CN113104171A - Ship bottom cleaning robot - Google Patents
Ship bottom cleaning robot Download PDFInfo
- Publication number
- CN113104171A CN113104171A CN202110405727.8A CN202110405727A CN113104171A CN 113104171 A CN113104171 A CN 113104171A CN 202110405727 A CN202110405727 A CN 202110405727A CN 113104171 A CN113104171 A CN 113104171A
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- cleaning
- machine body
- rotating rod
- ship bottom
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- 238000004140 cleaning Methods 0.000 title claims abstract description 108
- 230000007246 mechanism Effects 0.000 claims abstract description 33
- 238000005202 decontamination Methods 0.000 claims abstract description 11
- 230000003588 decontaminative effect Effects 0.000 claims abstract description 11
- 238000010191 image analysis Methods 0.000 claims description 35
- 230000001680 brushing effect Effects 0.000 claims description 25
- 230000005540 biological transmission Effects 0.000 claims description 17
- 238000001179 sorption measurement Methods 0.000 claims description 17
- 238000009412 basement excavation Methods 0.000 claims description 13
- 238000005286 illumination Methods 0.000 claims description 11
- 239000003381 stabilizer Substances 0.000 claims description 5
- 230000000087 stabilizing effect Effects 0.000 claims description 5
- 230000008859 change Effects 0.000 claims description 4
- 230000006835 compression Effects 0.000 claims description 4
- 238000007906 compression Methods 0.000 claims description 4
- 235000017166 Bambusa arundinacea Nutrition 0.000 claims 1
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- 235000015334 Phyllostachys viridis Nutrition 0.000 claims 1
- 239000011425 bamboo Substances 0.000 claims 1
- 238000000034 method Methods 0.000 description 12
- 238000010586 diagram Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 244000005700 microbiome Species 0.000 description 3
- 238000004458 analytical method Methods 0.000 description 2
- 238000005452 bending Methods 0.000 description 2
- 230000005489 elastic deformation Effects 0.000 description 2
- 238000007790 scraping Methods 0.000 description 2
- 239000010963 304 stainless steel Substances 0.000 description 1
- 241000195493 Cryptophyta Species 0.000 description 1
- 229910000589 SAE 304 stainless steel Inorganic materials 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 238000010835 comparative analysis Methods 0.000 description 1
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- 239000010813 municipal solid waste Substances 0.000 description 1
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Images
Classifications
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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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- B08B1/12—
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- B08B1/165—
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- B08B1/32—
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
Abstract
The invention discloses a ship bottom decontamination robot, which comprises a machine body; crawler wheels arranged on two sides of the machine body; a motor disposed on the body; and the cleaning mechanism is arranged on the machine body and is connected with the motor, and the cleaning mechanism is used for cleaning the ship bottom under the driving of the motor. The invention can automatically clean the ship bottom underwater, improve the cleaning work rate and effectively save the labor cost.
Description
Technical Field
The invention relates to the technical field of ship bottom decontamination, in particular to a ship bottom decontamination robot.
Background
Whether the ship sails on water or is anchored on the shore for more than 24 hours, a layer of microorganisms usually grow on the submerged ship bottom, even larger organisms can be attached to the submerged ship bottom, the development of the shipping industry is highly intensive along with the rapid development of social economy, and the problem of cleaning the large ship bottom is generated along with the development of the large ship bottom, so that the resistance of the ship body is increased, the sailing speed is influenced, and the oil consumption is increased.
At present, the common cleaning method for the attachments on the surface of the ship body of the large ship is to return the ship to a dock and then manually clean the ship, and the existing cleaning robot is not a robot specially developed for cleaning the ship bottom, so that the existing cleaning robot is not only required to be manually cleaned and wastes time and energy, but also is required to lift the ship to clean, the underwater automatic cleaning operation cannot be carried out, and the cleaning degree of the ship bottom is difficult.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art. Therefore, the invention aims to provide a ship bottom cleaning robot to facilitate automatic ship bottom cleaning operation underwater.
In order to achieve the purpose, the invention is realized by the following technical scheme:
a ship bottom cleaning robot comprises a machine body 1; crawler wheels 2 arranged at two sides of the machine body 1; a motor 3 provided on the machine body 1; and the cleaning mechanism 4 is arranged on the machine body 1 and is connected with the motor 3, and the cleaning mechanism 4 is used for cleaning the ship bottom under the driving of the motor 3.
