A bottom-adsorbing robot for ships

Abstract

The present invention discloses a bottom adsorption robot, belonging to the field of underwater robots, which can perform tasks in polar regions. The robot includes a robot body and a walking base, and the walking base is detachably installed on the upper part of the robot body. A thruster system and a control system are installed on the robot body. The walking base includes a magnetic adsorption system, a crawler walking system, and a crawler heating system. When the temperature of the crawler is lower than the preset temperature, the crawler heating system heats the crawler to prevent the crawler from slipping at low temperatures and improve the walking stability of the bottom adsorption robot. The control system cooperatively controls the thruster system, the magnetic adsorption system, the crawler walking system, and / or the crawler heating system to improve the walking stability and accuracy while keeping the appropriate adsorption force of the bottom adsorption robot. When any one of the thruster system, the magnetic adsorption system, the crawler walking system, and the crawler heating system fails, other systems make up for the functional deficiencies of the faulty system.

Description

Technical Field

[0001] The present invention relates to the field of marine vessels, and particularly to a bottom adsorption robot for ships, which can perform tasks in polar regions. Background Art

[0002] Bottom adsorption robots are a type of intelligent device designed for ship maintenance and underwater operations. They are mainly used to remove marine organisms (such as barnacles, seaweeds), rust, and dirt attached to the hull or the bottom of the ship, and can solve problems such as high costs and environmental pollution in traditional cleaning methods. With the development of ship technology, bottom adsorption robots have gradually integrated more functions to complete various complex cleaning and maintenance tasks, such as coating maintenance and rust prevention treatment, defect scanning and corrosion detection, data collection and feedback, welding and cutting operations, search and rescue, and salvage. This has put increasingly high requirements on the adaptability, stability, and controllability of bottom adsorption robots. In particular, the walking ability of bottom adsorption robots, as the basis for performing other tasks, requires the robot to quickly and accurately reach the target area or complete the walking task according to the planned path.

[0003] Since the working environment of bottom adsorption robots includes various complex environments such as the bottom of the ship, underwater, and on the water surface. Affected by factors such as water flow, wind, and waves, under the influence of multiple factors, bottom adsorption robots often cannot accurately and quickly complete the walking task, resulting in reduced work efficiency. The existing technologies include changing the electromagnetic force or vacuum adsorption force to increase the surface friction and reduce the impact of external factors on the walking task. For example, in CN118637035A, a multi-functional underwater robot for ship cleaning and detection is proposed. It optimizes the matching of the center of gravity and the center of buoyancy of the robot through the movable control cabin technology, enhances the stability and controllability of underwater operations, and integrates an electromagnetic adsorption device in the traveling device. Combined with real-time monitoring by the attitude sensor, the track adsorption force is adjusted to make the robot move straight stably in complex sea conditions and slippery environments.

[0004] With the global emphasis on polar development, more and more scientific research institutions in China have also participated in polar scientific research and development. When scientific research equipment enters the polar region for work, it needs to be able to adapt to the polar working environment. In the polar region, the temperature is low, the water flow and waves are large, the wind and waves on the water surface change violently, and the hull surface may freeze. Especially when parked for a long time, there may even be thin ice on the bottom of the ship. These situations pose higher working requirements for the bottom-adsorbing robot. In addition to these external factors, in a low-temperature environment, the walking track of the bottom-adsorbing robot will undergo low-temperature hardening. Compared with the soft state, not only does the contact area decrease, but the surface friction coefficient of the material also decreases, resulting in the track being unable to provide sufficient walking friction for the walking of the bottom-adsorbing robot, and causing yaw or slipping; in addition, the track works at low temperature for a long time and is prone to embrittlement and fracture. If the track works under a large fitting pressure for a long time, its service life will be reduced. The existing bottom-adsorbing robots cannot meet the walking requirements for polar operations. Summary of the Invention

[0005] The purpose of this application is to overcome the deficiencies of the prior art and propose a bottom-adsorbing robot that can work in the polar region, which can solve the problems that the existing bottom-adsorbing robots cannot adapt to the polar environment, cannot meet the walking requirements, and have a low service life. The bottom-adsorbing robot of the present invention can stably and accurately perform walking tasks in the polar environment for a long time, and then complete related cleaning, maintenance, inspection and other work.

