Bulkhead cleaning method

Abstract

The present invention relates to the technical field of bulkhead cleaning, and specifically to a bulkhead cleaning method. The present invention first plans the moving path of the cleaning robot according to the bulkhead structure, thereby ensuring the comprehensiveness and efficiency of the cleaning. Then, the actual cleaning operation is performed on the selected test section. This step not only debugs the cleaning parameters, but also ensures that these parameters can meet specific cleaning requirements, thereby improving the cleaning quality. Most notably, the present invention can accurately calculate the time required to complete the entire bulkhead cleaning according to the current cleaning requirements and the determined cleaning parameters, and efficiently complete the cleaning task within the predetermined time. This precise time management capability makes the cleaning work more orderly and controllable, and also provides strong data support for subsequent cleaning plans. Therefore, the bulkhead cleaning method of the present invention performs well in improving cleaning efficiency, ensuring cleaning quality, and optimizing time management.

Description

Technical Field

[0001] The invention relates to the technical field of bulkhead cleaning devices, in particular to a bulkhead cleaning method. Background Art

[0002] After unloading a large ocean-going vessel, a large amount of cargo and dirt will remain on the bulkheads because the bulkheads are made of frames and other skeletal materials. Therefore, before loading other cargo, the cabin needs to be thoroughly cleaned.

[0003] At present, the commonly used cleaning operations are usually carried out by the crew of the ship or external cleaning workers using simple cleaning tools and manpower. Although the cleaning work of the bulkhead can be completed by using a water gun to impact and clean manually, it is time-consuming and labor-intensive. At the same time, when there is dirt remaining at the top of the cargo hold, the spray force is weakened at the top due to the large spray distance of the water gun, making it impossible to wash away the dirt at the top; so the staff will use a high-altitude operation vehicle or scaffolding to climb the operation, thereby shortening the spray distance of the water gun and improving the cleaning effect. However, this method of using an external climbing frame is extremely unstable in a shaking cabin, which will further increase the danger of the staff. Therefore, patent CN112703152B discloses a bulk carrier cabin wall cleaning device, which replaces the role of the external climbing frame through an extendable arm in the device. A cleaning mechanism such as a water gun is installed at the top of the arm to complete the corresponding cleaning work. Although the above device can achieve the cleaning of the bulkhead at a high place, the cleaning time is not fixed during the entire cleaning process because it is manually operated, and can only be estimated in days.

[0004] This shows that the calculation of cleaning time in the current bulkhead cleaning process needs to be further improved in accuracy. Summary of the invention

[0005] In order to avoid and overcome the technical problems existing in the prior art, the present invention provides a bulkhead cleaning method, which can relatively accurately calculate the cleaning time of the entire bulkhead.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] A bulkhead cleaning method comprises the following cleaning steps:

[0008] S1. Plan the cleaning path of the cleaning robot according to the structure of the bulkhead;

[0009] S2. Select a section in the cleaning path as a test section, and use the cleaning robot to clean the bulkhead in the test section to debug and determine the cleaning parameters that meet various cleaning requirements;

[0010] S3. According to the current cleaning requirement of the bulkhead, the time required to complete the cleaning along the cleaning path is calculated under the cleaning parameters corresponding to the cleaning requirement, and the cleaning work is completed within the time.

[0011] As a further solution of the present invention: the specific contents of step S1 are as follows:

[0012] S11. Select a position in the cargo hold as the coordinate origin and establish a three-dimensional space coordinate system;

[0013] S12. placing a radar at the coordinate origin, and using the radar to scan the bulkhead to construct a three-dimensional model of the cargo hold in a three-dimensional space coordinate system;

[0014] S13. Ribs extending in the vertical direction are arranged evenly on the four sides of the bulkhead. Draw the intersection line between the symmetry plane between adjacent ribs and the inner wall surface where the adjacent ribs are located in three-dimensional space;

[0015] S14. Use curves to connect the two ends of adjacent intersection lines that are close to each other in sequence, so as to form a sine function curve on the same inner wall surface that is composed of multiple curve segments and straight line segments connected in sequence. The sine function curve is the cleaning path of the cleaning robot on the inner wall surface.

