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CN-122009445-A - Hydraulic building concrete underwater repair robot based on heterogeneous dual-core cooperative control and operation method

CN122009445ACN 122009445 ACN122009445 ACN 122009445ACN-122009445-A

Abstract

The invention discloses a hydraulic building concrete underwater repair robot based on heterogeneous dual-core cooperative control and an operation method. The system mainly comprises an ROV carrier, an embedded dry chamber cabin, a vector propeller, a mechanical arm and a 'Pixhawk+PLC' dual-core control system. The equipment adopts a layered control architecture, wherein a motion control layer realizes six-degree-of-freedom motion and gesture overturning based on Pixhawk flight control, an operation control layer adopts an industrial PLC to control dynamic sealing of a dry chamber cabin and an underwater operation surface, and a negative pressure drying environment is quickly established. And integrating multiple sensors and manipulators in the cabin, performing visual accurate repair in a waterless state, and releasing negative pressure evacuation after the completion. The invention combines the maneuverability of open source flight control with the logic reliability of PLC, overcomes the defects of easy overload and difficult alignment of complex gestures of a single controller, and ensures the high efficiency and system stability of the repair of the deep water complex structure.

Inventors

  • LIANG CHAO
  • DUAN XIANGYU
  • LIAN JIJIAN
  • MA BIN

Assignees

  • 天津大学

Dates

Publication Date
20260512
Application Date
20260326

Claims (7)

