A multi-stage folding automatic cabin cleaning system

Abstract

The application provides a T-shaped frame multi-stage folding automatic cabin cleaning system, which comprises a cabin cleaning device, a sensor module and a central control system; the cabin cleaning device comprises a winding and unwinding winch, a rotating mechanism, a multi-stage telescopic sleeve, a cabin cleaning arm, a positioning arm assembly and a T-shaped frame; one set of the positioning arm assembly is arranged at each end of the T-shaped frame; the cabin cleaning arm is installed at the telescopic end of the multi-stage telescopic sleeve, and the other end of the multi-stage telescopic sleeve is installed on the T-shaped frame; a spray gun and a 3D laser radar module are installed at the front end of the cabin cleaning arm; the 3D laser radar module is used for scanning a cabin and establishing a three-dimensional point cloud map of the cabin; the central control system can plan a cleaning route by using a deep learning algorithm according to the three-dimensional point cloud map of the cabin, and control the cabin cleaning device to clean the cabin according to the cleaning route and working real-time information of the cabin cleaning device. The technical scheme of the application can reduce the labor intensity of people and improve the cleaning efficiency of the cabin.

Description

Technical Field

[0001] This invention relates to the field of marine engineering equipment manufacturing technology, and more particularly to an automatic hull sweeping system with a T-shaped frame that can be folded in multiple stages. Background Technology

[0002] With the development of maritime transport and the increasing volume of ship traffic, ship cabin cleaning has become a challenge. Ship cleaning refers to the thorough cleaning process of a ship's cargo holds, oil tanks, water tanks, etc., to ensure the hygiene and safety of the ship between different voyages or cargo loading and unloading.

[0003] Traditional cleaning methods involve manual operation of high-pressure water guns, detergents, and disinfectants to clean the cabins. However, due to the height and large size of the cabins, manual cleaning is not only time-consuming and labor-intensive but also inefficient and produces poor cleaning results. Summary of the Invention

[0004] In view of the technical problems existing in the existing cabin sweeping schemes mentioned above, a T-shaped frame multi-level folding automatic cabin sweeping system is provided.

[0005] The technical means employed in this invention are as follows: A T-shaped frame with multi-stage folding automatic cabin sweeping system includes a cabin sweeping device, a sensor module, and a central control system; The hull sweeping device includes a take-up and release winch, a slewing mechanism, a multi-stage telescopic sleeve, a hull sweeping arm, a positioning arm assembly, and a T-shaped frame; A positioning arm assembly is provided at each end of the crossbar of the T-shaped frame. The positioning arm assembly includes a rotary arm, an extension arm, a support arm, and a positioning mechanism. One end of the rotary arm is rotatably mounted on the T-shaped frame via a rotary arm motor. The rotary arm, the extension arm, and the support arm are hinged sequentially. The extension arm is connected to the rotary arm via the rotary mechanism, and the support arm is connected to the extension arm via the rotary mechanism. The rotary mechanism is used to drive the extension arm and the support arm to rotate, thereby extending or retracting them. The positioning mechanism is installed at the front end of the support arm and includes a handle, a clamping block, and a base. The base is fixed to the support arm, and one end of the handle is hinged to the base. The handle and the clamping block are connected by a pin. Rotating the handle can drive the clamping block to move back and forth. The positioning mechanisms at both ends of the T-shaped frame are used to fix the cabin sweeping device to the cabin. The sweeping arm is rotatably mounted on the telescopic end of the multi-stage telescopic sleeve via a sweeping arm motor. The other end of the multi-stage telescopic sleeve is mounted on the T-frame via a slewing mechanism. The slewing mechanism can drive the multi-stage telescopic sleeve to swing up and down in a vertical plane to adjust its angle. The multi-stage telescopic sleeve is telescopically extended and retracted by the wire rope pulled by the winch motor via the take-up and release winch. The wire rope is connected to the telescopic end of the multi-stage telescopic sleeve. The sweeping arm is a telescopic sleeve, and a spray gun and a 3D LiDAR module are installed at the front end of the sweeping arm. The spray gun is rotatably mounted on the sweeping arm via a spray gun motor, which drives the spray gun to rotate to achieve multi-angle spraying and cleaning of the cabin. The 3D LiDAR module is used to scan the cabin and create a three-dimensional point cloud map of the cabin. The sensor module includes an angle sensor, a photoelectric encoder, and a gyroscope; the angle sensor is mounted on the spray gun; the gyroscope is mounted on the sweeping arm; photoelectric encoders are respectively mounted on the rotary arm motor, the sweeping arm motor, the winch motor, and the spray gun motor; The sensor module is used to collect real-time operating information of the hull sweeping device and feed it back to the central control system. This includes the rotation angle signal of the spray gun collected by the angle sensor, the movement direction signal of the hull sweeping arm collected by the gyroscope, and the rotation angle signals of the rotary arm motor, the hull sweeping arm motor, the winch motor, and the spray gun motor collected by the photoelectric encoder. The rotary arm motor, the sweeping arm motor, the winch motor, the spray gun motor, the rotary mechanism, the spray gun, the 3D lidar module, and the sensor module are all electrically connected to the central control system. The central control system can plan the cleaning route based on the three-dimensional point cloud map of the cabin using a deep learning algorithm, and control the operation of the rotary arm motor, the sweeping arm motor, the winch motor, the spray gun motor, the rotary mechanism, and the spray gun to clean the cabin based on the cleaning route and the real-time working information of the sweeping device.

