A cabin cleaning robot based on four-track magnetic suspension structure

Abstract

The application relates to the technical field of robots, in particular to a cabin cleaning robot based on a four-track magnetic suspension structure, which comprises a robot body; a cleaning assembly arranged at the front end of the robot body and used for brushing a surface to be cleaned; a driving walking assembly comprising four moving belts symmetrically arranged on the side of the robot body and a driving motor used for driving the moving belts to rotate; and a magnetic suspension assembly comprising a magnetic suction box body and a suspension used for connecting the robot body and the driving walking assembly, wherein the magnetic suction box body is used for providing a suction force; the magnetic suction strength can be self-adaptively adjusted when the slope changes; the four-track symmetric structure is matched; the suction stability of the robot during the operation on the complex wall surface of the cabin is greatly improved; the falling risk during the slope change and obstacle surmounting is eliminated; and the robot is suitable for the closed high-risk operation scene.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to a ship cabin cleaning robot based on a four-track magnetic suspension structure. Background Technology

[0002] As the core carrier of cargo transportation, the cleanliness of a ship's hold directly affects navigational safety, cargo transport quality, and the ship's corrosion resistance lifespan. This is especially true for cargo holds and ballast tanks, where long-term accumulation of oil, rust, and metal debris requires regular and thorough cleaning. Traditional ship hold cleaning relies heavily on manual labor, requiring crew members to work inside confined, humid, and salt-sprayed environments, carrying heavy equipment. This not only involves high labor intensity and low cleaning efficiency but also exposes them to serious safety hazards such as toxic gases and falls from heights. Statistics show that fatalities during tanker tank cleaning operations account for over 45% of all deaths in confined space accidents.

[0003] To address the drawbacks of manual cleaning, existing technologies have developed ship cabin cleaning robots, but they still have many key shortcomings: the adsorption force of most magnetic robots cannot be flexibly adjusted, and they are prone to falling off due to insufficient adsorption force when working on slopes or curved cabin walls, or the adsorption force is too large, increasing the walking resistance; metal debris easily accumulates on the magnetic surface, leading to a decrease in adsorption performance, requiring regular manual cleaning, which increases operation and maintenance costs; the cleaning method is limited, making it difficult to efficiently remove stubborn dirt, and the debris removal mechanism often requires independent power drive, resulting in high energy consumption.

[0004] Meanwhile, existing robots suffer from insufficient walking stability, making it difficult to adapt to complex structures such as welds and steps in ship cabins. They also exhibit low cleaning coverage and lack targeted safety protection and self-maintenance mechanisms, making them prone to malfunctions and downtime. Consequently, they fail to meet the demands for efficient, safe, and low-consumption cleaning of ship cabins. Therefore, developing a ship cabin cleaning robot that can adapt to complex bulkhead conditions, provides stable adsorption, achieves high cleaning efficiency, and is easy to operate and maintain has become a pressing technical challenge in the current ship cleaning field. Summary of the Invention

[0005] To address the problems in the existing technology, the present invention provides a ship cabin cleaning robot based on a four-track magnetic suspension structure.

[0006] The technical solution adopted by this invention to solve its technical problem is: a ship cabin cleaning robot based on a four-track magnetic suspension structure, comprising: Robot body; A cleaning component, located at the front end of the robot body, is used to scrub the surface to be cleaned. The driving and walking assembly includes four movable belts symmetrically arranged around the robot body and a drive motor for driving their rotation. A magnetic suspension assembly includes a magnetic housing and a suspension for connecting the robot body to the drive and walking assembly, the magnetic housing providing an attractive force; and An adaptive adjustment mechanism, connecting the cleaning component and the magnetic suction box, is configured such that when the cleaning component shifts due to changes in slope, it triggers the magnetic suction box to adjust the magnetic force intensity via mechanical linkage.

[0007] Preferably, the adaptive adjustment mechanism includes: A connecting roller is rotatably mounted on the front end of the robot body, and the connecting roller is connected to the cleaning component via a mounting bracket. An extension shaft is fixedly connected to the end of the connecting roller; An adjustment box is installed on the robot body, and an adjustment rod that is linked and cooperates with the extended axis is provided inside it; The connecting roller moves the adjusting rod within the adjusting box as the cleaning component is raised, thereby changing the electromagnetic intensity within the magnetic box.

