High-pressure water spraying and rust removing device for ship outer plate

Abstract

The invention belongs to the technical field of ship rust removal, and particularly relates to a high-pressure water spraying rust removal device for a ship outer plate, which comprises a cart, a water gun is mounted on a water gun bracket, a water tank and an electric cabinet are fixedly connected to the top of the cart, a water pump is fixedly connected to the top of the water tank, and a water inlet end of the water pump is communicated with the water tank while a water outlet end is communicated with the water gun through a hose. The distance detection module is installed on the water gun support and used for monitoring the vertical distance between a water gun nozzle and the curved surface of the ship planking in real time and generating a distance attenuation coefficient through the control module; and the rust layer detection module is used for monitoring the rust layer thickness and the rust layer stripping rate in real time and generating a stripping efficiency feedback coefficient through the control module. In the invention, the control module can comprehensively analyze the parameters and dynamically adjust the working state of the water pump by combining the stripping efficiency feedback coefficient generated by the rust layer thickness and the stripping rate monitored by the rust layer detection module in real time, so that the water pressure is always kept in the optimal working range.

Description

Technical Field

[0001] The invention relates to the technical field of ship rust removal, in particular to a high-pressure water spraying rust removal device for ship outer plates. Background Art

[0002] Long-term exposure to the complex marine environment makes ship plating susceptible to rust, seriously impacting the safety and service life of the vessel. Therefore, regular rust removal and maintenance are crucial. Traditional methods for removing rust from ship plating rely primarily on manual operation using handheld high-pressure water guns. This method is not only labor-intensive and inefficient, but also difficult to precisely control the distance between the water gun and the plating and the water pressure, which can easily lead to incomplete rust removal or damage to the ship's plating substrate.

[0003] Furthermore, some existing automated rust removal devices lack the ability to monitor and intelligently adjust the rust layer thickness and the distance between the water gun and the ship's plating in real time when working on the complex curved surfaces of ship plating. This makes it difficult to dynamically adjust operating parameters based on actual working conditions, resulting in unstable rust removal results and an inability to meet the requirements for efficient and accurate rust removal. To address these issues, the present invention provides a high-pressure water jet rust removal device for ship plating. Summary of the Invention

[0004] Based on the technical problems existing in the prior art, the present invention proposes a high-pressure water spraying rust removal device for ship outer plates.

[0005] The present invention proposes a high-pressure water spraying rust removal device for ship outer plates, comprising a trolley, wherein the trolley is connected to a water gun bracket via a translational assembly and a longitudinal movement assembly, a water gun is installed on the water gun bracket, a water tank and an electric control box are fixedly connected to the top of the trolley, a water pump is fixedly connected to the top of the water tank, the water inlet end of the water pump is connected to the water tank via a water inlet pipe, and the water outlet end is connected to the water gun via a hose, and further comprising: a distance detection module, mounted on the water gun bracket, for real-time monitoring of the vertical distance between the water gun nozzle and the curved surface of the ship's outer plate, and generating a distance attenuation coefficient through the control module; a rust layer detection module, mounted on the water gun bracket at an inclination angle of 30°, for real-time monitoring of the rust layer thickness and the rust layer peeling rate, and generating a peeling effect through the control module. Rate feedback coefficient; move the device near the outer plate of the ship, and the control module calculates the initial water pressure value based on the average rust layer thickness of the outer plate of the ship obtained by the rust layer detection module at the start time of rust removal. The water pump will pump water in the water tank into the water gun at this water pressure to spray water to remove rust on the outer plate of the ship. The transverse and longitudinal movement components control the water gun to move in the plane. During the rust removal process, the control module comprehensively analyzes the distance attenuation coefficient and the stripping efficiency feedback coefficient obtained in real time, calculates the execution water pressure in combination with the initial water pressure, and determines whether the rust removal device needs to adjust the working parameters. By comparing the real-time calculated stripping efficiency feedback coefficient with the preset standard stripping rate threshold, the working state of the water pump is dynamically adjusted according to the comparison result.

[0006] Preferably, the longitudinal movement assembly includes a pair of longitudinal slide rails fixedly connected to the top of the trolley, a group of transmission shafts are rotatably connected between the two longitudinal slide rails, each transmission shaft is fixedly provided with a pulley 1, the two pulleys 1 are connected by a belt 1, a motor 1 is installed on one of the longitudinal slide rails, and the output shaft of the motor 1 is connected to the end of a corresponding transmission shaft; the output shaft of the motor 1 drives one of the transmission shafts to rotate, and then drives the water gun to move up and down through the transmission cooperation of the pulley 1 and the belt 1.

