Electromagnetic foot hull cleaning robot

Abstract

The invention discloses an electromagnetic foot hull cleaning robot which comprises a robot body, an electromagnetic foot assembly and an image recognition cleaning assembly. The robot body is of a polygonal structure, the side wall of the robot body is rotationally connected with a mechanical arm, the mechanical arm is rotationally connected with an electromagnetic foot assembly, the electromagnetic foot assembly is of an arc-shaped structure, an electromagnet is arranged on the adsorption face of the electromagnetic foot assembly, and multiple circles of electromagnetic contacts are arranged around the electromagnetic foot assembly. A motor is fixedly connected to the robot body, an adjusting arm is rotatably connected to the motor, a connector is rotatably connected to the adjusting arm, a connecting frame is connected to the connector, the connecting frame is rotatably connected with an image recognition cleaning assembly, and a controller is arranged on the abdomen of the robot body. Compared with the prior art, the device has the advantages that the device can be conveniently adjusted, narrow positions which are not easy to clean can be conveniently cleaned, and the structure is stable through the six additionally-arranged electromagnetic feet.

Description

Technical Field

[0001] The invention relates to the field of cleaning robots, in particular to an electromagnetic foot hull cleaning robot. Background Art

[0002] With the development of my country's marine industry, the demand for ship cleaning is increasing. Traditional ship cleaning technology requires a lot of manpower, material resources and time, which will greatly hinder the progress of my country's marine industry and marine military in the long run. Therefore, my country urgently needs a new type of ship barnacle cleaning equipment. At present, the International Maritime Organization (IMO) is accelerating the formulation of ship biological invasion standards. It can be foreseen that hull cleaning will become part of statutory inspections in the future. The requirements and frequency of ship cleaning will inevitably increase. In order to save costs and protect the environment, various types of underwater cleaning technologies for hulls are constantly developing.

[0003] The existing cleaning method is: the onshore monitoring platform establishes communication with the robot through an umbilical cable or a wireless local area network. The robot obtains the robot's body posture, underwater operating environment, and biological adhesion on the hull surface through the perception system and feeds back to the onshore monitoring platform in real time. The operator or the robot control system adjusts the relevant parameters of the cleaning unit and the robot's cleaning path based on the feedback information, thereby completing the hull cleaning operation. Summary of the invention

[0004] The technical problem to be solved by the present invention is to overcome the above technical defects and provide a cleaning robot that can be easily adjusted, convenient for cleaning narrow places that are difficult to clean, and has a stable structure through six electromagnetic feet.

[0005] In order to solve the above problems, the technical solution of the present invention is: an electromagnetic foot hull cleaning robot, comprising a robot body, an electromagnetic foot component and an image recognition cleaning component;

[0006] The robot body is a polygonal structure, and a mechanical arm is rotatably connected to its side wall. The mechanical arm is rotatably connected to an electromagnetic foot assembly. The electromagnetic foot assembly is an arc-shaped structure. The adsorption surface of the electromagnetic foot assembly contains an electromagnet. The electromagnetic foot assembly is surrounded by multiple circles of electromagnetic contacts. A motor is fixedly connected to the robot body, an adjusting arm is rotatably connected to the motor, a connecting head is rotatably connected to the adjusting arm, a connecting frame is connected to the connecting head, the connecting frame is rotatably connected to the image recognition cleaning assembly, and a controller is provided on the abdomen of the robot body.

[0007] Furthermore, an active ball joint is used between the robotic arm and the electromagnetic foot assembly to adjust the angle in multiple directions, and a sensor system is used to realize the joint self-locking function and calibrate the adsorption position.

[0008] Furthermore, the adjusting arm is a square structure with limiting holes on both sides thereof. The adjusting arm also includes a telescopic arm, which is movably plugged into the adjusting arm and connected to the limiting holes for easy fixation.

[0009] Furthermore, the image recognition cleaning component includes a small camera device, a milling blade is connected to the side wall of the small camera device, and a small motor is connected to the milling blade for driving.

[0010] Furthermore, a cleaning device is provided at the bottom of the robot body, and the cleaning device includes a second milling blade. A sensor and a driving motor are connected to the second milling blade, and the sensor is connected to a controller in the robot body.

[0011] The advantages of the present invention compared with the prior art are:

[0012] (1) The present invention is provided with an electromagnetic foot control system to perform adsorption on the surface of the hull through electromagnetic adsorption. The electromagnetic foot adsorption surface is dominated by the main electromagnet and is surrounded by multiple circles of small electromagnetic contacts, which can adapt to the hull surface with a small curvature. An active ball joint is used above the electromagnetic adsorption to adjust the angle in multiple directions, and a sensor system is used to realize the self-locking function of the joint and calibrate the adsorption position, so that the robot can cope with various paths.

[0013] (2) In addition, the present invention uses an image recognition visual system to detect the path through a small camera device to perform an image recognition algorithm, scan and identify the object to be cleaned, and transmit the image to the operator on board, so that the underwater environment can be manually controlled. An underwater searchlight is installed on the body to facilitate the robot's work. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 The electromagnetic foot hull cleaning robot of the present invention is a three-dimensional Figure 1 .

[0015] Figure 2 The electromagnetic foot hull cleaning robot of the present invention is a three-dimensional Figure 2 .

