Method for cleaning large steel surfaces

Abstract

The present application relates to steel surface cleaning technical field, specifically to a large area steel surface cleaning method. The present application divides the large area steel surface to be cleaned into multiple sub-regions, and carries out uniform swing cleaning along the center line of each sub-region, ensuring the comprehensiveness and efficiency of cleaning. The overlapping design of adjacent swing cleaning regions effectively avoids the cleaning blind area, and realizes full coverage cleaning of the steel surface in the set region. This method not only improves the cleaning efficiency, but also ensures the cleaning quality, and is suitable for large ships, industrial plants and other occasions requiring large area cleaning.

Description

Technical Field

[0001] This invention relates to the field of steel surface cleaning technology, specifically a method for cleaning large-area steel surfaces. Background Technology

[0002] After unloading, large ocean-going vessels have a lot of cargo and dirt residue in their bulkheads, which are made of frame and other materials. Therefore, a thorough cleaning of the ship's hold is necessary before loading other cargo.

[0003] Currently, cleaning operations are typically carried out manually by the ship's crew or external cleaning personnel using simple cleaning tools. While manual water jet cleaning can clean the bulkheads, it is time-consuming and labor-intensive. Furthermore, when dirt remains high up in the cargo hold, the water jet's spray distance is too great, causing the spray force to weaken at higher elevations, making it impossible to remove the dirt. Therefore, workers use elevated work platforms or scaffolding to shorten the spray distance and improve cleaning effectiveness. However, this method of using external climbing structures is extremely unstable in the swaying cargo hold, further increasing the danger to workers. More seriously, during manual cleaning of designated areas, due to the large area to be cleaned, some areas are easily missed due to worker negligence. In such cases, rework is required to clean the uncleaned areas, which is time-consuming and labor-intensive, thus requiring a solution urgently needed. Summary of the Invention

[0004] To avoid and overcome the technical problems existing in the prior art, the present invention provides a method for cleaning large-area steel surfaces. This invention can perform full-coverage cleaning of steel surfaces within a designated area, thereby improving cleaning efficiency.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

[0006] A method for cleaning large-area steel surfaces includes the following cleaning steps:

[0007] S1. Based on the structure of the bulkhead, select a rectangular bulkhead as the area to be cleaned using a cleaning robot; divide the area to be cleaned into multiple rectangular sub-areas and obtain the centerline of each sub-area along its length.

[0008] S2. Make the cleaning robot move at a constant speed along the center line of the sub-area in a certain direction, and at the same time use the nozzles on it to perform a thorough cyclic oscillating cleaning of the cabin wall to form an oscillating cleaning area.

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

[0010] As a further aspect of the present invention: the cleaning robot moves forward at a constant speed v, at which time the nozzle begins to oscillate left and right in a circular motion from left to right or from right to left, and at the same time, the nozzle also oscillates up and down in a circular motion, so that the nozzle forms a sinusoidal cleaning path extending along the cleaning direction in the current sub-region; the formula for calculating the width of the sinusoidal cleaning path is as follows:

[0011] D=h·tanβ-h·tan(β-β1);

[0012] In the formula, D represents the width of the sinusoidal cleaning path; h represents the vertical distance between the intersection of the nozzle's vertical swing axis and its horizontal swing axis and the bulkhead; β represents the maximum upward swing angle of the nozzle when it swings up and down; β1 represents the angle difference between the maximum and minimum upward swing angles of the nozzle when it swings up and down; tan represents the tangent function.

[0013] The nozzle swings from the far left to the far right and then back to the far left, forming one swing cycle; the distance the cleaning robot travels in a single swing cycle is L, and the formula for calculating L is as follows:

[0014]

[0015] In the formula, n1 represents the rotational speed of the nozzle when it swings left and right; π represents pi; and α represents the amplitude of the left and right swing angle of the nozzle.

[0016] To achieve thorough cyclic oscillating cleaning, the cleaning range of adjacent troughs or adjacent crests in the sinusoidal cleaning path must overlap, i.e., L≤D must be satisfied.

[0017] As a further aspect of the present invention, the formula for calculating the time consumed in a single oscillation cycle is as follows:

[0018]

[0019] In the formula, t' represents the time taken for a single oscillation cycle.

[0020] As a further aspect of the present invention: when the nozzle head swings to the maximum upward swing angle, the jet ejected by the nozzle head forms a maximum impact circle when it contacts the sub-region, and adjacent maximum impact circles are tangent to each other; when the nozzle head swings down to the minimum upward swing angle, the jet ejected by the nozzle head forms a minimum impact circle when it contacts the sub-region, and adjacent minimum impact circles are tangent to each other.