[0007] Preferably, the transverse movement assembly includes a transverse slide rail slidably connected between two longitudinal slide rails, the transverse slide rail is fixed on belt 1, one end of the transverse slide rail is installed with motor 2, the output shaft of motor 2 and the end of the transverse slide rail away from motor 2 are respectively installed with pulley 2, the two pulleys 2 are connected by belt 2, the water gun bracket is slidably connected to the transverse slide rail, and the water gun bracket is fixedly connected to belt 2; the output shaft of motor 2 drives one of the pulleys 2 to rotate, and then drives the water gun to move left and right through the transmission cooperation of pulley 2 and belt 2.

[0008] Preferably, both ends of the cart are respectively threadedly connected with screws, and the bottom end of the screw is rotatably connected to a pad; when preparing to remove rust, the screw can be rotated by the handle, and then the screw drives the pad to move downward until the pad contacts the ground and supports the device, so that the device can be more stable during rust removal and will not shift. When the device needs to be moved, it can be supported by the rollers.

[0009] Preferably, the output end and input end of the distance detection module and the output end and input end of the rust layer detection module are electrically connected to the input end and output end of the control module respectively, and the output end of the control module is electrically connected to the input end of the water pump.

[0010] Preferably, the control module dynamically adjusts the working state of the water pump according to the comparison result in the following steps:

[0011] The distance detection module collects the vertical distance between the water gun nozzle and the curved surface of the ship's outer plate; the rust layer detection module collects the rust layer thickness and the rust layer peeling rate; the control module calculates the initial water pressure value, the distance attenuation coefficient, the peeling efficiency feedback coefficient and the execution water pressure; when the peeling efficiency feedback coefficient is less than the first threshold, the execution water pressure is increased and the water gun movement speed is reduced; when the peeling efficiency feedback coefficient is greater than the second threshold, the execution water pressure is reduced and the water gun movement speed is increased.

[0012] Preferably, the logic for generating the initial water pressure is:

[0013] The rust layer detection module is used to obtain the average thickness of the rust layer on the outer plate of the ship at the start of rust removal. Based on the average thickness of the rust layer, the preset material corrosion coefficient and the basic pressure constant are used to calculate the initial water pressure value by superimposing the basic pressure according to the power relationship of the thickness value.

[0014] Preferably, the generation logic of the distance attenuation coefficient is:

[0015] The vertical distance between the water gun nozzle and the curved surface of the shipboard is obtained in real time through the distance detection module; based on the absolute deviation between the vertical distance and the preset optimal working distance, the distance attenuation coefficient is calculated according to the exponential attenuation relationship.

[0016] Preferably, the generation logic of the stripping efficiency feedback coefficient is:

[0017] The rust layer stripping rate is monitored within a preset time window through the rust layer detection module, and the average stripping rate within the time window is calculated; the ratio of the average stripping rate to the preset standard stripping rate is calibrated as the stripping efficiency feedback coefficient.

[0018] Compared with the prior art, the present invention provides a high-pressure water spraying rust removal device for ship outer plates, which has the following beneficial effects:

[0019] 1. A high-pressure water jet rust removal device for ship outer plates. The distance detection module monitors the vertical distance between the water gun nozzle and the curved surface of the ship outer plate in real time to generate a distance attenuation coefficient. Combined with the rust layer thickness and stripping rate monitored in real time by the rust layer detection module to generate a stripping efficiency feedback coefficient, the control module can comprehensively analyze these parameters and dynamically adjust the working state of the water pump to keep the water pressure in the optimal working range at all times. This ensures the rust removal effect while avoiding damage to the substrate caused by excessive water pressure or incomplete rust removal caused by too low water pressure.

[0020] 2. A high-pressure water jet rust removal device for ship outer plates. The screws and pads at both ends of the trolley can be rotated to make the pads contact the ground during rust removal, providing stable support for the device and preventing the device from shifting during the rust removal process, ensuring the stability and safety of the rust removal operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a schematic structural diagram from a first angle of a high-pressure water spraying rust removal device for ship outer plates proposed by the present invention;

[0022] Figure 2 This is a schematic structural diagram from a second angle of a high-pressure water spraying rust removal device for ship outer plates proposed by the present invention;

[0023] Figure 3 This is a schematic diagram of the water gun structure of a high-pressure water spraying rust removal device for ship outer plates proposed by the present invention;

[0024] Figure 4 For the present invention Figure 2 A schematic diagram of the enlarged structure at point A;

[0025] Figure 5 For the present invention Figure 1 A schematic diagram of the enlarged structure at point B;

[0026] Figure 6 This is a flow chart of the execution of a control system for a high-pressure water spraying rust removal device for ship outer plates proposed by the present invention.

