Positioning mechanism of ship inner cabin rust removal robot capable of accurately recognizing rust area

Abstract

The invention discloses a positioning mechanism of a ship inner cabin rust removal robot capable of accurately identifying a rusty area, which comprises a recovery disc and a frame assembly, and the frame assembly is provided with a transverse beam, two walking assemblies, two clamping assemblies, two supporting assemblies, two extending assemblies and four driving assemblies. The recycling disc is fixedly installed in the middle of the frame assembly, a rusty area positioning component and a high-precision positioning assembly are further arranged in the recycling disc, and the rusty area positioning component determines a rusty area through a comparison algorithm based on images obtained after water drop weakening processing. According to the ship inner cabin rust removal robot capable of precisely recognizing the rusty area, the rusty area can be precisely recognized through the positioning mechanism, turning movement can be achieved through the driving mechanism, and the situation that the rust removal robot is manually carried to adjust the movement direction of the rust removal robot is not needed; the frame is kept at an inclined angle through the supporting assembly and the extending assembly, and adaptive adsorption of magnetic wheels on the frame to corners is achieved.

Description

technical field [0001] The invention relates to the field of rust removal and positioning, in particular to a positioning mechanism of a rust removal robot in an interior cabin of a ship that can accurately identify a rusted area. Background technique [0002] The ship rust removal robot uses the combination of permanent magnet adsorption technology and dust-free recovery and sandblasting technology to realize the rust removal operation of the ship hull, realize the replacement of robots, improve work efficiency, and solve the problems of environmental protection and security in ship repair and construction. . [0003] The Chinese invention patent with publication number CN113602442A discloses a ship rust removal robot based on high-pressure water jets and easy to walk, including a work box, a water storage box and a mounting plate, a water storage box is arranged above the work box, and the The lower part of the working box is provided with a mounting plate; the middle par...

AI Technical Summary

Problems solved by technology

[0005] (1) The existing derusting robots cannot accurately identify and locate the rusted area, especially in the high-pressure water derusting process, the identification of the rusted position is often affected by the interference of water droplets in image collection, and the positioning accuracy is low;

[0006] (2) It is impossible to accurately judge the rusting situation of the rusted position. For example, different positions in the inner cabin have rusted areas with different thicknesses, and the same rust removal method for different rusted areas cannot achieve the ideal rust removal effect ;

[0007] (3) Most of the existing derusting robots are designed for the outer wall of the hull, which cannot adapt to the shape of the inner wall, and cannot turn adaptively when encountering obstacles, and often require people to manually move the derusting robot when encountering corners. Adjust the movement direction of the robot; the existing derusting robot has poor ability to remove rust stains in some dead corners such as corners, so that the derusting dead angle is formed in the derusting work, which affects the positioning and derusting effect of the derusting robot

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