Pile foundation detection robot and pile foundation detection method

Abstract

The invention relates to the field of pile foundation detection, in particular to a pile foundation detection robot and a pile foundation detection method.The pile foundation detection robot comprises a main control cabin used for instruction receiving and sending and data processing, a functional cabin used for power supply and data communication and a propeller cabin used for providing propelling power; the flexible joints are arranged between the cabin bodies; the wheel body module is detachably arranged on the cabin body; the main controller module is arranged in the main control cabin body and is used for receiving and transmitting instructions and processing data; the power regulation and control main system is arranged in the main control cabin body and is electrically connected with the main controller module; through linkage regulation and control of power distribution and power modes of components such as the propeller cabin, the wheel body modules and the flexible joints of the robot, the detection mode, the operation scene range, the universality, the flexibility and the power management efficiency of the robot are improved, the obstacle crossing ability of the robot is improved, and meanwhile the use cost of the robot is reduced.

Description

Technical Field

[0001] This invention relates to the field of underwater pile foundation testing technology, and in particular to a pile foundation testing robot. This invention also relates to a pile foundation testing method. Background Technology

[0002] Existing underwater pile foundation testing technologies, utilizing mechanical equipment, can be broadly categorized into two types: non-contact (hovering / free-swimming) and contact (wall-hugging / crawling). These two modes serve different testing needs and application scenarios, leading to conflicting testing requirements and a lack of diversity in testing methods.

[0003] Existing non-contact devices, such as Chinese Patent Publication No. CN120756635A, disclose a multimodal underwater inspection robot. However, its detection coverage is limited, which cannot meet the requirements of contact mode operation environments. It is difficult to efficiently achieve full circumferential and high-precision coverage of pile foundation surfaces with different shapes, diameters, and roughnesses, resulting in low detection efficiency and long detection time.

[0004] Existing contact-type machinery and equipment suffers from drawbacks in terms of environmental adaptability and operational flexibility due to their rigid mechanical structures. Firstly, their structural versatility and adaptability to pile diameter are poor. For example, existing pile gripping or wall-hugging devices mostly adopt rigid frame or fixed boom designs. These structures are highly rigid and are generally only suitable for pile foundations with specific diameter ranges or single shapes. They are mostly unable to flexibly adjust the circumferential angle according to the diameter or shape of the pile foundation, resulting in poor versatility and limited applicability. Secondly, their obstacle-crossing ability is insufficient. Due to their rigid structure or fixed gripping / crawling mechanism, existing contact-type equipment is difficult to flexibly deform or adjust its posture to avoid obstacles (such as welded parts or severe biological attachments) on the surface of the pile foundation during inspection. This can easily cause the equipment to jam or scratch, affecting the continuity of operations.

[0005] It is evident that existing technologies suffer from the following problems: First, the detection mode is limited, failing to simultaneously meet both contact and non-contact operational scenarios, resulting in a small detection range; second, the structure and function are limited, exhibiting poor environmental adaptability and structural versatility, and low flexibility; third, the motion mode is limited, unable to change the structure and power distribution mode under different working conditions and operational stages, leading to poor obstacle-crossing ability; fourth, the positioning and energy modes are limited, resulting in low safety performance, making it impossible to continue operation if a compartment of the robot fails or other components disconnect, and making it difficult to quickly locate the various parts of the equipment, thus making the equipment prone to loss. Summary of the Invention

[0006] To address this, the present invention provides a pile foundation inspection robot to overcome the problem in the prior art that the robot cannot simultaneously support both contact and non-contact inspection modes in controlling the power distribution between the propeller compartment, wheel module, and flexible joints.

[0007] To achieve the above objectives, the present invention provides a pile foundation inspection robot, comprising, The cabin consists of several compartments, including a main control compartment for command transmission and data processing, functional compartments for power supply and data communication, and a propulsion compartment for providing propulsion power. A flexible joint is provided between the various compartments, and the spatial relationship between the various compartments can be adjusted by changing the shape of the flexible joint. A wheel module, which is detachably mounted on the cabin, is used to drive the robot to walk on the pile foundation or to support the robot to walk stably on the pile foundation; The main controller module, which is located in the main control cabin, is used for command transmission and reception and data processing; The main power control system is located in the main control compartment and electrically connected to the main controller module. It is used to control the power mode and distribute power to the propeller compartment, wheel module and flexible joint. The main controller module stores a preset control mechanism for regulating power mode and power distribution. The main controller module issues control commands for power mode and power distribution to the power control main system according to the preset control mechanism. The power control main system distributes power to the wheel module, propeller compartment and flexible joint according to the control commands.

[0008] Furthermore, the control commands include: a driving force ratio parameter of the wheel module, used to determine the driving force of the wheel module; a thrust ratio parameter of the propeller compartment, used to determine the thrust of the propeller compartment; and an adjustment force ratio parameter of the flexible joint, used to determine the adjustment force of the flexible joint.

[0009] Furthermore, in the contact detection mode, the wheel module includes, An active wheel, which is mounted on the wheel module corresponding to the tangent point of the pile foundation, is used to drive the robot to walk stably on the surface of the pile foundation; A drive motor, which is mounted on the drive wheel, is used to provide driving force to the drive wheel; A brake is provided on the drive wheel to brake the drive wheel and prevent slippage when the drive wheel is working on an inclined or vertical pile foundation. The first power control slave system is electrically connected to the power control master system and is used to receive instructions from the power control master system and distribute power to the wheel module according to the instructions from the power control master system.

[0010] Furthermore, the driving force percentage parameter of the wheel module is greater than or equal to a first percentage value, the thrust percentage parameter of the propeller is less than or equal to a second percentage value, and the adjustment force percentage parameter of the flexible joint is 100% minus the sum of the driving force percentage parameter of the wheel module and the thrust percentage parameter of the propeller compartment.

[0011] Furthermore, the first power control system stores the power distribution rules for a single active wheel, and the first power control system is used to adjust and distribute the driving force of the wheel module to each active wheel according to the power distribution rules for the single active wheel and the real-time load wheel pressure of each active wheel.

[0012] Furthermore, in the contact detection mode, the wheel module includes, The driven wheel is mounted on the wheel module corresponding to the tangent point of the pile foundation. The driven wheel includes a middle part and two side edge parts. When the two side edge parts are energized, they generate magnetism and are attracted to the surface of the metal pile foundation, so that the driven wheel can stably fit and move on the surface of the pile foundation. A spring mechanism, which is connected to the driven wheel body and disposed between the cabin body and the driven wheel body, is used to provide an adjustable wall-adhesive preload to the driven wheel body; The second power control slave system is electrically connected to the power control master system and is used to receive instructions from the power control master system and distribute power to the wheel module according to the instructions from the power control master system.

[0013] Furthermore, the adjustment force percentage parameter of the flexible joint is less than or equal to the third percentage value, the thrust percentage parameter of the propeller compartment is greater than or equal to the fourth percentage value, and the driving force percentage parameter of the wheel module is 100% minus the sum of the adjustment force percentage parameter of the flexible joint and the thrust percentage parameter of the propeller compartment.

[0014] Furthermore, in the non-contact detection mode, the wheel module includes, The third power control slave system is electrically connected to the power control master system and is used to receive instructions from the power control master system and distribute power to the wheel module according to the instructions from the power control master system. The driving force percentage parameter of the wheel module is the fifth percentage value, the thrust percentage parameter of the propeller compartment is greater than or equal to the sixth percentage value, and the adjustment force percentage parameter of the flexible joint is 100% minus the thrust percentage parameter of the propeller compartment.

