Outer plate curved surface large elevation angle operation optimization method for ultrahigh pressure water rust removal robot

Abstract

The invention relates to the technical field of ship maintenance robots, and discloses an outer plate curved surface large elevation angle operation optimization method for an ultrahigh pressure water rust removal robot, which comprises the following steps: S1, optimizing speed difference device steel wire arrangement: adding a low-position middle docking block suspension point on the basis of two original high-position suspension points, a speed difference device steel wire rope of a hanging point of the low-position middle docking block is kept perpendicular to the operation robot, the falling risk of the robot is thoroughly avoided through protection of the three-point speed difference device, magnetic attraction force enhancement and real-time monitoring and early warning, and according to the characteristics of a hyperbolic curvature curved surface, through combination of static adjustment and dynamic adaptation, the safety of the robot is improved. According to the robot, the adsorption force and the anti-skid performance of the robot on a complex curved surface are improved, the robot can independently work in the daytime, construction of tail electromechanical propellers and rudder blades is not affected, a standardized process of curved-surface large-elevation-angle work is formed through partition statistics and simulation optimization, and a reproducible technical scheme is provided for rust removal work of similar ships.

Description

Technical Field

[0001] This invention relates to the field of ship repair robot technology, specifically to an optimized method for large elevation angle operation on the curved surface of an ultra-high pressure water rust removal robot. Background Technology

[0002] Rust removal from ship exterior plating is a crucial step in ship repair, directly impacting the ship's service life and navigational safety. Ultra-high pressure water rust removal technology, due to its environmentally friendly and efficient characteristics, has been gradually adopted in the shipbuilding and repair industry. Currently, rust removal operations on dock interior and exterior plating primarily utilize equipment such as semi-automatic vehicle-mounted telescopic spray nozzles, rust removal trolleys, and wall-climbing robots. Simple working conditions such as straight-walled cargo holds and vertical surfaces of the outer panels before docking are often handled by wall-climbing robots. After the ship enters the dry dock, a rust removal cart is used on the flat bottom area, and a vehicle-mounted spray nozzle is used on the vertical surface. The living quarters at the bow and stern, where the curvature is relatively small, can be accessed by wall-climbing robots. However, the stern engine room area, due to its complex working conditions such as hyperbolic curvature and large angle of elevation, has long relied on traditional sandblasting and rust removal processes. The operational reliability of wall-climbing robots relies on the attraction force of permanent magnets and the friction force of the drive wheels: the permanent magnets use strong attraction to keep the drive wheels in close contact with the hull surface, ensuring stability. However, the special working conditions in the engine room area at the stern of a ship (large angle of attack, hyperbolic curvature) place higher demands on the robot's load capacity—the magnetic attraction force needs to overcome a larger component of gravity, and the tire friction force needs to cope with changes in the contact area of ​​the curved surface. Several shipyards have previously experienced robot fall accidents, and manufacturers do not recommend using wall-climbing robots in this area. Therefore, in order to meet the operational needs of the large elevation angle area of ​​the curved surface of the ship's outer plate, it is urgent to systematically optimize the safety protection, adsorption performance, and driving capability of the wall-climbing robot in order to achieve full coverage of the ultra-high pressure water rust removal process. Summary of the Invention

[0003] The purpose of this invention is to provide an optimized method for operating the outer curved surface of an ultra-high pressure water rust removal robot at a large elevation angle, so as to solve the problems mentioned in the background art.

[0004] To achieve the above objectives, the present invention provides the following technical solution: an optimized method for large elevation angle operation of curved outer plate surfaces using an ultra-high pressure water rust removal robot, comprising the following steps: S1. Optimize the arrangement of the differential wire rope: On the basis of the original two high-position suspension points, add a low-position middle dock pier suspension point, so that the differential wire rope of the low-position middle dock pier suspension point is perpendicular to the working robot, forming a three-angle differential safety wire rope. By adding suspension points, a multi-angle safety mechanism is formed as a basic safety guarantee against falls.