[0016] As a further solution of the present invention: the specific content of step S2 is as follows:

[0017] S21. Select a path between continuous peaks and troughs from the sine function curve as a test section;

[0018] S22, moving the cleaning robot along the test section, and adjusting the robot's moving speed, the pitch angle of the nozzle, the rotation speed of the nozzle, and the initial speed of the jet according to the corresponding cleaning requirements, so that the cleaning degree meets the set cleaning requirements.

[0019] As a further solution of the present invention: the specific content of step S3 is as follows:

[0020] S31, according to the current cleaning requirement of the bulkhead, obtaining the moving speed of the cleaning robot under the cleaning requirement;

[0021] S32, according to the moving speed obtained in step S31, calculate the moving time of the cleaning robot in all straight segments and curved segments of the current cleaning path, and sum them up or the time required for the cleaning robot to complete the cleaning path;

[0022] S33, making the cleaning robot complete the cleaning work within the time calculated in step S32.

[0023] As a further solution of the present invention: the moving time of a single straight line segment in the cleaning path is calculated as follows:

[0024] ;

[0025] In the formula, Indicates the length of a single straight line segment in the current cleaning path, in meters; It represents the moving time that the cleaning robot spends passing a single straight line segment in the current cleaning path, in seconds; Indicates the moving speed of the cleaning robot in the current cleaning path, in m / s;

[0026] The travel time for a single curve segment in the cleaning path is calculated as follows:

[0027] ;

[0028] In the formula, It represents the moving time that the cleaning robot spends passing a single curve segment in the current cleaning path, in seconds; represents the velocity coefficient, dimensionless; Indicates the distance between the radial symmetric planes of the left and right wheels on the same rotating shaft of the cleaning robot; It represents the distance between adjacent straight line segments, which is the sum of the spacing between adjacent ribs and the thickness of a single rib, that is, the distance that the cleaning robot moves laterally, in meters;

[0029] The total moving time of the cleaning robot in the current cleaning path is calculated as follows:

[0030] ;

[0031] In the formula, Indicates the total moving time of the cleaning robot in the current cleaning path; Indicates the total number of ribs in the current cleaning path.

[0032] As a further solution of the present invention: the cleaning robot includes a four-wheeled cart that can move on the bulkhead, and a magnetic suction part that can adsorb the four-wheeled cart on the bulkhead during the movement of the four-wheeled cart; the four-wheeled cart is equipped with a flushing part that can spray a jet toward the bulkhead, the flushing part includes a water supply pipe and a guide pipe installed on the four-wheeled cart, the bottom of the guide pipe is swivel-mounted on the water supply pipe, and the rotation axis of the guide pipe is perpendicular to the wall surface of the bulkhead where the four-wheeled cart is currently located; a nozzle is swingably installed on the top of the guide pipe, the pitch swing axis of the nozzle and the rotation axis of the guide pipe intersect perpendicularly to each other, and the axis of the nozzle itself and the pitch swing axis of the nozzle intersect perpendicularly to each other.

[0033] As a further solution of the present invention: the rotation speed of the guide tube is , specifically expressed as follows:

[0034] ;

[0035] In the formula, It indicates the displacement speed of the jet at the point where it hits the bulkhead when the nozzle rotates, i.e. the linear speed, in m / s; Indicates the vertical distance between the pitch and swing axis of the sprinkler and the wall of the bulkhead where the four-wheeled trolley is currently located, in meters; Indicates the angle between the bulkhead wall where the four-wheeled trolley is currently located and the plumb plane, in degrees; It indicates the velocity of the jet at the nozzle outlet, that is, the initial velocity of the jet, in m / s; It represents the distance between the vertical projection of the rotation axis of the guide tube on the bulkhead where the four-wheeled trolley is currently located and the point where the jet falls on the bulkhead, that is, the jet radius, in m; Indicates the acceleration due to gravity in m / s 2 ; It represents the angle between the initial jet direction at the nozzle outlet and the wall surface of the bulkhead where the four-wheeled vehicle is currently located, in degrees; It indicates the vertical distance between the pitch and swing axis of the nozzle and the nozzle outlet, in meters; represents the sine function; represents the cosine function; represents the tangent function.

