A ship cleaning intelligent control system and control method thereof

Abstract

The invention provides a ship cleaning intelligent control system and a control method thereof. The control system comprises a wall climbing robot, a scanning module, a path planning module, a path tracking module, a collection module, an information processing module and a control module; the scanning module is used for scanning the information of the hull surface, the information processing module establishes a hull surface model and divides the hull cleaning operation area into a plurality of sub-areas; the path planning module firstly plans the path for each sub-area, then connects the paths planned for each sub-area to obtain an overall planned path, controls the wall climbing robot to walk according to the calculated overall planned path and cleans and removes rust from the ship surface; the collection module collects images of the wall climbing robot before and after cleaning, and the information processing module continuously improves the cleaning process according to the input information, thereby realizing the intelligent control of ship cleaning.

Description

Technical Field

[0001] The invention belongs to the technical field of ship cleaning, and in particular relates to a ship cleaning intelligent control system and a control method thereof. Background Art

[0002] At present, there are three main ways to clean the hull surface: manual cleaning, large-scale mechanical cleaning and robot cleaning. Manual cleaning refers to the cleaning of the hull surface by staff using handheld cleaning equipment, and large-scale mechanical cleaning refers to the use of large-scale engineering machinery combined with cleaning equipment to clean the hull. Robot cleaning refers to the use of robots carrying cleaning equipment to complete the cleaning of the hull.

[0003] The traditional operation form is that workers hold rust removal equipment and the workers cooperate with overhead vehicles to carry out rust removal. In addition to the manual operation method, there are also modified overhead vehicles for rust removal. The top of the overhead arm of the overhead vehicle is equipped with a rust removal device, which can save the manual hand-held rust removal device. There are also rust removal robots that are remotely controlled by humans for rust removal. A wheeled mobile robot with a rust removal device is used. The robot can be adsorbed on the surface of the hull. Workers can control the machine to move on the surface of the hull within a certain operating distance range through a remote control handle to achieve rust removal of local or entire areas of the hull surface; cleaning by manually remotely controlled robots is a semi-automatic operation, and the operator needs to pay attention to the robot's posture and rust removal status at all times, and operate the remote control handle at all times, which consumes a lot of energy for the operator, and the operator needs to look up at the wall-climbing robot operation, which causes great damage to the operator's neck and low cleaning efficiency. Therefore, it is necessary to improve the intelligence of ship cleaning and reduce manual operation. Summary of the invention

[0004] In view of the problem that most of the existing wall-climbing robots are semi-automatic and need human operation and control, the present invention provides a ship cleaning intelligent control system and a control method thereof, which performs overall path planning through a path planning module, monitors the travel trajectory of the wall-climbing robot in real time through a path tracking module, collects images of the wall-climbing robot before and after cleaning through a collection module, and continuously improves the cleaning process according to the input information through an information processing module, thereby realizing intelligent control of ship cleaning.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A ship cleaning intelligent control system, characterized in that it includes a wall-climbing robot, a scanning module, a path planning module, a path tracking module, an acquisition module, an information processing module and a control module; the wall-climbing robot is used to walk on the surface of the ship and clean and remove rust from the ship surface; the scanning module is used to scan the hull surface information and transmit the hull surface information to the information processing module, the information processing module establishes a hull surface model and divides the hull cleaning operation area into several sub-areas; the path planning module first plans the path for each sub-area, and then connects the paths planned for each sub-area to obtain an overall planned path, the information processing module transmits a signal to the control module according to the calculated overall planned path, and controls the wall-climbing robot to walk according to the calculated overall planned path and clean and remove rust from the ship surface; the path tracking module is used to monitor the travel trajectory of the wall-climbing robot, and the information processing module compares the actual travel trajectory with the path planned by the path planning module , and determine whether the trajectory of the wall-climbing robot needs to be adjusted based on the comparison result. If adjustment is required, correction compensation is performed so that the wall-climbing robot can travel according to the planned path; the acquisition module is used to collect images of the wall-climbing robot before and after cleaning, and the information processing module filters and grayscales the collected images before and after cleaning, and recognizes the grayscale of the image before cleaning, determines the thickness of the rust layer according to the color depth, calculates the required water flow pressure and cleaning time, and transmits the signal to the control module. The control module controls the wall-climbing robot according to the calculated water flow pressure and cleaning time; the information processing module determines whether there is an uncleaned area based on the grayscale recognition of the image after cleaning. If there is an uncleaned area, the information processing module transmits the signal to the control module, and the control module controls the wall-climbing robot to move to the area for cleaning again; the control module controls the wall-climbing robot to walk and clean and remove rust from the surface of the ship according to the signal transmitted by the information processing module.

