Deviation correction device and correction method for a holding and climbing robot used for underwater inspection of circular piers

Abstract

The present invention discloses a correction device and correction method for a holding and climbing robot for underwater inspection of circular piers, which is used for automatic correction of the underwater holding and climbing robot; the correction device includes a body, a servo power system, a driven wheel, a passive correction module, a synchronous stretching and fixing system, and an inclination measurement module. The correction method includes a passive correction method and an active correction method, wherein the passive correction method uses a passive correction module to assist in correction through spring force when the frame deflects in the vertical direction; the active correction method analyzes the data provided by the inclination measurement module and adjusts the servo power system to accurately control the movement direction and angle of the robot underwater to ensure efficient and stable inspection operations. The correction method of the present invention combines passive physical mechanisms and active control strategies, and can perform accurate automatic correction in high-flow and turbid underwater environments, significantly improving the operational stability and adaptability of underwater robots in complex environments.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater inspection and maintenance robots, and in particular to a deviation correction device and a deviation correction method for a holding and climbing robot suitable for underwater inspection of circular piers. Background Art

[0002] Climbing robots are gaining popularity in the inspection and maintenance of underwater structures due to their ability to tightly embrace and navigate complex surfaces. These robots are particularly well-suited for structures like circular piers, enabling them to perform inspection tasks that are difficult to accomplish with conventional methods. However, due to the complexities of the underwater environment, such as fluctuating currents and irregular surfaces, deviation correction becomes a key challenge in ensuring efficient and accurate inspections.

[0003] Existing technologies for crawling robots rely on complex sensor systems and algorithms for active tracking. These systems continuously monitor the robot's posture and position and adjust the drive system to correct deviations from the intended trajectory. While effective, this active tracking approach typically requires extremely high sensor accuracy and algorithmic real-time processing capabilities, increasing system complexity and cost.

[0004] In addition, some technologies attempt to assist with deviation correction through physical mechanisms, such as using elastic elements to adaptively adjust the robot's gripping force. This passive deviation correction method can provide immediate response when the robot encounters unexpected deviations, but its adjustment range and accuracy are usually limited by the mechanical design. Summary of the Invention

[0005] In view of the above technical problems, the purpose of the present invention is to provide a correction method that can realize automatic correction of an underwater inspection crawling robot.

[0006] The technical solution of the present invention is:

[0007] A correction device for a robotic underwater inspection system for circular piers consists of a body, a synchronous tensioning and fixing system, a servo power system, a passive correction module, an inclination measurement module, and a driven wheel. The body is an octagonal frame constructed of carbon fiber tubes and is securely mounted on the outside of the circular pier. The servo power system includes four groups, which are evenly arranged along the upper end of the octagonal fuselage body, and are used to provide the power required for the robot to crawl and rotate on the circular pier; the driven wheels are four groups in total, which are evenly arranged along the lower end of the octagonal fuselage body and vertically aligned with the upper servo power system; the synchronous stretching and fixing system consists of an electric push rod and a tension sensor, which connects the servo power system with the driven wheel, and provides tension to make the servo power system and the driven wheel close to the circular pier of the bridge, thereby maintaining the robot's stable embrace and fixation of the circular pier; the passive correction module is installed on the synchronous stretching and fixing system and contacts the circular pier; the inclination measurement module consists of a sensor platform and a posture sensor, which is installed in the middle of the frame at the connection between the servo power system and the fuselage body, providing robot posture information, and the posture information is used for active correction control of the robot.

[0008] As a further improvement of the present invention, the servo power system includes a servo motor and a Mecanum wheel, the Mecanum wheel and the servo motor are connected by a coupling, and the four sets of Mecanum wheels include two left-handed Mecanum wheels and two right-handed Mecanum wheels; the driven wheels are Mecanum wheels, and the installation position is vertically aligned with the Mecanum wheels in the servo power system, and the rollers of the Mecanum wheels in the same vertical direction have the same inclination direction.

