Large-area steel surface cleaning method

Abstract

The invention relates to the technical field of steel surface cleaning, in particular to a large-area steel surface cleaning method. The to-be-cleaned large-area steel surface is equally divided into a plurality of sub-areas, swing cleaning advancing at a constant speed is carried out along the center line of each sub-area, and cleaning comprehensiveness and efficiency are ensured. And due to the overlapping design of the adjacent swing cleaning areas, cleaning blind areas are effectively avoided, and full-coverage cleaning of the steel surface in the set area is achieved. The method not only improves the cleaning efficiency, but also ensures the cleaning quality, and is suitable for large ships, industrial plants and other occasions needing large-area cleaning.

Description

Technical Field

[0001] The invention relates to the technical field of steel surface cleaning, in particular to a large-area steel surface cleaning method. Background Art

[0002] After unloading, large ocean-going vessels often have bulkheads made of frames and other materials, which can leave a lot of cargo and dirt. Therefore, before loading other cargo, the cabins need to be thoroughly cleaned.

[0003] Currently, cleaning operations are typically performed manually by the ship's crew or external cleaning workers using simple cleaning tools. While manual water jet cleaning can effectively clean bulkheads, it is time-consuming and labor-intensive. Furthermore, when dirt remains high up in the cargo hold, the water jet's long spray distance weakens the jet force, making it difficult to remove the dirt. Consequently, workers resort to using high-altitude access vehicles or scaffolding to shorten the water jet's range and improve cleaning effectiveness. However, this external access method is extremely unstable in a swaying ship's hold, further increasing the risk to workers. Furthermore, during manual cleaning of designated areas, due to the large area to be cleaned, some areas are prone to being overlooked due to worker negligence. In these cases, rework is required to re-clean the remaining areas, which is time-consuming and labor-intensive, thus urgently requiring a solution. Summary of the Invention

[0004] In order to avoid and overcome the technical problems existing in the prior art, the present invention provides a method for cleaning a large-area steel surface. The present invention can fully cover and clean the steel surface within a set area to improve the cleaning efficiency.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A method for cleaning a large area of ​​steel surface comprises the following cleaning steps:

[0007] S1. Based on the structure of the bulkhead, a rectangular bulkhead is selected as the area to be cleaned by the cleaning robot; the area to be cleaned is divided into a plurality of rectangular sub-areas, and the midline of each sub-area in its longitudinal direction is obtained;

[0008] S2, moving the cleaning robot forward at a constant speed in a certain direction along the center line of the sub-area, while simultaneously performing a circular swing cleaning of the bulkhead without omission through the nozzles on the cleaning robot, thereby forming a swing cleaning area;

[0009] S3. According to the cleaning method of step S2, the cleaning robot moves forward at a uniform speed in each sub-area in turn, and forms a corresponding swing cleaning area; and the edges of adjacent swing cleaning areas close to each other overlap with each other to achieve full coverage cleaning of the area to be cleaned.

[0010] As a further solution of the present invention, the cleaning robot moves forward at a constant speed v, and the nozzle begins to oscillate left to right or right to left in a circular motion. Simultaneously, the nozzle also oscillates up and down in a circular motion, so that the nozzle forms a sinusoidal cleaning path extending in the forward cleaning direction within the current sub-area. The calculation formula for the width of the sinusoidal cleaning path is as follows:

[0011] D=h·tanβ-h·tan(β-β1);

[0012] Where D is the width of the sinusoidal cleaning path; h is the vertical distance between the intersection of the vertical swing axis and the horizontal swing axis of the nozzle and the bulkhead; β is the maximum upward swing angle of the nozzle when it swings up and down; β1 is the angle difference between the maximum and minimum upward swing angles of the nozzle when it swings up and down; tan is the tangent function;

[0013] The nozzle swings from the far left to the far right and then back to the far left, forming a swing cycle. The distance the cleaning robot moves forward in a single swing cycle is L, and the calculation formula of L is as follows:

[0014]

[0015] Where n1 represents the rotation speed of the nozzle when it swings left and right; π represents the pi ratio; α represents the swing angle amplitude of the nozzle;

[0016] In order to achieve cyclic swing cleaning without omission, the cleaning ranges of adjacent trough points or adjacent peak points in the sinusoidal cleaning path need to overlap with each other, that is, L≤D needs to be satisfied.