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

[0022]

[0023] In the formula, n2 represents the rotational speed of the nozzle as it swings up and down; cos represents the cosine function.

[0024] As a further aspect of the present invention, the diameter of the maximum impact circle satisfies the following dimensional conditions:

[0025]

[0026] In the formula, d represents the diameter of the maximum impact circle.

[0027] As a further embodiment of the present invention: the cleaning robot includes a four-wheeled trolley that can move on the bulkhead, and a magnetic suction part that can attract the four-wheeled trolley to the bulkhead during movement; the four-wheeled trolley is equipped with a flushing part that can spray jets onto the bulkhead, the flushing part includes a water supply pipe and a guide pipe installed on the four-wheeled trolley, the bottom of the guide pipe is rotatably installed on the water supply pipe, and the rotation axis of the guide pipe is perpendicular to the bulkhead surface where the four-wheeled trolley is currently located; the nozzle is oscillatingly installed on the top of the guide pipe, the rotation axis of the guide pipe constitutes the left and right oscillation axis of the nozzle, and the axis of the nozzle itself intersects perpendicularly with the up and down oscillation axis of the nozzle.

[0028] As a further embodiment of the present invention: the guide pipe includes a straight pipe section vertically arranged on a four-wheeled vehicle, and a U-shaped curved pipe section connected to the top of the straight pipe section. The straight pipe section and the curved pipe section cooperate to form an upright spoon shape. A driven gear is coaxially fixed to the outside of the straight pipe section, and a driving gear is installed on the drive motor located next to the straight pipe section. The driving gear and the driven gear mesh with each other for transmission. The outlet end of the curved pipe section is rotatably 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 swing axis of the nozzle on the guide pipe. A support platform is fixedly installed on the outside of the straight pipe section. A telescopic cylinder is hinged to the support platform. An annular lock is hinged to the top of the telescopic cylinder. The annular lock 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 swing axis of the nozzle.

[0029] As a further embodiment of the present invention: the magnetic attraction part includes four electromagnets fixedly installed at the bottom of the four-wheeled vehicle, and the electromagnets are connected to the power supply on the four-wheeled vehicle; the four electromagnets all maintain the same magnetic attraction gap with the wall of the compartment where the four-wheeled vehicle is located; the electromagnets are generally rectangular, and the side of the electromagnets near the wall of the compartment is an arc surface coaxial with the adjacent wheel.

[0030] As a further embodiment of the present invention: 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 source. Each wheel on both sides of the four-wheeled vehicle is equipped with a servo motor.

[0031] Compared with the prior art, the beneficial effects of the present invention are:

[0032] 1. This invention divides a large steel surface to be cleaned into multiple sub-regions and performs a uniformly oscillating cleaning motion along the centerline of each sub-region, ensuring comprehensive and efficient cleaning. The overlapping design of adjacent oscillating cleaning areas effectively avoids cleaning blind spots, achieving full coverage cleaning 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 ships, industrial plants, and other applications requiring large-area cleaning.

[0033] 2. During the cleaning process, the nozzle oscillates along a sinusoidal path, which not only increases the uniformity and coverage of the cleaning but also ensures thorough cleaning by calculating the path width and forward distance using precise mathematical formulas. The sinusoidal path design makes the cleaning more meticulous, reduces blind spots, and improves cleaning efficiency and effectiveness.

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

[0035] 4. The tangential design of the maximum and minimum impact circles formed during the nozzle's oscillation ensures continuous and comprehensive cleaning. This design not only improves cleaning effectiveness but also reduces blind spots, making the entire cleaning process more efficient and reliable.

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

[0037] 6. 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 blind spots, making the entire cleaning process more efficient and reliable.

[0038] 7. The cleaning robot adopts a four-wheeled cart and magnetic suction design, enabling it to move stably on the bulkhead and maintain an adhesive state, ensuring the stability and safety of the cleaning process. Meanwhile, the flexible swing design of the rinsing section makes the cleaning more comprehensive and thorough.

[0039] 8. The spoon-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 area to be cleaned during the cleaning process. At the same time, the design of the telescopic cylinder and the ring lock ensures the stability and reliability of the nozzle during the swinging process.

[0040] 9. The electromagnet design allows the cleaning robot to firmly adhere to the bulkhead, maintaining stability even on uneven or sloping surfaces. Simultaneously, the electromagnet's rounded surface design reduces friction with the bulkhead wall, extending its service life.

