A ship hull wall rust removal device based on unmanned aerial vehicle assistance and a control method thereof

Abstract

The application belongs to the technical field of ship maintenance equipment, and discloses a hull wall rust removal device based on unmanned aerial vehicle assistance, which comprises a case, an unmanned aerial vehicle assembly, an adsorption adjusting mechanism, a magnetic bottom disc and a rust removal execution mechanism. The unmanned aerial vehicle assembly is connected with the case through the adsorption adjusting mechanism. The adsorption adjusting mechanism is composed of a connecting rod, a damping spring and a universal joint in sequence, so as to realize flexible coupling and attitude buffering between the unmanned aerial vehicle and the case. The device is provided with a normal load collector, a working distance detector, an end floating compensation mechanism, an attitude sensor and a jet pressure collector. The control method cooperatively adjusts the unmanned aerial vehicle auxiliary lift and the attitude of the rust removal spray head according to visual, normal load, working distance, attitude and jet pressure information through an intelligent module, and generates a compensation path when coverage evaluation is not up to standard. The application has the advantages of high composite adsorption stability, high adaptability to complex walls and high intelligent degree.

Description

Technical Field

[0001] This invention belongs to the field of ship maintenance equipment technology, specifically relating to a rust removal device and control method for ship hull walls based on unmanned aerial vehicle (UAV) assistance. Background Technology

[0002] Ship hull plating is constantly exposed to harsh environments of humidity, high salt spray, and seawater erosion, making the steel surface highly susceptible to corrosion and rust. If not addressed promptly, this can lead to reduced hull strength and even structural safety hazards. Currently, hull rust removal primarily relies on manual labor or large mechanical platforms, which presents the following problems: (1) Manual rust removal is costly and inefficient, and is accompanied by safety risks such as falling objects causing injury and loss of control of the spray reaction force; (2) Existing tracked wall-mounted rust removal robots are limited by the curvature of the wall surface, weld protrusions and other structures, making them prone to detachment or instability. (3) Existing rust removal equipment generally lacks intelligent sensing capabilities and cannot automatically plan paths based on rust distribution; (4) In suspended, high-level and curved areas, mechanical platforms are often difficult to approach, resulting in low rust removal coverage.

[0003] To address the aforementioned issues, existing solutions have attempted to utilize quadcopter drones for rust removal. For example, application number 202021991580.2 discloses a drone for grinding corroded ship surfaces, which uses a grinding head mounted on the drone for rust removal; another example is an integrated flaw detection and repair drone, which incorporates rust-removing grinding discs and electromagnetic adsorption components on its main body. However, pure drone-based rust removal solutions suffer from thrust imbalance and poor anti-interference capabilities; the reaction force generated by high-pressure water or sandblasting significantly affects the drone's hovering stability.

[0004] Regarding wall-climbing robots, applications such as 200920247834.7 disclose a ship wall rust removal wall-climbing robot using a chain track walking mechanism combined with a permanent magnet adsorption unit; 202211086798.7 discloses a tracked ultra-high pressure jet rust removal wall-climbing robot with a permanent magnet adsorption structure on the outer surface of the walking mechanism; and 202410407323.6 disclose a variable magnetic force adsorption wall-climbing robot for ship rust removal operations. All of these solutions use a single track adsorption mode, which lacks stability when adhering to walls on steep slopes, curved surfaces, or under the impact of jet reaction forces. Application 202510186745.X discloses a flight-wall-climbing dual-mode conversion UAV and its motion control method, which achieves mode switching by adjusting the air pressure inside the adsorption chamber using a vacuum pump. However, it is essentially the same machine switching between two modes, rather than a collaborative operation between a flight unit and a wall-climbing unit.

[0005] In summary, current technologies lack an intelligent rust removal device for ship hulls that can organically integrate drone-assisted lift with tracked adsorption, achieving real-time coordination between flight assistance and wall-climbing rust removal. Especially in complex wall areas such as steep slopes, curved corners, and areas with dense welds, existing devices struggle to simultaneously ensure wall-adhering stability, rust removal quality, and operational safety. Summary of the Invention

[0006] The purpose of this invention is to solve the problems in the background art and to provide a hull wall rust removal device and control method based on UAV assistance. By using UAV to provide auxiliary lift to counteract the jet reaction force, and combining multi-source state detection and collaborative compensation control, the hull wall rust removal operation can be made stable, efficient and intelligent.