[0006] Furthermore, the 3D LiDAR module employs a 3D SLAM algorithm, which uses a multi-line laser sensor to acquire spatial point data of the cabin based on laser point clouds. Then, it performs attitude estimation by scanning and matching adjacent point cloud frames, thereby establishing a three-dimensional point cloud map of the cabin.

[0007] Furthermore, the sensor module also includes an anti-collision sensor, which is installed on the sweeping arm and is used to issue an anti-collision alarm when the sweeping arm collides with the compartment, and to feed back the collision signal to the central control system to adjust the cleaning route.

[0008] Furthermore, the central control system includes a navigation module, a work status information recognition module, and a PLC controller; the navigation module is used to plan a cleaning route based on the three-dimensional point cloud map of the cabin using a deep learning algorithm and send it to the PLC controller; the work status information recognition module is used to receive and recognize the signals transmitted by the sensor module and send them to the PLC controller; the PLC controller is used to control the operation of the rotary arm motor, the cabin sweeping arm motor, the winch motor, the spray gun motor, and the rotary mechanism based on the cleaning route and the work status information of the cabin sweeping device.

[0009] Furthermore, the winding winch includes a wire rope, a winch motor, a reducer, and a hoist. The wire rope is wound around the hoist, and the winch motor controls the hoist to wind up and unwind the wire rope through the reducer.

[0010] Furthermore, the slewing arm, the extension arm, and the support arm are all square tubes.

[0011] Furthermore, the rotary mechanism includes a hydraulic cylinder, a main connecting member, and a secondary connecting member; the hydraulic rod of the hydraulic cylinder is hinged to the main connecting member, and the secondary connecting member is hinged to the main connecting member; the hydraulic cylinder is used to drive the main connecting member through the hydraulic rod to move the secondary connecting member, thereby realizing the operation of the rotary mechanism.

[0012] Furthermore, the slewing arm and the extension arm are hinged by a pin; in the slewing mechanism between the slewing arm and the extension arm, the hydraulic cylinder body of the hydraulic cylinder is hinged to the slewing arm, the main connecting member is hinged to the extension arm by a pin, and the slave connecting member is hinged to the slewing arm by a pin. The support arm and the extension arm are hinged together by a pin; in the rotary mechanism between the extension arm and the support arm, the hydraulic cylinder body of the hydraulic cylinder is hinged to the extension arm, the main connecting member is hinged to the support arm by a pin, and the slave connecting member is hinged to the extension arm by a pin. The hydraulic cylinder controls the rotation of the extension arm and the support arm by driving the extension and retraction of the hydraulic rod, thereby achieving extension or retraction.

