CN110825088B - Multi-view vision guiding ship body cleaning robot system and cleaning method - Google Patents
Multi-view vision guiding ship body cleaning robot system and cleaning method Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0253—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B59/00—Hull protection specially adapted for vessels; Cleaning devices specially adapted for vessels
- B63B59/06—Cleaning devices for hulls
Abstract
The invention relates to a multi-view vision guiding ship body cleaning robot system and a cleaning method. The system comprises: the ship hull cleaning system comprises a plurality of monocular cameras, a ship hull workstation module, a ship hull workstation control module and a cleaning robot module which are sequentially connected, wherein each monocular camera is located beside a ship hull and used for collecting partial ship hull surface images in a visual range, the ship hull workstation module is used for receiving the ship hull surface images and transmitting the ship hull surface images to the ship hull workstation control module, the ship hull workstation control module is used for processing the ship hull surface image information to complete splicing of the whole ship hull images, determining the whole ship hull image and marking a ship hull surface cleaning area, position information of the cleaning area and a cleaning path, and the cleaning robot module is used for cleaning the ship hull according to the received ship hull surface cleaning area, the position information of the cleaning area and the cleaning path. The invention can improve the efficiency of hull cleaning and improve the effect of hull cleaning.
Description
Technical Field
The invention relates to the field of hull cleaning, in particular to a multi-view vision guiding hull cleaning robot system and a cleaning method.
Background
When the ship runs in the ocean for a long time, the ship can be accelerated to rust by soaking and corroding the seawater for a long time, a large amount of marine microorganisms are attached, and the ship can be decelerated by rust and sundries, so that the oil consumption is increased. Not only delays the voyage period, but also reduces the service life of the ship. Therefore, the impurity removal and rust removal are indispensable processes in the ship industry, but the manual cleaning and brushing mode of sand blasting impurity removal and rust removal is mainly used at present, so that the time and the labor are consumed, the efficiency is low, the cleaning effect is general, a ship wall coating can be damaged in serious conditions, and the damage to the ship wall is caused to a certain degree.
Disclosure of Invention
The invention aims to provide a multi-view vision-guided ship cleaning robot system and a cleaning method, which can improve the efficiency of ship cleaning and the effect of ship cleaning.
In order to achieve the purpose, the invention provides the following scheme:
a multi-purpose vision guided hull cleaning robot system comprising: the ship comprises a plurality of monocular cameras, a ship body workstation module, a ship body workstation control module and a cleaning robot module which are connected in sequence, wherein each monocular camera is positioned beside a ship body and used for collecting surface images of a part of the ship body in a visual range, the hull work station module is used for receiving each partial hull surface image and transmitting each hull surface image to the hull work station control module, the hull workstation control module processes the hull surface image information to complete the splicing of the whole hull image, determines the whole hull image and marks the hull surface area to be cleaned, the position information of the area to be cleaned and the cleaning path, the cleaning robot module is used for cleaning the ship body according to the received area to be cleaned on the surface of the ship body, the position information of the area to be cleaned and the cleaning path.
Optionally, the cleaning robot module includes robot body, laser radar and infrared sensor, laser radar is used for gathering hull surface obstacle information, infrared sensor is used for gathering the distance information between robot body and the obstacle, hull workstation control module respectively with laser radar with infrared sensor connects, hull workstation control module is used for the basis hull surface obstacle information with distance information carries out the sign to the obstacle.
Optionally, the cleaning robot module includes a positioning sub-module, and the positioning sub-module is connected to the hull work station control module.
Optionally, the positioning sub-module comprises a gyroscope and a beidou navigation system, the gyroscope and the beidou navigation system are used for positioning the position information of the robot body, and the ship body workstation control module is respectively connected with the gyroscope and the beidou navigation system.
Optionally, the cleaning robot module includes servo motor and high-pressure squirt, hull workstation control module respectively with servo motor with the high-pressure squirt is connected, the high-pressure squirt is used for right the hull surface that hull workstation control module confirmed treats clean area and washs, servo motor is used for doing the robot body provides power.
Optionally, the high-pressure water gun is a horizontal 180-degree rotatable pressure-adjustable high-pressure water gun.
Optionally, the hull workstation control module adopts a multi-thread hierarchical cooperation control structure.
