CN112519977A - Ship body cleaning robot and cleaning method thereof - Google Patents
Ship body cleaning robot and cleaning method thereof Download PDFInfo
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- CN112519977A CN112519977A CN202011366966.9A CN202011366966A CN112519977A CN 112519977 A CN112519977 A CN 112519977A CN 202011366966 A CN202011366966 A CN 202011366966A CN 112519977 A CN112519977 A CN 112519977A
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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
- B63B59/08—Cleaning devices for hulls of underwater surfaces while afloat
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Abstract
The invention discloses a ship body cleaning robot, which comprises an adsorption mechanism, a walking structure, a cleaning device, a floating body mechanism, a pressure-resistant device and a rack, wherein the rack is of a U-shaped frame structure and comprises a first side baffle, a base and a second side baffle which are sequentially connected, the adsorption mechanism is arranged on the first side baffle and the second side baffle, the walking structure is arranged on the upper surface of the base, the cleaning device is arranged on the bottom surface of the base, the floating body mechanism is arranged between the first side baffle and the second side baffle and is respectively connected with the first side baffle and the second side baffle, the pressure-resistant device is arranged in the middle of the floating body mechanism, and the floating body mechanism and the base. And a cleaning method thereof. The invention adopts the radial adsorption and the reverse thrust dual-mode adsorption, can adjust the adsorption force, is convenient for the robot to flexibly walk on the ship surface, and improves the adaptability of the robot on the surfaces with different curvatures. The cleaning device combining the telescopic rotary brush and the high-pressure water jet spray gun also has a good effect on cleaning attachments on the ship body.
Description
Technical Field
The invention relates to the field of ship cleaning, in particular to a ship body cleaning robot and a cleaning method thereof.
Background
Research proves that the variety of marine organism pollutants in the world exceeds 4000, and the general population can be divided into two categories: (1) microorganisms such as bacteria and diatom plants; (2) barnacle, shellfish and other macroscopic organisms. After the ship sails for a long time, a plurality of marine organisms are attached to the surface of the ship body. The attached marine organisms cause the navigation speed of the ship to be slow, so that the maneuverability of the ship is influenced; moreover, the corrosion degree of corresponding underwater equipment of the ship, underwater pipeline facilities and other parts is also increased, and the service life is shortened.
Generally, the cleaning of attachments is usually performed after a ship stops in a dock, and most of the attachments are manually cleaned by using a high-pressure water gun, so that the cleaning requirement of the surface of an underwater ship body is difficult to meet. In addition, at present, only a few of Qingdao sea gulf bases, northern ship heavy industry and the like in China have large docks, and the requirement for cleaning a large number of ships cannot be met.
Disclosure of Invention
The purpose of the invention is as follows: in view of the above problems, an object of the present invention is to provide a hull cleaning robot, which solves the problem of difficulty in cleaning the surface of an underwater hull, meets the requirement of ship cleaning, and realizes automatic cleaning operation of the hull surface, and a cleaning method of the cleaning robot.
The technical scheme is as follows: the utility model provides a hull cleaning machines people, includes adsorption apparatus structure, walking structure, cleaning device, body mechanism, withstand voltage device, frame, the frame is U type frame construction, including side shield one, base and the side shield two that connect gradually, adsorption apparatus constructs install in side shield one reaches on the side shield two, the walking structure install in the upper surface of base, cleaning device install in the bottom surface of base, body mechanism be in side shield one with set up between the side shield two and be connected with the two respectively, withstand voltage device set up in the middle part of body mechanism, body mechanism the base respectively with withstand voltage device connects.
Furthermore, the adsorption mechanism comprises a plurality of vertical propellers, at least one vertical propeller is arranged on each of the two opposite sides of the first side baffle and the two opposite sides of the second side baffle, and the propulsion direction of the vertical propeller is along the vertical direction of the rack.
Furthermore, the walking structure comprises transverse thrusters and supporting blocks, at least one transverse thruster is arranged on the periphery of the upper surface of the base, and each transverse thruster is arranged on the upper surface of the base through one supporting block, so that the propelling direction of each transverse thruster is along the horizontal direction of the rack.