[0013] Furthermore, the multi-stage telescopic sleeve is hinged to the support at the bottom of the T-shaped frame via a pin; in the rotation mechanism between the multi-stage telescopic sleeve and the T-shaped frame, the hydraulic cylinder body of the hydraulic cylinder is hinged to the vertical rod of the T-shaped frame, the main connecting member is hinged to the multi-stage telescopic sleeve via a pin, and the secondary connecting member is hinged to the support via a pin; the hydraulic cylinder controls the rotation of the multi-stage telescopic sleeve by driving the extension and retraction of the hydraulic rod.

[0014] Furthermore, the sweeping arm includes a primary arm, a secondary arm, and a sweeping arm hydraulic cylinder; the primary arm and the secondary arm are extended and retracted by the sweeping arm hydraulic cylinder; the spray gun is mounted on the front end of the secondary arm via the spray gun motor.

[0015] Compared with the prior art, the present invention has the following advantages: The T-shaped frame multi-level folding automatic cabin cleaning system provided by this invention can realize three-dimensional modeling of the cabin, autonomously plan the cleaning path and adjust the cleaning angle according to different cabins, thereby achieving spraying and cleaning of a larger area, greatly reducing the labor intensity of people and improving the cleaning efficiency of the cabin.

[0016] Based on the above reasons, this invention can be widely promoted in the field of marine engineering equipment manufacturing. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the T-shaped frame multi-stage foldable automatic cabin sweeping system described in this invention.

[0019] Figure 2 This is a schematic diagram of the control principle of the T-shaped frame multi-stage foldable automatic cabin sweeping system described in this invention.

[0020] Figure 3 This is a schematic diagram illustrating the path planning principle of the cabin sweeping device described in this invention.

[0021] Figure 4 This is a schematic diagram of the winding winch structure described in this invention.

[0022] Figure 5 This is a schematic diagram of the rotary arm, the extension arm, and the support arm of the present invention.

[0023] Figure 6 This is a schematic diagram of the rotary mechanism described in this invention.

[0024] Figure 7 This is a schematic diagram of the positioning and clamping mechanism described in this invention.

[0025] Figure 8 This is a schematic diagram of the sweeping arm structure described in this invention.

[0026] In the diagram: 1. Winding winch; 101. Winch motor; 102. Reducer; 103. Hoist; 2. Slewing mechanism; 201. Main connector; 202. Slave connector; 203. Pin; 3. Multi-stage telescopic sleeve; 4. Positioning mechanism; 401. Handle; 402. Base; 403. Clamping block; 404. Pin; 5. Sweeping arm; 501. Spray gun; 502. Spray gun motor; 503. Secondary arm; 504. Sweeping arm hydraulic cylinder; 505. Primary arm; 6. Sweeping arm motor; 7. T-frame; 8. Slewing arm motor; 9. Slewing arm; 10. Extension arm; 11. Support arm; 1201. Hydraulic rod; 1202. Hydraulic cylinder body. Detailed Implementation

[0027] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0028] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0029] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0030] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of the invention. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following figures denote similar items; therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0031] In the description of this invention, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is generally based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this invention and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this invention. The directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0032] For ease of description, spatial relative terms such as "above," "over," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation besides the orientation of the device as described in the figures. For example, if the device in the figures is inverted, a device described as "above" or "above" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0033] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore should not be construed as limiting the scope of protection of this invention.