Optionally, the cleaning robot module has two cleaning modes: cleaning the whole ship body and cleaning the local part of the ship body; for the integral cleaning of the ship body, the ship body workstation control module is used for controlling each monocular camera to perform visual guidance on the cleaning robot module, and the cleaning robot module is ensured to complete the tasks of cleaning an image overlapping area and cross-area cooperative cleaning; and for local cleaning of the ship body, planning the cleaning robot module to reach a designated position according to the size and the position of the spot area by the ship body workstation control module, completing local cleaning, and judging whether secondary cleaning is needed for the cleaned area.
Optionally, the path planning of the cleaning path by the cleaning robot module is completed based on grid form modeling.
A method of cleaning a multi-purpose vision-guided hull cleaning robot system, comprising:
acquiring partial hull images acquired by a plurality of monocular cameras;
splicing the integral images of the ship body according to the partial ship body images to obtain an integral image of the ship body;
determining an area to be cleaned according to the integral image of the ship body;
selecting a cleaning mode according to the area to be cleaned;
planning a cleaning path according to the cleaning mode and the cleaning area;
controlling the cleaning robot body to reach the cleaning area according to the cleaning path to clean the ship body;
judging whether the cleaned ship body is qualified or not;
if yes, stopping cleaning;
if not, continuously acquiring partial ship body images acquired by the plurality of monocular cameras.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the present invention provides a multi-vision guiding hull cleaning robot system, comprising: the ship comprises a plurality of monocular cameras, a ship body workstation module, a ship body workstation control module and a cleaning robot module which are connected in sequence, wherein each monocular camera is positioned beside a ship body and used for collecting surface images of a part of the ship body in a visual range, the hull work station module is used for receiving each partial hull surface image and transmitting each hull surface image to the hull work station control module, the hull workstation control module processes the hull surface image information to complete the splicing of the whole hull image, determines the whole hull image and marks the hull surface area to be cleaned, the position information of the area to be cleaned and the cleaning path, the cleaning robot module is used for cleaning the ship body according to the received area to be cleaned on the surface of the ship body, the position information of the area to be cleaned and the cleaning path. According to the invention, the traditional manual cleaning mode is replaced by the mode of cleaning the ship body by the robot, so that the efficiency of cleaning the ship body is improved, and the effect of cleaning the ship body is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a structural component diagram of a multi-view vision-guided hull cleaning robot system of the present invention;
FIG. 2 is a schematic diagram of the multi-vision guidance system of the present invention;
FIG. 3 is a schematic diagram of the image matching epipolar constraint of the present invention;
fig. 4 is a flow chart of the cleaning method of the multi-purpose vision-guided ship cleaning robot system of the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a multi-view vision guiding ship body cleaning robot system which can improve the efficiency of ship body cleaning and the effect of ship body cleaning.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Fig. 1 is a structural composition diagram of a multi-purpose vision-guided ship hull cleaning robot system of the invention. As shown in fig. 1, a multi-vision guiding hull cleaning robot system includes: the ship comprises a plurality of monocular cameras 1, a ship body workstation module 2, a ship body workstation control module 3 and a cleaning robot module 4 which are connected in sequence, wherein each monocular camera 1 is positioned beside a ship body, each monocular camera 1 is used for collecting surface images of a part of the ship body in a visual range, the hull work station module 2 is used for receiving each partial hull surface image and transmitting each hull surface image to the hull work station control module 3, the hull workstation control module 3 processes the hull surface image information to complete the splicing of the whole hull image, determines the whole hull image and marks the hull surface area to be cleaned, the position information of the area to be cleaned and the cleaning path, the cleaning robot module 4 is used for cleaning the ship body according to the received area to be cleaned on the surface of the ship body, the position information of the area to be cleaned and the cleaning path. The hull work station module 2 supplies power for the cleaning robot module 4, the hull work station module 2 can monitor the electric quantity condition of the cleaning robot in real time, the service condition is predicted, and when a cleaning task is completed or the electric quantity is insufficient, a voice prompt is sent.
