Structure of a Ship Flight Deck Metal Foreign Object Cleaning Robot Based on Electromagnet Adsorption

Abstract

The present invention discloses a structure of a ship flight deck metal foreign object cleaning robot based on electromagnetic adsorption. The structure of the metal foreign object cleaning robot includes a vehicle body, a driving system, a cleaning system, and a foreign object storage box. The vehicle body is a box structure with upper and lower layers separated by a horizontally arranged partition plate. The top of the box structure is uncovered, and the driving system and the cleaning system are arranged in the lower part of the box structure. By using the principle of electromagnetic adsorption, an electromagnetic solenoid array is evenly distributed on a circumferentially rotating sprocket. The stroke of the electromagnetic solenoid is divided into a conductive area and an insulating area. The adsorption and desorption of metal foreign objects are realized by means of physical segmentation. A foreign object storage box is arranged below the metal foreign object desorption area. With the continuous progress of the sprocket drive, the cleaning process is also continuous. The adsorption and collection functions are relatively independent. The cleaning process of metal foreign objects is coherent, coordinated, and orderly, so that the cleaning effect and efficiency of the metal foreign object cleaning robot are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of metal foreign object cleaning, especially for application environments such as airport runways and ship flight decks. Specifically, it is a structure of a ship flight deck metal foreign object cleaning robot based on electromagnetic adsorption. Background Art

[0002] The ship flight deck is an important place for seaplanes to take off and land. A clean and foreign object-free environment on the ship deck is an important guarantee for the safe takeoff and landing of seaplanes. Currently, the cleaning of the flight deck on ships mainly relies on manual "carpet-style" searches, which is time-consuming and laborious throughout the process, especially for large ships with a large deck area. Relying on the human eye to identify foreign objects and manually pick them up for cleaning has always had serious drawbacks. With the development of robot technology, the technology of using high-performance detection systems and automatic robot cleaning urgently needs further application research in the ship flight deck environment.

[0003] One type of foreign object that poses the greatest threat to seaplanes on the ship flight deck is metal foreign objects. Currently, some cleaning robots mostly use the structure of rotary brushes or side brushes for cleaning. Due to the relatively high density of metal foreign objects, they are relatively difficult to clean. In some cleaning robots using vacuum adsorption, the impact of metal foreign objects on the internal structure of the robot easily causes damage to the vacuum adsorption pipes and filter equipment of the machine. Therefore, it is extremely urgent to design a new type of cleaning robot mainly aimed at metal foreign objects. Summary of the Invention

[0004] To solve the deficiencies of the prior art, the present invention proposes a structure of a ship flight deck metal foreign object cleaning robot based on electromagnetic adsorption. This metal foreign object cleaning robot structure utilizes the principle of electromagnetic adsorption, evenly distributes an electromagnetic array on a circumferentially rotating sprocket, divides the stroke of the electromagnet into a conductive area and an insulating area, and realizes the adsorption and desorption of metal foreign objects through a physical separation method. This design structure is simple, has complete functions, and high reliability, and has the advantages of high cleaning quality, strong mobility, and convenient control.

[0005] The technical solution for the present invention to solve the above technical problems is to design a structure of a ship flight deck metal foreign object cleaning robot based on electromagnetic adsorption, which is characterized in that this metal foreign object cleaning robot structure includes a vehicle body, a drive system, a cleaning system, and a foreign object storage box. The vehicle body is a box structure with upper and lower layers separated by a horizontally arranged partition board. The top of this box structure has no cover, and the drive system and the cleaning system are arranged in the lower part of the box structure.

[0006] The drive system includes two drive components and a caster wheel. Each drive component includes a drive stepper motor, a drive stepper motor bracket, a right-angle reducer, a right-angle reducer bracket, and a wheel. The two drive components are arranged symmetrically in a mirror image at the lower part of the vehicle body. At the front side of the lower parts of the two cross shields of the vehicle body, there is a through hole at each of the symmetric positions. The two wheels are arranged opposite to each other on the outer sides of the two through holes. A right-angle reducer bracket is arranged inside each of the through holes. The right-angle reducer is arranged on the right-angle reducer bracket. The wheel is fixed on the output shaft of the right-angle reducer. At the rear side of the right-angle reducer, there is a drive stepper motor through the drive stepper motor bracket. The output shaft of the drive stepper motor is arranged in the input shaft hole of the right-angle reducer. A caster wheel is fixedly installed in the middle of the rear side of the bottom surface of the vehicle body floor.

[0007] The cleaning system includes an electromagnet, a left conductive plate, a right conductive plate, a drive sprocket, a driven sprocket, a drive sprocket shaft, a driven sprocket shaft, a chain with side ears, a cleaning stepper motor, a plum coupling, a first bearing seat, a second bearing seat, a third bearing seat, a fourth bearing seat, a first bearing seat support, a second bearing seat support, a third bearing seat support, a fourth bearing seat support, a right-angle connection block, and a foreign object collection box.