[0041] 10. The four-wheeled vehicle is driven by dual servo motors, ensuring the stability and precision of the cleaning robot during movement. Meanwhile, the wheel design connected by a drive belt simplifies the structure and improves transmission reliability. This design enables the cleaning robot to operate stably in various complex environments, improving cleaning efficiency and safety. Attached Figure Description

[0042] Figure 1 This is a side view of the cleaning robot in this invention.

[0043] Figure 2 This is a cross-sectional view of the rinsing section of the cleaning robot in this invention.

[0044] Figure 3 This is a schematic diagram of the axonal structure of the cleaning robot in this invention.

[0045] Figure 4 This is a flowchart of the cleaning method in this invention.

[0046] Figure 5 This is a schematic diagram of the sinusoidal cleaning path in this invention.

[0047] In the diagram: 1. Four-wheeled trolley; 11. Wheel; 2. Magnetic suction unit; 21. Electromagnet; 3. Washing unit; 31. Water supply pipe; 32. Guide pipe; 321. Straight pipe section; 322. Bend pipe section; 33. Driving gear; 34. Driven gear; 35. Drive motor; 36. Support platform; 37. Telescopic cylinder; 38. Ring lock; 39. Adaptor pipe; 40. Sprayer head. Detailed Implementation

[0048] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0049] Please see Figures 1-3In this embodiment of the invention, the cleaning robot includes a four-wheeled vehicle 1, a magnetic suction unit 2, and a rinsing unit 3.

[0050] The four-wheeled vehicle 1 has two servo motors and corresponding power supplies installed inside. Each servo motor drives one wheel 11, and the wheels 11 on the same side are connected to each other by a transmission belt. The two wheels 11 on the same side are of different sizes, with the larger one being the front wheel and the smaller one being the rear wheel. This invention uses a servo motor-driven rear wheel for movement.

[0051] The four-wheeled vehicle 1 is equipped with a control system connected to a remote controller. The remote controller allows staff to stay away from the cleaning site as much as possible, thus improving their safety.

[0052] To ensure stable operation of the four-wheeled vehicle 1 on the bulkhead, a magnetic attraction unit 2 consisting of four sets of electromagnets 21 is installed at the bottom of the 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. The magnetic force gradually increases as the four-wheeled vehicle 1 climbs higher, preventing the vehicle from falling from the bulkhead due to excessive weight from the dragging pipes.

[0053] The rinsing unit 3 includes an L-shaped water supply pipe 31 fixedly installed on the body of the four-wheeled vehicle 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 vehicle 1, and its short section is arranged perpendicular to the four-wheeled vehicle 1. A guide pipe 32 is coaxially and rotatably connected to the short 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 vehicle 1, and a U-shaped bend pipe section 322 connected to the top of the straight pipe section 321. The straight pipe section 321 and the bend pipe section 322 cooperate with each other to form an upright spoon shape. The straight pipe section 321 is coaxially rotated and sealed and connected to the top of the short pipe section. The driven gear 34 is coaxially sleeved on the outside of the straight pipe section 321. The drive motor 35 located next to the straight pipe section 321 is equipped with a drive gear 33. The drive gear 33 and the driven gear 34 mesh with each other and drive each other. The guide pipe 32 is driven to rotate by the action of the drive motor 35.

[0054] The outlet end of the bend section 322 is rotatably sealed and connected to the transfer pipe 39. 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 bend section 322 constitutes the axis of up-and-down swing of the nozzle 40 on the guide pipe 32.

[0055] The vertical swing axis of the nozzle 40 intersects perpendicularly with the rotation axis of the guide tube 32, and the axis of the nozzle 40 itself intersects perpendicularly with the vertical swing axis of the nozzle 40.

[0056] A support platform 36 is fixedly installed on the outer side of the straight pipe section 321. A telescopic cylinder 37 is hinged to the support platform 36. A ring lock 38 is hinged to the top of the telescopic cylinder 37. The ring lock 38 is coaxially sleeved on the nozzle 40, and the two hinge axes of the telescopic cylinder 37 are perpendicular to the vertical swing axis of the nozzle 40. The pitch angle of the nozzle 40 is controlled by the extension and retraction of the telescopic cylinder 37.

