The invention relates to a ship body wall surface cleaning system and a cleaning and brushing method. The cleaning system comprises a hull cleaning robot, a console, a positioning assembly and an auxiliary assembly. The ship body cleaning robot comprises a robot body, a thrust assembly, an omnidirectional moving assembly, an adsorption assembly, a control communication assembly, a wireless communication assembly, a shell steering assembly, a cleaning assembly and a sensing assembly. According to the invention, the thrust assembly and the negative pressure adsorption assembly of the contra-rotating paddle are matched for operation; the robot can move from the service boat to the wall surface of the boat body without assistance; when the wall surface is cleaned, the adsorption force and thepushing force are combined; free control of robot adsorption force is realized; according to the robot positioning device, the robot load capacity is improved, an auxiliary fusion technology that thepositioning module is matched with a sensor in the robot is used, on-site rapid and low-cost high-precision positioning of the robot is achieved, the robot automatic path planning capacity is improved, and the layout complexity and the application cost of the robot positioning device are reduced.

    本发明涉及一种船体壁面清洁系统及清刷方法,所述清洁系统包括船体清洁机器人、控制台、定位组件和辅助组件,所述船体清洁机器人包含机器人本体、推力组件、全向移动组件、吸附组件、控制通讯组件、无线通讯组件、壳体转向组件、清洗组件和传感组件,本发明通过推力组件和对转桨的负压吸附组件配合作业,实现机器人从服务艇无辅助下的运动至船体壁面,并且在壁面清洁时两者吸附力和推力结合,实现机器人吸附力自由控制,提高了机器人带负载能力,使用定位模块配合机器人内部传感器的辅助融合技术,实现对机器人现场快速、低成本的高精度定位,提高了机器人自动路径规划能力,降低了机器人定位装置的布局复杂度和应用成本。


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    Title :

    Ship body wall surface cleaning system and brushing operation method


    Additional title:

    一种船体壁面清洁系统及清刷作业方法


    Contributors:
    SONG DALEI (author) / GUO TINGTING (author) / SUN ZHONGMIN (author) / YAN ZHIPENG (author) / CHEN XIAOPING (author) / WANG XINNING (author)

    Publication date :

    2020-06-05


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS / B25J Manipulatoren , MANIPULATORS



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