[0008] The left conductive plate and the right conductive plate are respectively symmetrically fixed to the left and right sides of the upper surface of the vehicle body floor through their respective right-angle connection blocks. At the front and rear ends of the middle height position of the left conductive plate, there is a through hole at each. There are also two through holes at the middle height position of the right conductive plate that are directly opposite to the positions of the through holes on the left conductive plate. The two ends of the driven sprocket shaft are respectively arranged in the front through holes of the left conductive plate and the right conductive plate. The two ends of the drive sprocket shaft are respectively arranged in the rear through holes of the left conductive plate and the right conductive plate. The drive sprocket is fixed in the middle of the drive sprocket shaft. The driven sprocket is fixed in the middle of the driven sprocket shaft. The two ends of the driven sprocket shaft are respectively arranged in the second bearing seat and the third bearing seat. The second bearing seat is fixed to the top of the second bearing seat support. The third bearing seat is fixed to the top of the third bearing seat support. The two ends of the drive sprocket shaft are respectively arranged in the first bearing seat and the fourth bearing seat. The first bearing seat is fixed to one side of the top of the first bearing seat support. The cleaning stepper motor is fixedly installed on the other side of the top of the first bearing seat support. The end of the shaft section of the drive sprocket shaft located on the first bearing seat is connected to the output shaft of the cleaning stepper motor through a plum coupling. The fourth bearing seat is fixed to the top of the fourth bearing seat support. The bottoms of the first bearing seat support, the second bearing seat support, the third bearing seat support, and the fourth bearing seat support are all fixedly connected to the upper surface of the vehicle body floor by screws.

[0009] A brush track is provided in the middle of the inner sides of the left conductive plate and the right conductive plate. The brush tracks on both are facing each other and are mirror-symmetrical; the brush track is a closed structure formed by connecting the ends of two semi-circular grooves to the ends of two parallel square grooves respectively. The centers of the through holes on the left conductive plate and the right conductive plate coincide with the centers of the corresponding semi-circular grooves on the respective brush tracks; the front part of the bottom surface of the square groove on the lower side of the brush track is set as a conductive area, and the other surfaces of the brush track are insulating areas. The conductive areas on the brush tracks of the left conductive plate and the right conductive plate are respectively connected to the positive and negative electrodes of the power supply;

[0010] The electromagnet is designed as a cuboid structure, which consists of a housing, an electromagnet core, a conductive winding, and an enameled wire process; the electromagnet core is a cuboid, and a conductive winding is wound around its outer periphery. The electromagnet core and the conductive winding are arranged inside the cuboid housing and are sealed and fixed by a sealing gel; the positive and negative electrodes of the conductive winding are arranged at both ends of the electromagnet core and are respectively electrically connected to a circular copper electromagnet brush through an enameled wire; two threaded holes are designed on the center line in the length direction of the back of the housing, and the electromagnet is fixed to the ear plate of the chain with side ears through screws;

[0011] The chain with side ears is sleeved on the driving sprocket and the driven sprocket. A plurality of electromagnets are evenly fixed horizontally on the through holes of the ear plates of the chain with side ears through screws. The electromagnet brushes at the left and right ends of the electromagnet are located in the brush tracks on the inner sides of the left conductive plate and the right conductive plate, and the electromagnet brushes facing the conductive areas of the brush tracks are in direct contact with the conductive areas; a through hole is opened on the vehicle body floor below the driven sprocket, and a foreign object storage box is arranged on the vehicle body floor below the driving sprocket.

[0012] Compared with the prior art, the beneficial effects of the present invention are as follows: The structure of the ship flight deck metal foreign object cleaning robot based on electromagnet adsorption designed by the present invention uses the electromagnet adsorption principle to evenly distribute the electromagnet array on the circumferentially rotating sprocket, divides the stroke of the electromagnet into a conductive area and an insulating area, and realizes the adsorption and desorption of metal foreign objects by means of physical segmentation. This design has a simple structure, complete functions, and high reliability. A foreign object storage box is arranged below the metal foreign object desorption area to smoothly connect the adsorption and collection of metal foreign objects. With the continuous progress of the sprocket drive, the cleaning process is also continuous. The adsorption and collection functions are relatively independent, and the cleaning process of metal foreign objects is coherent, coordinated, and orderly, improving the cleaning effect and efficiency of the metal foreign object cleaning robot. In addition, a foreign object recognition system and a control system are provided on the structure of the metal foreign object cleaning robot. The type of foreign object can be accurately recognized through the foreign object recognition system, and then the control system is used to control the stepping motor to perform corresponding actions, further improving the working efficiency of the metal foreign object cleaning robot. Description of the Drawings

[0013] Figure 1 It is a three-dimensional structure schematic diagram of an embodiment of the structure of a ship flight deck metal foreign object cleaning robot based on electromagnetic adsorption of the present invention.

[0014] Figure 2 It is an assembly schematic diagram of the drive system and the cleaning system of an embodiment of the structure of a ship flight deck metal foreign object cleaning robot based on electromagnetic adsorption of the present invention.