[0015] Furthermore, the functional cabin includes multiple functional sections, and the functional sections include, The battery compartment is separately located in the functional compartment or connected to other functional compartments via a connecting ring to form a functional compartment. The battery compartment is used to provide power to the robot. The positioning and communication module is separately located in the functional module or connected to other functional modules via a connecting ring to form a functional module, and is used for positioning and communication of the robot.

[0016] Furthermore, the present invention also includes a pile foundation detection method, the pile foundation detection method comprising: Step 1, activating the remote controller of the robot; Step 2, operating the remote controller to determine and select a pile foundation detection mode, the detection mode including a contact detection mode and a non-contact detection mode; Step 3, adjusting the composition mode of the robot according to the pile foundation detection mode and assembling the robot according to the composition mode; the composition mode includes a configuration category and a power mode; the configuration category includes type I, V, C, W, arc, U, triangle, and circle; Step 4, adjusting the configuration category and power distribution of the robot using the remote controller according to the robot's operating stage and working conditions.

[0017] Compared with existing technologies, the robot of this invention uses a main control cabin for command transmission and data processing, functional cabins for positioning, communication, and power supply, making it easier for the robot to locate detection targets during underwater operations. A thruster cabin provides thrust, and flexible joints adjust the spatial relationship between the cabins, allowing for flexible posture adjustments or configuration changes. This enables the robot to better adapt to pile foundations of different shapes, roughnesses, and diameters. Two detachable wheel modules provide driving or supporting forces to the cabins, making the robot more stable on the pile foundation surface in contact detection mode.

[0018] In particular, the main control cabin of this invention is equipped with a main controller module and a power control main system. By using the power modes and power distribution rules stored in the main controller, the power control main system can more accurately control the power distribution of the wheel module, the propeller cabin and the flexible joint. This enables the robot to simultaneously coordinate the power distribution of the cabin, the flexible joint and the wheel module under different detection modes and operating stages, greatly improving the working range of the pile foundation detection robot.

[0019] In particular, the main controller module of the present invention stores control commands including the driving force ratio parameters of the wheel module, the thrust ratio parameters of the propeller compartment, and the adjustment force ratio parameters of the flexible joint, enabling the robot to more accurately coordinate the power distribution of the robot's various components in different detection modes and operating stages through the power control main system.

[0020] In particular, in contact detection mode, to meet the needs of scenarios requiring active drive and anti-slip, the wheel module needs to provide the main driving force to the robot. The wheel module of this invention adopts an active wheel, and the drive motor on the active wheel is controlled by the first power control slave system through the power control master system command. The driving force ratio parameter of the wheel module is set to be greater than or equal to 50%, thereby simultaneously linking the power distribution of the cabin, flexible joint and wheel module, providing more driving force to the robot, and making the robot's power management more reasonable and efficient. At the same time, the wheel module of this invention uses a brake to control the active wheel to prevent slippage when it is stationary, thereby improving the stability of the robot's operation.

[0021] In particular, by storing the power distribution rules of individual active wheels in the first power control system, the present invention facilitates the wheel module to manage the power distribution of individual active wheels independently. This ensures that when the robot encounters obstacles, the wheel with higher wheel pressure receives more power, greatly improving the obstacle-crossing ability of the wheels. On the other hand, it ensures that the wheels are subjected to balanced forces, avoiding overload and slippage of individual active wheels, and making the robot walk more stably on the pile foundation surface.

[0022] In particular, in the contact detection mode, to adapt to pile foundation surfaces that do not require active driving by the wheel module and are flat or slightly uneven, the wheel module of this invention is equipped with a driven wheel, a spring mechanism, and a second power control slave system. The spring mechanism provides an adjustable wall-adhesive preload to the driven wheel when the robot walks. It can also better lift the driven wheel to avoid obstacles by adjusting the linkage of the flexible joint when the driven wheel encounters an obstacle, thereby improving the stability and obstacle-crossing ability of the robot. At the same time, the driven wheel is tightly attached to the metal pile foundation surface by setting the two sides of its edges to generate magnetism when energized, further enhancing the supporting role of the driven wheel. Since the main driving force of the robot does not need to be provided by the driven wheel at this time, but is mainly provided by the thruster compartment, the second power control slave system controls the drive motor on the driven wheel by instructing the power control master system, and simultaneously links the thruster compartment and the flexible joint. This can control the thrust ratio parameter of the thruster compartment to be greater than or equal to 50%, making power management and power distribution more reasonable and efficient, thus better adapting to the pile foundation surface that is flat or slightly uneven.

[0023] In particular, in the non-contact inspection mode, the robot wheel module does not need to contact the pile foundation, and the wheel module does not play a driving or supporting role. Therefore, by setting the third power control slave system, the linkage with the propeller compartment and flexible joint is realized, the driving force of the wheel module is controlled to be zero, and the thrust ratio parameter of the propeller compartment is controlled to be greater than or equal to 70%. The robot's power is precisely output to the propeller compartment and flexible joint, thereby improving the energy utilization rate and the robot's inspection operation efficiency, and making it better suited for the inspection operation mode in non-contact inspection.

[0024] In particular, by placing the battery compartment separately in the functional compartment or connecting the battery compartment with other functional compartments to form a single functional compartment, the present invention can power the entire robot and flexibly change the type and number of compartments included in the functional compartment; by placing the positioning and communication compartment separately in the functional compartment or connecting the positioning and communication compartment with other functional compartments to form a single functional compartment, the present invention can provide positioning and communication for the entire robot and flexibly change the type and number of compartments included in the functional compartment; thus better meeting the different configurations of the robot and diverse operating scenarios.

[0025] In particular, the pile foundation testing method provided by this invention, by judging and selecting the pile foundation testing mode, controls the robot's composition mode to correspond with the actual working conditions. It can accurately control the pile foundation testing robot to adjust the robot configuration and power distribution in a timely manner in different operating stages and working conditions, so as to improve the robot's adaptability, versatility, flexibility, power management efficiency and obstacle crossing ability, thereby meeting the scenarios of different testing modes and improving the testing range. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the structure of the contact-type two-joint pile foundation inspection robot according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the structure of the contact-type three-joint pile foundation inspection robot according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the non-contact inspection robot for two-jointed pile foundations according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the structure of the non-contact inspection robot for three-joint pile foundations according to an embodiment of the present invention; Figure 5 This is a schematic diagram of a power control system for a pile foundation inspection robot according to an embodiment of the present invention; Figure 6 This is a schematic diagram of a non-contact underwater inspection operation of a pile foundation inspection robot according to an embodiment of the present invention; Figure 7 This is a schematic diagram of the contact-type underwater inspection operation of the pile foundation inspection robot according to an embodiment of the present invention; Figure 8 This is a flowchart of the pile foundation testing method according to an embodiment of the present invention; In the diagram, 1: main control cabin, 2: flexible joint, 3: propeller cabin, 4: functional cabin, 41: positioning and communication cabin, 42: battery cabin, 5: wheel module, 6: contact tool, 7: non-contact tool, 8: pile foundation. Detailed Implementation

[0027] To make the objectives and advantages of the present invention clearer, the present invention will be further described below with reference to embodiments; it should be understood that the specific embodiments described herein are merely for explaining the present invention and are not intended to limit the present invention.

[0028] Preferred embodiments of the present invention will now be described with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are merely illustrative of the technical principles of the present invention and are not intended to limit the scope of protection of the present invention.