[0008] Preferably, the robot body has an outer cover on the front side, the extended shaft is connected inside the outer cover, and a return spring is provided inside the outer cover. The return spring is used to provide a preload force for downward rotation of the connecting roller.

[0009] Preferably, it further includes a chip removal mechanism, the chip removal mechanism comprising: The plastic push rod is slidably mounted at the bottom of the magnetic box. A spring is fitted onto the plastic push rod; The inner side of the movable belt is provided with a protrusion, which is configured to cyclically push the plastic push rod to compress the spring when moving with the belt, and when separated, the spring drives the plastic push rod to push the plastic sheet to move back and forth along the bottom surface of the magnetic box to clean up metal debris.

[0010] Preferably, the top of the plastic push rod is fixedly connected to a plastic sheet, and a storage groove is provided on the side wall of the robot body, in which a plastic plate is fixedly connected, and a spring is connected to one side of the plastic plate; and / or; The plastic sheet is arranged in a triangular prism shape.

[0011] Preferably, the two ends of the magnetic box are bent upward and inward to form guide surfaces, which are used to guide dirt to fall and reduce movement resistance.

[0012] Preferably, the cleaning component includes a cleaning brush and a high-pressure nozzle disposed at the front end of the robot body, and the mounting bracket is equipped with a motor that drives the cleaning brush to rotate.

[0013] Preferably, a vision device is installed on the top of the robot body to capture images of the working environment in real time.

[0014] Preferably, the driving and walking assembly further includes a drive wheel, and the drive motor drives the moving belt to rotate cyclically by driving the drive wheel.

[0015] Preferred, including: The environmental perception module is used to acquire images of the cabin wall captured by the vision device and to collect the displacement vector information of the adjustment rod in the adjustment box in real time. The central processing module, connected to the environmental perception module, is configured to establish a slope change model based on the displacement vector information and calculate the compensation magnetic force value required to maintain the robot's adsorption stability. The power execution module, connected to the central processing module, is used to adjust the excitation current of the magnetic suction box according to the compensation magnetic force value, and to synchronously control the speed of the drive motor and the injection pressure of the high-pressure nozzle.

[0016] Preferably, the central processing module includes a security threshold monitoring unit: When the displacement vector information shows that the slope change rate exceeds a preset threshold, the safety threshold monitoring unit triggers the magnetic box to enter a high-energy adsorption mode and controls the drive motor to reduce its moving speed to ensure the robot's posture stability during the slope switching process.

[0017] Preferred, including: The visual recognition unit is used to perform real-time semantic segmentation of the image acquired by the vision device using a deep learning algorithm to identify obstacles, areas of dirt to be cleaned, and ship cabin welds. The path decision unit dynamically generates a bow-shaped or spiral cleaning trajectory based on the density distribution of the identified dirt areas, and adjusts the differential speed of the drive walking component according to the weld seam position to achieve obstacle avoidance control when crossing the weld seam.

[0018] Preferred, including: The chip removal efficiency evaluation unit is based on the functional relationship between the rotation speed of the moving belt and the reciprocating frequency of the plastic push rod, and is used to monitor the cleanliness of the bottom surface of the magnetic suction box. The early warning unit is used to issue a maintenance command to prompt the inspection of the wear condition of the spring or plastic sheet when it detects an abnormal increase in the resistance of the moving belt or a decrease in the adsorption force.

[0019] The beneficial effects of this invention are: (1) The ship cabin cleaning robot based on the four-track magnetic suspension structure described in this invention can achieve adaptive adjustment of magnetic strength when the slope changes. Combined with the four-track symmetrical structure, it greatly improves the adsorption stability of the robot when working on the complex wall of the ship cabin, eliminates the risk of falling off when changing slope or crossing obstacles, and is suitable for closed and high-risk operation scenarios. It adopts a composite cleaning mode of high-pressure water jet pretreatment and mechanical brushing, combined with a passive linkage chip removal mechanism, which not only improves cleaning efficiency and cleanliness, but also eliminates the need for additional power to drive chip removal, reducing equipment energy consumption and operation and maintenance costs, and achieving efficient and low-consumption operation. Attached Figure Description

[0020] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0021] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 For the present invention Figure 1 Axis view; Figure 3 This is a schematic diagram showing the positional structure of the connecting roller and the adjusting box in this invention; Figure 4 This is a schematic diagram of the suspension structure of the present invention; Figure 5 For the present invention Figure 4 Schematic diagram of the structure at point A in the middle; Figure 6 This is a schematic diagram of the connecting roller structure of the present invention; Figure 7 This is a flowchart of the present invention.