[0005] S2, Main Adsorption Magnet Distance Adjustment: The standard 5mm is adjusted to 3.5mm or less. By reducing the adsorption distance, the magnetic attraction is enhanced, providing core adhesion capability for curved surface elevation angle operations, and together with S1, a double safety defense line is constructed.

[0006] S3. Controller parameter optimization: Set the walking speed to ≤2m / s during operation to increase the driving torque. In response to the running resistance caused by the increase in magnetic force in S2, the power output is balanced through parameter optimization to ensure the robot's motion performance.

[0007] S4. Permanent magnet optimization based on partitioned data: Based on the probability and frequency of robot tire slippage and fall accumulated in the partitions, the permanent magnet is optimized. Combined with actual operation data, the performance of the permanent magnet is improved in a targeted manner. This forms a progressive scheme of magnetic force optimization with S2, reducing the risk of failure in specific areas.

[0008] S5. Force-Magnetic Coupling Simulation Optimization: Surface response optimization using force-magnetic coupling direction. Solidiworks, Maxwell and Workbench are used for joint simulation to improve magnet adsorption capacity, drive wheel and driven wheel size, maximum load capacity and anti-slip performance. Based on the optimization direction of S4, simulation is used to achieve multi-parameter synergistic improvement, so that the equipment performance can be accurately adapted to curved surface conditions.

[0009] S6, Dynamic Magnetic Force Adjustment at Elevation Angle: When the elevation angle exceeds 60°, the secondary magnetic force enhancement mode is activated, which further increases the magnetic attraction force on the basis of the base value. Based on the static optimization of S2 and S5, the magnetic force is dynamically adapted to cope with the load fluctuation caused by changes in elevation angle.

[0010] S7. Addition of auxiliary cleaning components: An adjustable auxiliary cleaning component is added to the side of the drive wheel. The combination of micro brushes and airflow nozzles removes rust and debris adhering to the working surface, maintains stable wheel friction, eliminates interference from external impurities on the drive performance in S3, and ensures reliable contact between the wheel and the working surface.

[0011] S8. Monitoring and Early Warning System Construction: The robot collects data on magnetic adsorption force, wheel pressure, and walking trajectory deviation in real time. When the monitored value exceeds the safety threshold, it automatically triggers an audible and visual warning and reduces the walking speed to 0.5m / s. The performance parameters formed by all the aforementioned steps are monitored in real time. The entire process is controlled through the early warning and intervention mechanism, and it forms a linkage protection with the speed differential device in S1.

[0012] Furthermore, the speed difference safety wire ropes at the three angles in S1 are made of high-strength galvanized steel cables with a diameter of not less than 8mm. The two high points and the low point form an equilateral triangle spatial layout with a breaking tensile force ≥10kN, ensuring that the robot can be subjected to balanced force in three dimensions when it suddenly falls.

[0013] Furthermore, the main adsorption magnet in S2 is a neodymium iron boron permanent magnet. After adjustment, the magnetic attraction force of a single magnet is ≥800N, which is 23% higher than that of the conventional state. This parameter is designed for the magnetic force requirements of the hyperbolic curvature region at the stern of the ship.

[0014] Furthermore, the drive motor in S3 has a constant power of 5.5kW, and the maximum walking speed of 2m / s corresponds to an output torque of ≥180N・m, which can offset the additional resistance of 150-200N caused by the increase in magnetic force.

[0015] Furthermore, the partitioning in S4 is based on the radius of curvature of the tail surface, with each 5m curvature interval serving as a statistical unit. The cumulative data covers at least three similar vessel operation cases, and the optimization proposals include increasing the magnet thickness by 1.2mm and increasing the magnetic pole arrangement density by 10%.

[0016] Furthermore, the boundary conditions for the joint simulation in S5 include a hull surface curvature radius of 5-15m and an operating environment temperature of -5℃ to 40℃. After optimization, the diameter of the drive wheel increases from 150mm to 195mm, and the maximum load increases from 136kg to 150kg.

[0017] Furthermore, in S6, the elevation angle detection uses a dual-axis tilt sensor with a measurement accuracy of ±0.1°, and the secondary magnetic enhancement mode is achieved by adjusting the magnet excitation current, with a response time ≤200ms.