[0017] As a further solution of the present invention: the calculation formula for the time consumed by a single swing cycle is expressed as follows:

[0018]

[0019] Where t' represents the time taken for a single swing cycle.

[0020] As a further solution of the present invention: when the nozzle is swung up to the maximum upward swing angle, the jet ejected from the nozzle forms a maximum impact circle when it contacts the sub-area, and adjacent maximum impact circles are tangent to each other; when the nozzle is swung down to the minimum upward swing angle, the jet ejected from the nozzle forms a minimum impact circle when it contacts the sub-area, and adjacent minimum impact circles are tangent to each other.

[0021] As a further solution of the present invention: the length of the arc connecting the centers of two adjacent maximum impact circles is s, and its calculation formula is as follows:

[0022]

[0023] Where n2 represents the speed of the nozzle when it swings up and down; cos represents the cosine function.

[0024] As a further solution of the present invention: the diameter of the maximum impact circle meets the following size conditions:

[0025]

[0026] Where d is the diameter of the maximum impact circle.

[0027] 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, and 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; the nozzle is swung up and down on the top of the guide pipe, the rotation axis of the guide pipe constitutes the left and right swing axis of the nozzle, and the axis of the nozzle itself and the up and down swing axis of the nozzle are perpendicular to each other.

[0028] As a further solution of the present invention: the guide pipe includes a straight pipe section arranged vertically on the four-wheeled trolley, and a U-shaped curved pipe section arranged at 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, and a driving gear is installed on the drive motor located next to the straight pipe section, and the driving gear and the driven gear are engaged with each other for transmission; 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 up and down swinging axis of the nozzle on the guide pipe; a support platform is fixedly installed on the outer side of the straight pipe section, a telescopic cylinder is hinged on the support platform, and the top end of the telescopic cylinder is hinged with an annular lock buckle, the annular lock buckle is coaxially sleeved on the nozzle, and the two hinge axes at both ends of the telescopic cylinder are parallel to the up and down swinging axes of the nozzle.

[0029] As a further solution of the present invention: the magnetic attraction part includes four electromagnets fixedly installed on the bottom of the four-wheeled trolley, and the electromagnets are connected to the power supply on the four-wheeled trolley; the four electromagnets maintain the same magnetic attraction gap between themselves and the wall surface of the bulkhead where the four-wheeled trolley is located; the electromagnet is generally in the shape of a rectangular parallelepiped, and its side surface close to the bulkhead wall surface is an arc surface coaxial with the adjacent wheel.

[0030] As a further solution of the present invention: the two wheels on the same side of the four-wheeled vehicle are connected to each other by the same transmission belt, and one of them is driven by a servo motor connected to a power supply, and each wheel on both sides of the four-wheeled vehicle is equipped with a servo motor.

[0031] Compared with the prior art, the present invention has the following beneficial effects:

[0032] 1. This method ensures comprehensive and efficient cleaning by dividing the large steel surface to be cleaned into multiple sub-areas and performing oscillating cleaning at a uniform speed along the centerline of each sub-area. The overlapping design of adjacent oscillating cleaning areas effectively avoids blind spots and achieves full coverage of the steel surface within the designated area. This method not only improves cleaning efficiency but also ensures cleaning quality, making it suitable for large-scale cleaning applications such as large ships and industrial plants.

[0033] 2. During the cleaning process, the nozzle oscillates in a sinusoidal path, which not only increases cleaning uniformity and coverage, but also ensures a complete, cyclical, oscillating cleaning process by calculating the path width and advance distance through precise mathematical formulas. The sinusoidal path design allows for more detailed cleaning, reduces blind spots, and improves cleaning efficiency and effectiveness.

