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。
Control system for underwater ship cleaning robot and working method thereof
一种水下船体清洗机器人的控制系统及其工作方法
25.12.2020
Patent
Elektronische Ressource
Chinesisch