摘要
针对传统水下管道巡检机器人设计存在的弊端,设计一款水下巡检机器人。结合前沿技术及水下智能机器人的发展趋势,通过加载双目摄像头,实现对水下管道小范围的目标精准定位,并配合机械手远程遥控完成管道表面异物清除及回收。结果表明:该机器人结构合理,功能完善,稳定性与操控性能良好。
Aiming at the disadvantages of traditional underwater pipeline inspection robot design,an underwater inspection robot is designed.Combined with the advanced technology and the development trend of underwater intell igent robot,the binocular camera is loaded to realize the precise positioning of the target in a small area of the underwater pipeline,and the removal and recovery of foreign bodies on the surface of the pipeline are completed with the remote control of the manipulator.The results show that the structure of the robot is reasonable,the function is perfect,and the stability and control performance are good.
作者
岳宗言
林森
王一丁
黎翔宇
蒲子涵
满文博
康朕基
Yue Zongyan;Lin Sen;Wang Yiding;Li Xiangyu;Pu Zihan;Man Wenbo;Kang Zhenji(School of Mechatronics Engineering,Harbin Institute of Technology,Harbin 150000,China)
出处
《兵工自动化》
2022年第10期92-96,共5页
Ordnance Industry Automation
基金
教育部产学合作协同育人项目(202002251002)
全国大学生创新创业训练计划项目(2020F1028)。
关键词
水下机器人
智能巡检
模块化
控制
优势
autonomous underwater vehicle
intelligent inspection
modularization
control
advantage
