Underwater negative pressure type crawling pile foundation robot and cutting control method thereof

Abstract

The application relates to the technical field of bridge pile foundation dismantling, and provides an underwater negative pressure type crawling pile foundation robot and a cutting control method thereof, the method comprises the following steps: acquiring initial position coordinate information of a cutting saw in the robot and target cutting point position information, and generating a preset cutting path based on a cutting path algorithm; acquiring position information and angle information of the cutting saw, and calculating a position offset amount of the cutting saw based on a cylindrical surface motion model algorithm; and based on the position offset amount, the cutting saw is controlled to cut the pile foundation. The technical problem that the prior art has high danger and low work efficiency in dependence on manual diving operation, and cutting position, angle and depth cannot be accurately controlled, thereby seriously affecting cutting quality, is solved.

Description

Technical Field

[0001] This invention relates to the field of bridge pile foundation demolition technology, and in particular to an underwater negative pressure crawling pile foundation robot and its cutting control method. Background Technology

[0002] With the development of marine resources, the construction of cross-sea bridges, and the aging of port facilities, the demand for underwater pile foundation cutting has surged.

[0003] Traditional underwater pile foundation cutting relies primarily on divers carrying cutting equipment. Divers face numerous life-threatening risks, including high pressure, low temperature, poor visibility, water current impact, entanglement, tool injuries, and decompression sickness. Due to physiological limitations (decompression requirements), divers have limited effective working time and low efficiency. Furthermore, divers struggle to precisely control the cutting position, angle, and depth underwater. Buoyancy, water current impact, and water pressure all interfere with the cutting operation. For example, in fast-flowing water, maintaining stability for both the cutting equipment and the operator is difficult, severely impacting the cutting quality. Summary of the Invention

[0004] This invention provides an underwater negative pressure crawling pile foundation robot and its cutting control method, which solves the defects of existing technologies that rely on manual diving operations, which are highly dangerous, have low work efficiency, and are difficult to accurately control the cutting position, angle and depth, thus seriously affecting the cutting quality.

[0005] This invention provides a cutting control method for an underwater negative pressure crawling pile foundation robot, comprising:

[0006] Obtain the initial position coordinates and target cutting point position information of the cutting saw in the robot, and generate a preset cutting path based on the cutting path algorithm;

[0007] The position and angle information of the cutting saw are obtained, and the position offset of the cutting saw is calculated based on the cylindrical motion model algorithm; the position offset is used to determine whether the cutting saw cuts according to the preset cutting path;

[0008] Based on the position offset, the cutting saw is controlled to cut the pile foundation.

[0009] According to the cutting control method provided by the present invention, the algorithm for the cylindrical motion model is as follows:

[0010]

[0011] In equations (1) and (2), ΔZ is the axial displacement, Δθ is the circumferential displacement, and ΔS is the distance traveled. R is the pitch angle, and R is the pile radius.

[0012] According to the cutting control method provided by the present invention, the position offset includes the axial displacement offset and the circumferential displacement offset of the cutting saw; when the absolute value of the axial displacement offset is greater than a first preset value or the absolute value of the circumferential displacement offset is greater than a second preset value within a first preset time, the cutting saw is controlled to stop cutting.

[0013] The incremental PID control algorithm is used to calculate the regression path, and the cutting saw is controlled to return to the preset cutting path according to the regression path.

[0014] If the detection identifies a sudden drop in the current of the cutting saw motor within a second preset time period that is greater than a third preset value, then the cutting saw is controlled to stop cutting.

[0015] According to the cutting control method provided by the present invention, the incremental PID control algorithm is as follows:

[0016]

[0017] In equations (3) to (4), ΔZ corr This is the axial correction displacement; Δθ corr e is the circumferential correction angle. z This refers to the axial position deviation, which can be understood as the deviation between the preset path and the actual position; e θ The circumferential angle deviation can be understood as the deviation between the preset path and the actual angle; K p K is the proportional gain, used for response speed adjustment. i K is the integral gain, used to eliminate steady-state error; d This is the differential gain, used to suppress overshoot.

