A swarm robot system for underwater hull cleaning

Abstract

The invention discloses a swarm robot system method for cleaning of an underwater ship. The method comprises the following steps of enabling a control console on a mother ship to operate an unmanned ship to arrive at the part near the pre-cleaning location, releasing a reconnaissance robot, and enabling the reconnaissance robot to obtain a depth three-dimensional image and detailed location data of the surface of the underwater ship via a binocular three-dimensional camera, and send to a working station of the unmanned ship; enabling the working station of the unmanned ship to primarily analyze the data sent by the reconnaissance robot, judging to give underwater cleaning dirt type and cleaning mode, and send the detailed data back to the control console on the mother ship; enabling an operator on the mother ship to observe the underwater picture information via the data playback function, and verifying to adopt the parallel or series or single cleaning mode; usually, firstly, using a solid breaking robot or a cutting robot to primarily clean the large-area attaching object, then enabling the cleaning robot to use a following strategy to complete the left local difficult-cleaning area, and finally enabling the cleaning robot to complete the final polishing treatment.

Description

technical field [0001] The invention relates to a group robot system for underwater hull cleaning. Background technique [0002] When the hull is sailing or operating at sea for a long time, the shell of the hull below the waterline contains a large number of dirt layers consisting of dirt, shells, algae and other attachments that need to be cleaned, which greatly increases the resistance of the ship and is not conducive to navigation. The speed of the ship will inevitably lead to an increase in fuel consumption. In order to use and save fuel reasonably, ensure the normal navigation of the ship and prolong its service life, it is necessary to regularly clean the underwater hull attachments of the ship. At present, the cleaning of the hull is mainly realized by artificial diving or dock cleaning. Due to the dense scale and large area, the underwater cleaning of the hull is often complicated, and manual operation cannot meet the requirements of high efficiency and quality. Du...

AI Technical Summary

Problems solved by technology

[0002] When the hull is sailing or operating at sea for a long time, the shell of the hull below the waterline contains a large amount of scale layer consisting of dirt, shells, algae and other attachments that need to be cleaned, which greatly increases the resistance of the ship and is not conducive to navigation. The speed of the ship will inevitably lead to an increase in fuel consumption. In order to use and save fuel reasonably, ensure the normal navigation of the ship and prolong its service life, it is necessary to regularly clean the underwater hull attachments of the ship.

At present, the cleaning of the hull is mainly realized by artificial diving or dock cleaning. Due to the dense scale and large area, the underwater cleaning of the hull is often complicated, and manual operation cannot meet the requirements of high efficiency and quality. During the operation, the visibility is low, the operation intensity and difficulty are high, the divers are prone to fatigue, and the operation quality and efficiency are difficult to guarantee

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