[0036] As a further solution of the present invention: the guide pipe includes a straight pipe section arranged vertically on the four-wheel trolley, and a U-shaped curved pipe section arranged on the top of the straight pipe section, the straight pipe section and the curved pipe section cooperate with each other to form an upright spoon shape; a driven gear is coaxially fixed to the outer side of the straight pipe section, a driving gear is installed on the driving motor located next to the straight pipe section, and the driving gear and the driven gear are meshed with each other for transmission.

[0037] As a further solution of the present invention: the outlet end of the curved pipe section is rotary sealed and connected to a transfer pipe, the nozzle is coaxially fixed to the outlet end of the transfer pipe, and the axis of rotation of the transfer pipe around the curved pipe section constitutes the pitch and swing axis of the nozzle on the guide pipe.

[0038] As a further solution of the present invention: a support platform is fixedly installed on the outer side of the straight pipe section, a telescopic cylinder is hinged on the support platform, an annular lock buckle is hinged on the top of the telescopic cylinder, the annular lock buckle is coaxially sleeved on the nozzle, and two hinge axes at both ends of the telescopic cylinder are parallel to the pitch swing axis of the nozzle.

[0039] As a further solution of the present invention: the magnetic attraction portion includes four electromagnets fixedly installed on the bottom of the four-wheeled vehicle, and the electromagnets are connected to a power source on the four-wheeled vehicle.

[0040] As a further solution of the present invention: the same magnetic attraction gap is maintained between the four electromagnets and the wall surface of the cabin where the four-wheeled vehicle is located.

[0041] As a further solution of the present invention: the electromagnet is in the shape of a rectangular parallelepiped as a whole, and the side surface thereof close to the wall surface of the bulkhead is an arc surface coaxial with the adjacent wheel.

[0042] As a further solution of the present invention: two wheels on the same side of the four-wheeled vehicle are connected to each other by a same transmission belt, and one of them is driven by a servo motor connected to a power source.

[0043] As a further solution of the present invention: the wheels on both sides of the four-wheeled vehicle are respectively equipped with a servo motor.

[0044] Compared with the prior art, the present invention has the following beneficial effects:

[0045] 1. The present invention first carefully plans the moving path of the cleaning robot according to the bulkhead structure to ensure the comprehensiveness and efficiency of the cleaning. Then, the actual cleaning operation is carried out on the selected test section. This step not only debugs the cleaning parameters, but also ensures that these parameters can meet specific cleaning requirements, thereby improving the cleaning quality. Most notably, this method can accurately calculate the time required to complete the entire bulkhead cleaning based on the current cleaning requirements and the determined cleaning parameters, and efficiently complete the cleaning task within the predetermined time. This precise time management capability makes the cleaning work more orderly and controllable, and also provides strong data support for subsequent cleaning plans. Therefore, the bulkhead cleaning method of the present invention performs well in improving cleaning efficiency, ensuring cleaning quality, and optimizing time management.

[0046] 2. The present invention effectively reduces the size of the robot and improves space utilization efficiency through integrated design; secondly, it realizes remote single-person control, which not only simplifies the operating process, but also greatly reduces the participation of personnel in the cleaning operation, thereby significantly improving the safety and efficiency of the operation.

[0047] 3. The high-pressure water jet of the present invention is ejected from the outlet of the nozzle at a certain initial velocity, and after a period of time, it is ejected onto the bulkhead that needs to be cleaned; and because the robot will be displaced and the pitch angle of the nozzle will change during the cleaning process, the range of the water jet will change. When the left and right rotation speed of the nozzle is constant, the displacement speed of the jet sprayed onto the bulkhead will also change, which will lead to unstable cleaning limits of the wall, inconsistent contact time between the jet and dirt, and inconsistent cleaning effects. Therefore, a calculation formula for the rotation speed of the nozzle is constructed by controlling variables. The calculation formula can effectively adjust the rotation speed in real time, so that the displacement speed of the jet remains stable, and the impact force on the jet landing point is similar, thereby improving the consistency of cleaning and effectively controlling the cleaning effect.

[0048] 4. The wheels on both sides of the four-wheeled trolley of the present invention can rotate independently, which can effectively improve the flexibility of the cleaning robot, so as to move freely and quickly between the ribs of the bulkhead, thereby completing the corresponding cleaning work.