[0057] like Figure 4 As shown, the specific process of using the cleaning robot of this 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 a Bulkhead Area: First, a rectangular area was selected from the bulkhead structure as the area to be cleaned. This selection was based on the structural characteristics of the bulkhead, the cleaning requirements, and the robot's operating range. Conventional ship cabins typically have ribs, and the sections containing these ribs have complex spatial structures, making them unsuitable for robotic cleaning. Cleaning requires manual handling with a handheld nozzle. Based on these reasons, a rectangular area was chosen as the cleaning area, and a cleaning robot was used for cleaning.

[0060] 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] Obtain the centerline: In each sub-region, determine its centerline along its length. This centerline will serve as a reference path for the robot cleaning process, ensuring its orderliness and accuracy.

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

[0063] Setting the forward speed and direction: The four-wheeled trolley 1 is attached to the bulkhead via the magnetic suction unit 2, and then, driven by the wheels 11, the cleaning robot moves forward at a constant speed v along the centerline of the sub-area. This constant speed v should be moderate to ensure cleaning effectiveness and robot operation stability.

[0064] Oscillating nozzle cleaning: As the robot moves forward, the nozzles 40 on it are activated to perform a thorough, cyclical oscillating cleaning. The oscillation 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 oscillate left and right (either from left to right or right to left) in a circular motion, and simultaneously oscillates up and down in a circular motion, so that the nozzle 40 forms a sinusoidal cleaning path extending along the cleaning direction within the current sub-region. The sinusoidal cleaning path is as follows: Figure 5 As shown. In Figure 5 In the diagram, thin black dashed lines represent sub-regions, and thick black solid lines represent the sinusoidal cleaning path formed by the combined effects of the nozzle 40's up-and-down and left-and-right oscillations, and the robot's forward movement. The thick black dashed lines also represent the sub-cleaning path formed by the nozzle 40's combined up-and-down and left-and-right oscillations. Figure 5 In the process, sub-cleaning paths are formed sequentially along the sinusoidal cleaning path, with the edges of each sub-cleaning path overlapping each other, thereby achieving full coverage cleaning of the sub-region.

[0066] When the nozzle 40 swings up to its maximum upward swing angle, the jet ejected by the nozzle 40 forms a maximum impact circle when it comes into contact with the sub-region, and adjacent maximum impact circles are tangent to each other; when the nozzle 40 swings down to its minimum upward swing angle, the jet ejected by the nozzle 40 forms a minimum impact circle when it comes into contact with the sub-region, and adjacent minimum impact circles are tangent to each other.

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

[0068]

[0069] In the formula, n2 represents the rotational 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 dimensional condition shown in formula (2):

[0071]

[0072] In the formula, d represents the diameter of the maximum impact circle.

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

[0074] D=h·tanβ-h·tan(β-β1) (3)

[0075] In the formula, 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 of the nozzle 40 when it swings up and down; β1 represents the angle difference between the maximum and minimum upward swing angles of the nozzle 40 when it swings up and down; 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 travels in a single swing cycle is L, and the formula for calculating L is shown in formula (4):

[0077]

[0078] In the formula, n1 represents the rotational speed of the nozzle 40 when it swings left and right; π represents pi; and α represents the amplitude of the left and right swing angle of the nozzle 40.

[0079] To achieve thorough cyclic oscillating cleaning, the cleaning range of adjacent troughs or adjacent crests in the sinusoidal cleaning path must overlap, i.e., L≤D must be satisfied.

[0080] Forming an oscillating cleaning zone: As the robot moves forward and the nozzle oscillates, an oscillating cleaning zone covering most of the sub-area will be formed. This zone should be as close as possible to the boundary of the sub-area to minimize omissions.

[0081] 3. Full-coverage cleaning and overlapping treatment

[0082] Cleaning sub-areas sequentially: Following the cleaning method in Part 2, allow the cleaning robot to move forward at a constant speed in each sub-area sequentially, forming corresponding oscillating cleaning zones. This process should be carried out in an orderly manner to ensure that the entire area to be cleaned is covered.

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

[0084] Inspection and Adjustment: During the cleaning process, the cleaning effect should be checked regularly, and adjustments should be made as needed. If some areas are found to be incompletely cleaned or missed, the robot's cleaning parameters should be adjusted or the cleaning should be repeated in a timely manner.