[0015] Figure 3 It is a side structure schematic diagram of an embodiment of the structure of a ship flight deck metal foreign object cleaning robot based on electromagnetic adsorption of the present invention.

[0016] Figure 4 It is a structure schematic diagram of the electromagnet of an embodiment of the structure of a ship flight deck metal foreign object cleaning robot based on electromagnetic adsorption of the present invention.

[0017] Figure 5 It is an assembly schematic diagram of the chain with side ears of an embodiment of the structure of a ship flight deck metal foreign object cleaning robot based on electromagnetic adsorption of the present invention.

[0018] Figure 6 It is a structure schematic diagram of the left conductive plate of an embodiment of the structure of a ship flight deck metal foreign object cleaning robot based on electromagnetic adsorption of the present invention.

[0019] Figure 7 It is a structure schematic diagram of the cleaning system of an embodiment of the structure of a ship flight deck metal foreign object cleaning robot based on electromagnetic adsorption of the present invention.

[0020] Figure 8 It is an assembly schematic diagram of the foreign object storage box of an embodiment of the structure of a ship flight deck metal foreign object cleaning robot based on electromagnetic adsorption of the present invention.

[0021] Figure 9 It is a circuit connection schematic diagram of the drive stepping motor on the left side and the corresponding stepping motor driver of an embodiment of the structure of a ship flight deck metal foreign object cleaning robot based on electromagnetic adsorption of the present invention.

[0022] Figure 10 It is a circuit connection schematic diagram of the drive stepping motor on the right side and the corresponding stepping motor driver of an embodiment of the structure of a ship flight deck metal foreign object cleaning robot based on electromagnetic adsorption of the present invention.

[0023] Figure 11 It is a circuit connection schematic diagram of the cleaning stepping motor and the corresponding stepping motor driver of an embodiment of the structure of a ship flight deck metal foreign object cleaning robot based on electromagnetic adsorption of the present invention.

[0024] Figure 12It is a schematic diagram of the pin connection of the CPU in an embodiment of the structure of a ship flight deck metal foreign object cleaning robot based on electromagnet adsorption according to the present invention.

[0025] Figure 13 It is a schematic diagram of the pin connection of the metal recognition sensor in an embodiment of the structure of a ship flight deck metal foreign object cleaning robot based on electromagnet adsorption according to the present invention.

[0026] Figure 14 It is a schematic diagram of the pin connection between the vision sensor and the image acquisition card in an embodiment of the structure of a ship flight deck metal foreign object cleaning robot based on electromagnet adsorption according to the present invention.

[0027] Figure 15 It is the working principle and flowchart of the foreign object recognition system and the control system in an embodiment of the structure of a ship flight deck metal foreign object cleaning robot based on electromagnet adsorption according to the present invention.

[0028] In the figure: 101, bottom plate; 102, first column; 103, second column; 104, third column; 105, fourth column; 106, partition board; 107, horizontal shield; 108, front side shield; 109, rear side shield; 201, driving stepping motor; 202, driving stepping motor bracket; 203, right-angle reducer; 204, right-angle reducer bracket; 205, wheel; 206, universal wheel; 301, electromagnet; 302, electromagnet brush; 303, left conductive plate; 304, right conductive plate; 305, driving sprocket; 306, driven sprocket; 307, driving sprocket shaft; 308, driven sprocket shaft; 309, chain with side ears; 310, cleaning stepping motor; 311, cleaning stepping motor bracket; 312, plum coupling; 313, first bearing seat; 314, second bearing seat; 315, third bearing seat; 316, fourth bearing seat; 317, first bearing seat support; 318, second bearing seat support; 319, third bearing seat support; 320, fourth bearing seat support; 321, right-angle connection block; 322, foreign object storage box; 401, vision sensor; 402, metal recognition sensor bracket; 403, metal recognition sensor. Detailed implementation manners

[0029] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the accompanying drawings. The embodiments described below by referring to the drawings are exemplary and are intended to explain the present invention, and should not be construed as a limitation to the present invention.

[0030] The present invention provides a structure of a ship flight deck metal foreign object cleaning robot based on electromagnetic adsorption (hereinafter referred to as the metal foreign object cleaning robot structure). The metal foreign object cleaning robot structure includes a vehicle body, a driving system, a cleaning system, and a foreign object storage box. The vehicle body is a box structure with upper and lower layers separated by a horizontally arranged partition plate 106. The top of the box structure is uncovered, and the driving system and the cleaning system are arranged in the lower part of the box structure.

[0031] Specifically, the vehicle body is composed of a bottom plate 101, four columns 102 - 105, a partition plate 106, two transverse shielding plates 107 (two side plates in the left - right direction), a front - side shielding plate 108, and a rear - side shielding plate 109. Among them, the columns 102 - 105 are right - angle connectors. Screw holes are provided on the left and right sides of the upper and lower ends of their right - angle connecting pieces, and square connecting pieces are provided at their bottoms and upper parts. The four corners of the bottom plate 101 are fixedly connected to the square connecting pieces at the bottoms of the four columns 102 - 105 through screws. The two transverse shielding plates 107, the front - side shielding plate 108, and the rear - side shielding plate 109 are fixedly connected to the corresponding right - angle connecting pieces of the four columns 102 - 105 through screws. The four corners of the partition plate 106 are arranged on the square connecting pieces at the upper parts of the four columns 102 - 105.