  1. 1. The utility model provides a hydraulic building concrete underwater repair robot based on heterogeneous binuclear cooperative control which characterized in that includes: The device comprises an ROV carrier frame (1), an embedded dry chamber cabin (9), a vector propulsion system, a mechanical arm operation unit (15), a main control electric cabin (2) and a heterogeneous dual-core control system, wherein the ROV carrier frame (1) is used as a main body supporting structure, the main control electric cabin (2) and a diaphragm pump cabin (3) are fixed inside the ROV carrier frame through damping connecting pieces, the embedded dry chamber cabin (9) is fixedly connected to the bottom of the ROV carrier frame (1), a flexible sealing ring is arranged at the opening end of the embedded dry chamber cabin and is used for forming a closed space with an underwater concrete structure surface, and the vector propulsion system at least comprises four horizontal propellers (11-1) and four vertical propellers (11-2) which are circumferentially arranged on the ROV carrier frame (1) and used for providing six-degree-of-freedom motion thrust.
  2. 2. The underwater repair robot of claim 1, wherein the heterogeneous dual-core control system adopts a layered architecture and comprises a physically independent but logically coordinated motion control unit and an environment logic control unit, wherein the motion control unit takes a flight controller based on a Pixhawk (2-1) architecture as a core, is provided with ArduSub firmware, is connected with an IMU and a propeller driver, is used for solving the attitude of a machine body and controlling a vector propulsion system to realize constant-depth cruising and attitude overturning of the robot so as to match an inclined or vertical concrete working surface, and the environment logic control unit takes a PLC (2-7) as a core, is connected with a watertight plug (8), an air pressure sensor (6), a water pressure sensor (7), a branch elbow (10), a temperature and humidity sensor (14), an electromagnetic valve (5), a check valve (3-3) and a diaphragm pump (3-1) and is used for controlling the drainage building cavity of a dry chamber (9), the negative pressure maintenance and the operation safety interlocking of a mechanical arm operation unit (15) after the robot is attached to the wall surface.
  3. 3. The underwater repair robot of claim 2, wherein the motion control unit Pixhawk (2-1) internally comprises a net rotating string (2-2), a net port switch (2-3), a relay (2-4), a power panel (2-5) and a wiring board (2-6), a PID attitude control algorithm is integrated, an upper computer instruction can be received, and the horizontal propeller (11-1) and the vertical propeller (11-2) are controlled to output differential thrust to drive the robot to overturn from a horizontal plane degree to a 90 degree around a horizontal rolling shaft or a pitching shaft.
  4. 4. The underwater repair robot according to claim 1, wherein the mechanical arm operation unit (15) is installed inside an embedded dry chamber cabin (9) and driven by a servo motor, a cradle head camera (13) and a spotlight (12) are further integrated on the inner wall of the embedded dry chamber cabin (9), video signals collected by the cradle head camera (13) are transmitted to a water surface upper computer through optical fibers, and an operator remotely controls the mechanical arm to perform concrete polishing, cleaning and repairing material filling operation under a dry environment established by a PLC (2-7) according to video feedback.
  5. 5. The underwater repair robot of claim 1, wherein the power supply system adopts a ground power supply mode, ground high-voltage power is transmitted to the underwater main control electric appliance cabin (2) through a photoelectric composite cable, and after the ground high-voltage power is reduced by the voltage transformation module (4), the power is respectively provided for the motion control unit Pixhawk (2-1), the environmental logic control unit PLC (2-7), the horizontal pushing propeller (11-1) and the vertical propeller (11-2), so that infinite endurance operation is realized.
  6. 6. The underwater repair robot of claim 2, wherein the control logic of the environmental logic control unit PLC comprises: I. The seal detection logic is used for collecting pressure difference signals inside and outside the dry chamber cabin (9) in real time, and judging that the inner ring sealing ring (9-1) and the outer ring sealing ring (9-2) are pre-pressed and attached when a pressure difference establishment trend is detected; II, draining and pumping logic, namely opening an electromagnetic valve (5) and a diaphragm pump (3-1) according to a time sequence after the sealing judgment is passed, and draining water in the cabin; III, negative pressure maintaining logic, namely during operation, adjusting the opening of an electromagnetic valve (5) or finely adjusting the power of a diaphragm pump (3-1) through PID logic, and maintaining the air pressure in the cabin within a preset negative pressure range; and IV, safety interlocking logic, namely, monitoring the humidity and the pressure in the dry chamber cabin (9) in real time by the PLC (2-7), and immediately cutting off the power source of the mechanical arm operation unit (15) and triggering an alarm if water inflow or pressure loss is detected.
  7. 7. A method of operation based on an underwater repair robot as claimed in any of claims 1 to 5, comprising the steps of: I. The upper computer sends an instruction to a motion control unit Pixhawk (2-1) to drive the robot to submerge under water and cruise to the vicinity of the concrete structure surface to be repaired, and the hydraulic pressure sensor (7) and the cradle head camera (13) are used for assisting in positioning; II, attitude overturning and matching, namely solving a normal vector of a target plane by a motion control unit aiming at an inclined or vertical concrete dam surface, controlling a vector propulsion system to execute a machine body overturning action, and adjusting the attitude of a robot until the opening plane of a dry chamber cabin is parallel to a working surface; III, flexible lamination, wherein a motion control unit Pixhawk (2-1) controls the robot to push at a low speed along the normal direction, so that an inner ring sealing ring (9-1) and an outer ring sealing ring (9-2) of a dry chamber cabin (9) press the surface of concrete, and thrust is kept to maintain initial physical sealing; IV, establishing a dry room environment, namely taking over control rights by an environment logic control unit PLC (2-7), starting an electromagnetic valve (5) and a diaphragm pump (3-1), and pumping out water in the cabin; v, drying and repairing operation, namely after the air pressure and the humidity in the cabin are confirmed to reach the operation standard, the PLC (2-7) releases the interlocking of the mechanical arm operation unit (15), and an operator controls the mechanical arm operation unit (15) to repair the damaged concrete surface in an anhydrous environment; And VI, after the detachment and the retraction are completed, the PLC (2-7) controls and opens the electromagnetic valve (5) and the diaphragm pump (3-1) to balance the internal and external pressure of the dry chamber cabin (9) so as to release the adsorption force, and then the motion control unit controls the horizontal pushing propeller (11-1) and the vertical propeller (11-2) to reversely rotate so as to drive the robot to separate from the working surface and float upwards for retraction.