[0007] The objective of this invention is achieved through the following technical solution: A rust removal device for ship hull walls based on drone assistance includes a chassis, a drone component, a magnetic chassis, and a rust removal actuator. The drone component is located above the chassis and is connected to the top surface of the chassis via an adsorption adjustment mechanism. The bottom of the chassis is connected to the magnetic chassis, and the rust removal actuator is installed on the chassis at the front end of the magnetic chassis. The internal structure of the chassis contains a control circuit and a power module. The outer wall is equipped with an intelligent module, a vision module, and multiple interface modules. The vision module is installed at the front of the chassis on one side of the rust removal actuator. The intelligent module is used to receive images of the ship's hull surface collected by the vision module, and to complete the identification of rusted areas, rust removal path planning, and coordinated control of the magnetic chassis and the rust removal actuator. The drone components include a rotor support frame, support rods, rotor blades, collision avoidance connecting rods, and a collision avoidance module. Several support rods are installed around the rotor support frame. A rotor blade is installed at the end of the support rod away from the rotor support frame. A collision avoidance connecting rod is also installed on the rotor support frame below the support rod. The length of the collision avoidance connecting rod is greater than the length of the support rod. A collision avoidance module is installed at the end of the collision avoidance connecting rod. The adsorption adjustment mechanism includes a buffer connecting rod, a shock-absorbing spring, a connecting block one, a universal joint, and a connecting block two. The upper end of the buffer connecting rod is fixedly connected to the rotor support frame, and the lower end of the buffer connecting rod is sequentially connected to the shock-absorbing spring, the connecting block one, the universal joint, and the connecting block two. The connecting block two is fixedly connected to the chassis. The adsorption adjustment mechanism is used to realize adsorption pressure compensation and attitude buffering between the UAV and the chassis device. The tracks of the magnetic chassis are equipped with an array of permanent magnets, which can be attached to the hull wall to achieve forward movement, backward movement, fixed-point micro-movement, and rotation in place. The rust removal actuator includes a first ball joint, a nozzle connecting rod, a second ball joint, a connector rod, a water pipe connector, and a rust removal nozzle. The first ball joint is fixed to the front end of the machine housing. The nozzle connecting rod, the second ball joint, and the rust removal nozzle are connected in sequence to the front end of the first ball joint. The water pipe connector is connected to the second ball joint through the connector rod. The working angle of the rust removal nozzle can be adjusted through the first ball joint and the second ball joint.

[0008] It also includes a valve core load collector, a working distance detector, an end-floating compensation mechanism, and an attitude sensor. The normal load collector is installed between the connecting block two and the chassis. The working distance detector is installed on the rust removal nozzle or on one side of the rust removal nozzle. The end-floating compensation mechanism is installed between the second ball joint and the rust removal nozzle. The attitude sensor is installed inside the chassis to detect the attitude of the chassis.

[0009] The intelligent module includes a visual information processing unit, a rust recognition unit, a rust removal path planning unit, and a motion control unit. The visual information processing unit is used to identify the rusted area and boundary based on the ship hull image collected by the visual module. The rust recognition unit automatically identifies the rusted area and boundary based on the collected ship hull image. The rust removal path planning unit plans the rust removal trajectory based on the rusted area and rust removal range. The motion control unit controls the movement of the rust removal device based on the rust removal trajectory and spraying posture command.

[0010] The water pipe joint or rust removal nozzle is equipped with a jet pressure collector.