[0016] As shown in the figure: 1. Robot body; 2. Robotic arm; 3. Motor; 4. Adjustment arm; 5. Connector; 6. Connecting frame. DETAILED DESCRIPTION

[0017] The specific implementation of the present invention is further described below in conjunction with the accompanying drawings, wherein the same components are represented by the same reference numerals.

[0018] It should be noted that the words "front", "rear", "left", "right", "up" and "down" used in the following description refer to directions in the drawings, and the words "inside" and "outside" refer to directions toward or away from the geometric center of a specific component, respectively.

[0019] In order to make the contents of the present invention more clearly understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0020] like Figure 1 to Figure 2 As shown, an electromagnetic foot hull cleaning robot comprises a robot body 1, an electromagnetic foot assembly and an image recognition cleaning assembly; the robot body 1 is a polygonal structure, and its side wall is rotatably connected to a mechanical arm 2, the mechanical arm 2 is rotatably connected to the electromagnetic foot assembly, the electromagnetic foot assembly is an arc structure, the adsorption surface of the electromagnetic foot assembly contains an electromagnet, and a plurality of circles of electromagnetic contacts are arranged around the electromagnetic foot assembly, a motor 3 is fixedly connected to the robot body 1, an adjusting arm 4 is rotatably connected to the motor 3, the adjusting arm 4 is a square structure, and limit holes are arranged on both sides thereof, the adjusting arm 4 also comprises a telescopic arm, the telescopic arm is movably plugged into the adjusting arm 4, and is connected to the limit holes for easy fixation, a connecting head 5 is rotatably connected to the adjusting arm 4, a connecting frame 6 is connected to the connecting head 5, the connecting frame 6 is rotatably connected to the image recognition cleaning assembly, and a controller is arranged on the abdomen of the robot body 1.

[0021] During specific use, an active ball joint is used between the robot arm 2 and the electromagnetic foot assembly to adjust the angle in multiple directions, and a sensor system is used to realize the self-locking function of the joint, calibrate the adsorption position, and use electromagnetic adsorption to perform adsorption on the hull surface. The electromagnetic foot adsorption surface is dominated by the main electromagnet and is surrounded by multiple circles of small electromagnetic contacts, which can adapt to the hull surface with a small arc. An active ball joint is used above the electromagnetic adsorption to adjust the angle in multiple directions, and a sensor system is used to realize the self-locking function of the joint and calibrate the adsorption position, so that the robot can cope with various paths.

[0022] The image recognition cleaning component includes a small camera device, a milling blade is connected to the side wall of the small camera device, and a small motor is connected to the milling blade for driving. Specifically, the image recognition algorithm is used to detect the path through the small camera device, scan and identify the object to be cleaned, and transmit the image to the operator on the ship. The image can be used to monitor the automatic function of the robot and manually operate the robot. The camera is built on a multi-joint multi-degree-of-freedom mechanical arm, which can be manually controlled to detect the underwater environment. An underwater searchlight is installed on the body to facilitate the robot to work.

[0023] In addition, a cleaning device is provided at the bottom of the robot body 1 , and the cleaning device includes a second milling blade. A sensor and a driving motor are connected to the second milling blade. The sensor is connected to a controller in the robot body 1 .

[0024] The present invention and its embodiments are described above, and such description is not restrictive. The drawings show only one embodiment of the present invention, and the actual structure is not limited thereto. In short, if ordinary technicians in the field are inspired by it, without departing from the purpose of the invention, they can design a structure and embodiment similar to the technical solution without creativity, which should belong to the protection scope of the present invention.

Claims

1. Electromagnetic foot hull cleaning robot, characterized in that: It comprises a robot body (1), an electromagnetic foot component and an image recognition cleaning component; The robot body (1) is a polygonal structure, and a mechanical arm (2) is rotatably connected to its side wall. The mechanical arm (2) is rotatably connected to an electromagnetic foot assembly. The electromagnetic foot assembly is an arc-shaped structure. The adsorption surface of the electromagnetic foot assembly contains an electromagnet. The electromagnetic foot assembly is surrounded by a plurality of circles of electromagnetic contacts. A motor (3) is fixedly connected to the robot body (1), and an adjustment arm (4) is rotatably connected to the motor (3). A connecting head (5) is rotatably connected to the adjustment arm (4). A connecting frame (6) is connected to the connecting head (5), and the connecting frame (6) is rotatably connected to the image recognition cleaning assembly. A controller is provided on the abdomen of the robot body (1).

2. The electromagnetic foot hull cleaning robot according to claim 1, characterized in that: An active ball joint is used between the mechanical arm (2) and the electromagnetic foot assembly to adjust the angle in multiple directions, and a sensor system is used to realize a joint self-locking function and calibrate the adsorption position.

3. The electromagnetic foot hull cleaning robot according to claim 1, characterized in that: The adjusting arm (4) is a square structure, with limiting holes on both sides thereof. The adjusting arm (4) also includes a telescopic arm, which is movably plugged into the adjusting arm (4) and connected to the limiting holes for easy fixation.

4. The electromagnetic foot hull cleaning robot according to claim 1, characterized in that: The image recognition cleaning component comprises a small camera device, a side wall of which is connected with a milling blade, and the milling blade is connected with a small motor for driving.

5. The electromagnetic foot hull cleaning robot according to claim 1, characterized in that: A cleaning device is provided at the bottom of the robot body (1), and the cleaning device comprises a second milling blade. A sensor and a drive motor are connected to the second milling blade, and the sensor is connected to a controller in the robot body (1).

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