Automated abrasive blasting system for ship surface preparation and abrasive blasting method

Abstract

An automated abrasive blasting system for ship surface preparation and an abrasive blasting method therefor. The automated abrasive blasting system comprises an abrasive blasting robot (1) capable of moving on a ship hull surface and a sand supply unit (2), wherein a sliding plate (12) is slidably provided on a mounting frame (6) of the abrasive blasting robot (1), an abrasive blasting gun (9) is provided on the sliding plate (12), one end of the abrasive blasting gun (9) is connected to the sand supply unit (2) by means of an abrasive blasting hose (3), the other end of the abrasive blasting gun (9) is provided with a vacuum apparatus (13) for preventing sand spillage, a sliding apparatus (15) for effecting sliding movement of the sliding plate (12) is provided on the mounting frame (6), a recovery apparatus (10) for recovering ejected sand is provided between the abrasive blasting gun (9) and the sand supply unit (2), a motion apparatus (7-8) for effecting movement of the mounting frame on the ship surface is provided on the mounting frame, and an auxiliary apparatus (16) for assisting movement is provided at the bottom of the mounting frame. The automated abrasive blasting system and the abrasive blasting method therefor allow for automated abrasive blasting of ship surfaces and sand recovery, and are environmentally friendly.

Description

An automatic sandblasting rust removal system and method for ship surface rust removal Technical Field

[0001] This invention relates to the field of ship cleaning equipment technology, and in particular to an automatic sandblasting rust removal system and method for removing rust from ship surfaces. Background Technology

[0002] After a ship returns to port, before it can be painted, it needs to be blasted with abrasives such as sand and copper ore to remove rust and marine shellfish attached to the ship's surface, thus achieving a certain level of cleanliness.

[0003] Currently, ship surface cleaning is done manually. Either someone climbs onto the side of the ship with a sandblasting gun to manually spray and collect sand, which, while effective, is labor-intensive and dangerous. Alternatively, a high-pressure water gun is used to spray water onto the ship's surface. While this also meets the requirements, it is manual and labor-intensive. Furthermore, high-pressure water cleaning can cause the ship's surface to rust again, forming yellow rust, which is detrimental to subsequent painting. Summary of the Invention

[0004] Therefore, in view of the above problems, the present invention proposes an automatic sandblasting and rust removal system and method for ship surface rust removal that can automatically perform sandblasting and sand return on the ship surface and is environmentally friendly.

[0005] To achieve the above objectives, the technical solution of the present invention is to provide an automatic sandblasting and rust removal system for ship surfaces, including a sandblasting robot capable of moving on the ship surface and a sand supply device. The sandblasting robot includes a fixed frame, a sliding plate slidably mounted on the fixed frame, a sandblasting gun mounted on the sliding plate, one end of the sandblasting gun being connected to the sand supply device via a sand supply pipe, and the other end of the sandblasting gun being equipped with a vacuum device to prevent sand from falling off. The fixed frame is equipped with a sliding device for driving the sliding plate to slide, a recovery device for recovering the sprayed sand is provided between the sandblasting gun and the sand supply device, and a moving device for driving the fixed frame to move on the ship surface is provided on the fixed frame.

[0006] A further improvement is that the recovery device includes a recovery sleeve, one end of which is fixed to the sandblasting gun, and the other end of which is sleeved on the end of the sandblasting gun so that there is a recovery chamber between the recovery sleeve and the sandblasting gun. The recovery sleeve is provided with a recovery pipe, which is connected to the sand supply device through a sand return pipe for recycling the sprayed sand.

[0007] A further improvement is made to the sand supply device, which includes a housing containing a sand supply tank. The sand supply tank contains sand, and a sand supply pipe is connected to the sand supply tank. The sand supply tank is equipped with a high-pressure sandblasting pump that sprays the sand. The housing also includes a recovery tank, the upper end of which is connected to a return sand pipe, and the lower end of which is connected to the sand supply tank. An opening and closing device is provided between the recovery tank and the sand supply tank. The housing is equipped with a recovery and separation discharge device that automatically returns the sprayed sand to the recovery tank and separates residual impurities and sand before discharging them.

[0008] A further improvement is that the recycling and separation discharge device includes a filter screen, which is installed in the recycling tank for filtering sand. The housing is equipped with a filter cylinder for filtering and collecting dust, and a filter element is installed inside the filter cylinder. The recycling tank is located above the filter screen and is equipped with a filter pipe. The other end of the filter pipe is connected to the upper end of the filter cylinder and is located above the filter element. The housing is equipped with a negative pressure device that allows sand to automatically enter the recycling tank.