[0022] In the diagram: 100, robot body; 110, plastic plate; 120, spring; 130, plastic push rod; 140, plastic sheet; 200, high-pressure nozzle; 210, vision device; 300. Connecting roller; 310. Outer cover; 311. Return spring; 320. Extension shaft; 330. Adjusting rod; 340. Conductor line; 380. Comb teeth; 400. Cleaning brush; 410. Mounting bracket; 500. Moving belt; 510. Drive wheel; 530. Drive motor; 600. Adjustment box; 700. Suspension; 710. Connecting shaft; 720. Torsion spring; 800. Magnetic box. Detailed Implementation

[0023] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0024] like Figure 1 - Figure 7 As shown, the present invention provides a ship cabin cleaning robot based on a four-track magnetic suspension structure, comprising: Robot body 100; A cleaning component, located at the front end of the robot body 100, is used to scrub the surface to be cleaned. The driving walking assembly includes four movable belts 500 symmetrically arranged around the robot body 100 and a drive motor 530 for driving their rotation. A magnetic suspension assembly includes a magnetic housing 800 and a suspension 700 for connecting the robot body 100 and the drive and walking assembly, wherein the magnetic housing 800 provides an attractive force; and An adaptive adjustment mechanism, connecting the cleaning component and the magnetic suction box 800, is configured such that when the cleaning component shifts due to changes in slope, the magnetic suction box 800 is triggered by mechanical linkage to adjust the magnetic strength.

[0025] The robot body 100 serves as the rigid load-bearing base for the entire machine, integrating four major functional modules: cleaning, walking, magnetic attraction, and adjustment. The cleaning component rigidly adheres to the metal wall of the cabin, removing oil, rust, and deposits through physical scrubbing. The driving and walking component uses four circumferentially symmetrically distributed moving belts 500, with a drive motor 530 providing the walking power, enabling omnidirectional movement and surface adaptation. In the magnetic suspension component, the suspension 700 forms a flexible suspension connection structure, compatible with the curvature and uneven surfaces of the cabin wall, while the magnetic box 800 generates electromagnetic attraction force, stably adhering the robot to the carbon steel cabin wall. The adaptive adjustment mechanism is a mechanical linkage feedback structure. When the cleaning component undergoes vertical displacement due to changes in the slope / curvature of the wall, the magnetic strength of the magnetic box 800 is directly triggered by mechanical transmission for real-time adjustment. The greater the slope, the stronger the attraction force, achieving closed-loop adaptation between posture and attraction force.

[0026] For cleaning operations on the carbon steel vertical walls and inclined slopes of ship cargo holds and ballast tanks, the robot body 100 adopts a lightweight aluminum alloy frame; four sets of moving belts 500 are arranged symmetrically in a rectangle on the left and right sides of the body, with one set on each side at the top and bottom; the magnetic suction box 800 has a built-in DC electromagnet, and the suspension 700 adopts an elastic hinge structure; when the robot moves from a 0° horizontal wall to a 30° inclined wall, the cleaning components are displaced by the slope, and the adaptive adjustment mechanism increases the current of the electromagnet to enhance the attraction force, ensuring that the body does not slip or fall off.

[0027] The symmetrical layout of the four tracks significantly increases the ground contact area of ​​the fuselage, resulting in superior stability and obstacle-crossing ability compared to a dual-track structure. It is also suitable for complex structures such as ship cabin welds and steps. The magnetic suspension provides flexible connection, compatible with curved and arc-shaped walls, with no blind spots. The purely mechanical linkage magnetic adjustment eliminates electrical control delays and responds to slope changes in real time, fundamentally solving the risk of falling off during slope operations. It is suitable for operations in high-risk, confined spaces on ship cabins. The modular design integrates cleaning, walking, and adsorption functions, resulting in a compact overall structure that allows it to operate in narrow cabins and is applicable to a wide range of scenarios.

[0028] Preferably, the adaptive adjustment mechanism includes: A connecting roller 300 is rotatably mounted at the front end of the robot body 100. The connecting roller 300 is connected to the cleaning component via a mounting bracket 410. The comb teeth 380 on the front side of the connecting roller 300 can clean the cleaning brush 400. The comb teeth 380 can be inserted into the cleaning brush 400 to achieve a better cleaning effect.

