Derusting equipment fitting control method and device and storage medium

Abstract

The invention discloses a rust removal equipment attachment control method and device and a storage medium in the technical field of rust removal, and the method comprises the steps that when a cleaning accessory of rust removal equipment is attached to a ship body cleaning area, the minimum distance between a detection switch installed on the rust removal equipment and the ship body cleaning area is obtained; the number of triggered detection switches with the minimum distance smaller than or equal to the preset distance is obtained, the ship surface curvature is judged according to the number of triggered detection switches, and a single-attaching mode and a repeated-attaching mode are selected; when the single fitting mode is selected, a swing mechanism of the rust removal equipment is controlled to swing, and single-direction fitting is executed; and when the re-lamination mode is selected, controlling a rotary mechanism of the rust removal equipment to rotate, controlling a crank arm mechanism of the rust removal equipment to stretch out and draw back, and executing bi-directional lamination. The technical problems that due to long-time manual rust removal operation, fatigue is prone to occurring, secondary reworking is prone to occurring, the complex curved surface adaptability of an automatic robot is poor, and the working efficiency and the attaching precision are affected can be solved.

Description

Technical Field

[0001] The present invention relates to the technical field of rust removal, and in particular to a lamination control method, a device and a storage medium for rust removal equipment. Background Art

[0002] When performing rust removal operations on ship hulls in shipyards, the fit of the rust removal equipment (i.e., the adaptability of the rust removal equipment to the hull surface) directly affects the efficiency, quality, and safety of rust removal. Currently, shipyards mainly rely on manual hand tools, automated robots, high-pressure water jet systems, and other equipment:

[0003] Manual hand tools and high-pressure water jet systems can easily cause unstable fitting, and uneven pressure leads to fluctuations in rust removal quality. During operation, operators are prone to fatigue after working for a long time, which reduces fitting accuracy and easily leads to secondary rework, affecting work efficiency.

[0004] Crawling rust removal robots have poor adaptability to complex surfaces, rely on pre-programmed paths, are heavy, and are prone to falling from the hull. Since the hull is not completely flat and the curvature of some areas varies greatly, existing automated robots have poor adaptability to complex surfaces.

[0005] Therefore, there is an urgent need for a rust removal equipment fitting control method, device and storage medium to solve the above technical problems. Summary of the Invention

[0006] The purpose of the present invention is to overcome the shortcomings of the prior art and provide a rust removal equipment fitting control method, device and storage medium, which can solve the technical problems that manual rust removal is prone to fatigue during long-term work and is prone to secondary rework, while the automated robot has poor adaptability to complex curved surfaces, affecting work efficiency and fitting accuracy.

[0007] To achieve the above object, the present invention is implemented by adopting the following technical solutions:

[0008] In a first aspect, the present invention provides a method for controlling the lamination of rust removal equipment, comprising:

[0009] The arm structure of the control rust removal equipment is parallel to the hull cleaning area;

[0010] When the cleaning attachment of the rust removal equipment is in contact with the hull cleaning area, obtaining the minimum distance between the detection switch installed on the rust removal equipment and the hull cleaning area;

[0011] Obtaining the number of detection switch triggers with a minimum distance less than or equal to a preset distance, determining the curvature of the ship surface based on the number of triggers, and selecting a single lamination mode or a multiple lamination mode;

[0012] When the single laminating mode is selected, the rotary mechanism of the rust removal device is controlled to rotate to perform laminating in a single direction;

[0013] When the laminating mode is selected, the rotary mechanism of the rust removal device is controlled to rotate, and the crank mechanism of the rust removal device is controlled to extend and retract, so as to perform bidirectional laminating.

[0014] Furthermore, judging the curvature of the deck according to the triggering number and selecting the single lamination mode and the multiple lamination mode include:

[0015] When the trigger number ≥ When selecting single lamination mode;

[0016] When the trigger number < When selecting the lamination mode;

[0017] Wherein, N is the total number of detection switches.