[0011] A control method for a drone-assisted rust removal device for ship hull walls includes the following steps: S1. Collect image information of the wall surface to be worked through the vision module, identify the boundary of the rusted area, the direction of the weld, the curvature change area and the untreated area, and determine the path spacing, magnetic chassis speed, nozzle dwell time, target normal load range and target working distance range according to the rust level, local surface undulation and working boundary, and generate the initial working path and target working parameters. S2. Control the magnetic chassis to approach the ship's wall, while the quadcopter drone components provide auxiliary lift to bring the device into a stable wall-hulled state. S3. Start the rust removal actuator to perform path rust removal, and collect information on normal load, working distance, attitude and spray pressure in real time during the rust removal process; S4. When the status parameters deviate but do not meet the abnormality criteria, the intelligent module coordinates the auxiliary lift of the UAV components and the attitude of the rust removal nozzle of the rust removal actuator before continuing to perform rust removal on the current path. S5. After the current path segment is completed, the vision module evaluates the rust removal coverage effect again. If there are areas that do not meet the standards, a compensation path is generated and the process returns to step S3 to continue the operation. S6. When the status parameters continuously exceed the tolerance or meet the abnormality criteria, execute the safe exit control.

[0012] When a data deviation occurs in step S4, the intelligent module reduces the speed of the magnetic chassis in advance and increases the auxiliary lift reserve of the quadcopter drone components, with the end floating compensation mechanism absorbing the local height change first; if the normal load still increases suddenly, the position of the rust removal nozzle is adjusted synchronously.

[0013] The safe exit control in step S6 includes the following steps in sequence: stopping the jetting; increasing the auxiliary lift and stabilizing the wall-hugging posture; reducing the speed of the magnetic chassis; retreating from the danger zone along a predetermined safe direction; entering the parking position or waiting for manual takeover; issuing an alarm and recording abnormal operation data.

[0014] The beneficial effects of the UAV-assisted rust removal device and control method for ship hull walls provided by this invention are: (1) The magnetic chassis provides basic adsorption force, and the UAV provides auxiliary lift. The two work together to enable the device to remain stably attached to the hull on steep slopes, raised areas and when subjected to jet reaction force. Compared with the single magnetic chassis solution, the UAV-assisted lift effectively reduces the load on the magnetic chassis and reduces the risk of the magnetic chassis slipping and detaching. (2) The adsorption adjustment mechanism achieves flexible coupling between the UAV and the chassis device through the sequential connection of the connecting rod, the shock-absorbing spring and the universal joint. The shock-absorbing spring buffers the impact caused by the hull undulation and the jet reaction force, and the universal joint provides pitch and yaw attitude compensation to avoid the device from detaching due to the change of hull curvature. (3) A multi-source state detection link is formed by the normal load collector, working distance detector, attitude sensor and jet pressure collector, which realizes comprehensive real-time perception of the wall-attaching state, nozzle working state and jetting condition. (4) The intelligent module coordinates the auxiliary lift of the UAV, the clamping state of the magnetic chassis and the position of the end of the rust removal nozzle based on the multi-source detection results. When a dense weld area or curved corner area is detected, the speed of the magnetic chassis is reduced in advance and the auxiliary lift reserve is increased. The end floating compensation mechanism is given priority to absorb local height changes. (5) After each path segment is completed, the rust removal coverage effect is evaluated, and a compensation path is automatically generated for areas that do not meet the standards to reduce omissions and repeated rust removal and improve the actual coverage quality. (6) The multi-degree-of-freedom adjustable structure allows the rust removal nozzle to work flexibly in narrow, arc-shaped or uneven areas. Combined with the nozzle angle ±15° micro-adjustment, it improves the coverage and rust removal quality. Attached Figure Description

[0015] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a structural schematic diagram provided for an embodiment of the present invention.

[0017] Figure 2 This is a schematic diagram of the adsorption regulation component provided in an embodiment of the present invention.

[0018] Figure 3 This is a schematic diagram of the rust removal actuator provided in an embodiment of the present invention.

[0019] Figure 4 This is a connection block diagram provided for an embodiment of the present invention.

[0020] Figure 5 This is a flowchart of a rust removal operation control method provided in an embodiment of the present invention.

[0021] Figure 6 This is a flowchart illustrating the safe exit process under abnormal operating conditions, as provided in an embodiment of the present invention.