Furthermore, the transverse propeller comprises blades, a propeller fixing seat, a servo motor and a bolt, wherein the blades are installed in the propeller fixing seat through the servo motor, and the propeller fixing seat is connected with the supporting block through the bolt.
Furthermore, the cleaning device comprises a plurality of telescopic rotating brushes and high-pressure water jet spray guns, the telescopic rotating brushes are distributed on the bottom surface of the base at intervals and are respectively connected with the base, at least two high-pressure water jet spray guns are arranged on the bottom surface of the base and are arranged between the telescopic rotating brushes, and bristles of the telescopic rotating brushes and spray heads of the high-pressure water jet spray guns are arranged downwards.
Preferably, the telescopic rotating brush comprises brush bristles, a brush disc and a telescopic mechanism, the brush bristles and the brush disc are connected to form a whole, a round hole is correspondingly formed in the base, and the whole is arranged in the round hole and is connected with the base through the telescopic mechanism.
Furthermore, the floating body mechanism comprises a floating body and floating body supporting plates, wherein the floating body is arranged on the inner side surface of the first side baffle plate and the inner side surface of the second side baffle plate at least horizontally at intervals, and each floating body is connected with the inner side surface of the first side baffle plate or the inner side surface of the second side baffle plate through one floating body supporting plate.
Furthermore, the pressure-resistant device comprises an upper pressure-resistant cabin, a lower pressure-resistant cabin, an upper hoop and a lower hoop, wherein the upper pressure-resistant cabin and the lower pressure-resistant cabin are horizontally arranged up and down and are positioned in the middle between the first side baffle and the second side baffle, two ends of the upper pressure-resistant cabin are respectively connected with one upper hoop, two upper hoops are respectively connected with the floating body mechanism, two ends of the lower pressure-resistant cabin are respectively connected with one lower hoop, and two lower hoops are respectively connected with the base.
Furthermore, the robot further comprises two cameras and two camera fixing seats, the two cameras are arranged in parallel at intervals and are connected with the floating body mechanism through the two camera fixing seats respectively, and the pressure-resistant device is located between the two cameras.
A cleaning method of a ship hull cleaning robot comprises the following steps:
the method comprises the following steps: connecting the robot with a hoisting device, putting the robot into water, controlling the robot to adjust the pose under water by a pressure-resistant device, detecting and identifying the position of the attachment, and moving the attachment to a corresponding position;
step two: after reaching the corresponding position, starting adsorption action, starting the work of the walking structure, adjusting the posture of the robot to a state that the bottom is parallel to the ship surface, and enabling the adsorption mechanism to act together with the cleaning device to generate reverse thrust and radial adsorption force to enable the robot to be attached to the ship surface;
step three: after the robot successfully adsorbs, the pressure-resistant device controls the cleaning device to work for cleaning;
step four: the robot begins to crawl on the ship surface, the walking structure pushes the robot to move forwards, move backwards and turn, and the robot cleans the ship surface in a large range.
Step five: when the cleaning is finished, the adsorption mechanism and the cleaning device stop working, the robot loses adsorption force and falls into water, then the walking structure works fast to push the robot to float freely underwater, and the robot is controlled to automatically swim to the shore through communication between the upper computer and the lower computer.
Has the advantages that: compared with the prior art, the invention has the advantages that: the radial adsorption and reverse thrust dual-mode adsorption are adopted, the adsorption force can be adjusted, the robot can flexibly walk on the ship surface, and the adaptability of the robot on different curvature surfaces is improved. The cleaning device combining the telescopic rotary brush and the high-pressure water jet spray gun also has a good effect on cleaning attachments on the ship body. Therefore, the invention has wider application prospect in the field of hull cleaning. The module arrangement of the pressure-resistant device can respectively and independently control the propulsion system and the cleaning device of the robot, and reliable work of the ship body cleaning robot is guaranteed.
Drawings
FIG. 1 is a top view of the present invention;
FIG. 2 is a bottom view of the present invention;
FIG. 3 is a schematic perspective view of the present invention;
FIG. 4 is a cross-sectional view of the present invention taken along a longitudinal central axis;
FIG. 5 is a cross-sectional view of the present invention taken along a transverse central axis;
FIG. 6 is a schematic perspective view of a lateral thruster;
fig. 7 is a schematic perspective view of the retractable rotary brush.