[0034] Example 1 like Figure 1-8 As shown, the present invention provides a T-shaped frame with multi-stage folding automatic cabin sweeping system, including a cabin sweeping device, a sensor module and a central control system; The cabin sweeping device includes a take-up and release winch 1, a slewing mechanism 2, a multi-stage telescopic sleeve 3, a cabin sweeping arm 5, a positioning arm assembly, and a T-shaped frame 7. The T-shaped frame 7 has a set of positioning arm assemblies at both ends of its crossbar. Each positioning arm assembly includes a rotary arm 9, an extension arm 10, a support arm 11, and a positioning mechanism 4. One end of the rotary arm 9 is rotatably mounted on the T-shaped frame 7 via a rotary arm motor 8. The rotary arm motor 8 drives the T-shaped frame 7 to rotate relative to the rotary arm 9. The rotary arm 9, the extension arm 10, and the support arm 11 are sequentially hinged. The extension arm 10 is connected to the rotary arm 9 via the rotary mechanism 2, and the support arm 11 is connected to the extension arm 10 via the rotary mechanism 2. The rotary mechanism 2 drives the extension arm 10 and the support arm 11 to rotate, thereby extending or retracting them. The positioning mechanism 4 is installed on the... The front end of the support arm 11 includes a handle 401, a clamping block 403, and a base 402. The base 402 is welded and fixed to the support arm 11. One end of the handle 401 is hinged to the base 402. The handle 401 and the clamping block 403 are connected by a pin 404. By rotating the handle 401 around the connection between the handle 401 and the base 402, the clamping block 403 can be moved back and forth. The positioning mechanisms 4 at both ends of the T-shaped frame 7 are used to fix the cabin sweeping device to the cabin. The positioning mechanisms 4 at both ends of the T-shaped frame 7 can clamp the clamping blocks 403 at both ends to the outer wall of the cabin opening edge, thereby fixing the cabin sweeping device to the cabin, similar to hanging it above the cabin opening. The sweeping arm 5 is rotatably mounted on the telescopic end of the multi-stage telescopic sleeve 3 via a sweeping arm motor 6. The sweeping arm motor 6 can drive the sweeping arm 5 to rotate relative to the multi-stage telescopic sleeve 3. The other end of the multi-stage telescopic sleeve 3 is mounted on the T-frame 7 via a slewing mechanism 2. The slewing mechanism 2 can drive the multi-stage telescopic sleeve 3 to swing up and down in the vertical plane to adjust the angle. The multi-stage telescopic sleeve 3 is telescopically extended and retracted by the wire rope pulled by the wire rope motor 101 via the wire winding winch 1. The wire rope is connected to the telescopic end of the multi-stage telescopic sleeve 3. The sweeping arm 5 is a telescopic sleeve. A spray gun 501 and a 3D lidar module are installed at the front end of the sweeping arm 5. The spray gun 501 is rotatably mounted on the sweeping arm 5 via a spray gun motor 502. The spray gun motor 502 is used to drive the spray gun 501 to rotate and achieve multi-angle spraying to clean the cabin. The 3D lidar module is used to scan the cabin and create a three-dimensional point cloud map of the cabin. The sensor module includes an angle sensor, a photoelectric encoder, and a gyroscope; the angle sensor is installed on the spray gun 501; the gyroscope is installed on the sweeping arm 5; photoelectric encoders are respectively installed on the rotary arm motor 8, the sweeping arm motor 6, the winch motor 101, and the spray gun motor 502, and the photoelectric encoders can collect the rotation angle signal of the motor to achieve precise positioning of the motor rotation angle; The sensor module is used to collect the real-time working information of the sweeping device and feed it back to the central control system. This includes the rotation angle signal of the spray gun 501 collected by the angle sensor, the movement direction signal of the sweeping arm 5 collected by the gyroscope, and the rotation angle signals of the rotary arm motor 8, the sweeping arm motor 6, the winch motor 101, and the spray gun motor 502 collected by the photoelectric encoder. The central control system is installed on the T-frame 7. The rotary arm motor 8, the sweeping arm motor 6, the winch motor 101, the spray gun motor 502, the rotary mechanism 2, the spray gun 501, the 3D lidar module, and the sensor module are all electrically connected to the central control system. The central control system can plan the cleaning route based on the three-dimensional point cloud map of the cabin using a deep learning algorithm, and control the operation of the rotary arm motor 8, the sweeping arm motor 6, the winch motor 101, the spray gun motor 502, the rotary mechanism 2, and the spray gun 501 to clean the cabin based on the cleaning route and the working status information of the sweeping device.

