A hull marine organism cleaning robot and motion control method thereof

Abstract

The present invention discloses a hull marine life cleaning robot and a motion control method thereof, comprising a first adsorption device, a second adsorption device, a frame, a cleaning device, a first driven gear, a prime mover gear, a second driven gear, a reduction mechanism and a motor, wherein the first adsorption device is coaxially connected to the second driven gear, the second adsorption device is coaxially connected to the first driven gear, the cleaning devices are symmetrically arranged on the frame in pairs and are located at the periphery of the first adsorption device and the second adsorption device, the reduction mechanism input end is connected to the motor output shaft, the reduction mechanism output end is connected to the prime mover gear, the prime mover gear meshes with the first driven gear, and the first driven gear meshes with the second driven gear. The present invention reduces the labor intensity of cleaning the hull surface, and the reliability and efficiency of cleaning the hull are higher, so that the ship can increase the speed and reduce fuel consumption.

Description

Technical Field

[0001] The present invention relates to the technical field of ship repair and maintenance robots, and in particular to a ship hull marine life cleaning robot and a motion control method thereof. Background Art

[0002] Marine organisms attached to the surface of the hull structure will significantly increase the resistance to navigation, reduce the speed of the ship, and increase fuel consumption. At the same time, the attached marine organisms may also block the hull's water inlet and outlet, affecting the normal operation of some mechanical structures, thus posing a safety hazard to the ship. The traditional methods of cleaning marine organisms on the hull surface are mainly divided into ship docking cleaning and diver cleaning. The former takes a long time and consumes a lot of manpower and material resources, while the latter has high labor intensity and difficulty in operation, which can easily cause diver fatigue and has high requirements for divers. Therefore, the development of hull marine organism cleaning robots, which can carry out cleaning work during the ship's berthing, is of great significance to effectively ensure the safe operation of the ship's power system, improve the level of equipment integrity, shorten the guarantee time, reduce equipment maintenance costs, and improve the level of equipment technical guarantee.

[0003] The wall-climbing cleaning robot proposed in patent CN207058300U uses a permanent magnet embedded crawler to complete adsorption and advancement, but this method is clumsy to rotate, and the crawler embedded with permanent magnets is difficult to control the size and on-off of its adsorption force; at the same time, because its cleaning device is surrounded by the crawler, the crawler always needs to pass through the uncleaned wall, which greatly reduces the stability and safety of adsorption. Moreover, the head and tail of the crawler embedded with permanent magnets in patent CN207058300U are always in a state of separation when moving.

[0004] Patent CN209315748U proposes a cleaning robot that uses a robotic arm to control the adsorption module to achieve a multi-legged structure of movement. The multi-robotic arm (leg) structure proposed in this scheme is arranged on the periphery of the cleaning module in terms of layout, which will also cause the adsorption module on the robotic arm (leg) to always need to be adsorbed on the uncleaned wall surface, greatly reducing the stability and safety of adsorption. In addition, from the perspective of stability and cost, the multi-degree-of-freedom robotic arm (leg) has a complex structure, poor stability and reliability, and high cost.

[0005] Patent CN102910269A proposes a hull cleaning robot that is driven by a rotor rotation power device and equipped with guide wheels to enable the robot to move on the hull wall. This method relies on the thrust generated by the rotor to press the robot against the outer wall of the hull, but because the robot in this patent contacts the wall through the guide wheels, rolling friction cannot provide an effective wall tangential force to overcome the force generated when cleaning the hull wall, and it is easy to drift, affecting the cleaning effect. Moreover, when moving, the hull cleaning robot proposed by patent CN102910269A can only complete the action by adjusting the angle of the rotor single-axis rotation, which is difficult to implement and easily affected by external factors. Summary of the invention

[0006] In order to overcome the above-mentioned deficiencies of the prior art, the present invention provides a hull marine growth cleaning robot and a motion control method thereof, which solves the adverse effects of marine growth attached to the surface of the existing hull structure on navigation resistance, speed and fuel consumption, and reduces the labor intensity of cleaning the hull surface.