[0022] The diagram is labeled as follows: 1. Chassis; 2. UAV component; 21. Rotor support frame; 22. Support rod; 23. Rotor blade; 24. Collision avoidance connecting rod; 25. Collision avoidance module; 3. Adsorption adjustment mechanism; 31. Buffer connecting rod; 32. Shock-absorbing spring; 33. Connecting block one; 34. Universal joint; 35. Connecting block two; 4. Magnetic chassis; 5. Rust removal actuator; 51. First ball joint; 52. Nozzle connecting rod; 53. Second ball joint; 54. Connector rod; 55. Water pipe connector; 56. Rust removal nozzle; 57. Spray pressure collector; 6. Intelligent module; 61. Visual information processing unit; 62. Rust recognition unit; 63. Rust removal path planning unit; 64. Motion control unit; 7. Vision module; 8. Interface module; 9. Normal load collector; 10. Working distance detector; 11. End-effector floating compensation mechanism; 12. Attitude sensor. Detailed Implementation

[0023] like Figures 1-4 As shown, the rust removal device for ship hull walls based on UAV assistance provided in this embodiment includes a chassis 1, a UAV component 2, an adsorption adjustment mechanism 3, a magnetic chassis 4, and a rust removal execution mechanism 5. The UAV component 2 is located above the chassis 1 and is connected to the top surface of the chassis 1 through the adsorption adjustment mechanism 3. The bottom of the chassis 1 is connected to the magnetic chassis 4, and the rust removal execution mechanism 5 is installed on the chassis 1 at the front end of the magnetic chassis 4.

[0024] like Figure 1 As shown, the UAV component 2 is located above the chassis 1 and includes a rotor support frame 21, support rods 22, rotor blades 23, collision avoidance connecting rods 24, and a collision avoidance module 25. Several support rods 22 are installed around the rotor support frame 21. The rotor blades 23 are installed at the ends of the support rods 22 away from the rotor support frame 21. The collision avoidance connecting rods 24 are also installed on the rotor support frame 21 below the support rods 22. The length of the collision avoidance connecting rods 24 is greater than the length of the support rods 22. The collision avoidance module 25 is installed at the end of the collision avoidance connecting rods 24. The collision avoidance module 25 is made of elastic rubber material and is spherical or cylindrical. When the UAV approaches the outer plate of the ship, the collision avoidance module 25 first contacts the wall surface to limit the minimum safe distance between the rotor plane and the steel plate and prevent the rotor blades 23 from colliding with the wall surface.

[0025] like Figure 1 , Figure 2 As shown, the adsorption adjustment mechanism 3 includes a buffer connecting rod 31, a shock-absorbing spring 32, a first connecting block 33, a universal joint 34, and a second connecting block 35. The upper end of the buffer connecting rod 31 is fixedly connected to the rotor support frame 21, and the lower end of the buffer connecting rod 31 is sequentially connected to the shock-absorbing spring 32, the first connecting block 33, the universal joint 34, and the second connecting block 35. The second connecting block 35 is fixedly connected to the chassis 1. The adsorption adjustment mechanism 3 is used to realize adsorption pressure compensation and attitude buffering between the UAV and the chassis 1. When the UAV provides upward auxiliary lift, the shock-absorbing spring 32 is compressed to buffer the hull undulation and jet reaction force; the universal joint 34 compensates for the pitch and roll angles of the chassis 1 relative to the hull, so that the chassis 1 can still remain attached to the wall in inclined or curved areas.

[0026] like Figure 1 As shown, the internal components of the chassis 1 include a control circuit and a power module. An intelligent module 6, a vision module 7, and multiple interface modules 8 are mounted on the outer wall. The vision module 7 is installed at the front end of the chassis 1 on one side of the rust removal actuator 5, and uses an industrial camera and / or depth vision components to identify rust levels, localized damage outlines, and untreated areas. The intelligent module 6 receives images of the hull surface collected by the vision module 7, and performs rust area identification, rust removal path planning, and coordinated control of the magnetic chassis 4 and the rust removal actuator 5.

