Underwater multi-degree-of-freedom intelligent decontamination device and method based on image recognition

Abstract

The invention discloses an underwater multi-degree-of-freedom intelligent decontamination device and method based on image recognition, and the device comprises a combined end effector, a video monitoring system, a control system, a pollutant collection box, and at least one multi-degree-of-freedom telescopic mechanical arm. A combined end effector and a video monitoring system are arranged at the tail end of each multi-degree-of-freedom telescopic mechanical arm, each combined end effector comprises a pollutant adsorption device and a plurality of decontamination devices of different types, and the pollutant adsorption devices are connected with a pollutant collection box through pipelines; a trained neural network model used for identifying pollutant types is preset in the control system, when the pollutant types are identified through the neural network model, the corresponding pollutant removal device is selected to remove pollutants, and the pollutants are collected in the collection box through the pollutant adsorption device; the device has the characteristics of intelligent identification, directional decontamination, real-time decontamination, high cleaning efficiency and the like.

Description

technical field [0001] The invention relates to the field of ship cleaning, relates to an automatic ship cleaning device, and in particular relates to an underwater multi-degree-of-freedom intelligent decontamination device and method based on image recognition. Background technique [0002] Ships travel on the ocean, and the parts immersed in seawater for a long time are adhered by marine organisms for a long time. It is estimated that there are more than 2,000 species of marine attached organisms, and about 7,000 species travel with ships to all over the world every day. Alien species will cause huge environmental losses. For ships, marine fouling organisms are adsorbed on the hull, which not only destroys the aesthetics, but also increases the hydrodynamic volume and friction of the ship, resulting in increased sailing resistance, reduced speed, and increased fuel and maintenance costs. Therefore, in the process of ship sailing, the cleaning of the hull surface is partic...

AI Technical Summary

Problems solved by technology

[0004] Aiming at the problems of single cleaning method, time-consuming and energy-consuming of the cleaning equipment in the prior art solution, and how to prevent the pollutants carried by the hull from causing huge environmental pollution to the sea area again, the present invention provides an underwater multi-purpose cleaning system based on image recognition. DOF Intelligent Decontamination Manipulator

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