[0049] 5. Maintaining the same magnetic gap is essential to ensure the stability and balance of the four-wheeled trolley on the bulkhead. If the gap is inconsistent, it may cause the trolley to tilt or become unstable during adsorption. Therefore, the stability and adsorption effect of the trolley are optimized by precisely controlling the distance between the electromagnet and the bulkhead. The electromagnet is rectangular as a whole, and its side close to the bulkhead is an arc surface coaxial with the adjacent wheel. The arc surface design makes the electromagnet fit the curved surface of the bulkhead more closely, thereby increasing the magnetic area and improving the adsorption force. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 It is a side structural schematic diagram of the present invention.

[0051] Figure 2 It is a schematic diagram of the cross-sectional structure of the flushing part in the present invention.

[0052] Figure 3 It is a schematic diagram of the axial side structure of the present invention.

[0053] Figure 4 It is a schematic diagram of the size structure of the four-wheeled trolley and the flushing part in the present invention.

[0054] Figure 5 It is a schematic diagram of the bulkhead structure in the present invention.

[0055] Figure 6 It is a structural schematic diagram of the cleaning path in the present invention.

[0056] Figure 7 It is a schematic diagram of the reversing action of the four-wheeled vehicle in the present invention.

[0057] In the figure: 1. four-wheeled trolley; 11. wheels; 2. magnetic suction part; 21. electromagnet; 3. flushing part; 31. water supply pipe; 32. guide pipe; 321. straight pipe section; 322. curved pipe section; 33. driving gear; 34. driven gear; 35. driving motor; 36. supporting platform; 37. telescopic cylinder; 38. ring lock buckle; 39. transfer pipe; 40. nozzle; 5. rib plate. DETAILED DESCRIPTION

[0058] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0059] See also Figure 1 to Figure 4 In the embodiment of the present invention, the cleaning robot includes a four-wheeled vehicle 1, a magnetic suction part 2 and a flushing part 3.

[0060] Two servo motors and corresponding power supplies are installed inside the four-wheeled vehicle 1. Each servo motor drives a wheel 11, and the wheels 11 on the same side are connected to each other through a transmission belt. The two wheels 11 on the same side are one large and one small, the large one is the front wheel and the small one is the rear wheel. The present invention uses the servo motor rear wheel drive mode to move.

[0061] A control system connected to a remote controller is installed inside the four-wheeled vehicle 1. Through the control of the remote controller, the staff can stay away from the cleaning site as much as possible, thereby improving the safety.

[0062] In order to enable the four-wheeled trolley 1 to run stably on the bulkhead, a magnetic attraction portion 2 consisting of four groups of electromagnets 21 is provided at the bottom of the four-wheeled trolley 1. A corresponding current control button is also provided on the remote controller to control the current of the electromagnet 21, so as to adjust the magnetic force generated by the electromagnet 21 in real time, and gradually increase its magnetic attraction as the climbing height of the four-wheeled trolley 1 increases, so as to prevent the trolley from falling from the high place of the bulkhead due to the excessive gravity of the dragging pipeline.

[0063] The flushing part 3 includes an L-shaped water supply pipe 31 fixedly mounted on the body of the four-wheeled cart 1. The water supply pipe 31 is connected to a water pump temporarily installed in the cargo hold to provide water for washing. The length of the water supply pipe 31 is arranged along the length of the four-wheeled cart 1, and its short pipe section is arranged perpendicular to the four-wheeled cart 1. A guide pipe 32 is installed in a coaxial rotary seal connection on the short pipe section of the water supply pipe 31. The guide pipe 32 is divided into a straight pipe section 321 arranged vertically on the four-wheeled cart 1, and a U-shaped curved pipe section 322 connected and arranged at the top of the straight pipe section 321. The straight pipe section 321 and the curved pipe section 322 cooperate with each other to form an upright spoon shape. The straight pipe section 321 is coaxially rotary sealed and connected and installed at the top of the short pipe section, and a driven gear 34 is coaxially sleeved on the outer side of the straight pipe section 321. A driving gear 33 is installed on a driving motor 35 located beside the straight pipe section 321, and the driving gear 33 and the driven gear 34 are meshed with each other for transmission, and the guide tube 32 is driven to rotate by the driving motor 35.

