Research On Underwater Hull Cleaning Robot Mobile Platform And Its Positioning Way

The strengthening development of marine resources has brought great progress to the ship industry and promoted the research of underwater robot,emerging various underwater robot applied to different areas.Sailing in the ocean for a long time,there will be a lot of marine organism absorbed on the external surface of the hull and grow rapidly,such as seaweed,barnacles and shellfish,increasing fuel consumption and reduce the mobility.Because of the laborious flush work of large ship,people widely focused on how to remove the adsorption saving time and effort.This paper studies a kind of underwater ship hull cleaning robot mobile platform that can carry different flush device,designs the structure of the robot,simulates adsorption force and study positioning method.Through the tests of various properties of the mobile platform,the simulation data can be verified.The main research content of the research is:In order to develop more suitable underwater hull cleaning robot mobile platform,the Research Status of the existing ways of hull flush robot walking style,adsorption and localization are summarized,pointing out some deficiencies of the existing cleaning robot.After introducing the working principle of the underwater hull flush robot mobile platform,the right scheme is selected according to underwater work environment,then to design the walking mechanism,adsorption mechanism and steering mechanism and the overall structure.Besides,using fluid analysis software to simulate the adsorption force of the mobile platform's adsorption mechanism is conducted.Mathematical models are set up respectively to research the mobile platform In the cases that the platform stand still relative to the hull,move forward relative to the hull and turn in situ relative to the hull,which can test whether the drive motor will meet the design requirements or not.The calculation of the mobile platform gravity center and buoyancy are used to adjust the distance between them.Then,according to the existing positioning method and considering the work environment of the mobile platform,work out a location mode suitable for the mobile platform,establishe a mathematical model and give out a transformation algorithm of the location of the mobile platform relative to the hull.Finally,the test platform is built and various properties of platform are tested one by one.The test includes the adsorption test,the moving speed test,the steering flexibility test,the obstacle ability test and the rectifying ability test.Through the study of these tests,the mobile platform movement performance can be evaluated and the simulation data can be verified.Meanwhile,this paper can provide the theoretical foundation and technical basis for the later hull cleaning robot research work.