A cleaning method, a control device and a computer device of an underwater cleaning device

Abstract

The application discloses a cleaning method of underwater cleaning equipment, a control device and computer equipment, and relates to the technical field of underwater cleaning equipment, and in particular relates to a cleaning method of underwater cleaning equipment, a control device and computer equipment. The cleaning method comprises the following steps: obtaining characteristic information of an object to be cleaned, and performing physical simulation processing on the characteristic information to obtain an object-to-be-cleaned image; setting corresponding cleaning path information according to the object-to-be-cleaned image; generating corresponding cleaning movement instructions according to the cleaning path information, so as to control the cleaning equipment to move; and generating cleaning processing instructions, so as to control the cleaning assembly to clean the surface of the object to be cleaned. The object-to-be-cleaned physical model is simulated, the moving path of the cleaning equipment for cleaning is planned on the physical model, and then the cleaning assembly is controlled to remove impurities on the surface of the object to be cleaned.

Description

TECHNICAL FIELD

[0001] The present application relates to the underwater cleaning technical field, and particularly relates to a cleaning method of underwater cleaning equipment, a control device and computer equipment. BACKGROUND

[0002] The surface of a ship is attached to marine organisms to increase the sailing resistance, and the main reason is that the attached organisms change the streamline shape of the ship body and increase the weight of the ship body. According to statistics, the weight of the organisms attached to each square meter of the ship body without protective measures within half a year can reach 150 kg, which not only reduces the sailing speed of the ship, but also greatly increases the fuel consumption. The attached organisms will destroy the anticorrosive coating on the surface of the attached object, cause the coating to fall off, expose the metal surface of the attached surface to seawater corrosion, and cause danger. The contaminated organisms will block underwater facilities, reduce the operating efficiency of the equipment, and even cause danger. At present, the main method for removing marine organisms on the surface of large objects such as ship bodies, FPSO (Floating Production Storage and Offloading, floating production storage and offloading device) and the like is to clean them after being landed on shore. The cost of landing on shore is very high, and the efficiency is low. The downtime of the ship and the like is long, so that the comprehensive cleaning cost is high. In addition to the high cost, the onshore cleaning method such as high-pressure water cleaning method has the disadvantages of high pressure, high energy consumption, dangerous operation, damage to the original coating, etc. The sand blasting method has the disadvantages of high noise, pollution, harm to personnel health, damage to the coating, etc. The manual removal method has the disadvantages of high cost, low efficiency, poor effect, damage to the coating, etc. The underwater cleaning method can avoid docking, thereby saving cost, but most of the cleaning methods of the existing underwater cleaning equipment are friction type, which uses physical action to scrape the contaminants. This cleaning method has the disadvantages of high operation strength, low efficiency, poor cleaning effect on hard marine organisms, and easy scratching of the coating. SUMMARY

[0003] In order to overcome the deficiencies of the prior art solutions, the embodiments of the present application provide a cleaning method of underwater cleaning equipment, a control device and computer equipment.

[0004] The technical solutions adopted by the present application to solve its technical problems are as follows:

[0005] In a first aspect, the embodiments of the present application provide a cleaning method of underwater cleaning equipment, which is applied to a controller of the cleaning equipment, the cleaning equipment further comprises a cleaning assembly, the controller is in data signal transmission connection with the cleaning equipment, and the cleaning method comprises the following steps:

[0006] Obtaining characteristic information of a to-be-cleaned object, and performing physical simulation processing on the characteristic information to obtain a to-be-cleaned object image;

[0007] Setting corresponding cleaning path information according to the to-be-cleaned object image;

[0008] generate a corresponding cleaning movement instruction according to the cleaning path information, so as to control the cleaning equipment to move;

[0009] generate a cleaning treatment instruction, so as to control the cleaning assembly to clean the surface of the object to be cleaned.

[0010] In a second aspect, the embodiment of the present application further provides a control device of an underwater cleaning equipment, the cleaning equipment is configured in a controller of the cleaning device, the controller is connected with the cleaning device to transmit data signals, the cleaning device further comprises a cleaning assembly, and the cleaning equipment comprises:

[0011] an analog module, configured to obtain feature information of an object to be cleaned, and perform physical analog processing on the feature information to obtain an object-to-be-cleaned image;

[0012] a path setting module, configured to set corresponding cleaning path information according to the object-to-be-cleaned image;

[0013] a first instruction generating module, configured to generate a corresponding cleaning movement instruction according to the cleaning path information, so as to control the cleaning equipment to move;

[0014] a second instruction generating module, configured to generate a cleaning treatment instruction, so as to control the cleaning assembly to clean the surface of the object to be cleaned.

[0015] In a third aspect, the embodiment of the present application further provides a computer device, which comprises a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory are connected with each other through the communication bus;

[0016] the memory is configured to store a computer program;

[0017] the processor is configured to execute the program stored in the memory, so as to realize the steps of the cleaning method of the underwater cleaning equipment according to any one of the embodiments of the first aspect.