Detailed Description
The present invention will be further illustrated with reference to the following figures and specific examples, which are to be understood as merely illustrative and not restrictive of the scope of the invention.
A ship body cleaning robot is shown in figures 1-7 and comprises an adsorption mechanism, a walking structure, a cleaning device, a floating body mechanism, a pressure-resistant device and a rack.
The frame includes side baffle 5, base 7 and the side baffle two 11 that connect gradually, and the mutual connection of three constitutes U type frame construction.
The adsorption mechanism comprises a plurality of vertical propellers 1, four vertical propellers are taken as an example, the vertical propellers 1 are respectively arranged on a side baffle plate I5 and a side baffle plate II 11 in pairs and are symmetrical to each other, wherein the two vertical propellers 1 are respectively installed on two opposite side surfaces of the side baffle plate I5 through a baffle plate supporting block 10 at parallel intervals, the other two vertical propellers 1 are respectively installed on two opposite side surfaces of the side baffle plate II 11 through a baffle plate supporting block 10 at parallel intervals, and the propelling direction of each vertical propeller 1 is along the vertical direction of the rack.
The walking structure comprises transverse propellers 2 and base supporting blocks 8, at least one transverse propeller 1 is arranged on the periphery of the surface of a base 7, for example, four transverse propellers 2 are arranged, each transverse propeller 1 is arranged on the upper surface of the base 7 through one base supporting block 8, the propelling direction of each transverse propeller 2 is along the horizontal direction of the rack, and the four transverse propellers 2 are sequentially connected to form a rectangle.
The transverse propeller comprises blades 2-1, a propeller fixing seat 2-2, bolts 2-3 and a servo motor 2-4, wherein the blades 2-1 are installed in the propeller fixing seat 2-2 through the servo motor 2-4, the propeller fixing seat 2-2 is connected with a supporting block 8 through the bolts 2-3, and the vertical propeller 1 and the transverse propeller 2 are identical in structure.
The cleaning device comprises a plurality of telescopic rotating brushes 3 and high-pressure water jet spray guns 4, wherein the telescopic rotating brushes 4 are distributed on the bottom surface of a base 7 at intervals and are respectively connected with the base 7, for example, four telescopic rotating brushes 3 are sequentially connected to form a rectangle, at least two high-pressure water jet spray guns 4 are arranged on the bottom surface of the base 7, each high-pressure water jet spray gun 4 is correspondingly arranged between every two adjacent telescopic rotating brushes 4, and brush bristles 3-1 of the telescopic rotating brushes and spray heads of the high-pressure water jet spray guns 4 are all arranged downwards. The high-pressure water jet spray gun 4 is connected with a high-pressure generating device on the ship through a pipeline.
The telescopic rotating brush comprises brush bristles 3-1, a brush disc 3-2 and a telescopic mechanism 3-3, wherein the telescopic mechanism 3-3 mainly comprises an electric push rod and a sealing device, the electric push rod and the sealing device are connected with the brush disc 3-2 through a sealing ring 3-4, the brush bristles 3-1 and the brush disc 3-2 are connected to form a whole, a round hole 9 is correspondingly formed in the base 7 and used for installing the telescopic rotating brush 3, and the whole formed by the brush bristles and the brush disc is arranged in the round hole 9 and connected with the base 7 through the telescopic mechanism 3-3. The brush hair 3-1 is distributed in a ring shape, is distributed in three layers of rings, and protrudes a certain distance from the bottom of the base 7 when being installed.
The floating body mechanism comprises floating bodies 12 and floating body supporting plates 6, wherein the number of the floating bodies 12 is at least two on the inner side surface of the first side baffle plate 5 and the inner side surface of the second side baffle plate 11 at horizontal intervals, for example, the number of the floating bodies 12 is two on the first side baffle plate 5 and the second side baffle plate 11, each floating body 12 is connected with the inner side surface of the first side baffle plate 5 or the inner side surface of the second side baffle plate 11 through one floating body supporting plate 6, and the two floating bodies 12 on the first side baffle plate 5 or the second side baffle plate 11 are sequentially arranged at intervals on the upper.