[0009] As a further improvement of the present invention, the passive correction module includes an inner torsion plate, an outer torsion plate, four bull's-eye wheels, four internal curved springs, and four straight springs. The outer torsion plate is fixed to the electric push rod of the synchronous tensioning and fixing system. The inner torsion plate is connected to the outer torsion plate, and the curved spring is installed therein. The four bull's-eye wheels are closely attached to the cylindrical surface of the circular pier. The four straight springs are installed between the bull's-eye wheels and the inner torsion plate. Correction is automatically activated when the frame deflects vertically.

[0010] As a further improvement of the present invention, when facing circular bridge piers of different diameters, the passive correction module can make the bull's eye wheel fit tightly against the bridge piers of different diameters through the elastic force generated by the deformation of the straight spring.

[0011] The present invention also provides a correction method for a climbing robot used for underwater inspection of circular piers, including a passive correction method and an active correction method. When the deflection angle of the robot is small, the passive correction method is adopted; when the deflection angle of the robot is large, the passive correction method is combined with the active correction method, and the passive correction method assists the active correction method in correction.

[0012] Furthermore, the passive correction method performs correction through a passive correction module. When the vertical deflection angle of the frame is small, the four bending springs between the inner torsion plate and the outer torsion plate are deformed. The elastic force generated by the deformation of the bending springs is used to achieve automatic correction at small angles.

[0013] Furthermore, the active correction method utilizes an inclination measurement module installed on the body of the robot to monitor the robot's posture and direction in real time; calculates necessary motor adjustment instructions based on data from four posture sensors; and adjusts the speed of the four motors of the servo power system to accurately control the robot's movement direction and posture; wherein the motor is used in combination with a Mecanum wheel to achieve all-round motion adjustment.

[0014] Furthermore, the active correction method, when the fuselage body produces a large vertical deflection angle, processes the attitude sensor data through a predetermined algorithm to determine the posture of the four servo power systems at this time, so that the motor speed of the high-position servo power system is reduced and the motor speed of the low-position servo power system is increased, thereby achieving active correction.

[0015] Beneficial effects of the present invention:

[0016] The correction device and correction method of the underwater inspection robot for circular piers of the present invention enable the underwater inspection robot to perform accurate automatic correction in a high-flow-rate and turbid underwater environment, significantly improving the operational stability and adaptability of the underwater robot in complex environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the deviation correction device of the present invention installed on an underwater inspection and climbing robot;

[0018] Figure 2 This is a schematic diagram of the deviation correction device of the present invention installed on an underwater inspection and climbing robot operating on an underwater circular pier;

[0019] Figure 3 This is a side view of the deviation correction device of the present invention installed on an underwater inspection and climbing robot;

[0020] Figure 4 This is a top view of the deviation-correcting device of the present invention installed on an underwater inspection and climbing robot;

[0021] Figure 5 This is an exploded view of the passive deviation correction module of the underwater inspection and climbing robot deviation correction device of the present invention;

[0022] Figure 6 This is a schematic diagram of the passive correction module of the correction device for the underwater inspection and climbing robot of the present invention;

[0023] Figure 7 This is a schematic diagram of the inclination measurement module of the underwater inspection and climbing robot correction device of the present invention;

[0024] Figure 8 This is a schematic diagram of the deflection of an underwater inspection and climbing robot according to a specific embodiment of the present invention;

[0025] In the figure: 1. Airframe; 2. Passive correction module; 21. Inner torsion plate; 22. Outer torsion plate; 23. Bending spring; 24. Straight spring; 25. Bull's eye wheel; 3. Servo power system; 4. Inclination measurement module; 41. Attitude sensor; 42. Sensor platform; 5. Synchronous stretching and fixing system; 6. Driven wheel; 7. Circular pier. DETAILED DESCRIPTION

[0026] The present invention will be further described below with reference to the accompanying drawings.