[0018] Compared with the prior art, the present application has the following beneficial effects:

[0019] The physical model of the object to be cleaned is simulated, the moving path of the cleaning equipment is planned on the physical model, and then the cleaning assembly is controlled to remove impurities on the surface of the object to be cleaned. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed in the embodiment description. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort based on these drawings.

[0021] Figure 1 is a flowchart of a cleaning method of the underwater cleaning device of the embodiment of the present application.

[0022] Figure 2 is a schematic diagram of the object to be cleaned and the plurality of cleaning areas of the embodiment of the present application.

[0023] Figure 3 is a schematic diagram of the plurality of path marker points of the embodiment of the present application.

[0024] Figure 4 is a block schematic diagram of the control device of the underwater cleaning device of the embodiment of the present application.

[0025] Figure 5 is a block schematic diagram of the computer device of the embodiment of the present application.

[0026] Reference numerals in the drawings

[0027] 1, cleaning area; 11, first path marker point; 12, second path marker point; 13, third path marker point; 14, fourth path marker point; 2, object to be cleaned. DETAILED DESCRIPTION

[0028] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings of the embodiments of the present application. Obviously, the described embodiments are some embodiments of the present application, but not all the embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without any creative effort belong to the scope of protection of the present application.

[0029] It should be understood that, when used in the specification and the appended claims, the terms "comprise" and "include" indicate the presence of the described features, integers, steps, operations, elements, and / or components, but do not exclude one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0030] It should also be understood that the terms used in the specification of the present application are only for the purpose of describing the specific embodiments and do not intend to limit the present application. As used in the specification and the appended claims of the present application, the singular forms "a", "an" and "the" are intended to include the plural forms unless the context clearly indicates otherwise.

[0031] It should be further understood that the term "and / or" as used herein in the specification and in the claims, if any, means one or the other or both of the associated listed items.

[0032] In order to solve the technical problems that the cleaning method of the existing underwater cleaning equipment is mostly rubbing type, the pollutants are scraped by using physical action, and the cleaning method has the technical problems of high operation strength, low efficiency, poor cleaning effect on hard marine organisms, and easy scratch of coating, and the embodiment of the present application provides a cleaning method of underwater cleaning equipment. The cleaning method of the underwater cleaning equipment is applied to the controller of the cleaning equipment. The cleaning method of the underwater cleaning equipment can be executed by the application software or operation program installed therein to perform the related steps or processes, so as to simulate the physical model of the object to be cleaned 2, and plan the moving path of the cleaning equipment on the physical model to clean the impurities on the surface of the object to be cleaned 2. The cleaning equipment further comprises a cleaning assembly, and the cleaning assembly removes the impurities on the surface of the object to be cleaned 2 when the cleaning equipment moves close to the surface of the object to be cleaned 2.

[0033] The specific implementation process of the cleaning method of the underwater cleaning equipment provided by the embodiment of the present application is described in detail below. According to the accompanying drawings, the cleaning method specifically includes steps S110-S140: Figure 1

[0034] S110, obtain the characteristic information of the object to be cleaned 2, and perform physical simulation processing on the characteristic information to obtain the image of the object to be cleaned 2.

[0035] Specifically, since the specific shape, size and curvature amplitude of different objects to be cleaned 2 are different, it is necessary to obtain the characteristic information of the object to be cleaned 2, which specifically refers to the specific shape, size and curvature amplitude of the object to be cleaned 2. Then, according to the obtained characteristic information of the object to be cleaned 2, a physical model corresponding to the shape, size and curvature amplitude of the object to be cleaned is established in a 3D space. A certain surface in the physical model is taken as the image of the object to be cleaned 2. The shape and size of the shape, size and curvature amplitude need to be consistent with the actual object to be cleaned 2, and the moving path of the cleaning equipment for cleaning can be set in the image of the object to be cleaned 2. Since each surface of the object to be cleaned 2 with impurities adhered thereto corresponds to the position of the part of the physical model, one surface of the part with impurities adhered thereto in the three-dimensional physical model established in the 3D space can be unfolded to obtain the image of the object to be cleaned 2 with a large amount of impurities adhered to the surface.

[0036] ​For example, a certain ship has a large amount of dirt adhered to the surface of the hull, and the dirt is adhered to different parts of the hull. According to the feature information (specific shape, size and curved surface amplitude) of the surface of the hull of the ship, a physical model consistent with the feature information of the hull of the ship is established in a three-dimensional space, that is, a physical model of the hull of the ship is established in a three-dimensional space, and then a to-be-cleaned image is obtained in the physical model. The to-be-cleaned image corresponds to the surface of the hull of the ship adhered with a large amount of dirt. If there are several parts of the hull of the ship adhered with a large amount of dirt, and the dirt is adhered to the surface of the hull at different positions of the ship, two to-be-cleaned images corresponding to the positions of the hull of the ship adhered with dirt are obtained in the physical model.