[0064] The outlet end of the curved pipe section 322 is rotary sealed and connected to the transfer pipe 39 , and the nozzle 40 is coaxially fixed to the outlet end of the transfer pipe 39 , and the axis of rotation of the transfer pipe 39 around the curved pipe section 322 constitutes the pitch and swing axis of the nozzle 40 on the guide pipe 32 .

[0065] The pitching and swinging axis of the nozzle 40 and the rotation axis of the guide tube 32 intersect each other perpendicularly, and the axis of the nozzle 40 itself and the pitching and swinging axis of the nozzle 40 intersect each other perpendicularly. Such an axis arrangement enables the nozzle 40 to rotate around the rotation axis of the guide tube 32, thereby improving the accuracy of the calculation of the jet radius.

[0066] A support platform 36 is fixedly installed on the outside of the straight pipe section 321, and a telescopic cylinder 37 is hinged on the support platform 36. A ring lock 38 is hinged on the top of the telescopic cylinder 37. The ring lock 38 is coaxially sleeved on the nozzle 40, and the two hinge axes of the telescopic cylinder 37 are perpendicular to the pitch swing axis of the nozzle 40. The pitch angle of the nozzle 40 is controlled by the extension and contraction of the telescopic cylinder 37.

[0067] The high-pressure water jet of the present invention is ejected from the outlet of the nozzle 40 at a certain initial velocity, and after a period of time, it is ejected onto the bulkhead to be cleaned; and because the robot will move during the cleaning process and the pitch angle of the nozzle 40 will change, the range of the water jet will change. When the left and right rotation speed of the nozzle 40 is constant, the displacement speed of the jet sprayed onto the bulkhead will also change, which will lead to unstable cleaning limits of the wall, inconsistent contact time between the jet and the dirt, and inconsistent cleaning effects. Therefore, a calculation formula for the rotation speed of the guide tube 32 such as formula (1) is constructed by controlling variables. The calculation formula can effectively adjust the rotation speed in real time, so that the displacement speed of the jet remains stable, thereby improving the consistency of cleaning and effectively controlling the cleaning effect.

[0068] (1);

[0069] In the formula, The rotation speed of the guide tube 32 is detected in real time by a rotation speed sensor installed on the four-wheeled vehicle 1.

[0070] It indicates the displacement speed of the point where the jet hits the water wall when the jet rotates in the guide tube 32, that is, the linear velocity, in m / s.

[0071] It represents the vertical distance between the pitching and swinging axis of the nozzle 40 and the wall surface of the cabin where the four-wheeled vehicle 1 is currently located, in units of m, which is a fixed value, that is, it will not change after the robot design is completed.

[0072] It indicates the angle between the wall surface of the bulkhead where the four-wheeled trolley 1 is currently located and the plumb plane. The unit is °. It is a real-time changing value and is detected in real time by the angle sensor installed on the four-wheeled trolley 1.

[0073] It represents the speed of the cleaning water at the outlet of the nozzle 40, that is, the initial jet speed, in m / s, and is obtained by real-time monitoring by a speed sensor arranged at the outlet of the nozzle 40.

[0074] The distance between the vertical projection of the rotation axis of the guide tube 32 on the bulkhead wall where the four-wheeled trolley 1 is currently located and the point where the jet falls on the bulkhead, i.e., the jet radius, is in m. Real-time monitoring can be performed by a distance sensor installed on the four-wheeled trolley 1.

[0075] It represents the angle between the initial jet direction at the outlet of the nozzle 40 and the bulkhead where the four-wheeled vehicle 1 is currently located, in degrees. This angle is adjusted in real time by the telescopic cylinder 37 and detected in real time by the angle sensor installed on the nozzle 40.

[0076] It represents the vertical distance between the pitch and roll axis of the nozzle 40 and the nozzle outlet, in meters. It is fixed in the design of the robot and will not change.

[0077] In this embodiment, the initial velocity of the jet v =24.868m / s, nozzle length L =250mm, nozzle height h =730mm, nozzle pitch angle a =15° or -15°, robot inclination b= 45° or 90°, respectively, to calculate the jet flow at different constant velocities V The angular velocity required to hit the bulkhead is shown in Table 1.