[0035] Furthermore, the 3D LiDAR module employs a 3D SLAM algorithm. Based on laser point clouds, it uses multi-line laser sensors to acquire spatial point data of the cabin, and then performs attitude estimation through scanning matching between adjacent point cloud frames to establish a three-dimensional point cloud map of the cabin, which can effectively improve the accuracy of the model.

[0036] Furthermore, the sensor module also includes an anti-collision sensor, which is installed on the sweeping arm 5 and is used to issue an anti-collision alarm when the sweeping arm 5 collides with the compartment, and to feed back the collision signal to the central control system to adjust the cleaning route.

[0037] Furthermore, the central control system includes a navigation module, a work status information recognition module, and a PLC controller; the navigation module is used to plan the cleaning route based on the three-dimensional point cloud map of the cabin using a deep learning algorithm and send it to the PLC controller; the work status information recognition module is used to receive and recognize the signals transmitted by the sensor module and send them to the PLC controller; the PLC controller is used to control the operation of the rotary arm motor 8, the cabin sweeping arm motor 6, the winch motor 101, the spray gun motor 502, and the rotary mechanism 2 based on the cleaning route and the work status information of the cabin sweeping device.

[0038] Furthermore, the sensor module transmits signals to the central control system wirelessly.

[0039] Furthermore, both the multi-stage telescopic sleeve 3 and the sweeping arm 5 used in this invention can be existing telescopic tube products, which will not be elaborated here.

[0040] Furthermore, the wire rope winding winch 1 includes a wire rope, a winch motor 101, a reducer 102, and a hoist 103. The wire rope is wound around the hoist 103, and the winch motor 101 controls the hoist 103 to wind up and unwind the wire rope through the reducer 102.

[0041] Furthermore, the rotary arm 9, the extension arm 10, and the support arm 11 are all square tubes.

[0042] Furthermore, the rotary mechanism 2 is a linkage structure, including a hydraulic cylinder, a main connecting member 201, and a secondary connecting member 202; the hydraulic rod 1201 of the hydraulic cylinder is hinged to the main connecting member 201, and the secondary connecting member 202 is hinged to the main connecting member 201. The hydraulic cylinder is used to drive the main connecting member 201 through the hydraulic rod 1201 to move the secondary connecting member 202, thereby realizing the operation of the rotary mechanism 2.

[0043] Furthermore, the rotary arm 9 and the extension arm 10 are hinged by a pin; in the rotary mechanism 2 between the rotary arm 9 and the extension arm 10, the hydraulic cylinder body 1202 of the hydraulic cylinder is hinged to the rotary arm 9, the main connecting member 201 is hinged to the extension arm 10 by a pin 203, and the slave connecting member 202 is hinged to the rotary arm 9 by a pin 203; The support arm 11 and the extension arm 10 are hinged by a pin; in the rotary mechanism 2 between the extension arm 10 and the support arm 11, the hydraulic cylinder body 1202 of the hydraulic cylinder is hinged to the extension arm 10, the main connecting member 201 is hinged to the support arm 11 by a pin 203, and the slave connecting member 202 is hinged to the extension arm 10 by a pin 203. The hydraulic cylinder controls the rotation of the extension arm 10 and the support arm 11 by driving the extension and retraction of the hydraulic rod 1201, thereby achieving extension or retraction.

[0044] Furthermore, the multi-stage telescopic sleeve 3 is hinged to the support at the bottom of the T-shaped frame 7 via a pin; in the rotation mechanism 2 between the multi-stage telescopic sleeve 3 and the T-shaped frame 7, the hydraulic cylinder body 1202 of the hydraulic cylinder is hinged to the vertical rod of the T-shaped frame 7, the main connecting member 201 is hinged to the multi-stage telescopic sleeve 3 via a pin 203, and the secondary connecting member 202 is hinged to the support via a pin 203; the hydraulic cylinder controls the rotation of the multi-stage telescopic sleeve 3 by driving the extension and retraction of the hydraulic rod 1201.