[0027] In the figure: 1. Cart; 2. Water gun bracket; 3. Water gun; 4. Water tank; 5. Water pump; 6. Hose; 7. Water inlet pipe; 8. Electric control box; 9. Distance detection module; 10. Rust detection module; 11. Longitudinal slide rail; 12. Motor 1; 13. Drive shaft; 14. Belt 1; 15. Transverse slide rail; 16. Motor 2; 17. Pulley 2; 18. Belt 2; 19. Screw; 20. Pad; 21. Pulley 1. DETAILED DESCRIPTION

[0028] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0029] In the description of the present invention, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as limiting the present invention.

[0030] Reference Figures 1-6 A high-pressure water jet rust removal device for ship shell plates includes a cart 1, a water gun bracket 2 is connected to the cart 1 through a translation component and a longitudinal movement component, a water gun 3 is installed on the water gun bracket 2, a water tank 4 and an electric control box 8 are fixedly connected to the top of the cart 1, a water pump 5 is fixedly connected to the top of the water tank 4, the water inlet end of the water pump 5 is connected to the water tank 4 through a water inlet pipe 7, and the water outlet end is connected to the water gun 3 through a hose 6, and further includes:

[0031] The distance detection module 9 is installed on the water gun bracket 2 and is used to monitor the vertical distance between the nozzle of the water gun 3 and the curved surface of the ship's outer plate in real time, and generate a distance attenuation coefficient through the control module;

[0032] The rust layer detection module 10 is installed on the water gun bracket 2 at an inclination angle of 30 degrees (protected by a waterproof cover) and is used to monitor the rust layer thickness and rust layer stripping rate in real time, and generate a stripping efficiency feedback coefficient through the control module;

[0033] It should be noted that the distance detection module 9 can be a laser ranging sensor or other equipment that can monitor the vertical distance between the nozzle of the water gun 3 and the curved surface of the ship's outer plate in real time. The rust layer detection module 10 can be a millimeter wave radar sensor or other equipment that can monitor the rust layer thickness and rust layer peeling rate in real time. The control module is an embedded controller (such as the STM32 series) with an integrated data fusion algorithm. Therefore, the distance detection module 9, the rust layer detection module 10 and the control module are not specifically limited here and can be selected according to actual needs.

[0034] When in use, the device is moved near the outer plate of the ship. The control module calculates the initial water pressure value P0 based on the average rust layer thickness of the outer plate of the ship obtained at the start of rust removal by the rust layer detection module 10. The water pump 5 will pump the water in the water tank 4 into the water gun 3 at the water pressure to spray water to remove rust on the outer plate of the ship. The transverse and longitudinal movement components control the water gun 3 to move in the plane. During the rust removal process, the control module comprehensively analyzes the distance attenuation coefficient α and the peeling efficiency feedback coefficient β obtained in real time, and calculates the execution water pressure P in combination with the initial water pressure P0. r , to determine whether the rust removal device needs to adjust the working parameters, by comparing the real-time calculated stripping efficiency feedback coefficient β with the preset standard stripping rate threshold, and dynamically adjusting the working state of the water pump 5 according to the comparison result.

[0035] The longitudinal movement assembly includes a pair of longitudinal rails 11 fixedly connected to the top of the cart 1, a set of transmission shafts 13 are rotatably connected between the two longitudinal rails 11, each transmission shaft 13 is fixedly provided with a pulley 21, and the two pulleys 21 are connected by a belt 14. A motor 12 is installed on one of the longitudinal rails 11, and the output shaft of the motor 12 is connected to the end of the corresponding transmission shaft 13;

[0036] When in use, the output shaft of the motor 12 drives one of the transmission shafts 13 to rotate, and then drives the water gun 3 to move in the up and down directions through the transmission cooperation of the pulley 21 and the belt 14.