[0078] Table 1 Angular velocity calculation results

[0079] ;

[0080] The specific process of using the cleaning robot to clean the bulkhead is as follows:

[0081] 1. Plan the cleaning path of the cleaning robot according to the structure of the bulkhead.

[0082] S11. Select a position in the cargo hold as the coordinate origin and establish a three-dimensional space coordinate system.

[0083] S12. Place a radar at the coordinate origin and use the radar to scan the bulkhead to construct a three-dimensional model of the cargo hold in a three-dimensional space coordinate system.

[0084] S13, such as Figure 5 As shown, ribs 5 extending in the vertical direction are evenly arranged on the four sides of the bulkhead, and the intersection lines between the symmetry planes between adjacent ribs 5 and the inner wall surfaces where the adjacent ribs 5 are located are drawn in three-dimensional space.

[0085] S14, using curves to connect the two ends of adjacent intersection lines close to each other in sequence, so as to form a sine function curve composed of multiple curve segments and straight line segments connected in sequence on the same inner wall surface, and the sine function curve is the cleaning path of the cleaning robot on the inner wall surface, such as Figure 6 shown. Figure 6 The small vertically arranged rectangles in the figure represent ribs, and the ribs on the same bulkhead are arranged equidistantly in sequence. The thick black line represents a sine function curve that is connected by multiple curved segments and straight segments in sequence. The four-wheeled vehicle 1 moves along the sine function curve, and in the process of moving from left to right, the four-wheeled vehicle 1 is located in the middle of adjacent ribs. After the vehicle moves to the end of the straight segment, it moves in reverse and the left and right wheels rotate at differential speeds to form a moving path of the curved segment, in which the wheel 11 on one side maintains a speed of , the speed of the wheel 11 on the other side is , is greater than 1, so as to realize the reverse turning of the four-wheeled vehicle 1. The turning process is as follows Figure 7 As shown. Figure 6 In the process of moving from right to left, the four-wheeled vehicle 1 can move in the opposite direction according to the original route. And the total time of moving from left to right and from right to left is the same.

[0086] 2. Select a section of the cleaning path as a test section, and use the cleaning robot to clean the bulkhead in the test section to debug and determine the cleaning parameters that meet various cleaning requirements.

[0087] S21. Select any path between continuous peaks and troughs from the sine function curve as a test section.

[0088] S22, move the cleaning robot along the test section, and adjust the robot's moving speed, the pitch angle of the nozzle 40, the rotation speed of the nozzle 40, and the initial speed of the jet according to the corresponding cleaning requirements, so that the cleaning degree meets the set cleaning requirements. If the cleaning requirement is relatively clean, the moving speed of the four-wheeled vehicle 1 is slower, the pitch angle of the nozzle 40 is larger, the rotation speed of the nozzle 40 is slower, and the initial speed of the jet is larger, so as to increase the impact time between the jet and the dirt, thereby effectively washing away the dirt and improving the cleanliness of the washing.

[0089] 3. According to the current cleaning requirements of the bulkhead, the time required to complete the cleaning along the cleaning path is calculated under the cleaning parameters corresponding to the cleaning requirements, and the cleaning work is completed within the time.

[0090] S31. According to the current cleaning requirement of the bulkhead, obtain the moving speed of the cleaning robot under the cleaning requirement.

[0091] S32. According to the moving speed obtained in step S31, calculate the moving time of the cleaning robot in all straight segments and curved segments of the current cleaning path, and sum them up to obtain the time required for the cleaning robot to complete the cleaning path.

[0092] The calculation of the moving time of a single straight line segment in the cleaning path is shown in formula (2):

[0093] (2);

[0094] The calculation of the moving time of a single curve segment in the cleaning path is shown in formula (3):

[0095] (3);

[0096] In this embodiment, the wheelbase D 0.5m, robot lateral movement distance d is 0.9m, the robot speed 3m / min, at the turning radius R Calculate the time required for turning when the distance is 1m and 1.5m respectively The calculation results are shown in Table 2.

[0097] Table 2 Robot curve segment movement time

[0098] ;

[0099] The total moving time of the cleaning robot in the current cleaning path is calculated as shown in formula (4):

[0100] (4);

[0101] In the formula, Indicates the total moving time of the cleaning robot in the current cleaning path; Indicates the total number of ribs in the current cleaning path.