[0018] Furthermore, controlling the rotation of the rotary mechanism of the rust removal equipment includes:

[0019] The working condition information of the rotary mechanism is obtained, and the driving force is calculated based on the working condition information. The expression includes:

[0020] ,

[0021] in, is the driving force, is the length of the i-th boom, n is the total number of booms, R is the swing arm, M is the clamping torque of the cleaning attachment, The arm luffing angle of the rust removal equipment;

[0022] The driving pressure is calculated according to the driving force and the preset rotary cylinder area. Based on the driving pressure and the relationship between the preset electric proportional overflow valve pressure and current curve, the control current of the electromagnetic overflow valve in the rotary mechanism is confirmed, and the rotation of the rotary mechanism is controlled according to the control current of the electromagnetic overflow valve.

[0023] Furthermore, according to the control current of the electromagnetic overflow valve, based on the electric proportional overflow valve of the rust removal equipment, an electromagnetic force proportional to the control current is obtained. , the pressure regulating spring force is determined according to the electromagnetic force , based on the electromagnetic force and pressure regulating spring force Calculate the pilot valve opening pressure, the calculation formula includes:

[0024] ,

[0025] Among them, A is the effective area of ​​the pilot valve, It is the opening pressure of the pilot valve;

[0026] When the real-time system pressure P> When the pilot valve opens, the oil flows back to the tank, and a pressure difference is formed between the upper and lower chambers of the main valve core. The main valve core is lifted, the system overflows, and the pressure stabilizes at the set value. .

[0027] Furthermore, it also includes:

[0028] Collect real-time cylinder pressure , when the real-time cylinder pressure Greater than the preset pressure value And exceeds the safety value , and the duration exceeds the first safety time When the pressure drops below 0.05, the controller quickly adjusts the opening of the proportional relief valve to reduce the output current and the relief pressure.

[0029] According to the real-time cylinder pressure and preset pressure values Calculate pressure difference , according to the preset linear relationship between the electric proportional relief valve current and pressure, obtain the output current difference ,according to Feedback regulates the unloading current.

[0030] Furthermore, when the Exceeds the preset safety upper limit , and the duration exceeds the second safety time When the rotation of the rotary mechanism is stopped, a safety dynamic warning is issued. Reduce to a safe value and maintain it for more than the third safety time When the alarm is cleared, the rotary mechanism is controlled to rotate in the bonding direction.

[0031] In a second aspect, the present invention provides a rust removal equipment fitting control device, comprising:

[0032] The forward module is used to control the arm structure of the rust removal equipment to be parallel to the hull cleaning area;

[0033] an acquisition module, configured to obtain a minimum distance between a detection switch installed on the rust removal equipment and the hull cleaning area when a cleaning tool of the rust removal equipment is in contact with the hull cleaning area;

[0034] A mode selection module is used to obtain the number of detection switch triggers with a minimum distance less than or equal to a preset distance, determine the curvature of the ship surface based on the trigger number, and select a single bonding mode or a multiple bonding mode;

[0035] A single laminating module is used to control the rotation of the rotary mechanism of the rust removal equipment to perform single-direction laminating when the single laminating mode is selected;

[0036] The laminating module is used to control the rotation of the rotary mechanism of the rust removal equipment and the extension and retraction of the crank arm mechanism of the rust removal equipment to perform bidirectional laminating when the laminating mode is selected.

[0037] In a third aspect, the present invention provides an electronic terminal comprising a processor and a memory connected to the processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the steps of any of the above methods are performed.

[0038] In a fourth aspect, the present invention provides a computer-readable storage medium having a computer program stored thereon, which implements the steps of any of the above methods when executed by a processor.

[0039] Compared with the prior art, the present invention has the following beneficial effects:

[0040] The present invention obtains the minimum distance between the detection switch installed on the rust removal equipment and the hull cleaning area, and further determines the curvature of the ship surface based on the number of detection switches triggered when the minimum distance is less than or equal to a preset distance, and selects a single bonding mode and a multiple bonding mode. This realizes curvature judgment and replaces manual rust removal. There is no problem of fatigue caused by long-term work and prone to secondary rework. Compared with automated robots, the curvature judgment method designed can adapt to complex curved surfaces, improving work efficiency and bonding accuracy.

[0041] Automatic lamination operation is not affected by the operator's condition or experience, and is simple to operate, reliable and safe.

[0042] After the cleaning arm contacts the working surface, closed-loop control is used to make real-time corrections to the rotary compaction. In extremely dangerous working conditions, when the pressure exceeds the threshold, the compaction can be stopped and an alarm will be issued to achieve safe fitting.