[0032] The driving system includes two driving components and a universal wheel 206. Each driving component includes a driving stepper motor 201, a driving stepper motor bracket 202, a right - angle reducer 203, a right - angle reducer bracket 204, and a wheel 205. The two driving components are arranged symmetrically in a mirror image at the lower part of the vehicle body. A through - hole is provided at the front - side symmetric position under each of the two transverse shielding plates of the vehicle body. The two wheels 205 are arranged oppositely outside the two through - holes. A right - angle reducer bracket 204 is provided inside each through - hole. The right - angle reducer 203 is arranged on the right - angle reducer bracket 204. The wheel 205 is fixed on the output shaft of the right - angle reducer 203. A driving stepper motor 201 is provided at the rear side of the right - angle reducer 203 through a driving stepper motor bracket 202. The output shaft of the driving stepper motor 201 is arranged in the input shaft hole of the right - angle reducer 203. A universal wheel 206 is fixedly installed at the middle of the rear side of the bottom surface of the bottom plate 101 of the vehicle body.

[0033] The drive stepping motors 201 of the two drive components are independently controlled by drivers respectively. The drive stepping motors 201 rotate, and drive the wheels 209 to rotate through the right-angle reducers 203. According to the kinematic modeling analysis and dynamic modeling analysis, the linear forward movement and differential turning of the robot are driven by the movements of the two motors. The mutual cooperation of the two drive wheels and one universal wheel ensures the flexibility and moving stability of the vehicle body. The four columns are respectively fixed at the four corners of the bottom plate to support the main external shape of the robot. The stepped structure design on the outer side of the columns can cooperate with the surrounding shielding plates to form a flat structure, making the appearance of the robot look more harmonious and beautiful. A supporting foot structure is provided inside the waist of the column for the partition to be fixed in position;

[0034] The cleaning system includes an electromagnet 301, a left conductive plate 303, a right conductive plate 304, a drive sprocket 305, a driven sprocket 306, a drive sprocket shaft 307, a driven sprocket shaft 308, a chain 309 with side ears, a cleaning stepping motor 310, a plum coupling 312, a first bearing seat 313, a second bearing seat 314, a third bearing seat 315, a fourth bearing seat 316, a first bearing seat support 317, a second bearing seat support 318, a third bearing seat support 319, a fourth bearing seat support 320, a right-angle connecting block 321, and a foreign object storage box 322.

[0035] The left conductive plate 303 and the right conductive plate 304 are symmetrically fixed to the left and right sides of the upper surface of the vehicle body floor through their respective right-angle connecting blocks 321; at the front and rear ends of the middle height position of the left conductive plate 303, a through hole is provided at each end, and two through holes corresponding to the positions of the through holes on the left conductive plate 303 are also provided at the middle height position of the right conductive plate 304. The two ends of the driven sprocket shaft 308 are respectively arranged in the front through holes of the left conductive plate 303 and the right conductive plate 304, and the two ends of the driving sprocket shaft 307 are respectively arranged in the rear through holes of the left conductive plate 303 and the right conductive plate 304; the driving sprocket is fixed in the middle of the driving sprocket shaft 307, and the driven sprocket is fixed in the middle of the driven sprocket shaft 308; the two ends of the driven sprocket shaft 308 are respectively arranged in the second bearing seat 314 and the third bearing seat 315, the second bearing seat 314 is fixed to the top of the second bearing seat support 318, and the third bearing seat 315 is fixed to the top of the third bearing seat support 319; the two ends of the driving sprocket shaft 307 are respectively arranged in the first bearing seat 313 and the fourth bearing seat 316, the first bearing seat 313 is fixed to one side of the top of the first bearing seat support 317, the cleaning stepping motor 310 is fixedly installed on the other side of the top of the first bearing seat support 317, and the end of the shaft section of the driving sprocket shaft 307 located on the first bearing seat 313 is connected to the output shaft of the cleaning stepping motor 310 through a flexible coupling 312; the fourth bearing seat 316 is fixed to the top of the fourth bearing seat support 320; the bottoms of the first bearing seat support 317, the second bearing seat support 318, the third bearing seat support 319, and the fourth bearing seat support 320 are all fixedly connected to the upper surface of the vehicle body floor through screws;

[0036] A circle of brush tracks is provided in the middle of the inner sides (taking the middle of the two as the inner side) of the left conductive plate 303 and the right conductive plate 304. The brush tracks on the two are opposite and mirror-symmetrical; the brush track is a closed structure formed by connecting the two semi-circular grooves with the two ends of the two parallel square grooves respectively. The centers of the through holes on the left conductive plate 303 and the right conductive plate 304 coincide with the centers of the corresponding semi-circular grooves on the brush track. The front part of the bottom surface of the square groove on the lower side of the brush track is set as a conductive area (which can be realized by laying electrode sheets), and the other surfaces of the brush track are insulating areas. The conductive areas on the brush tracks of the left conductive plate 303 and the right conductive plate 304 are respectively connected to the positive and negative electrodes of the adsorption power supply.

