Research Of Underwater Hull Surface Cleaning Robot On Structural Design Andcontrol System

With the development of marine resources and the rapid development of global trade,the use of ships is becoming more and more frequent.With the progress of science and technology and the increasing demand for ship load,the hull is also developing towards large-scale,followed by the development of hull cleaning industry.Comparing with dock cleaning,robot cleaning has attracted more and more attention.Therefore,this paper studies and innovates the structure and control of hull surface cleaning robot,and designs and develops a new type of hydraulic hull surface cleaning robot.On the basis of the existing technology of hull surface cleaning robot,a hydraulic hull surface cleaning robot is designed and developed under the overall scheme of double track,permanent magnet adsorption and hydraulic power,including the body structure,cleaning system,supply support system and control system.In the light of the characteristics of working conditions and the requirements of parameters,the structural modules of the robot are designed,and the lightweight design and simulation optimization of the self-made parts are carried out.According to the different positions and postures of the robot under different working conditions,the mechanical model of the adsorption status of the robot is established,and the final magnetic adsorption force of the magnetic adsorption unit is determined by static and dynamic research.By analyzing the motion law of the cleaning robot,the linear curve motion equation of the cleaning robot is established.According to the motion equation,the positioning prediction model of the hull surface cleaning robot is modeled.According to the working principle and positioning requirements of each sensor,the models of robot positioning and obstacle positioning observation are modeled.According to the positioning requirements,a two-stage multi-sensor information fusion model is proposed,and the first-level Kalman filtering fusion algorithm is used to realize the self-positioning of the cleaning robot.On this basis,the twolevel weighted average measurement fusion algorithm improves the obstacle location model to solve the problem of establishing the location model when multi-sensors detect the same obstacle in obstacle location.According to the requirements of the control system of the hydraulic hull surface cleaning robot,the control system is designed,including the overall design of the control system,the selection of controller,encoder,high definition camera,attitude sensor,obstacle sensor,and the design of each hardware interface.According to the specific operation requirements,the upper computer software and the lower computer software programs of the robot control system are designed.Finally,in terms of the working environment,the performance test of the robot is designed to verify whether the performance of the prototype meets the requirements of the indicators.Finally,the performance of the information fusion model is verified by simulation analysis.The development of the prototype provides technical and theoretical support for the future research of hull surface robots and improves the research system of cleaning robots,so this study is of great significance.