[0027] like Figures 1 to 7 As shown, the present invention provides a correction device and correction method for a holding and climbing robot for underwater inspection of circular piers, comprising a body 1, a passive correction module 2, a servo power system 3, an inclination measurement module 4, a synchronous stretching and fixing system 5, and a driven wheel 6. The body 1 is an octagonal frame constructed of carbon fiber tubes and is fastened to the outside of the circular pier. The servo power system 3 includes four groups, which are evenly arranged along the upper end of the octagonal fuselage body 1, and are used to provide the power required for the robot to crawl and rotate on the circular pier; the driven wheels 6 are four groups in total, which are evenly arranged along the lower end of the octagonal fuselage body 1 and are vertically aligned with the upper end servo power system 3; the synchronous stretching and fixing system 5 is composed of an electric push rod and a tension sensor, which connects the servo power system 3 with the driven wheel 6, and provides tension to make the servo power system 3 and the driven wheel 6 close to the circular pier, thereby maintaining the robot's stable embrace and fixation of the circular pier; the passive correction module 2 is installed on the synchronous stretching and fixing system 5 and is in contact with the pier; the inclination measurement module 4 is composed of a sensor platform 42 and a posture sensor 41, and is installed in the middle of the frame at the connection between the servo power system 3 and the fuselage body 1 to provide robot posture information, which is used for active correction control of the robot.

[0028] In this embodiment, the servo power system 3 includes a servo motor and a Mecanum wheel. The Mecanum wheel and the servo motor are connected by a coupling. The four sets of Mecanum wheels include two left-handed Mecanum wheels and two right-handed Mecanum wheels. The driven wheel 6 is a Mecanum wheel, and its installation position is vertically aligned with the Mecanum wheels in the servo power system 3. The rollers of the Mecanum wheels in the same vertical direction have the same inclination direction.

[0029] In this embodiment, the passive correction module 2 includes an inner torsion plate 21, an outer torsion plate 22, four internal curved springs 23, four straight springs 23, and four bull's eye wheels 25. The outer torsion plate 22 is fixed to the electric push rod of the synchronous tensioning and fixing system 5. The inner torsion plate 21 is connected to the outer torsion plate 22, and the curved spring 23 is installed therein. The four bull's eye wheels 25 are closely attached to the cylindrical surface of the circular pier. Four straight springs 24 are installed between the bull's eye wheels 25 and the inner torsion plate 21. When the frame deflects vertically, correction is automatically activated.

[0030] In this embodiment, when the body 1 deflects along the Z axis toward the negative direction of the X axis, the four bending springs in the passive correction module deform. The deformation of the springs is as follows: Figure 6 As shown, the bending springs 231 and 233 are in tension deformation, generating elastic forces F_1 and F_3 respectively; the bending springs 232 and 234 are in contraction deformation, generating elastic forces F_2 and F_4 respectively. This enables automatic deviation correction at small angles.

[0031] In this example, when facing circular bridge piers of different diameters, the elastic force generated by the deformation of the straight spring 23 allows the bull's eye wheel 25 to fit tightly against the bridge piers of different diameters.

[0032] An active deviation correction method for a robot capable of underwater inspection of circular piers utilizes an inclination measurement module 4 mounted on the robot body to monitor the robot's posture and orientation in real time. The method calculates necessary motor adjustment instructions based on data from four posture sensors 41. The rotational speeds of the four motors in the servo power system 3 are adjusted to precisely control the robot's direction and posture. The motors are combined with Mecanum wheels to achieve omnidirectional motion adjustment.

[0033] The active correction method, when the fuselage body 1 produces Figure 8 During the deflection shown, the servo power system 31 is in a low position and the servo power system 32 is in a high position. An instruction to adjust the motor speed is sent through a predetermined algorithm, so that the motor speed of the servo power system 31 increases and the motor speed of the servo power system 32 decreases, thereby realizing active correction.