[0018] According to the cutting control method provided by the present invention, the adsorption mass of the robot on the pile foundation is determined by an adsorption mass assessment algorithm, wherein the adsorption mass assessment algorithm is as follows:

[0019]

[0020] In equation (5), Q is the adsorption mass coefficient, N is the number of suction cups, and P is the adsorption mass coefficient. i Let P be the pressure value of the i-th suction cup. th The set pressure threshold is I(·), which is an indicator function. It takes the value 1 if the condition in parentheses is met, and 0 otherwise.

[0021] According to the cutting control method provided by the present invention, when the adsorption mass coefficient is greater than a first threshold, the moving distance is less than a second threshold, or the attitude angle change rate is less than a third threshold, the adaptive zero-velocity correction algorithm is performed, wherein the adaptive zero-velocity correction algorithm is as follows:

[0022] Vz =0, V θ =0

[0023] Among them, V z V is the axial linear velocity. θ It represents the circumferential angular velocity.

[0024] The present invention also provides an underwater negative pressure crawling pile foundation robot for implementing any of the above-mentioned cutting control methods. The underwater negative pressure crawling pile foundation robot includes: a cutting device, a negative pressure crawling device, and a control system; the cutting device and the negative pressure crawling device are fixedly connected; the cutting device and the negative pressure crawling device are both communicatively connected to the control system.

[0025] The control system includes: an information acquisition module, used to acquire the initial position coordinate information and target cutting point position information of the cutting saw in the robot, and also used to acquire the position information and angle information of the cutting saw;

[0026] The data processing module is used to generate a preset cutting path based on the cutting path algorithm, and also to calculate the position offset of the cutting saw based on the cylindrical motion model algorithm; the position offset is used to determine whether the cutting saw cuts according to the preset cutting path.

[0027] The device control module is used to control the cutting saw to cut the pile foundation.

[0028] The underwater negative pressure crawling pile foundation robot provided by the present invention further includes a positioning system, which includes a high-precision encoder, a nine-axis IMU module, and a joint angle sensor; the high-precision encoder is mounted on the negative pressure crawling device; the joint angle sensor is mounted on the cutting device; the nine-axis IMU module is mounted on the negative pressure crawling device; the high-precision encoder, the nine-axis IMU module, and the joint angle sensor are all communicatively connected to the information acquisition module.

[0029] According to the underwater negative pressure crawling pile foundation robot provided by the present invention, the cutting device includes: a cutting body, the cutting body being fixedly connected to the negative pressure crawling device; a robotic arm being rotatably connected to one end of the cutting body away from the negative pressure crawling device, the robotic arm being communicatively connected to the control system; and joint angle sensors being installed on each joint of the robotic arm.

[0030] The clamps are provided in several parts, and the clamps are detachably connected to the cutting body and communicatively connected to the control system.

[0031] A cutting saw, which is rotatably connected to the robotic arm.

[0032] The underwater negative pressure crawling pile foundation robot provided by the present invention includes a negative pressure crawling device comprising:

[0033] A crawling motherboard is equipped with a vacuum pump, a power supply, a first motor, and multiple suction cups spaced apart; the nine-axis IMU module is mounted on the crawling motherboard.

[0034] The crawling track has two tracks, which are symmetrically arranged at both ends of the crawling main board.

[0035] The first motor is electrically connected to the power supply; the first motor is communicatively connected to the control system; the vacuum pump and the crawler track are both electrically connected to the first motor; the vacuum pump and multiple suction cups are fixedly connected through multiple vacuum pipes.