[0045] Furthermore, the cleaning arm 5 includes a primary arm 505, a secondary arm 503, and a cleaning arm hydraulic cylinder 504; the primary arm 505 and the secondary arm 503 are driven to extend and retract by the cleaning arm hydraulic cylinder 504, which can increase the cleaning range; the spray gun 501 is mounted on the front end of the secondary arm 503 by the spray gun motor 502.

[0046] Furthermore, the hydraulic cylinder and the sweeping arm hydraulic cylinder 504 are electrically connected to the central control system, which is capable of controlling the operation of the hydraulic cylinder and the sweeping arm hydraulic cylinder 504.

[0047] The T-shaped frame multi-stage foldable automatic cabin cleaning system of this invention can be used for autonomous cleaning of ship cabins. The cleaning device is arranged in the cabin, and obtains real-time information on the cleaning operation through sensor modules. It plans the cleaning path through deep learning algorithms, and then the central control system controls the multi-stage telescopic sleeve to adjust the height of the spray gun and controls the motor to drive the cleaning arm to rotate for all-round cleaning. The specific process of cleaning the cabin using the T-shaped frame multi-stage foldable automatic cabin cleaning system of this invention is as follows: When the compartment needs cleaning, a folded sweeping device (with the positioning arm assembly in a retracted state and the multi-stage telescopic sleeve 3 and sweeping arm 5 both in a retracted state) is lifted by a crane and placed at the compartment opening with a small volume, allowing the multi-stage telescopic sleeve 3 and sweeping arm 5 to extend into the compartment. Then, according to the size of the compartment opening, the central control system controls the rotary arm motor 8 to work, causing the rotary arm 9 to rotate parallel to the crossbar of the T-frame 7. The central control system also controls the rotary mechanism 2 (hydraulic cylinder) between the extension arm 10 and the rotary arm 9, and between the extension arm 10 and the support arm 11, to adjust the extension arm 10 and the support arm 11 to extend to the appropriate position. Then, by rotating the handles 401 of the positioning mechanism 4 at both ends of the T-frame 7, the clamping blocks 403 at both ends clamp the outer wall of the compartment opening edge, thereby fixing the sweeping device to the compartment, similar to hanging it above the compartment opening. The 3D LiDAR module located on the scanning arm 5 scans the cabin and creates a three-dimensional point cloud map of the cabin, which is then sent to the central control system. At the same time, the sensor module collects the real-time working information of the scanning device and sends it to the central control system. The central control system can use deep learning algorithms to plan the cleaning route based on the three-dimensional point cloud map of the cabin, and initially sets the cleaning route as a zigzag shape. During operation, the central control system controls the winch motor 101 to extend and retract the multi-stage telescopic sleeve 3. The central control system also controls the rotation mechanism 2 (hydraulic cylinder) between the multi-stage telescopic sleeve 3 and the T-frame 7 according to the height of the compartment. By adjusting the swing angle of the multi-stage telescopic sleeve 3, the spraying height is adjusted. The central control system also controls the sweeping arm motor 6 to rotate the sweeping arm 5 to adjust the spraying angle, and controls the spray gun motor 502 to rotate the spray gun 501 to achieve multi-angle spraying and cleaning of the compartment. Furthermore, the central control system can control the extension and retraction of the sweeping arm 5 by controlling the operation of the sweeping arm hydraulic cylinder 504 as needed to increase the spraying force, thereby improving the cleaning quality and efficiency. During operation, the central control system can also correct the cleaning route in real time based on the actual working status information of the sweeping device. After cleaning, the central control system can plan the retraction route through deep learning algorithms, control the retraction of the multi-stage telescopic sleeve 3 and the sweeping arm 5, and control the sweeping arm motor 6 to drive the sweeping arm 5 to rotate until it is parallel to the multi-stage telescopic sleeve 3. Then, the sweeping device is hoisted by a crane, and the clamping block 403 is released by manually turning the handle 401. The rotary arm motor 8 and the rotary mechanism 2 are controlled to gradually retract the support arm 11, the extension arm 10 and the rotary arm 9, so that the sweeping device can leave the cabin with a small volume. The T-shaped frame multi-stage foldable automatic sweeping system of the present invention has the advantages of high efficiency and safety.