[0027] The tracks of the magnetic chassis 4 are equipped with an array of permanent magnets, which can adhere to the hull wall to achieve forward movement, backward movement, fixed-point micro-movement, and rotation in place.

[0028] like Figure 1 , Figure 3As shown, the rust removal actuator 5 is mounted on the housing 1 at the front end of the magnetic chassis 4, and includes a first ball joint 51, a nozzle connecting rod 52, a second ball joint 53, a connector rod 54, a water pipe connector 55, and a rust removal nozzle 56. The first ball joint 51 is fixed to the front end of the housing 1, and the nozzle connecting rod 52, the second ball joint 53, and the rust removal nozzle 56 are sequentially connected to the front end of the first ball joint 51. The water pipe connector 55 is connected to the second ball joint 53 through the connector rod 54, and forms a circuit with the rust removal nozzle 56. The rust removal nozzle 56 can flexibly adjust its working angle in the vertical, horizontal, and lateral directions through the first ball joint 51 and the second ball joint 53, forming a multi-degree-of-freedom rust removal assembly. The rust removal nozzle 56 is equipped with an end-floating compensation mechanism 11, which is installed between the second ball joint 53 and the rust removal nozzle 56. The end-floating compensation mechanism 11 consists of four miniature electric push rods evenly arranged around the rust removal nozzle 56 and hinged to it. By coordinating the extension and retraction of the four miniature electric push rods, the rust removal nozzle 56 can be adjusted online to swing within ±15° in the vertical, horizontal, and lateral directions. The rust removal nozzle 56 adopts a jetting, water-sand mixing, or high-speed water-cutting structure. A jetting pressure collector 57 is installed on the water pipe joint 55 or the rust removal nozzle 56 to detect jetting pressure fluctuations.

[0029] The rust removal device also includes a normal load collector 9, a working distance detector 10, an end-floating compensation mechanism 11, and an attitude sensor 12. The normal load collector 9 is installed between the connecting block 35 and the housing 1 to detect the normal clamping state of the device against the wall. The working distance detector 10 is installed on or to one side of the rust removal nozzle 56 to detect the actual distance between the rust removal nozzle 56 and the wall. The end-floating compensation mechanism 11 is installed between the second ball joint 53 and the rust removal nozzle 56 to absorb minor displacement disturbances caused by weld protrusions and local height differences. The attitude sensor 12 is installed inside the housing 1 to detect changes in the attitude of the housing 1.

[0030] like Figure 4 As shown, the intelligent module 6 includes a visual information processing unit 61, a rust recognition unit 62, a rust removal path planning unit 63, and a motion control unit 64. The visual information processing unit 61 processes the hull images acquired by the visual module 7; the rust recognition unit 62 automatically identifies the rusted areas and boundaries based on the acquired hull images; the rust removal path planning unit 63 plans the rust removal trajectory based on the rusted areas and the rust removal range; and the motion control unit 64 controls the movement of the rust removal device based on the rust removal trajectory and spraying attitude commands. After receiving the detection results from the normal load collector 9, the working distance detector 10, the attitude sensor 12, and the spraying pressure collector 57, the intelligent module 6 coordinates the adjustment of the UAV's auxiliary lift and the position and attitude of the rust removal nozzle 56.

[0031] The method of using this invention is as follows: First, such as Figure 5As shown, the vision module 7 acquires image information of the wall surface to be worked on, identifies the boundary of the rusted area, the direction of the weld, the curvature change area and the untreated area, and determines the path spacing, the speed of the magnetic chassis 4, the nozzle dwell time, the target normal load range and the target working distance range based on the rust level, local surface undulations and working boundaries, and generates the initial working path and target working parameters.

[0032] Then, the magnetic chassis 4 is brought close to the hull wall, while the drone component 2 provides auxiliary lift, allowing the device to enter a stable wall-hull state. During this process, the shock-absorbing spring 32 is compressed to buffer the hull's undulations, and the universal joint 34 automatically compensates for the angular deviation between the chassis 1 and the hull wall, ensuring that the magnetic chassis 4 fits well against the wall.