[0036] This application provides an underwater negative pressure crawling pile foundation robot and its cutting control method. By using an underwater negative pressure crawling pile foundation cutting robot to replace manual operation, the safety hazards of underwater operation for operators are eliminated and the construction efficiency is improved. At the same time, this application can automatically generate a preset cutting path based on the cutting path algorithm and can monitor the displacement and angle of the cutting saw in real time, so that it can perform precise operation according to the predetermined cutting path, effectively ensuring the cutting quality of the robot. Attached Figure Description

[0037] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0038] Figure 1 This is a flowchart illustrating the cutting control method provided by the present invention;

[0039] Figure 2 This is a schematic diagram of the underwater negative pressure crawling pile foundation cutting robot provided by the present invention;

[0040] Figure 3 This is a schematic diagram of the fixture provided by the present invention;

[0041] Figure 4 This is a schematic diagram showing the connection relationship between the cutting saw and the robotic arm provided by the present invention;

[0042] Figure 5 This is a schematic diagram of the negative pressure crawling device provided by the present invention;

[0043] Figure 6 This is a schematic diagram of the crawling track provided by the present invention.

[0044] Explanation of reference numerals in the attached drawings: 1: crawler track; 2: vacuum pipe; 3: vacuum pump; 4: first motor; 5: channel steel; 6: clamp; 7: robotic arm; 8: cutting saw; 9: cutting body; 10: suction cup; 11: second motor; 12: crawler mainboard. Detailed Implementation

[0045] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0046] Figure 1 This is a flowchart illustrating the cutting control method provided in an embodiment of the present invention.

[0047] like Figure 1 As shown, this embodiment provides a cutting control method for an underwater negative pressure crawling pile foundation robot, including:

[0048] Step 101: Obtain the initial position coordinates and target cutting point position information of the cutting saw 8 in the robot, and generate a preset cutting path based on the cutting path algorithm;

[0049] Step 102: Obtain the position and angle information of the cutting saw 8, and calculate the position offset of the cutting saw 8 based on the cylindrical motion model algorithm;

[0050] Step 103: Based on the position offset, control the cutting saw 8 to cut the pile foundation.

[0051] In this embodiment, the position offset is used to determine whether the cutting saw 8 is cutting according to the preset cutting path.

[0052] During implementation, the control system acquires the target cutting point coordinates input by the operator, and simultaneously acquires the initial position coordinates (Z) of the cutting saw 8. start θ start Given the current position coordinates (Z, θ) and the current position coordinates (Z, θ), a preset cutting path is generated based on the cutting path algorithm. The cutting path algorithm in this embodiment is:

[0053] θ path =θ start +k·(ZZ start (6)

[0054] In equation (6), θ path Let θ be the circumferential angle of the target path point. startZ is the circumferential angle of the starting point, and Z is the current axial height. start is the axial height of the starting point, and k is the path slope parameter;

[0055]

[0056] In equation (7), Z ref The water surface reference height is ρ, calibrated by GPS; ρ is the water density; g is the acceleration due to gravity; h is the pressure sensor reading in MPa; γ is the sensor sensitivity in Pa / m; ΔZ cal To calibrate the offset.

[0057] This embodiment provides a cutting control method for an underwater negative pressure crawling pile foundation robot. By using an underwater negative pressure crawling pile foundation cutting robot to replace manual operation, the safety hazards of underwater operation for operators are eliminated, and construction efficiency is improved. At the same time, this application can automatically generate a preset cutting path based on a cutting path algorithm, and can monitor the displacement and angle of the cutting saw 8 in real time, so that it can perform precise operation according to the predetermined cutting path, effectively ensuring the cutting quality of the robot.

[0058] In the exemplary embodiment, the algorithm for the cylindrical motion model is as follows:

[0059]

[0060] In equations (1) to (2), ΔZ is the axial displacement offset in meters; Δθ is the circumferential displacement offset in rads; and ΔS is the distance traveled in meters. R is the pitch angle, in rad; R is the pile radius, in m.

[0061] The cylindrical motion model algorithm in this embodiment fully considers the cylindrical structural characteristics of the pile foundation and the motion law of the robot on the pile foundation, and can obtain the positional changes of the robot cutting saw 8 in three-dimensional space in real time. At the same time, the cylindrical motion model algorithm of this application reduces the amount of calculation by more than 60% compared with the existing model which uses three-dimensional positioning coordinates for calculation by adopting two-dimensional cylindrical coordinates.

