筒内壁激光清洗方法及系统
By receiving and judging the status information of the laser cleaning robot, adjusting the motion and cleaning parameters, the robot can achieve autonomous walking and cleaning of the inner wall of the cylinder. This solves the problem of adaptive posture control for launch tubes and cannons with different diameters, and realizes portable remote control and autonomous intelligent cleaning of the laser cleaning robot.
CN116408789BActive Publication Date: 2026-07-17HIWING TECH ACAD OF CASIC
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- HIWING TECH ACAD OF CASIC
- Filing Date
- 2021-12-30
- Publication Date
- 2026-07-17
Smart Images
Figure CN116408789B_ABST
Abstract
本发明提供了一种筒内壁激光清洗方法及系统，包括：接收激光清洗机器人的状态信息；对激光清洗机器人的安全状态进行判定；确认激光清洗机器人的运动及清洗参数；对激光清洗机器人的运动及清洗参数的合理性进行判定，当激光清洗机器人的运动及清洗参数未处于合理阈值时，调整激光清洗机器人的运动及清洗参数；调整机器人的位姿以使激光机器人的机身与筒内壁保持平行且激光旋转臂的轴线与筒内壁的轴线相重合；基于所确定的运动及清洗参数，选择自动清洗模式或手动清洗模式完成筒内壁的清洗工作。应用本发明的技术方案，以解决现有技术中无法实现筒径参数各异的发射筒、炮筒等设备的自适应位姿控制和清洗的技术问题。
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