An underwater steel structure surface working robot

Abstract

The invention relates to an underwater steel structure surface operation robot, which belongs to the technical field of robots. The operating robot includes a walking system, a control system, an imaging system, and an operating system mounted on the walking system; the imaging system is a reflective panoramic imaging system including a mirror and a camera: the mirror is supported by a bracket on the frame away from the surface of the steel structure. On one side, and the normal direction of the reflective surface points to the surface of the steel structure; the camera is fixed on the frame in a watertight manner to receive the image reflected by the reflector, and the received image is the side of the steel structure surface surrounding the robot The scene image of the area, the side area includes the current working area of ​​the robot. By setting the imaging system as a reflective panoramic imaging system, while effectively reducing the number of cameras, the operator can observe the working conditions in real time. It can be widely used in the fields of surface cleaning and flaw detection of steel structures such as offshore oil pipelines .

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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