Embracing Crawling Robot for Underwater Pier Inspection
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Solution Overview
Problem
Current technologies lack effective solutions for automated cleaning and detection of underwater piers of highway bridges, particularly in high-speed and turbid water conditions, leading to inefficiencies and safety risks in manual methods.
Innovation Solution
An embracing crawling robot equipped with a dual-combination octagonal hollow frame structure, servo driving wheels, driven wheels, underwater manipulator arms, vision array modules, and synchronized stretching and fixing systems, capable of performing cleaning and detection tasks while stabilizing on the underwater pier.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If manual cleaning and detection methods are used, then equipment complexity is reduced, but productivity is low and safety risks increase
Solution Approach 1:
The robot system is divided into modular functional units: main body, driving wheels, manipulator arms, detection devices, and communication modules. Each module operates independently but coordinates through the control system, enabling complex cleaning and detection tasks while maintaining manageable system architecture.
Solution Approach 2:
The robot integrates multiple functions into a single platform: cleaning operations, detection activities, navigation, and communication. The manipulator arms can perform both cleaning tasks and carry detection equipment, while the same body structure supports both propulsion and maneuvering functions, eliminating the need for separate specialized equipment.
2Extent of automation
If existing underwater robots are used, then automation is achieved, but they cannot perform pier cleaning tasks in high-speed water flow conditions
Solution Approach 1:
The robot employs dynamic adjustment mechanisms including adjustable manipulator arm positions, variable wheel traction forces, and real-time posture compensation through sensors. The system continuously adapts its configuration in response to water flow conditions, maintaining stability while performing cleaning tasks in high-speed currents.
Solution Approach 2:
The robot uses an intermediary control system that processes sensor data about water flow and pier surface conditions, then coordinates the appropriate responses from driving wheels and manipulator arms. This intermediary layer enables automated adaptation to changing environmental conditions without direct human intervention in hazardous environments.
3Measurement precision
If manual detection is performed, then device complexity is minimized, but measurement precision and safety are compromised
Solution Approach 1:
Manual detection methods are replaced with automated detection systems including cameras, sensors, and processing units mounted on the robot. The mechanical system of human operators is substituted with an automated robot that can continuously monitor pier conditions with higher precision and without the safety risks associated with manual intervention in hazardous environments.
Solution Approach 2:
The detection system incorporates real-time feedback through sensors that continuously monitor pier surface conditions, water flow parameters, and robot posture. This feedback loop enables the system to automatically adjust detection parameters and maintain optimal measurement precision while adapting to changing environmental conditions.
Data Source
AI summary
Disclosed are an embracing crawling robot for detecting an underwater pier of a highway bridge and a detection method therefor. The robot includes a main body, underwater lighting systems, tool compartments, depth metering modules, servo driving wheels, inclination measurement modules, underwater manipulator arms, vision array modules, synchronized stretching and fixing systems, and driven wheels. The robot is capable of crawling around an underwater pier of a highway bridge and operating stably in an underwater environment. After cleaning surface attachments on the underwater pier, the robot performs visual detection of a disease; and after determining type and location information of the disease, the robot will transmit disease information back. The robot is capable of crawling around the underwater pier of the highway bridge stably at any depths, perceiving depth and visual information under high-speed and turbid water conditions, thereby realizing detection of the disease on the underwater pier.