[0018] Furthermore, the airflow nozzle pressure of the auxiliary cleaning component in S7 is 0.5-0.8MPa, the micro brush is made of nylon material, has a diameter of 50mm, and its rotation speed is adjusted synchronously with the robot's walking speed.

[0019] Furthermore, in S8, the sampling frequency of the monitoring sensor is ≥100Hz, and the safety thresholds include magnetic adsorption force ≥640N, wheel pressure fluctuation ≤±10%, trajectory offset ≤100mm, and communication delay between the early warning system and the robot control system ≤50ms.

[0020] Furthermore, in S8, the emergency threshold is a magnetic adsorption force ≤480N, a sudden drop in wheel pressure ≥30%, or a trajectory deviation ≥200mm. After triggering, the differential brake locking time is ≤0.5s, and the braking distance is ≤10mm.

[0021] Compared with the prior art, the beneficial effects of the present invention are: 1. By using a three-point differential speed protection device, enhanced magnetic attraction, and real-time monitoring and early warning, the risk of robot fall is completely eliminated. Targeting the characteristics of hyperbolic curvature surfaces, a combination of static adjustment and dynamic adaptation is used to improve the robot's adsorption force on complex curved surfaces (basic adjustment + secondary enhancement), and improve anti-slip performance. The robot can operate independently during the day without affecting the construction of the tail electromechanical propeller and rudder. Through zonal statistics and simulation optimization, a standardized process for large angle of elevation operation on curved surfaces has been formed, providing a replicable technical solution for rust removal operations on similar ships. Attached Figure Description

[0022] Figure 1 This is a flowchart of the present invention; Figure 2 The flowchart for optimizing the steel wire arrangement of the differential gear in this invention; Figure 3 This is a flowchart illustrating the adjustment process of the distance to the main adsorption magnet in this invention. Figure 4 This is a flowchart of the controller parameter optimization process of the present invention; Figure 5 This is a flowchart of the permanent magnet optimization process based on partitioned data according to the present invention; Figure 6 This is a flowchart of the force-magnetic coupling simulation optimization process of the present invention; Figure 7 This is a flowchart of the dynamic magnetic force adjustment process for elevation angle of the present invention; Figure 8 Flowchart for installing the auxiliary cleaning component of this invention; Figure 9 This is a flowchart illustrating the construction process of the monitoring and early warning system of the present invention. Figure 10 This is a flowchart of the on-site testing process for the robot of this invention. Detailed Implementation

[0023] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0024] Example 1 For the stern engine room area of ​​the Navitt G4 vessel, which has a typical hyperbolic curvature surface with an elevation angle range of 60°-75°, please refer to [link / reference needed]. Figures 1-10 This invention provides a technical solution: an optimized method for operating an ultra-high pressure water rust removal robot on a curved outer plate at a large elevation angle, comprising the following steps: S1. Optimize the arrangement of the differential cable: In addition to the existing two high-level suspension points, a low-level mid-dock suspension point is added. This ensures the differential cable at the low-level mid-dock suspension point remains perpendicular to the working robot, forming three-angle differential safety cable systems. This multi-angle safety mechanism, created by adding suspension points, serves as a fundamental safety guarantee against falls. The three-angle differential safety cable systems use high-strength galvanized steel cables with a diameter of not less than 8mm. The two high-level points and the low-level point form an equilateral triangle spatial layout, with a breaking strength ≥10kN, ensuring balanced force distribution in three dimensions during a sudden robot fall.

[0025] S2, Main Adsorption Magnet Distance Adjustment: The conventional 5mm is adjusted to 3.5mm. By reducing the adsorption distance, the magnetic attraction is enhanced, providing core adhesion capability for curved surface elevation angle operations. Together with S1, it forms a double safety defense line. The main adsorption magnet is a neodymium iron boron permanent magnet. After adjustment, the magnetic attraction force of a single magnet is ≥800N, which is 23% higher than the conventional state. This parameter is designed for the magnetic force requirements of the hyperbolic curvature area at the stern of the ship. By enhancing the basic magnetic attraction force, it offsets the gravitational component force at large elevation angles, ensuring the robot's initial adhesion stability on curved surfaces.