[0034] 3. By calculating the duration of a single swing cycle, the rhythm and timing of the cleaning process can be precisely controlled, helping to optimize cleaning plans and improve overall efficiency. This precise time management makes the cleaning process more controllable, helping to reduce unnecessary waiting time and waste of resources.

[0035] 4. The tangent design of the maximum and minimum impact circles formed by the nozzle during the swing process ensures the continuity and comprehensiveness of cleaning. This design not only improves the cleaning effect, but also reduces the blind spots of cleaning, making the entire cleaning process more efficient and reliable.

[0036] 5. By calculating the arc length connecting the centers of two adjacent maximum impact circles, the cleaning path and range can be further precisely controlled to ensure comprehensiveness and accuracy of cleaning. This precise calculation method helps optimize cleaning strategies and improve cleaning efficiency and quality.

[0037] 6. The precise calculation and design of the maximum impact circle diameter ensures the effective coverage and cleaning intensity of the nozzle during the cleaning process. This design not only improves cleaning efficiency, but also reduces cleaning blind spots, making the entire cleaning process more efficient and reliable.

[0038] 7. The cleaning robot uses a four-wheeled trolley and a magnetic suction unit, which can move stably on the wall and maintain an adsorption state, ensuring the stability and safety of the cleaning process. At the same time, the flexible swing design of the flushing unit makes the cleaning more comprehensive and detailed.

[0039] 8. The scoop-shaped design of the guide tube and the up-and-down swinging installation of the nozzle ensure that the jet can evenly cover the entire cleaning area during the cleaning process. At the same time, the design of the telescopic cylinder and the ring lock ensure the stability and reliability of the nozzle during the swinging process.

[0040] 9. The design of the electromagnet enables the cleaning robot to be firmly attached to the bulkhead, and it can remain stable even on uneven or inclined surfaces. At the same time, the arc surface design of the electromagnet reduces friction with the bulkhead wall, extending its service life.

[0041] 10. The four-wheeled vehicle is driven by dual servo motors, ensuring stability and precision during movement. Furthermore, the wheels are connected by a belt, simplifying the structure and improving transmission reliability. This design enables the robot to operate stably in a variety of complex environments, enhancing cleaning efficiency and safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 It is a side structural schematic diagram of the cleaning robot in the present invention.

[0043] Figure 2 This is a schematic cross-sectional view of the flushing portion of the cleaning robot in the present invention.

[0044] Figure 3 This is a schematic diagram of the axial side structure of the cleaning robot in the present invention.

[0045] Figure 4 Flow chart of the cleaning method of the present invention.

[0046] Figure 5 Schematic diagram of the sinusoidal cleaning path in the present invention.

[0047] In the figure: 1. Four-wheeled trolley; 11. Wheel; 2. Magnetic suction part; 21. Electromagnet; 3. Flushing part; 31. Water supply pipe; 32. Diversion pipe; 321. Straight pipe section; 322. Bend pipe section; 33. Driving gear; 34. Driven gear; 35. Driving motor; 36. Support platform; 37. Telescopic cylinder; 38. Ring lock buckle; 39. Adapter pipe; 40. Sprinkler. DETAILED DESCRIPTION

[0048] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. 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 making creative efforts are within the scope of protection of the present invention.

[0049] See also Figures 1 to 3In 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.

[0050] The four-wheeled vehicle 1 is equipped with two servo motors and a corresponding power supply. Each servo motor drives a wheel 11, and the wheels 11 on the same side are connected to each other via a transmission belt. The two wheels 11 on the same side are one large and one small, the large one being the front wheel and the small one being the rear wheel. The present invention uses a servo motor-driven rear-wheel system for movement.

[0051] 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 be kept away from the cleaning site as far as possible, thereby improving their safety.