[0034] The technical means disclosed in the solutions of the present invention are not limited to those disclosed in the above-mentioned embodiments, but also include technical solutions composed of any combination of the above-mentioned technical features. It should be noted that those skilled in the art may make various improvements and modifications without departing from the principles of the present invention, and such improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A deviation-correcting device for a circular pier underwater inspection robot, characterized by: The robot comprises a body (1), a passive correction module (2), a servo power system (3), an inclination measurement module (4), a synchronous stretching and fixing system (5) and a driven wheel (6); the body (1) is an octagonal frame, constructed with carbon fiber tubes, and is used for fastening and sleeved outside the circular pier; the servo power system (3) comprises four servo motors and four sets of Mecanum wheels, the four sets of Mecanum wheels are connected to the corresponding four servo motors through couplings, and are evenly arranged along the upper end of the body (1) to provide the power required for the robot to crawl and rotate on the circular pier; the driven wheel (6) There are four groups in total, which are evenly arranged along the lower end of the fuselage body (1) and vertically aligned with the servo power system (3) at the upper end; the synchronous stretching and fixing system (5) is composed of an electric push rod and a tension sensor, which connects the servo power system (3) and the driven wheel (6), and provides tension to make the servo power system (3) and the driven wheel (6) close to the circular pier, thereby maintaining the robot's stable embrace and fixation of the circular pier; the passive correction module (2) is installed on the synchronous stretching and fixing system (5) and contacts the circular pier; the inclination measurement module (4) is composed of a posture sensor (41) and a sensor platform (42), which is installed The passive correction module (2) is installed in the middle of the frame at the connection between the servo power system (3) and the fuselage body (1), providing the robot posture information, which is used for the active correction control of the robot; the driven wheel (6) is a Mecanum wheel, and the installation position is vertically aligned with the four sets of Mecanum wheels in the servo power system (3), and the rollers of the Mecanum wheels in the same vertical direction have the same tilt direction; the passive correction module (2) includes: an inner torsion disc (21), an outer torsion disc (22), four inner bending springs (23), four straight springs (24) and four bull's eye wheels (25); the outer torsion disc (22) is fixed to the synchronous stretching fixing system On the electric push rod of (5), the inner torsion disc (21) is connected to the outer torsion disc (22), and the bending spring (23) is installed between the two. The four bull's eye wheels (25) are closely attached to the cylindrical surface of the circular pier column. The four straight springs (24) are installed between the bull's eye wheels (25) and the inner torsion disc (21). When the frame deflects in the vertical direction, the correction is automatically started; when facing circular pier columns of different diameters, the passive correction module (2) causes the bull's eye wheels (25) to be closely attached to the bridge pier columns of different diameters through the elastic force generated by the deformation of the straight springs (24); the passive correction module (2) realizes automatic correction when the vertical deflection is small.

2. A method for correcting the deviation of a circular pier column underwater inspection robot, using the device as claimed in claim 1, characterized in that: It includes passive correction method and active correction method. When the deflection angle of the robot is small, the passive correction method is adopted; when the deflection angle of the robot is large, the passive correction method is combined with the active correction method, and the passive correction method assists the active correction method in correction.

3. The deviation correction method for a circular pier underwater inspection robot according to claim 2, characterized in that: The passive correction method performs correction through a passive correction module (2). When the vertical deflection angle of the fuselage body (1) is small, four bending springs (23) between the inner torsion plate (21) and the outer torsion plate (22) are deformed. The elastic force generated by the deformation of the bending springs (23) is used to achieve automatic correction at a small angle.

4. The deviation correction method for a circular pier underwater inspection robot according to claim 3, characterized in that: The active deviation correction method utilizes an inclination measurement module (4) mounted on the body of the robot to monitor the posture and direction of the robot in real time; calculates necessary motor adjustment instructions based on data from four posture sensors (41); adjusts the rotational speeds of four servo motors of the servo power system (3) to precisely control the movement direction and posture of the robot; wherein the servo motors are used in combination with Mecanum wheels to achieve all-round movement adjustment.

5. The deviation correction method for a circular pier underwater inspection robot according to claim 4, characterized in that: When the fuselage body (1) produces a large vertical deflection angle, the attitude sensor (41) data is processed through a predetermined algorithm to determine the posture of the four servo power systems (3) at this time, so that the motor speed of the high-position servo power system (3) is reduced and the motor speed of the low-position servo power system (3) is increased, thereby achieving active deviation correction.

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