[0026] S3. Controller parameter optimization: The maximum walking speed is set to 2m / s to increase the driving torque. In response to the running resistance caused by the increase in magnetic force in S2, the power output is balanced through parameter optimization to ensure the robot's motion performance. The drive motor power is kept constant at 5.5kW. The maximum walking speed of 2m / s corresponds to an output torque of ≥180N・m, which can offset the additional resistance of 150-200N caused by the increase in magnetic force. This balances the driving resistance after the increase in magnetic attraction force and ensures the smoothness of the robot's movement on complex curved paths.

[0027] S4. Permanent Magnet Optimization Based on Partition Data: Based on the frequency of robot tire slippage and slide probability accumulated in partitions, the permanent magnet is optimized. Combined with actual operation data, the performance of the permanent magnet is improved in a targeted manner. This forms a progressive magnetic optimization scheme with S2, reducing the risk of failure in specific areas. The partition is based on the radius of curvature of the tail surface. Every 5m curvature interval is a statistical unit. The accumulated data covers operation cases of at least 3 similar ships. The optimization proposals include increasing the magnet thickness by 1.2mm and increasing the magnetic pole arrangement density by 10%, which specifically solves the anti-slip problem in high-risk areas and improves the robot's adaptability to different curvatures.

[0028] S5. Force-Magnetic Coupling Simulation Optimization: Surface response optimization is performed using force-magnetic coupling. Solidiworks, Maxwell, and Workbench are used for joint simulation to improve magnet adsorption capacity, drive and driven wheel dimensions, maximum load capacity, and anti-slip performance. Based on the optimization direction of S4, simulation is used to achieve multi-parameter synergistic improvement, enabling the equipment performance to accurately adapt to curved surface conditions. The boundary conditions of the joint simulation include a hull surface curvature radius of 5-15m and an operating environment temperature of -5℃ to 40℃. After optimization, the drive wheel diameter increases from 150mm to 195mm, and the maximum load increases from 136kg to 150kg.

[0029] S6, Dynamic Magnetic Force Adjustment at Elevation Angle: When the elevation angle exceeds 60°, the secondary magnetic force enhancement mode is activated, increasing the magnetic attraction force by 15% on top of the base value. Based on the static optimization of S2 and S5, dynamic adaptation of magnetic force is achieved to cope with load fluctuations caused by changes in elevation angle. The elevation angle detection adopts a dual-axis tilt sensor with a measurement accuracy of ±0.1°. The secondary magnetic force enhancement mode is achieved by adjusting the magnet excitation current, with a response time of ≤200ms. By sensing changes in elevation angle in real time, the magnetic attraction force is dynamically supplemented, solving the problem that "a single magnetic force parameter cannot adapt to a wide range of elevation angles".

[0030] S7. Addition of Auxiliary Cleaning Component: An adjustable auxiliary cleaning component is added to the side of the drive wheel. This component uses a combination of micro-brush and airflow nozzles to remove rust and debris adhering to the working surface, maintaining stable wheel friction, eliminating interference from external impurities on the drive performance in S3, and ensuring reliable contact between the wheel and the working surface. The airflow nozzle pressure of the auxiliary cleaning component is 0.5-0.8MPa. The micro-brush is made of nylon, with a diameter of 50mm, and its rotation speed is adjusted synchronously with the robot's walking speed (2m / s corresponds to 300r / min). This eliminates interference from external impurities on friction, ensuring that the drive torque is effectively converted into walking power. Combined with the anti-slip tire design, this further reduces the slippage rate.