Optionally, a cavity is disposed inside the machine body 1, and the brushing mechanism 4 includes: a first cleaning assembly 41 and a second cleaning assembly 42 located below the machine body 1; a first rotating rod 43, one end of which penetrates through the cavity and is connected with the motor 3, and the other end of which is connected with the first cleaning component 41; a second rotating rod 44, one end of which penetrates the bottom of the machine body 1 and is connected with the inner side wall of the top of the cavity, and the other end of which is connected with the second cleaning component 42; the transmission assembly 45 is positioned in the cavity and sleeved on the first rotating rod 43 and the second rotating rod 44 respectively; the motor 3 drives the first rotating rod 43 to rotate, and the first rotating rod 43 drives the second rotating rod 44 to rotate through the transmission component 45, so as to drive the first cleaning component 41 and the second cleaning component 42 to rotate to clean the ship bottom.
Optionally, the transmission assembly 45 comprises: a first gear 451 and a second gear 452 positioned inside the cavity, the first gear 451 being disposed on the first rotating shaft 43, the second gear 452 being disposed on the second rotating shaft 44; a transmission chain 453 sleeved on the first gear 451 and the second gear 452; the first rotating rod 43 rotates to drive the first gear 451 to rotate synchronously, and the first gear 451 drives the second gear 452 to rotate through the transmission chain 453, so as to drive the second rotating rod 44 to rotate.
Optionally, the first cleaning assembly 41 comprises: a plurality of first connecting rods 411; a first brush disc housing 412 connected to the machine body 1 by a plurality of first connecting rods 411 and located at the bottom of the machine body 1; a first brush disk 413 located inside the first brush disk housing 412 and connected to the first rotating rod 43; the first rotating rod 43 rotates to drive the first brushing disk 413 to rotate, so that the first brushing disk 413 rotates to clean the bottom of the ship;
the second cleaning assembly 42 includes: a plurality of second connecting rods 421; a second brush disc housing 422, which is connected to the machine body 1 through a plurality of second connecting rods 421 and is located at the bottom of the machine body 1; a second brush plate 423 located inside the second brush plate case 422 and connected to the second rotating rod 44; the second rotating rod 44 rotates to drive the second brushing disk 423 to rotate, so that the second brushing disk 423 rotates to clean the ship bottom.
Optionally, the ship bottom decontamination robot further comprises: a shovel plate 5 disposed in front of the machine body 1, the shovel plate 5 being used for cleaning up dirt in front of the machine body 1; two groups of elastic yielding mechanisms 6, wherein the two groups of elastic yielding mechanisms 6 are arranged on the machine body 1 at intervals, one end of each group of elastic yielding mechanisms 6 is connected with the machine body 1, and the other end of each group of elastic yielding mechanisms 6 is connected with the shovel plate 5; two sets of elasticity is stepped down mechanism 6 and is used for when shovel 5 supports hard thing, two sets of elasticity is stepped down mechanism 6 and is compressed to change shovel 5's the excavation degree of depth, and then make shovel 5 crosses hard thing.
Optionally, each set of the elastic yielding mechanism 6 comprises: the fixed cylinder 61 is arranged on the shovel plate 5, the bottom end of the fixed cylinder is fixedly connected with the shovel plate 5, and the top end of the fixed cylinder 61 is provided with an extension section extending along the radial direction of the fixed cylinder; a bent movable rod 62 having a first end connected to the body 1 and a second end disposed inside the fixed cylinder 61; a stabilizing plate 63 located inside the fixed cylinder 61 and fixedly connected to the second end of the bent movable rod 62; a first circular fixing plate 64 sleeved on the bent movable rod 62; the second circular fixing plate 65 is sleeved on the outer side of the fixing cylinder 61; a spring 66 sleeved on the bent movable rod 62 and located between the first circular fixing plate 64 and the second circular fixing plate 65; when shovel 5 supports hard thing, bent type movable rod 62 atress drives stabilizer plate 63 is in the intracavity of fixed cylinder 61 removes compression spring 66 reduces shovel 5's the excavation degree of depth, thereby makes shovel 5 crosses hard thing, after shovel 5 crossed hard thing, spring 66 bounced, shovel 5's the excavation degree of depth resumes initial value.