[0037] S120, setting corresponding cleaning path information according to the to-be-cleaned object 2 image.

[0038] Specifically, when the physical model is obtained according to the obtained feature information (specific shape, size and curved surface amplitude) of the to-be-cleaned object 2, and the to-be-cleaned images corresponding to the positions of the hull of the ship adhered with dirt are obtained on the physical model, then the moving path of the cleaning equipment for cleaning can be set on the obtained to-be-cleaned image. If the dirt or stain on the surface of the to-be-cleaned object 2 is large in area, a plurality of moving paths can be set on the to-be-cleaned image of the obtained physical model. The moving paths can be set to be consecutive or non-consecutive. The cleaning equipment moves to the first dirt on the surface of the to-be-cleaned object 2 according to the first moving path and completes cleaning. If the to-be-cleaned object 2 is also adhered with a second large area of dirt, the cleaning equipment moves to the second dirt on the surface of the to-be-cleaned object 2 according to the second moving path and completes cleaning.

[0039] For example, after the two to-be-cleaned images corresponding to the positions of the hull of the ship adhered with dirt are obtained in the physical model, since the two dirt of the ship occupies a large area, a plurality of moving paths for cleaning are set in the to-be-cleaned image, so that the dirt occupying a large area can be completely removed. If the first dirt is removed first, a first moving path is set in the to-be-cleaned image, the first moving path completely covers the entire occupied area of the first dirt, and the first moving path is set to be consecutive, so that the first dirt can be cleaned at one time. Then, if the second dirt needs to be removed, a second moving path is set in the to-be-cleaned image, the second moving path also completely covers the entire occupied area of the first dirt, and then the second dirt can be cleaned at one time.

[0040] S130, generating corresponding cleaning moving instructions according to the cleaning path information to control the cleaning equipment to move.

[0041] Specifically, after setting multiple moving paths on the image of the physical model to be cleaned to obtain cleaning path information, since different cleaning path information corresponds to different cleaning moving instructions, when obtaining the cleaning path information set on the image of the physical model to be cleaned, different cleaning moving instructions are generated according to the cleaning path information, and then all the generated cleaning moving instructions are sent to the cleaning device, so as to control the cleaning device to move close to the side of the object to be cleaned 2, and then the cleaning assembly is responsible for cleaning the impurities on the surface of the object to be cleaned 2.

[0042] S140, generate cleaning processing instructions to control the cleaning assembly to clean the surface of the object to be cleaned 2.

[0043] Specifically, after setting multiple moving paths on the image of the physical model to be cleaned to obtain cleaning path information, and generating cleaning moving instructions corresponding to the cleaning path information, the cleaning processing instructions are generated, which means controlling the cleaning assembly to enter the operating state, so that the cleaning device close to the object to be cleaned 2 cleans the surface of the object to be cleaned 2 adhered with impurities through the cleaning assembly.

[0044] In a specific embodiment, the step is S110, obtaining the feature information of the object to be cleaned 2, and performing physical simulation processing on the feature information to obtain the image of the object to be cleaned 2, and the specific steps are:

[0045] The overall shape of the object to be cleaned 2 is scanned to obtain multiple feature information of the object to be cleaned 2.

[0046] Specifically, since the specific shape, size and curvature amplitude of different objects to be cleaned 2 are different, in order to obtain the specific and accurate feature information of the object to be cleaned 2, it is necessary to scan the overall shape of the entire object to be cleaned 2 once. By scanning the object to be cleaned 2, the surface structure of the object to be cleaned 2 is clearly understood, that is, the multiple feature information of the object to be cleaned 2 is obtained, which contains the specific shape, size and curvature amplitude of the object to be cleaned 2, so that the same 1:1 scale physical model of the object to be cleaned 2 can be obtained during subsequent physical simulation.

[0047] For example, if the bottom of the ship needs to be cleaned, the bottom structure of the ship is scanned first, that is, the specific shape, size and curvature of the bottom of the ship are obtained, and then the characteristic information of the bottom of the ship is obtained by combining the parameter information. If the outer surface of the underwater pipeline needs to be cleaned, the outer surface of the underwater pipeline is scanned, that is, the characteristic information of the diameter of the underwater pipeline is obtained, and then the physical model with the same proportion as the underwater pipeline is obtained after the physical simulation.

[0048] According to the characteristic information, a physical model with the same shape and size as the object to be cleaned is established in the simulation interface.

[0049] Specifically, after the overall shape of the object to be cleaned is scanned one or more times, the characteristic information of the object to be cleaned is obtained by scanning the object to be cleaned, and then one or more physical models are established in the simulation interface of the 3D space according to the characteristic information. Since the characteristic information obtained by scanning the object to be cleaned is consistent with the shape, size and curvature of the object to be cleaned, the physical model established in the simulation interface of the 3D space has high accuracy in the proportion of the shape, size and curvature of the object to be cleaned, thereby reducing the error of the cleaning path information.