[0029] It should be noted that in the description of this invention, the terms "upper", "lower", "left", "right", "inner", "outer", etc., which indicate directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings. This is only for the convenience of description and is not intended to indicate or imply that the device or element must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation of this invention.

[0030] Furthermore, the terms "first" and "second" mentioned in the description of this invention are used to name the system or module, or to distinguish different embodiments or scopes, and are not used to limit the upper or lower limit of the number of systems or modules, nor to limit the order of systems or modules.

[0031] Furthermore, it should be noted that, in the description of this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0032] To enable more flexible and efficient testing of underwater pile foundations in different scenarios and testing modes, this invention provides a pile foundation testing robot.

[0033] Please see Figures 1 to 5 As shown, the pile foundation inspection robot of the present invention includes, The cabin consists of several compartments, including a main control compartment 1 for command transmission and data processing, a functional compartment 4 for power supply and data communication, and a thruster compartment 3 for providing propulsion power. Each compartment is equipped with contact tools 6 and non-contact tools 7. A flexible joint 2 is disposed between each of the compartments, and the spatial positional relationship of each compartment can be adjusted by changing the shape of the flexible joint 2. Wheel module 5, which is detachably mounted on the cabin, is used to drive the robot to walk on the pile foundation 8 or to support the robot to walk stably on the pile foundation 8; The main controller module, which is located in the main control cabin 1, is used for command transmission and reception and data processing; The main power control system is located in the main control compartment 1 and electrically connected to the main controller module. It is used to control the power mode and distribute power to the propeller compartment 3, wheel module and flexible joint 2. The main controller module stores a preset control mechanism for regulating power mode and power distribution. The main controller module issues control commands for power mode and power distribution to the power control main system according to the preset control mechanism. The power control main system distributes power to the wheel module 5, the propeller compartment 3 and the flexible joint 2 according to the control commands.

[0034] Specifically, the pile foundation inspection robot of the present invention includes M cabins, N flexible joints, and L wheel modules; M is an integer greater than or equal to 3, N is an integer greater than or equal to 2, and L is an integer greater than or equal to M, that is, M≥3, N≥2, and L≥M; the values ​​of M, N, and L can be determined according to the actual inspection mode and working conditions, such as according to the shape or diameter of the pile foundation, and are not limited here, thereby making the number and combination of robot structures more flexible and the range of working scenarios wider.

[0035] Specifically, this invention adopts a modular and standardized serial design. Each cabin is connected by flexible joints and connecting rings to form a flexible and variable multi-joint robot. This invention does not restrict the connection order of the cabins or the multi-joint configuration. Preferably, it can be a straight line, V-shape, C-shape, W-shape, arc shape, U-shape, triangle shape, or circle shape. Different cabin connection orders and multi-joint configurations of the robot meet different detection modes and operation requirements, and can better adapt to and embrace pile foundations of different shapes and diameters.

[0036] Specifically, each cabin of this invention includes one or more compartments. Each compartment has standardized interfaces at both ends that are fixedly connected to a connecting male ring. The connecting male ring is made of high-strength material, and its shape corresponds to the interface at both ends of the compartment. Symmetrical threaded fixing holes and bolt mounting holes are reserved to balance mechanical strength and watertightness, so that each compartment can be fixedly connected through the connecting male ring. If a cabin consists of multiple compartments, the multiple compartments are fixedly connected through the connecting male ring and the standardized interface. The connection order of the compartments is not limited and depends on the actual operation requirements. The structural shape of the compartments is not limited. Preferably, the compartments are cylindrical structures with good pressure resistance and watertightness. Tool interfaces are reserved on the side walls of the compartments, and watertight plugs are configured at the tool interfaces to meet the needs of the robot to install operating tools and perform long-term underwater operations. In this invention, the modular design of the compartment structure and the serial design of standardized interfaces improve the versatility of the robot cabin. The connection order of the compartments and the cabin is not limited, which can better adjust the structure of the robot in a timely manner according to the actual situation and meet the diverse operation scenarios and testing requirements.

[0037] Specifically, the flexible joints of this invention are arranged between the various compartments. Each flexible joint has a built-in single-joint motor, which provides adjustment power to the flexible joint and controls the change of the flexible joint shape to adjust the spatial position relationship of each compartment. This enables multi-degree-of-freedom movement of adjacent compartments in the pitch and / or yaw directions. For example, when the pile foundation inspection robot encounters an obstacle, the flexible joints can adjust the position and direction of each compartment to avoid the obstacle and improve obstacle avoidance capability. Preferably, the single-joint motor is a waterproof servo motor. The number of single-joint motors is not limited. Preferably, the number of single-joint motors can be 2 to 3 to support multi-degree-of-freedom movement and drive the robot to switch between configurations such as I-shaped, V-shaped, C-shaped, W-shaped, arc-shaped, U-shaped, triangular, circular, and full-circumference embracing. At the same time, it enables controllable angular rotation and swinging between adjacent compartments within a certain range, providing attitude adaptation capability for multi-mode operation.

[0038] Specifically, the thruster compartment of this invention is equipped with multiple thrusters to provide propulsion power. The number of thrusters is not limited, as long as it meets the operational requirements. The thrusters can be propellers or pump-jet propellers, or a combination of propellers and pump-jet propellers. The thruster layout is not limited; it can be external or ducted. Preferably, the thruster layout combines external and ducted designs, which can provide mutually balanced thrust and torque, suppress the flow field between the thrusters, and ensure that the robot can achieve high-precision hovering and stable operation in any posture.

[0039] Specifically, the cabin of this invention is equipped with non-contact tools and has reserved an interface for installing contact tools. Both contact and non-contact tools are connected to the cabin through a standardized tool installation interface. The standardized tool installation interface includes a threaded hole and a quick-connect structure. The tool installation interface has a built-in waterproof electrical connector, which supports quick insertion and removal of tools and signal transmission. Ultimately, it enables the installation of various operating tools according to different operating scenarios and detection modes, thereby improving the coverage of detection scenarios.

[0040] Specifically, contact tools need to be in direct contact with the pile foundation surface or form a close-range action field. They can be installed on one side of each cabin facing the pile foundation working surface, except for the flexible joints. There is no limit to the number of tools installed, and they can be flexibly adjusted according to the shape and diameter of the pile foundation to ensure full circumferential coverage of the working and inspection surface. At the same time, according to observation needs, optical cameras can be added next to each contact tool to observe the details of the operation. The types of contact tools include jet cleaning tools such as high-pressure water guns and cavitation jet spray guns, mechanical cleaning tools such as cleaning brushes and cleaning shovels, maintenance tools such as welders and sprayers, and contact detection tools such as probes and probes. The specific type can be configured according to the specific needs of the operation and is not limited here. The contact tools are connected to the contact tool interface through the bracket. When the robot is running, the working status of the contact tools is fed back through pressure sensors to ensure that the tools are always working within the optimal range.

[0041] Specifically, non-contact tools include optical imaging tools such as high-definition underwater cameras and laser scanners, which can provide real-time feedback on the operation, ensuring that the non-contact tools do not touch the pile foundation surface and operate continuously and stably. Preferably, the optical imaging tools are installed at the tool mounting interface inside the cabin, and the imaging lens is sealed and protected by a waterproof transparent cover. The imaging lens is oriented perpendicular to the pile foundation surface. Preferably, the included angle between adjacent cameras of the optical imaging tool is 45° to 60° to ensure that there is a 25% to 40% overlap area in the image acquisition range, so as to generate a panorama through feature point matching technology. Images; Non-contact tools include acoustic detection tools such as multi-beam sonar and single-beam ranging sonar. Preferably, the acoustic detection tools are installed on the tool mounting interface inside each cabin, with the transmitting and receiving ends of the acoustic detection tools facing the pile foundation surface, and the transmitting and receiving routes avoiding obstruction by other components. Non-contact tools also include non-contact inspection tools such as flaw detectors and auxiliary lighting tools such as underwater lights. Preferably, the auxiliary lighting tools correspond one-to-one with the optical imaging tools, and are installed on the circumferential side of the imaging lens, with the illumination direction consistent with the lens shooting direction to avoid reflection interference.

