position in my country's water conservancy projects. Due to the characteristics of concealment, complex geological conditions, difficult construction, and poor operating conditions, the underwater concrete surface of the tunnel is prone to damage. If the tunnel defects cannot be detected and repaired in time, the tunnel will rupture and collapse, and the pipeline will settle. wait for the accident. [0003] The treatment process of the underwater surface defects of the tunnel mainly includes: surface cleaning, joint expansi...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J11/00B60F3/00B62D55/06
CPCB25J11/0085B60F3/0015B62D55/06Y02E10/20
Inventor 宋光明纪梓潮毛巨正张鸣权宋爱国
Owner SOUTHEAST UNIV
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