[0006] A bottom-adsorbing robot includes a robot body and a walking base, and the walking base is detachably installed on the upper part of the robot body. A thruster system and a control system are installed on the robot body; the walking base includes a magnetic adsorption system, a track walking system, and a track heating system.

[0007] The thruster system includes a plurality of thrusters, which are evenly distributed at a lower position of the robot body and can freely adjust the thrust direction according to the control signal. It can not only increase the fitting pressure of the bottom-adsorbing robot on the bottom of the ship or the hull, but also enable the bottom-adsorbing robot to shuttle freely underwater.

[0008] The walking base is a detachable and universally installable and replaceable track walking module, and the walking base is detachably installed on the upper part of the robot body. The walking base can replace the existing bottom-adsorbing robot, enabling the existing bottom-adsorbing robot to adapt to the polar walking environment and improving the versatility of the bottom-adsorbing robot. The walking base includes a magnetic adsorption system, a track walking system, and a track heating system.

[0009] The magnetic adsorption system is installed in the middle position of the walking base, and it includes a lifting mechanism, an electromagnet, etc. The electromagnet can be lifted and moved through the lifting mechanism to adjust the distance between the electromagnet and the adsorption surface, and the adsorption force is controlled by adjusting the current and / or distance of the electromagnet. The bottom adsorption robot of the ship can control the adsorption force to ensure stable adsorption or flexible movement under different operation requirements. Preferably, the magnetic adsorption system can use a permanent magnet to replace the electromagnet.

[0010] The crawler walking system includes a walking drive mechanism, crawlers, etc. The walking drive mechanism can drive and control the walking speed and / or walking direction of the crawlers. Under the action of the propulsion force of the thruster system and / or the adsorption force of the magnetic adsorption system, a fitting pressure on the bottom of the ship or the hull is generated, and thus the crawlers can generate frictional force on the bottom of the ship or the hull surface, enabling the bottom adsorption robot of the ship to stably adsorb, move and operate on the bottom of the ship or the hull.

[0011] The crawler heating system includes heating elements that can heat the crawlers, and the crawler heating function is realized by closed-loop control through a temperature sensor and the heating elements. When the temperature sensor detects that the temperature of the crawlers is lower than the set temperature threshold, the heating elements are started to ensure that the crawlers can still maintain sufficient flexibility and frictional force in a low-temperature environment.

[0012] When the bottom adsorption robot of the ship is operating, both the thruster system and the magnetic adsorption system can provide a vertical pressure relative to the bottom of the ship or the hull for the bottom adsorption robot of the ship, enabling the robot to tightly adsorb on the ship surface. In the adsorption state, the bottom adsorption robot of the ship can walk on the bottom of the ship or the hull and perform operations such as detection, cleaning, and maintenance without yawing or detaching from the hull due to water flow or its own movement. The bottom adsorption robot of the ship can flexibly and coordinately adjust the thruster system, the magnetic adsorption system, the crawler walking system, and / or the crawler heating system according to environmental parameters such as temperature and water flow conditions, and improve the walking stability and accuracy while maintaining an appropriate fitting force.

[0013] The control method of the bottom adsorption robot of the ship that can be used in polar environments is as follows: when the temperature of the crawlers is lower than the preset temperature, start the crawler heating system to heat the crawlers; improve the walking stability by coordinately controlling the thruster system, the magnetic adsorption system, and the crawler heating system; when any one of the thruster system, the magnetic adsorption system, the crawler walking system, the crawler walking system, and the crawler heating system fails, other systems make up for its missing functions. The specific control method is as follows:

[0014] Step 1. In the polar low-temperature operation environment, the bottom adsorption robot of the ship receives a walking instruction, and the magnetic adsorption system is adjusted to the initial adsorption force, so that the bottom adsorption robot of the ship adsorbs to the hull surface, generates an initial walking frictional force, and executes the walking task.