[0052] To ensure the four-wheeled vehicle 1 can operate stably on the bulkhead, a magnetic attraction portion 2 consisting of four sets of electromagnets 21 is installed at the bottom of the four-wheeled vehicle 1. A corresponding current control button is also provided on the remote controller to control the current of the electromagnets 21, thereby adjusting the magnetic force generated by the electromagnets 21 in real time. As the four-wheeled vehicle 1 climbs higher, its magnetic attraction gradually increases to prevent the vehicle from falling from the high point of the bulkhead due to the excessive weight of dragging the pipe.

[0053] The flushing section 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 cleaning. 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 and sealed and connected to 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 the drive motor 35 located next to the straight pipe section 321, and the driving gear 33 and the driven gear 34 are engaged with each other for transmission, and the guide tube 32 is driven to rotate by the action of the drive motor 35.

[0054] 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 up and down swing axis of the nozzle 40 on the guide pipe 32 .

[0055] The vertical swing 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 vertical swing axis of the nozzle 40 intersect each other perpendicularly.

[0056] A support platform 36 is fixedly mounted on the outside of the straight pipe section 321. A telescopic cylinder 37 is hingedly connected to the support platform 36. An annular lock 38 is hingedly connected to the top of the telescopic cylinder 37. The lock 38 is coaxially sleeved on the nozzle 40. The two hinge axes of the telescopic cylinder 37 are perpendicular to the vertical swing axis of the nozzle 40. The extension and retraction of the telescopic cylinder 37 controls the pitch angle of the nozzle 40.

[0057] like Figure 4 As shown, the specific process of using the cleaning robot of the present application to clean a large area of ​​steel surface is as follows:

[0058] 1. Division of the area to be cleaned and acquisition of the center line

[0059] Selecting the Bulkhead Area: First, a rectangular area was selected from the bulkhead structure as the cleaning area. This selection was based on the bulkhead's structural characteristics, cleaning requirements, and the robot's operating range. Conventional ship cabins are typically equipped with ribs. The complex spatial structure of the area containing these ribs makes it unsuitable for robot cleaning, requiring manual cleaning with a handheld nozzle. For these reasons, a rectangular area was selected as the cleaning area and cleaned using a cleaning robot.

[0060] Sub-area division: Divide the area to be cleaned into multiple smaller rectangular sub-areas. This division helps the robot clean the entire area more efficiently and evenly. The size of each sub-area should take into account the robot's cleaning capacity and efficiency.

[0061] Obtaining the centerline: In each sub-area, determine its longitudinal centerline. This centerline will serve as the reference path for the robot during cleaning, ensuring the orderliness and accuracy of the cleaning process.

[0062] 2. The robot cleans and swings along the center line

[0063] Set the forward speed and direction: Attach the four-wheeled vehicle 1 to the bulkhead via the magnetic attraction 2. Then, driven by the wheels 11, move the cleaning robot forward along the centerline of the sub-area at a constant speed v. This constant speed v should be moderate to ensure effective cleaning and stable robot operation.

[0064] Nozzle Swing Cleaning: As the robot moves forward, the nozzles 40 on it are activated for a complete, cyclical, swing cleaning. The swing range and frequency of the nozzles 40 should be adjusted according to the cleaning requirements and the characteristics of the bulkhead surface to ensure uniform and thorough cleaning.

[0065] The cleaning robot moves forward at a constant speed v. At this time, the nozzle 40 begins to swing left and right or from right to left in a circular motion. At the same time, the nozzle 40 also swings up and down in a circular motion, so that the nozzle 40 forms a sinusoidal cleaning path extending along the cleaning forward direction in the current sub-area. The sinusoidal cleaning path is as follows: Figure 5 As shown. Figure 5 In the figure, the thin black dashed line represents the sub-area, and the thick black solid line represents the sinusoidal cleaning path formed by the upward and downward swinging, left and right swinging of the nozzle 40, and the forward movement of the robot. The thick black dashed line represents the sub-cleaning path formed by the upward and downward swinging, left and right swinging of the nozzle 40. Figure 5 In the embodiment, sub-cleaning paths are formed in sequence along the sinusoidal cleaning path, and the edges of the sub-cleaning paths overlap with each other, thereby achieving full coverage cleaning of the sub-areas.