[0042] Specifically, the main control cabin of this invention is the core of the pile foundation inspection robot control, constructing a closed-loop control system of "perception-decision-execution". The main control cabin is equipped with a main controller module, which is used for command transmission and reception, data processing and information transmission to realize the linkage of various robot components. The main controller module includes a main control unit, a data processing unit and a communication unit. Preferably, the main control unit can be one of CPU (Central Processing Unit), MCU (Microcontroller Unit), and MPU (Microprocessor Unit). The data processing unit can be one of NPU (Neural Processing Unit) and TPU (Tensor Processing Unit). The communication unit includes wired communication, wireless communication, underwater acoustic communication, optical fiber communication, etc., and the specific type is not limited here.

[0043] Specifically, the wheel module of this invention adopts a modular design. Preferably, the wheel module can be fixed to the tool interface of each compartment by bolting or clamping, which facilitates assembly and improves the robot's versatility. The wheel module can be equipped with active wheels or driven wheels. The active wheels provide driving force to drive the robot to walk during operation, which is suitable for active driving and anti-slip scenarios. The driven wheels provide friction and / or wall-adhesion force to support the robot to walk on the pile foundation surface during operation, which is suitable for flat or slightly uneven pile foundation surfaces. Therefore, it can meet different pile foundation surface detection modes and detection scenarios, greatly improving the detection range.

[0044] Specifically, please refer to Figure 5As shown in the figure, a main power control system is provided in the main control cabin of the present invention. The main power control system is electrically connected to the main controller module. By storing a preset control mechanism for regulating the power mode and power distribution in the main controller module, the main power control system is controlled to receive instructions from the main controller module and regulate the power mode and distribute power to the thruster cabin, wheel module, and flexible joint according to the instructions of the main controller module. The power mode corresponds to the detection mode. Specifically, in the contact detection mode, when the wheel module uses the driving wheel, at this time, the walking power of the robot is mainly provided by the driving wheel, and the power mode is the main power mode of the wheel module. Specifically, the wheel module provides the main driving force, the thruster cabin provides auxiliary thrust, and the flexible joint provides weak adjustment force. In the contact detection mode, when the wheel module uses the driven wheel, at this time, the walking power of the robot is mainly provided by the thruster cabin, and the power mode is the main power mode of the thruster cabin. Specifically, the thruster cabin provides the main thrust, the flexible joint provides auxiliary adjustment force, and the wheel module provides weak driving force. In the non-contact detection mode, the wheel module can be disassembled or the wheel module does not need to contact the pile foundation and provide driving force. The power of the robot is mainly provided by the thruster cabin and the flexible joint. The power mode is the zero-power mode of the wheel module. Specifically, the thruster cabin provides the main thrust, the flexible joint provides auxiliary adjustment force, and the wheel module has zero power. By regulating the power mode through the main power control system and distributing power to the thruster cabin, wheel module, and flexible joint, the linkage control of each component of the robot can be accurately performed, meeting the power distribution in different detection modes and operation stages, and improving the power usage efficiency and utilization rate.

[0045] According to another embodiment, the main power control system distributes power to the wheel module 5, thruster cabin 3, and flexible joint 2 according to the control instruction, and the control instruction includes The driving force ratio parameter of the wheel module 5, which is used to determine the driving force of the wheel module 5; The thrust ratio parameter of the thruster cabin 3, which is used to determine the thrust of the thruster cabin 3; The adjustment force ratio parameter of the flexible joint 2, which is used to determine the adjustment force of the flexible joint 2.

[0046] Specifically, in different detection modes of the present invention, the power ratios distributed to the wheel module, thruster cabin, and flexible joint are different. By configuring the driving force ratio parameter of the wheel module, the thrust ratio parameter of the thruster cabin, and the adjustment force ratio parameter of the flexible joint in the control instruction of the power mode and power distribution issued by the main control module, the driving force ratio value of the wheel module, the thrust ratio value of the thruster cabin, and the adjustment force ratio value of the flexible joint can be further refined, thereby accurately controlling the power management of the robot and improving the power utilization rate.

[0047] According to another embodiment, the main controller module stores a preset control mechanism for power distribution, which includes the total power formula for the pile foundation inspection robot in contact inspection mode: Pt=k1*F+k2*ρ*S*v 2 +k3*mg*sinθ, where Pt is the total power, k1 is the load power coefficient, ranging from 1.0 to 1.5, with larger loads resulting in larger k1 to ensure power redundancy, F is the working load gravity in N, k2 is the water flow resistance coefficient, ranging from 0.8 to 1.0, determined based on the streamlined structure of the hull, ρ is the water density in kg / m³, determined based on the specific water area, S is the robot's underwater surface area facing the current, determined based on the hull structure in m², v is the underwater velocity facing the current in m / s, k3 is the tilt resistance coefficient, ranging from 1 to 1.3, with larger θ resulting in larger k3, m is the robot's total mass in kg, g is the gravitational acceleration, taken as 9.8 m / s², sinθ is the sine function, and θ is the tilt angle based on common pile foundation detection scenarios, ranging from 0° to 90° from horizontal to vertical.

[0048] Specifically, in the contact detection mode, when evaluating and calculating the total power formula, the robot's own operating load, water flow influence, and pile foundation inclination are considered separately to comprehensively assess the total power value, making the calculation results more accurate. Furthermore, because the water bodies where the pile foundations are located vary, the water flow density and velocity differ in different water bodies, thus affecting the robot's movement. For example, seawater has a high water density, large waves, and high water flow velocity, resulting in relatively greater resistance. Conversely, lake water has a low water density and relatively slow water flow velocity, resulting in relatively less water flow resistance. Therefore, considering the water flow influence and the operating load itself as being of the same order of magnitude allows for a more accurate calculation of the total power. The power distribution reduces the interference of water flow on the robot's work during underwater operations. Simultaneously, the tilt angle of the pile foundation also affects the robot's stress conditions. Normally, pile foundations are placed vertically, but after prolonged water flow impact or erosion, they will tilt. The larger the tilt angle, the greater the frictional resistance generated when the robot walks on the pile foundation. Therefore, considering the pile foundation tilt angle and the work load itself as being of the same order of magnitude allows for more accurate calculation of the total power for power distribution, reducing the interference of the pile foundation tilt angle on the robot's work. Overall, this invention, through the total power formula in the preset control mechanism, can better and more accurately calculate the total power required for the operation based on the actual working conditions under the contact detection mode, so as to regulate the power of the entire robot.

[0049] According to another embodiment, the main controller module stores a preset control mechanism for power distribution, which includes the power distribution formula: Pt=Pwd+Pp+Paj, where Pt is the total power, Pwd is the driving force of the wheel module 5, Pp is the thrust of the propeller compartment 3, and Paj is the adjustment force of the flexible joint 2.

[0050] Specifically, the total power of the robot in this invention is used to drive the wheel module, provide thrust to the propeller compartment, and adjust the flexible joint during operation. Through the power distribution formula Pt=Pwd+Pp+Paj, the power of each component in different detection modes and operating stages can be accurately calculated and determined. Thus, the main controller module commands the power control system to control the robot's power mode and the power distribution of the propeller compartment, flexible joint, and wheel module, meeting the application scenarios of different detection modes such as contact and non-contact, achieving more precise power management and control, and improving power utilization.