[0015] Step 2. When the bottom adsorption robot is performing the walking task, the track temperature is obtained in real time. When the track temperature is lower than the preset temperature, the track heating system is started to heat the track.

[0016] Step 3. When small swells or slight deviations in the walking path are detected, the magnetic adsorption system is adjusted to increase the adsorption adhesion force of the bottom adsorption robot relative to the bottom of the ship or the hull, increase the walking friction force, and resist small swells or prevent deviations in the walking path.

[0017] Step 4. When large swells or severe deviations in the walking path are detected, the magnetic adsorption system, the track heating system, and the thruster system are adjusted to resist large swells or prevent severe deviations in the walking path;

[0018] Step 5. The thruster system, the magnetic adsorption system, the track walking system, and the track heating system are redundant to each other. When any one of the thruster system, the magnetic adsorption system, the track walking system, or the track heating system fails, the other systems make up for the missing functions of the failure.

[0019] Through the above control method, the bottom adsorption robot can stably and accurately perform work tasks in the polar environment. The present invention has the following beneficial effects and advantages:

[0020] 1. The present invention proposes a general walking base, which is suitable for walking in the polar environment. By replacing the base of the existing bottom adsorption robot product with the general walking base of the present invention, the bottom adsorption robot can stably walk in the polar environment and accurately perform related tasks, improving the versatility and environmental adaptability of the bottom adsorption robot.

[0021] 2. The present invention adds a track heating system to the track of the walking base. When the track hardens due to low temperature, by heating the track, not only can the flexibility of the track be maintained, the walking contact area be increased, but also the friction coefficient of the track walking contact surface can be increased, preventing the track from slipping at low temperature, improving the walking stability of the bottom adsorption robot, and enabling the bottom adsorption robot to work stably in the polar environment for a long time;

[0022] 3. The control system of the present invention flexibly and coordinately adjusts the thruster system, the magnetic adsorption system, the track walking system, and / or the track heating system according to environmental conditions such as track temperature and water flow conditions, improving the walking stability and accuracy while maintaining an appropriate adsorption adhesion force;

[0023] 4. The thruster system and magnetic adsorption system of the present invention can provide adhesion force for the bottom - adsorbed robot of the ship. The thruster system and crawler walking system can provide driving force for walking and control the direction of the bottom - adsorbed robot of the ship. The thruster system, magnetic adsorption system, and crawler heating system can all control the walking friction force of the bottom - adsorbed robot of the ship. The thruster system, magnetic adsorption system, crawler walking system, and crawler heating system can be redundant systems with each other. When one of the systems fails, the other systems can cooperate to make up for the function loss caused by the failure.

[0024] The above description is only an overview of the technical solution of the present invention. In order to be able to understand the technical means of the present invention more clearly, it can be implemented according to the content of the specification. And in order to make the above and other purposes, features, and advantages of the present invention more obvious and understandable, the following specifically gives the specific embodiments of the present invention. Brief Description of the Drawings

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or in the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained according to these drawings.

[0026] Figure 1 It is a schematic diagram of a bottom - adsorbed robot of the ship disclosed by the present invention;

[0027] Figure 2 It is a schematic diagram of the walking base of the present invention; Detailed Description of the Embodiments

[0028] The exemplary embodiments of the present invention will be described in more detail below with reference to the drawings. Although the exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided so that the present invention can be more thoroughly understood and the scope of the present invention can be completely conveyed to those skilled in the art.

[0029] As Figure 1 shown, it is a bottom - adsorbed robot of the ship, which includes a robot body 1 and a walking base 2. The walking base 2 is an independent module and is detachably installed on the upper part of the robot body 1. A thruster system 3 and a control system are installed on the robot body 1, and task - execution devices required by configuration can also be selectively installed on the robot body 1; the walking base 2 includes a crawler walking system, a magnetic adsorption system 4, and a crawler heating system.

