Scouring repair and detection composite function robot for flow-state solidified soil
The attitude controller calculates the anti-symmetric matrix to offset the disturbed torque of the underwater robot, and solves the attitude deviation problem caused by water flow and spraying torque, and realizes the stability and accuracy of the pouring process of fluid-cured soil.
CN120482311APending Publication Date: 2025-08-15GUANGZHOU CITY POLYTECHNIC
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Patent Information
- Application Number
- CN202510735602.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-06-04
- Publication Date
- 2025-08-15
AI Technical Summary
Technical Problem
Existing underwater robots are easily disturbed by water flow and spraying torque in pouring fluid solidified soil, resulting in severe deviations in attitude angles and swaying, and it is difficult for feedback closed-loop control systems to effectively correct them.
Method used
The attitude controller is used to calculate the anti-symmetric matrix by combining the water torque and the spray torque, and the reverse torque is outputted by the underwater thruster to offset the interference torque, maintaining the stability of the robot's attitude.
Benefits of technology
It effectively prevents the robot's attitude imbalance caused by water flow and spraying torque, ensuring the stability and accuracy of the casting process.
✦ Generated by Eureka AI based on patent content.
Abstract
The invention relates to the technical field of underwater construction, in particular to a scouring repair and detection composite function robot for flow-state solidified soil, which comprises a cabin body, an underwater propelling device, a control device and a pouring device. The control device is provided with an attitude controller, the attitude controller is used for determining an attitude control signal according to the hydrodynamic torque and the guniting torque, and the attitude control signal is used for driving the underwater propelling device. According to the method, the hydrodynamic torque and the guniting torque are input to the attitude controller, the attitude controller calculates the total disturbance torque, then the antisymmetric matrix is calculated according to the disturbance torque, and the control parameters are output according to the antisymmetric matrix to adjust the propelling torque of the underwater propeller. The control parameters are calculated through the attitude controller according to the disturbance torque, so that the underwater propeller outputs the reverse propelling torque, the disturbance torque is counteracted to realize constant angular momentum, and attitude imbalance caused by interference of the robot during operation is prevented.
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