[0051] According to another embodiment, in the contact detection mode, the wheel module 5 of the pile foundation inspection robot of the present invention includes: An active wheel, which is mounted on the wheel module 5 corresponding to the tangent point of the pile foundation, is used to drive the robot to walk stably on the surface of the pile foundation; A drive motor, which is mounted on the drive wheel, is used to provide driving force to the drive wheel; A brake is provided on the drive wheel to brake the drive wheel and prevent slippage when the drive wheel is working on an inclined or vertical pile foundation. The first power control slave system is electrically connected to the power control master system and is used to receive instructions from the power control master system and distribute power to the wheel module 5 according to the instructions from the power control master system.

[0052] Specifically, in the wheel module of this invention, the active wheel is positioned at the tangent point corresponding to the contact point with the pile foundation surface. Preferably, each wheel module has two active wheels, which form an angle with each other to more stably encircle the pile foundation. The active wheel has a built-in miniature waterproof drive motor and brake. The drive motor control line is connected to the power control main system through the main control cabin electrical interface. The drive motor can control the output driving force of the active wheel. The brake enables the robot to brake the active wheel at any time when working on inclined or vertical pile foundations. In particular, it can brake to stabilize the robot when it is stationary, and it can also brake in time when the active wheel slips. This allows the robot to better adapt to scenarios that require active wheel drive and anti-side slip, thereby improving the stability of the robot in different detection modes and working conditions. By setting a first power control slave system, the first power control slave system can receive instructions from the power control main system and adjust the power of each individual active wheel according to the instructions. This not only realizes the overall power mode coordination of "main control cabin - wheel module - individual wheel", but also facilitates the wheel module to manage the power distribution of individual wheels.

[0053] According to another embodiment, in the contact detection mode, when the wheel module 5 includes an active wheel, the driving force ratio parameter of the wheel module 5 is greater than or equal to a first percentage value, the thrust ratio parameter of the propeller 3 is less than or equal to a second percentage value, and the adjustment force ratio parameter of the flexible joint 2 is 100% minus the sum of the driving force ratio parameter of the wheel module 5 and the thrust ratio parameter of the propeller compartment 3.

[0054] Specifically, in the contact detection mode of this invention, when the wheel module uses active wheels, the robot's walking power is mainly provided by the active wheels, and the power mode is the wheel module active power mode. Specifically, the wheel module provides the main driving force, the thruster compartment provides auxiliary thrust, and the flexible joint provides a slight adjustment force. The power control master system receives commands from the master controller module and controls the first power control slave system of the wheel module according to the commands of the master controller module, so that the driving force ratio parameter of the wheel module controlled by the first power control slave system is greater than or equal to a first percentage value. Preferably, the first percentage value is 50%, which meets the requirement that the active wheels provide the main power for the robot. At the same time, the power control master system receives commands from the master controller module and controls the thruster compartment according to the commands of the master controller module. The fourth power control parameter, which controls the thrust ratio of the propeller compartment, is less than or equal to the second percentage value. Preferably, the second percentage value is 10%, which meets the requirement of the propeller compartment providing auxiliary thrust. The fifth power control parameter, which controls the flexible joint, controls the flexible joint adjustment force ratio parameter to be 100% minus the sum of the wheel module driving force ratio parameter and the propeller compartment thrust ratio parameter. That is, the flexible joint adjustment force ratio = 100% - (wheel module driving force ratio + propeller compartment thrust ratio). By setting the specific power ratios of the wheel module, propeller compartment, and flexible joint, this invention can more accurately control the specific power of the wheel module, propeller compartment, and flexible joint, so as to meet the requirement of the active wheel providing the main driving force in the contact detection mode.

[0055] According to another embodiment, in the contact detection mode, when the wheel module 5 adopts an active wheel, the first power control slave system stores the power distribution rules of a single active wheel. The first power control slave system is used to adjust and distribute the driving force of the wheel module 5 to each active wheel according to the power distribution rules of the single active wheel and the real-time load wheel pressure of each active wheel.

[0056] Specifically, the power distribution rule for a single driving wheel in this invention includes a power distribution formula for the single driving wheel, wherein the power distribution formula for the driving wheel is: ,in, For the power of a single active wheel, The real-time load wheel pressure of a single drive wheel is given by n, where n is the number of drive wheels. For the driving force of the wheel module, preferably, when the number of active wheels n=4, the total driving force of the wheel module Pwd=18KN, and the real-time load wheel pressures of the four active wheels are Pp1=15kN, Pp2=18kN, Pp3=16kN, and Pp4=11kN, then Pw1=15 / (15+18+16+11)×18=4.5kW; after receiving the driving force of the wheel module allocated by the power control master system, the first power control slave system allocates the driving force according to the power distribution rules of the individual active wheels and the real-time load wheel pressures of each individual active wheel. The invention provides power to each of the aforementioned active wheels, adjusting the power of each active wheel. Specifically, the invention distributes the driving force from the wheel module to each active wheel through a sixth power control on each active wheel. This ensures that if one wheel fails, other wheels receive more driving force or that the wheels are subjected to balanced force, preventing overload and slippage of any single active wheel and ensuring stable robot operation. Simultaneously, when a wheel encounters an obstacle, a pressure sensor detects its wheel pressure, ensuring that the wheel with higher wheel pressure receives more power so that the active wheel can easily overcome obstacles and operate stably.

[0057] According to another embodiment, in the contact detection mode of the robot of the present invention, the wheel module 5 includes: The driven wheel is mounted on the wheel module 5 corresponding to the tangent point of the pile foundation. The driven wheel includes a middle part and two side edge parts. When the two side edge parts are energized, they generate magnetism and are attracted to the surface of the metal pile foundation, so that the driven wheel can stably fit and move on the surface of the pile foundation. A spring mechanism, which is connected to the driven wheel body and disposed between the cabin body and the driven wheel body, is used to provide an adjustable wall-adhesive preload to the driven wheel body; The second power control slave system is electrically connected to the power control master system and is used to receive instructions from the power control master system and distribute power to the wheel module 5 according to the instructions from the power control master system.

[0058] Specifically, in the contact detection mode, the wheel module of this invention can adopt a driven wheel, which includes a middle part and two side edge parts. The driven wheel can be attracted to the surface of the metal pile foundation by the magnetic side edge parts generated when energized, so that the driven wheel can stably fit and move on the pile foundation surface to adapt to the pile foundation surface, whether it is flat or slightly uneven. By setting a spring mechanism, an adjustable wall-adhesion preload is provided to the driven wheel. The spring mechanism is designed to adapt to the unevenness of the pile foundation to adapt to pile foundations of different shapes, diameters and roughnesses, and the angle of the driven wheel around the pile foundation can be flexibly adjusted. The middle part of the wheel is made of a high friction coefficient and wear-resistant material to adapt to the rough pile foundation surface. The second power control slave system is similar in function to the first power control slave system, and will not be described in detail here.

[0059] According to another embodiment, the adjustment force percentage parameter of the flexible joint 2 is less than or equal to the third percentage value, the thrust percentage parameter of the propeller compartment 3 is greater than or equal to the fourth percentage value, and the driving force percentage parameter of the wheel module 5 is 100% minus the sum of the adjustment force percentage parameter of the flexible joint 2 and the thrust percentage parameter of the propeller compartment 3.

