Research On The Underwater Hull Cleaning Robot

After driving for a long time in the water of the ship,hull surface attach to a large number of shellfish,barnacles and rust stained because of marine life and corrosive performance of seawater.But the antirust coating can't solve this problem effectively,Ship hull cleaning technology got rapid development for large vessel.However,the existing hull cleaning device have some problems,including automatic degree is relatively low,cleaning efficiency is low,the working environment is limited and lack of flush detection means.This paper design a dual mode of underwater ship hull surface cleaning robot,in view of the underwater robot surface adsorption and six degrees of freedom motion control are key problems are studied.Firstly,Put forward the research background and significance of the paper,based on the analysis and the research status of hull surface cleaning device at home and abroad,sums up the technology of underwater hull cleaning device,investigating the wall climbing robot and the underwater robot,in view of the existing hull cleaning device deficiency in the actual work,designed a new type of underwater cleaning robot.Secondly,according to the technical index and working environment determine robot adsorption and motion solutions,robot combining use of reverse thrust adsorption and negative pressure adsorption two ways,and have swimming underwater and surface crawling two movement patterns.For the robot's mechanical structure,material selection,buoyancy center of gravity and key components selection is studied.After established the underwater cleaning robot on the surface of the hull,space position model,based on the model from the perspective of preventing failure of device adsorption,lists the stable adsorption mechanics equilibrium equation,to determine the minimum suction robot need stable adsorption.Then,research the brush and adsorption principle of the robot,cup brush can cleaning the hull,at the same time on the hull surface rotates also produces parallel to the axis of rotation of the suction force,make the robot adsorption on the hull surface.According to flush and adsorption of job requirements,to design the cleaning brush,because there is no theory of cup brush to study the adsorption force generated by the rotation process,so this paper design the cup brush adsorption experiment was carried out,to establish a suction cap brush and a linear relationship with the wall distance motor input,to establish a dynamic model of robot near wall movement provides the basis.Finally,establish a dynamic model of the underwater hull cleaning robot swimming in the water.Designed according to the working process of the robot control scheme,the sliding mode controller is designed using the inverse design method,to control the robot's six degrees of freedom movement,ensure the robot to realize the predetermined position.By comparing with the traditional PID controller,the controller designed in this paper have superiority.