The invention discloses a control system for an underwater ship cleaning robot and a working method thereof. The control system comprises a data acquisition module, a control module and an upper computer, wherein the control module is separately connected to the data acquisition module, a crawler module, a cavitation jet flow cleaning module, a rotary brush cleaning module and a drive module through data lines; the control module is connected to an upper computer through a power line carrier; the data acquisition module comprises a camera, an inertial navigation platform, a gyroscope and a pressure sensor, wherein the control module is mounted inside the sealed control cabin and comprises a main controller, a fault protection co-processor, an information processor and a power line carriercommunication module A. The control system can automatically approach and adsorb when getting approach to the surface of the ship body in water; and meanwhile, a cleaning path can be autonomously planned in a cleaning process, and adsorption force is autonomously adjusted according to ocean current intensity, thus solving the problem that a robot is not flexible to clean as a result of a low reaction speed of an operator.

    本发明公开了一种水下船体清洗机器人的控制系统及其工作方法,所述的控制系统包括数据采集模块、控制模块和上位机;所述的控制模块通过数据线分别与数据采集模块、履带模块、空化射流清洗模块、转刷清洗模块和驱动模块连接,控制模块通过电力载波线与上位机连接;所述的数据采集模块包括摄像头、惯性导航平台、陀螺仪和压力传感器;所述的控制模块安装在密封控制舱内部,包括主控制器、故障保护协处理器、信息处理器和电力载波通信模块A。本发明可以在水中接近船体表面时自动靠近并进行吸附,同时在清洗过程中可以自主规划清洗路径,根据海流强度自主进行吸附力调整,解决了因操作员反应速度慢而导致机器人清洗不灵活的问题。


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    Titel :

    Control system for underwater ship cleaning robot and working method thereof


    Weitere Titelangaben:

    一种水下船体清洗机器人的控制系统及其工作方法


    Beteiligte:
    XU MINYI (Autor:in) / ZHENG JIAXI (Autor:in) / LI WENXIANG (Autor:in) / LIU XIANGYU (Autor:in) / MENG ZHAOCHEN (Autor:in) / SONG LIGUO (Autor:in) / DONG JINGMING (Autor:in) / FU XIANPING (Autor:in)

    Erscheinungsdatum :

    25.12.2020


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS / B62D MOTOR VEHICLES , Motorfahrzeuge



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