[0060] Specifically, in contact detection mode, when the wheel module uses driven wheels, the robot's walking power is mainly provided by the thruster housing, and the power mode is the thruster housing active power mode. Specifically, the thruster housing provides the main thrust, the flexible joint provides auxiliary adjustment force, and the wheel module provides a weak driving force. Since the thruster housing active power mode is not matched, the main power control system needs to regulate the second power control slave system of the wheel module, the fourth power control slave system of the thruster housing, and the fifth power control slave system of the flexible joint to achieve linkage among the three and allocate an appropriate proportion of power. The specific power proportion parameter is set according to the predicted actual operating conditions and stored as percentage data in the main power control system. Specifically, the flexible joint... The adjustment force percentage parameter of the joint is less than or equal to the third percentage value, preferably 10%. The thrust percentage parameter of the propeller compartment is greater than or equal to the fourth percentage value, preferably 50%. The driving force percentage parameter of the wheel module is 100% minus the sum of the adjustment force percentage parameter of the flexible joint and the thrust percentage parameter of the propeller compartment, that is, the driving force percentage of the wheel module = 100% - (thrust percentage of the propeller compartment + adjustment force percentage of the flexible joint). This invention can more accurately control the specific power of the wheel module, the propeller compartment, and the flexible joint, making the robot's power management and power distribution more reasonable, and better adapting to flat or slightly uneven pile foundation surfaces.

[0061] According to another embodiment, in a non-contact detection mode, the wheel module 5 includes a third power control slave system; The third power control slave system is electrically connected to the power control master system and is used to receive instructions from the power control master system and distribute power to the wheel module 5 according to the instructions from the power control master system. The driving force percentage parameter of the wheel module 5 is the fifth percentage value, the thrust percentage parameter of the propeller compartment 3 is greater than or equal to the sixth percentage value, and the adjustment force percentage parameter of the flexible joint 2 is 100% minus the thrust percentage parameter of the propeller compartment 3.

[0062] Specifically, in the non-contact detection mode, the third power control slave system in the wheel module functions similarly to the first power control slave system, and will not be elaborated further. In the non-contact detection mode, the wheel module can be detached, or the wheel module does not need to contact the pile foundation or provide driving force. The robot's power is mainly provided by the thruster housing and flexible joints, and the power mode is a zero-power mode for the wheel module. Specifically, the thruster housing provides the main thrust, the flexible joints provide auxiliary adjustment force, and the wheel module has zero power. Therefore, by setting the third power control slave system of the wheel module to control the driving force of the wheel module to zero, all the robot's power is output to the thruster housing and flexible joints, thereby improving energy utilization and detection efficiency, and making it better suited for non-contact detection. The inspection operation mode is as follows: Specifically, the driving force ratio parameter of the wheel module is set to the fifth percentage value, preferably the second percentage value is 0%; the thrust ratio parameter of the propeller compartment is greater than or equal to the sixth percentage value, preferably the sixth percentage value is 70%; the adjustment force ratio parameter of the flexible joint is 100% minus the driving force and adjustment force ratio parameter values ​​of the propeller compartment, that is, the adjustment force ratio of the flexible joint = 100% - the thrust ratio of the propeller compartment. By setting specific power parameter ratio values, the present invention can more accurately link and control the specific power of the wheel module, the propeller compartment, and the flexible joint, making the robot's power management and power distribution more reasonable and meeting the requirements of the non-contact inspection mode.

[0063] According to another embodiment, the functional cabin 4 includes multiple functional modules, the functional modules including, The battery compartment 42 is separately disposed in the functional compartment 4, or connected to other functional compartments to form a functional compartment 4 via a connecting ring. The battery compartment is used to provide power to the robot. The positioning and communication module 41 is separately installed in the functional module 4, or connected to other functional modules through a connecting ring to form a functional module 4, for positioning and communication of the robot.

[0064] Specifically, a functional compartment of the present invention can be composed of one compartment or multiple compartments. Therefore, the battery compartment can be an independent functional compartment on its own, or it can be connected with other compartments through a connecting common ring to form a combined functional compartment. The battery compartment has a built-in battery module and power management system to supply power to the entire robot system and provide real-time feedback on the power consumption status. Preferably, the battery module can be any one of high-energy-density lithium battery module, sodium battery module, and solid-state battery, or it can be a combination of multiple types of battery modules.

[0065] Specifically, the positioning and communication module of the present invention can be a standalone functional module or it can be connected with other modules through a common ring to form a combined functional module. The positioning and communication module integrates a positioning module and multiple communication modules to perform positioning, navigation and communication for the entire robot. Preferably, the modules that can be integrated into the positioning and communication module include a Global Navigation Satellite System (GNSS) receiver, an Ultra-Short Baseline Acoustic Positioning System (USBL), a wireless communication module and a wired communication module.

[0066] Specifically, by setting up separate battery compartments or separate positioning and communication compartments, the independence of the battery compartment or positioning and communication compartment can be maintained, the adverse effects of failure of other components on the battery compartment or positioning and communication compartment can be reduced, and maintenance can be facilitated.

[0067] According to another embodiment, the functional cabin 4 includes an operating section for serving as a data acquisition center and transmitting data to the main control cabin 1.

[0068] Specifically, the work compartment of this invention is equipped with various sensors and / or data acquisition devices, such as sensors for pile foundation integrity detection, auxiliary detection and environmental detection sensors, with no limit on the specific type and quantity, to transmit data to the main control compartment and control each work tool to complete the corresponding work according to the instructions fed back by the main control compartment.

[0069] According to another embodiment, each cabin and each flexible joint 2 is individually equipped with a backup battery module to provide power to the cabin and the flexible joint 2 when the battery compartment 42 fails or is out of power; each cabin and each flexible joint 2 is equipped with a positioning communication module to perform positioning and communication of the cabin and the flexible joint 2 when the positioning communication compartment 41 is not working.

[0070] Specifically, in order to prevent the battery compartment from malfunctioning and failing to provide power, the present invention equips each compartment and flexible joint with a small independent battery module as a backup power source to provide power, enabling other parts of the robot to operate normally, facilitating the location and retrieval of the faulty robot, reducing the loss rate, and lowering the cost of use.

[0071] Specifically, the robot of this invention typically uses a dedicated positioning and communication cabin to achieve underwater positioning, navigation, and real-time communication with a control terminal on the water or shore. To prevent the positioning and communication cabin from malfunctioning and failing to locate or communicate, each cabin segment and flexible joint is independently equipped with a small positioning and communication module as a backup, which facilitates positioning and communication and helps to retrieve the robot, reducing the loss rate and lowering the cost of use.

[0072] According to another embodiment, the present invention also provides a pile foundation testing method applied to the pile foundation testing robot. (See also...) Figure 8 As shown, the detection method includes the following steps: Step 101: Activate the remote controller of the robot; Step 102: Operate the remote controller to determine and select the pile foundation detection mode, which includes a contact detection mode and a non-contact detection mode; Step 103: Adjust the composition mode of the robot according to the pile foundation detection mode and assemble the robot according to the composition mode; the composition mode includes configuration type and power mode; the configuration type includes type I, V, C, W, arc, U, triangle, and circle; Step 104: Adjust the configuration type and power distribution of the robot using the remote controller according to the robot's operating stage and working conditions.

[0073] Please see Figures 5 to 8 As shown, specifically, in step 101 of the present invention, the operation of the entire robot is controlled by a remote control as a terminal device, which is used to display and operate the robot's working conditions, detection modes, power modes, configuration types, and various related parameters; the type of remote control is not limited, preferably, the remote control can be a tablet computer including a touch screen, a mobile phone with an operating robot software application APP installed, or a mechanical remote control with an operating handle and a display screen.