[0007] Furthermore, it also includes a remote control terminal, which includes a display and an operation interface. The display is electrically connected to the information processing module and is used to display the information in the information processing module; the operation interface is electrically connected to the information processing module, and the information processing module is set through the operation interface, and a signal is sent to the control module through the information processing module, thereby controlling the wall-climbing robot.

[0008] Furthermore, the path planning module uses the A-star algorithm to calculate the optimal path of the wall-climbing robot in each sub-area, and then calculates the optimal connection method of the path of each sub-area.

[0009] Furthermore, the wall-climbing robot includes a driving module for driving the wall-climbing robot to walk and a cleaning component for cleaning and removing rust from the surface of the ship; the driving module includes a front and rear walking driving module and a left and right walking driving module.

[0010] Furthermore, if the information processing module determines that there is an uncleaned area after grayscale recognition of the cleaned image, the information processing module records the water flow pressure and cleaning time information of the wall-climbing robot after cleaning the uncleaned area, and compensates for the required water flow pressure and cleaning time calculated according to the color depth of the area before cleaning based on the recorded information, thereby improving the calculation relationship between the color depth and the required water flow pressure and cleaning time.

[0011] Furthermore, the acquisition module includes cameras arranged at the front and rear ends of the wall-climbing robot, which respectively acquire images of the wall-climbing robot before and after cleaning.

[0012] Furthermore, an error calculation unit and an error judgment unit are provided in the information processing module. The error calculation unit is used to calculate the actual error between the actual trajectory of the wall-climbing robot and the path planned by the path planning module. An error threshold is set in the error judgment unit, and the actual error is compared with the set error threshold. When the actual error reaches the error threshold, the information processing module corrects and compensates the trajectory of the wall-climbing robot.

[0013] Furthermore, the scanning module uses laser radar scanning to scan the surface contour shape and size of the ship.

[0014] Furthermore, the path tracking module implements path tracking of the wall-climbing robot based on the positioning of the wall-climbing robot.

[0015] A ship cleaning intelligent control method, characterized in that it comprises the following steps:

[0016] S1. Use the scanning module to scan the hull surface information and transmit the hull surface information to the information processing module. The information processing module establishes a hull surface model and divides the hull cleaning operation area into several sub-areas.

[0017] S2. The path planning module uses the A-star algorithm to calculate the optimal path of the wall-climbing robot in each sub-area, and then calculates the optimal connection method of the paths in each sub-area to obtain the overall planned path.

[0018] S3. The information processing module transmits a signal to the control module according to the calculated overall planning path, and controls the wall-climbing robot to walk according to the calculated overall planning path and clean and remove rust from the surface of the ship.

[0019] S4. The path tracking module monitors the trajectory of the wall-climbing robot in real time. The error calculation unit calculates the actual error between the actual trajectory of the wall-climbing robot and the path planned by the path planning module. The error judgment unit compares the actual error with the set error threshold. When the actual error reaches the error threshold, the information processing module corrects and compensates the trajectory of the wall-climbing robot.

[0020] S5. When the wall-climbing robot cleans the surface of the ship, the acquisition module collects images of the wall-climbing robot before and after cleaning, the information processing module filters and grayscales the collected images before and after cleaning, and recognizes the grayscale of the image before cleaning, determines the thickness of the rust layer according to the color depth, calculates the required water flow pressure and cleaning time, and transmits the signal to the control module, which controls the wall-climbing robot according to the calculated water flow pressure and cleaning time.

[0021] The information processing module determines whether there is an uncleaned area based on the grayscale recognition of the image after cleaning. If there is an uncleaned area, the information processing module transmits a signal to the control module, and the control module controls the wall-climbing robot to move to the area for cleaning again; the information processing module records the water flow pressure and cleaning time information of the wall-climbing robot after cleaning the uncleaned area, and compensates for the required water flow pressure and cleaning time calculated according to the color depth of the area before cleaning based on the recorded information, thereby improving the calculation relationship between the color depth and the required water flow pressure and cleaning time.

[0022] Compared with the prior art, the present invention has the following beneficial effects:

[0023] The present invention divides the hull cleaning operation area into several sub-areas, first performs path planning for each sub-area, and then connects the paths planned for each sub-area to obtain an overall planned path, which can reduce the complexity of path planning calculations and improve efficiency. It can also effectively reduce interference and overlap between areas, thereby improving the accuracy and reliability of path planning and avoiding repeated operations. The path tracking module monitors the trajectory of the wall-climbing robot in real time, and the information processing module determines whether the trajectory needs to be adjusted by comparing the actual trajectory of the wall-climbing robot with the actual error of the path planned by the path planning module and the error threshold. If adjustment is required, correction compensation is performed. Intelligent control of the wall-climbing robot is realized, overall work efficiency is improved, and uncleaned areas are avoided.