[0037] The electromagnet 301 is designed in a cuboid structure and consists of a housing, an electromagnet core, a conductive winding, and enameled wire. The electromagnet core is a cuboid, around which the conductive winding is wound. The electromagnet core and the conductive winding are arranged inside the cuboid housing and sealed and fixed by a sealing gel. The positive and negative poles of the conductive winding are arranged at both ends of the electromagnet core and are respectively electrically connected to a circular copper electromagnet brush 302 through enameled wire. Two threaded holes are designed on the center line in the length direction of the back of the housing, and the electromagnet 301 is fixed to the ear plate of the chain 309 with side ears through screws. During the operation of the cleaning mechanism, the cleaning motor drives the sprocket and chain structure to make a rotary motion, the chain drives the electromagnet to move, and the two electromagnet brushes 302 at both ends of the electromagnet 301 move in the brush tracks of the left and right conductive plates 303 - 304 respectively. The straight area on the lower side of the conductive plate track is divided into a conductive area and an insulating area by electrode plates. When the electromagnet brush 302 moves to the conductive area in the brush track, the electromagnet circuit is turned on and it gets energized; when the electromagnet brush 302 moves to the insulating area in the brush track, the electromagnet circuit is turned off and it loses power.

[0038] The chain 309 with side ears is sleeved on the driving sprocket and the driven sprocket. A plurality of electromagnets 301 are horizontally and evenly fixed on the through holes of the ear plates of the chain 309 with side ears through screws, and the electromagnet brushes 302 at the left and right ends of the electromagnet 301 are located in the brush tracks on the inner sides of the left conductive plate 303 and the right conductive plate 304, and the electromagnet brushes 302 facing the conductive areas of the brush tracks are in direct contact with the conductive areas. A through hole is opened on the vehicle body floor under the driven sprocket, and a foreign object storage box 322 is arranged on the vehicle body floor under the driving sprocket. As an embodiment, a notch for accommodating the foreign object storage box 322 is provided in the middle at the lower end of the rear side plate of the vehicle body, and the foreign object storage box 322 is of a pull - out type.

[0039] The cleaning stepper motor 310 rotates, driving the driving sprocket shaft 307 to rotate, and then driving the driving sprocket to rotate. The linkage between the driving sprocket and the driven sprocket is realized through the chain 309 with side ears. The chain 309 with side ears makes a full - circle rotary motion between the left conductive plate 303 and the right conductive plate 304. The electromagnet 301 is fixed on the side ears of each link of the chain. A total of 38 electromagnets are fixed on the whole chain, and the lateral spacing of each electromagnet is 30 mm, ensuring that there is no interference phenomenon at the annular track of the sprocket. The electromagnet brushes 302 on both sides of the electromagnet 301 are located in two tracks, playing the role of fixing the precise stroke of the electromagnet and simultaneously having the task of energizing and de - energizing the electromagnet. The straight part on the lower side of the brush track is divided into two sections, one is the conductive area with electrode plates laid, and the other is the insulating area without electrode plates.

[0040] The sprocket rotates to drive the electromagnet to move. When the electromagnet is on the straight part below the brush track, it moves from the conductive area to the insulating area. The opening part of the robot bottom plate corresponds to the position directly below the entire conductive area, and all the electromagnets moving to this position are energized. The foreign object storage box corresponds to the position directly below the entire non-conductive area, and all the electromagnets moving to this position are de-energized. Some electromagnets are energized to generate magnetism and pick up metal foreign objects on the ground, especially bolts, nuts and other aircraft parts or maintenance tools and foreign objects that pose a greater threat to aircraft engines on the ship's flight deck. The electromagnets that pick up the metal foreign objects continue to move with the chain. When they reach the insulating part of the conductive brush track, the electromagnets in this part are de-energized and the magnetism disappears, and the previously picked up metal foreign objects automatically fall. At this time, the electromagnets in this part move above the foreign object storage box, and the foreign object storage box successfully collects the foreign objects, and thus a process of cleaning foreign objects is completed. There are 38 electromagnets fixed in an array on the side-ear chain 309. Each electromagnet independently collects foreign objects according to such a process. When encountering a larger foreign object, since the positions of two adjacent electromagnets are very close, multiple electromagnets can work together to pick up the same foreign object with a combined force, and then fall together above the foreign object storage box to complete the cleaning work of larger-shaped foreign objects.

[0041] As an embodiment, the left conductive plate 303 and the right conductive plate 304 are made of ABS material and formed by 3D printing. The depth of the brush track accounts for half of the thickness of the corresponding conductive plate. The area range of the front half of the bottom surface of the square groove on the lower side of the brush track is the conductive area.

