The invention relates to the technical field of intelligent cleaning of ships, and discloses an automatic cleaning method, system and equipment for an underwater robot and a medium. The method is used for enabling the robot to move along a Manhattan distance track to clean a to-be-cleaned plane and at least comprises the steps of path planning, cleaning and obstacle avoidance. The path planning step comprises the following steps: establishing a plane coordinate system according to basic information of a to-be-cleaned plane by taking the position of the robot as an original point; a cleaning area is preset in each quadrant of the plane-coordinate system, and the cleaning area is a rectangle with the equal side length which is larger than or equal to the length of the plane to be cleaned; a plurality of cleaning units in an equilateral-length rectangle shape are preset in the cleaning area, and the Manhattan distance track is formed on a connecting line of the cleaning units in the lateral length direction of the cleaning units; a first check point sequence is preset on the edges of the two parallel sides of the preset cleaning area, all first check points are sequentially arranged on the Manhattan distance track and located at the corners of the Manhattan distance track, and every two sequentially adjacent first check points are arranged at the interval of one corner.

    本发明涉及船舶智能清洗的技术领域,公开了一种水下机器人自动清洗方法、系统、设备及介质。该方法用于使机器人沿曼哈顿距离轨迹移动以清洗待清洗平面,至少包括路径规划、清洗及避障步骤。路径规划步骤包括:以机器人位置为原点,根据待清洗平面基础信息建立平面坐标系;在平面坐标系每个象限预设清洗区域,清洗区域为等边长且边长大于或等于待清洗平面长度的矩形;在清洗区域预设若干呈等边长矩形的清洗单元,曼哈顿距离轨迹形成于各清洗单元在其边长方向上的连线上;在预设清洗区域互相平行的两侧边缘预设第一检查点序列,各第一检查点顺序设置于曼哈顿距离轨迹且均位于曼哈顿距离轨迹的拐角处,顺序相邻的两个第一检查点间隔一个拐角设置。


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    Title :

    Underwater robot automatic cleaning method, system, equipment and medium


    Additional title:

    一种水下机器人自动清洗方法、系统、设备及介质


    Contributors:
    SHI DIANYI (author) / WANG BO (author)

    Publication date :

    2023-10-13


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS / B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen



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