[0066] When the nozzle 40 swings upward to the maximum upward swing angle, the jet ejected by the nozzle 40 forms a maximum impact circle when it contacts the sub-area, and adjacent maximum impact circles are tangent to each other; when the nozzle 40 swings downward to the minimum upward swing angle, the jet ejected by the nozzle 40 forms a minimum impact circle when it contacts the sub-area, and adjacent minimum impact circles are tangent to each other.

[0067] The length of the arc connecting the centers of two adjacent maximum impact circles is s, and its calculation formula is shown in formula (1):

[0068]

[0069] Wherein, n2 represents the rotation speed of the nozzle (40) when it swings up and down; cos represents the cosine function.

[0070] The diameter of the maximum impact circle satisfies the size condition shown in formula (2):

[0071]

[0072] Where d is the diameter of the maximum impact circle.

[0073] The calculation formula for the width of the sinusoidal cleaning path is shown in formula (3):

[0074] D=h·tanβ-h·tan(β-β1) (3)

[0075] Wherein, D represents the width of the sinusoidal cleaning path; h represents the vertical distance between the intersection of the vertical swing axis and the horizontal swing axis of the nozzle 40 and the cabin wall; β represents the maximum upward swing angle of the nozzle 40 when it swings up and down; β1 represents the angular difference between the maximum upward swing angle and the minimum upward swing angle when the nozzle 40 swings up and down; and tan represents the tangent function.

[0076] The nozzle 40 swings from the leftmost side to the rightmost side and then back to the leftmost side, forming a swing cycle. The distance the cleaning robot advances in a single swing cycle is L, and the calculation formula of L is shown in formula (4):

[0077]

[0078] Wherein, n1 represents the rotation speed of the nozzle 40 when it swings left and right; π represents the pi; and α represents the angular amplitude of the left and right swing of the nozzle 40.

[0079] In order to achieve cyclic swing cleaning without omission, the cleaning ranges of adjacent trough points or adjacent peak points in the sinusoidal cleaning path need to overlap with each other, that is, L≤D needs to be satisfied.

[0080] Forming a swing cleaning area: As the robot moves forward and the nozzle swings, a swing cleaning area will be formed that covers most of the sub-area. This area should be as close to the boundary of the sub-area as possible to reduce omissions.

[0081] 3. Full coverage cleaning and overlapping treatment

[0082] Clean the sub-areas one by one: Following the cleaning method in Part 2, have the cleaning robot move at a constant speed through each sub-area, forming a corresponding oscillating cleaning zone. This process should be carried out in an orderly manner to ensure that the entire area to be cleaned is covered.

[0083] Overlapping: To ensure full coverage cleaning, the edges of adjacent swing cleaning areas should overlap. The overlap width should be determined based on the cleaning width and swing range of the nozzle to ensure that no area is missed.

[0084] Inspection and Adjustment: During the cleaning process, the cleaning effect should be checked regularly and adjusted as needed. If it is found that some areas are not cleaned thoroughly or are missed, the cleaning parameters of the robot should be adjusted in time or the cleaning should be repeated.

[0085] In summary, this cleaning process ensures thorough and uniform cleaning of the bulkhead through precise area division, orderly cleaning paths, and overlapping processes. Furthermore, by adjusting the robot's cleaning parameters and the nozzle's swing range, it can adapt to varying bulkhead surface characteristics and cleaning requirements.