[0042] Furthermore, a foreign object recognition system and a control system are also provided in the structure of the metal foreign object cleaning robot. The foreign object recognition system includes a vision sensor 401, a metal recognition sensor bracket 402, a metal recognition sensor 403, and an image acquisition card. The vision sensor 401 is fixed on the front side of the upper surface of the partition 106 of the vehicle body. The metal recognition sensor bracket 402 is fixed at the middle position of the lower part of the outer surface of the front shield 108 of the vehicle body by means of adhesion. The metal recognition sensor 403 is fixed on the metal recognition sensor bracket 402 and its sensing end is horizontally forward.

[0043] The control system is arranged in the middle of the upper surface of the partition 106 of the vehicle body. The control system includes a power supply module, a CPU, and a motor drive module. The CPU is connected to the motor drive module. The motor drive module is provided with three stepper motor drivers, and the three stepper motor drivers are respectively connected to two drive stepper motors 201 and a cleaning stepper motor 310. The vision sensor 401 is connected to the image acquisition card, the image acquisition card is connected to the CPU, and the metal recognition sensor 403 is connected to the CPU.

[0044] Both the partition board 106 and the front side shield 108 adopt a composite structure. The inner layer (with the center of the vehicle body as the inside) of both is made of silicon steel sheets, and the outer layer of both is made of ordinary carbon steel. The inner layer and the outer layer are formed by composite molding through an adhesive method. The silicon steel sheets in the inner layer can effectively isolate magnetism and prevent the magnetism generated by the electromagnets in the lower cleaning system from interfering with the control system and the foreign object recognition system.

[0045] The power supply module includes an adsorption power supply, a 3.3V power supply, a 12V power supply, and a 36V power supply.

[0046] The visual sensor 401 adopts an Intel RealSense D455 depth camera. The shortest recognition distance of the camera is 40 cm, the maximum recognition distance is 4 m, the image resolution is 1280×720@30fps, it has a global shutter, outputs an analog signal, and uses serial communication to transmit signals to the image acquisition card.

[0047] The image acquisition card adopts the Advantech PCI-7233 model, which has a built-in 2500v opto-isolation circuit protection, has a wide output range of 5 - 35v, and has two interrupt sources on the input channel that can set thresholds to generate interrupts in the analog signal input state. It uses the I2C communication protocol to transmit signals to the CPU.

[0048] The metal recognition sensor 403 is pre-adopted with a Luojiemao JM8000-Y40-243N1 inductive proximity switch. The maximum detection range is 40 cm, and it outputs an analog signal to the single-chip microcomputer. When a metal appears within the induction range, its electric field signal changes, and it can identify whether the target foreign object is a metal.

[0049] The CPU adopts an STM32F103C8T6 single-chip microcomputer. This type of single-chip microcomputer has the advantages of fast calculation, low power consumption, and strong anti-interference. The single-chip microcomputer has a total of 48 pins, including 36 I / O (input / output) ports, which are more than sufficient for this control system and detection system. The single-chip microcomputer program uses the Keil uVision5 programming software and uses the library function to write the program, which is convenient for modular programming and embedding intelligent algorithms. The CPU obtains the image of the target area collected by the visual sensor 401 through the image acquisition card, then performs grayscale processing to distinguish the target foreign object from the background interference, and finally converts the image information into a digital signal according to the pixel distribution, and discriminates the spatial coordinate information of the foreign object according to the set threshold. The CPU judges whether the foreign object is a metal by identifying the change in the electric field signal of the metal recognition sensor 403.

[0050] The working principle and process of the foreign object recognition system and the control system in the metal foreign object cleaning robot: First, the foreign object recognition system obtains an image within the target area through the vision sensor 401. This image is sent to the CPU through the image acquisition card. The CPU processes the image through internal algorithms to determine whether there are foreign objects and the specific coordinate information of the foreign objects. Then, the CPU controls the operation of the stepper motor 201 through the motor drive circuit. If it moves forward towards the foreign object, when the metal recognition sensor 403 approaches the metal, its signal will change. At this time, the cleaning stepper motor 310 is driven to work for foreign object cleaning. If the signal of the metal recognition sensor 403 does not change when reaching the foreign object, then the foreign object is non-metallic, and the CPU marks the position information of the foreign object. A communication module can also be installed. The communication module is connected to the CPU and reports to the host computer immediately through the communication module. At the same time, the CPU drives the stepper motor 201 to move away from the non-metallic foreign object and conducts the cleaning of metal foreign objects in the next target area. If the communication module is not installed, after the metal foreign object cleaning robot completes a working cycle, the position information of the non-metallic foreign object is obtained by reading the historical information in the CPU, and further processing is carried out according to the situation.

[0051] In the description of the present invention, it should be understood that the terms "middle part", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention.