[0029] The extension shaft 320 is fixedly connected to the end of the connecting roller 300; An adjustment box 600 is installed on the robot body 100, and an adjustment rod 330 that is linked and cooperates with the extension shaft 320 is provided inside it; The connecting roller 300 moves the adjusting rod 330 within the adjusting box 600 as the cleaning component is lifted, thereby changing the electromagnetic intensity within the magnetic box 800.

[0030] The connecting roller 300 serves as the hinged transmission core between the cleaning component and the robot body, and is horizontally rotatably mounted on the front end of the robot body 100. The cleaning component is rigidly fixed to the connecting roller 300 via the mounting bracket 410. When the wall is raised, the cleaning component drives the connecting roller 300 to rotate around the axis. The extended shaft 320 is coaxially fixed with the connecting roller 300, synchronously transmitting rotational torque. The extended shaft 320 is linked to the adjusting rod 330, converting the rotational motion into linear displacement within the adjusting box 600. The adjusting box 600 has a built-in displacement sensor and current control module. The displacement is linearly related to the excitation current, directly changing the electromagnetic adsorption strength of the magnetic box 800. The greater the displacement, the stronger the magnetic force.

[0031] The regulating box 600 has a built-in sliding rheostat, and the end of the regulating rod 330 is fixedly connected to the rheostat slider. When the cleaning component is raised by 10°, the connecting roller 300 rotates 10° synchronously, and the extended shaft 320 drives the regulating rod 330 to move linearly by 5mm. The resistance of the rheostat decreases, and the excitation current of the magnetic box 800 increases from 2A to 4A, doubling the adsorption force, making it suitable for steep slope operations.

[0032] As a preferred technical solution, the robot body 100 is provided with an outer cover 310 on the front side, the extended shaft 320 is connected inside the outer cover 310, and a return spring 311 is provided inside the outer cover 310. The return spring 311 is used to provide a preload force for downward rotation of the connecting roller 300.

[0033] The outer cover 310 is sealed and fixed to both ends of the front side of the robot body 100, fully covering the extension shaft 320 and the transmission connection structure, and isolating sewage and rust. One end of the reset spring 311 is fixed to the inner wall of the outer cover 310, and the other end abuts against the shaft end of the connecting roller 300, continuously providing downward elastic pre-tightening torque. Under normal conditions, the pre-tightening force forces the cleaning components to fit tightly against the wall surface. When the slope decreases, the spring force drives the connecting roller 300 to rotate in the opposite direction, driving the adjusting rod 330 to reset, and the magnetic attraction force decreases synchronously.

[0034] The positioning spring 311 is a stainless steel compression spring with a preload torque of 5 N·m to ensure constant contact pressure between the cleaning brush 400 and the bulkhead. When the robot returns from the 30° slope to the horizontal wall, the spring automatically rebounds, the connecting roller 300 resets, and the magnetic current drops back to the standard value, achieving automatic reset without human intervention.

[0035] As a preferred technical solution, it further includes a chip removal mechanism, which includes: The plastic push rod 130 is slidably mounted at the bottom of the magnetic suction box 800; Spring 120 is sleeved on the plastic push rod 130; The inner side of the movable belt 500 is provided with a protrusion, which is configured to cyclically push the plastic push rod 130 to compress the spring 120 when moving with the belt, and when separated, the spring 120 drives the plastic push rod 130 to push the plastic sheet 140 to reciprocate along the bottom surface of the magnetic box 800 to clean up metal debris.

[0036] There are multiple sets of chip removal mechanisms, which are arranged in an array at the bottom of the magnetic suction box 800; The chip removal mechanism is a passive linkage self-cleaning structure, driven by walking power and without an independent power source; the inner side of the moving belt 500 has an integrally formed arc-shaped protrusion. When the belt rotates in a cycle, the protrusion periodically contacts and pushes the plastic push rod 130 to slide horizontally, and simultaneously compresses the spring 120 to store energy; when the protrusion separates from the push rod, the spring 120 rebounds instantly, driving the plastic push rod 130 to drive the plastic sheet 140 to scrape back and forth at high speed along the bottom surface of the magnetic box 800, removing the adsorbed iron filings, welding slag and other metal debris.

[0037] As a preferred technical solution, the top of the plastic push rod 130 is fixedly connected to the plastic sheet 140, and the side wall of the robot body 100 is provided with a storage groove, in which a plastic plate 110 is fixedly connected, and a spring 120 is connected to one side of the plastic plate 110; and / or; The plastic sheet 140 is arranged in a triangular prism shape.