[0024] The information processing module of the present invention filters and grayscales the collected images before and after cleaning, and identifies the grayscale of the image before cleaning, determines the thickness of the rust layer according to the color depth, and calculates the required water flow pressure and cleaning time, so as to improve the cleaning effect and cleaning efficiency; the information processing module determines whether there is an uncleaned area according to the grayscale of the image after cleaning, and if there is an uncleaned area, the information processing module transmits a signal to the control module, and the control module controls the wall-climbing robot to move to the area for cleaning again, and avoids the uncleaned area by analyzing the surface of the ship after cleaning. At the same time, according to the water flow pressure and cleaning time information of the area after cleaning again, the required water flow pressure and cleaning time calculated according to the color depth of the area before cleaning are compensated, and the calculation relationship between the color depth and the required water flow pressure and cleaning time is continuously improved. The information processing module can continuously improve the cleaning process according to the input information, and improve the overall cleaning efficiency and cleaning effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of the ship cleaning intelligent control system of the present invention.

[0026] Figure 2 This is a flow chart of the path planning of the present invention.

[0027] Figure 3 This is a flow chart of the trajectory adjustment of the wall-climbing robot of the present invention.

[0028] Figure 4 This is a flow chart of the intelligent cleaning process of the present invention. DETAILED DESCRIPTION

[0029] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments, but the protection scope of the present invention is not limited thereto.

[0030] The ship cleaning intelligent control system of the present invention is as follows: Figure 1 As shown, it includes a wall-climbing robot, a scanning module, a path planning module, a path tracking module, a collection module, an information processing module, a control module and a remote control terminal.

[0031] The wall-climbing robot includes a driving module for driving the wall-climbing robot to walk and a cleaning component for cleaning and removing rust from the surface of a ship, and is used for walking on the surface of a ship and cleaning and removing rust from the surface of a ship. The driving module includes a front and rear walking driving module and a left and right walking driving module, which reduces the degree of freedom of the wall-climbing robot when walking, reduces the error of the wall-climbing robot when walking, and improves the driving accuracy.

[0032] like Figure 2As shown, the scanning module uses laser radar scanning to scan the information of the ship's surface contour shape and size, and transmits the hull surface information to the information processing module. The information processing module establishes a hull surface model and divides the hull cleaning operation area into several sub-areas; the path planning module uses the A-star algorithm to calculate the optimal path of the wall-climbing robot in each sub-area, and then calculates the optimal connection method of each sub-area path to obtain the overall planning path. In this way, the complexity of the path planning calculation can be reduced, the efficiency can be improved, and the interference and overlap between areas can be effectively reduced, thereby improving the accuracy and reliability of the path planning and avoiding repeated operations. The information processing module transmits a signal to the control module according to the calculated overall planning path, controls the wall-climbing robot to walk according to the calculated overall planning path and cleans and removes rust on the ship surface, so as to realize the cleaning of the ship surface by the wall-climbing robot.

[0033] like Figure 3 As shown, the path tracking module realizes the path tracking of the wall-climbing robot based on the positioning of the wall-climbing robot, and is used to monitor the trajectory of the wall-climbing robot in real time. The information processing module is provided with an error calculation unit and an error judgment unit. The error calculation unit is used to calculate the actual error between the actual trajectory of the wall-climbing robot and the path planned by the path planning module; the error judgment unit is provided with an error threshold, and the actual error is compared with the set error threshold; when the actual error reaches the error threshold, the information processing module corrects and compensates the trajectory of the wall-climbing robot. Intelligent control of the wall-climbing robot is realized, the overall work efficiency is improved, and the uncleaned area is avoided.

[0034] like Figure 4 As shown, the acquisition module includes cameras arranged at the front and rear ends of the wall-climbing robot, which respectively collect images of the wall-climbing robot before and after cleaning. The information processing module filters and grayscales the collected images before and after cleaning, and recognizes the grayscale of the image before cleaning, determines the thickness of the rust layer according to the color depth, and calculates the required water flow pressure and cleaning time, and transmits the signal to the control module. The control module controls the wall-climbing robot according to the calculated water flow pressure and cleaning time; the information processing module determines whether there is an area that has not been cleaned according to the grayscale recognition of the image after cleaning. If there is an area that has not been cleaned, the information processing module transmits the signal to the control module, and the control module controls the wall-climbing robot to move to the area for cleaning again. The information processing module records the water flow pressure and cleaning time information of the wall-climbing robot after cleaning the area that has not been cleaned, and compensates the required water flow pressure and cleaning time calculated according to the color depth of the area before cleaning according to the recorded information, and continuously improves the calculation relationship between the color depth and the required water flow pressure and cleaning time, so as to improve the cleaning effect.