[0030] The thruster system 3 includes multiple thrusters, which are evenly installed at a lower position of the robot body 1 and are protected and supported by a frame. The multiple thrusters can freely adjust the thrust direction according to control signals. This layout helps to flexibly control the movement direction, speed, and attitude of the botttom adsorption robot underwater. The multiple thrusters can work together to achieve full degrees of freedom of movement underwater. With multiple thrusters, not only can the fitting pressure of the bottom adsorption robot on the bottom of the ship or the hull be increased, but also the bottom adsorption robot can freely shuttle underwater, with good mobility. This enables it to reach the designated operation position in a complex underwater environment.

[0031] As Figure 2 shown, it is the walking base 2 of the bottom adsorption robot. The walking base 2 is detachably installed on the upper part of the robot body 1. The walking base 2 of the present invention is a detachable crawler walking module. Preferably, the walking base 2 is a universal base, which can adjust the wheelbase within a certain range to fit and replace the bases of a variety of existing bottom adsorption robots, enabling the existing bottom adsorption robots to adapt to the polar walking environment simply by replacing the walking base, and improving the versatility and environmental adaptability of the bottom adsorption robots.

[0032] The walking base 2 includes a magnetic adsorption system 4, a crawler walking system, and a crawler heating system.

[0033] The magnetic adsorption system 4 is installed in the middle of the walking base 2 and includes a lifting mechanism 41 and an electromagnet 42. The electromagnet 42 can be lifted and moved through the lifting mechanism 41. By controlling the distance between the electromagnet 42 and the bottom of the ship or the hull surface, the magnitude of the magnetic adsorption force can be controlled, that is, the magnitude of the force with which the bottom adsorption robot adsorbs on the bottom of the ship. By adjusting the current and / or distance, the bottom adsorption robot can achieve the control of the adsorption force to ensure stable adsorption or flexible movement under different operation requirements.

[0034] Preferably, the magnetic adsorption system 4 can use a permanent magnet to replace the electromagnet 42 to reduce the energy consumption of the bottom system robot. When using a permanent magnet, the distance between the permanent magnet and the bottom of the ship or the hull is adjusted through the lifting mechanism 41, thereby adjusting the magnitude of the magnetic adsorption force.

[0035] The crawler travel system includes a travel drive mechanism, crawlers, etc. The travel drive mechanism can drive and control the travel speed and / or travel direction of the crawlers. Under the action of the propulsion force of the thruster system 3 and / or the adsorption force of the magnetic adsorption system 4, a fitting pressure on the ship bottom or the hull bottom is generated. Thereby, the crawlers can generate frictional force on the ship bottom or the hull surface, enabling the ship bottom adsorption robot to stably adsorb, move, and operate on the ship bottom or the hull. The crawlers can adapt to different shapes and surface conditions of the ship bottom. At the same time, the crawlers also have a certain degree of flexibility to better fit the ship bottom curved surface. By adjusting the thrust and / or adsorption force, the frictional force of the crawlers can be controlled, thereby regulating the smoothness of the robot's movement on the ship bottom. By adjusting the current of the corresponding thruster, lifting mechanism 41, and / or electromagnet 42, the robot can precisely control the magnitude of the force fitting on the ship bottom or the hull. This design enables the robot to flexibly adjust the adsorption force according to the operation requirements. The crawler heating system includes a heating element that can heat the crawlers. The crawler heating function is realized through a closed-loop control of a temperature sensor and the heating element. When the temperature sensor detects that the crawler temperature is lower than the set temperature threshold, the heating element is activated to ensure that the crawlers can still maintain sufficient flexibility and frictional force in a low-temperature environment.

[0036] Preferably, the crawlers are made of flexible rubber material. Heating elements are embedded inside the crawlers or the crawlers are heated by an external heating device. After the heating elements are powered on, heat is generated, increasing the temperature of the crawlers. The increase in the crawler temperature will change its physical properties. The rubber becomes softer after being moderately heated, with enhanced conformability, and can better fit the complex curved surface of the ship bottom, increasing the contact area. The heated crawlers are rougher in microstructure, thereby increasing the frictional force with the ship bottom surface. Under a certain normal pressure, the frictional force is increased, enhancing the adsorption stability of the robot on the ship bottom.