[0050] For example, after the bottom of the ship is scanned one or more times, the characteristic information of the bottom of the ship is obtained, and then the physical model is simulated in the simulation interface of the 3D space according to the characteristic information, that is, one or more physical models of the bottom of the ship are established in the simulation interface to obtain the physical model of the bottom of the ship. The shape, size and curvature of the physical model are consistent with the shape, size and curvature of the bottom of the ship that needs to be cleaned.

[0051] Each model part of the physical model is converted into a plane perspective to obtain an image of the object to be cleaned.

[0052] Specifically, after the plurality of feature information of the object 2 to be cleaned is obtained by scanning, a physical model with the same shape and size as the object 2 to be cleaned is established on the simulation interface, and different model parts are extracted from the obtained physical model, that is, a plurality of model parts requiring the movement path of the cleaning equipment to be set are extracted from one physical model, and these model parts correspond to the surface of the object 2 to be cleaned with a large amount of impurities adhered. After obtaining each model part, the conversion processing is performed on each model part, that is, since each model part may include a model part with a curved surface shape, it is difficult to set the movement path of the cleaning equipment for the model part with the curved surface shape, and therefore it is necessary to convert each model part into a planar perspective image, that is, an image of the object 2 to be cleaned, which facilitates the setting of the movement path of the cleaning equipment in the subsequent process.

[0053] For example, the shape of the bottom of the ship contains a large number of curved surface structures. After obtaining the physical model of the bottom of the ship, the conversion processing is performed on each model part of the physical model, and each model part is unfolded into a planar image to obtain the planar perspective of the different model parts of the physical model, that is, the planar perspective image of the object 2 to be cleaned.

[0054] In a specific embodiment, the step is S120, and the corresponding cleaning path information is set according to the image of the object 2 to be cleaned.

[0055] The image of the object 2 to be cleaned is divided to obtain a plurality of cleaning areas 1.

[0056] Specifically, according to the attached Figure 2 As shown in the figure, after the image of the object 2 to be cleaned corresponding to the positions of the two impurity-adhered shell surfaces on the object 2 to be cleaned is obtained on the physical model, since the shape of most of the object 2 to be cleaned is an irregular polygon, a plurality of cleaning areas 1 are set for the obtained image of the object 2 to be cleaned, that is, a plurality of cleaning areas 1 are divided in the image of the object 2 to be cleaned, and each cleaning area 1 represents an area with impurities adhered. In addition, the size of the cleaning area 1 can be the same or different, and the shape of the cleaning area 1 can be a polygon or various geometric shapes. The cleaning area 1 in the embodiment of the present application is a square, and the square cleaning area 1 facilitates the setting of the cleaning path information in the subsequent process, so that the effect of cleaning the impurities in the cleaning area 1 by the cleaning assembly is better.

[0057] For example, after the physical model of the bottom of the ship obtains the corresponding to-be-cleaned image with two impurities adhered on the bottom of the ship, since the bottom of the ship is mostly irregular polygon and curved surface, a plurality of cleaning areas 1 need to be made on the to-be-cleaned image, that is, the to-be-cleaned image of the bottom of the ship is divided into a plurality of cleaning areas 1, and the specific number needs to be divided according to the size and area of the adhered impurities, and the size of each cleaning area 1 divided on the to-be-cleaned image can also be set by oneself.

[0058] According to the geometric image of the cleaning area 1, a plurality of path marker points meeting the preset condition are determined in the cleaning area 1.

[0059] Specifically, the specific shape of the cleaning area 1 can be set as different shapes, and the embodiment of the present application is set as a square image. Since the length of each side of the square cleaning area 1 is consistent, and each side length of the square cleaning area 1 is used as a cleaning path, when the cleaning equipment moves along each side of the square cleaning area 1, the cleaning effect of the cleaning assembly on the large-area impurities is better. The preset condition specifically refers to a complete large path composed of each path marker point determined, which can achieve cleaning processing on the entire cleaning area 1. If one of the path marker points causes the cleaning equipment to deviate from the range of the cleaning area 1 when moving, the path marker point is cancelled, and it is ensured that the range surrounded by each path marker point is not greater than the range of the cleaning area 1.

[0060] For example, since the specific shape of the cleaning area 1 is set as a square image shape, the four corner positions of the square cleaning area 1 are used as path marker points, that is, the square cleaning area 1 has 4 path marker points in total. After each path marker point is connected with the adjacent path marker point, the side of the square cleaning area 1 is obtained, each side of each square cleaning area 1 is used as a small path, so that the subsequent cleaning equipment moves along each small path first, and a complete large path is composed of each small path, and when the cleaning equipment moves along each small path, the cleaning processing on the entire cleaning area 1 is completed.

[0061] The path marker points are sequentially connected in sequence to obtain cleaning path information.

