The invention discloses a derusting vehicle, a derusting method and a computer readable storage medium, the derusting vehicle comprises a derusting vehicle body, the derusting vehicle body comprises a vehicle main body, a large arm, a small arm and a cleaner, one end of the large arm is rotatably connected with the top of the vehicle main body, the other end of the large arm is rotatably connected with one end of the small arm, and the large arm can axially stretch and retract along the large arm; the other end of the small arm is connected with the cleaner; the detection device is used for detecting the telescopic length of the big arm, the big arm inclination angle of the big arm, the small arm inclination angle of the small arm, the swing angle of the cleaner relative to the working face and the cleaning distance between the swing axis of the cleaner and the working face; the working surface is a hull surface; the driving mechanism is used for driving the large arm to do telescopic motion in the axial direction of the large arm, the large arm rotates, the large arm rotates in the axial direction of the large arm, the small arm rotates, and the small arm rotates in the axial direction of the small arm; and the main control unit is electrically connected with the detection device and the driving mechanism. According to the derusting vehicle, the working face can be automatically switched, the number of lap joint parts of the new working face and the working face is small, and the working efficiency is high.

    本发明公开了一种除锈车、除锈方法及计算机可读存储介质,除锈车包括:除锈车本体,包括车主体、大臂、小臂和清洗器,大臂的一端与车主体顶部转动连接,另一端与小臂的一端转动连接,且大臂可延大臂轴向伸缩运动;小臂的另一端与清洗器连接;检测装置,用于检测大臂的伸缩长度、大臂的大臂倾角、小臂的小臂倾角、清洗器相对于作业面的摆角、清洗器的摆动轴线与作业面的清洗距离;作业面为船体表面;驱动机构,用于驱动大臂延大臂轴向伸缩运动、大臂转动、大臂延大臂轴向旋转、小臂转动、小臂延小臂轴向旋转;主控单元,与检测装置和驱动机构电性连接。本发明实施例的除锈车能够自动切换工作面,且新作业面和已作业面的搭接部分少,作业效率高。


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    Title :

    Rust removal vehicle, rust removal method and computer readable storage medium


    Additional title:

    一种除锈车、除锈方法及计算机可读存储介质


    Contributors:
    LIU DAOSHOU (author) / ZHOU SONGYUN (author) / XU BO (author)

    Publication date :

    2023-03-07


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS / B24B MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING , Maschinen, Einrichtungen oder Verfahren zum Schleifen oder Polieren



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