[0048] The T-shaped frame multi-level folding automatic cabin cleaning system provided by this invention can realize three-dimensional modeling of the cabin, autonomously plan the cleaning path and adjust the cleaning angle according to different cabins, thereby achieving spraying and cleaning of a larger area, greatly reducing the labor intensity of people and improving the cleaning efficiency of the cabin.

[0049] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A multi-stage foldable automatic cabin sweeping system with a T-shaped frame, characterized in that, Includes a cabin sweeping device, sensor modules, and a central control system; The hull sweeping device includes a take-up and release winch, a slewing mechanism, a multi-stage telescopic sleeve, a hull sweeping arm, a positioning arm assembly, and a T-shaped frame; A positioning arm assembly is provided at each end of the crossbar of the T-shaped frame. The positioning arm assembly includes a rotary arm, an extension arm, a support arm, and a positioning mechanism. One end of the rotary arm is rotatably mounted on the T-shaped frame via a rotary arm motor. The rotary arm, the extension arm, and the support arm are hinged sequentially. The extension arm is connected to the rotary arm via the rotary mechanism, and the support arm is connected to the extension arm via the rotary mechanism. The rotary mechanism is used to drive the extension arm and the support arm to rotate, thereby extending or retracting them. The positioning mechanism is installed at the front end of the support arm and includes a handle, a clamping block, and a base. The base is fixed to the support arm, and one end of the handle is hinged to the base. The handle and the clamping block are connected by a pin. Rotating the handle can drive the clamping block to move back and forth. The positioning mechanisms at both ends of the T-shaped frame are used to fix the cabin sweeping device to the cabin. The sweeping arm is rotatably mounted on the telescopic end of the multi-stage telescopic sleeve via a sweeping arm motor. The other end of the multi-stage telescopic sleeve is mounted on the T-frame via a slewing mechanism. The slewing mechanism can drive the multi-stage telescopic sleeve to swing up and down in a vertical plane to adjust its angle. The multi-stage telescopic sleeve is telescopically extended and retracted by the wire rope pulled by the winch motor via the take-up and release winch. The wire rope is connected to the telescopic end of the multi-stage telescopic sleeve. The sweeping arm is a telescopic sleeve, and a spray gun and a 3D LiDAR module are installed at the front end of the sweeping arm. The spray gun is rotatably mounted on the sweeping arm via a spray gun motor, which drives the spray gun to rotate to achieve multi-angle spraying and cleaning of the cabin. The 3D LiDAR module is used to scan the cabin and create a three-dimensional point cloud map of the cabin. The sensor module includes an angle sensor, a photoelectric encoder, and a gyroscope; the angle sensor is mounted on the spray gun. The gyroscope is mounted on the hull sweeping arm; photoelectric encoders are respectively mounted on the rotary arm motor, the hull sweeping arm motor, the winch motor, and the spray gun motor; The sensor module is used to collect real-time operating information of the hull sweeping device and feed it back to the central control system. This includes the rotation angle signal of the spray gun collected by the angle sensor, the movement direction signal of the hull sweeping arm collected by the gyroscope, and the rotation angle signals of the rotary arm motor, the hull sweeping arm motor, the winch motor, and the spray gun motor collected by the photoelectric encoder. The rotary arm motor, the sweeping arm motor, the winch motor, the spray gun motor, the rotary mechanism, the spray gun, the 3D lidar module, and the sensor module are all electrically connected to the central control system. The central control system can plan the cleaning route based on the three-dimensional point cloud map of the cabin using a deep learning algorithm, and control the operation of the rotary arm motor, the sweeping arm motor, the winch motor, the spray gun motor, the rotary mechanism, and the spray gun to clean the cabin based on the cleaning route and the real-time working information of the sweeping device.