[0052] In the present invention, unless otherwise clearly specified and limited, the terms "installation", "connection", "connection", "fixed connection", "fastening", "interference", etc. should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection, an electrical connection, or communication with each other; it can be directly connected, or indirectly connected through an intermediate medium, and can be the internal communication of two components or the interaction relationship between two components, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0053] In the present invention, unless otherwise clearly specified or limited, a first feature being "on" or "under" a second feature may mean that the first and second features are in direct contact, or the first and second features are indirectly in contact via an intermediate medium. Further, a first feature being "above", "over" or "upper end" of a second feature may mean that the first feature is directly above or obliquely above the second feature, or merely indicates that the horizontal height of the first feature is higher than that of the second feature. A first feature being "under", "below" or "lower end" of a second feature may mean that the first feature is directly below or obliquely below the second feature, or merely indicates that the horizontal height of the first feature is lower than that of the second feature.

[0054] In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc. means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, without contradiction, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0055] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art within the

[0056] scope of the present invention may make changes, modifications, substitutions, and variations to the above embodiments.

[0057] Matters not described in the present invention are applicable to the prior art.

Claims

1. Structure of a ship flight deck metal foreign object cleaning robot based on electromagnetic adsorption, characterized in that, The structure of the metal foreign object cleaning robot includes a vehicle body, a drive system, a cleaning system, and a foreign object storage box. The vehicle body is a box structure with upper and lower layers separated by a horizontally arranged partition board. The top of the box structure is uncovered, and the drive system and the cleaning system are arranged in the lower part of the box structure. The drive system includes two drive components and a universal wheel. Each drive component includes a drive stepping motor, a drive stepping motor bracket, a right-angle reducer, a right-angle reducer bracket, and a wheel. The two drive components are symmetrically arranged in a mirror image at the lower part of the vehicle body. At the front side of the lower part of the two transverse shields of the vehicle body, there is a through hole at each symmetric position. The two wheels are relatively arranged outside the two through holes. Inside the through holes, there is a right-angle reducer bracket at each. The right-angle reducer is arranged on the right-angle reducer bracket, and the wheel is fixed on the output shaft of the right-angle reducer. At the rear side of the right-angle reducer, there is a drive stepping motor through a drive stepping motor bracket, and the output shaft of the drive stepping motor is arranged in the input shaft hole of the right-angle reducer. At the middle part of the rear side of the bottom surface of the vehicle body floor, a universal wheel is fixedly installed. The cleaning system includes an electromagnet, a left conductive plate, a right conductive plate, a drive sprocket, a driven sprocket, a drive sprocket shaft, a driven sprocket shaft, a chain with side ears, a cleaning stepping motor, a plum coupling, a first bearing seat, a second bearing seat, a third bearing seat, a fourth bearing seat, a first bearing seat support, a second bearing seat support, a third bearing seat support, a fourth bearing seat support, a right-angle connecting block, and a foreign object storage box. The left conductive plate and the right conductive plate are respectively symmetrically fixed on the left and right sides of the upper surface of the vehicle body floor through their respective right-angle connecting blocks. At the front and rear ends of the middle height position of the left conductive plate, there is a through hole at each. On the middle height position of the right conductive plate, there are also two through holes that are aligned with the positions of the through holes on the left conductive plate. The two ends of the driven sprocket shaft are respectively arranged in the front through holes of the left conductive plate and the right conductive plate. The two ends of the drive sprocket shaft are respectively arranged in the rear through holes of the left conductive plate and the right conductive plate. The drive sprocket is fixed in the middle of the drive sprocket shaft, and the driven sprocket is fixed in the middle of the driven sprocket shaft. The two ends of the driven sprocket shaft are respectively arranged in the second bearing seat and the third bearing seat. The second bearing seat is fixed on the top of the second bearing seat support, and the third bearing seat is fixed on the top of the third bearing seat support. The two ends of the drive sprocket shaft are respectively arranged in the first bearing seat and the fourth bearing seat. The first bearing seat is fixed on one side of the top of the first bearing seat support, and the cleaning stepping motor is fixedly installed on the other side of the top of the first bearing seat support. Between the end of the shaft section of the drive sprocket shaft located on the first bearing seat and the output shaft of the cleaning stepping motor, there is a connection through a plum coupling. The fourth bearing seat is fixed on the top of the fourth bearing seat support. The bottoms of the first bearing seat support, the second bearing seat support, the third bearing seat support, and the fourth bearing seat support are all fixedly connected to the upper surface of the vehicle body floor through screws. A brush track is provided in the middle of the inner sides of the left conductive plate and the right conductive plate. The brush tracks on both are opposite and mirror-symmetrical; the brush track is a closed structure formed by connecting the ends of two semi-circular grooves to the two ends of two parallel square grooves respectively. The centers of the through holes on the left conductive plate and the right conductive plate coincide with the centers of the corresponding semi-circular grooves on the respective brush tracks; the front part of the bottom surface of the square groove on the lower side of the brush track is set as a conductive area, and all other surfaces of the brush track are insulating areas. The conductive areas on the brush tracks of the left conductive plate and the right conductive plate are respectively connected to the positive and negative electrodes of the adsorption power supply; The electromagnet is designed as a cuboid structure, consisting of a housing, an electromagnet core, a conductive winding, and an enameled wire process; the electromagnet core is a cuboid, around which a conductive winding is wound. The electromagnet core and the conductive winding are arranged inside the cuboid housing and are sealed and fixed by a sealing gel; the positive and negative electrodes of the conductive winding are arranged at both ends of the electromagnet core and are respectively electrically connected to a circular copper electromagnet brush through an enameled wire; two threaded holes are designed on the center line in the length direction of the back of the housing, and the electromagnet is fixed to the ear plate of the chain with side ears by screws; The chain with side ears is sleeved on the driving sprocket and the driven sprocket. A plurality of electromagnets are evenly fixed horizontally on the through holes of the ear plates of the chain with side ears by screws. The electromagnet brushes at the left and right ends of the electromagnet are located in the brush tracks on the inner sides of the left conductive plate and the right conductive plate, and the electromagnet brushes facing the conductive areas of the brush tracks are in direct contact with the conductive areas; a through hole is opened on the vehicle body floor under the driven sprocket, and a foreign object storage box is provided on the vehicle body floor under the driving sprocket.