[0035] The control module controls the wall-climbing robot to walk and clean and remove rust from the surface of the ship according to the signal transmitted by the information processing module. The remote control terminal includes a display and an operation interface. The display is electrically connected to the information processing module and is used to display the information in the information processing module; the operation interface is electrically connected to the information processing module, and the information processing module is set through the operation interface, and the information processing module sends a signal to the control module, thereby controlling the wall-climbing robot, realizing remote monitoring operations and remote operation.

[0036] The ship cleaning intelligent control method of the present invention comprises the following steps:

[0037] S1. Use the scanning module to scan the hull surface information and transmit the hull surface information to the information processing module. The information processing module establishes a hull surface model and divides the hull cleaning operation area into several sub-areas.

[0038] S2. The path planning module uses the A-star algorithm to calculate the optimal path of the wall-climbing robot in each sub-area, and then calculates the optimal connection method of the paths in each sub-area to obtain the overall planned path.

[0039] S3. The information processing module transmits a signal to the control module according to the calculated overall planning path, and controls the wall-climbing robot to walk according to the calculated overall planning path and clean and remove rust from the surface of the ship.

[0040] S4. The path tracking module monitors the trajectory of the wall-climbing robot in real time. The error calculation unit calculates the actual error between the actual trajectory of the wall-climbing robot and the path planned by the path planning module. The error judgment unit compares the actual error with the set error threshold. When the actual error reaches the error threshold, the information processing module corrects and compensates the trajectory of the wall-climbing robot.

[0041] S5. When the wall-climbing robot cleans the surface of the ship, the acquisition module collects images of the wall-climbing robot before and after cleaning, the information processing module filters and grayscales the collected images before and after cleaning, and recognizes the grayscale of the image before cleaning, determines the thickness of the rust layer according to the color depth, calculates the required water flow pressure and cleaning time, and transmits the signal to the control module, which controls the wall-climbing robot according to the calculated water flow pressure and cleaning time.

[0042] The information processing module determines whether there is an uncleaned area based on the grayscale recognition of the image after cleaning. If there is an uncleaned area, the information processing module transmits a signal to the control module, and the control module controls the wall-climbing robot to move to the area for cleaning again; the information processing module records the water flow pressure and cleaning time information of the wall-climbing robot after cleaning the uncleaned area, and compensates the required water flow pressure and cleaning time calculated according to the color depth of the area before cleaning based on the recorded information, and improves the calculation relationship between color depth and required water flow pressure and cleaning time. .

[0043] The embodiments are preferred implementations of the present invention, but the present invention is not limited to the above-mentioned implementations. Any obvious improvements, substitutions or modifications that can be made by those skilled in the art without departing from the essential content of the present invention belong to the protection scope of the present invention.

Claims

1. A ship cleaning intelligent control system, characterized in that: It includes a wall-climbing robot, a scanning module, a path planning module, a path tracking module, a collection module, an information processing module and a control module; The wall-climbing robot is used to walk on the surface of the ship and clean and remove rust from the surface of the ship; The scanning module is used to scan the hull surface information and transmit the hull surface information to the information processing module. The information processing module establishes a hull surface model and divides the hull cleaning operation area into several sub-areas; The path planning module first plans the paths for each sub-area, and then connects the paths planned for each sub-area to obtain the overall planning path. The information processing module transmits a signal to the control module according to the calculated overall planning path, and controls the wall-climbing robot to walk according to the calculated overall planning path and clean and remove rust from the ship surface. The path tracking module is used to monitor the trajectory of the wall-climbing robot. The information processing module compares the actual trajectory with the path planned by the path planning module, and determines whether the trajectory of the wall-climbing robot needs to be adjusted based on the comparison result. If adjustment is required, correction compensation is performed to enable the wall-climbing robot to travel according to the planned path. The acquisition module is used to collect images of the wall-climbing robot before and after cleaning. The information processing module filters and grayscales the collected images before and after cleaning, and identifies the grayscale of the image before cleaning, determines the thickness of the rust layer according to the color depth, calculates the required water flow pressure and cleaning time, and transmits the signal to the control module. The control module controls the wall-climbing robot according to the calculated water flow pressure and cleaning time. The information processing module determines whether there is an uncleaned area based on the grayscale recognition of the image after cleaning. If there is an uncleaned area, the information processing module transmits a signal to the control module, and the control module controls the wall-climbing robot to move to the area for cleaning again; if the information processing module determines that there is an uncleaned area after grayscale recognition of the image after cleaning, the information processing module records the water flow pressure and cleaning time information of the wall-climbing robot after cleaning the uncleaned area, and compensates the required water flow pressure and cleaning time calculated according to the color depth of the area before cleaning based on the recorded information, so as to improve the calculation relationship between the color depth and the required water flow pressure and cleaning time; The control module controls the wall-climbing robot to walk and clean and remove rust from the surface of the ship according to the signals transmitted by the information processing module.