[0009] A further improvement is that the negative pressure device is a negative pressure fan, which is connected to the filter cartridge.

[0010] A further improvement is made to the following: a recycling tower is provided at the top of the recycling tank, the recycling pipe is connected to the top of the recycling tower, a fixed box is provided inside the recycling tower, a filter screen for primary filtration is provided on the fixed box, and the filter pipe is connected to the fixed box.

[0011] A further improvement is that the mobile device includes symmetrically arranged mobile boxes located at both ends of the fixed frame. Each mobile box is equipped with a rotatable wheel. Inside the mobile box is a drive device that drives the wheels to rotate. The mobile box is also equipped with an adsorption device to prevent the robot from falling.

[0012] A further improvement is that the adsorption device includes several magnetic blocks, which are arranged at the bottom of the mobile box and attract the surface of the ship via a Helbeck array.

[0013] A further improvement is that the vacuum device includes a brush sleeve, which is located at the end of the spray gun tube. The surface of the brush sleeve is densely covered with soft brushes, which resist the surface of the ship.

[0014] A further improvement is that the sliding device is a sliding electric cylinder, which is horizontally mounted on the fixed frame, and the sliding plate is mounted on the sliding electric cylinder.

[0015] A further improvement is that the bottom of the fixed frame is provided with omnidirectional wheels for auxiliary movement, and the fixed frame is provided with auxiliary magnetic blocks at both ends of the omnidirectional wheels. The auxiliary magnetic blocks are arranged by a Hellbeck array.

[0016] A further improvement is that the bottom of the chassis is equipped with casters.

[0017] A sandblasting rust removal method includes the following steps:

[0018] Step 1: Connect the sand supply pipe and return pipe of the sandblasting robot to the sand supply tank and recovery tower on the machine box, push the machine box to the position to be sandblasted and cleaned, and then place the sandblasting robot on the side of the ship.

[0019] Step Two: The sandblasting robot achieves self-localization through multi-sensor fusion, using solid-state LiDAR to perceive the 3D environment of the ship's outer wall, distinguishing between drivable and non-drivable areas, and planning a fully covered arc-shaped path in the drivable area to autonomously move to the predetermined sandblasting position. The main steps of its path identification are as follows:

[0020] a. Perception Node: Utilize solid-state LiDAR sensors to perceive the 3D environment of the ship's outer wall in real time, acquire point clouds, process surface morphology data, identify obstacles and feature points, distinguish between drivable areas and non-drivable areas such as areas with large curvature, edges, and crash barriers, extract obstacle information, and construct global and local real-time maps.

[0021] b. Positioning Node: A solid-state LiDAR, IMU, and wheel speed information fusion algorithm is used to calculate the relative position of the wall-climbing robot in real time;

[0022] c. Decision Node: Receives environmental obstacle information from the sensing nodes, self-positioning information from the positioning nodes, and status information from the chassis nodes; performs autonomous operation sub-task scheduling and issues autonomous operation sub-tasks to the planning nodes; sub-tasks include:

[0023] Sub-region operation planning;

[0024] Cross-regional operation planning;

[0025] Obstacle avoidance operation planning;

[0026] d. The planning node performs path planning based on the current task issued by the decision node, combined with the real-time map of the perception node and the self-positioning information of the positioning node, and publishes the planned path to the chassis control node.

[0027] e. The chassis control receives the work path issued by the planning node, controls each motor of the robot, and performs the work along the specified path.

[0028] Step 3: After the sandblasting robot reaches the predetermined position, the high-pressure sandblasting pump operates, spraying sand from the sand supply tank. The sand travels along the sand supply pipe to the sandblasting gun, thus sandblasting the ship's surface. Simultaneously, the negative pressure fan operates, creating a vacuum in the filter cartridge, recovery tank, and recovery pipe. The sand sprayed onto the ship's surface, as well as the sand cleaned from the ship's surface, returns to the recovery tank under the action of negative pressure. The filter screen in the recovery tank filters the sand, and then impurities and dust pass through the primary filter screen before entering the filter cartridge for further filtration by the filter element, and then are discharged.

[0029] Step 4: The sandblasting robot continuously repeats steps 2 and 3 to sandblast and clean the surface of the ship until the operation is completed.