[0038] The side wall storage slot of the robot body 100 is a modular mounting position. The plastic plate 110 is rigidly fixed in the slot, serving as a positioning support base for the spring 120. The spring 120 is coaxially fitted on the outside of the plastic push rod 130, limiting the radial sway of the push rod and ensuring the coaxiality of the reciprocating motion. The plastic push rod 130 is integrally fixed with the plastic sheet 140. The edges of the triangular prism structure serve as the scraping working surface, concentrating stress to scrape away stubborn debris, and the planar guidance avoids jamming.

[0039] As a preferred technical solution, the two ends of the magnetic box 800 are bent upward and inward to form a guide surface, which is used to guide dirt to fall and reduce movement resistance.

[0040] The magnetic suction box 800 adopts an upward and inward double bending forming process at both ends to form an arc-shaped guide surface. When the robot walks, the arc-shaped structure of the guide surface guides the sewage, sludge, and rust generated during cleaning to both sides of the body and falls to the bottom of the compartment. At the same time, the arc-shaped surface reduces the contact area between the box and the wall protrusions and welds, reducing sliding friction resistance and collision resistance.

[0041] The magnetic box 800 has a 15° bending angle and a 50mm radius of curvature on both guide surfaces. When the robot crosses a 5mm high ship cabin weld, the guide surfaces transition smoothly without jamming. Oil and sludge generated during cleaning slide off the guide surfaces and do not accumulate at the ends of the magnetic surfaces, thus not affecting the adsorption and adhesion.

[0042] As a preferred technical solution, the cleaning component includes a cleaning brush 400 and a high-pressure nozzle 200 disposed at the front end of the robot body 100, and the mounting bracket 410 is equipped with a motor that drives the cleaning brush 400 to rotate.

[0043] The cleaning component adopts a combined cleaning process of high-pressure water jet pretreatment and mechanical rotation brushing; the high-pressure nozzle 200 is inclinedly arranged above the cleaning brush 400, first spraying high-pressure clean water and cleaning agent to impact and soften stubborn oil stains and rust layers on the chamber wall; the dedicated drive motor on the mounting bracket 410 directly drives the cleaning brush 400 to rotate at high speed, and the softened dirt is peeled off by the friction of the bristles to complete the deep cleaning.

[0044] As a preferred technical solution, a vision device 210 is installed on the top of the robot body 100 for capturing images of the working environment in real time.

[0045] The vision unit 210 adopts a wide-angle high-definition camera module, which is fixedly installed at the top center of the robot body 100, providing an unobstructed field of view. It can collect color images and depth images of the cabin working environment in real time and transmit them to the control system via wired or wireless means, realizing visualization of the working scene and real-time capture of environmental features, providing an image data source for remote control and intelligent recognition.

[0046] As a preferred technical solution, the driving and walking assembly further includes a drive wheel 510, and the drive motor 530 drives the moving belt 500 to rotate cyclically by driving the drive wheel 510.

[0047] The drive motor 530 is a geared DC motor that outputs high torque power and is rigidly connected to the drive wheel 510 on the same axis. The outer teeth of the drive wheel 510 mesh with the inner tooth grooves of the moving belt 500 for transmission without slippage. The rotation of the motor drives the drive wheel 510 to rotate, which in turn drives the moving belt 500 to rotate in a cycle. The four sets of motors are independently controlled to realize forward, reverse and differential steering.

[0048] The drive motor 530 has a rated torque of 10 N·m, and the drive wheel 510 uses anti-slip rubber gears; the four tracks are driven independently, and when the motor on one side rotates at a differential speed, the body can achieve 360° turning on the spot, making it suitable for flexible movement in narrow compartments.

[0049] Preferred technical solutions include: The environmental perception module is used to acquire images of the cabin wall captured by the vision device 210 and to collect displacement vector information of the adjustment rod 330 in the adjustment box 600 in real time. The central processing module, connected to the environmental perception module, is configured to establish a slope change model based on the displacement vector information and calculate the compensation magnetic force value required to maintain the robot's adsorption stability. The power execution module, connected to the central processing module, is used to adjust the excitation current of the magnetic suction box 800 according to the compensation magnetic force value, and to synchronously control the speed of the drive motor 530 and the spray pressure of the high-pressure nozzle 200.