[0074] Specifically, in step 102 of this invention, the contact detection mode is applicable to contact scenarios, which mainly include operation scenarios requiring close contact with tools, such as high-precision non-destructive testing, potential measurement, surface cleaning, and repair coating; scenarios where the pile foundation surface is relatively flat or has only slight attachments and no large-area protruding obstacles; and scenarios where the accuracy of the detection data is extremely high and a stable platform is required. The non-contact detection mode is applicable to non-contact scenarios, which mainly include scenarios where the pile foundation surface has many attachments, small diameter, small pile foundations that are not easy to encircle, irregular shape or easily damaged, and scenarios where mechanical contact damage should be avoided; detection tasks that only require visual or acoustic scanning; and scenarios where the water flow is complex and the space around the pile foundation is narrow, making it unsuitable for crawling along the wall.

[0075] Specifically, step 103 of the present invention further includes a pre-testing step; specifically, the pre-testing step includes, in contact mode, selecting an active or driven wheel according to the surface condition of the pile foundation, fixing the wheel at the tangent position of each section, installing contact operation tools, simultaneously adjusting the telescopic function of the elastic support and the contact pressure of the tools, testing the linkage and coordination of the wheel module, the propeller compartment, and the flexible joint, and confirming that all data transmission of the equipment is normal; in non-contact mode, selecting a detachable wheel module, fixing various detection tools and auxiliary tools, testing the tool functions and signal transmission stability, calibrating the installation angle of the circumferential tools, and ensuring that the acquisition range overlaps reasonably and is unobstructed.

[0076] Specifically, in step 104 of the present invention, according to the operating stage and working conditions of the pile foundation detection robot, the configuration type and power mode of the robot are adjusted by the remote controller. In the contact detection mode, the operating stage includes a moving approach movement stage and a configuration switching movement stage. Preferably, the moving approach movement includes the robot initially maintaining a straight line configuration to minimize underwater navigation resistance; the propulsion cabin drives the robot to move towards the target pile foundation; the main control cabin controls the flexible joints to adjust the angle, driving the robot to change from a straight configuration to an encircling configuration, so that the wheels and contact tools face the pile foundation surface, and the encircling radius is slightly larger than the pile foundation diameter, in preparation for wall-hugging operation.

[0077] Specifically, in step 104 of the present invention, the configuration type and power mode of the robot are adjusted by the remote controller according to the robot's operating stage and working conditions. In the contact detection mode, the operating stage also includes a wall-fixing motion stage, a dynamic inspection motion stage, a data acquisition stage, and an intelligent obstacle-crossing motion stage. Preferably, the wall-fixing motion stage includes, after the robot configuration type is adjusted, the flexible joints are finely adjusted so that all wheels are tangent to the pile foundation surface, the thruster compartment outputs lateral thrust, and the flexible joint angles are finely adjusted so that the wheels and tools are in close contact with the pile foundation surface. Pressure sensors provide real-time feedback of wall-fixing force data, and the wheel circumference angle and thruster compartment thrust are dynamically adjusted according to the wall-fixing force data. If the wall-fixing force is insufficient, it is supplemented by reducing the wheel circumference angle and finely adjusting the thruster compartment thrust. If the wall-fixing force is too large, the wheel circumference angle is appropriately increased, thereby ensuring that the wall-fixing force is stable within the optimal range and forming a reliable clamping force.

[0078] Preferably, the dynamic inspection movement phase includes: when the wheel module selects the driven wheel, the flexible joint remains in a clamped state, providing a stable wall-hugging force; the propeller compartment drives and adjusts the robot as a whole to move along the pile foundation axis; the driven wheel only provides frictional contact and trajectory stabilization, moving synchronously with the robot; when the wheel module selects the active wheel, the propeller compartment and the active wheel work together to drive and control the robot's crawling speed and overall posture, maintaining a stable wall-hugging force and optimal inspection trajectory, avoiding deviation.

[0079] Preferably, the data acquisition stage includes the following: during the inspection, the contact tool continuously collects relevant data such as surface defect signals and material status of the pile foundation, and the camera continuously captures the operation of the contact tool. The data is transmitted to the main control cabin via a bus, and after processing, it is transmitted back to the remote controller of the onshore terminal control system in real time through the positioning and communication cabin. The operator can monitor the detection situation in real time and remotely issue pause or adjustment commands if an abnormality is found.

[0080] Preferably, the intelligent obstacle-crossing movement phase includes the following actions: when the obstacle avoidance sonar detects a protruding obstacle on the surface of the pile foundation, the robot performs emergency response, obstacle avoidance, and resumption of inspection actions; wherein the emergency response action includes immediately stopping the axial crawling movement to avoid direct collision with the obstacle; the obstacle avoidance action includes the thruster compartment outputting thrust laterally to temporarily move the robot body away from the obstacle, the flexible joints adjusting the angle, and raising the relevant compartments to form an avoidance space; the resumption of inspection action includes the robot, after passing the obstacle, restoring its original embracing configuration and wall-hugging state, and continuing to crawl at a constant speed along the pile foundation axis for inspection.

[0081] Specifically, in step 104 of the present invention, in the non-contact detection mode, the operation phase includes a moving approach phase and a configuration switching phase; preferably, the moving approach phase includes the robot initially maintaining a straight line configuration to minimize underwater navigation resistance, and the propulsion cabin driving the robot to move towards the target pile foundation; the configuration switching phase includes the main control cabin controlling the flexible joint to adjust the angle, driving the robot from a straight configuration to an encircling configuration, so that the non-contact tool maintains a preset safe distance from the pile foundation surface, and the working end of the tool faces the pile foundation surface, ready for contact operation.

[0082] Specifically, in step 104 of the present invention, in the non-contact detection mode, the operation phase further includes fixed-distance movement, dynamic inspection movement, data acquisition movement, and intelligent obstacle-crossing movement. Preferably, the fixed-distance motion includes the following steps: after the robot completes the configuration switch, the thruster compartment, in conjunction with the attitude sensor and ranging sonar, initiates closed-loop control to adjust the magnitude and direction of the driving force in real time, so that each link of the robot always maintains a preset safe distance from the surface of the pile foundation; during the inspection process, water flow interference may cause the robot's position to fluctuate. At this time, the thruster compartment continuously fine-tunes the power, and the flexible joint assists in correcting the attitude, offsetting the influence of water flow in real time, maintaining the stability of the posture and the uniformity of the detection distance, and ensuring that the working distance of the sensor is consistent.

[0083] Preferably, the dynamic inspection motion includes: the propulsion cabin precisely controls the robot to move at a constant speed along the pile foundation axis; the movement speed ensures that the non-contact tools have sufficient time to complete data acquisition; the auxiliary lighting tools adjust the brightness according to the water transparency to avoid glare interference; and optical imaging, acoustic detection, and non-contact detection tools work simultaneously to cover the entire perimeter of the pile foundation without blind spots.

[0084] Preferably, the data acquisition process includes the following: during the inspection, non-contact tools continuously collect images of the pile foundation surface, acoustic data, and condition assessment data; images collected by optical imaging tools are stitched together using feature point matching technology to produce a panoramic image; after various data are fused and processed, a complete record of pile foundation surface defects is formed; and the collected data is transmitted back to the onshore terminal control system remote controller in real time through the positioning and communication cabin, allowing operators to monitor the inspection situation in real time.