[0007] The technical solution adopted by the present invention to solve its technical problems is: a hull marine life cleaning robot and a motion control method thereof, comprising a first adsorption device, a second adsorption device, a frame, a cleaning device, a first driven gear, a prime mover gear, a second driven gear, a reduction mechanism and a motor, wherein the first adsorption device is coaxially connected to the second driven gear, the second adsorption device is coaxially connected to the first driven gear, the cleaning devices are symmetrically arranged in pairs on the frame and are located at the periphery of the first adsorption device and the second adsorption device, the reduction mechanism input end is connected to the motor output shaft, the reduction mechanism output end is connected to the prime mover gear, the prime mover gear is meshed with the first driven gear, and the first driven gear is meshed with the second driven gear.

[0008] Preferably, the first adsorption device and the second adsorption device are adsorbed by means of electromagnets or suction cups, and the first adsorption device and the second adsorption device are alternately adsorbed on the surface of the hull according to different rotational motion control modes, that is, when the first adsorption device is adsorbed, the second adsorption device is released, and when the second adsorption device is adsorbed, the first adsorption device is released.

[0009] Preferably, the radius of the cleaning device is R c The cleaning devices can each achieve 180-degree cleaning with a certain point on the axis of the linear motion as the axis, and the cleaning area is a circular ring with an outer diameter R.

[0010] Preferably, the frame is circular, and its radius is R1.

[0011] Preferably, the reduction mechanism adopts a worm gear transmission mode, that is, the reduction mechanism input end is connected to the motor output shaft, the reduction mechanism input end is a worm shaft, the reduction mechanism output end is connected to the prime gear, and the reduction mechanism output end is a worm gear shaft.

[0012] Preferably, the rotation control of the motor is achieved by a PID controller.

[0013] Preferably, a rotary encoder capable of measuring the rotation direction is installed on the motor, the prime mover gear, the first driven gear or the second driven gear.

[0014] Preferably, a motion control method for a hull marine organism cleaning robot comprises the following steps:

[0015] S1: When the rotation mode of the hull marine organism cleaning robot is the first control mode, the first adsorption device (1) is adsorbed on the surface of the hull, the second adsorption device (2) is released, and the motor (9) transmits power to the first driven gear (5) via the reduction device (8) and the prime mover gear (6).

[0016] S2: Since the first adsorption device (1) is adsorbed on the surface of the hull, the second driven gear (7) fixedly connected thereto cannot rotate relative to the wall surface, so the first driven gear (5) drives the frame (3) to rotate around the axis of the second driven gear (7).

[0017] S3: When the rotation mode of the hull marine organism cleaning robot is in the second control mode, the second adsorption device (2) is adsorbed on the surface of the hull, the first adsorption device (1) is released, and the motor (9) drives the driving gear (6) to rotate via the reduction device (8).

[0018] S4: Since the second adsorption device (2) is adsorbed on the surface of the hull, the first driven gear (5) fixedly connected thereto cannot rotate relative to the wall surface, so the driving gear (6) drives the frame (3) to rotate around the axis of the first driven gear (5).

[0019] The substantial effects of the present invention are:

[0020] (1) The electromagnet or suction cup used in the adsorption device of the present invention can accurately adjust the size and on / off of the adsorption force. The cleaning device is arranged on the periphery of the adsorption device. During the movement of the robot, the adsorption position has been cleaned by the cleaning device, which can effectively ensure the stability and safety of the adsorption.

[0021] (2) The present invention adopts a rotation-based motion mode, which can flexibly realize turning and moving in any direction. The robot is used to clean underwater attachments (mainly aquatic organisms) on the wall of the ship, so that the ship can increase its speed and reduce fuel consumption.

[0022] (3) The robot motion mode proposed in the present invention has higher steering accuracy, adopts gear transmission and coaxial rotation, has a simple structure, is easy to maintain, is stable and reliable, and has low cost.

