The invention provides a multi-robot system and method for water turbine runner blade detection. The multi-robot system comprises a carrying and telemetering robot, a flight mother aircraft and a puppet detection robot. The carrying and telemetering robot is used for bearing the flying mother aircraft, and the carrying and telemetering robot is used for being pushed in from a water turbine tail cone pipe man entering door and providing reliable positioning for flying of the aircraft mother aircraft; a puppet detection robot used for detecting turbine runner blades is carried on the top of the flight mother aircraft. According to a water turbine blade inspection scene, the problem that a rotor unmanned aerial vehicle cannot be positioned in a denial and closed environment is solved, the problem that the rotor unmanned aerial vehicle does not have a take-off and landing platform in a tail cone pipe is solved, and a multi-robot system solution capable of carrying out short-distance adsorption observation on the surface of the blade is provided.
本发明提供了一种用于水轮机转轮叶片检测的多机器人系统及方法,包括运载与遥测机器人、飞行母机和傀儡探测机器人;所述运载与遥测机器人用于承载飞行母机,运载与遥测机器人用于从水轮机尾锥管进人门中被推入,并为飞机母机的飞行提供可靠定位;所述飞行母机的顶部搭载有用于对水轮机转轮叶片进行检测的傀儡探测机器人。此系统针对水轮机叶片巡检场景,克服在拒止且封闭环境中旋翼无人机无法定位的问题,解决旋翼无人机在尾锥管中无起降平台的问题,提供了一种能够在叶片表面近距离吸附观测的多机器人系统解决方案。
Multi-robot system and method for water turbine runner blade detection
一种用于水轮机转轮叶片检测的多机器人系统及方法
2024-11-22
Patent
Electronic Resource
Chinese
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