2. The structure of the ship flight deck metal foreign object cleaning robot based on electromagnet adsorption according to claim 1, characterized in that, A notch for accommodating the foreign object storage box is provided in the middle of the lower end of the rear side plate of the vehicle body, and the foreign object storage box is of a pull-out type.

3. The structure of the ship flight deck metal foreign object cleaning robot based on electromagnet adsorption according to claim 1, characterized in that, A total of 38 electromagnets are fixed on the chain with side ears, and the lateral distance between two electromagnets is 30 mm.

4. The structure of the ship flight deck metal foreign object cleaning robot based on electromagnetic adsorption according to claim 1, characterized in that, The left conductive plate and the right conductive plate are formed by 3D printing with ABS material, and the depth of the brush track accounts for half of the thickness of the corresponding conductive plate.

5. The structure of the ship flight deck metal foreign object cleaning robot based on electromagnet adsorption according to claim 1, wherein, The area range of half of the length of the front part of the bottom surface of the square groove on the lower side of the brush track is the conductive area.

6. The structure of the ship flight deck metal foreign object cleaning robot based on electromagnet adsorption according to claim 1, characterized in that, The vehicle body is composed of a bottom plate, four columns, a partition board, two transverse shielding plates, a front side shielding plate, and a rear side shielding plate; among them, the columns are right-angle connectors, and screw holes are provided on the left and right sides of the upper and lower ends of their right-angle connecting pieces, and square connecting pieces are provided at their bottoms and upper parts. The four corners of the bottom plate are respectively fixed to the square connecting pieces at the bottoms of the four columns by screws, and the two transverse shielding plates, the front side shielding plate, and the rear side shielding plate are respectively fixed to the corresponding right-angle connecting pieces of the four columns by screws. The four corners of the partition board are arranged on the square connecting pieces at the upper parts of the four columns.

7. The structure of the ship flight deck metal foreign object cleaning robot based on electromagnet adsorption according to any one of claims 1-6, characterized in that, The metal foreign object cleaning robot is also structurally provided with a foreign object recognition system and a control system. The foreign object recognition system includes a vision sensor, a metal recognition sensor bracket, a metal recognition sensor, and an image acquisition card. The vision sensor is fixed to the front side of the upper surface of the partition of the vehicle body. The metal recognition sensor bracket is fixed to the middle position of the lower part of the outer surface of the front side shield of the vehicle body by adhesion. The metal recognition sensor is fixed on the metal recognition sensor bracket and its sensing end is horizontally facing forward. The control system is arranged in the middle of the upper surface of the partition of the vehicle body. The control system includes a power supply module, a CPU, and a motor drive module. The CPU is connected to the motor drive module. The motor drive module is provided with three stepper motor drivers, and the three stepper motor drivers are respectively connected to two drive stepper motors and a cleaning stepper motor. The vision sensor is connected to the image acquisition card, the image acquisition card is connected to the CPU, and the metal recognition sensor is connected to the CPU. Both the partition and the front side shield adopt a composite structure. The inner layers of both are silicon steel sheets, and the outer layers of both are ordinary carbon steels. The inner layer and the outer layer are composite formed by adhesion.

8. The structure of the ship flight deck metal foreign object cleaning robot based on electromagnet adsorption according to claim 7, characterized in that, The vision sensor is planned to use an Intel RealSense D455 depth camera.

9. The structure of the ship flight deck metal foreign object cleaning robot based on electromagnet adsorption according to claim 7, characterized in that, The metal recognition sensor uses a Lujemao JM8000-Y40-243N1 inductive proximity switch.

10. The structure of the ship flight deck metal foreign object cleaning robot based on electromagnet adsorption according to claim 7, characterized in that, The CPU uses an STM32F103C8T6 single-chip microcomputer.

Images