[0023] (4) The rotational motion method and the linear motion method adopted by the present invention ensure that there is always an adsorption device adsorbed on the wall of the hull without relative movement during movement, thereby ensuring the connection between the robot and the hull and providing sufficient tangential force to ensure that the cleaning device can clean the hull smoothly. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0025] Figure 2 A top view of the present invention;

[0026] Figure 3 , Figure 4 It is a motion schematic diagram of the present invention;

[0027] Figure 5 This is a simulation effect diagram of the linear motion mode of the present invention;

[0028] Figure 6 A schematic diagram of the path of the first cleaning solution of the present invention;

[0029] Figure 7 Schematic diagram of the path of the second cleaning solution of the present invention.

[0030] Marked in the figure: 1-first adsorption device, 2-second adsorption device, 3-frame, 4-cleaning device, 5-first driven gear, 6-prime driving gear, 7-second driven gear, 8-reduction mechanism, 9-motor. DETAILED DESCRIPTION

[0031] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0032] Example:

[0033] like Figure 1 , Figure 2As shown, a hull marine life cleaning robot and a motion control method thereof include a first adsorption device 1, a second adsorption device 2, a frame 3, a cleaning device 4, a first driven gear 5, a prime mover gear 6, a second driven gear 7, a reduction mechanism 8 and a motor 9, wherein the first adsorption device 1 is coaxially connected to the second driven gear 7, the second adsorption device 2 is coaxially connected to the first driven gear 5, the cleaning devices 4 are symmetrically arranged on the frame 3 in pairs and are located at the periphery of the first adsorption device 1 and the second adsorption device 2, the input end of the reduction mechanism 8 is connected to the output shaft of the motor 9, the output end of the reduction mechanism 8 is connected to the prime mover gear 6, the prime mover gear 6 is meshed with the first driven gear 5, and the first driven gear 5 is meshed with the second driven gear 7.

[0034] The first adsorption device 1 and the second adsorption device 2 are adsorbed by electromagnets or suction cups. The first adsorption device 1 and the second adsorption device 2 are alternately adsorbed on the surface of the hull according to different rotational motion control modes, that is, when the first adsorption device 1 is adsorbed, the second adsorption device 2 is released, and when the second adsorption device 2 is adsorbed, the first adsorption device 1 is released.

[0035] The radius of the cleaning device 4 is R c The cleaning devices 4 can each achieve 180-degree cleaning with a certain point on the axis of the linear motion as the axis, and the cleaning area is a circular ring with an outer diameter R.

[0036] The frame 3 is circular, and its radius is R1.

[0037] The reduction mechanism 8 adopts a worm gear transmission mode, that is, the input end of the reduction mechanism 8 is connected to the output shaft of the motor 9, the input end of the reduction mechanism 8 is a worm shaft, and the output end of the reduction mechanism 8 is connected to the prime mover gear 6, and the output end of the reduction mechanism 8 is a worm gear shaft.

[0038] The rotation control of the motor 9 is achieved by a PID controller.

[0039] The motor 9 , the driving gear 6 , the first driven gear 5 or the second driven gear 7 are equipped with a rotary encoder capable of measuring the rotation direction.

[0040] When the present invention is working, the motor 9 drives the prime mover gear 6 to rotate at a specified position on the frame 3 through the reduction mechanism 8, driving the second driven gear 7 and the first adsorption device 1, the first driven gear 5 and the second adsorption device 2 to rotate on the frame 3. The specific rotational motion will be implemented in two different control modes, please refer to the first and second control modes.

[0041] A motion control method for a hull marine organism cleaning robot comprises the following steps:

[0042] When the rotation mode of the hull marine life cleaning robot is the first control mode (see Figure 3 , the solid black dots in the figure represent adsorption by the adsorption device):

[0043] The first adsorption device 1 is adsorbed on the surface of the hull, the second adsorption device 2 is released, and the motor 9 transmits power to the first driven gear 5 through the reduction device 8 and the prime mover gear 6. Since the first adsorption device 1 is adsorbed on the surface of the hull, the second driven gear 7 fixed thereto cannot rotate relative to the wall surface, so the first driven gear 5 drives the frame 3 to rotate around the axis of the second driven gear 7, thereby realizing the rotation mode of the robot with the first adsorption device 1 as the rotation center.