Cleaning machines people module 4 includes robot, lidar and infrared sensor, lidar is used for gathering hull surface obstacle information, infrared sensor is used for gathering the distance information between robot and the obstacle, hull workstation control module 3 respectively with lidar with infrared sensor connects, hull workstation control module 3 is used for the basis hull surface obstacle information with distance information between robot and the obstacle carries out the sign to the obstacle. The cleaning robot module 4 comprises a positioning submodule connected with the hull work station control module 3. The positioning sub-module comprises a gyroscope and a Beidou navigation system, the gyroscope and the Beidou navigation system are used for positioning the position information of the robot body, and the ship body workstation control module 3 is respectively connected with the gyroscope and the Beidou navigation system. Cleaning machines people module 4 includes servo motor and high-pressure squirt, hull workstation control module 3 respectively with servo motor with the high-pressure squirt is connected, the high-pressure squirt is used for right the hull surface that hull workstation control module 3 confirmed is treated clean region and is washd, servo motor is used for doing the robot body provides power. The high-pressure water gun is a horizontal 180-degree rotatable pressure-adjustable high-pressure water gun. The robot body adopts a permanent magnet attraction and all-terrain double-track chassis structure.
The ship body workstation control module 3 adopts a multithreading layered cooperative control structure, and the multithreading layered cooperative control structure comprises: the system comprises a main thread, an equipment cooperation layer, a path planning layer and an action execution layer; the main thread controls the cleaning robot module 4 to complete cleaning work through a plurality of different threads; the equipment cooperation layer comprises communication and data transmission among all threads and assists sub-threads in processing data; the path planning layer comprises a cleaning route for planning the cleaning robot module 4 and an autonomous planning local cleaning route; and the action execution layer completes the command issued by the sub thread.
The cleaning robot module 4 has two cleaning modes: cleaning the whole ship body and cleaning the local part of the ship body; for the integral cleaning of the ship body, the ship body workstation control module 3 is used for controlling each monocular camera to perform visual guidance on the cleaning robot module 4, and ensuring that the cleaning robot module 4 completes the tasks of cleaning an image overlapping area and cross-area cooperative cleaning; for the local cleaning of the ship body, the ship body workstation control module 3 plans the cleaning robot module 4 to reach a designated position according to the size and the position of the spot area, completes the local cleaning, and judges whether the cleaned area needs secondary cleaning.
Fig. 2 is a schematic diagram of the multi-view vision guidance system of the present invention.
The path planning of the cleaning path by the cleaning robot module 4 is done based on grid-form modeling. The method is a planning method which can represent the environment by using a grid array and can simultaneously process the change of the obstacles. The environmental information around the cleaning robot module 4 is stored in a two-dimensional circular buffer in a grid-occupied manner, which can be updated circularly as the cleaning robot module 4 moves, and the trajectory is represented by a uniform B-spline, which is optimized in a non-linear manner.
The local trajectory planning problem is characterized as a B-spline optimization problem, and the spline value can be calculated by the following formula.
Said p isiFor the control point corresponding to time t, Bi,kAnd (t) is a basic function which can be calculated by a DeBoolean-Corx recursion formula. UniformityThe time interval between B-spline control points is fixed.
The cleaning robot module 4 uses a 2D circular buffer to characterize the environment map in order to avoid obstacles on the way. For the convenience of query, the plane is discretized into a small square with the size r, so that the mapping of any point p in the plane to a specific small square index x is established, and the mapping is reversed. The loop buffer consists of a contiguous array of size N and an offset index o that defines the coordinate system position. The cleaning robot module 4 can check whether the small square corresponding to any point in the plane is within the range represented by the circular buffer and its specific storage location.
Limiting the size of the array to N-2pThe above operation can be performed in two ways:
insideVolume(x)=!((x-o)&(~(2p-1)))
address(x)=(x-o)&(2p-1)
starting from the center point of the sensor, updating the map by using a ray casting method, and inquiring the distance between a certain point in the map range and an obstacle and the gradient of distance change by using Euclidean Distance Transformation (EDT) on the map.
The optimization of the B spline is expressed as a nonlinear optimization mode, and an optimization function is as follows:
Etotal=Eep+Ec+Eq
said EepDissipation function representing global path tracking error
And p (t) is a sample value.
Said EcIs a dissipation function of the distance to the obstacle
Said EqIs a dissipation function of smoothness
And obtaining a global path by the application optimization mode, and then performing iteration by taking the current position as a starting point. Calculating a tracked target point as the input of a global path at each moment, and taking the target point as a dissipation function parameter of a tracking error; the parameters of the barrier dissipation function come from the circular buffer and the EDT. After each optimization, the first of the control points currently being optimized is fixed and passed to the controller to calculate new control inputs. And new control points are added, and the cycle is repeated to obtain the cleaning path of the cleaning robot module 4.