[0030] The advantages and beneficial effects of this invention are as follows:

[0031] With a simple structure, it can automatically sandblast and recover sand from ship surfaces while being environmentally friendly. The sandblasting robot and sand supply device can automatically sandblast the ship's surface and automatically recover the blasted sand, thus avoiding manual operation and improving cleaning safety and efficiency. Simultaneously, the sand recovery process purifies exhaust gases, preventing environmental pollution and promoting green cleaning. Furthermore, sandblasting prevents surface rust, facilitating subsequent painting operations. Attached Figure Description

[0032] Figure 1 is a schematic diagram of an automatic sandblasting and rust removal system for ship surface rust removal according to an embodiment of the present invention.

[0033] Figure 2 is a schematic diagram of the structure of the sandblasting robot according to an embodiment of the present invention.

[0034] Figure 3 is a schematic diagram of the structure of the sandblasting robot according to an embodiment of the present invention.

[0035] Figure 4 is a schematic diagram of the sand supply device according to an embodiment of the present invention.

[0036] Figure 5 is a schematic diagram of the sand supply device according to an embodiment of the present invention. Detailed Implementation

[0037] The specific embodiments of the present invention will be further described below with reference to the accompanying drawings and examples. The following examples are only used to more clearly illustrate the technical solutions of the present invention and should not be construed as limiting the scope of protection of the present invention.

[0038] As shown in Figures 1-5, an automatic sandblasting and rust removal system for ship surfaces includes a sandblasting robot 1 capable of moving on the ship's surface and a sand supply device 2. The sandblasting robot 1 includes a fixed frame 6, on which a sliding plate 12 is slidably mounted. A sandblasting gun 9 is mounted on the sliding plate 12. One end of the sandblasting gun 9 is connected to the sand supply device 2 via a sand supply pipe 3, and the other end of the sandblasting gun 9 is equipped with a brush set 13. The surface of the brush set 13 is densely covered with soft brush bristles 15. A sliding electric cylinder 11 is mounted on the fixed frame 6 to drive the sliding plate 12 to slide. The sliding electric cylinder 11 is horizontally positioned on the fixed frame 6, and the sliding plate 12 is mounted on the sliding electric cylinder 11. A recovery sleeve 10 for recovering the sprayed sand is provided between the sandblasting gun 9 and the sand supply device 2. One end of the recovery sleeve 10 is fixed to the sandblasting gun 9, and the other end of the recovery sleeve 10 is sleeved on the end of the sandblasting gun 9, so that there is a recovery chamber 14 between the recovery sleeve 10 and the sandblasting gun 9. The recovery sleeve 10 is provided with a recovery pipe 41, which is connected to the sand supply device 2 through a sand return pipe 4 for recycling the sprayed sand. The fixed frame 6 is symmetrically provided with a movable box 7 for moving the fixed frame 6 on the surface of the ship. The movable box 7 is located at both ends of the fixed frame 6. The movable box 7 is provided with a movable wheel 8 that rotates on it. The movable box 7 is provided with a drive device that drives the movable wheel 8 to rotate. The movable box 7 is provided with a plurality of magnetic blocks 16 to prevent the robot from falling. The magnetic blocks 16 are located at the bottom of the movable box 7 and attract the surface of the ship through a Helbeck array that can enhance the magnetic field.

[0039] Specifically, the sand supply device 2 includes a chassis, a sand supply tank 21 inside the chassis, sand inside the sand supply tank 21, a sand supply pipe 3 connected to the sand supply tank 21, a high-pressure sandblasting pump (not shown in the figure) on the sand supply tank 21 to spray sand, a recovery tank 22 on the chassis, the upper end of the recovery tank 22 connected to the return sand pipe 4, the lower end of the recovery tank 22 connected to the sand supply tank 21, a manually operated one-way valve 201 between the recovery tank 22 and the sand supply tank 21, and a recovery separation and discharge device inside the chassis to automatically return the sprayed sand to the recovery tank 22 and to separate and discharge residual impurities and sand.

[0040] Specifically, the recycling and separation discharge device includes a filter screen 27, which is installed in the recycling tank 22 for filtering sand. The casing is equipped with a filter cylinder 25 for filtering and collecting dust. The filter cylinder 25 contains a filter element 202. The recycling tank 22 is located above the filter screen 27 and is equipped with a filter pipe 24. The other end of the filter pipe 24 is connected to the upper end of the filter cylinder 25 and is located above the filter element 202. The casing is equipped with a negative pressure fan 26 that automatically allows sand to enter the recycling tank 22. The negative pressure fan 26 is connected to the filter cylinder 25.