[0037] The transverse movement assembly includes a transverse slide rail 15 slidably connected between the two longitudinal slide rails 11. The transverse slide rail 15 is fixed to the belt 14. One end of the transverse slide rail 15 is installed with a motor 2 16. The output shaft of the motor 2 16 and the end of the transverse slide rail 15 away from the motor 2 16 are respectively installed with a pulley 2 17. The two pulleys 17 are connected by a belt 2 18. The water gun bracket 2 is slidably connected to the transverse slide rail 15 and is fixedly connected to the belt 2 18.

[0038] When in use, the output shaft of the second motor 16 drives one of the second pulleys 17 to rotate, and then the water gun 3 is driven to move in the left and right directions through the transmission cooperation between the second pulley 17 and the second belt 18.

[0039] Furthermore, the two ends of the cart 1 are respectively threadedly connected with screw rods 19, and the bottom end of the screw rods 19 is rotatably connected with a pad 20;

[0040] During use, when preparing to remove rust, the screw 19 can be rotated by the handle, and then the screw 19 drives the pad 20 to move downward until the pad 20 contacts the ground and forms a support for the device. In this way, the device can be more stable during rust removal and will not shift. When the device needs to be moved, it can be supported by the rollers.

[0041] Among them, the output end and input end of the distance detection module 9 and the output end and input end of the rust layer detection module 10 are electrically connected to the input end and output end of the control module respectively, and the output end of the control module is electrically connected to the input end of the water pump 5.

[0042] In another embodiment, the control module calculates the initial water pressure value P0 based on the average thickness of the rust layer of the ship's outer plate obtained at the start of rust removal by the rust layer detection module 10. During the rust removal process, the control module comprehensively analyzes the distance attenuation coefficient α and the peeling efficiency feedback coefficient β obtained in real time, and calculates the execution water pressure P0 based on the initial water pressure P0. r , to determine whether the rust removal device needs to adjust the working parameters, the steps of comparing the real-time calculated stripping efficiency feedback coefficient β with the preset standard stripping rate threshold and dynamically adjusting the working state of the water pump 5 according to the comparison result are as follows:

[0043] Real-time detection: the distance detection module 9 collects the vertical distance between the nozzle of the water gun 3 and the curved surface of the ship's outer plate; the rust layer detection module 10 collects the rust layer thickness and rust layer peeling rate;

[0044] Coefficient calculation:

[0045] Initial water pressure value: represents the basic water pressure requirement based on the thickness of the rust layer, reflecting the minimum impact force requirement for the severity of rust;

[0046] Among them, the generation logic of the initial water pressure P0 is:

[0047] S1. Obtain the average thickness of the rust layer on the ship's outer plate at the start of rust removal through the rust layer detection module 10, and calibrate the thickness as h;

[0048] S2. Calculate the initial water pressure value. The calculation expression is:

[0049] P0=k1·h 1.5 +b

[0050] Where: k1 is the material corrosion coefficient (0.25 for steel hull and 0.18 for aluminum alloy), and b is the basic pressure constant (15 MPa).

[0051] Distance attenuation coefficient: quantifies the attenuation effect of the distance between the water gun 3 and the shipboard on the jet impact force, revealing the influence of distance fluctuation on the rust removal effect. When d = d0 → α = 1 (no attenuation); when d > d0 → α decays exponentially;

[0052] The generation logic of the distance attenuation coefficient is:

[0053] S1. Obtain the vertical distance between the nozzle of the water gun 3 and the curved surface of the shipboard in real time through the distance detection module 9, and calibrate the distance as d;

[0054] S2. Calculate the distance attenuation coefficient. The calculation expression is:

[0055]

[0056] Where: d0 is the optimal working distance.

[0057] Stripping efficiency feedback coefficient: Dynamically evaluates the deviation between the actual rust stripping rate and the theoretical standard, and provides feedback on the real-time efficiency of the rust removal operation;

[0058] Among them, the generation logic of the stripping efficiency feedback coefficient is:

[0059] S1, monitor the rust layer peeling rate in the time window T through the rust layer detection module 10, and calibrate the rust layer peeling rate measured in the i-th second as

[0060] S2. Calculate the average peeling rate within T time:

[0061]

[0062] S3. Calculate the stripping efficiency feedback coefficient:

[0063]

[0064] Where: N is the number of sampling times in T time, v s For standard peeling rate (preset to 50mm 2 / s).

[0065] Execution water pressure: Execution water pressure P r The calculation formula is: k2 is the response gain coefficient (taken as 0.8).