The pressure-resistant device comprises an upper pressure-resistant cabin 13, a lower pressure-resistant cabin 14, upper hoops 15 and lower hoops 16, wherein the upper pressure-resistant cabin 13 and the lower pressure-resistant cabin 14 are horizontally arranged at intervals up and down and are positioned in the middle between a first side baffle 5 and a second side baffle 11, the upper pressure-resistant cabin 13 is positioned between the first side baffle 5 and a floating body 12 of the side baffle, two ends of the upper pressure-resistant cabin 13 are respectively connected with one upper hoop 15, the two upper hoops 15 are respectively connected with a floating body support plate 6 corresponding to the floating body mechanism, two ends of the lower pressure-resistant cabin 14 are respectively connected with one lower hoop 16, and the two lower hoops 16 are respectively connected with a base.
Still be equipped with a camera 17 respectively on the body backup pad 6 that is located the front on side shield 5 and the side shield two 11, two cameras 17 are connected with body backup pad 6 through a camera fixing base respectively, and the withstand voltage cabin 13 of superjacent position is between two cameras 17.
The telescopic rotating brush 3 can be stretched and retracted through the telescopic mechanisms 3-3 to further adjust the size of the pretightening force, the telescopic rotating brush 3 also plays a role in assisting the robot in adsorption, the telescopic rotating brush 3 can generate radial suction force through high-speed rotation, and meanwhile the reverse thrust of the vertical propeller 1 is matched to adsorb and adjust the size of the adsorption force, so that the robot can flexibly move on the surface of a ship body to perform cleaning operation. The direction of the cross line of the rotating direction of the telescopic rotating brush 3 is the same direction, so that the interaction moment is offset. The vertical propeller 1 rotates reversely to generate vertical reverse thrust, and the robot is pushed to the ship surface. The size of the adsorption force can be adjusted no matter radial force adsorption or reverse thrust adsorption, and particularly when the high-pressure water jet spray gun 4 jets a water column to generate a reaction force on the ship surface, the adsorption force is increased through adjustment, so that the flexibility and the safety performance of the ship body cleaning robot are guaranteed.
In addition, the telescopic rotary brush 3 also provides cleaning operation, the telescopic rotary brush 3 is uniformly distributed in a circular ring shape, and when the telescopic rotary brush 3 rotates at a high speed, attachments fly away along the tangential direction of the rotation of the brush bristles 3-1, so that the cleaning operation is realized. The high-pressure water jet spray gun 4 converts high-pressure low-speed water flow pumped by a high-pressure pump into high-pressure high-speed jet flow through a pipeline and a spray head to be sprayed out, and synchronously realizes cleaning operation.
The vertical propeller 1 plays a role in adsorption, and meanwhile, the walking of the robot is realized by matching with the horizontal propeller 2, so that the adjustment of the force in the longitudinal direction and the advancing, retreating and steering of the robot are realized.
The body 12 distributes around the last withstand voltage cabin 13, adopts semi-circular fretwork on two body backup pads 6 opposite faces that correspond, and two semi-circular fretworks form a space for the installation sets up in inboard vertical propeller 1, prevents that it from producing rotatory rivers and producing the influence to the robot when rotatory. The floating body can reduce the gravity of the robot.
The upper pressure-resistant cabin 13 controls the vertical thruster 1 and the horizontal thruster 2 to vertically adsorb and move the robot underwater, and adjusts the posture of the robot underwater. The lower pressure-resistant cabin 14 controls the cleaning mode of the cleaning device of the robot and adjusts the radial adsorption force of the brush. The heads of the upper pressure-resistant cabin 13 and the lower pressure-resistant cabin 14 are both semicircular bodies, so that the water flow resistance can be reduced, and the middle part is a cylindrical cabin body.
The rack of the robot ensures that the robot has complete functions, and the space occupancy rate of the robot is reduced as much as possible; and adopt fretwork form, make the robot lightweight, reduce the load.