[0062] In the exemplary embodiment, the position offset includes the axial displacement offset and the circumferential displacement offset of the cutting saw 8; when the axial displacement offset is greater than a first preset value or the circumferential displacement offset is greater than a second preset value within a first preset time, the cutting saw 8 is controlled to stop cutting; in this embodiment, when the absolute value of the axial displacement offset |ΔZ| is greater than 2cm or the absolute value of the circumferential displacement offset |Δθ| is greater than 1° for 3 seconds during the cutting operation, the control system will trigger a safety protection mechanism to temporarily stop the cutting saw 8 from running.

[0063] The incremental PID control algorithm is used to calculate the regression path, and the cutting saw 8 is controlled to return to the preset cutting path according to the regression path.

[0064] If the detection identifies that the sudden drop in the motor current of the cutting saw 8 within a second preset time period is greater than a third preset value, then the cutting saw 8 will be controlled to stop cutting.

[0065] In this embodiment, when the current amplitude of the cutting saw 8 motor shows a continuous sudden drop within a 0.5s time window, and the drop exceeds 15% of the rated operating current, it is determined that the cutting saw 8 has completed the penetration cutting of the pile foundation. At this time, the control system will issue a stop command to terminate the cutting operation of the cutting saw 8.

[0066] In an exemplary embodiment, the incremental PID control algorithm is as follows:

[0067]

[0068] In equations (3) to (4), ΔZ corr This is the axial correction displacement; Δθ corr e is the circumferential correction angle. z This refers to the axial position deviation, which can be understood as the deviation between the preset path and the actual position; e θ The circumferential angle deviation can be understood as the deviation between the preset path and the actual angle; K p K is the proportional gain, used for response speed adjustment. i K is the integral gain, used to eliminate steady-state error; d This is the differential gain, used to suppress overshoot.

[0069] In the exemplary embodiment, the adsorption mass of the robot on the pile foundation is determined by an adsorption mass assessment algorithm. The adsorption mass assessment algorithm is as follows:

[0070]

[0071] In equation (5), Q is the adsorption mass coefficient, N is the number of suction cups, and P is the adsorption mass coefficient. i Let P be the pressure value of the i-th suction cup. th The set pressure threshold is defined by I(·), which is an indicator function. I(·) is 1 if the condition within the parentheses is met, and 0 otherwise. In practice, the pressure threshold is preferably between -45 kPa and -55 kPa.

[0072] This embodiment uses an adsorption quality assessment algorithm to monitor the adsorption status of the suction cup 10 in the robot in real time. By collecting and analyzing the pressure of the suction cup 10 in real time, the adsorption stability between the robot and the pile foundation surface can be accurately determined. When the adsorption quality coefficient Q is greater than 0.1, it is determined to be an abnormal adsorption condition. At this time, the control system controls the vacuum pump 3 to increase the vacuum degree of the suction cup 10, while controlling the robotic arm 7 to retract to a safe position, and controlling the crawler track 1 through the first motor 4 to fine-tune the robot's posture to ensure the stability of the robot's cutting operation.

[0073] In the exemplary embodiment, when the adsorption mass coefficient is greater than a first threshold, the moving distance is less than a second threshold, or the attitude angle change rate is less than a third threshold, an adaptive zero-velocity correction algorithm is performed. The adaptive zero-velocity correction algorithm is as follows:

[0074] V z =0, V θ =0

[0075] Among them, V z V is the axial linear velocity. θ It represents the circumferential angular velocity.

[0076] In this embodiment, an adaptive zero-velocity correction algorithm is performed when the adsorption mass coefficient Q>0.9, the absolute value of the moving distance |ΔS|<0.001m, or the attitude angle change rate Δ<0.5° / s.

[0077] The rate of change of attitude angle Δ is calculated using the following formula:

[0078]

[0079] In equation (8), φ is the pitch angle. γ is the yaw angle, and γ is the roll angle.