[0043] The rotary pressure can be deduced from the operating condition information of the rust removal equipment through the torque balance equation. Based on the linear relationship between the current and pressure of the electromagnetic proportional relief valve, the controller outputs a set current to control the proportional relief valve to maintain the set opening, thereby ensuring that the pressure applied by the bonding device is stable and reliable. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 This is a flow chart of a rust removal equipment fitting control method provided by an embodiment of the present invention;

[0045] Figure 2 This is a structural diagram of a rust removal device in a rust removal device lamination control method provided by an embodiment of the present invention;

[0046] Figure 3This is a schematic diagram of the specific structure of a mode selection module in a rust removal equipment lamination control method provided by an embodiment of the present invention;

[0047] Figure 4 This is a complete laminating method flow chart of a laminating control method for rust removal equipment provided by an embodiment of the present invention;

[0048] Figure 5 This is a system block diagram of a rust removal equipment lamination control device provided by an embodiment of the present invention;

[0049] Figure 6 This is a structural block diagram of a display in a rust removal equipment lamination control device provided by an embodiment of the present invention.

[0050] Among them, 1. Human-computer interaction module; 2. Cleaning accessories; 201. Cleaning tray; 3. Arm structure; 4. Crank arm structure; 5. Rotating mechanism. DETAILED DESCRIPTION

[0051] The technical solution of the present invention is described in detail below through the accompanying drawings and specific embodiments. It should be understood that the embodiments of the present application and the specific features in the embodiments are detailed descriptions of the technical solution of the present application, rather than limitations on the technical solution of the present application. Unless there is a conflict, the embodiments of the present application and the technical features in the embodiments can be combined with each other.

[0052] As used herein, the term "and / or" simply describes a relationship between associated objects, indicating that three possible relationships exist. For example, "A and / or B" can represent: A alone, A and B, or B alone. Furthermore, the character " / " generally indicates an "or" relationship between the associated objects.

[0053] "Attachment" is a professional term in the field of industry and technology, which refers to auxiliary tools or devices installed on the main equipment or machine to expand or enhance its functions and enable it to perform specific tasks.

[0054] Simply put, it is a replaceable component with special purpose that is added to the main machine (such as construction machinery, vehicles, ships, agricultural machinery, etc.).

[0055] Example 1:

[0056] Figure 1 This is a flow chart of the rust removal equipment fitting control method in the first embodiment of the present invention. This flow chart only shows the logical sequence of the method described in this embodiment. Under the premise of no conflict, in other possible embodiments of the present invention, different Figure 1 The steps shown or described are accomplished in the order shown.

[0057] The rust removal equipment lamination control method provided in this embodiment can be applied to a terminal and can be executed by a mechanical equipment fault identification device. The device can be implemented by software and / or hardware, and the device can be integrated into a terminal, such as any smartphone, tablet computer, or computer device with communication capabilities. The method of this embodiment specifically includes the following steps:

[0058] Step 1: Operate the rust removal equipment to the working position, and control the arm structure of the rust removal equipment to be parallel to the hull cleaning area:

[0059] In this embodiment, the rust removal equipment is an arm-type high-altitude rust removal vehicle, such as Figure 2 As shown, it includes a human-computer interaction module 1 (which may include a display), a cleaning accessory 2, an arm structure 3, a crank arm structure 4, a rotary mechanism 5, a pressure sensor (not shown in the figure) and an electromagnetic overflow valve (not shown in the figure), and the cleaning accessory includes a cleaning disc 201.

[0060] Step 2: When the cleaning attachment of the rust removal equipment is in contact with the hull cleaning area, obtain the minimum distance between the detection switch installed on the rust removal equipment and the hull cleaning area:

[0061] During operation, the brush on the cleaning plate (i.e. Figure 3 R1 in the figure) contacts the hull, and a fixed rigid body (i.e. Figure 3 R2 in the figure) does not touch the hull during operation, and N detection switches are evenly embedded around the fixed rigid body. ,like Figure 3 shown.

