Robot for cleaning attached marine organisms of large tunnel

Abstract

The invention discloses a robot for cleaning attached marine organisms of a large tunnel. The cleaning robot comprises a vehicle body, a distance sensing device, a cleaning mechanical arm and cleaning devices, wherein the cleaning devices comprises the disc type cleaning device used for cleaning the top wall of the tunnel and the drum type cleaning device used for cleaning the side wall of the tunnel. The disc type cleaning device and the drum type cleaning device can be connected to a compatible connecting opening of the cleaning mechanical arm correspondingly and can be detached and replaced. The robot for cleaning the attached marine organisms of the large tunnel can sense the self-posture and ambient environment information in real time and can adaptively adjust the self-posture under the condition of high frequency and micro change; the contact force of the cleaning devices with the inner wall of the tunnel is controlled accurately, the overloading protecting function is achieved; and the cleaning devices is wide in adaptability, and safe, reliable, visual monitoring and efficient cleaning can be realized.

Description

technical field [0001] The invention relates to the field of tunnel robots, in particular to a robot for cleaning large-scale tunnel-adhered marine organisms. Background technique [0002] Due to the unreasonable structural design of the large-scale tunnel-attached sea organism cleaning robot in the prior art, there are mainly the following technical defects: [0003] 1. The executive device of the existing large-scale tunnel-attached sea organism cleaning robot is designed to imitate the diameter of the tunnel, which is not suitable for non-standard circular tunnels, and when the tunnel diameter changes, for example: the tunnel diameter becomes smaller, it may be stuck Or damage the surface of the tunnel; or, when the diameter of the tunnel becomes larger, the cleaning effect will be greatly reduced. [0004] 2. The cleaning method of the existing large-scale tunnel-attached marine organism cleaning robot is generally: the vehicle body moves to drive the self-rotating actu...

AI Technical Summary

Problems solved by technology

[0003]1. The executive device of the existing large-scale tunnel-attached sea organism cleaning robot is designed to imitate the diameter of the tunnel, which is not suitable for non-standard circular tunnels, and when the tunnel diameter When changing, for example: the tunnel diameter becomes smaller, jamming or damage to the tunnel surface may occur; or, when the tunnel diameter becomes larger, the cleaning effect will be greatly reduced

[0004]2. The cleaning method of the existing large-scale tunnel-attached marine organism cleaning robot is generally: the actuator moves the car body to drive the rotation to clean the tunnel, and the lifting platform moves up and down to adjust the actuator Relative to the tunnel, the entire robot has less degrees of freedom, and it is difficult to obtain the best cleaning effect when the car body deviates

[0005]3. The existing large-scale tunnel-attached sea organism cleaning robot lacks protection measures for the tunnel surface and the actuator itself, and there are certain safety hazards

[0006]4. In addition, there are still large-scale tunnel-attached sea organisms cleaning robots whose power and communication are transmitted by long umbilical cables. Wired power transmission costs are too high

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