Control method of underwater steel structure surface marine growth cleaning robot

Abstract

The invention relates to a control method of an underwater steel structure surface marine growth cleaning robot and belongs to the technical field of deep-sea operation robots. The control method comprises the following steps: (1) controlling a propelling system to drive a robot to dive down to a target; (2) using the propelling system to adjust the pose of the robot until a magnetic wheel can magnetically attract a target position, then performing marine growth cleaning operation, and driving the robot to advance and retreat by utilizing a magnetic wheel system during operation; and (3) controlling the propelling system to output suspension propelling force, then controlling a lifting pushing mechanism to push the magnetic wheel away from the surface of the steel structure, using the propelling system to adjust the pose of the underwater steel structure surface marine growth cleaning robot so as to carry out steering, or controlling the propelling system to output floating propellingforce so as to float to the sea surface. According to the control method, the convenience of diving, floating and steering of the robot can be effectively improved, and the control method can be widely applied to the fields of surface cleaning of steel structures such as marine petroleum pipelines and the like.

Description

technical field [0001] The invention relates to an underwater operation robot, in particular to a control method for a robot for cleaning marine organisms on the surface of an underwater steel structure. Background technique [0002] With the rise of the marine economy, the workload of underwater operations will become more and more complex and heavy. Underwater platforms such as the bottom of ships and offshore drilling platform pipelines are prone to marine organisms, which usually require regular cleaning by divers. Although humans can make independent judgments on the cleaning objects and cleaning effects, it is difficult to guarantee the personal safety of divers and the working hours are affected by sea conditions. problems such as large size and low work efficiency. [0003] In order to solve the above problems, a cleaning robot is usually used for cleaning. The cleaning robot usually uses a magnetic wheel to adsorb on the steel pipe or to hold it tightly on the stee...

AI Technical Summary

Problems solved by technology

[0004] During the working process, the magnetic wheel system is controlled to be adsorbed on the steel pipe to facilitate posture adjustment, etc. However, when the cleaning robot dives from the mother ship to the target working position, it needs to use the steel pipe extending from the sea surface to the target working place. , making the entire diving process more complicated, and the posture adjustment process such as turning around is also more complicated; especially when moving away from a target workplace and moving to the next target workplace, it must be cleaned on the surface of the steel structure a path of travel

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