[0031] S8. Monitoring and Early Warning System Construction: The robot collects data on magnetic adsorption force, wheel pressure, and trajectory deviation in real time. When the monitored values ​​exceed the safety threshold, an audible and visual warning is automatically triggered, and the walking speed is reduced to 0.5 m / s. The performance parameters formed by all the aforementioned steps are monitored in real time. The entire process safety control is achieved through the early warning and intervention mechanism, and it forms a linkage protection with the speed differential in S1. The sampling frequency of the monitoring sensor is ≥100Hz. The safety thresholds include magnetic adsorption force ≥640N, wheel pressure fluctuation ≤±10%, and trajectory deviation ≤100mm. The communication delay between the early warning system and the robot control system is ≤50ms. The emergency thresholds are magnetic adsorption force ≤480N, wheel pressure drop ≥30%, or trajectory deviation ≥200mm. After triggering, the speed differential braking lock time is ≤0.5s, and the braking distance is ≤10mm. Through the closed-loop control of "real-time monitoring - graded response - emergency braking", the safety control is upgraded from "passive protection" to "active intervention".

[0032] Example 2 For the Aero T3 vessel, the stern engine room area has an elevation angle of 55°-70°, resulting in more complex curvature variations (with local curvature radii as low as 5m). Please refer to [link / reference needed]. Figures 1-10 This invention provides a technical solution: an optimized method for operating an ultra-high pressure water rust removal robot on a curved outer plate at a large elevation angle, comprising the following steps: S1. Optimize the arrangement of the differential cable: In addition to the original two high-level suspension points, a low-level suspension point is added to the middle dock pier. This ensures that the differential cable at the low-level middle dock pier suspension point is perpendicular to the working robot, forming a three-angle differential safety cable. By adding suspension points, a multi-angle safety mechanism is formed as a basic safety guarantee against falls. The three-angle differential safety cable uses high-strength galvanized steel cable. The high-level suspension points are spaced 5m apart, and the low-level suspension point is located 6m vertically from the middle dock pier to the working surface. The cable is selected as an anti-torsion steel cable with a breaking tensile strength of 15kN, ensuring that the low-level cable is always perpendicular to the robot's working direction (dynamically adjusted through pulley blocks), ensuring that the robot can be evenly stressed in three dimensions in the event of a sudden fall.

[0033] S2, Main Adsorption Magnet Distance Adjustment: The conventional 5mm is adjusted to 3mm. By reducing the adsorption distance, the magnetic attraction is enhanced, providing core adhesion capability for curved surface elevation angle operations. Together with S1, it forms a double safety defense line. The main adsorption magnet is a neodymium iron boron permanent magnet. After adjustment, the magnetic attraction force of a single magnet is 850N, which is 31% higher than the conventional state. This parameter is designed for the magnetic force requirements of the hyperbolic curvature area at the stern of the ship. Through a greater increase in magnetic force, it adapts to the strong adhesion requirements of small curvature areas and prevents the robot from detaching at curved surface protrusions.

[0034] S3. Controller parameter optimization: Considering the continuous undulations of the tail surface of the Ero T3, the maximum walking speed is further reduced to 1.8m / s and the torque is increased to 200N・m. This ensures the robot's power redundancy on uneven surfaces and guarantees the smoothness of the robot's movement on complex curved paths. By trading lower speed for higher torque, the robot can cope with the instantaneous resistance changes caused by surface undulations.

[0035] S4. Permanent Magnet Optimization Based on Partition Data: Based on the frequency of robot tire slippage and slide probability accumulated in partitions, the permanent magnet is optimized. Combined with actual operation data, the performance of the permanent magnet is improved in a targeted manner. This forms a progressive magnetic optimization scheme with S2, reducing the risk of failure in specific areas. The partition is based on the radius of curvature of the tail surface. Every 5m curvature interval is a statistical unit. The accumulated data covers operation cases of at least 3 similar ships. The optimization proposals include increasing the magnet thickness by 1.2mm and increasing the magnetic pole arrangement density by 10%, which specifically solves the anti-slip problem in high-risk areas and improves the robot's adaptability to different curvatures.

[0036] S5. Force-Magnetic Coupling Simulation Optimization: Surface response optimization using force-magnetic coupling direction, employing Solidiworks, Maxwell, and Workbench co-simulation, improves magnet adsorption capacity, drive and driven wheel dimensions, maximum load capacity, and anti-slip performance. Based on the optimization direction of S4, simulation achieves multi-parameter synergistic improvement, enabling precise adaptation of equipment performance to curved surface conditions. Boundary conditions for co-simulation include a hull surface curvature radius of 5-15m and an operating environment temperature of -5℃ to 40℃. After optimization, the drive wheel adopts a stepped design with an inner diameter of 195mm and an outer diameter of 180mm to adapt to the surface tilt angle. The maximum load capacity increases from 136kg to 150kg, and the anti-slip performance is improved by 10%. Through structural differentiation design, the robot's forces on hyperbolic surfaces are balanced.