[0085] Preferably, the intelligent obstacle-crossing motion includes emergency response, obstacle avoidance, and resumption of inspection actions; wherein the emergency response action includes immediately stopping axial movement, maintaining the current hovering posture, and avoiding collisions; the obstacle avoidance action includes the main control cabin instructing the flexible joints and the thruster cabin to coordinate actions according to the size and distribution of obstacles. If the obstacle is small, local configuration adjustments are made to raise the corresponding cabin section to avoid it; if the obstacle is large, the encirclement radius is adjusted to bypass the obstacle; the resumption of inspection action includes, after the robot bypasses the obstacle, the thruster cabin and the flexible joints coordinate to make fine adjustments, quickly restoring to a uniform hovering distance with the pile foundation surface, and continuing to move along the axis for inspection to ensure the integrity of the detection coverage.

[0086] Specifically, after step 104 of the present invention, a task completion process is also included, which is a general robot procedure. Preferably, the task completion process includes return preparation, return movement, and recovery and maintenance. The return preparation includes, after completing the preset inspection range, the main control cabin instructs the robot to stop data acquisition, and the flexible joint drives the robot to switch to a straight line configuration to reduce navigation resistance. The return movement includes, the thruster cabin drives the robot to return to the starting point along the original path, and the positioning and communication cabin provides real-time feedback of position information to ensure that it is not lost. The recovery and maintenance includes, using a deployment device to lift the robot off the water surface, checking the watertightness of each cabin, the cleanliness and integrity of the tools (contact tools clean surface deposits, non-contact tools clean lenses and probes), and the wear of the thrusters and wheels (contact mode). The low-power battery compartment is replaced, the surface deposits of the equipment are cleaned, and the tool interfaces and electrical connectors are waterproofed and maintained to prepare for the next operation.

[0087] The pile foundation testing method described in this invention can accurately control the pile foundation testing robot to adjust the testing mode, power mode, robot configuration, etc. in a timely manner under different operating scenarios and working conditions, which greatly improves the robot's operating scenario range, versatility, flexibility and power management efficiency, enhances the robot's obstacle crossing ability, and reduces the robot's operating cost.

[0088] The technical solution of the present invention has been described above with reference to the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will all fall within the scope of protection of the present invention.

[0089] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A pile foundation inspection robot, characterized in that, include, The cabin consists of several compartments, including a main control compartment for command transmission and reception and data processing, a functional compartment for power supply and data communication, and a propulsion compartment for providing propulsion power. A flexible joint is provided between the various compartments, and the spatial relationship between the various compartments can be adjusted by changing the shape of the flexible joint. A wheel module, which is detachably mounted on the cabin, is used to drive the robot to walk on the pile foundation or to support the robot to walk stably on the pile foundation; The main controller module, which is located in the main control cabin, is used for command transmission and reception and data processing; The main power control system is located in the main control compartment and electrically connected to the main controller module. It is used to control the power mode and distribute power to the propeller compartment, wheel module and flexible joint. The main controller module stores a preset control mechanism for regulating power mode and power distribution. The main controller module issues control commands for power mode and power distribution to the power control main system according to the preset control mechanism. The power control main system distributes power to the wheel module, propeller compartment and flexible joint according to the control commands.

2. The pile foundation inspection robot as described in claim 1, characterized in that, The control instructions include, The driving force ratio parameter of the wheel module is used to determine the driving force of the wheel module; The thrust ratio parameter of the propulsion chamber is used to determine the thrust of the propulsion chamber. The adjustment force ratio parameter of the flexible joint is used to determine the adjustment force of the flexible joint.

3. The pile foundation inspection robot as described in claim 2, characterized in that, In contact detection mode, the wheel module includes, An active wheel, which is mounted on the wheel module corresponding to the tangent point of the pile foundation, is used to drive the robot to walk stably on the surface of the pile foundation; A drive motor, which is mounted on the drive wheel, is used to provide driving force to the drive wheel; A brake is provided on the drive wheel to brake the drive wheel and prevent slippage when the drive wheel is working on an inclined or vertical pile foundation. The first power control slave system is electrically connected to the power control master system and is used to receive instructions from the power control master system and distribute power to the wheel module according to the instructions from the power control master system.

4. The pile foundation inspection robot as described in claim 3, characterized in that, The driving force percentage parameter of the wheel module is greater than or equal to a first percentage value, the thrust percentage parameter of the propeller is less than or equal to a second percentage value, and the adjustment force percentage parameter of the flexible joint is 100% minus the sum of the driving force percentage parameter of the wheel module and the thrust percentage parameter of the propeller compartment.

5. The pile foundation inspection robot as described in claim 4, characterized in that, The first power control system stores the power distribution rules for a single active wheel. The first power control system is used to adjust and distribute the driving force of the wheel module to each active wheel according to the power distribution rules for the single active wheel and the real-time load wheel pressure of each active wheel.

6. The pile foundation inspection robot as described in claim 2, characterized in that, In contact detection mode, the wheel module includes, The driven wheel is mounted on the wheel module corresponding to the tangent point of the pile foundation. The driven wheel includes a middle part and two side edge parts. When the two side edge parts are energized, they generate magnetism and are attracted to the surface of the metal pile foundation, so that the driven wheel can stably fit and move on the surface of the pile foundation. A spring mechanism, which is connected to the driven wheel body and disposed between the cabin body and the driven wheel body, is used to provide an adjustable wall-adhesive preload to the driven wheel body; The second power control slave system is electrically connected to the power control master system and is used to receive instructions from the power control master system and distribute power to the wheel module according to the instructions from the power control master system.

7. The pile foundation inspection robot as described in claim 6, characterized in that, The adjustment force percentage parameter of the flexible joint is less than or equal to the third percentage value, the thrust percentage parameter of the propeller compartment is greater than or equal to the fourth percentage value, and the driving force percentage parameter of the wheel module is 100% minus the sum of the adjustment force percentage parameter of the flexible joint and the thrust percentage parameter of the propeller compartment.

8. The pile foundation inspection robot as described in claim 2, characterized in that, In non-contact detection mode, the wheel module includes, The third power control slave system is electrically connected to the power control master system and is used to receive instructions from the power control master system and distribute power to the wheel module according to the instructions from the power control master system. The driving force percentage parameter of the wheel module is set to the fifth percentage value, the thrust percentage parameter of the propeller compartment is set to a value greater than or equal to the sixth percentage value, and the adjustment force percentage parameter of the flexible joint is set to 100% minus the thrust percentage parameter of the propeller compartment.

9. The pile foundation inspection robot as described in claim 1, characterized in that, The functional cabin includes multiple functional modules, and the functional modules include, The battery compartment is separately located in the functional compartment or connected to other functional compartments via a connecting ring to form a functional compartment. The battery compartment is used to provide power to the robot. The positioning and communication module is separately located in the functional module or connected to other functional modules via a connecting ring to form a functional module, and is used for positioning and communication of the robot.

10. A method for testing pile foundations, characterized in that, The pile foundation inspection robot applied to any one of claims 1 to 9 includes: Step 1: Activate the robot's remote control; Step 2: Operate the remote control to determine and select the pile foundation detection mode, which includes contact detection mode and non-contact detection mode; Step 3: Adjust the composition mode of the robot according to the pile foundation detection mode and assemble the robot according to the composition mode; the composition mode includes configuration type and power mode; the configuration type includes type I, V type, C type, W type, arc shape, U type, triangle shape, and circle shape; Step four: Based on the robot's operating stage and working conditions, use the remote controller to adjust the robot's configuration type and power distribution.

Images