[0085] In summary, this cleaning process ensures thorough and uniform cleaning of the bulkheads through precise area division, orderly cleaning paths, and overlapping treatment. Furthermore, by adjusting the robot's cleaning parameters and the nozzle's oscillation range, it can adapt to changes in different 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-region division: Divided into 5 equal sub-regions (along the length direction), each sub-region is 2m×5m in size;

[0091] Initial nozzle parameters:

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

[0099]

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

[0101] The time t' of a single oscillation cycle:

[0102]

[0103] Arc length s of adjacent maximum impact circles:

[0104]

[0105] The diameter d of the maximum impact circle:

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

[0107] 3. Cleaning robot operation process

[0108] Zone division: The 10m×5m bulkhead is divided into 5 sub-regions of 2m×5m each, with the center line of each sub-region being the central axis along the length direction (5m side).

[0109] Single-area cleaning: The robot moves along the center of the sub-area at a speed of 0.2m / s, and the nozzles swing synchronously left and right (120° amplitude, 20rpm) and up and down (30° amplitude, 10rpm) to form a sinusoidal path (approximately 0.5775m wide).

[0110] It advances 6.7mm within a single swing cycle (2 seconds), with a high path overlap rate to ensure no omissions.

[0111] Cross-regional integration: The edges of the swing cleaning areas of adjacent sub-regions overlap by about 5cm (greater than the calculated value of 6.7mm), achieving full coverage.

[0112] Total time estimated:

[0113] Each sub-region is 2m long and takes 10s to advance.

[0114] Total time for 5 sub-regions: 10 × 5 = 50 seconds. This time does not include the time for the robot to move when turning around.

[0115] The feasibility and efficiency of the cleaning method of the present invention have been verified through the above specific parameter settings and calculations.

[0116] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A method for cleaning large-area steel surfaces, characterized in that, The cleaning steps include the following: S1. Based on the structure of the bulkhead, select a rectangular bulkhead as the area to be cleaned using a cleaning robot; divide the area to be cleaned into multiple rectangular sub-areas and obtain the centerline of each sub-area along its length. S2. Make the cleaning robot move at a constant speed along the center line of the sub-area in a certain direction, and at the same time use the nozzle (40) on it to perform a thorough cyclic swing cleaning of the cabin wall to form a swing cleaning area. S3. Following the cleaning method of step S2, the cleaning robot moves forward at a constant speed in each sub-region and forms a corresponding swing cleaning area; and the edges of adjacent swing cleaning areas overlap each other to achieve full coverage cleaning of the area to be cleaned. Cleaning robots with speed Moving forward at a constant speed, the nozzle (40) begins to oscillate left and right from left to right or right to left, while also oscillating up and down, so that the nozzle (40) forms a sinusoidal cleaning path extending along the cleaning direction in the current sub-region; the formula for calculating the width of the sinusoidal cleaning path is as follows: ； In the formula, Indicates the width of the sinusoidal cleaning path; This indicates the vertical distance between the intersection of the vertical swing axis and the horizontal swing axis of the nozzle (40) and the bulkhead; This indicates the maximum upward swing angle of the nozzle (40) when it swings up and down; This represents the angle difference between the maximum and minimum upward swing angles of the nozzle (40) when it swings up and down; Represents the tangent function; The nozzle (40) swings from the leftmost side to the rightmost side and then back to the leftmost side, forming a swing cycle; the cleaning robot travels a distance in a single swing cycle. , The calculation formula is expressed as follows: ； In the formula, This indicates the rotational speed of the nozzle (40) when it swings left and right; Represents pi; This indicates the range of the left and right swing angle of the nozzle (40); To achieve thorough and complete cyclic oscillating cleaning, the cleaning range of adjacent troughs or crests in the sinusoidal cleaning path must overlap, i.e., it must satisfy... ; The formula for calculating the time taken for a single oscillation cycle is as follows: ； In the formula, Indicates the time taken for a single oscillation cycle; When the nozzle (40) swings up to the maximum upward swing angle, the jet ejected by the nozzle (40) forms the maximum impact circle when it comes into contact with the sub-region, and adjacent maximum impact circles are tangent to each other; when the nozzle (40) swings down to the minimum upward swing angle, the jet ejected by the nozzle (40) forms the minimum impact circle when it comes into contact with the sub-region, and adjacent minimum impact circles are tangent to each other. The arc length connecting the centers of two adjacent circles of maximum impact is The calculation formula is as follows: ； In the formula, This indicates the rotational speed of the nozzle (40) as it swings up and down; This represents the cosine function.

2. The method for cleaning a large area steel surface according to claim 1, characterized in that, The diameter of the maximum impact circle must meet the following dimensional requirements: ； In the formula, This indicates the diameter of the circle of maximum impact.

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