[0050] The system is a multi-parameter closed-loop intelligent control system. The environmental perception module collects data through dual channels: the vision device 210 acquires images of the bulkhead, and the displacement sensor acquires the displacement vector of the adjustment rod 330. The central processing module has a built-in algorithm that constructs a mathematical model of the wall slope based on the displacement data and accurately calculates the compensation magnetic force value required for adsorption stability. The power execution module executes linkage commands: adjusting the excitation current to change the magnetic attraction strength, adjusting the motor speed to adapt to the slope, and adjusting the nozzle pressure to match the dirt level. The three parameters are controlled synchronously and collaboratively.

[0051] The central processing module uses an STM32 main control chip with a displacement vector sampling frequency of 100Hz. When the displacement of the adjusting rod is detected to be 8mm, corresponding to a slope of 45°, the compensation magnetic force is calculated to be twice the standard value. The execution module adjusts the excitation current to 5A, reduces the motor speed by 30%, and increases the nozzle pressure to 2MPa, thus achieving adaptive control.

[0052] Advantages: Fully automatic closed-loop control, no manual adjustment required, achieving unmanned operation and reducing labor costs; Precision Advantages: Incline, magnetic force, rotation speed, and pressure are synchronized and matched, taking into account safety, cleanliness, and energy saving, reducing energy consumption by 25%; Stability advantages: High-frequency sampling and real-time control, no operating condition lag, adaptable to dynamically changing ship cabin wall environment.

[0053] As a preferred technical solution, the central processing module is equipped with a security threshold monitoring unit: When the displacement vector information shows that the slope change rate exceeds a preset threshold, the safety threshold monitoring unit triggers the magnetic box 800 to enter a high-energy adsorption mode and controls the drive motor 530 to reduce its moving speed to ensure the robot's posture stability during the slope switching process.

[0054] The safety threshold monitoring unit is the core safety protection module, which presets a safety threshold for the slope change rate. It compares the collected displacement vector data in real time. When the slope changes abruptly or the change rate exceeds the threshold, it triggers a dual safety strategy: the magnetic box switches to a high-energy adsorption mode with full-power excitation, the drive motor is forced to slow down, the body inertia is reduced, and the attitude lock is strengthened. The preset slope change rate threshold is 20° / s; when the robot suddenly crosses the step, the slope increases from 10° to 40° with a change rate of 30° / s, the monitoring unit instantly triggers protection, the magnetic suction operates at full power, the walking speed drops from 0.5m / s to 0.2m / s, and the robot body does not shake or fall off.

[0055] Preferred technical solutions include: The visual recognition unit is used to perform real-time semantic segmentation on the image acquired by the vision device 210 using a deep learning algorithm to identify obstacles, areas of dirt to be cleaned, and ship cabin welds. The path decision unit dynamically generates a bow-shaped or spiral cleaning trajectory based on the density distribution of the identified dirt areas, and adjusts the differential speed of the drive walking component according to the weld seam position to achieve obstacle avoidance control when crossing the weld seam.

[0056] The visual recognition unit is equipped with a deep learning semantic segmentation algorithm to analyze the visual image in real time and accurately classify and identify three main targets: obstacles, dirt areas, and ship hull welds. The path decision unit intelligently selects the best path for large-area uniform cleaning in a bow shape or local heavy dirt cleaning in a spiral shape based on the dirt density distribution. For weld obstacles, the machine body attitude is adjusted to smoothly cross through four-track differential control to achieve obstacle avoidance.

[0057] Preferred technical solutions include: The chip removal efficiency evaluation unit is based on the functional relationship between the rotation speed of the moving belt 500 and the reciprocating frequency of the plastic push rod 130, and is used to monitor the cleanliness of the bottom surface of the magnetic suction box 800. The early warning unit is used to issue a maintenance command to check the wear status of the spring 120 or the plastic sheet 140 when it detects an abnormal increase in the resistance of the moving belt 500 or a decrease in the adsorption force.

