A control system for intelligent cleaning equipment used in ship cargo holds

Abstract

The present invention discloses a control system for intelligent cleaning equipment applied to a ship cargo hold, including a visual system for feeding back the cleaning operation status to the control system in real time; a control system for controlling the operation of each subsystem in real time; a motion system for making the spray system always located in front of the operation surface; and a spray system for cleaning the operation surface. Through the close cooperation between the subsystems, the intelligent cleaning operation of the ship cargo hold can be completed efficiently. The system realizes the automated cabin cleaning operation and solves the problem of personnel operation safety from the source.

Description

Technical Field

[0001] The present invention relates to the field of cleaning equipment control, and in particular to a control system for intelligent cleaning equipment applied to a ship cargo hold. Background Art

[0002] At present, the cleaning of the inner wall of the cabin is mainly done manually, and there is no automated and efficient equipment suitable for cleaning the cargo hold of ships. The manual cleaning process is as follows: the operator is suspended to the working surface by a safety rope and cleans the working surface with a high-pressure water gun. Due to the large area of ​​the bulkhead, it is difficult to achieve a dead angle in manual cleaning operations, and long-term cleaning operations will also reduce the efficiency of workers. In addition, under the stimulation of the waves, the ship moves in six degrees of freedom, which greatly threatens the life safety of the operators. Summary of the invention

[0003] In view of the problems existing in the prior art, the present invention discloses a control system for intelligent cleaning equipment applied to ship cargo holds, comprising a visual system, a motion system, a spray system and a control system; the visual system is used to monitor the cleaning operation and transmit the real-time image to the control system, the motion system is used to carry the spray system to the operating area and adjust the direction and pitch angle of the high-pressure water gun nozzle, the spray system is used to pressurize water into cavitation jets and spray them onto the operating surface, thereby completing the cleaning operation, and the control system is used to process images, videos and other signals of the visual system, and control the motion system and the spray system.

[0004] Furthermore, the visual system includes a camera posture control gimbal, a 3D camera (binocular) and a visual system wireless signal transmission module. The camera posture control gimbal is used to adjust the image acquisition angle of the 3D camera. The 3D camera is installed above the camera posture control gimbal and is used to monitor the cleaning condition of the ship's cargo hold in real time. The visual system wireless signal transmission module is connected to the 3D camera (binocular) and is used to wirelessly transmit the collected image information to the control system.

[0005] Furthermore, the motion system includes a shear-press type aerial work vehicle, a hydraulic support leg, a horizontal slide, a high-speed load-bearing pan-tilt platform, a six-degree-of-freedom motion platform and a remote control module for the motion system. The shear-press type aerial work vehicle is used to change the position of the entire system so that it is located in the working surface area. The hydraulic support leg is connected to the shear-press type aerial work vehicle to support the shear-press type aerial work vehicle to prevent it from overturning during cleaning operations. The horizontal slide is installed above the shear-press type aerial work vehicle to make the six-degree-of-freedom motion platform move horizontally. The high-speed load-bearing pan-tilt platform is installed above the horizontal slide to support the six-degree-of-freedom motion platform. The six-degree-of-freedom motion platform is installed above the high-speed load-bearing pan-tilt platform to adjust the posture of the double-headed high-pressure water gun. The motion system remote control module is connected to the shear-press type aerial work vehicle to remotely receive control signals from the control system, and then adjust the motion state of each subunit of the motion system.

[0006] Furthermore, the spray system includes a jet cavitation pump, a double-head high-pressure water gun and a spray system remote control module. The jet cavitation pump is installed above the shear-type aerial work vehicle to change the water pressure and outlet flow rate of the cavitation jet water. The double-head high-pressure water gun is installed above the six-degree-of-freedom motion platform to spray the cavitation jet water onto the working surface. The spray system remote control module is connected to the jet cavitation pump to remotely receive the control signal of the control system, thereby controlling the rotation speed of the jet cavitation pump.

[0007] Furthermore, the control system includes a control cabinet, a data acquisition module, a data processing module and a communication module. The data acquisition module, the data processing module and the communication module are installed in the control cabinet. The data acquisition module is used to collect image information from the visual system. The data processing module is connected to the data acquisition module and is used to input and output control signals and process control signals in real time. The communication module is connected to the data acquisition module and is used to output control signals to the motion system remote control module and the spray system remote control module.

[0008] Due to the adoption of the above-mentioned technical solution, the present invention provides a control system for intelligent cleaning equipment applied to ship cargo holds, in which the coordination between the visual system, motion system, spray system and control system is adopted, and each subsystem is interconnected and operates independently, thereby realizing large-scale and efficient cleaning operations. Compared with the traditional operation method, by using the shear-pressing aerial work vehicle combined with the horizontal slide structure, the double-headed high-pressure water gun can achieve large-span and rapid movement, thereby shortening the cleaning operation time and improving the cleaning operation efficiency. By adopting a visual system, this system further realizes unmanned and automated cleaning operations, solving the problem of personnel operation safety from the source. In addition, by integrating the control modules of each subsystem into the control system, it is convenient for operators to centrally control the operation process. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0010] Figure 1 It is a schematic diagram of the intelligent cleaning equipment for the ship cargo hold of the present invention.