[0102] S33. The positioning chip and multiple sensors in the combined cleaning robot use the three-dimensional model of the cargo hold in the remote control terminal to form a complete moving path with time on the bulkhead, and then complete the cleaning work that meets the current cleaning requirements within the calculated time.

[0103] At the same time, in order to further improve the cleaning effect, the cleaning robot can be made to move cyclically along the cleaning path to perform multiple full-coverage cleanings on the current bulkhead.

[0104] 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 bulkhead cleaning method, characterized in that: The cleaning steps include: S1. Plan the cleaning path of the cleaning robot according to the structure of the bulkhead; S11. Select a position in the cargo hold as the coordinate origin and establish a three-dimensional space coordinate system; S12. placing a radar at the coordinate origin, and using the radar to scan the bulkhead to construct a three-dimensional model of the cargo hold in a three-dimensional space coordinate system; S13. Ribs extending in the vertical direction are arranged evenly on the four sides of the bulkhead. The intersection lines between the symmetry planes between adjacent ribs and the inner wall surfaces where the adjacent ribs are located are drawn in three-dimensional space; S14, sequentially connecting two ends of adjacent intersection lines close to each other using curves, so as to form a sine function curve consisting of a plurality of curve segments and straight line segments sequentially connected on the same bulkhead surface, and the sine function curve is the cleaning path of the cleaning robot on the inner wall surface; S2. Select a section in the cleaning path as a test section, and use the cleaning robot to clean the bulkhead in the test section to debug and determine the cleaning parameters that meet various cleaning requirements; S21. Select a path between continuous peaks and troughs from the sine function curve as a test section; S22, moving the cleaning robot along the test section, and adjusting the moving speed of the robot, the pitch angle of the nozzle (40), the rotation speed of the nozzle (40), and the initial speed of the jet according to the corresponding cleaning requirements, so that the cleaning degree meets the set cleaning requirements; S3. According to the current cleaning requirements of the bulkhead, the time required to complete the cleaning along the cleaning path is calculated under the cleaning parameters corresponding to the cleaning requirements, and the cleaning work is completed within the time; S31, according to the current cleaning requirement of the bulkhead, obtaining the moving speed of the cleaning robot under the cleaning requirement; S32, according to the moving speed obtained in step S31, calculate the moving time of the cleaning robot in all straight segments and curved segments of the current cleaning path, and sum them to obtain the time required for the cleaning robot to complete the cleaning path; S33, making the cleaning robot complete the cleaning work within the time calculated in step S32.

2. A bulkhead cleaning method according to claim 1, characterized in that: The travel time for a single straight line segment in the cleaning path is calculated as follows: ； In the formula, Indicates the length of a single straight line segment in the current cleaning path, in meters; It represents the moving time that the cleaning robot spends passing a single straight line segment in the current cleaning path, in seconds; Indicates the moving speed of the cleaning robot in the current cleaning path, in m / s; The travel time for a single curve segment in the cleaning path is calculated as follows: ； In the formula, It represents the moving time that the cleaning robot spends passing a single curve segment in the current cleaning path, in seconds; represents the velocity coefficient, dimensionless; Indicates the distance between the radially symmetrical planes of the left and right wheels (11) on the same rotating shaft of the cleaning robot; Indicates the distance between adjacent straight line segments in the current cleaning path, which is the sum of the spacing between adjacent ribs and the thickness of a single rib, that is, the distance the cleaning robot moves laterally, in meters; represents the cosine function; The total moving time of the cleaning robot in the current cleaning path is calculated as follows: ； In the formula, Indicates the total moving time of the cleaning robot in the current cleaning path; Indicates the total number of ribs in the current cleaning path.