[0041] In order to better recover and separate sand, impurities and waste gas, a recovery tower 28 is provided at the upper end of the recovery tank 22, and the recovery pipe 41 is connected to the upper end of the recovery tower 28. A fixed box 28 is provided inside the recovery tower 28, and a filter screen 29 for primary filtration is provided on the fixed box 28. The filter pipe 24 is connected to the fixed box 28.

[0042] To further facilitate the movement of the sandblasting robot 1, the bottom of the fixed frame 6 is provided with omnidirectional wheels 17 for auxiliary movement, and the fixed frame 6 is provided with auxiliary magnetic blocks 18 at both ends of the omnidirectional wheels 17. The auxiliary magnetic blocks 18 are arranged by a Heilbeck array.

[0043] To facilitate the movement of the chassis and make it easier for staff to clean various parts of the ship, the bottom of the chassis is equipped with casters 5.

[0044] Working principle:

[0045] When in use, to remove rust and impurities from the surface of a ship, the sandblasting robot 1 and the sand supply device 2 are moved to the cleaning position. The robot is then attached to the surface of the ship, so that the brush resists the surface of the ship, thereby making the recovery chamber 14 relatively sealed. Then, the high-pressure sandblasting pump is started, and the sand in the sand supply tank is supplied to the sand supply gun 9 through the sand supply pipe 3. The sand is sprayed onto the surface of the ship, thereby knocking off and cleaning the impurities and rust on the surface of the ship. Then the sand and impurities fall into the recovery chamber 14. Simultaneously, the negative pressure fan 26 generates negative pressure in the return sand pipe 4, causing sand and impurities to automatically enter from the recovery pipe 41 into the return sand pipe 4 and then into the recovery tank 22. Upon entering, the sand and impurities fall onto the filter screen, which filters out larger sand particles, causing them to fall to the bottom of the recovery tank 22. Dust and fine impurities then enter the filter pipe 24 through the fixed box 28, and from there into the filter cylinder 25. After being filtered by the filter element 202 within the filter cylinder 25, the air is discharged, ensuring that the exhaust gas does not pollute the air. Once the sand in the recovery tank 22 is fully recovered, the one-way valve 201 is manually opened, allowing the sand to fall into the sand supply tank for reuse. This sand supply operation is repeated. Meanwhile, the robot, using its moving wheels, continuously moves across the ship's surface, cleaning away rust and impurities. Compared to traditional methods, this eliminates manual operation, achieving intelligent and automated cleaning, which is beneficial for workers. Using iron sand for cleaning, compared to the traditional method of spraying with high-pressure water guns, prevents the ship's surface from developing yellow rust due to water corrosion after cleaning, thus protecting the ship's surface and improving the practicality of the cleaning process.

[0046] The method for sandblasting using the aforementioned automatic sandblasting system for rust removal on ship surfaces includes the following steps:

[0047] Step 1: Connect the sand supply pipe 3 and sand return pipe 4 of the sandblasting robot 1 to the sand supply tank 21 and recovery tower 28 on the machine box, push the machine box to the position to be sandblasted and cleaned, and then place the sandblasting robot 1 on the side of the ship.

[0048] Step Two: The sandblasting robot 1 uses multi-sensor fusion for self-localization. It employs solid-state LiDAR to perceive the complex 3D environment of the ship's outer surface, distinguishing between drivable and non-drivable areas. It then plans a fully covered arc-shaped path within the drivable area, enabling autonomous movement to the designated sandblasting position. The main steps of its path identification are as follows:

[0049] a. Perception Node: Utilize solid-state LiDAR sensors to perceive the complex 3D environment of the ship's outer wall in real time, acquire point clouds, process surface morphology data, identify obstacles and feature points, distinguish between drivable and non-drivable areas with large curvature (such as: bow, stern, bottom), edges, crash barriers, etc., extract obstacle information, and construct global and local real-time maps.

[0050] b. Positioning Node: A solid-state LiDAR, IMU, and wheel speed information fusion algorithm is used to calculate the relative position of the wall-climbing robot in real time;

[0051] c. Decision Node: Receives environmental obstacle information from the sensing nodes, self-positioning information from the positioning nodes, and status information from the chassis nodes; performs autonomous operation sub-task scheduling and issues autonomous operation sub-tasks to the planning nodes; sub-tasks include:

[0052] Sub-region operation planning;

[0053] Cross-regional operation planning;

[0054] Obstacle avoidance operation planning;

[0055] d. The planning node performs path planning based on the current task issued by the decision node, combined with the real-time map of the perception node and the self-positioning information of the positioning node, and publishes the planned path to the chassis control node.