Description

Hydraulic building concrete underwater repair robot based on heterogeneous dual-core cooperative control and operation method Technical Field The technology relates to the field of underwater concrete damage repair of hydraulic buildings, in particular to an underwater concrete dry room repair robot based on heterogeneous double control and an operation method. Background With the rapid development of the current water conservancy and hydropower engineering, a large number of dam vaults (such as a dam overflow surface, a stilling pool, a spillway tunnel, a plunge pool and the like) are put into operation for many years. The concrete structure surface of the hydraulic building is extremely easy to suffer from peeling, rib exposing, pit slot, cracks and other diseases under the long-term scouring, sand carrying abrasion and cavitation (cavitation) action of high-speed water flow. If the hydraulic structure is not repaired in time, the surface damage can be rapidly expanded under the action of the water flow pulse pressure, and the safe and stable operation of the hydraulic structure is seriously threatened. The existing repair means have certain limitations. Currently, there are mainly the following ways to repair defects in underwater concrete. The manual repair of divers is high in flexibility, but limited by physiological limits of human bodies, the operation depth is usually not more than 60 meters, and the divers face extremely high personal safety risks under deep water high-pressure, low-temperature and turbid water flow environments, so that the operation efficiency is low, and long-time continuous work is difficult. And (3) dry cofferdam construction, namely repairing the water drainage by building a cofferdam. The method has the advantages of best repair quality, huge engineering, extremely high cost, and frequent need of reservoir emptying or stopping, and has great influence on the power generation benefit of the power station and the upstream and downstream ecological scheduling. Conventional underwater Robots (ROVs) are increasingly being used for inspection and light work as robotics evolve. However, the existing underwater repair robot has obvious technical bottlenecks when facing a specific scene of a hydraulic building: In addition, the complex slope surface is difficult to match in terms of the posture, and the overflow surface and the diversion tunnel of the dam usually have larger inclination angles (even are close to vertical). Conventional ROVs are mostly designed for horizontal attitude cruising, and their control systems have difficulty achieving high-angle body roll-over and remain stable for long periods of time. When an ROV tries to attach to the inclined dam surface, the thrust vector configuration is unreasonable or the attitude calculation algorithm is lagged, so that the sealed cabin cannot be parallel to the working surface, and an effective physical seal is difficult to form, so that the problem of 'attaching and sealing inadequacy' is caused. The stability of the single controller architecture is not enough, and the existing equipment usually adopts a single main controller (such as an industrial personal computer or a singlechip) and is simultaneously responsible for motion control, image processing and operation logic. On one hand, the underwater motion control needs high-frequency gesture calculation (such as PID image stabilization) and has high calculation force requirements, and on the other hand, the establishment of the dry chamber cabin relates to the sequential logic control of a drainage pump and an electromagnetic valve and requires extremely high reliability. When the single controller is loaded too high (e.g., when processing high definition video streams), control command delays and even dead times are easily caused. Once the master control fails, the robot is unstable in posture and impacts the dam body, and the dry chamber cabin is more likely to be suddenly pressured and fed, so that an expensive mechanical arm and an expensive operation tool are damaged. The coupling interference between the environmental control and the operation is that the gravity center and the floating center of the dry chamber cabin can be changed drastically in the water pumping process, and extra disturbance with moment is generated. If a special logic control unit is not used for cooperation with a motion control unit, it is difficult to maintain a stable negative pressure adsorption state in a dynamic environment. Disclosure of Invention Aiming at the technical problems in the prior art, the invention provides an underwater concrete dry room repairing robot based on heterogeneous double control and an operation method. The invention combines the flexible maneuverability of open source flight control with the logic reliability of an industrial PLC, solves the problem that the traditional equipment is difficult to align with a working surface under a complex gesture and the system