| 摘要 |
<p>Disclosed is a hull surface cleaning system. According to an embodiment of the present invention, a hull surface cleaning system includes: a cleaning robot having a robot body, a driving unit driving the robot body on the surface of a hull, and a cleaning unit cleaning the surface of the hull while being connected to the robot body; a vision module formed on the robot body, taking images of an underwater floor unit boundary line formed on the edge of a floor unit of the hull as a reference line for a reference driving passage of the cleaning robot on the floor unit of the hull; and a controller controlling the cleaning robot based on the information of the images of the underwater floor unit boundary line obtained by the vision module.</p> |