[0011] Figure 2 It is a specific structural block diagram of the intelligent cleaning equipment for the ship cargo hold of the present invention.

[0012] Figure 3 It is a specific structural block diagram of the intelligent cleaning equipment for the ship cargo hold of the present invention.

[0013] Figure 4 It is a schematic diagram of the operation of a control system in a specific implementation manner of the present invention. DETAILED DESCRIPTION

[0014] In order to make the technical solutions and advantages of the present invention more clear, the technical solutions in the embodiments of the present invention are clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention:

[0015] like Figure 1 The ship cargo hold intelligent cleaning system shown in the figure improves the conventional ship cargo hold cleaning operation mode, adds a visual system 1, a control system 2, a motion system 3 and a spray system 4, and realizes unmanned and automated cargo hold cleaning operation. During the intelligent cleaning process, the visual system 1 transmits the real-time image of the working surface to the control system 2, the control system 2 transmits the signal to the motion system 3, and the motion system 3 moves the spray system 4 to the working surface area for cleaning operation, realizing unmanned and autonomous cleaning of the working surface of the ship cargo hold.

[0016] like Figure 2 As shown, a control system for intelligent cleaning equipment applied to a ship cargo hold includes a visual system, a motion system, a spray system and a control system; the visual system uses a 3D camera (binocular) to monitor the cleaning operation and transmits the real-time image to the control system, the motion system is used to carry the spray system to the operating area and adjust the direction and pitch angle of the double-headed high-pressure water gun nozzle, the spray system is used to pressurize water into cavitation jets and spray them onto the operating surface, thereby completing the cleaning operation, and the control system is used to process the image, video and other signals of the visual system, and transmit the control signal to the motion system and the spray system through the communication module.

[0017] Further, such as Figure 3 and Figure 4 As shown, the control system collects image information from the 3D camera (binocular) in real time through the data acquisition module, processes the data through the data processing unit, and outputs a control signal in combination with the operator's command. The control signal is transmitted to the remote system control module and the spray system remote control module via the communication module. By controlling the position of the shear-type aerial work vehicle, the system is located in front of the working surface; the position of the high-speed load-bearing pan-tilt platform on the horizontal slide is controlled to achieve a large range of lateral movement of the double-headed high-pressure water gun; the posture of the six-degree-of-freedom motion platform is controlled, and then the posture of the double-headed high-pressure water gun is adjusted so that the cavitation water jet can always be sprayed to the working surface; when the double-headed high-pressure water gun is located in front of the working surface, the jet cavitation pump is controlled to run, thereby spraying the cavitation water jet to the working surface for cleaning operations.

[0018] Furthermore, the control system includes a data acquisition module, a data processing module and a communication module. The data acquisition module is used to collect image information from a 3D camera in real time. The data processing module is connected to the data acquisition module and is used to process image information and operator instructions, and further output control signals. The communication module is connected to the data processing module and is used to output control signals to the process system control module and the spray system remote control module. The data acquisition module, the data processing module and the communication module are installed in a control cabinet.

[0019] Furthermore, the visual system includes a visual system wireless signal transmission module, a camera posture control gimbal and a 3D camera (binocular). The visual system wireless signal transmission module is connected to the 3D camera (binocular) for real-time transmission of control signals of the control system and image signals fed back to the control system. The 3D camera (binocular) is installed above the camera posture control gimbal and can change its posture following the movement of the camera posture control gimbal, so that the 3D camera (binocular) can always capture the working picture.

[0020] Furthermore, the motion system includes a motion system remote control module, a shear-pressing aerial work vehicle, a horizontal slide, hydraulic legs, a high-speed load-bearing pan-tilt platform and a six-degree-of-freedom motion platform. The motion system remote control module is connected to the shear-pressing aerial work vehicle to transmit signals from the control system to control the position of the decompression aerial work vehicle, the retraction and extension of the hydraulic legs, the position of the horizontal slide and the posture of the six-degree-of-freedom motion platform. The shear-pressing aerial work vehicle is used to change the spatial position of the entire system to ensure that the system is located in front of the working surface. The hydraulic legs are connected to the shear-pressing aerial work vehicle to transmit signals from the control system to control the position of the decompression aerial work vehicle, the retraction and extension of the hydraulic legs, the position of the horizontal slide and the posture of the six-degree-of-freedom motion platform. The horizontal slide is installed above the shear-type aerial work vehicle and is used to laterally move the six-degree-of-freedom motion platform over a large range, thereby expanding the spraying range of the double-headed high-pressure water gun. The high-speed load-bearing gimbal is installed above the horizontal slide to support the six-degree-of-freedom platform. The six-degree-of-freedom motion platform is installed above the high-speed load-bearing gimbal and can move laterally with the high-speed load-bearing gimbal to change the posture of the double-headed high-pressure water gun so that it can always spray to the working surface.