3. A bulkhead cleaning method according to claim 1 or 2, characterized in that: The cleaning robot comprises a four-wheeled trolley (1) that can move on a bulkhead, and a magnetic attraction portion (2) that can adsorb the four-wheeled trolley (1) on the bulkhead during the movement of the four-wheeled trolley (1); a flushing portion (3) that can spray a jet toward the bulkhead is installed on the four-wheeled trolley (1), and the flushing portion (3) comprises a water supply pipe (31) and a flow guide pipe (32) installed on the four-wheeled trolley (1); the bottom of the flow guide pipe (32) is swivel-mounted on the water supply pipe (31), and the rotation axis of the flow guide pipe (32) is perpendicular to the bulkhead wall surface where the four-wheeled trolley (1) is currently located; a spray head (40) is swivellingly installed on the top of the flow guide pipe (32), the pitch swing axis of the spray head (40) and the rotation axis of the flow guide pipe (32) intersect each other perpendicularly, and the axis of the spray head (40) itself and the pitch swing axis of the spray head (40) intersect each other perpendicularly.

4. A bulkhead cleaning method according to claim 3, characterized in that: The rotation speed of the flow guide tube (32) is , specifically expressed as follows: ； In the formula, represents the displacement velocity at the point where the jet hits the bulkhead when the guide tube (32) rotates, that is, the linear velocity, in m / s; represents the vertical distance between the pitching and swinging axis of the nozzle (40) and the wall surface of the bulkhead where the four-wheeled vehicle (1) is currently located, in meters; represents the angle between the wall surface of the bulkhead where the four-wheeled trolley (1) is currently located and the plumb plane, in degrees; represents the velocity of the jet at the outlet of the nozzle (40), that is, the initial velocity of the jet, in m / s; represents the distance between the vertical projection of the rotation axis of the guide tube (32) on the bulkhead wall surface where the four-wheeled trolley (1) is currently located and the point where the jet falls on the bulkhead wall surface, that is, the jet radius, in m; Indicates the acceleration due to gravity in m / s 2 ; represents the angle between the initial jet direction at the nozzle (40) outlet and the wall surface of the bulkhead where the four-wheeled vehicle (1) is currently located, in degrees; represents the vertical distance between the pitch swing axis of the nozzle (40) and the nozzle (40) outlet, in m; represents the sine function; represents the tangent function.

5. A bulkhead cleaning method according to claim 4, characterized in that: The flow guide pipe (32) comprises a straight pipe section (321) vertically arranged on the four-wheeled trolley (1), and a U-shaped curved pipe section (322) connected and arranged at the top of the straight pipe section (321), the straight pipe section (321) and the curved pipe section (322) cooperate with each other to form an upright spoon shape; a driven gear (34) is coaxially fixedly connected to the outer side of the straight pipe section (321), a driving gear (33) is installed on a driving motor (35) located beside the straight pipe section (321), and the driving gear (33) and the driven gear (34) are meshed with each other for transmission; the outlet end of the curved pipe section (322) is rotatably sealed and connected to a transfer pipe (39), the nozzle (40) is coaxially fixedly connected to the outlet end of the transfer pipe (39), and the axis of rotation of the transfer pipe (39) around the curved pipe section (322) forms a pitching swing axis of the nozzle (40) on the flow guide pipe (32).

6. A bulkhead cleaning method according to claim 5, characterized in that: A support platform (36) is fixedly mounted on the outer side of the straight pipe section (321), a telescopic cylinder (37) is hingedly connected to the support platform (36), an annular lock buckle (38) is hingedly connected to the top end of the telescopic cylinder (37), the annular lock buckle (38) is coaxially sleeved on the nozzle (40), and two hinge axes at both ends of the telescopic cylinder (37) are parallel to the pitching and swinging axis of the nozzle (40).

7. A bulkhead cleaning method according to claim 6, characterized in that: The magnetic attraction portion (2) comprises four electromagnets (21) fixedly mounted on the bottom of the four-wheeled trolley (1), and the electromagnets (21) are connected to a power source on the four-wheeled trolley (1); the four electromagnets (21) maintain the same magnetic attraction gap with the wall surface of the bulkhead on which the four-wheeled trolley (1) is located; the electromagnets (21) are rectangular in shape as a whole, and the side surface close to the bulkhead is an arc surface coaxial with the adjacent wheel (11); two wheels (11) located on the same side of the four-wheeled trolley (1) are connected to each other by a same transmission belt, and one of the wheels is driven by a servo motor connected to the power source; and the wheels (11) on both sides of the four-wheeled trolley (1) are each equipped with a servo motor.

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