[0037] The influence of the crawler heating system on the crawler travel ability includes: after the heating element raises the temperature of the crawlers, the flexibility of the rubber molecular chains is enhanced, and the thermal expansion and contraction effect makes the microstructure of the rubber surface rougher. The microscopic conformability between the crawlers and the ship bottom surface is improved, and the friction coefficient increases significantly compared with the rubber surface hardened at low temperature; the surface hardness of the heated crawlers decreases, and the flexible rubber can be deformed, which can not only fit the surface of the ship bottom or the hull better, but also fill some grooves, resulting in a significant increase in the contact area and a more uniform distribution of the normal pressure, further increasing the effective frictional force; for the ice layer that may adhere to the hull or the ship bottom, the heated crawlers can melt the ice layer in the contact area, avoiding a sudden drop in the friction coefficient at the ice-rubber interface and preventing slipping.

[0038] When the bottom - adsorbed robot is operating, both the thruster system 3 and the magnetic adsorption system 4 can provide a vertical pressure on the bottom - adsorbed robot relative to the ship bottom or hull, enabling the robot to firmly adhere to the ship surface. In the adsorbed state, the robot can move on the ship bottom or hull and perform operations such as detection, cleaning, and maintenance without yawing or detaching from the hull due to water flow or its own movement.

[0039] Preferably, the control system of the bottom - adsorbed robot can flexibly and coordinately control and adjust the thruster system 3, the magnetic adsorption system 4, the crawler walking system, and / or the crawler heating system according to environmental parameters such as temperature and water flow conditions, so as to improve the walking stability and accuracy while maintaining an appropriate adhesion force.

[0040] Since both the thruster system 3 and the magnetic adsorption system 4 can provide an adhesion pressure for the bottom - adsorbed robot, both the thruster system 3 and the crawler walking system can provide a driving force for the bottom - adsorbed robot to move and control the direction; both the thruster system 3, the magnetic adsorption system 4, and the crawler heating system can control the walking friction of the bottom - adsorbed robot. Therefore, the thruster system 3, the magnetic adsorption system 4, the crawler walking system, and the crawler heating system can be redundant systems for each other. When one of the systems fails, the other systems can cooperate to make up for the functional deficiencies caused by the failure.

[0041] For the bottom - adsorbed robot of the present invention that can work in polar environments, its control method is as follows: when the temperature of the crawler is lower than the preset temperature, start the crawler heating system to heat the crawler; improve the walking stability by coordinately controlling the thruster system 3, the magnetic adsorption system 4, the crawler walking system, and the crawler heating system; when any one of the thruster system 3, the magnetic adsorption system 4, the crawler walking system, and the crawler heating system fails, the other systems make up for its functional deficiencies. The specific control method is as follows:

[0042] Step 1. In the polar low - temperature operation environment, the bottom - adsorbed robot receives a walking instruction, and the magnetic adsorption system 4 adjusts to the initial adsorption force, so that the bottom - adsorbed robot adsorbs to the ship bottom or hull surface, generates an initial walking friction force, and executes the walking task.

[0043] Specifically, the lifting mechanism 41 of the magnetic adsorption system 4 adjusts to the initial set height and is energized with the rated current to generate the initial adsorption force. The initial set height and the rated current of the electromagnet 42 can be set as: at the target temperature T1, when the walking mechanism is under slight water flow disturbance, it can maintain stable walking and has the optimal energy consumption. At this value, the bottom - walking robot can generate an appropriate adsorption force, while providing an appropriate walking friction force, and will not generate an excessive adsorption pressure on the walking mechanism and the walking surface, etc., reducing the damage to the adsorption robot or the walking surface caused by excessive adsorption pressure.

[0044] Preferably, the magnetic adsorption system 4 can use permanent magnets to replace the electromagnet 42 to reduce the energy consumption of the robot of the bottom system of the ship. When using permanent magnets, the magnetic adsorption force is adjusted by the lifting mechanism 41.

