The invention discloses a ship cleaning method and system based on underwater sonar positioning and a medium, and the method comprises the steps that a control terminal constructs a virtual ship body map according to basic information of a ship, further plans a corresponding walking path and sends the walking path to a cleaning robot, and the cleaning robot walks along the walking path and transmits a sonar signal according to a transmitting period; and the control terminal receives the sonar receiving signal from the sonar receiver, analyzes the sonar receiving signal to obtain the real-time position of the cleaning robot, judges whether the real-time position is abnormal or not, and sends an error correction instruction to the cleaning robot if the real-time position is abnormal. The method belongs to the technical field of intelligent ship cleaning, the real-time position of the cleaning robot is obtained through underwater sonar positioning, and the error correction instruction is sent to the cleaning robot when it is judged that the real-time position is abnormal, so that the walking path of the cleaning robot is corrected in real time, the walking accuracy during underwater cleaning is improved, and the cleaning efficiency is improved. And deviation and repetition of the walking path are avoided, so that the underwater cleaning efficiency of the cleaning robot is improved.
本发明公开了基于水下声呐定位的船舶清洗方法、系统及介质,方法包括:控制终端根据船舶基础信息构建虚拟船身地图,并进一步规划对应行走路径发送至清洗机器人,清洗机器人沿行走路径进行行走并按发射周期发射声呐信号,控制终端接收来自声呐接收器的声呐接收信号并解析获取清洗机器人的实时位置,判断实时位置是否出现异常,若出现异常控制终端发送纠错指令至清洗机器人。本发明属于船舶智能清洗技术领域,通过水下声呐定位获取清洗机器人的实时位置,并在判断实时位置出现异常是发送纠错指令至清洗机器人,以实时纠正清洗机器人的行走路径,提高进行水下清洗时行走的准确性,避免行走路径偏差、重复,从而提高清洗机器人进行水下清洗的效率。
Ship cleaning method and system based on underwater sonar positioning and medium
基于水下声呐定位的船舶清洗方法、系统及介质
2023-04-04
Patent
Electronic Resource
Chinese
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