[0086] The specific cleaning process is as follows:

[0087] 1. Basic parameters of the area to be cleaned

[0088] Bulkhead material: Q235B steel plate;

[0089] Dimensions of the area to be cleaned: length × width = 10m × 5m;

[0090] Sub-area division: divided equally into 5 sub-areas (divided along the length direction), each sub-area is 2m×5m in size;

[0091] Initial parameters of the nozzle:

[0092] The distance from the intersection of the vertical swing axis and the horizontal swing axis to the bulkhead is h = 0.5 m; the maximum vertical swing angle β = 60°; the vertical swing angle difference β1 = 30°; the horizontal swing angle amplitude α = 120°; the horizontal swing speed n1 = 20 rpm; the vertical swing speed n2 = 10 rpm; the forward speed v of the cleaning robot is 0.2 m / s;

[0093] 2. Calculation of key parameters

[0094] Width D of the sinusoidal cleaning path:

[0095] D=h·tanβ-h·tan(β-β1)

[0096] =0.5·tan60°-0.5·tan(60°-30°)

[0097] =0.5775m;

[0098] Distance L traveled in a single swing cycle:

[0099]

[0100] Verify coverage: L≤D, that is, 6.7mm≤0.5775m, must be met to confirm that there are no blind spots in cleaning.

[0101] A single swing cycle takes time t':

[0102]

[0103] The arc length s between the centers of adjacent maximum impact circles:

[0104]

[0105] Diameter d of the maximum impact circle:

[0106] according to Therefore, take d = 0.5236m.

[0107] 3. Cleaning robot operation process

[0108] Area division: Divide the 10m×5m bulkhead into five 2m×5m sub-areas, with the center line of each sub-area being the central axis in the length direction (5m side).

[0109] Single-area cleaning: The robot moves along the centerline of the subarea at a speed of 0.2m / s, and the nozzle swings synchronously left and right (120° amplitude, 20rpm) and up and down (30° amplitude, 10rpm), forming a sinusoidal path (width approximately 0.5775m).

[0110] The machine advances 6.7mm in a single swing cycle (2 seconds) with a high path overlap rate to ensure that nothing is missed.

[0111] Cross-area connection: The edges of the swing cleaning areas of adjacent sub-areas overlap by about 5cm (greater than the calculated value of 6.7mm) to achieve full coverage.

[0112] Total estimated time:

[0113] The length of a single sub-area is 2m, and the advance time is 10s.

[0114] The total time for the five sub-areas is: 10 × 5 = 50 seconds. This time does not include the displacement time when the robot turns around.

[0115] Through the above specific parameter settings and calculations, the feasibility and efficiency of the cleaning method of the present invention are verified.

[0116] 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 method for cleaning a large area steel surface, characterized in that: The following cleaning steps are included: S1. Based on the structure of the bulkhead, a rectangular bulkhead is selected as the area to be cleaned by the cleaning robot; the area to be cleaned is divided into a plurality of rectangular sub-areas, and the midline of each sub-area in its longitudinal direction is obtained; S2, making the cleaning robot move forward at a constant speed in a certain direction along the center line of the sub-area, while performing a circular swing cleaning of the bulkhead without omission through the nozzle (40) on the robot, so as to form a swing cleaning area; S3. According to the cleaning method of step S2, the cleaning robot moves forward at a uniform speed in each sub-area in turn, and forms a corresponding swing cleaning area; and the edges of adjacent swing cleaning areas close to each other overlap with each other to achieve full coverage cleaning of the area to be cleaned.

2. A large-area steel surface cleaning method according to claim 1, characterized in that: The cleaning robot moves forward at a constant speed v, and the nozzle (40) begins to swing left and right or right to left in a circular motion. At the same time, the nozzle (40) also swings up and down in a circular motion, so that the nozzle (40) forms a sinusoidal cleaning path extending along the forward cleaning direction in the current sub-area. The calculation formula of the sinusoidal cleaning path width is as follows: D=h·tanβ-h·tan(β-β1); Wherein, D represents the width of the sinusoidal cleaning path; h represents the vertical distance between the intersection of the vertical swing axis and the horizontal swing axis of the nozzle (40) and the bulkhead; β represents the maximum upward swing angle when the nozzle (40) swings up and down; β1 represents the angle difference between the maximum upward swing angle and the minimum upward swing angle when the nozzle (40) swings up and down; tan represents the tangent function; The nozzle (40) swings from the leftmost side to the rightmost side and then swings back to the leftmost side, forming a swing cycle. The distance the cleaning robot advances in a single swing cycle is L, and the calculation formula of L is as follows: Wherein, n1 represents the rotation speed of the nozzle (40) when it swings left and right; π represents the circumference of the circle; α represents the amplitude of the swing angle of the nozzle (40); In order to achieve cyclic swing cleaning without omission, the cleaning ranges of adjacent trough points or adjacent peak points in the sinusoidal cleaning path need to overlap with each other, that is, L≤D needs to be satisfied.

