Method, device, equipment and storage medium for block cleaning of ship wall area

Abstract

The invention provides a bulkhead region partitioned-cleaning method, device and equipment and a storage medium, belongs to the field of bulkhead cleaning, and solves the problem that an existing bulkhead cannot be cleaned continuously. The cleaning method comprises the following steps of S1, setting the cleaning step length; S2, setting the passing width; S3, setting a headroom; S4, building a bulkhead model: enabling an underwater robot to move for a circle around a ship to be cleaned, shooting and / or screening a bulkhead, and generating a three-dimensional model; S5, determining a longitudinal cleaning line: identifying protrusions, exceeding the headroom, on the bulkhead, and marking the longitudinal cleaning line; S6, determining a horizontal cleaning line: marking the horizontal cleaning line according to the shape of the bulkhead; S7, dividing cleaning regions: dividing the cleaning regions according to the longitudinal cleaning line and the horizontal cleaning line; and S8, setting a cleaning path: enabling the underwater robot to advance to a cleaning operation termination point from a cleaning operation starting point along the cleaning path. The bulkhead region partitioned-cleaning method provided by the invention has the advantages of cleaning continuity and the like.

Description

technical field [0001] The invention belongs to the field of ship wall cleaning, and relates to a block cleaning method, device, equipment and storage medium for a ship wall area. Background technique [0002] The surface of the ship is not an ideal plane. Except for the edge, the large monohull usually includes a gradual convex arc, while the surface of the catamaran and trimaran is more complex. [0003] When the shape of the ship is unknown or inaccurate, it is difficult to know the cleaning line, especially after the ship is repaired, the repaired part of the outer wall or the position of the weld is high, it is difficult for the underwater robot to pass, and the escalator or other equipment welded on the ship wall makes the underwater robot Difficult to pass automatically. [0004] In the cleaning process of underwater robots, in order to improve the efficiency of operations, it is necessary to reduce the time for re-planning paths or avoiding obstacles to ensure the c...

AI Technical Summary

Problems solved by technology

[0003] When the shape of the ship is unknown or inaccurate, it is difficult to know the cleaning line, especially after the repair of the ship, the repaired part of the outer wall or the high position of the weld, it is difficult for the underwater robot to pass through, and the escalator or other equipment welded on the ship wall makes the underwater robot difficult to pass automatically

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