[0080] In practical applications, the complex underwater environment makes a robot's motion susceptible to interference from various factors such as water flow and mechanical vibration, leading to accumulated errors in the positioning system and affecting positioning accuracy. The adaptive zero-velocity correction algorithm automatically adjusts the zero-velocity detection threshold and correction strategy based on the robot's actual motion state and environmental changes. When the robot is stationary or moving at low speed, this algorithm can accurately identify the zero-velocity moment and correct the positioning system's errors in real time, effectively eliminating accumulated errors and improving the robot's positioning accuracy and reliability during long-term operations.

[0081] The underwater negative pressure crawling pile foundation robot provided by the present invention will be described below. The underwater negative pressure crawling pile foundation robot described below can be referred to in correspondence with the cutting control method described above.

[0082] Figure 2This is a schematic diagram of the underwater negative pressure crawling pile foundation cutting robot provided in an embodiment of the present invention.

[0083] like Figure 2 As shown, the underwater negative pressure crawling pile foundation robot provided in this embodiment is used to implement any of the above-mentioned cutting control methods, including: a cutting device, a negative pressure crawling device, and a control system; the cutting device and the negative pressure crawling device are fixedly connected; both the cutting device and the negative pressure crawling device are communicatively connected to the control system; in practice, the cutting device and the negative pressure crawling device can be welded together using channel steel 5; the exterior of both the cutting device and the negative pressure crawling device is coated with anti-corrosion metallic paint;

[0084] The control system includes: an information acquisition module, used to acquire the initial position coordinates and target cutting point position information of the cutting saw 8 in the robot, and also used to acquire the position and angle information of the cutting saw 8;

[0085] The data processing module is used to generate a preset cutting path based on the cutting path algorithm, and also to calculate the position offset of the cutting saw 8 based on the cylindrical motion model algorithm; the position offset is used to determine whether the cutting saw 8 cuts according to the preset cutting path.

[0086] The device control module is used to control the cutting saw 8 to cut the pile foundation.

[0087] In an exemplary embodiment, a positioning system is also included, which includes a high-precision encoder, a nine-axis IMU module, and a joint angle sensor;

[0088] A high-precision encoder is installed on the negative pressure crawling device; in practical applications, the high-precision encoder can be installed on the drive shaft of the crawling track 1 to measure the travel distance of the crawling track 1.

[0089] The nine-axis IMU module is installed on the negative pressure crawling device. In practical applications, the nine-axis IMU module integrates a three-axis accelerometer, a three-axis gyroscope, and a three-axis magnetometer to construct a complete spatial motion perception system, capable of calculating the robot's three-dimensional attitude angles (pitch angle φ, yaw angle) with high precision in real time. Roll angle γ);

[0090] The joint angle sensor is installed on the cutting device; in practical applications, the joint angle sensor can be installed at each joint of the robotic arm 7 in the cutting device to provide the relative position of the end of the robotic arm 7.

[0091] The positioning system may also include a high-precision sonar array (not shown in the figure), an underwater acoustic communication modem (not shown in the figure), and a waterproof junction box; the high-precision sonar array is installed at the front end of the cutting body 9, and the underwater acoustic communication modem is installed on the crawling motherboard 12; both the high-precision sonar array and the underwater acoustic communication modem are communicatively connected to the information acquisition module; in practice, the high-precision sonar array emits sound waves and receives the target reflection signal, and combines the sound wave propagation time difference and phase analysis algorithm to achieve three-dimensional spatial positioning; the underwater acoustic communication modem converts digital signals into sound wave signals for underwater transmission, and demodulates the received signals in reverse to achieve data interaction between underwater devices.

[0092] The high-precision encoder, nine-axis IMU module, and joint angle sensor are all communicatively connected to the information acquisition module. In practical applications, this invention can achieve centimeter-level positioning accuracy through multi-sensor data fusion.

[0093] In an exemplary embodiment, the cutting device includes: a cutting body 9, which is fixedly connected to a negative pressure crawling device; a robotic arm 7 is rotatably connected to one end of the cutting body 9 away from the negative pressure crawling device, and the robotic arm 7 is communicatively connected to a control system; joint angle sensors are installed on each joint of the robotic arm 7; in practical applications, the robotic arm 7 can be made of high-strength waterproof metal material to adapt to the underwater environment;

[0094] The clamp 6 is provided in several parts, and the clamp 6 is detachably connected to the cutting body 9 and communicates with the control system; in practical applications, the clamp 6 can be made of high-strength corrosion-resistant metal material.