[0044] When the rotation mode of the hull marine life cleaning robot is the second control mode (see Figure 4 , the solid black dots in the figure represent adsorption by the adsorption device):

[0045] The second adsorption device 2 is adsorbed on the surface of the hull, the first adsorption device 1 is released, and the motor 9 drives the driving gear 6 to rotate through the reduction device 8. Since the second adsorption device 2 is adsorbed on the surface of the hull, the first driven gear 5 fixed thereto cannot rotate relative to the wall, so the driving gear 6 drives the frame 3 to rotate around the axis of the first driven gear 5, thereby realizing the rotation mode of the robot with the second adsorption device 2 as the rotation center.

[0046] In the two control modes of the above rotation method, the rotation control of the motor 9 is realized by a PID controller, the input of the PID controller is the difference between the current posture angle of the robot and the target posture angle, and the output is the driving power and rotation direction of the motor 9. By adjusting the coefficients of the proportional, integral and differential links of the PID controller, the robot can be quickly rotated to the target rotation angle without obvious overshoot.

[0047] The reduction mechanism 8 adopts a worm gear transmission mode and utilizes the self-locking characteristics of the worm gear transmission. When the motor 9 is powered off or in a braking state, the reduction mechanism 8 self-locks, and the robot can maintain the current angle without relative movement with the wall.

[0048] The movement modes of the present invention include a straight-moving mode and a turning mode.

[0049] This embodiment also provides specific implementation steps of the straight-ahead method of the present invention:

[0050] Take the initial state where the first adsorption device 1 is adsorbed and the second adsorption device 2 is released as an example:

[0051] 1) The present invention rotates 180 degrees clockwise or counterclockwise in the first control mode of rotation;

[0052] 2) The second adsorption device 2 adsorbs, the first adsorption device 1 releases, and the present invention rotates 180 degrees clockwise or counterclockwise in the second control mode of rotation;

[0053] 3) The first adsorption device 1 adsorbs, and the second adsorption device 2 releases.

[0054] 4) Repeat the above steps and the robot can achieve linear motion.

[0055] This embodiment also provides specific implementation steps of the turning method of the present invention:

[0056] Take the initial state where the first adsorption device 1 is adsorbed and the second adsorption device 2 is released as an example:

[0057] 1) The present invention rotates clockwise or counterclockwise to the desired turning direction in the first control mode of rotation;

[0058] 2) The second adsorption device 2 adsorbs, the first adsorption device 1 releases, and the robot's turning action is completed; the above-mentioned linear motion can continue to be performed.

[0059] 3) During the linear and turning motion of the present invention, the external power supply line and communication cable will produce a twisting angle At the same time, the linear and turning movements are achieved through the two rotation modes of the robot. During the rotation process, the leads of the two adsorption devices will also produce a twisting angle. To avoid and The continuous increase of the torque requires anti-twist control, the specific methods are as follows:

[0060] Step 1: Get the screw angle The above posture calculation method can be used to obtain the posture angle of the robot, and then the screwing angle

[0061] Step 2: Get the screw angle By counting the pulses output by the installed rotary encoder, the encoder rotation angle N in units of encoder count value is obtained. Then, according to the encoder line number M and the reduction ratio R of the encoder from the first driven gear 5 or the second driven gear 7, the following formula can be obtained:

[0062] Step 3: Adjust and The positive and negative signs of make the robot rotate in rotation mode 1 when the driving gear 6 rotates in the positive direction. and All increased;

[0063] Step 4: After completing step 3 and The value determines the rotation direction of step 4. In the above-described steps of the linear motion or turning motion of the present invention, the robot can choose to rotate clockwise or counterclockwise, and different rotation directions will respectively result in and increase or decrease (see Table 1 and Figure 3 , Figure 4 ), by choosing The rotation direction of the value can avoid the twist angle and The continuous increase of the two screw angles means that the values ​​of the two screw angles are within a fixed range.

