Underwater steel structure surface operation robot

Abstract

The invention relates to an underwater steel structure surface operation robot and belongs to the technical field of robots. The operation robot comprises a walking system, a control system, an imaging system and an operation system, wherein the control system, the imaging system and the operation system are carried on the walking system. The imaging system is a reflective panoramic imaging systemcomprising a reflector and a camera. The reflector is supported on the side, opposite to a steel structure surface, of a rack through a support, and the normal direction of a reflective face points to the steel structure surface. The camera is fixedly arranged on the rack in a watertight mode and used for receiving images reflected by the reflector, the received images are scene images of a boundary side region, surrounding the operation robot, of the steel structure surface, and the boundary side region comprises a current operation region of the operation robot. Due to the fact that the imaging system is arranged to be the reflective panoramic imaging system, the camera number is effectively reduced, meanwhile, the working condition of an operation scene can be observed by operation staff in real time, and the operation robot can be widely applied to the fields such as washing and flaw detection of the steel structure surface of an ocean petroleum pipeline and the like.

Description

technical field [0001] The invention relates to an underwater operation robot, in particular to an underwater steel structure surface operation robot. Background technique [0002] With the rise of the marine economy, the workload of underwater operations will become more and more complex and heavy. Underwater platforms such as the bottom of ships and offshore drilling platform pipelines are prone to marine organisms, which usually require regular cleaning by divers. Although humans can make independent judgments on the cleaning objects and cleaning effects, it is difficult to guarantee the personal safety of divers and the working hours are affected by sea conditions. problems such as large size and low work efficiency. [0003] Faced with the above problems, many research institutions have designed a wall-climbing mobile platform for cleaning marine organisms on the bottom of the ship. The negative pressure generated by the rotation of the brush plate makes the entire mob...

AI Technical Summary

Problems solved by technology

Due to the limitation of the angle of view of the front and rear cameras, it is difficult for the operator to directly observe the real-time cleaning status of the cleaning mechanism. Obstacles on the cleaning side for observation

[0005] In addition, it is difficult for the operator to determine the relative position of the robot on the steel structure based on the images captured by the front and rear cameras, which makes it difficult for the operator to know the progress of the robot's work and make reasonable planning for the subsequent cleaning path

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