The invention provides a robot for removing organisms attached to the bottom of a ship and a control method thereof. The robot comprises a rack and a space pose adjusting device, a control device, an electric power system, an injection device and an image recognition device which are arranged on the rack, the image recognition device is used for obtaining images of the ship bottom attachment organisms at the preset position, and the space pose adjusting device is used for adjusting the space position and/or pose of the robot. The spraying device is used for spraying high-pressure water flow to clean attached organisms at the bottom of the ship, and the control system is used for controlling the robot to acquire images according to a set route and controlling the spraying device to carry out targeted cleaning based on different types of attached organisms after the robot advances to a preset position. The robot is simple in structure, convenient to carry and good in cleaning effect, the robot can swim and dive to any position near the bottom of the ship body, and organisms attached to the bottom of the ship body are removed through high-pressure water flow sprayed out of the triangular pressurizing nozzles.
本发明提供一种船底附着生物清除机器人及其控制方法。本发明包括机架和设置在机架上的空间位姿调节装置、控制装置、电力系统、喷射装置和图像识别装置,所述图像识别装置用于获取预设位置的船底附着生物图像,所述空间位姿调节装置用于调节机器人的空间位置和/或姿态,所述喷射装置用于喷出高压水流清理船底附着生物,所述控制系统用于控制机器人以既定路线进行图像获取并控制喷射装置在机器人行进至预设位置后基于不同种类附着生物进行针对性的清洗。本发明结构简单、便于携带、清理效果好,机器人可以游动并且下潜到船体底部的任意位置附近,利用三角形增压喷嘴喷出的高压水流来清除船体底部附着的生物。
Robot for removing organisms attached to ship bottom and control method thereof
一种船底附着生物清除机器人及其控制方法
2023-05-26
Patent
Electronic Resource
Chinese
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