[0033] Next, the rust removal actuator 5 is activated to perform path rust removal, and the normal load, working distance, attitude, and spray pressure information during the rust removal process are collected in real time. When the status parameters deviate but do not meet the abnormality criteria, the intelligent module 6 coordinates the adjustment of the auxiliary lift of the UAV component 2 and the attitude of the rust removal nozzle 56 of the rust removal actuator 5 before continuing to perform the current path rust removal.

[0034] During the rust removal process, when the vision module 7 identifies areas with dense welds, curved corners, or local reinforcing ribs, the intelligent module 6 pre-reduces the speed of the magnetic chassis 4 and increases the auxiliary lift reserve of the UAV component 2, with the end floating compensation mechanism 11 absorbing local height changes first; if the normal load still increases suddenly, the position of the rust removal nozzle 56 is adjusted synchronously.

[0035] After the current path segment is completed, vision module 7 re-evaluates the rust removal coverage effect. If there are areas that do not meet the standards, a compensation path is generated and the process returns to continue.

[0036] like Figure 6 As shown, when the status parameters continuously exceed the tolerance or meet the abnormality criteria, the safety exit control is executed: stop the injection; increase the auxiliary lift and stabilize the wall-hugging posture; reduce the speed of the magnetic chassis 4; retreat from the danger zone along the predetermined safe direction; enter the parking position or wait for manual takeover; issue an alarm and record abnormal operation data.

[0037] 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 modifications and substitutions based on the technical solutions and inventive concepts provided by the present invention should be covered within the scope of protection of the present invention.

Claims

1. A rust removal device for ship hull walls based on unmanned aerial vehicle (UAV) assistance, characterized in that: The device includes a chassis (1), a drone component (2), a magnetic chassis (4), and a rust removal actuator (5). The drone component (2) is located above the chassis (1) and is connected to the top surface of the chassis (1) through an adsorption adjustment mechanism (3). The bottom of the chassis (1) is connected to the magnetic chassis (4). The rust removal actuator (5) is installed on the chassis (1) at the front end of the magnetic chassis (4). The chassis (1) is equipped with a control circuit and a power module inside, and an intelligent module (6), a vision module (7) and multiple interface modules (8) are installed on the outer wall. The vision module (7) is installed at the front end of the chassis (1) on one side of the rust removal actuator (5). The intelligent module (6) is used to receive the hull surface image collected by the vision module (7) to complete the identification of rusted areas, rust removal path planning and coordinated control of the magnetic chassis (4) and the rust removal actuator (5). The unmanned aerial vehicle (UAV) component (2) includes a rotor support frame (21), a support rod (22), a rotor blade (23), a collision avoidance connecting rod (24), and a collision avoidance module (25). Several support rods (22) are installed around the rotor support frame (21). A rotor blade (23) is installed at the end of the support rod (22) away from the rotor support frame (21). A collision avoidance connecting rod (24) is also installed on the rotor support frame (21) below the support rod (22). The length of the collision avoidance connecting rod (24) is greater than the length of the support rod (22). A collision avoidance module (25) is installed at the end of the collision avoidance connecting rod (24). The adsorption adjustment mechanism (3) includes a buffer connecting rod (31), a shock-absorbing spring (32), a connecting block one (33), a universal joint (34), and a connecting block two (35). The upper end of the buffer connecting rod (31) is fixedly connected to the rotor support frame (21). The lower end of the buffer connecting rod (31) is sequentially connected to the shock-absorbing spring (32), the connecting block one (33), the universal joint (34), and the connecting block two (35). The connecting block two (35) is fixedly connected to the chassis (1). The adsorption adjustment mechanism (3) is used to realize the adsorption pressure compensation and attitude buffer between the UAV and the chassis (1). The magnetic chassis (4) has a permanent magnet array on its tracks, which can be attached to the hull wall to achieve forward movement, backward movement, fixed-point micro-movement and rotation in place; The rust removal actuator (5) includes a first ball joint (51), a nozzle connecting rod (52), a second ball joint (53), a connector rod (54), a water pipe connector (55), and a rust removal nozzle (56). The first ball joint (51) is fixed to the front end of the housing (1). The nozzle connecting rod (52), the second ball joint (53), and the rust removal nozzle (56) are connected in sequence to the front end of the first ball joint (51). The water pipe connector (55) is connected to the second ball joint (53) through the connector rod (54). The working angle of the rust removal nozzle (56) can be adjusted by the first ball joint (51) and the second ball joint (53).