[0062] Specifically, according to the attached Figure 3As shown, after the path marker points of each side of the cleaning area 1 are determined, each path marker point is connected with the adjacent path marker point to form a cleaning path information. If the cleaning area 1 is set as a square shape, the four corner positions of the cleaning area 1 are set as the path marker points, and then the path marker points corresponding to the four corner positions of the cleaning area 1 are sequentially connected with the adjacent path marker points. Then, the cleaning device moves according to the sequence marked by the path marker points, so as to drive the cleaning assembly to clean the cleaning area 1.

[0063] For example, after the path marker point of one end of each side of the square cleaning area 1 is determined, the four-cornered cleaning area 1 is formed, and then each path marker point of each cleaning area 1 is sequentially marked. For example, the first path marker point 11, the second path marker point 12, the third path marker point 13 and the fourth path marker point 14 are marked on the square cleaning area 1, and then the first path marker point 11 is connected with the second path marker point 12, the second path marker point 12 is connected with the third path marker point 13, and the third path marker point 13 is connected with the fourth path marker point 14, so as to form the cleaning path information.

[0064] During the cleaning of the impurities, the cleaning device moves to the first path marker point 11, moves from the first path marker point 11 to the second path marker point 12, then moves from the second path marker point 12 to the third path marker point 13, and then moves from the third path marker point 13 to the fourth path marker point 14, so as to complete the cleaning of the entire cleaning area 1 according to the sequence.

[0065] In a specific embodiment, the step of dividing the image of the object 2 to be cleaned to obtain a plurality of cleaning areas 1 includes the following specific steps:

[0066] The other cleaning areas 1 adjacent to the cleaning area 1 that has been determined are sequentially obtained.

[0067] Specifically, since the area to which the impurities of the object 2 to be cleaned adhere is relatively large, the image of the object 2 to be cleaned obtained before is further divided to obtain a plurality of cleaning areas 1. Each cleaning area 1 is surrounded by a plurality of cleaning areas 1, and thus it is necessary to determine the other cleaning areas 1 adjacent to each cleaning area 1. If the cleaning area 1 is set as a square shape, there are eight cleaning areas 1 around each cleaning area 1, that is, there are eight cleaning areas 1 adjacent to each cleaning area 1. After the plurality of cleaning areas 1 and the adjacent cleaning areas 1 are adjacent to each other, a large complete cleaning area 1 is formed.

[0068] The side edge of each cleaning area 1 is connected with the side edge of the adjacent other cleaning area 1 to obtain a plurality of cleaning areas 1.

[0069] Specifically, when the image of the object 2 to be cleaned is divided to obtain a plurality of cleaning areas 1, and the other cleaning areas 1 adjacent to the cleaning area 1 determined are obtained, since the shape of the cleaning area 1 is set as a square, after obtaining the other cleaning areas 1 adjacent to each cleaning area 1, the side edge of each cleaning area 1 is connected with the side edge of all the adjacent cleaning areas 1 to obtain a large complete cleaning area 1 formed by the plurality of cleaning areas 1.

[0070] In a specific embodiment, after the step of dividing the image of the object 2 to be cleaned to obtain a plurality of cleaning areas 1, the method further comprises the steps of:

[0071] Each cleaning area 1 is compared with a preset target cleaning area 1 to determine whether each cleaning area 1 is consistent with the target cleaning area 1.

[0072] Specifically, in order to obtain correct cleaning path information so that the cleaning equipment can move along the correct path, after the image of the object 2 to be cleaned is divided, each cleaning area 1 obtained is determined to determine whether each cleaning area 1 is a complete cleaning area 1. In the process of determining each cleaning area 1, a target cleaning area 1 is obtained, which is specifically a correct cleaning area 1 that meets the cleaning requirement of the cleaning assembly for the object 2 to be cleaned. After each cleaning area 1 is obtained, the target cleaning area 1 is compared with each cleaning area 1 to determine whether each cleaning area 1 is completely consistent with the target cleaning area 1.

[0073] For example, the shape of the cleaning area 1 is set as a square, and the shape of the target cleaning area 1 is also a square. At this time, each cleaning area 1 is compared with the target cleaning area 1, that is, it is determined whether the shape of each cleaning area 1 is completely the same as the target cleaning area 1, and both are complete squares.

[0074] If each cleaning area 1 is consistent with the target cleaning area 1, it is marked as a complete cleaning area 1.

[0075] Specifically, after comparing each obtained cleaning area 1 with the preset target cleaning area 1, if the comparison result is that the cleaning area 1 is consistent with the target cleaning area 1, it is proved that each cleaning area 1 belongs to a complete square cleaning area 1, and then each cleaning area 1 meeting the comparison result needs to be marked, specifically, the cleaning area 1 meeting the comparison result is marked as a complete cleaning area 1, and then a plurality of path marking points meeting the preset condition in the cleaning area 1 can be determined according to the geometric image of the cleaning area 1.

[0076] If one of the cleaning areas 1 is inconsistent with the target cleaning area 1, it is marked as an incomplete cleaning area 1.