[0066] Dynamic adjustment: When β<0.8, increase the execution water pressure Pr And reduce the speed of water gun 3 (increase water pressure to compensate for low efficiency); when β≥1.2, reduce the execution water pressure P r And increase the moving speed of the water gun 3 (to prevent damage to the substrate);

[0067] Response to abnormal working conditions: When α<0.5, the distance alarm is triggered and the water spraying and rust removal are suspended; when β is continuously <0.5 for more than 10s, the P0 reference value is automatically increased by 20%; when the rust layer thickness suddenly drops by >90%, the pressure is instantly reduced to a safe value (20MPa).

[0068] Working principle:

[0069] To use the device, first move the cart 1 near the ship's outer plate. Then, use the handle to rotate the screws 19 at each end of the cart 1. These screws 19 drive the pad 20 at the bottom downward until it contacts the ground, providing stable support for the device and ensuring it does not shift during the rust removal process. To move the device, rotate the screws 19 in the opposite direction, lifting the pad 20 off the ground and allowing the cart 1 to be moved using its rollers.

[0070] Water gun movement control:

[0071] Longitudinal Movement: Motor 12 is mounted on longitudinal rail 11, with its output shaft connected to the end of drive shaft 13. When motor 12 is operating, the output shaft drives one of the drive shafts 13 to rotate. This, through the transmission of pulley 121 fixedly mounted on the drive shaft 13 and belt 14 connecting the two pulleys 21, drives transverse rail 15 up and down on longitudinal rail 11, thereby achieving vertical movement of water gun 3.

[0072] Horizontal Movement: Motor 2 (16) is mounted on one end of the horizontal rail 15. Pulley 2 (17) is mounted on the motor's output shaft and on the end of the horizontal rail 15 away from motor 2 (16). The two pulleys (17) are connected by belt 2 (18). The water gun bracket (2) is slidably connected to the horizontal rail 15 and fixedly connected to belt 2 (18). When motor 2 (16) is operating, the output shaft drives one of the pulleys (17) to rotate. This, coupled with the transmission of belt 2 (18), drives the water gun bracket (2) to move left and right on the horizontal rail 15, thereby achieving left and right movement of the water gun (3). Through the coordinated action of the longitudinal and transverse movement components, the water gun (3) can move in all directions within a plane, covering the rust removal area of ​​the ship's outer plate.

[0073] Water pressure control and dynamic adjustment:

[0074] Initial water pressure calculation: At the start of rust removal, the rust layer detection module 10 obtains the average rust layer thickness h of the ship's outer plate and calculates the initial water pressure value P0. The water pump 5 pumps water from the water tank 4 into the water gun 3 at this water pressure to spray water on the ship's outer plate for rust removal;

[0075] Real-time monitoring and coefficient calculation: The distance detection module 9 collects the vertical distance d between the nozzle of the water gun 3 and the curved surface of the ship's outer plate in real time, generates the distance attenuation coefficient α, and the rust layer detection module 10 monitors the rust layer peeling rate and generates the peeling efficiency feedback coefficient β according to the formula;

[0076] Execute water pressure calculation and dynamic adjustment: The control module calculates the execution water pressure P according to the formula r The real-time calculated peeling efficiency feedback coefficient β is compared with the preset standard peeling rate threshold; when β<0.8, the execution water pressure P is increased. r And reduce the moving speed of water gun 3 to improve the water pressure compensation efficiency; when β≥1.2, reduce the execution water pressure P r And increase the moving speed of water gun 3 to prevent damage to the substrate; at the same time, when α<0.5, trigger the distance alarm and suspend the water spraying and rust removal; when β continues to be <0.5 for more than 10s, automatically increase the P0 reference value by 20%; when the rust layer thickness suddenly drops by >90%, instantly reduce the pressure to a safe value (20MPa) to ensure the safety and effectiveness of the rust removal process.

[0077] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with the technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solution and inventive concept of the present invention, should be covered by the scope of protection of the present invention.