2. The hull wall rust removal device based on UAV assistance according to claim 1, characterized in that: It also includes a normal load collector (9), a working distance detector (10), an end floating compensation mechanism (11), and an attitude sensor (12). The normal load collector (9) is installed between the connecting block 2 (35) and the chassis (1). The working distance detector (10) is installed on the rust removal nozzle (56) or on one side of the rust removal nozzle (56). The end floating compensation mechanism (11) is installed between the second ball joint (53) and the rust removal nozzle (56). The attitude sensor (12) is installed inside the chassis (1) to detect the attitude of the chassis (1).

3. The hull wall rust removal device based on UAV assistance according to claim 2, characterized in that: The intelligent module (6) includes a visual information processing unit (61), a rust recognition unit (62), a rust removal path planning unit (63), and a motion control unit (64). The visual information processing unit (61) is used to identify the rust area and boundary based on the ship image collected by the visual module (7). The rust recognition unit (62) automatically identifies the rust area and boundary based on the collected ship image. The rust removal path planning unit (63) plans the rust removal trajectory based on the rust area and rust removal range. The motion control unit (64) controls the movement of the rust removal device based on the rust removal trajectory and spraying posture command.

4. The hull wall rust removal device based on UAV assistance according to claim 1, characterized in that: A jet pressure collector (57) is installed on the water pipe joint (55) or the rust removal nozzle (56).

5. A control method for a hull wall rust removal device based on unmanned aerial vehicle (UAV) assistance as described in any one of claims 1 to 4, characterized in that, Includes the following steps: S1. Collect image information of the wall surface to be operated through the vision module (7), identify the boundary of the rusted area, the direction of the weld, the curvature change area and the untreated area, and determine the path spacing, magnetic chassis (4) speed, nozzle dwell time and target normal load range and target working distance range according to the rust level, local surface undulation and operation boundary, and generate the initial operation path and target operation parameters. S2. Control the magnetic chassis (4) to approach the ship's wall, while the quadcopter drone component (2) provides auxiliary lift to make the device enter a stable wall-hull state; S3. Start the rust removal actuator (5) to perform path rust removal, and collect information on normal load, working distance, attitude and spray pressure during the rust removal process in real time; S4. When the state parameters deviate but do not meet the abnormality criteria, the intelligent module (6) coordinates the auxiliary lift of the UAV component (2) and the attitude of the rust removal nozzle (56) of the rust removal actuator (5) and continues to perform rust removal on the current path. S5. After the current path segment is completed, the vision module (7) evaluates the rust removal coverage effect again. If there are areas that do not meet the standards, a compensation path is generated and the process returns to step S3 to continue the operation. S6. When the status parameters continuously exceed the tolerance or meet the abnormality criteria, execute the safe exit control.

6. The control method for the hull wall rust removal device based on UAV assistance according to claim 5, characterized in that: When a data deviation occurs in step S4, the intelligent module (6) reduces the speed of the magnetic chassis (4) and increases the auxiliary lift reserve of the quadcopter drone component (2) in advance, and the end floating compensation mechanism (11) absorbs the local height change first; if the normal load still increases suddenly, the position of the rust removal nozzle (56) is adjusted synchronously.

7. The control method for the hull wall rust removal device based on UAV assistance according to claim 5, characterized in that: The safe exit control in step S6 includes the following steps in sequence: stopping the spray; increasing the auxiliary lift and stabilizing the wall-hugging posture; reducing the speed of the magnetic chassis (4); retreating from the danger zone along the predetermined safe direction; entering the parking position or waiting for manual takeover; issuing an alarm and recording abnormal operation data.

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