[0037] S6, Dynamic Magnetic Force Adjustment at Elevation Angle: When the elevation angle exceeds 60°, the secondary magnetic force enhancement mode is activated, increasing the magnetic attraction force by 15% on top of the base value. Based on the static optimization of S2 and S5, dynamic adaptation of magnetic force is achieved to cope with load fluctuations caused by changes in elevation angle. The elevation angle detection adopts a dual-axis tilt sensor with a measurement accuracy of ±0.1°. The secondary magnetic force enhancement mode is achieved by adjusting the magnet excitation current, with a response time of ≤200ms. By sensing changes in elevation angle in real time, the magnetic attraction force is dynamically supplemented, solving the problem that "a single magnetic force parameter cannot adapt to a wide range of elevation angles".

[0038] S7. Addition of Auxiliary Cleaning Component: An adjustable auxiliary cleaning component is added to the side of the drive wheel. This component uses a combination of micro-brushes and airflow nozzles to remove rust and debris adhering to the work surface, maintaining stable wheel friction and eliminating interference from external impurities on the drive performance of the S3. This ensures reliable contact between the wheel and the work surface. The airflow nozzle pressure of the auxiliary cleaning component is 0.5-0.8 MPa. The micro-brush is made of nylon, with a diameter of 50 mm, and its rotation speed is adjusted synchronously with the robot's walking speed (2 m / s corresponds to 300 r / min). This eliminates interference from external impurities on friction, ensuring that the drive torque is effectively converted into walking power. Combined with the anti-slip tire design, this further reduces the slippage rate. An adjustable cleaning component (brush height adjustable range 0-10 mm) is used to adapt to the unevenness of the Ero T3's curved surface. The airflow nozzle pressure is increased to 0.8 MPa, enhancing the ability to remove debris from recessed areas. The improved fit between the cleaning component and the curved surface ensures stable drive wheel friction even in areas with a curvature radius of 5 m, ensuring the robot can walk along complex trajectories.

[0039] S8. Monitoring and Early Warning System Construction: The robot collects data on magnetic attraction force, wheel pressure, and trajectory deviation in real time. When the monitored values ​​exceed the safety threshold, an audible and visual warning is automatically triggered, and the walking speed is reduced to 0.5 m / s. The system monitors the performance parameters generated by all the aforementioned steps in real time, achieving full-process safety control through an early warning and intervention mechanism. It also forms a linkage protection system with the speed differential in S1. The monitoring sensor sampling frequency is ≥100Hz, and the safety thresholds include magnetic attraction force ≥700N, wheel pressure fluctuation ≤±8%, and trajectory deviation ≤100mm. The communication delay between the early warning system and the robot control system is ≤50ms. Emergency... The thresholds are: magnetic adsorption force ≤480N, wheel pressure drop ≥30%, or trajectory deviation ≥200mm. After triggering, the differential brake locking time is ≤0.5s, and the braking distance is ≤10mm. Through the closed-loop control of "real-time monitoring - graded response - emergency braking", the safety management is upgraded from "passive protection" to "active intervention". In response to the high-risk characteristics of the Ero T3, the logic of "automatic shutdown after 3 consecutive exceedances of the threshold" is added. It is connected to the shipyard's central control system to achieve remote monitoring. Through more stringent early warning standards and remote collaborative management, the risk is further reduced. During the operation, the system triggered 12 early warnings, all of which were prevented from happening by timely intervention.

