Teleoperate system of underwater cleaning robot based on HUD

Huang, Zhengming; Chen, Yanhu; Yang, Canjun; Fan, Jinchang; Jiang, Ping

doi:10.1109/ascc.2017.8287599

Cited by 2 publications

(2 citation statements)

References 5 publications

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“…e-g Ship inspection robot. h, i Payload capacity test (Huang et al 2017) although robots that use electromagnets consume more energy than those that use permanent magnets (Yan et al 2019).…”

Section: Electromagnetic Adhesion Technologymentioning

confidence: 99%

Review of Underwater Ship Hull Cleaning Technologies

Song

Cui

2020

J. Marine. Sci. Appl.

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This paper presents a comprehensive review and analysis of ship hull cleaning technologies. Various cleaning methods and devices applied to dry-dock cleaning and underwater cleaning are introduced in detail, including rotary brushes, high-pressure and cavitation water jet technology, ultrasonic technology, and laser cleaning technology. The application of underwater robot technology in ship cleaning not only frees divers from engaging in heavy work but also creates safe and efficient industrial products. Damage to the underlying coating of the ship caused by the underwater cleaning operation can be minimized by optimizing the working process of the underwater cleaning robot. With regard to the adhesion technology mainly used in underwater robots, an overview of recent developments in permanent magnet and electromagnetic adhesion, negative pressure force adhesion, thrust force adhesion, and biologically inspired adhesion is provided. Through the analysis and comparison of current underwater robot products, this paper predicts that major changes in the application of artificial intelligence and multirobot cooperation, as well as optimization and combination of various technologies in underwater cleaning robots, could be expected to further lead to breakthroughs in developing next-generation robots for underwater cleaning.

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Section: Electromagnetic Adhesion Technologymentioning

confidence: 99%

Review of Underwater Ship Hull Cleaning Technologies

Song

Cui

2020

J. Marine. Sci. Appl.

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“…The domestic research carried out in the field of cleaning marine steel piles started relatively late. At press, some universities have carried out relevant research, for example, CNOOC Energy Development Co. Ltd. And Yang Canjun's team [22][23][24] at Zhejiang University developed a cleaning robot called "HOME". HOME is composed of a four-wheel permanent magnet adsorption module and passive roll joint, which ensures the self-adaptive adjustment function.…”

Section: Introductionmentioning

confidence: 99%

Application of Multi-Cylinder Synchronous Control for Telescopic Mechanism of Marine Steel Pile Cleaning Equipment

Li¹,

Nan

et al. 2023

JMSE

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In order to clean up marine fouling attached to marine steel pile, this paper proposed an innovative configuration scheme of the marine steel pile cleaning equipment by the scraping method and its telescopic mechanism by applying a multi-cylinder synchronous control strategy to the cleaning equipment, and produced a test prototype of the cleaning equipment that could solve the problem of cleaning equipment eccentricity and tilt in the field of ocean engineering. Based on the MATLAB Simulink module, a simulation model of the operation process of the telescopic mechanism of the marine steel pile cleaning equipment was established to complete the evaluation of the multi-cylinder synchronous control performance under multiple working conditions. Through the test, the synchronous working performance of the telescopic mechanism of the cleaning equipment under the no-load condition was preliminarily verified. The test results showed that under the no-load condition, the relative errors between the three cylinders and the target displacement were 0.8%, 0.4%, and 0.2%, respectively, and the cleaning equipment could reach the specified working position at the given working speed. The displacement synchronization error between each cylinder was 0.7 mm, 0.7 mm, and 0.6 mm, respectively, and the displacement synchronization error was controlled within 1 mm. The telescopic mechanism had good synchronization, which can ensure the stability and prevent the eccentricity and tilt during the cleaning equipment operation as well as provide a valuable reference for the manufacturing of cleaning equipment.

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Teleoperate system of underwater cleaning robot based on HUD

Cited by 2 publications

References 5 publications

Review of Underwater Ship Hull Cleaning Technologies

Review of Underwater Ship Hull Cleaning Technologies

Application of Multi-Cylinder Synchronous Control for Telescopic Mechanism of Marine Steel Pile Cleaning Equipment

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