[0095] The cutting saw 8 is rotatably connected to the robotic arm 7. In practical applications, the cutting saw 8 can be made of diamond cutting disc. In practice, the cutting saw 8 is integrated into the end effector position of the robotic arm 7 and is driven by a motor (not shown in the figure).

[0096] Figure 3 This is a schematic diagram of the fixture provided by the present invention.

[0097] like Figure 3 As shown, in this embodiment, the clamp 6 is provided in two sets, each set of clamp 6 consisting of two gripping arms. In practice, the clamp 6 can be driven by the second motor 11, and the clamping force of the clamp 6 can be dynamically adjusted by the embedded pressure sensor (not shown in the figure) and displacement sensor (not shown in the figure) combined with the PID closed-loop control algorithm to hug pile foundations of different sizes.

[0098] Figure 4 This is a schematic diagram showing the connection relationship between the cutting saw and the robotic arm provided by the present invention.

[0099] like Figure 4As shown, in this embodiment, the robotic arm 7 is integrated into the bottom of the cutting body 9 and serves as the core positioning component of the cutting saw 8. It adopts a crank-type joint structure design and works in coordination with the telescopic mechanism driven by the electric push rod / hydraulic cylinder and the rotary joint controlled by the servo motor to achieve precise movement in three-dimensional space, ensuring that the cutting saw 8 can accurately reach the cutting position.

[0100] Figure 5 This is a schematic diagram of the negative pressure crawling device provided by the present invention.

[0101] Figure 6 This is a schematic diagram of the crawling track provided by the present invention.

[0102] like Figure 5 As shown, the negative pressure crawling device includes: a crawling main board 12, on which a vacuum pump 3, a power supply, a first motor 4 are installed, and multiple suction cups 10 are also spaced apart; a nine-axis IMU module is installed on the crawling main board 12; in practical applications, the suction cups 10 can be made of corrosion-resistant rubber material.

[0103] The crawler track 1 has two tracks, which are symmetrically arranged at both ends of the crawler main board 12. In practical applications, the crawler track 1 can be made of corrosion-resistant and wear-resistant rubber material.

[0104] The first motor 4 is electrically connected to the power supply; the first motor 4 is communicatively connected to the control system; the vacuum pump 3 and the crawler track 1 are both electrically connected to the first motor 4; the vacuum pump 3 and multiple suction cups 10 are fixedly connected through multiple vacuum pipes 2.

[0105] In practice, the power supply can use a lithium battery pack as its energy source. To ensure safe use in underwater environments, a waterproof casing can be added. Furthermore, the power supply can be equipped with a fast-charging interface and an intelligent charging management system, enabling rapid charging of the lithium battery pack and effectively protecting battery life.

[0106] like Figure 5-6 As shown, in this embodiment, there are four suction cups 10, which are connected to a vacuum pump 3 via vacuum pipes 2. In practice, the vacuum pump 3 generates negative pressure through a first motor 4, and transmits the negative pressure to each suction cup 10 through multiple vacuum pipes 2 to ensure that the robot can stably attach to the surface of the pile foundation.

[0107] The specific implementation method of the underwater negative pressure crawling pile foundation robot provided in this embodiment can be implemented with reference to the above embodiment, and will not be repeated here.

[0108] This specification also provides a method for constructing pile foundations using an underwater negative pressure crawling pile foundation robot, which may include:

[0109] S1. Pile lifting: Use a crane to lift the upper part of the pile foundation to be demolished;

[0110] S2. Equipment inspection to ensure the robot is in good working order;

[0111] S3. Equipment positioning: Transport the robot to the work site and ensure that the robot is safely deployed near the underwater work point; start the positioning system, use clamp 6 to measure the pile diameter and calculate the radius parameter R, and use the high-precision sonar array at the front end of the main body 9 to scan the reference point to obtain the robot's starting coordinates;

[0112] S4. Equipment attachment: The vacuum pump 3 controls multiple suction cups 10 to generate negative pressure, ensuring that all suction cups 10 are evenly stressed, so that the robot is firmly attached to the pile foundation; the second motor 11 adjusts the clamping force of the clamp 6 to ensure that the clamp 6 grips the pile foundation tightly.