[0045] Step 2. When the bottom adsorption robot performs the walking task, the temperature T of the crawler is obtained in real time. When the temperature T of the crawler is less than the preset temperature T2, the crawler heating system is started to heat the crawler.

[0046] When the temperature of the crawler is lower than the preset temperature T2, the crawler begins to undergo low-temperature hardening, and the friction coefficient decreases rapidly. It is not sufficient to provide enough walking friction, and slipping or walking route deviation will occur. The preset temperature T2 can be obtained through a material temperature experiment.

[0047] The heating element of the crawler heating system converts electrical energy into heat energy, so that the temperature of the crawler gradually rises to the target temperature T1, where T1>T2. As the temperature rises, the flexibility of the crawler material increases, and its fit with the bottom or the surface of the hull is significantly improved, and it can closely fit various tiny concave and convex structures on the bottom of the ship, increasing the actual contact area. At the same time, the friction coefficient between the heated crawler surface and the hull or the bottom of the ship increases significantly. Therefore, under a certain normal pressure, the friction force is greatly increased, so that the robot can not only avoid slipping, but also has preliminary anti-flow ability, enough to resist tiny water flow disturbances.

[0048] Step 3. When small surges or slight walking path deviations are detected, the magnetic adsorption system 4 is adjusted to increase the adsorption adhesion of the bottom adsorption robot relative to the bottom or the hull of the ship, increase the walking friction force, and resist small surges or prevent slight walking path deviations;

[0049] Specifically, the adsorption pressure can be increased to resist the surges by adjusting the height of the magnetic adsorption system 4 and / or the magnitude of the electromagnetic current. When encountering small surges, the robot sensor senses a certain water flow impact and hull shaking. When the water flow impact force and / or shaking exceed the first threshold and the first duration, the control system issues an instruction to reduce the distance between the magnet and the hull or the bottom of the ship and / or increase the current of the electromagnet 42, so that the bottom adsorption robot is more closely attached to the bottom or the surface of the hull, ensuring that the hull adsorption robot can still stably adsorb and move in a small surge environment.

[0050] Step 4. When large surges or serious walking path deviations are detected, adjust the magnetic adsorption system 4, the propulsion force and the propulsion direction of the crawler heating system and the thruster system 3 to resist large surges or prevent serious walking path deviations;

[0051] When large ocean swells appear on the sea surface, the robot sensors sense a large water flow impact and severe hull shaking. When the water flow impact force and / or shaking exceed the second threshold and the second time duration, the control system issues an instruction to first adjust the magnetic adsorption system 4 to the maximum magnetic adsorption force and adjust the crawler heating system to the maximum heating power to heat the crawlers to the highest set temperature. Then, start or increase the propeller thrust and adjust the propeller direction to increase the thrust in the corresponding direction. The thrust generated by the propeller not only makes the bottom-adsorption robot stick more closely to the bottom of the ship or the hull, but also can appropriately offset part of the thrust of the ocean swells. At this time, the normal pressure between the bottom-adsorption robot and the hull increases, the friction coefficient increases, and the frictional force also increases. At the same time, the propeller can also offset part of the impact of the water flow, enabling the robot to maintain a relatively stable position on the bottom of the ship and continue to perform inspection, cleaning, or maintenance tasks.

[0052] Step 5. The propeller system 3, the magnetic adsorption system 4, the crawler walking system, and the crawler heating system are redundant systems. When any one of the propeller system 3, the magnetic adsorption system 4, the crawler walking system, or the crawler heating system fails, the other systems make up for the missing functions of the faulty system.

[0053] When a fault in the propeller system 3 is detected, the walking friction can be enhanced and adjusted through the magnetic adsorption system 4 and / or the crawler heating system, and the running direction of the robot can be controlled by adjusting the crawler walking system.

[0054] When a fault in the magnetic adsorption system 4 is detected, the walking friction can be increased through the propeller system 3 and / or the crawler heating system; the running direction of the robot can be controlled by the crawler walking system and / or the propeller system 3.