[0062] Step 3: Obtain the number of detection switch triggers with a minimum distance less than or equal to a preset distance, determine the curvature of the ship surface based on the trigger number, and select the single bonding mode and the multiple bonding mode including:

[0063] When the trigger number ≥ When selecting single lamination mode;

[0064] When the trigger number < When selecting the lamination mode;

[0065] Wherein, N is the total number of detection switches.

[0066] Step 4: When the single lamination mode is selected, the rotary mechanism of the rust removal equipment is controlled to rotate and perform lamination in a single direction:

[0067] The driving torque generated by the rotation of the aerial rust removal vehicle is different in different arm postures. In order to achieve pressure stability and avoid damage to the hull and body, it is necessary to ensure that the torque is approximately statically balanced, that is:

[0068] ,

[0069] Furthermore, according to the general formula we know:

[0070] ,

[0071] The whole machine is mainly driven by the turntable rotation, and the formula can be further broken down into:

[0072] ,

[0073] Since gravity is directed vertically downward, only the component along the tangential direction of rotation (i.e. ) will produce torque;

[0074] Therefore, by obtaining the working condition information of the rotary mechanism, the driving force is calculated based on the working condition information, and the expression includes:

[0075] ,

[0076] in, For the driving force, the operating condition information includes: is the length of the i-th boom, n is the total number of booms, R is the swing arm, M is the clamping torque of the cleaning attachment, The arm luffing angle of the rust removal equipment;

[0077] The driving pressure is calculated according to the driving force and the preset rotary cylinder area. Based on the driving pressure and the relationship between the preset electric proportional overflow valve pressure and current curve, the control current of the electromagnetic overflow valve in the rotary mechanism is confirmed, and the rotation of the rotary mechanism is controlled according to the control current of the electromagnetic overflow valve.

[0078] According to the control current of the electromagnetic overflow valve, based on the electric proportional overflow valve of the rust removal equipment, an electromagnetic force proportional to the control current is obtained. , the pressure regulating spring force is determined according to the electromagnetic force , based on the electromagnetic force and pressure regulating spring force Calculate the pilot valve opening pressure, the calculation formula includes:

[0079] ,

[0080] Among them, A is the effective area of ​​the pilot valve, It is the opening pressure of the pilot valve;

[0081] When the real-time system pressure P> When the pilot valve opens, the oil flows back to the tank, and a pressure difference is formed between the upper and lower chambers of the main valve core. The main valve core is lifted, the system overflows, and the pressure stabilizes at the set value. .

[0082] When the real-time system pressure P> When the pilot valve opens, the oil flows back to the tank, and a pressure difference is formed between the upper and lower chambers of the main valve core. The main valve core is lifted, the system overflows, and the pressure stabilizes at the set value. , the current and the system pressure are in a linear relationship, so by adjusting the output current value of the controller, the system overflow pressure can be continuously adjusted to achieve precise control and ensure the stability of the vehicle pressure;

[0083] By adjusting the spring force, the maximum safety pressure threshold is guaranteed when the electronic control fails, and the rotary cylinder performs unloading control to provide the final protection for the operation.

[0084] The electric proportional relief valve is a hydraulic control element that continuously adjusts the system pressure through an electrical signal.

[0085] Step 5: When the laminating mode is selected, the rotary mechanism of the rust removal device is controlled to rotate, and the crank mechanism of the rust removal device is controlled to extend and retract to perform bidirectional laminating.

[0086] In addition, it also includes: collecting the real-time cylinder pressure measured by the pressure sensor during the entire control process , when the real-time cylinder pressure Greater than the preset pressure value And exceeds the safety value , and the duration exceeds the first safety time When the pressure is too high, the controller quickly adjusts the opening of the proportional relief valve to reduce the output current and the relief pressure, thus avoiding damage to the equipment caused by excessive pressure.

[0087] According to the real-time cylinder pressure and preset pressure values Calculate pressure difference , according to the preset linear relationship between the electric proportional relief valve current and pressure, obtain the output current difference ,according to Feedback regulates the unloading current to ensure the continuous stability of the operation process.

[0088] Specifically, when the Exceeds the preset safety upper limit , and the duration exceeds the second safety time When the rotation of the rotary mechanism is stopped, a safety dynamic warning is issued. Reduce to a safe value and maintain it for more than the third safety time When the alarm is cleared, the rotary mechanism is controlled to rotate in the bonding direction.

