Research On Key Technology Of Underwater Hull Decontamination Robot

The ship is the main means of marine transportation.After a long time of operation,difficult to remove shellfish,stains and rust stains will be attached to the hull surface,which will increase the fuel consumption of ships and even affect the service life of ships in serious cases.At present,the work of cleaning the hull surface is still mainly manual,which leads to the problems of low efficiency and high labor intensity.Using robots to replace human operation and realize automation of underwater cleaning will greatly save labor and improve ship repair efficiency.Therefore,how to develop a suitable underwater decontamination robot is an urgent problem.Based on this,this paper will explore the key technologies of robot.In terms of the specific requirements of the carrier module of underwater vehicle decontamination robot,this paper studies and designs it in combination with the practical application.According to the requirements of the overall design of the underwater ship hull cleaning robot and design of the basic principles,combined with its usage environment,the requirements of technical indicators,scientific and reasonable mode of adsorption of the robot,walking style,drive mode,cleaning method for the selection,ultimately determine the carrier module using permanent magnetic adsorption,walking wheel,dc motor driver and cavitation cleaning water.Based on the determination of the main structure,the design of the two support modules of the wall climbing robot is completed.Based on the completion of the design of the robot carrier module,the whole structure of the underwater vehicle decontamination robot is studied and designed.On the basis of the carrier module with cavitation jet equipment,designed a four wheeled cavitation jet robot,the robot cleaning module is a new type of flush technique: cavitating water jet flush technology,the structure of its installation on the robot ontology has carried on the detailed design,and high pressure water on board the ship station as well as the high pressure water pipe matching selection are discussed,the cleaning method can significantly improve the efficiency of the decontamination.In terms of the underwater ship hull cleaning robot control system design problem,this paper based on the underwater ship hull cleaning robot control system requirements and the basic principles of design,complete and total control scheme of the robot control system and control strategy of the robot is a machine of the upper and lower hardware system conductedin-depth research,identified the main hardware system especially the options of the main control chip.