[0056] e. The chassis control receives the work path issued by the planning node, controls each motor of the robot, and performs the work along the specified path.

[0057] Step 3: After the sandblasting robot 1 reaches the predetermined position, the high-pressure sandblasting pump works, spraying sand from the sand supply tank 21. The sand is then sprayed along the sand supply pipe 3 to the sandblasting gun 9, thus sandblasting the surface of the ship. At the same time, the negative pressure fan 26 works, creating a vacuum negative pressure in the filter cartridge 25, the recovery tank 22, and the recovery pipe 41. The sand sprayed onto the ship surface and the sand after cleaning the ship surface return to the recovery tank 22 under the action of negative pressure. The filter screen 27 in the recovery tank 22 filters the sand. Then, impurities and dust are filtered through the primary filter screen 29 and then passed into the filter cartridge 25 for filtration by the filter element 202 before being discharged.

[0058] Step 4: The sandblasting robot 1 continuously repeats steps 2 and 3 to sandblast and clean the surface of the ship until the operation is completed.

[0059] 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 above are merely illustrative of the principles of the present invention. Various changes and modifications can be made to the present invention without departing from its spirit and scope. All such changes and modifications fall within the scope of the present invention as claimed, which is defined by the appended claims and their equivalents.

Claims

1. An automated abrasive blasting derusting system for derusting the surface of a ship, characterised in that: The system includes a sandblasting robot capable of moving on a ship's surface and a sand supply device. The sandblasting robot includes a fixed frame with a sliding plate slidably mounted on it. A sandblasting gun is mounted on the sliding plate. One end of the sandblasting gun is connected to the sand supply device via a sand supply pipe. The other end of the sandblasting gun is equipped with a vacuum device to prevent sand from falling off. The fixed frame is equipped with a sliding device that drives the sliding plate to slide. A recovery device for recovering the sprayed sand is provided between the sandblasting gun and the sand supply device. The fixed frame is equipped with a moving device for moving the fixed frame on the ship's surface. An auxiliary device for assisting movement is provided at the bottom of the fixed frame.

2. An automatic abrasive blasting derusting system for derusting the surface of a ship as claimed in claim 1, characterized in that: The recycling device includes a recycling sleeve, one end of which is fixed to the sandblasting gun, and the other end of which is sleeved on the end of the sandblasting gun so that there is a recycling chamber between the recycling sleeve and the sandblasting gun. The recycling sleeve is provided with a recycling pipe, which is connected to the sand supply device through a sand return pipe for recycling the sprayed sand.

3. An automated abrasive blasting system for the removal of rust from the surface of a ship as claimed in claim 2 wherein: The sand supply device includes a housing, inside which is a sand supply tank containing sand. A sand supply pipe is connected to the sand supply tank. The sand supply tank is equipped with a high-pressure sandblasting pump that sprays the sand. The housing also includes a recovery tank, the upper end of which is connected to a return sand pipe, and the lower end of which is connected to the sand supply tank. An opening and closing device is provided between the recovery tank and the sand supply tank. The housing is equipped with a recovery and separation discharge device that automatically returns the sprayed sand to the recovery tank and separates residual impurities and sand before discharging them.

4. An automated abrasive blasting system for the removal of rust from the surface of a ship as claimed in claim 3 wherein: The recycling and separation discharge device includes a filter screen, which is installed in the recycling tank for filtering sand. The casing is equipped with a filter cylinder for filtering and collecting dust. The filter cylinder contains a filter element. The recycling tank is located above the filter screen and is equipped with a filter pipe. The other end of the filter pipe is connected to the upper end of the filter cylinder and is located above the filter element. The casing is equipped with a negative pressure device that allows sand to automatically enter the recycling tank.

5. An automated abrasive blasting system for the removal of rust from the surface of a ship as claimed in claim 4 wherein: The negative pressure device is a negative pressure fan, which is connected to the filter cartridge.

6. An automated abrasive blasting derusting system for derusting the surface of a ship as claimed in claim 3 wherein: The upper end of the recycling tank is equipped with a recycling tower, the recycling pipe is connected to the upper end of the recycling tower, a fixed box is provided inside the recycling tower, the fixed box is equipped with a filter screen for primary filtration, and the filter pipe is connected to the fixed box.