[0113] S5. Cutting preparation: The operator inputs the target cutting point coordinates and obtains the initial position coordinates (Z) through the positioning system. start θ start Given the current position coordinates (Z, θ) and the current position coordinates (Z, θ), a preset cutting path is generated based on the cutting path algorithm.

[0114] S6. Cutting operation: The cutting saw 8 is controlled by the control system to cut the pile foundation according to the preset cutting path.

[0115] S7. Retrieval Operation: After the pile foundation cutting is completed, use a crane to retrieve the cut pile foundation and the robot together.

[0116] In an exemplary embodiment, an electronic device is also included, which may include a processor, a communications interface, a memory, and a communication bus, wherein the processor, the communications interface, and the memory communicate with each other via the communication bus. The processor can invoke logical instructions in the memory to execute a cutting control method for an underwater negative pressure crawling pile foundation robot, the method including:

[0117] Obtain the initial position coordinates and target cutting point position information of the cutting saw 8 in the robot, and generate a preset cutting path based on the cutting path algorithm;

[0118] The position and angle information of the cutting saw 8 are obtained, and the position offset of the cutting saw 8 is calculated based on the cylindrical motion model algorithm. The position offset is used to determine whether the cutting saw 8 cuts according to the preset cutting path.

[0119] Control the cutting saw 8 to cut the pile foundation.

[0120] Furthermore, the logical instructions in the aforementioned memory can be implemented as software functional units and sold or used as independent products, and can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0121] On the other hand, the present invention also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer is able to execute the cutting control method provided by the above methods, the method including:

[0122] Obtain the initial position coordinates and target cutting point position information of the cutting saw 8 in the robot, and generate a preset cutting path based on the cutting path algorithm;

[0123] The position and angle information of the cutting saw 8 are obtained, and the position offset of the cutting saw 8 is calculated based on the cylindrical motion model algorithm. The position offset is used to determine whether the cutting saw 8 cuts according to the preset cutting path.

[0124] Control the cutting saw 8 to cut the pile foundation.

[0125] In another aspect, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to perform the cutting control methods provided by the above methods, the method comprising:

[0126] Obtain the initial position coordinates and target cutting point position information of the cutting saw 8 in the robot, and generate a preset cutting path based on the cutting path algorithm;

[0127] The position and angle information of the cutting saw 8 are obtained, and the position offset of the cutting saw 8 is calculated based on the cylindrical motion model algorithm. The position offset is used to determine whether the cutting saw 8 cuts according to the preset cutting path.

[0128] Control the cutting saw 8 to cut the pile foundation.

[0129] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0130] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., including several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods of various embodiments or some parts of embodiments.

[0131] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A cutting control method for an underwater negative pressure crawling pile foundation robot, characterized in that, include: Obtain the initial position coordinates and target cutting point position information of the cutting saw in the robot, and generate a preset cutting path based on the cutting path algorithm; The position and angle information of the cutting saw are obtained, and the position offset of the cutting saw is calculated based on the cylindrical motion model algorithm; the position offset is used to determine whether the cutting saw cuts according to the preset cutting path; The position offset includes the axial displacement offset and the circumferential displacement offset of the cutting saw; when the absolute value of the axial displacement offset is greater than a first preset value or the absolute value of the circumferential displacement offset is greater than a second preset value within a first preset time, the cutting saw is controlled to stop cutting. The incremental PID control algorithm is used to calculate the regression path, and the cutting saw is controlled to return to the preset cutting path according to the regression path. If the sudden drop in the current of the cutting saw motor within a second preset time period is detected to be greater than a third preset value, the cutting saw will be controlled to stop cutting. The incremental PID control algorithm is as follows: (3)； (4)； In equations (3) to (4), This is the axial correction displacement. This is the circumferential correction angle measurement; This refers to the axial position deviation, which can be understood as the deviation between the preset path and the actual position. The circumferential angle deviation can be understood as the deviation between the preset path and the actual angle. This is the proportional gain, used for response speed adjustment; This is the integral gain, used to eliminate steady-state error; This is the differential gain, used to suppress overshoot; Based on the position offset, the cutting saw is controlled to cut the pile foundation.

