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A hull traversing method and a hull traversing robot

A technology for robots and hulls, applied in instruments, control/adjustment systems, vehicle position/route/height control, etc., can solve the problems of robots deviating from cleaning paths, visual errors, and inability to traverse the hull, so as to improve traversal efficiency and save labor. cost effect

Inactive Publication Date: 2019-04-16
张瑭
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This method may not be able to traverse the entire hull due to external factors, robot deviation from the cleaning path, visual errors, etc.

Method used

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  • A hull traversing method and a hull traversing robot
  • A hull traversing method and a hull traversing robot
  • A hull traversing method and a hull traversing robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0026] figure 1 A flowchart showing a method for traversing a hull of an exemplary embodiment. The hull traversal method can be used to detect the surface condition of the hull, clean the hull, apply materials on the surface of the hull, and the like. Such as figure 1 As shown, the method includes:

[0027] Step S11, placing the robot at the initial position of the hull;

[0028] In a possible implementation, the robot is manually placed in the area to be cleaned on the hull, such as the upper left, upper right, lower left or lower right, without strict requirements on the specific position, and the distance between the two sides and the edge of the hull is less than One-tenth of the body length. The robot can also be automatically placed on the area of ​​the hull to be cleaned by a mechanical device.

[0029] Step S12: Set the distance H, turn on the hull edge recognition device and the real-time attitude adjustment device, and control the robot to move forward in the ho...

Embodiment 2

[0041] Figure 5 It is a block diagram of a hull edge recognition device 50 according to an exemplary embodiment, and the hull edge recognition device 50 includes: an inclination angle calculation module 51 , a first setting module 52 , and a first judging module 53 .

[0042] The tilt angle calculation module 51 is configured to calculate the maximum value of the hull edge tilt angle according to the hull data;

[0043] The first setting module 52 is configured to set the detection period T, the maximum number of times N, and the tilt angle difference threshold θ, where N is a positive integer;

[0044] The first judging module 53 is configured to judge that the edge of the hull has been reached when the number of times N is detected every two times when the difference in inclination angle is greater than θ is detected.

[0045] With the hull edge recognition device provided in the present disclosure, multiple consecutive detections are used to judge whether the hull edge ha...

Embodiment 3

[0047] Figure 6 is a block diagram of a real-time posture adjustment device 60 according to an exemplary embodiment, and the real-time posture adjustment device 60 includes: an offset threshold calculation module 61 , a second setting module 62 , a detection module 63 , and a second judging module 64 .

[0048] The offset threshold calculation module 61 is configured to calculate the maximum allowable offset threshold W according to the width of the robot and the width of the cleaning surface;

[0049] The second setting module 62 is configured to set the detection period T, and detect the depth after moving the distance H each time in the vertical direction and set it as the initial depth D;

[0050] The detection module 63 is configured to detect the current depth D1, and calculate the absolute value of D1 and D;

[0051] The second judging module 64 is configured to judge the relationship between the absolute value and W, and calibrate the pose of the robot when the absol...

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Abstract

The invention relates to a hull traversal method and a hull traversal robot. The method comprises that a robot is placed in an initial position of a hull; the distance H is set, an edge identification device and a real-time posture adjustment device of the hull are stated, and the robot is controlled to move forwardly in the horizontal direction; after that a first edge is detected, the robot is controlled to move back; and after that a third edge and so on are detected, the edge identification device is stopped and switched off, moves along the vertical direction for the distance H, turns to the horizontal direction, continues to move, and is then started, and traversal is not completed till the depth reaches the hull bottom. The hull traversal method can be used to traverse the whole hull automatically, the traversal efficiency is improved, and the labor cost is reduced.

Description

technical field [0001] The present disclosure relates to the field of ships, in particular to a hull traversing method and a hull traversing robot. Background technique [0002] With the rapid development of the world economy, ocean transportation has become more important. Ships are undertaking the main task of maritime transportation, and at the same time they are also subject to strong corrosion from the ocean. Therefore, it is already possible to use underwater robots to clean and inspect the hull become a current research hotspot. Existing underwater robots generally adopt the method of mutual feedback between the upper computer and the lower computer. The lower computer is located in the robot body, receives the command of the upper computer, and completes the cleaning work under manual monitoring. This method may not be able to traverse the entire hull due to external factors, robot deviation from the cleaning path, and visual errors. Contents of the invention [...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/08
CPCG05D1/0875
Inventor 张瑭符伟剑张建华倪旭东李明雷
Owner 张瑭
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