The cleaning method of the ship body cleaning robot comprises the following steps:
the method comprises the following steps: the hoisting device is connected with the robot, the robot is placed in water, the upper pressure-resistant cabin is used for controlling the robot to adjust the pose underwater, the position of an attachment is detected and identified, and the attachment moves to a corresponding position;
step two: after the robot reaches the corresponding position, the adsorption action is started, the vertical propeller and the vertical propeller start to work, the posture of the robot is adjusted to be in a state that the bottom is parallel to the ship surface, then the vertical propeller and the telescopic rotating brush start to work, and the reverse thrust and the radial adsorption force are generated to enable the robot to be attached to the ship surface;
step three: after the robot successfully adsorbs, the lower pressure-resistant cabin controls the robot cleaning device to work, the bristles rotate at a high speed, and meanwhile, a nozzle of the high-pressure water jet spray gun starts to spray water flow for cleaning;
step four: the robot starts to crawl on the ship surface by controlling the walking structure, four transverse propellers on the base push the robot to advance, retreat and turn, and the robot cleans the ship surface in a large range.
Step five: when the cleaning is finished, the vertical propeller and the telescopic rotating brush stop working, the robot loses adsorption force and falls into water, then the horizontal propeller and the vertical propeller work rapidly at once, the robot is pushed to float freely underwater, and the robot is controlled to automatically move back to the shore through communication between the upper computer and the lower computer.
The upper computer and the lower computer are both ship-borne existing controllers.
The invention adopts an adjustable composite adsorption mechanism to clean the ship body cleaning robot walking on the ship surface, thereby ensuring the flexibility and the adsorbability. In the walking process of the robot, the binocular camera is used for detecting and positioning, and the telescopic rotating brush and the high-pressure water jet spray gun of the adopted cleaning device synchronously clean the attachments on the surface of the ship body, so that the cleaning benefit is ensured, and the damage to the ship body protective paint is avoided. The robot is provided with two control systems which are independently distributed up and down, namely an upper pressure-resistant cabin and a lower pressure-resistant cabin, so that the robot can be better controlled to walk and clean.
Claims (10)
1. A hull cleaning robot, characterized in that: the frame is of a U-shaped frame structure and comprises a first side baffle, a base and a second side baffle which are sequentially connected, the adsorption mechanism is installed on the first side baffle and the second side baffle, the walking structure is installed on the upper surface of the base, the cleaning device is installed on the bottom surface of the base, the floating mechanism is arranged between the first side baffle and the second side baffle and is respectively connected with the first side baffle and the second side baffle, the pressure-resistant device is arranged in the middle of the floating mechanism, and the floating mechanism and the base are respectively connected with the pressure-resistant device.
2. The hull cleaning robot of claim 1 in which: the adsorption mechanism comprises a plurality of vertical propellers, at least one vertical propeller is arranged on the two opposite sides of the first side baffle and the two opposite sides of the second side baffle respectively, and the propulsion direction of the vertical propeller is along the vertical direction of the rack.
3. The hull cleaning robot of claim 1 in which: the walking structure comprises at least one transverse propeller and supporting blocks, wherein the number of the transverse propellers is at least one on the periphery of the upper surface of the base, and each transverse propeller is installed on the upper surface of the base through one supporting block, so that the propelling direction of the transverse propeller is along the horizontal direction of the rack.
4. The hull cleaning robot of claim 3 in which: the transverse propeller comprises blades, a propeller fixing seat, a servo motor and a bolt, wherein the blades are installed in the propeller fixing seat through the servo motor, and the propeller fixing seat is connected with the supporting block through the bolt.
5. The hull cleaning robot of claim 1 in which: the cleaning device comprises a telescopic rotating brush and high-pressure water jet spray guns, wherein the telescopic rotating brush is arranged on the bottom surface of the base at intervals and is respectively connected with the base, at least two high-pressure water jet spray guns are arranged on the bottom surface of the base and are arranged between the telescopic rotating brushes, and bristles of the telescopic rotating brush and spray heads of the high-pressure water jet spray guns are arranged downwards.
6. The hull cleaning robot of claim 5 in which: the telescopic rotating brush comprises brush hair, a brush disc and a telescopic mechanism, the brush hair and the brush disc are connected to form a whole, a round hole is correspondingly formed in the base, and the whole is arranged in the round hole and is connected with the base through the telescopic mechanism.