[0058] The chip removal efficiency evaluation unit establishes a mathematical model of rotation speed and frequency, calculates the standard reciprocating frequency of the push rod based on the belt speed, and compares it with the actual frequency in real time to determine the cleanliness of the magnetic suction surface. The early warning unit collects data on walking resistance and suction force in real time. When the resistance increases abnormally, causing chip jamming or the suction force weakens and components wear out, it automatically triggers an audible and visual / remote maintenance command to prompt the inspection of vulnerable parts such as spring 120 and plastic sheet 140. Working principle: The robot body 100 is used for the installation and support of various components. A connecting roller 300 is rotatably installed at the front end of the robot body 100. An extension shaft 320 is fixedly connected to both ends of the connecting roller 300. An outer cover 310 is connected to both ends of the connecting roller 300. The outer cover 310 is fixed to the front side of the robot body 100. A return spring 311 is connected inside the outer cover 310 to give the connecting roller 300 a downward rotation tendency. A cleaning brush 400 is connected to the outside of the connecting roller 300 through a mounting bracket 410. A motor is installed on one side of the mounting bracket 410 to directly drive the cleaning brush 400 to rotate. A vision device 210 is installed on the top of the robot body 100 to capture images in real time. After the high-pressure nozzle 200 sprays high-pressure water to the position to be cleaned, the cleaning brush 400 then performs brushing. During the cleaning of the inclined surface of the cabin, the electromagnet inside the magnetic suction box 800 generates an attraction force, attracting the cabin interior. The drive motor 530 drives the drive wheel 510 to rotate, thereby moving the moving belt 500 along the inner wall of the cabin. The suspension 700 provides support for the magnetic suction box 800, the drive motor 530, the drive wheel 510, and the moving belt 500.

[0059] The suspension 700 includes a connecting shaft 710, which is rotatably mounted on the side wall of the robot body 100. A torsion spring 720 is sleeved on the outer wall of the connecting shaft 710. When the magnetic box 800 rotates, the torsion spring 720 drives the magnetic box 800 to reset.

[0060] When the cleaning brush 400 moves to a position on a larger slope, it will lift up and drive the connecting roller 300 to rotate upwards via the mounting frame 410. As the connecting roller 300 rotates, it simultaneously drives the outer shafts 320 at both ends to rotate synchronously. At this time, the adjusting rod 330 on one side of the outer shaft 320 moves within the adjusting box 600. The adjusting box 600 adjusts the magnetic force of the magnetic suction box 800 in advance according to the distance the adjusting rod 330 moves, so that the robot will not fall off when moving from one slope to another during the cleaning process.

[0061] A protrusion is provided on one side of the movable belt 500, which can push the plastic push rod 130 to compress the spring 120. When it moves to the position where it is separated from the plastic push rod 130, it is released. The spring 120 pushes the plastic push rod 130 to move along the lower surface of the magnetic box 500, which can clean the metal debris adsorbed on the lower surface of the magnetic box 500 and ensure the stability of the adsorption. The two ends of the magnetic box 500 are raised, which can avoid and bend inward, and can guide the dirt. During the cleaning process, the dirt can fall down quickly and avoid accumulating on one side of the magnetic box 500 and generating resistance.

[0062] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of protection claimed by the present invention. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A ship cabin cleaning robot based on a four-track magnetic suspension structure, characterized in that: include: Robot body (100); A cleaning component, located at the front end of the robot body (100), is used to scrub the surface to be cleaned; The driving walking assembly includes four movable belts (500) symmetrically arranged around the robot body (100) and a drive motor (530) for driving its rotation. A magnetic suspension assembly includes a magnetic housing (800) and a suspension (700) for connecting the robot body (100) and the drive and walking assembly, the magnetic housing (800) providing an attractive force; and An adaptive adjustment mechanism, connecting the cleaning component and the magnetic box (800), is configured to: when the cleaning component is displaced due to changes in slope, trigger the magnetic box (800) to adjust the magnetic strength through mechanical linkage.

2. The ship cabin cleaning robot based on a four-track magnetic suspension structure according to claim 1, characterized in that: The adaptive adjustment mechanism includes: A connecting roller (300) is rotatably mounted at the front end of the robot body (100), and the connecting roller (300) is connected to the cleaning component via a mounting bracket (410); An extension shaft (320) is fixedly connected to the end of the connecting roller (300); An adjustment box (600) is provided on the robot body (100), and an adjustment rod (330) is provided inside the robot body (100) to be linked and cooperated with the extension shaft (320). The connecting roller (300) moves the adjusting rod (330) within the adjusting box (600) as the cleaning component is lifted, thereby changing the electromagnetic intensity within the magnetic box (800).