[0055] When a fault in the crawler walking system is detected, the walking friction can be increased through the propeller system 3, the magnetic adsorption system 4, and / or the crawler heating system, and the running direction of the robot can be controlled by the propeller system 3.

[0056] When a fault in the crawler heating system is detected, the walking friction can be increased through the propeller system 3 and / or the magnetic adsorption system 4; the running direction of the robot can be controlled by the crawler walking system and / or the propeller system 3.

[0057] Through the above control method, the bottom-adsorption robot can stably and accurately perform work tasks in polar environments.

Claims

1. A control method for a ship-bottom adsorption robot applicable to polar regions, characterized in that, The method includes starting a track heating system to heat the track when the track temperature is lower than a preset temperature; improving the walking stability by coordinating and controlling a propeller system, a magnetic adsorption system, a track travel system and / or a track heating system; when any of the propeller system, the magnetic adsorption system, the track travel system and the track heating system fails, the other systems compensate for the functional loss; The method specifically comprises: Step 1. In a polar operating environment, the ship bottom adsorption robot receives a walking instruction, and the magnetic adsorption system is adjusted to an initial adsorption force, so that the ship bottom adsorption robot is adsorbed to the ship bottom or the surface of the hull, generates an initial walking friction force, and performs a walking task; Step 2. When the ship bottom adsorption robot performs a walking task, the track temperature is obtained in real time. When the track temperature is lower than a preset temperature, the track heating system is started to heat the track; Step 3. When a small surge or a slight deviation of the walking path is detected, the magnetic adsorption system is adjusted to increase the adsorption and adhesion force of the bottom adsorption robot relative to the bottom or hull of the ship, and increase the walking friction; when the impact force and / or shaking of the water flow exceeds the first threshold and the first duration, the control system reduces the distance between the magnet and the hull or the bottom of the ship and / or increases the current of the electromagnet, so that the bottom adsorption robot is more closely attached to the bottom or hull surface; Step 4. When a large surge or a serious deviation of the walking path is detected, the magnetic adsorption system, the track heating system and the propeller system are adjusted.

2. The method according to claim 1, characterized in that The step 4 specifically includes that when the water flow impact force and / or shaking exceeds the second threshold and the second duration, the control system first adjusts the magnetic adsorption system to the maximum magnetic adsorption force, and heats the track to the highest set temperature by the track heating system; then starts or increases the propulsion force of the propeller and adjusts the propulsion direction.

3. The method according to claim 1, characterized in that The method also includes step 5, which is: the propeller system, the magnetic adsorption system, the track travel system, and the track heating system are mutually redundant. When any of the propeller system, the magnetic adsorption system, the track travel system, or the track heating system fails, the other systems compensate for the missing functions of the failed system.

4. A ship bottom suction robot using the control method as claimed in claim 1, which can be used in polar regions; The bottom adsorption robot includes: A robot body and a walking base, wherein the walking base is detachably mounted on the upper part of the robot body; a propulsion system and a control system are mounted on the robot body; the characteristics are as follows: The walking base includes a magnetic adsorption system, a crawler walking system, and a crawler heating system. When the crawler temperature is lower than a preset temperature, the crawler heating system heats the crawler; The control system can coordinately control the propulsion system, the magnetic adsorption system, the track travel system and / or the track heating system according to environmental parameters.

5. The bottom adsorption robot according to claim 4, characterized in that, When any of the propulsion system, magnetic adsorption system, track travel system, and track heating system fails, the other systems will compensate for the functional loss of the failed system.

6. The bottom adsorption robot according to any one of claims 4 or 5, characterized in that The magnetic adsorption system includes a lifting mechanism and an electromagnet; the electromagnet can be lifted and moved by the lifting mechanism to adjust the distance between the electromagnet and the adsorption surface, and the adsorption force is controlled by adjusting the current and / or distance of the electromagnet.

7. The bottom adsorption robot according to claim 6, wherein The magnetic adsorption system uses a permanent magnet to replace the electromagnet, and the adsorption force is controlled by adjusting the lifting of the permanent magnet.

8. The bottom adsorption robot according to claim 4, wherein, The walking base is a general installation base.

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