A plurality of monocular cameras beside a ship body are respectively used as coordinate systems, the same area observed by adjacent cameras is used as a matching area, images are preprocessed, Hessian-affine feature detection is adopted to extract feature points, and a compatible mining method is adopted to search consistent adjacent points for image matching. In image matching, if two pairs of points correspond correctly, then the local affine transformations for these two pairs of points should be close.
And detecting angular points on the scale space image by using a Harris-Laplace scale invariant operator according to the image acquired by the monocular camera, and adding scale parameters. And searching each candidate point on the current scale image to calculate a Laplace response value, and reserving the characteristic points meeting the condition that the maximum value of the Harris matrix is greater than a given threshold value.
F(x,y,σn)=σ2|Lxx(x,y,σn)+Lyy(x,y,σn)|≥thresholdL
In the formula sigmanAs a scale factor of each layer of the image, thresholdLIs a threshold condition.
And comparing the detected corner points with Laplacian response values adjacent to the upper layer and the lower layer, wherein the response value of the current layer is larger than that of the upper layer and the lower layer.
The scale features meeting the two steps are scale invariant feature points extracted in a scale space, and local affine transformation information of the feature points is obtained while the feature points are extracted.
The above formula a is affine information.
The conversion relation between the matching points can be obtained by the local affine transformation:
For a pair of feature point correspondences, respectively matching conversion relations between the points, and calculating the similarity degree of the two conversion relations, wherein the similarity degree is used as a consistency measurement index of the point correspondences:
wherein rho represents the transformed coordinates, e represents the similarity of the transformed corresponding points, and the indexes are normalized by adopting a Gaussian core:
corresponds to c for any pointiFinding the closest k point correspondences by the above method to form a graph GiI.e. the corresponding set of local consistency points corresponding to the point.
FIG. 3 is a schematic diagram of the image matching epipolar constraint of the present invention. As shown in fig. 3, point o1,o2And P may define a plane, called the polar plane. o1And o2Connecting line and image plane I1I2Respectively at the intersection points of e1And e2,e1And e2Referred to as pole, o1o2Referred to as the baseline. Polar plane and two image planes I1I2Cross line l between1l2Is the polar line. From the image, p is known1Corresponding to I2The characteristic point of (1) is bound to2On the polar line.
Let p be1Has homogeneous coordinates of (x, y,1)T,p2Has a homogeneous coordinate ofF is the known basis matrix, then p1Corresponding polar line equation of
The image feature point error is considered to satisfy the normal distribution, p, of (u, σ)2Must be on polar line l, let point p2The distance to the epipolar line l is less than 3 sigma.
a=f00*x+f01*y+f02
b=f10*x+f11*y+f12
c=f20*x+f21*y+f22
The matching points between the images can be obtained through the steps, so that the visual splicing is completed, and the whole image of the ship body is obtained.
Fig. 4 is a flow chart of the cleaning method of the multi-purpose vision-guided ship cleaning robot system of the invention. As shown in fig. 4, a multi-view vision-guided hull cleaning robot system cleaning method includes:
step 101: and acquiring partial hull images acquired by a plurality of monocular cameras.
Step 102: and splicing the whole ship images according to the partial ship images to obtain the whole ship image, wherein the ship workstation module receives the partial ship images collected by the monocular cameras for splicing.
Step 103: and determining an area to be cleaned according to the integral image of the ship body, specifically determining the area size and the position information of the area to be cleaned.
Step 104: selecting a cleaning mode according to the area to be cleaned, wherein the cleaning mode specifically comprises two modes: cleaning the whole ship body and cleaning the local part of the ship body; for the integral cleaning of the ship body, controlling each monocular camera to perform visual guidance on the cleaning robot module, and ensuring that the cleaning robot module completes the tasks of cleaning an image overlapping area and cross-area cooperative cleaning; and for local cleaning of the ship body, planning the cleaning robot module to reach a designated position according to the size and the position of the spot area, finishing the local cleaning, and judging whether secondary cleaning is needed for the cleaned area.
Step 105: and planning a cleaning path according to the cleaning mode and the cleaning area.