3. A ship cabin cleaning robot based on a four-track magnetic suspension structure according to claim 1, characterized in that: The robot body (100) has an outer cover (310) on the front side, the extended shaft (320) is connected inside the outer cover (310), and a return spring (311) is provided inside the outer cover (310). The return spring (311) is used to provide a preload force for downward rotation of the connecting roller (300).

4. A ship cabin cleaning robot based on a four-track magnetic suspension structure according to claim 3, characterized in that: It also includes a chip removal mechanism, which comprises: A plastic push rod (130) is slidably mounted at the bottom of the magnetic box (800); A spring (120) is fitted onto the plastic push rod (130); The inner side of the movable belt (500) is provided with a protrusion, which is configured to cyclically push the plastic push rod (130) to compress the spring (120) when moving with the belt, and when separated, the spring (120) drives the plastic push rod (130) to push the plastic sheet (140) to reciprocate along the bottom surface of the magnetic box (800) to clean up metal debris.

5. A ship cabin cleaning robot based on a four-track magnetic suspension structure according to claim 4, characterized in that: The top of the plastic push rod (130) is fixedly connected to the plastic sheet (140), and the side wall of the robot body (100) is provided with a storage groove, in which a plastic plate (110) is fixedly connected, and a spring (120) is connected to one side of the plastic plate (110); and / or; The plastic sheet (140) is arranged in a triangular prism shape.

6. A ship cabin cleaning robot based on a four-track magnetic suspension structure according to claim 4, characterized in that: The magnetic box (800) has two ends that are bent upward and inward to form guide surfaces, which are used to guide dirt to fall and reduce movement resistance.

7. A ship cabin cleaning robot based on a four-track magnetic suspension structure according to claim 1, characterized in that: The cleaning assembly includes a cleaning brush (400) and a high-pressure nozzle (200) disposed at the front end of the robot body (100). The mounting bracket (410) is equipped with a motor that drives the cleaning brush (400) to rotate.

8. A ship cabin cleaning robot based on a four-track magnetic suspension structure according to claim 7, characterized in that: A vision device (210) is installed on the top of the robot body (100) for capturing images of the working environment in real time.

9. A ship cabin cleaning robot based on a four-track magnetic suspension structure according to claim 3, characterized in that: The driving and walking assembly also includes a drive wheel (510), and the drive motor (530) drives the moving belt (500) to rotate cyclically by driving the drive wheel (510).

10. A cabin cleaning control system based on the robot of claim 1, characterized in that, include: The environmental perception module is used to acquire images of the cabin wall taken by the vision device (210) and to collect displacement vector information of the adjustment rod (330) in the adjustment box (600) in real time. The central processing module, connected to the environmental perception module, is configured to establish a slope change model based on the displacement vector information and calculate the compensation magnetic force value required to maintain the robot's adsorption stability. The power execution module is connected to the central processing module and is used to adjust the excitation current of the magnetic suction box (800) according to the compensation magnetic force value, and to synchronously control the speed of the drive motor (530) and the injection pressure of the high-pressure nozzle (200).

11. The intelligent obstacle avoidance and path planning system for a robot according to claim 10, characterized in that, The central processing module is equipped with a security threshold monitoring unit. When the displacement vector information shows that the slope change rate exceeds the preset threshold, the safety threshold monitoring unit triggers the magnetic box (800) to enter the high-energy adsorption mode and controls the drive motor (530) to reduce the moving speed to ensure the robot's posture stability during the slope switching process.

12. An intelligent obstacle avoidance and path planning system based on the robot of claim 11, characterized in that, include: The visual recognition unit is used to perform real-time semantic segmentation on the image acquired by the vision device (210) using a deep learning algorithm to identify obstacles, areas of dirt to be cleaned, and ship cabin welds. The path decision unit dynamically generates a bow-shaped or spiral cleaning trajectory based on the density distribution of the identified dirt areas, and adjusts the differential speed of the drive walking component according to the weld seam position to achieve obstacle avoidance control when crossing the weld seam.

13. A self-maintenance monitoring system based on the robot of claim 12, characterized in that, include: The chip removal efficiency evaluation unit is based on the functional relationship between the rotation speed of the moving belt (500) and the reciprocating frequency of the plastic push rod (130), and is used to monitor the cleanliness of the bottom surface of the magnetic box (800). The early warning unit is used to issue a maintenance command to check the wear status of the spring (120) or plastic sheet (140) when it detects an abnormal increase in the resistance of the moving belt (500) or a decrease in the adsorption force.

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