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Propeller cleaning path planning method and cleaning robot using same

A cleaning robot and path planning technology, applied in manipulators, ship cleaning devices, program-controlled manipulators, etc., can solve problems such as consumption, lack of effective cleaning control, and long cleaning time.

Active Publication Date: 2021-04-16
JIANGSU UNIV OF SCI & TECH +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, this patent is for the hull model, and the cleaning of the complex curve of the marine propeller lacks effective control, and the cleaning time is long and extremely costly

Method used

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  • Propeller cleaning path planning method and cleaning robot using same
  • Propeller cleaning path planning method and cleaning robot using same
  • Propeller cleaning path planning method and cleaning robot using same

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Embodiment Construction

[0034] The present invention will be further illustrated below in conjunction with the accompanying drawings and specific embodiments, and it should be understood that these embodiments are only for illustrating the present invention and are not intended to limit the scope of the present invention.

[0035] A propeller cleaning path planning method, the cleaning path planning method is used for cleaning robots, such as Figure 5 shown, including the following steps:

[0036] Step 1: Establish a coordinate system;

[0037] Such as figure 1 , 2 As shown, the processing coordinate system of the propeller 1 is used as the fixed coordinate system {S}=(O S ,X S ,Y S ,Z S ),Z S The direction coincides with the axis of the paddle shaft, and the center line of the cleaning robot 2 is taken as Z T direction, establish the cleaning robot 2 coordinate system as {T}=(O T ,X T ,Y T ,Z T ), the cleaning robot 2 is clamped and fixed on the shaft of the propeller 1, Z S with Z T ...

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Abstract

The invention discloses a propeller cleaning path planning method. The propeller cleaning path planning method is used for a cleaning robot and comprises the following steps: 1, establishing a coordinate system; 2, obtaining a propeller shape and size parameter equation; 3, solving a coordinate system transformation matrix; 4, segmenting an overlapping region of the to-be-cleaned surface; 5, segmenting a non-overlapping region of the to-be-cleaned surface; 6, solving a cleaning track in the XSOSYS; 7, solving a cleaning track in {S}; and 8, controlling an underwater robot to move in {T}. The invention further discloses the cleaning robot for conducting propeller cleaning operation through the method. The propeller cleaning path planning method and the cleaning robot solve the problems that complex curved surfaces and overlapped areas of propellers are difficult to clean and the like, guarantee the cleaning quality and improve the cleaning efficiency. The control trajectory equation of the underwater robot is solved by adopting a coordinate transformation mode, and the method can be suitable for cleaning other blades only by performing cleaning path planning on the blades once, so that the calculated amount is reduced, and the control difficulty is reduced. The adaptability to the cleaning robot is high.

Description

technical field [0001] The invention relates to the technical field of ship propeller cleaning, in particular to a propeller cleaning path planning method and a cleaning robot using the method. Background technique [0002] Ship propellers have always been the first choice for ship propellers because of their good hydrodynamic performance and high propulsion efficiency. However, marine organisms in seawater will cause serious adsorption and erosion on the surface of the propeller, increase the fuel consumption of the ship and shorten the working life of the blade, causing huge economic losses. Therefore, it is very necessary to clean ship propellers on a regular basis. However, most of the underwater cleaning devices for ship propellers are performed by divers with hand-held cleaning equipment. The cleaning efficiency is low and the labor cost is high. Some underwater cleaning robots cannot effectively clean the surface of the propeller because the surface of the propeller ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J19/00B63B59/00
CPCB63B59/00B25J9/16B25J19/00
Inventor 张建张湖宾陈晨郭胜唐文献张思齐继阳陈赟
Owner JIANGSU UNIV OF SCI & TECH
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