Variable-structure crawler-type full-water-depth propelling amphibious robot and control method thereof
Variable-structure crawler-type full-water-depth propelling amphibious robot and control method thereof
- Neue Suche nach: WANG JIANHUA
- Neue Suche nach: WANG HAOZHU
- Neue Suche nach: ZHENG XIANG
- Neue Suche nach: PAN ZIJUN
- Neue Suche nach: ZHANG MENGDI
- Neue Suche nach: CHE WENBO
- Neue Suche nach: WANG JIANHUA
- Neue Suche nach: WANG HAOZHU
- Neue Suche nach: ZHENG XIANG
- Neue Suche nach: PAN ZIJUN
- Neue Suche nach: ZHANG MENGDI
- Neue Suche nach: CHE WENBO
The invention provides a variable-structure crawler-type full-water-depth propulsion amphibious robot and a control method thereof.The variable-structure crawler-type full-water-depth propulsion amphibious robot comprises a robot body, a sensing module, a control module, a remote control module, an execution module and a power module, and the sensing module is used for detecting environment information and state information; the control module is used for receiving an instruction and controlling movement and structure transformation of the robot, the remote control module is used for remotely monitoring information and issuing the instruction, and the execution module is used for receiving the instruction issued by the control module and carrying out corresponding operation; and the execution module comprises a fender inflating and deflating mechanism, a boat type propelling mechanism, a crawler retracting and releasing mechanism and a crawler type propelling mechanism. According to the control method, data are displayed through the remote control module, environment information collected by the sensing module is judged, the working mode of the robot is switched through the execution module according to the environment information, the ship type working mode is adopted in the deep water environment, and the vehicle type working mode is adopted in the water-free or shallow water environment, so that in-water detection in the pipe culvert is achieved.
本发明提出一种变结构的履带式全水深推进两栖机器人及其控制方法，包括机器人主体、感知模块、控制模块、远程操控模块、执行模块和电源模块，感知模块用于检测环境信息和状态信息；控制模块用于接收指令并控制机器人的移动与结构变换，远程操控模块用于远程信息监视和指令下达，执行模块用于接收由控制模块下达的指令，并进行相应操作；执行模块包括护舷充放气机构、艇式推进机构、履带收放机构和履带车式推进机构。在本申请中,控制方法通过远程操控模块显示数据，判断感知模块采集的环境信息，根据环境信息通过执行模块切换机器人的工作模式，在深水环境采用船式工作模式，在无水或浅水环境采用车式工作模式，以实现管涵内的在水检测。
Dokumentinformationen
Variable-structure crawler-type full-water-depth propelling amphibious robot and control method thereof
一种变结构的履带式全水深推进两栖机器人及其控制方法
2023-04-04
Patent
Elektronische Ressource
Chinesisch
| IPC: | B60F VEHICLES FOR USE BOTH ON RAIL AND ON ROAD , Fahrzeuge für den Verkehr sowohl auf Schienen als auch auf Straßen / F16L PIPES , Rohre / G01N Untersuchen oder Analysieren von Stoffen durch Bestimmen ihrer chemischen oder physikalischen Eigenschaften , INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen |
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