2. The cutting control method according to claim 1, characterized in that, The algorithm for the cylindrical motion model is as follows: (1)； (2)； In equations (1) to (2), This is the axial displacement offset. This represents the circumferential displacement. For the distance traveled, The pitch angle, R Where is the radius of the pile foundation.

3. The cutting control method according to claim 2, characterized in that, The adsorption mass of the robot on the pile foundation is determined by an adsorption mass assessment algorithm, which is as follows: (5)； In equation (5), The adsorption mass coefficient is... Number of suction cups For the first The pressure value of each suction cup. For the set pressure threshold, This is an indicator function; it takes the value 1 if the condition within the parentheses is met, and 0 otherwise.

4. The cutting control method according to claim 3, characterized in that, When the adsorption mass coefficient is greater than a first threshold, the moving distance is less than a second threshold, or the attitude angle change rate is less than a third threshold, an adaptive zero-velocity correction algorithm is performed. The adaptive zero-velocity correction algorithm is as follows: ； in, The axial linear velocity, It represents the circumferential angular velocity.

5. An underwater negative pressure crawling pile foundation robot, characterized in that, To implement the cutting control method according to any one of claims 1-4, the underwater negative pressure crawling pile foundation robot includes: a cutting device, a negative pressure crawling device, and a control system; the cutting device and the negative pressure crawling device are fixedly connected; both the cutting device and the negative pressure crawling device are communicatively connected to the control system; The control system includes: an information acquisition module, used to acquire the initial position coordinates and target cutting point position information of the cutting saw in the robot, and also used to acquire the position and angle information of the cutting saw; a data processing module, used to generate a preset cutting path based on a cutting path algorithm, and also used to calculate the position offset of the cutting saw based on a cylindrical motion model algorithm; the position offset is used to determine whether the cutting saw cuts according to the preset cutting path; The device control module is used to control the cutting saw to cut the pile foundation.

6. The underwater negative pressure crawling pile foundation robot according to claim 5, characterized in that, It also includes a positioning system, which comprises a high-precision encoder, a nine-axis IMU module, and a joint angle sensor; the high-precision encoder is mounted on the negative pressure crawling device; the joint angle sensor is mounted on the cutting device; the nine-axis IMU module is mounted on the negative pressure crawling device; the high-precision encoder, the nine-axis IMU module, and the joint angle sensor are all communicatively connected to the information acquisition module.

7. The underwater negative pressure crawling pile foundation robot according to claim 6, characterized in that, The cutting device includes: A cutting body is fixedly connected to the negative pressure crawling device; a robotic arm is rotatably connected to one end of the cutting body away from the negative pressure crawling device, and the robotic arm is communicatively connected to the control system; the joint angle sensors are installed on each joint of the robotic arm. The clamps are provided in several parts, and the clamps are detachably connected to the cutting body and communicatively connected to the control system. A cutting saw, which is rotatably connected to the robotic arm.

8. The underwater negative pressure crawling pile foundation robot according to claim 6, characterized in that, The negative pressure crawling device includes: A crawling motherboard is equipped with a vacuum pump, a power supply, a first motor, and multiple suction cups spaced apart; the nine-axis IMU module is mounted on the crawling motherboard. The crawling track has two tracks, which are symmetrically arranged at both ends of the crawling main board. The first motor is electrically connected to the power supply; the first motor is communicatively connected to the control system; the vacuum pump and the crawler track are both electrically connected to the first motor; the vacuum pump and multiple suction cups are fixedly connected through multiple vacuum pipes.

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