7. An automated abrasive blasting derusting system for derusting the surface of a ship as claimed in claim 1 wherein: The mobile device includes symmetrically arranged mobile boxes located at both ends of a fixed frame. Each mobile box is equipped with a rotatable wheel. Inside the mobile box is a drive device that drives the wheels to rotate. The mobile box is also equipped with an adsorption device to prevent the robot from falling.

8. An automated abrasive blasting derusting system for derusting the surface of a ship as claimed in claim 7 wherein: The adsorption device includes several magnetic blocks, which are arranged at the bottom of the mobile box and attract the surface of the ship via a Helbeck array.

9. An automatic abrasive blasting derusting system for derusting the surface of a ship as claimed in claim 1, wherein: The vacuum device includes a brush sleeve, which is located at the end of the spray gun tube. The surface of the brush sleeve is densely covered with soft brushes, which resist the surface of the ship.

10. An automatic abrasive blasting derusting system for derusting the surface of a ship as claimed in claim 1, wherein: The sliding device is a sliding electric cylinder, which is horizontally mounted on a fixed frame, and the sliding plate is mounted on the sliding electric cylinder.

11. An automatic abrasive blasting derusting system for derusting the surface of a ship as claimed in claim 1, wherein: The auxiliary device is as follows: the bottom of the fixed frame is provided with omnidirectional wheels for auxiliary movement, and the fixed frame is provided with auxiliary magnetic blocks at both ends of the omnidirectional wheels. The auxiliary magnetic blocks are arranged by a Hellbeck array.

12. An automatic abrasive blasting derusting system for derusting the surface of a ship as claimed in claim 3, wherein: The bottom of the chassis is equipped with casters.

13. A method of abrasive blasting, characterised in that: The sandblasting method is applied to the automatic sandblasting and rust removal system for ship surface rust removal according to any one of claims 1-12, and the sandblasting method includes the following steps: Step 1: Connect the sand supply pipe and return pipe of the sandblasting robot to the sand supply tank and recovery tower on the machine box, push the machine box to the position to be sandblasted and cleaned, and then place the sandblasting robot on the side of the ship. Step Two: The sandblasting robot achieves self-localization through multi-sensor fusion, using solid-state LiDAR to perceive the 3D environment of the ship's outer wall, distinguishing between drivable and non-drivable areas, and planning a fully covered arc-shaped path in the drivable area to autonomously move to the predetermined sandblasting position. The main steps of its path identification are as follows: a. Perception Node: Utilize solid-state LiDAR sensors to perceive the 3D environment of the ship's outer wall in real time, acquire point clouds, process surface morphology data, identify obstacles and feature points, distinguish between drivable areas and non-drivable areas such as areas with large curvature, edges, and crash barriers, extract obstacle information, and construct global and local real-time maps. b. Positioning Node: A solid-state LiDAR, IMU, and wheel speed information fusion algorithm is used to calculate the relative position of the wall-climbing robot in real time; c. Decision Node: Receives environmental obstacle information from the sensing nodes, self-positioning information from the positioning nodes, and status information from the chassis nodes; performs autonomous operation sub-task scheduling and issues autonomous operation sub-tasks to the planning nodes; sub-tasks include: Sub-region operation planning; Cross-regional operation planning; Obstacle avoidance operation planning; d. The planning node performs path planning based on the current task issued by the decision node, combined with the real-time map of the perception node and the self-positioning information of the positioning node, and publishes the planned path to the chassis control node. e. The chassis control receives the work path issued by the planning node, controls each motor of the robot, and performs the work along the specified path; Step 3: After the sandblasting robot reaches the predetermined position, the high-pressure sandblasting pump works, spraying sand from the sand supply tank. The sand travels along the sand supply pipe to the sandblasting gun, thus sandblasting the ship's surface. At the same time, the negative pressure fan works, creating a vacuum in the filter cartridge, recovery tank, and recovery pipe. The sand sprayed onto the ship's surface, as well as the sand after cleaning the ship's surface, returns to the recovery tank under the action of negative pressure. The filter screen in the recovery tank filters the sand, and then impurities and dust pass through the primary filter screen and are then filtered by the filter element in the filter cartridge before being discharged. Step 4: The sandblasting robot continuously repeats steps 2 and 3 to sandblast and clean the surface of the ship until the operation is completed.

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