一种水下构件力反馈接触检测方法、装置及介质
By introducing a high-precision three-dimensional point cloud model and a six-dimensional force sensor into underwater component inspection, and combining visual guidance and force fusion in a phased human-machine collaborative control, the problems of large contact judgment error and insufficient attitude correction in underwater component contact inspection have been solved. This has enabled accurate judgment and stable maintenance of the contact state, reduced operational difficulty, and improved inspection efficiency.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- CHINA THREE GORGES CORPORATION
- Filing Date
- 2026-04-28
- Publication Date
- 2026-07-17
AI Technical Summary
The lack of human-machine collaboration mechanism in existing underwater component contact detection technology leads to insufficient contact judgment and attitude correction, resulting in problems such as large contact judgment error, high operation difficulty, easy damage to detection terminals, and distortion of detection data.
Through communication connection and parameter calibration between the land-based master terminal and the underwater slave terminal, combined with a high-precision three-dimensional point cloud model and a six-dimensional force sensor, visual guidance and force fusion are achieved. A phased human-machine collaborative control strategy is adopted, including coarse adjustment and fine adjustment, to ensure correct contact posture and stable contact force.
It enables accurate determination and stable maintenance of the contact state of underwater components, reduces the labor intensity of operators, improves detection efficiency and accuracy, and ensures the effectiveness and reliability of subsequent non-destructive testing.
Smart Images
Figure CN122409162A_ABST