[0077] Specifically, after comparing each obtained cleaning area 1 with the preset target cleaning area 1, if the comparison result is that the cleaning area 1 is inconsistent with the target cleaning area 1, it is proved that each cleaning area 1 does not belong to a complete square cleaning area 1, and then each cleaning area 1 not meeting the comparison result also needs to be marked, specifically, the cleaning area 1 not meeting the comparison result is marked as an incomplete cleaning area 1, and then a plurality of path marking points meeting the preset condition in the cleaning area 1 does not need to be determined according to the geometric image of the cleaning area 1.

[0078] In a specific embodiment, after the step S120 of setting the corresponding cleaning path information in the image of the object to be cleaned 2, the steps further include:

[0079] The distance value from the first end to the second end of the side length of each cleaning area 1 is calculated to obtain the side length value.

[0080] Specifically, since the total length value of a plurality of cleaning areas 1 needs to be obtained, when a plurality of cleaning areas 1 are obtained, the total distance value from the first end to the second end of the side length of each cleaning area 1 is calculated. If the shape of each cleaning area 1 is set as a square, the distance between the two ends of the side of each cleaning area 1 in the square shape is calculated, and since each side length of the cleaning area 1 in the square shape is equal, only the distance value of the two ends of the first side length of the cleaning area 1 is obtained, and the distance values of the two ends of the second side length, the third side length and the fourth side length can be obtained.

[0081] For example, after setting the corresponding cleaning path information in the image of the object to be cleaned 2, the total distance value from the first end to the second end of one side of each obtained cleaning area 1 is calculated, and the total distance value from the first end to the second end of the side of each cleaning area 1 obtained after calculation is 5 cm, that is, the distance value of the two ends of the first side length, the second side length, the third side length and the fourth side length of each cleaning area 1 is 5 cm.

[0082] The length value of the cleaning path information is obtained by adding the length value of each cleaning area 1 to the length value of the adjacent cleaning area 1.

[0083] Specifically, when a plurality of cleaning areas 1 are obtained, the total distance value from the first end to the second end of the length of one cleaning area 1 is calculated, and the total distance value from the first end to the second end of the length of the cleaning area 1 is obtained. Since the other cleaning areas 1 are also square, the total distance value from the first end to the second end of the length of the other cleaning areas 1 is consistent with the total distance value from the first end to the second end of the length of the cleaning area 1. Then, the length value of the cleaning path information is obtained by adding the length value of each cleaning area 1 to the length value of the adjacent cleaning area 1.

[0084] For example, the total distance value from the first end to the second end of the length of one cleaning area 1 is 5 cm, and the total number of cleaning areas 1 is 10. That is, the length value of the total length of the cleaning area 1 is obtained by multiplying the length of one side of the 10 cleaning areas 1 by 5 cm.

[0085] In a specific embodiment, the step S130 of generating a corresponding cleaning movement instruction according to the cleaning path information to control the cleaning equipment to move further comprises the steps of:

[0086] Obtaining the balance value of the cleaning equipment in the moving state.

[0087] Specifically, when the cleaning equipment receives the cleaning movement instruction and moves according to the cleaning path, it is necessary to judge the balance value of the cleaning equipment in the moving process, that is, the single-axis angular velocity value curve, to judge whether the cleaning equipment in the moving process is in a suitable balance state, so as to prevent the cleaning equipment from deviating to the left or right.

[0088] According to the change of the balance value of the cleaning equipment in the moving state, the moving direction of the cleaning equipment is adjusted.

[0089] Specifically, if the cleaning equipment is moving, the specific value of the balance value of the cleaning equipment is constantly obtained. At this time, the cleaning equipment deviates to the right when moving, and the balance value changes at this time, so that the specific deviation position of the cleaning equipment is clear, and the corresponding correction deviation information is generated to control the cleaning equipment to adjust.

[0090] Then, the instruction for correcting according to the correction direction instruction is sent to the cleaning equipment.

[0091] In a specific embodiment, the step is to adjust the moving swing direction of the cleaning device according to the change of the balance value of the cleaning device in the moving state, to obtain a correction swing direction instruction, and the specific steps are:

[0092] It is judged whether the change range of the first axis direction of the cleaning device in the moving state is in abnormal fluctuation.

[0093] Specifically, when the cleaning device moves along the cleaning path, the uniform change curve of the return values of the second axis direction and the third axis direction of the balance value is obtained at this time, and the return value of the first axis direction is in a relatively low range. The cleaning device needs to judge whether the cleaning device is in the offset state according to the change of the first axis direction at this time, that is, if the first axis direction appears abnormal fluctuation, it is determined that the cleaning device at this time is in the offset state; otherwise, if the first axis direction does not appear abnormal fluctuation, it is determined that the cleaning device at this time is not in the offset state.

[0094] If the change range of the first axis direction of the cleaning device in the moving state is in abnormal fluctuation, the amplitude value of the first axis direction exceeding the preset normal amplitude threshold is calculated to obtain an exceeding amplitude value.