[0040] Working Principle: During operation, the three-point differential in S1 forms a physical protective net, dispersing the impact force of a fall through a three-dimensional layout, providing a "bottom-line safety" for operations. The monitoring and early warning system in S8 collects key parameters such as magnetic attraction force, wheel pressure, and trajectory in real time, achieving closed-loop control of "anomaly identification - graded response - emergency braking." This, combined with the differential, forms a dual guarantee of "active protection + passive protection." The combination of these two systems enhances safety redundancy and completely eliminates the risk of robot falls. S2 increases the basic magnetic attraction force by shortening the magnet distance, providing a prerequisite for stable robot attachment. S3 addresses the driving resistance problem caused by increased magnetic force through speed-torque balance (2m / s corresponds to 180N・m). S5 achieves multi-parameter simulation. Collaborative optimization (adsorption force +20%, wheel body +30%, load +10%) enhances the device's basic adaptability to curved surface conditions from the perspective of force-magnetic coupling. The three-layer optimization jointly builds the robot's "attachment-drive-load" capability under normal curved surface elevation angles. S4 optimizes the permanent magnet based on partition data, making the magnetic force distribution and curvature difference accurately match, reducing the risk of failure in specific areas. S6 dynamically adjusts the elevation angle (magnetic force +15% when ≥60°) to deal with load fluctuations caused by large elevation angles in real time, solving the problem that "static parameters cannot cover dynamic working conditions". S7's auxiliary cleaning component removes rust and debris through "brush + airflow", ensuring stable friction of the drive wheel (fluctuation ≤5%) and eliminating interference from external impurities on motion performance. The three components form a dynamic response across all dimensions to complex curved surfaces, addressing spatial differences, angular variations, and environmental interference. From S4's partitioned data collection to S5's simulation optimization and S8's monitoring data feedback, a cycle of "data collection - analysis and optimization - effect verification" is formed, ensuring that every improvement is based on actual working condition data and guaranteeing the accuracy and effectiveness of optimization measures.

[0041] 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.

Claims

1. An optimized method for operating ultra-high pressure water rust removal robots at large elevation angles on curved outer plates, characterized in that: Includes the following steps: S1. Optimize the arrangement of the differential wire rope: On the basis of the original two high-level suspension points, add a low-level middle dock suspension point, so that the differential wire rope of the low-level middle dock suspension point is perpendicular to the working robot, forming a three-angle differential safety wire rope. By adding suspension points, a multi-angle safety mechanism is formed as a basic safety guarantee against falling. S2, Main Adsorption Magnet Distance Adjustment: The conventional 5mm is adjusted to 3.5mm or less. By reducing the adsorption distance, the magnetic attraction is enhanced, providing core adhesion capability for curved surface elevation angle operations, and together with S1, a double safety defense line is constructed. S3, Controller parameter optimization: Set the walking speed to ≤2m / s during operation to increase the driving torque. In response to the running resistance caused by the increase in magnetic force in S2, the power output is balanced through parameter optimization to ensure the robot's motion performance. S4. Permanent magnet optimization based on partitioned data: Based on the probability and frequency of robot tire slippage and fall accumulated in the partitions, the permanent magnet is optimized. Combined with actual operation data, the performance of the permanent magnet is improved in a targeted manner. This forms a progressive scheme of magnetic force optimization with S2, reducing the risk of failure in specific areas. S5, Force-Magnetic Coupling Simulation Optimization: Surface response optimization using force-magnetic coupling direction, employing Solidiworks, Maxwell, and Workbench joint simulation to improve magnet adsorption capacity, drive wheel and driven wheel dimensions, maximum load capacity, and anti-slip performance. Based on the optimization direction of S4, simulation is used to achieve multi-parameter collaborative improvement, enabling the equipment performance to accurately adapt to curved surface conditions. S6, Dynamic Magnetic Force Adjustment at Elevation Angle: When the elevation angle exceeds 60°, the secondary magnetic force enhancement mode is activated to further increase the magnetic attraction force on the basis of the base value. Based on the static optimization of S2 and S5, the magnetic force is dynamically adapted to cope with the load fluctuation caused by changes in elevation angle. S7. Addition of auxiliary cleaning components: An adjustable auxiliary cleaning component is added to the side of the drive wheel. The combination of micro brushes and airflow nozzles removes rust and debris adhering to the working surface, maintains stable wheel friction, eliminates interference from external impurities on the drive performance in S3, and ensures reliable contact between the wheel and the working surface. S8. Monitoring and Early Warning System Construction: The robot collects data on magnetic adsorption force, wheel pressure, and walking trajectory deviation in real time. When the monitored value exceeds the safety threshold, it automatically triggers an audible and visual warning and reduces the walking speed to 0.5m / s. The performance parameters formed by all the aforementioned steps are monitored in real time. The entire process is controlled through the early warning and intervention mechanism, and it forms a linkage protection with the speed differential device in S1.