[0064] Table 1 Relationship between the twisting angle and the rotation mode and rotation direction of the hull marine organism cleaning robot

[0065]

[0066] Further, Figure 1 Taking the present invention with four cleaning devices as an example, when the robot performs linear motion, the calculation method of its cleaning width is as follows: Regardless of whether the linear motion of the present invention is achieved by clockwise or counterclockwise rotation, Figure 1 The two cleaning devices shown on the left and right can each achieve 180-degree cleaning with a point on the axis of the linear motion as the axis center. The cleaning area is a ring with an outer diameter R, and the distance between the centers of adjacent rings is the adsorption device distance H. It can be calculated that the width of the cleaning area is d, where:

[0067]

[0068]

[0069]

[0070] Further, according to Figure 1 In order to overlap the tracks of the cleaning devices and thus ensure the cleaning effect, the following are specified in the dimensional drawing shown:

[0071]

[0072] Furthermore, the hull wall cleaning hull marine organism cleaning robot is simulated in the above linear motion mode, with a simulation step length of 5 degrees. The simulation parameters can be obtained as follows: Figure 5 The simulation results are shown in Figure 2, where the simulation parameters are: R1 = 270, R c =135, H = 162. Figure 5 It can be seen that the areas between the cleaning boundaries are all cleaned, which shows that the selection of the cleaning boundaries is reasonable.

[0073] According to the above, when cleaning a rectangular area with a width of W and a height of L, the two paths are shown in the following diagrams: Figure 3 , Figure 4 shown.

[0074] for Figure 3 The path planning method shown in FIG. 1 shows that when the hull wall is cleaned, that is, when the robot moves to the cleaning area, the specific action steps are as follows (where ):

[0075] 1) When cleaning the hull wall, the robot moves downward for [(L-2m-H) / H] steps;

[0076] 2) When cleaning the hull wall, the robot moves right for [d / H+1] steps;

[0077] 3) When cleaning the hull wall, the robot moves upward for [(L-2m-H) / H] steps;

[0078] 4) When cleaning the hull wall, the robot moves right for [d / H+1] steps.

[0079] Repeat steps 1 to 4 until the designated rectangular area is cleaned. During the cleaning process, the robot needs to move right a total of [(Wd) / (d / H)×H]×[d / H+1] steps when cleaning the hull wall.

[0080] for Figure 4 The path planning method shown in FIG. 1 is as follows: when the hull wall is cleaned, that is, when the robot moves to the cleaning area, the specific steps are as follows (where ):

[0081] 1) When cleaning the hull wall, the robot moves rightward for [(W-2m-H) / H] steps;

[0082] 2) When cleaning the hull wall, the robot moves downward [d / H]+1 steps;

[0083] 3) When cleaning the hull wall, the robot moves left by [(W-2m-H) / H] steps;

[0084] 4) When cleaning the hull wall, the robot moves downward [d / H]+1 steps;

[0085] Repeat steps 1 to 4 until the designated rectangular area is cleaned. During the cleaning process, the robot needs to move downward a total of [(Ld) / ([d / H]×H)]×([d / H]+1) steps when cleaning the hull wall.

[0086] The above are only preferred embodiments of the present invention. It should be pointed out that, for those skilled in the art, several modifications and improvements can be made without departing from the concept of the present invention. These should also be regarded as the protection scope of the present invention. These will not affect the effect of the implementation of the present invention and the practicality of the patent.