2. The ship cleaning intelligent control system according to claim 1 is characterized in that: It also includes a remote control terminal, which includes a display and an operation interface. The display is electrically connected to the information processing module and is used to display the information in the information processing module; the operation interface is electrically connected to the information processing module, and the information processing module is set through the operation interface, and a signal is sent to the control module through the information processing module, thereby controlling the wall-climbing robot.

3. The ship cleaning intelligent control system according to claim 1 is characterized in that: The path planning module uses the A-star algorithm to calculate the optimal path of the wall-climbing robot in each sub-area, and then calculates the optimal connection mode of the path of each sub-area.

4. The ship cleaning intelligent control system according to claim 1, characterized in that: The wall-climbing robot comprises a driving module for driving the wall-climbing robot to walk and a cleaning component for cleaning and removing rust from the surface of the ship; the driving module comprises a front-and-rear walking driving module and a left-and-right walking driving module.

5. The ship cleaning intelligent control system according to claim 1 is characterized in that: The acquisition module includes cameras arranged at the front and rear ends of the wall-climbing robot, which respectively acquire images of the wall-climbing robot before and after cleaning.

6. The ship cleaning intelligent control system according to claim 1 is characterized by: The information processing module is provided with an error calculation unit and an error judgment unit, and the error calculation unit is used to calculate the actual error between the actual moving trajectory of the wall-climbing robot and the path planned by the path planning module; An error threshold is set in the error judgment unit, and the actual error is compared with the set error threshold; When the actual error reaches the error threshold, the information processing module corrects and compensates the trajectory of the wall-climbing robot.

7. The ship cleaning intelligent control system according to claim 1 is characterized by: The scanning module adopts laser radar scanning to scan the surface contour shape and size of the ship.

8. The ship cleaning intelligent control system according to claim 1 is characterized by: The path tracking module implements the path tracking of the wall-climbing robot based on the positioning of the wall-climbing robot.

9. A ship cleaning intelligent control method, characterized in that: The following steps are involved: S1. Scan the hull surface information using a scanning module and transmit the hull surface information to an information processing module, which establishes a hull surface model and divides the hull cleaning operation area into several sub-areas; S2. The path planning module uses the A-star algorithm to calculate the optimal path of the wall-climbing robot in each sub-area, and then calculates the optimal connection method of the paths in each sub-area to obtain the overall planned path; S3. The information processing module transmits a signal to the control module according to the calculated overall planning path, controls the wall-climbing robot to walk according to the calculated overall planning path and cleans and removes rust from the surface of the ship; S4. The path tracking module monitors the trajectory of the wall-climbing robot in real time, the error calculation unit calculates the actual error between the actual trajectory of the wall-climbing robot and the path planned by the path planning module, the error judgment unit compares the actual error with the set error threshold, and when the actual error reaches the error threshold, the information processing module corrects and compensates the trajectory of the wall-climbing robot; S5. When the wall-climbing robot cleans the surface of the ship, the acquisition module collects images of the wall-climbing robot before and after cleaning, and the information processing module filters and grayscales the collected images before and after cleaning, and recognizes the grayscale of the image before cleaning, determines the thickness of the rust layer according to the color depth, calculates the required water pressure and cleaning time, and transmits the signal to the control module, which controls the wall-climbing robot according to the calculated water pressure and cleaning time; The information processing module determines whether there is an uncleaned area based on the grayscale recognition of the image after cleaning. If there is an uncleaned area, the information processing module transmits a signal to the control module, and the control module controls the wall-climbing robot to move to the area for cleaning again; the information processing module records the water flow pressure and cleaning time information of the wall-climbing robot after cleaning the uncleaned area, and compensates for the required water flow pressure and cleaning time calculated according to the color depth of the area before cleaning based on the recorded information, thereby improving the calculation relationship between the color depth and the required water flow pressure and cleaning time.

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