2. The method for optimizing the operation of an ultra-high pressure water rust removal robot at large elevation angles on curved outer plates according to claim 1, characterized in that: The speed difference safety wire ropes at the three angles in S1 are made of high-strength galvanized steel cables with a diameter of not less than 8mm. The two high points and the low point form an equilateral triangle spatial layout with a breaking tensile force of ≥10kN, ensuring that the robot can be subjected to balanced force in three dimensions when it suddenly falls.

3. The optimization method for large elevation angle operation of the outer plate curved surface of the ultra-high pressure water rust removal robot according to claim 1, characterized in that: The main adsorption magnet in S2 is a neodymium iron boron permanent magnet. After adjustment, the magnetic attraction force of a single piece is ≥800N, which is an improvement over the conventional state. This parameter is designed for the magnetic force requirements of the hyperbolic curvature region at the stern of the ship.

4. The method for optimizing the operation of an ultra-high pressure water rust removal robot at large elevation angles on curved outer plates according to claim 1, characterized in that: The drive motor in the S3 has a constant power of 5.5kW, and the maximum walking speed of 2m / s corresponds to an output torque of ≥180N・m, which can offset the additional resistance of 150-200N caused by the increase in magnetic force.

5. The optimization method for large elevation angle operation of the outer plate curved surface of the ultra-high pressure water rust removal robot according to claim 1, characterized in that: The partitioning in S4 is based on the radius of curvature of the tail surface. Each 5m curvature interval is a statistical unit. The cumulative data covers at least 3 similar vessel operation cases. The optimization proposals include increasing the magnet thickness by 1.2mm and improving the magnetic pole arrangement density.

6. The method for optimizing the operation of an ultra-high pressure water rust removal robot at large elevation angles on curved outer plates according to claim 1, characterized in that: The boundary conditions for the joint simulation in S5 include a hull surface curvature radius of 5-15m and an operating environment temperature of -5℃ to 40℃. After optimization, the diameter of the drive wheel increases from 150mm to 195mm, and the maximum load increases from 136kg to 150kg.

7. The method for optimizing the operation of an ultra-high pressure water rust removal robot at large elevation angles on curved outer plates according to claim 1, characterized in that: The S6 uses a dual-axis tilt sensor for elevation angle detection, with a measurement accuracy of ±0.1°. The secondary magnetic enhancement mode is achieved by adjusting the magnet excitation current, with a response time of ≤200ms.

8. The method for optimizing the operation of an ultra-high pressure water rust removal robot at large elevation angles on curved outer plates according to claim 1, characterized in that: The airflow nozzle pressure of the auxiliary cleaning component in S7 is 0.5-0.8MPa, the micro brush is made of nylon material, has a diameter of 50mm, and its rotation speed is adjusted synchronously with the robot's walking speed.

9. The method for optimizing the operation of an ultra-high pressure water rust removal robot at large elevation angles on curved outer plates according to claim 1, characterized in that: The monitoring sensor in S8 has a sampling frequency of ≥100Hz, and the safety thresholds include magnetic adsorption force ≥640N, wheel pressure fluctuation ≤±10%, trajectory offset ≤100mm, and communication delay between the early warning system and the robot control system ≤50ms.

10. The optimization method for large elevation angle operation of the outer plate curved surface of the ultra-high pressure water rust removal robot according to claim 1, characterized in that: The emergency threshold in S8 is: magnetic adsorption force ≤ 480N, wheel pressure drop ≥ 30%, or trajectory deviation ≥ 200mm. After triggering, the differential brake locking time is ≤ 0.5s, and the braking distance is ≤ 10mm.

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