[0021] Furthermore, the spray system includes a spray system remote control module, a jet cavitation pump and a double-head high-pressure water gun. The spray system remote control module and the jet cavitation pump are used to transmit control signals of the control system to further control whether the jet cavitation pump is running. The jet cavitation pump is installed above the shear-type aerial work vehicle to change the water pressure of the cavitation water jet so that the water jet can always be sprayed onto the working surface. The double-head high-pressure water gun is installed above the six-degree-of-freedom motion platform to spray cavitation water jets onto the working surface.

[0022] The system disclosed in the present invention specifically adopts the following steps to implement the cleaning operation:

[0023] According to the known position of the working surface, the position of the shear-pressing aerial work vehicle is changed so that it is located in front of the working surface, and the hydraulic legs are further deployed to prepare for the cleaning operation. Before the cleaning operation begins, the direction of the water outlet of the double-headed high-pressure water gun is adjusted through the six-degree-of-freedom motion platform so that it can be sprayed onto the working surface. The control system further outputs a control signal, the jet cavitation pump runs, and the cavitation water jet is sprayed onto the working surface. The horizontal slide cooperates with the six-degree-of-freedom motion platform to change the position of the double-headed high-pressure water gun, thereby realizing the local cleaning operation. After the local cleaning operation is completed, the shear-pressing aerial work vehicle is raised and lowered, and the local cleaning operation process is repeated to complete the local vertical surface cleaning operation. After the vertical surface cleaning operation is completed, the shear-pressing aerial work vehicle moves to the next work site, repeats the local cleaning operation and the local vertical surface cleaning operation process, and realizes the global cleaning operation. The cleaning status of the working surface is fed back in real time through the visual system, and the cleaning operation is completed after confirming that the cleaning quality meets the requirements.

[0024] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A control system for intelligent cleaning equipment used in ship cargo holds, characterized in that include: Vision system, used to monitor the cleaning status of the ship's cargo hold in real time; Spray system, used to spray cavitation jet water onto the working surface to clean the cabin; The motion system is used to move the sprinkler system to the operation point where the visual system monitors in real time; The control system receives the video information transmitted by the visual system and remotely controls the working process of the spray system and the motion system; The visual system includes a camera posture control platform, a 3D camera and a visual system wireless signal transmission module. The camera posture control platform is used to adjust the image acquisition angle of the 3D camera. The 3D camera is installed above the camera posture control platform and is used to monitor the cleaning status of the ship's cargo hold in real time. The 3D camera also changes its posture following the movement of the camera posture control platform, so that the 3D camera can always shoot the operation picture. The visual system wireless signal transmission module is connected to the 3D camera and is used to transmit the collected image information to the control system; The motion system includes a shear-pressing aerial work vehicle, a hydraulic outrigger, a horizontal slide, a high-speed load-bearing pan-tilt, a six-degree-of-freedom motion platform and a remote control module for the motion system. The shear-pressing aerial work vehicle is used to change the position of the entire system so that it is located in the working surface area. The hydraulic outrigger is connected to the shear-pressing aerial work vehicle and is used to support the shear-pressing aerial work vehicle. The horizontal slide is installed above the shear-pressing aerial work vehicle and is used to make the six-degree-of-freedom motion platform move horizontally. The high-speed load-bearing pan-tilt is installed above the horizontal slide and is used to support the six-degree-of-freedom motion platform. The six-degree-of-freedom motion platform is installed above the high-speed load-bearing pan-tilt and is used to adjust the posture of the spray system and move laterally with the high-speed load-bearing pan-tilt, and is used to change the posture of the double-headed high-pressure water gun so that it can always spray to the working surface. The remote control module of the motion system is connected to the shear-pressing aerial work vehicle and is used to remotely receive the control signal of the control system, thereby adjusting the motion state of each subunit of the motion system; The spray system includes a jet cavitation pump, a double-head high-pressure water gun and a spray system remote control module. The jet cavitation pump is installed above the shear-type aerial work vehicle and is used to change the water pressure and outlet flow rate of the cavitation jet water. The double-head high-pressure water gun is installed above the six-degree-of-freedom motion platform and is used to spray the cavitation jet water onto the working surface. The spray system remote control module is connected to the jet cavitation pump and is used to remotely receive the control signal of the control system to control the rotation speed of the jet cavitation pump. The control system includes a control cabinet, a data acquisition module, a data processing module and a communication module. The data acquisition module, the data processing module and the communication module are installed in the control cabinet. The data acquisition module is used to collect image information from the visual system. The data processing module is connected to the data acquisition module and is used to input and output control signals and process control signals in real time. The communication module is connected to the data acquisition module and is used to output control signals to the motion system and the spray system.

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