Claims

1. A hull marine organism cleaning robot, characterized in that: The invention comprises a first adsorption device (1), a second adsorption device (2), a frame (3), a cleaning device (4), a first driven gear (5), a prime mover gear (6), a second driven gear (7), a speed reduction mechanism (8) and a motor (9), wherein the first adsorption device (1) is coaxially connected to the second driven gear (7), the second adsorption device (2) is coaxially connected to the first driven gear (5), the cleaning devices (4) are symmetrically arranged on the frame (3) in pairs and are located on the periphery of the first adsorption device (1) and the second adsorption device (2), the input end of the speed reduction mechanism (8) is connected to the output shaft of the motor (9), the output end of the speed reduction mechanism (8) is connected to the prime mover gear (6), the prime mover gear (6) is meshed with the first driven gear (5), and the first driven gear (5) is meshed with the second driven gear (7); A rotary encoder capable of measuring the rotation direction is installed on the motor (9), the driving gear (6), the first driven gear (5) or the second driven gear (7); The movement modes of the hull marine organism cleaning robot include straight-moving mode and turning mode, and the leads of the two adsorption devices are controlled to prevent twisting, specifically: Step 1: Get the screw angle ; The posture angle of the robot is obtained by the posture solution method, and then the screwing angle is obtained ; Step 2: Get the screw angle ; By counting the pulses output by the installed rotary encoder, the encoder rotation angle N in units of encoder count value is obtained. Then, according to the encoder line number M and the reduction ratio R of the encoder from the first driven gear (5) or the second driven gear (7), the screwing angle is obtained by the following formula: : ； Step 3: Adjust and The positive and negative signs of make it so that when the driving gear (6) rotates in the positive direction and drives the robot to rotate in the rotation mode (1), and All increased; Step 4: After completing step 3 and value, determine the rotation direction in step 4, and select the rotation direction that can reduce the value.

2. A hull marine life cleaning robot according to claim 1, characterized in that: The first adsorption device (1) and the second adsorption device (2) are adsorbed by means of electromagnets or suction cups. The first adsorption device (1) and the second adsorption device (2) are alternately adsorbed on the surface of the hull according to different rotational motion control modes, that is, when the first adsorption device (1) is adsorbed, the second adsorption device (2) is released, and when the second adsorption device (2) is adsorbed, the first adsorption device (1) is released.

3. The hull marine life cleaning robot according to claim 1, characterized in that: The radius of the cleaning device (4) is Rc. The cleaning device (4) can each realize 180-degree cleaning with a certain point on the axis of the linear motion as the axis, and its cleaning area is a circular ring with an outer diameter R.

4. The hull marine life cleaning robot according to claim 1, characterized in that: The frame (3) is circular, and its radius is R1.

5. The hull marine life cleaning robot according to claim 1, characterized in that: The speed reduction mechanism (8) adopts a worm gear transmission mode, that is, the input end of the speed reduction mechanism (8) is connected to the output shaft of the motor (9), the input end of the speed reduction mechanism (8) is a worm shaft, the output end of the speed reduction mechanism (8) is connected to the prime mover gear (6), and the output end of the speed reduction mechanism (8) is a worm gear shaft.

6. The hull marine life cleaning robot according to claim 1, characterized in that: The rotation control of the motor (9) is achieved by a PID controller.

7. A motion control method for a hull marine life cleaning robot according to any one of claims 1 to 6, comprising the following steps: S1: When the rotation mode of the hull marine organism cleaning robot is the first control mode, the first adsorption device (1) is adsorbed on the surface of the hull, the second adsorption device (2) is released, and the motor (9) transmits power to the first driven gear (5) via the reduction mechanism (8) and the prime mover gear (6); S2: Since the first adsorption device (1) is adsorbed on the surface of the hull, the second driven gear (7) fixedly connected thereto cannot rotate relative to the wall surface, so the first driven gear (5) drives the frame (3) to rotate around the axis of the second driven gear (7); S3: When the rotation mode of the hull marine organism cleaning robot is the second control mode, the second adsorption device (2) is adsorbed on the surface of the hull, the first adsorption device (1) is released, and the motor (9) drives the driving gear (6) to rotate via the speed reduction mechanism (8); S4: Since the second adsorption device (2) is adsorbed on the surface of the hull, the first driven gear (5) fixedly connected thereto cannot rotate relative to the wall surface, so the driving gear (6) drives the frame (3) to rotate around the axis of the first driven gear (5).

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