[0089] The complete flow chart of the lamination operation control method of this application is as follows Figure 4shown.

[0090] Example 2:

[0091] A second embodiment of the present invention provides a rust removal equipment lamination control device, comprising:

[0092] The forward module is used to control the arm structure of the rust removal equipment to be parallel to the hull cleaning area;

[0093] an acquisition module, configured to obtain a minimum distance between a detection switch installed on the rust removal equipment and the hull cleaning area when a cleaning tool of the rust removal equipment is in contact with the hull cleaning area;

[0094] A mode selection module is used to obtain the number of detection switch triggers with a minimum distance less than or equal to a preset distance, determine the curvature of the ship surface based on the trigger number, and select a single bonding mode or a multiple bonding mode;

[0095] A single laminating module is used to control the rotation of the rotary mechanism of the rust removal equipment to perform single-direction laminating when the single laminating mode is selected;

[0096] The laminating module is used to control the rotation of the rotary mechanism of the rust removal equipment and the extension and retraction of the crank arm mechanism of the rust removal equipment to perform bidirectional laminating when the laminating mode is selected.

[0097] like Figure 6 As shown, the rust removal equipment fitting control device disclosed in this application may also include:

[0098] (1) Programmable controller, which is the logic processing core of the entire system and is responsible for processing and executing the system control strategy; (2) Display, which provides an interface for selecting the direction of the whole machine and transmits the customer's selection information to the controller; (3) Remote control, which provides an automatic bonding button and feeds back the operator's working status to the controller; (4) Electromagnetic proportional overflow valve, which can set and adjust the working pressure; (5) Long angle sensor, which is used to collect boom angle and length information; (6) Pressure detection sensor, which is used to collect the real-time pressure of the cylinder during vehicle operation; (7) Detection mechanism, which is evenly embedded in the cleaning disc and is used to judge the curvature size during operation; (8) Boom motion actuator, including hydraulic mechanisms that drive telescopic boom amplitude change, turntable rotation, and crank arm amplitude change, etc., used to execute the electronic control instructions output by the controller; (9) Chassis actuator, including hydraulic mechanisms for driving forward and backward, front and rear wheel steering, etc., also used to execute the electronic control instructions output by the controller.

[0099] The display can also be designed to fit the page according to the actual working conditions, such as Figure 6As shown, the operator can select the option. The operator's selection information is transmitted to the controller through the bus. After receiving the information, the controller gives feedback to the display. After receiving the feedback, the display darkens the background color of the option and displays the current selection direction in a fixed area to prompt the operator:

[0100] Specific optional items include: up / down selection feedback (through extension and contraction of the crank arm structure), corresponding to upper and lower fitting, left / right selection feedback (through rotation of the rotary structure), corresponding to left and right fitting. During the specific process, the interface can also display the crank arm large cavity pressure, crank arm small cavity pressure, rotary large cavity pressure and rotary small cavity pressure. During actual work, the staff can perform specific control according to the actual displayed pressure size.

[0101] The rust removal equipment fitting control device provided in the second embodiment of the present invention can execute the rust removal equipment fitting control method provided in the first embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0102] Example 3:

[0103] The third embodiment of the present invention further provides an electronic terminal, comprising a processor and a memory connected to the processor, wherein a computer program is stored in the memory, and the processor is configured to operate according to the instructions to execute the steps of the method described in the first embodiment.

[0104] The electronic terminal provided in the third embodiment of the present invention can execute the rust removal equipment fitting control method provided in the first embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0105] Example 4:

[0106] Embodiment 4 of the present invention further provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps of the method described in embodiment 1 are implemented, and the computer program has functional modules and beneficial effects corresponding to the execution method.

[0107] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, apparatuses, or computer program products. Therefore, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present application may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0108] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (apparatus), and computer program products according to the embodiments of the present application. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0109] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0110] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0111] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A rust removal equipment fitting control method, characterized in that: Also includes: The arm structure of the control rust removal equipment is parallel to the hull cleaning area; When the cleaning attachment of the rust removal equipment is in contact with the hull cleaning area, obtaining the minimum distance between the detection switch installed on the rust removal equipment and the hull cleaning area; Obtaining the number of detection switch triggers with a minimum distance less than or equal to a preset distance, determining the curvature of the ship surface based on the number of triggers, and selecting a single lamination mode or a multiple lamination mode; When the single laminating mode is selected, the rotary mechanism of the rust removal device is controlled to rotate to perform laminating in a single direction; When the laminating mode is selected, the rotary mechanism of the rust removal device is controlled to rotate, and the crank mechanism of the rust removal device is controlled to extend and retract, so as to perform bidirectional laminating.