2. The T-shaped frame multi-stage foldable automatic cabin sweeping system according to claim 1, characterized in that, The 3D LiDAR module uses a 3D SLAM algorithm. Based on laser point clouds, it acquires cabin space point data using multi-line laser sensors, and then performs attitude estimation by scanning and matching adjacent point cloud frames to establish a three-dimensional point cloud map of the cabin.

3. The T-frame multi-stage foldable automatic cabin sweeping system according to claim 1, characterized in that, The sensor module also includes an anti-collision sensor, which is installed on the sweeping arm and is used to issue an anti-collision alarm when the sweeping arm collides with the compartment, and to feed back the collision signal to the central control system to adjust the cleaning route.

4. The T-shaped frame multi-stage foldable automatic cabin sweeping system according to claim 1, characterized in that, The central control system includes a navigation module, a work status information recognition module, and a PLC controller. The navigation module is used to plan a cleaning route based on the three-dimensional point cloud map of the cabin using a deep learning algorithm and send it to the PLC controller. The work status information recognition module is used to receive and recognize the signals transmitted by the sensor module and send them to the PLC controller. The PLC controller is used to control the operation of the rotary arm motor, the sweeping arm motor, the winch motor, the spray gun motor, and the rotary mechanism based on the cleaning route and the actual working information of the sweeping device.

5. The T-frame multi-stage foldable automatic cabin sweeping system according to claim 1, characterized in that, The wire rope winding machine includes a wire rope, a winch motor, a reducer, and a hoist. The wire rope is wound around the hoist, and the winch motor controls the hoist to wind up and unwind the wire rope through the reducer.

6. The T-shaped frame multi-stage foldable automatic cabin sweeping system according to claim 1, characterized in that, The slewing arm, the extension arm, and the support arm are all made of square tubing.

7. The T-shaped frame multi-stage foldable automatic cabin sweeping system according to claim 1, characterized in that, The rotary mechanism includes a hydraulic cylinder, a main connecting member, and a secondary connecting member; the hydraulic rod of the hydraulic cylinder is hinged to the main connecting member, and the secondary connecting member is hinged to the main connecting member. The hydraulic cylinder is used to drive the main connecting member through the hydraulic rod to move the secondary connecting member, thereby realizing the operation of the rotary mechanism.

8. The T-frame multi-stage foldable automatic cabin sweeping system according to claim 7, characterized in that, The slewing arm and the extension arm are hinged together by a pin; in the slewing mechanism between the slewing arm and the extension arm, the hydraulic cylinder body of the hydraulic cylinder is hinged to the slewing arm, the main connecting member is hinged to the extension arm by a pin, and the slave connecting member is hinged to the slewing arm by a pin. The support arm and the extension arm are hinged together by a pin; in the rotary mechanism between the extension arm and the support arm, the hydraulic cylinder body of the hydraulic cylinder is hinged to the extension arm, the main connecting member is hinged to the support arm by a pin, and the slave connecting member is hinged to the extension arm by a pin. The hydraulic cylinder controls the rotation of the extension arm and the support arm by driving the extension and retraction of the hydraulic rod, thereby achieving extension or retraction.

9. The T-frame multi-stage foldable automatic cabin sweeping system according to claim 7, characterized in that, The multi-stage telescopic sleeve is hinged to the support at the bottom of the T-shaped frame via a pin; in the rotation mechanism between the multi-stage telescopic sleeve and the T-shaped frame, the hydraulic cylinder body of the hydraulic cylinder is hinged to the vertical rod of the T-shaped frame, the main connecting member is hinged to the multi-stage telescopic sleeve via a pin, and the secondary connecting member is hinged to the support via a pin; the hydraulic cylinder controls the rotation of the multi-stage telescopic sleeve by driving the extension and retraction of the hydraulic rod.

10. The T-frame multi-stage foldable automatic cabin sweeping system according to claim 1, characterized in that, The hull-sweeping arm includes a primary arm, a secondary arm, and a hull-sweeping arm hydraulic cylinder; the primary arm and the secondary arm are extended and retracted by the hull-sweeping arm hydraulic cylinder; the spray gun is mounted on the front end of the secondary arm via the spray gun motor.

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