The invention provides a cruising method of a robot and an underwater detection robot. The cruising method of the robot comprises the steps that the diving depth of the robot is detected in real time; a control system starts a propeller and hovers; advancing is carried out; the distance between the robot and a pipeline is detected in real time, and the robot is kept in the center of the pipeline; the obstacle condition in the advancing direction is detected, and the control system adjusts the propeller according to the obstacle condition; the inclination condition of the robot is detected in real time, and the control system adjusts the propeller according to the inclination condition. The robot can hover at a fixed depth by detecting the submergence depth of the robot in real time and controlling the propeller; the distance between the robot and the pipeline is detected in real time to sequentially ensure that the robot advances in the center of the pipeline; the inclination condition of the robot is detected in real time, the propeller is controlled to keep balance, and the robot can stably advance in a balanced mode when encountering water flow impact. The robot can be conveniently operated and stably collect functional data of the whole pipeline at a time.

    本发明提供一种机器人的巡航方法和水下检测机器人。其中机器人的巡航方法,包括实时检测机器人下潜深度;控制系统开启推进器,悬停;行进;实时检测距离管道的间距,并保持机器人置于管道中心位置;检测前进方向障碍物情况,控制系统根据障碍物情况对推进器做出调整;实时检测机器人的倾斜情况,控制系统根据倾斜情况对推进器做出调整。通过实时检测机器人下潜深度并通过控制推进器实现机器人在固定深度悬停;通过实时检测距离管道的间距依次保证机器人在管道中心行进;通过实时检测机器人的倾斜情况,控制推进器保持平衡,实现机器人在遇到水流冲击时可以稳定平衡的行进;使得机器人可以便于操作且平稳的一次性采集整个管道的功能性数据。


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    Title :

    Cruising method of robot and underwater detection robot


    Additional title:

    机器人的巡航方法和水下检测机器人


    Contributors:
    LIU ZHIGUO (author) / WU FANHUA (author) / PENG GENG (author)

    Publication date :

    2021-10-19


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen



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