[0095] Specifically, if the cleaning device is in the offset state in the moving state, the specific state of the first axis direction in abnormal fluctuation is calculated immediately, that is, the amplitude value of the first axis direction exceeding the preset normal amplitude threshold is calculated, so as to obtain the exceeding amplitude value.

[0096] For example, the preset normal amplitude threshold is set to be within the range of 5 numerical values, and the cleaning device is in the offset state in the moving process. After calculation, it is obtained that the first axis direction is in the state of abnormal fluctuation, and the exceeding amplitude value is 8, that is, it exceeds the range of the normal amplitude threshold set to 5 numerical values.

[0097] According to the difference between the normal amplitude threshold and the exceeding amplitude value, a correction swing direction instruction is generated.

[0098] Specifically, the difference between the normal amplitude threshold and the exceeding amplitude value is obtained by deducting the preset normal amplitude value from the obtained exceeding amplitude value, and then the swing direction of the cleaning device is adjusted according to the difference between the normal amplitude threshold and the exceeding amplitude value, until the first axis direction does not exceed the amplitude value of the preset normal amplitude threshold.

[0099] For example, it is obtained that the first axis direction is in the state of abnormal fluctuation, and the exceeding amplitude value is 8, and the exceeding amplitude value of 8 is deducted from the preset normal amplitude value of 5, so that the difference value of 3 is obtained. Then, the correction swing direction instruction corresponding to the difference value of 3 is generated and sent to the cleaning device, so as to adjust the moving swing direction of the cleaning device, so that the cleaning device is in the normal moving swing direction.

[0100] The cleaning method of the underwater cleaning device provided by the embodiment of the present application realizes simulation of a physical model of the object to be cleaned 2, and planning of a moving path of the cleaning device on the physical model for cleaning, so as to remove impurities on the surface of the object to be cleaned 2, and solves the technical problems of the prior art, such as high work intensity, low efficiency, poor cleaning effect on hard marine organisms, and easy scratching of the coating.

[0101] Corresponding to the cleaning method of the underwater cleaning device, the embodiment of the present application further provides a control device 100 of the underwater cleaning device.

[0102] The control device 100 of the underwater cleaning device provided by the embodiment of the present application will be described in detail below, according to the accompanying Figure 4 As shown in the figure, the cleaning device 100 specifically includes:

[0103] The simulation module 110 is configured to obtain characteristic information of the object to be cleaned 2, and perform physical simulation processing on the characteristic information to obtain an image of the object to be cleaned 2.

[0104] The path setting module 120 is configured to set corresponding cleaning path information according to the image of the object to be cleaned 2.

[0105] The first instruction generation module 130 is configured to generate corresponding cleaning moving instructions according to the cleaning path information, so as to control the cleaning device to move.

[0106] The second instruction generation module 140 is configured to generate cleaning processing instructions, so as to control the cleaning assembly to clean the surface of the object to be cleaned 2.

[0107] The control device 100 of the underwater cleaning device provided by the embodiment of the present application realizes simulation of a physical model of the object to be cleaned 2, and planning of a moving path of the cleaning device on the physical model for cleaning, so as to remove impurities on the surface of the object to be cleaned 2, and solves the technical problems of the prior art, such as high work intensity, low efficiency, poor cleaning effect on hard marine organisms, and easy scratching of the coating.

[0108] The embodiment of the present application further provides a computer device 10, according to the accompanying Figure 5As shown, the computer device includes a processor 401, a communication interface 402, a memory 403 and a communication bus 404, wherein the processor 401, the communication interface 402 and the memory 403 complete mutual communication through the communication bus 404; the memory 403 is used for storing a computer program; in an embodiment of the present application, the processor 401 is used for executing the program stored on the memory 403, so as to realize the steps of the cleaning method of the underwater cleaning device provided by any one of the above method embodiments.

[0109] In addition, an embodiment of the present application further provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to realize the steps of the cleaning method of the underwater cleaning device provided by any one of the above method embodiments.

[0110] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described devices, apparatuses and units can refer to the corresponding processes in the foregoing method embodiments, which will not be described here. Those skilled in the art can realize that the units and algorithm steps of the examples described in combination with the embodiments disclosed herein can be realized by electronic hardware, computer software or a combination of both. In order to clearly illustrate the interchangeability of hardware and software, the components and steps of the examples have been described in general terms in the above description. Whether the functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. The skilled person can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0111] In several embodiments provided by the present application, it should be understood that the disclosed devices, apparatuses and methods can be implemented by other ways. For example, the above-described apparatus embodiments are only schematic, for example, the division of the units is only a logical function division, and there can be another division way in actual implementation, or a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual coupling or direct coupling or communication connection can be indirect coupling or communication connection through some interfaces, devices or units, and can also be electrical, mechanical or other forms of connections.

[0112] The units described as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, i.e. they can be located in one place, or can be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiment of the present application.

[0113] In addition, each functional unit in each embodiment of the present application can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of a software functional unit.