3. A large-area steel surface cleaning method according to claim 2, characterized in that: The calculation formula for the time taken for a single swing cycle is as follows: Where t' represents the time taken for a single swing cycle.

4. A large-area steel surface cleaning method according to claim 3, characterized in that: When the nozzle (40) is swung upward to the maximum upward swing angle, the jet ejected by the nozzle (40) forms a maximum impact circle when it contacts the sub-area, and adjacent maximum impact circles are tangent to each other; when the nozzle (40) is swung downward to the minimum upward swing angle, the jet ejected by the nozzle (40) forms a minimum impact circle when it contacts the sub-area, and adjacent minimum impact circles are tangent to each other.

5. A large-area steel surface cleaning method according to claim 4, characterized in that: The length of the arc connecting the centers of two adjacent maximum impact circles is s, and its calculation formula is as follows: Wherein, n2 represents the rotation speed of the nozzle (40) when it swings up and down; cos represents the cosine function.

6. A large-area steel surface cleaning method according to claim 5, characterized in that: The diameter of the maximum impact circle meets the following size conditions: Where d is the diameter of the maximum impact circle.

7. A method for cleaning a large area steel surface according to any one of claims 1 to 6, 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 guide pipe (32) installed on the four-wheeled trolley (1), the bottom of the guide pipe (32) is rotatably installed on the water supply pipe (31), and the rotation axis of the guide pipe (32) is perpendicular to the wall surface of the bulkhead where the four-wheeled trolley (1) is currently located; a nozzle (40) is installed on the top of the guide pipe (32) for up and down swinging, the rotation axis of the guide pipe (32) constitutes the left and right swing axis of the nozzle (40), and the axis of the nozzle (40) itself and the up and down swing axis of the nozzle (40) intersect perpendicularly with each other.

8. A large-area steel surface cleaning method according to claim 7, characterized in that: The guide pipe (32) includes a straight pipe section (321) vertically arranged on the four-wheeled trolley (1), and a U-shaped curved pipe section (322) arranged on 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 fixed to the outer side of the straight pipe section (321). A driving gear (33) is installed on the driving motor (35) located next to the straight pipe section (321). 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 fixed to the outlet end of the transfer tube (39), and the axis of rotation of the transfer tube (39) around the curved pipe section (322) constitutes the up and down swing axis of the nozzle (40) on the guide tube (32); a support platform (36) is fixedly installed on the outer side of the straight pipe section (321), a telescopic cylinder (37) is hinged on the support platform (36), and the top end of the telescopic cylinder (37) is hinged with an annular lock buckle (38), and the annular lock buckle (38) is coaxially sleeved on the nozzle (40), and the two hinge axes at both ends of the telescopic cylinder (37) are parallel to the up and down swing axis of the nozzle (40).

9. A large-area steel surface cleaning method according to claim 8, 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) all maintain the same magnetic attraction gap with the wall surface of the bulkhead where the four-wheeled trolley (1) is located; the electromagnet (21) 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 (11).

10. A large-area steel surface cleaning method according to claim 9, characterized in that: Two wheels (11) on the same side of the four-wheeled vehicle (1) are connected to each other by a same transmission belt, one of which is driven by a servo motor connected to a power source, and each wheel (11) on both sides of the four-wheeled vehicle (1) is equipped with a servo motor.

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