2. The rust removal equipment fitting control method according to claim 1, characterized in that: Judging the curvature of the ship surface according to the triggering number, selecting the single lamination mode and the multiple lamination mode includes: When the trigger number ≥ When selecting single lamination mode; When the trigger number < When selecting the lamination mode; Wherein, N is the total number of detection switches.

3. The rust removal equipment fitting control method according to claim 1, characterized in that: Controlling the rotation of the rotary mechanism of the rust removal equipment includes: The working condition information of the rotary mechanism is obtained, and the driving force is calculated based on the working condition information. The expression includes: ， in, is the driving force, is the length of the i-th boom, n is the total number of booms, R is the swing arm, M is the clamping torque of the cleaning attachment, The arm luffing angle of the rust removal equipment; The driving pressure is calculated according to the driving force and the preset rotary cylinder area. Based on the driving pressure and the relationship between the preset electric proportional overflow valve pressure and current curve, the control current of the electromagnetic overflow valve in the rotary mechanism is confirmed, and the rotation of the rotary mechanism is controlled according to the control current of the electromagnetic overflow valve.

4. The rust removal equipment fitting control method according to claim 3, characterized in that: According to the control current of the electromagnetic overflow valve, based on the electric proportional overflow valve of the rust removal equipment, an electromagnetic force proportional to the control current is obtained. , the pressure regulating spring force is determined according to the electromagnetic force , based on the electromagnetic force and pressure regulating spring force Calculate the pilot valve opening pressure, the calculation formula includes: ， Among them, A is the effective area of ​​the pilot valve, It is the opening pressure of the pilot valve; When the real-time system pressure P> When the pilot valve opens, the oil flows back to the tank, and a pressure difference is formed between the upper and lower chambers of the main valve core. The main valve core is lifted, the system overflows, and the pressure stabilizes at the set value. .

5. The rust removal equipment fitting control method according to claim 1, characterized in that: Also includes: Collect real-time cylinder pressure , when the real-time cylinder pressure Greater than the preset pressure value And exceeds the safety value , and the duration exceeds the first safety time When the pressure drops below 0.05, the controller quickly adjusts the opening of the proportional relief valve to reduce the output current and the relief pressure. According to the real-time cylinder pressure and preset pressure values Calculate pressure difference , according to the preset linear relationship between the electric proportional relief valve current and pressure, obtain the output current difference ,according to Feedback regulates the unloading current.

6. The rust removal equipment lamination control method according to claim 5, characterized in that: When the Exceeds the preset safety upper limit , and the duration exceeds the second safety time When the rotation of the rotary mechanism is stopped, a safety dynamic warning is issued. Reduce to a safe value and maintain it for more than the third safety time When , the alarm is eliminated and the rotary mechanism is controlled to rotate in the fitting direction.

7. A rust removal equipment fitting control device, characterized in that: include: The forward module is used to control the arm structure of the rust removal equipment to be parallel to the hull cleaning area; a collection module for obtaining a minimum distance between a detection switch installed on the rust removal equipment and the hull cleaning area when a cleaning tool of the rust removal equipment is in contact with the hull cleaning area; A mode selection module is used to obtain the number of detection switch triggers with a minimum distance less than or equal to a preset distance, determine the curvature of the ship surface based on the trigger number, and select a single bonding mode or a multiple bonding mode; A single laminating module is used to control the rotation of the rotary mechanism of the rust removal equipment to perform single-direction laminating when the single laminating mode is selected; The laminating module is used to control the rotation of the rotary mechanism of the rust removal equipment and the extension and retraction of the crank arm mechanism of the rust removal equipment to perform bidirectional laminating when the laminating mode is selected.

8. An electronic terminal, characterized in that: The method comprises a processor and a memory connected to the processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the steps of the method according to any one of claims 1 to 6 are performed.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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