[0114] The integrated unit, if realized in the form of a software functional unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application, essentially or in the form of a contribution to the prior art, or all or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a computer readable storage medium, and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in each embodiment of the present application. The aforementioned computer readable storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a magnetic disk or an optical disk, and various media that can store program codes.

[0115] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present application, and these modifications or replacements should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A cleaning method for underwater cleaning equipment, characterized in that, The cleaning method is applied to the controller of the cleaning equipment, the cleaning equipment further includes a cleaning component, the controller establishes a data signal transmission connection with the cleaning equipment, and the cleaning method includes: The feature information of the object to be cleaned is obtained, and the feature information is processed by physical simulation to obtain an image of the object to be cleaned. Set the corresponding cleaning path information based on the image of the object to be cleaned; Based on the cleaning path information, a corresponding cleaning movement command is generated to control the cleaning equipment to move. Generate cleaning instructions to control the cleaning components to clean the surface of the object to be cleaned; The process of obtaining the feature information of the object to be cleaned and performing physical simulation processing on the feature information to obtain an image of the object to be cleaned includes: The overall shape of the object to be cleaned is scanned to obtain multiple feature information of the object; Based on the aforementioned feature information, a physical model with the same shape and size as the object to be cleaned is established in the simulation interface; Extract each part of the physical model and convert it into a planar view to obtain an image of the object to be cleaned; The step of setting the corresponding cleaning path information based on the image of the object to be cleaned includes: The image of the object to be cleaned is divided into multiple cleaning areas; Based on the geometric image of the cleaning area, multiple path marker points that meet preset conditions are determined in the cleaning area; Specifically, if the cleaning area is set to a square shape, then the four corners of the cleaning area are set as path marker points. Each of the path markers is sequentially connected in series to obtain the cleaning path information; The step of dividing the image of the object to be cleaned into multiple cleaning areas includes: Sequentially obtain other cleaning areas adjacent to the already determined cleaning area; One side of each of the cleaning areas is connected to one side of the adjacent cleaning areas to obtain multiple cleaning areas. After dividing the image of the object to be cleaned into multiple cleaning areas, the process further includes: Each cleaning area is compared with a preset target cleaning area to determine whether each cleaning area is consistent with the target cleaning area. If each of the cleaning areas is consistent with the target cleaning area, it is marked as a complete cleaning area; If any of the cleaning areas does not match the target cleaning area, it is marked as an incomplete cleaning area.

2. The cleaning method of the underwater cleaning equipment according to claim 1, characterized in that, After setting the corresponding cleaning path information based on the image of the object to be cleaned, the method further includes: Calculate the distance from the first end to the second end of the side length of each of the cleaning areas to obtain the side length value; The side length value of each cleaning area is added together with the side length values ​​of the adjacent cleaning areas to obtain the length value of the cleaning path information.

3. The cleaning method of the underwater cleaning equipment according to claim 1, characterized in that, After generating a corresponding cleaning movement command based on the cleaning path information to control the movement of the cleaning equipment, the method further includes: Obtain the balance value of the cleaning equipment when it is in motion; The direction of movement of the cleaning equipment is adjusted according to the change in the balance value of the cleaning equipment while it is in motion; Send a command to the cleaning equipment to correct the sway according to the correction instruction.

4. The cleaning method of the underwater cleaning equipment according to claim 3, characterized in that, The step of adjusting the movement direction of the cleaning equipment based on the change in the balance value of the cleaning equipment in the moving state includes: Determine whether the change amplitude of the first axis of the cleaning equipment in the moving state is abnormally fluctuating; If the change amplitude of the first axis when the cleaning equipment is in a moving state fluctuates abnormally, the amplitude value of the first axis exceeding the preset normal amplitude threshold is calculated to obtain the excess amplitude value. Based on the difference between the normal amplitude threshold and the excessive amplitude value, a corresponding correction swing command is generated to adjust the movement swing direction of the cleaning equipment.

5. A control device for underwater cleaning equipment, based on the cleaning method of the underwater cleaning equipment according to any one of claims 1-4, characterized in that, The control device is configured on the controller of the cleaning equipment, and the controller establishes a data signal transmission connection with the cleaning equipment. The cleaning equipment also includes a cleaning component. The control device includes: The simulation module is used to obtain the feature information of the object to be cleaned and to perform physical simulation processing on the feature information to obtain an image of the object to be cleaned. The path setting module is used to set the corresponding cleaning path information according to the image of the object to be cleaned. The first instruction generation module is used to generate corresponding cleaning movement instructions based on the cleaning path information in order to control the cleaning equipment to move. The second instruction generation module is used to generate cleaning processing instructions to control the cleaning components to clean the surface of the object to be cleaned.

6. A computer device, characterized in that, The computer device includes a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus; Memory, used to store computer programs; When the processor executes the program stored in the memory, it implements the steps of the cleaning method of the underwater cleaning device according to any one of claims 1-4.

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