Step 106: and controlling the cleaning robot body to reach the cleaning area according to the cleaning path to clean the ship body.
Step 107: and judging whether the cleaned ship body is qualified, specifically, judging whether the ship body is not cleaned in place by acquiring an image of the ship body.
Step 108: and if the cleaned ship body is qualified, stopping cleaning.
Step 109: and if the cleaned ship body is unqualified, continuously acquiring partial ship body images acquired by the plurality of monocular cameras, namely performing secondary cleaning.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (6)
1. A multi-purpose vision-guided hull cleaning robot system, comprising: the ship comprises a plurality of monocular cameras, a ship body workstation module, a ship body workstation control module and a cleaning robot module which are connected in sequence, wherein each monocular camera is positioned beside a ship body and used for collecting surface images of a part of the ship body in a visual range, the hull work station module is used for receiving each partial hull surface image and transmitting each hull surface image to the hull work station control module, the hull workstation control module processes the hull surface image information to complete the splicing of the whole hull image, determines the whole hull image and marks the hull surface area to be cleaned, the position information of the area to be cleaned and the cleaning path, the cleaning robot module is used for cleaning the ship body according to the received area to be cleaned on the surface of the ship body, the position information of the area to be cleaned and the cleaning path;
the cleaning robot module comprises a robot body, a laser radar and an infrared sensor, wherein the laser radar is used for collecting obstacle information on the surface of a ship body, the infrared sensor is used for collecting distance information between the robot body and an obstacle, the ship body workstation control module is respectively connected with the laser radar and the infrared sensor, and the ship body workstation control module is used for identifying the obstacle according to the obstacle information on the surface of the ship body and the distance information between the robot body and the obstacle;
the cleaning robot module comprises a servo motor and a high-pressure water gun, the ship body workstation control module is respectively connected with the servo motor and the high-pressure water gun, the high-pressure water gun is used for cleaning a ship body surface area to be cleaned determined by the ship body workstation control module, and the servo motor is used for providing power for the robot body;
the cleaning robot module has two cleaning modes: cleaning the whole ship body and cleaning the local part of the ship body; for the integral cleaning of the ship body, the ship body workstation control module is used for controlling each monocular camera to perform visual guidance on the cleaning robot module, and the cleaning robot module is ensured to complete the tasks of cleaning an image overlapping area and cross-area cooperative cleaning; for local cleaning of the ship body, the ship body workstation control module plans the cleaning robot module to reach a designated position according to the size and the position of a stain area, completes local cleaning, and judges whether secondary cleaning is needed or not for the cleaned area;
the path planning of the cleaning path by the cleaning robot module is completed based on grid form modeling.
2. The multi-purpose vision-guided hull cleaning robot system of claim 1, wherein the cleaning robot module includes a positioning sub-module, the positioning sub-module being connected with the hull workstation control module.
3. The multi-view vision-guided hull cleaning robot system according to claim 2, wherein the positioning sub-module comprises a gyroscope and a beidou navigation system, the gyroscope and the beidou navigation system are used for positioning position information of the robot body, and the hull workstation control module is connected with the gyroscope and the beidou navigation system respectively.
4. The multi-purpose vision-guided hull cleaning robot system according to claim 3, characterized in that the high-pressure water gun is a horizontal 180-degree rotatable pressure-adjustable high-pressure water gun.
5. The multi-purpose vision-guided hull cleaning robot system according to claim 1, wherein the hull workstation control module employs a multi-threaded hierarchical cooperative control architecture.
6. A multi-purpose vision guiding hull cleaning robot system cleaning method, characterized in that the method is applied to the multi-purpose vision guiding hull cleaning robot system of any one of claims 1-5, and the method comprises:
acquiring partial hull images acquired by a plurality of monocular cameras;
splicing the integral images of the ship body according to the partial ship body images to obtain an integral image of the ship body;
determining an area to be cleaned according to the integral image of the ship body;
selecting a cleaning mode according to the area to be cleaned;
planning a cleaning path according to the cleaning mode and the cleaning area;
controlling the cleaning robot body to reach the cleaning area according to the cleaning path to clean the ship body;
judging whether the cleaned ship body is qualified or not;
if yes, stopping cleaning;
if not, continuously acquiring partial ship body images acquired by the plurality of monocular cameras.
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