7. The hull cleaning robot of claim 1 in which: the floating body mechanism comprises a floating body and floating body supporting plates, wherein the floating body is arranged on the inner side surface of the first side baffle plate and the inner side surface of the second side baffle plate at least horizontally at intervals, and each floating body is connected with the inner side surface of the first side baffle plate or the inner side surface of the second side baffle plate through one floating body supporting plate.
8. The hull cleaning robot of claim 1 in which: the pressure-resistant device comprises an upper pressure-resistant cabin, a lower pressure-resistant cabin, upper hoops and lower hoops, wherein the upper pressure-resistant cabin and the lower pressure-resistant cabin are horizontally arranged up and down and are positioned in the middle between the first side baffle and the second side baffle, two ends of the upper pressure-resistant cabin are respectively connected with one of the upper hoops, two of the upper hoops are respectively connected with the floating body mechanism, two ends of the lower pressure-resistant cabin are respectively connected with one of the lower hoops, and two of the lower hoops are respectively connected with the base.
9. The hull cleaning robot of claim 1 in which: the floating body mechanism is characterized by further comprising two cameras and two camera fixing seats, wherein the two cameras are arranged in parallel at intervals and are connected with the floating body mechanism through the camera fixing seats respectively, and the pressure-resistant device is located between the two cameras.
10. A method for washing a hull cleaning robot according to any one of claims 1 to 9, comprising the steps of:
the method comprises the following steps: connecting the robot with a hoisting device, putting the robot into water, controlling the robot to adjust the pose under water by a pressure-resistant device, detecting and identifying the position of the attachment, and moving the attachment to a corresponding position;
step two: after reaching the corresponding position, starting adsorption action, starting the work of the walking structure, adjusting the posture of the robot to a state that the bottom is parallel to the ship surface, and enabling the adsorption mechanism to act together with the cleaning device to generate reverse thrust and radial adsorption force to enable the robot to be attached to the ship surface;
step three: after the robot successfully adsorbs, the pressure-resistant device controls the cleaning device to work for cleaning;
step four: the robot begins to crawl on the ship surface, the walking structure pushes the robot to move forwards, move backwards and turn, and the robot cleans the ship surface in a large range.
Step five: when the cleaning is finished, the adsorption mechanism and the cleaning device stop working, the robot loses adsorption force and falls into water, then the walking structure works fast to push the robot to float freely underwater, and the robot is controlled to automatically swim to the shore through communication between the upper computer and the lower computer.
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| CN202011366966.9A CN112519977A (en) | 2020-11-27 | 2020-11-27 | Ship body cleaning robot and cleaning method thereof |
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| CN202011366966.9A CN112519977A (en) | 2020-11-27 | 2020-11-27 | Ship body cleaning robot and cleaning method thereof |
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Cited By (3)
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| CN115503898A (en) * | 2022-08-16 | 2022-12-23 | 飞马滨(青岛)智能科技有限公司 | Self-adaptive fitting method for underwater cleaning robot and ship to be cleaned |
| CN116604587A (en) * | 2023-07-18 | 2023-08-18 | 广东海洋大学 | Nuclear power cold source port cleaning robot |
| CN118306539A (en) * | 2024-06-06 | 2024-07-09 | 哈尔滨工业大学（威海） | Underwater ship cleaning robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115503898A (en) * | 2022-08-16 | 2022-12-23 | 飞马滨(青岛)智能科技有限公司 | Self-adaptive fitting method for underwater cleaning robot and ship to be cleaned |
| CN115503898B (en) * | 2022-08-16 | 2024-10-11 | 飞马滨(青岛)智能科技有限公司 | Self-adaptive attaching method of underwater cleaning robot and ship to be cleaned |
| CN116604587A (en) * | 2023-07-18 | 2023-08-18 | 广东海洋大学 | Nuclear power cold source port cleaning robot |
| CN118306539A (en) * | 2024-06-06 | 2024-07-09 | 哈尔滨工业大学（威海） | Underwater ship cleaning robot |
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Application publication date: 20210319 |