The invention discloses an underwater cleaning robot system, a transverse cleaning method and a ship body direction measuring device, and belongs to the technical field of azimuth measurement and underwater robots, and the ship body direction measuring device measures the ship body direction in a non-contact ship mode through combination of a laser range finder, a two-dimensional rotary table, a shore direction instrument and a tilt angle sensor; the underwater cleaning robot system comprises an underwater cleaning robot, a pressure pump device, a hull direction measuring device and an ashore computer; the shore computer collects measured values of the hull direction measuring device, calculates the hull direction and sends the hull direction to the cleaning robot, and the underwater cleaning robot moves with the hull direction as the reference, so that the problem that the underwater cleaning robot gets lost in direction due to hull drifting is effectively solved, posture control over full-profile walking is achieved, and the underwater cleaning robot is more intelligent. And through combination of ship body direction measurement values, a method for transversely cleaning the two sides of the ship back and forth is realized, and the problems of large positioning error and difficult path planning in the prior art are effectively solved.
本发明公开了水下清洗机器人系统及横向清洗方法以及一种船身方向测量装置,属于方位测量和水下机器人技术领域,船身方向测量装置通过激光测距仪、二维转台、岸上方向仪、倾角传感器组合,实现非接触船舶的方式测量船身方向;水下清洗机器人系统包括水下清洗机器人、加压泵装置、船身方向测量装置、岸上计算机;岸上计算机采集船身方向测量装置的测量数值并计算出船身方向,将船身方向发送给清洗机器人,水下清洗机器人以船身方向为基准运动,有效解决了水下清洗机器人因船体漂移而迷失方向的问题,实现全形面的行走的姿态控制,结合船身方向测量数值,实现往返于船的两侧横向清洗方法,有效解决了现有定位误差大、路径规划困难的问题。
Underwater cleaning robot system and method for transversely cleaning ship bottom
水下清洗机器人系统及横向清洗船底的方法
2024-07-02
Patent
Electronic Resource
Chinese
IPC: | B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS |
UNDERWATER LANDING TYPE SHIP BOTTOM CLEANING ROBOT SYSTEM
European Patent Office | 2023
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