Propeller cleaning path planning method and cleaning robot using the same

A cleaning robot and path planning technology, applied in manipulators, ship cleaning devices, program-controlled manipulators, etc., can solve the problems of lack of effective control, consumption, and long cleaning time, reducing the amount of calculation, improving cleaning efficiency, and applicability. high effect

Active Publication Date: 2022-07-22
JIANGSU UNIV OF SCI & TECH +1
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  • 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 the same
  • Propeller cleaning path planning method and cleaning robot using the same
  • Propeller cleaning path planning method and cleaning robot using the same

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Embodiment Construction

[0032] The present invention will be further clarified below in conjunction with the accompanying drawings and specific embodiments. It should be understood that these embodiments are only used to illustrate the present invention and not to limit the scope of the present invention.

[0033] A propeller cleaning path planning method, the cleaning path planning method is used for cleaning the propeller, such as Figure 5 shown, including the following steps:

[0034] Step 1: Establish a coordinate system;

[0035] like figure 1 , 2 As shown, the machining 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 line of the propeller shaft, and the clamping center line of the cleaning robot 2 is Z T direction, establish the coordinate system of cleaning robot 2 as {T}=(O T ,X T ,Y T ,Z T ), the cleaning robot 2 is clamped and fixed on the propeller shaft of the propeller 1, Z S wit...

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Abstract

The invention discloses a propeller cleaning path planning method. The cleaning path planning method is used for cleaning a robot. The cleaning path planning method includes step 1: establishing a coordinate system; step 2: obtaining a propeller shape and size parameter equation; step 3: solving a coordinate system transformation matrix; Step 4: Divide the overlapping area of ​​the surface to be cleaned; Step 5: Divide the non-overlapping area of ​​the surface to be cleaned; Step 6: Solve X S O S Y S inner cleaning trajectory; step 7: solving the inner cleaning trajectory in {S}; step 8: controlling the movement of the cleaning robot in {T}; and discloses a cleaning robot that uses the method to clean the propeller. The invention solves the difficult problems of cleaning the complex curved surface of the propeller and the overlapping area, ensures the cleaning quality, and improves the cleaning efficiency; the coordinate transformation method is used to solve the control trajectory equation of the cleaning robot, and only one cleaning path planning is required for the blade, and it can be applied The cleaning of the remaining blades reduces the amount of calculation and reduces the difficulty of control. High applicability to cleaning robots.

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 propeller, resulting in huge economic losses. Therefore, it is very necessary to clean the ship propeller regularly. However, at present, most of the underwater cleaning equipment for ship propellers is carried out by a large number of divers holding the 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 beca...

Claims

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Application Information

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Patent Type & Authority Patents(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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