Claims

1. A high-pressure water jet rust removal device for ship outer plates, comprising a trolley (1), characterized in that: The cart (1) is connected to a water gun bracket (2) via a translation assembly and a longitudinal movement assembly, a water gun (3) is mounted on the water gun bracket (2), a water tank (4) and an electric control box (8) are fixedly connected to the top of the cart (1), a water pump (5) is fixedly connected to the top of the water tank (4), a water inlet end of the water pump (5) is connected to the water tank (4) via a water inlet pipe (7), and a water outlet end is connected to the water gun (3) via a hose (6), and further comprises: A distance detection module (9) is mounted on the water gun bracket (2) and is used to monitor the vertical distance between the nozzle of the water gun (3) and the curved surface of the ship's outer plate in real time, and to generate a distance attenuation coefficient through the control module; A rust layer detection module (10) is mounted on the water gun bracket (2) at an inclination angle of 30°, and is used to monitor the rust layer thickness and rust layer stripping rate in real time, and to generate a stripping efficiency feedback coefficient through a control module; The control module comprehensively analyzes the distance attenuation coefficient and the stripping efficiency feedback coefficient obtained in real time, calculates the water pressure in combination with the initial water pressure, compares the real-time calculated stripping efficiency feedback coefficient with the preset standard stripping rate threshold, and dynamically adjusts the working state of the water pump (5) according to the comparison result.

2. A high-pressure water spraying rust removal device for ship outer plates according to claim 1, characterized in that: The longitudinal movement assembly includes a pair of longitudinal slide rails (11) fixedly connected to the top of the cart (1), a group of transmission shafts (13) are rotatably connected between the two longitudinal slide rails (11), each transmission shaft (13) is fixedly provided with a pulley (21), and the two pulleys (21) are connected by a belt (14), a motor (12) is installed on one of the longitudinal slide rails (11), and the output shaft of the motor (12) is connected to the end of a corresponding transmission shaft (13).

3. A high-pressure water spraying rust removal device for ship outer plates according to claim 2, characterized in that: The transverse movement assembly includes a transverse slide rail (15) slidably connected between two longitudinal slide rails (11), the transverse slide rail (15) is fixed on a belt (14), one end of the transverse slide rail (15) is installed with a motor (16), the output shaft of the motor (16) and the end of the transverse slide rail (15) away from the motor (16) are respectively installed with a pulley (17), the two pulleys (17) are connected by a belt (18), the water gun bracket (2) is slidably connected to the transverse slide rail (15), and the water gun bracket (2) is fixedly connected to the belt (18).

4. A high-pressure water spraying rust removal device for ship outer plates according to claim 1, characterized in that: The two ends of the cart (1) are respectively threadedly connected with screw rods (19), and the bottom end of the screw rod (19) is rotatably connected with a pad (20).

5. The high-pressure water spraying rust removal device for ship outer plates according to claim 1, characterized in that: The output end and input end of the distance detection module (9) and the output end and input end of the rust layer detection module (10) are electrically connected to the input end and output end of the control module respectively, and the output end of the control module is electrically connected to the input end of the water pump (5).

6. A high-pressure water jet rust removal device for ship outer plates according to claim 1, characterized in that: The control module dynamically adjusts the working state of the water pump (5) according to the comparison result in the following steps: The distance detection module (9) collects the vertical distance between the nozzle of the water gun (3) and the curved surface of the outer plate of the ship; the rust layer detection module (10) collects the thickness of the rust layer and the rust layer stripping rate; the control module calculates the initial water pressure value, the distance attenuation coefficient, the stripping efficiency feedback coefficient and the execution water pressure; when the stripping efficiency feedback coefficient is less than a first threshold value, the execution water pressure is increased and the moving speed of the water gun (3) is reduced; when the stripping efficiency feedback coefficient is greater than a second threshold value, the execution water pressure is reduced and the moving speed of the water gun (3) is increased.

7. The high-pressure water spraying rust removal device for ship outer plates according to claim 1, characterized in that: The generation logic of the initial water pressure is: The average thickness of the rust layer of the ship's outer plate at the start of rust removal is obtained through a rust layer detection module (10); based on the average thickness of the rust layer, a preset material corrosion coefficient and a base pressure constant are used to calculate the initial water pressure value by superimposing the base pressure according to the 1.5 power relationship of the thickness value.

8. The high-pressure water spraying rust removal device for ship outer plates according to claim 1, characterized in that: The generation logic of the distance attenuation coefficient is: The vertical distance between the nozzle of the water gun (3) and the curved surface of the shipboard is obtained in real time through a distance detection module (9); based on the absolute deviation between the vertical distance and a preset optimal working distance, a distance attenuation coefficient is calculated according to an exponential attenuation relationship.

9. The high-pressure water spraying rust removal device for ship outer plates according to claim 1, characterized in that: The generation logic of the stripping efficiency feedback coefficient is: The rust layer stripping rate is monitored within a preset time window by a rust layer detection module (10), and the average stripping rate within the time window is calculated; and the ratio of the average stripping rate to the preset standard stripping rate is calibrated as a stripping efficiency feedback coefficient.

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