Optionally, the ship bottom decontamination robot further comprises: the two electromagnets 7 are arranged on two sides of the bottom end of the machine body 1, the outer surface of each electromagnet 7 and the outer surface of the crawler wheel 3 are positioned on the same horizontal plane, and each electromagnet 7 is used for being adsorbed at the bottom of the ship bottom under external control; and an illumination device 8 disposed at a front side of the body 1, the illumination lamp 8 for providing illumination. The camera device 9 is arranged on the front side of the machine body 1 and is arranged horizontally with the illuminating device 8, and the camera device 9 is used for collecting and providing images of the ship bottom;
optionally, the ship bottom decontamination robot further comprises: a control system 10 disposed inside the machine body 1, the control system 10 including: the image acquisition module 101 is connected with the camera device 9, and the image acquisition module 101 is used for receiving dirt image information shot by the camera device 9; the image analysis module 102 is connected with the image acquisition module 101, and the image analysis module 102 is configured to analyze and process the dirt image information acquired by the image acquisition module 101 and output dirt image analysis result information; the geographic information module 103 is used for acquiring current position information of the ship bottom decontamination robot; and the control module 104 is configured to output a control instruction according to the dirt image analysis result information and the current position information of the ship bottom cleaning robot, so that the ship bottom cleaning robot travels to an area where the dirt is located to perform a cleaning operation.
Optionally, the control system 10 further includes: the light control module 105 is connected with the control module 104, and the light control module 105 is configured to receive a light control instruction output by the control module 104 and execute the light control instruction to control the lighting device (8) to provide lighting; the cleaning module 106 is connected with the control module 104, and the cleaning module 106 is configured to receive a brushing instruction output by the control module 104 and execute the brushing instruction to control the first brush disc 413 and the second brush disc 423 to perform a cleaning operation; the adsorption module 107 is connected with the control module 104, and the adsorption module 107 is configured to receive an adsorption instruction output by the control module 104 and execute the adsorption instruction to control the electromagnet 7 to be adsorbed on the bottom of the ship; the driving module 108 is connected with the control module 104, and the driving module 108 is configured to receive a driving instruction output by the control module 104 and execute the driving instruction to drive the track wheel 2 to advance; and a power supply module 109 connected to the control module 104 for supplying power to the control module 104.
Optionally, the control system 10 further includes: a storage module 110 connected to the image analysis module 102, wherein the storage module 110 is configured to store the dirt image analysis result information; the information feedback module 111 is connected to the image analysis module 102, and the information feedback module 111 is configured to send the dirt image analysis result information to the outside.
The invention has at least the following advantages:
(1) the scraping plate is used for scraping moss and microorganisms at the bottom of the ship bottom, the brush plate can be driven by the motor to clean the bottom of the ship bottom through the use of the brush plate, the cleanness of the ship bottom can be effectively guaranteed after double cleaning of the ship bottom, safety accidents and increased oil consumption of the ship bottom under the condition of long-time non-cleaning are avoided, the ship bottom cleaning robot is adsorbed to the ship bottom through the electromagnet, and the stable and smooth cleaning operation of the ship bottom by a machine body can be guaranteed.
(2) By using the elastic abdicating mechanism, when the shovel plate meets a hard object, the bent movable rod drives the stabilizing plate to move in the inner cavity of the fixed cylinder, and the first round fixed plate drives the spring to elastically deform, so that the excavation depth of the shovel plate can be changed, the shovel plate directly skips over the hard object, the phenomenon that a machine body cannot identify a specific object substance to cause blockage is avoided, and the efficiency of cleaning is improved.
(3) The first rotating rod and the second rotating rod can synchronously and smoothly rotate through the transmission assembly, effective decontamination operation of the brushing disc is guaranteed, and the first rotating rod, the second rotating rod and the brushing disc shell cannot be clamped by the third through hole and the fourth through hole.
(4) The invention can improve the flexibility and the fluency of the second rotating rod when rotating by using the bearing, and can illuminate the scene at the bottom of the ship, shoot images for analysis and storage by using the illuminating equipment and the camera equipment, thereby ensuring that the ship bottom can be cleaned quickly by the machine body.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
Fig. 1 is a schematic perspective view of a ship bottom cleaning robot according to an embodiment of the present invention;
fig. 2 is a front sectional view of a ship bottom cleaning robot according to an embodiment of the present invention;
FIG. 3 is a partial enlarged view of the position of the first rotating lever according to an embodiment of the present invention;
FIG. 4 is a left side cross-sectional view of a resilient abduction assembly according to an embodiment of the present invention;
fig. 5 is a schematic perspective view of an elastic abdicating component according to an embodiment of the present invention;
fig. 6 is a bottom cross-sectional view of the bottom cleaning robot provided in an embodiment of the present invention;
fig. 7 is a block diagram of a control system of the ship bottom cleaning robot according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
The ship bottom cleaning robot of the present embodiment is described below with reference to the drawings.
Referring to fig. 1, the present embodiment provides a ship bottom cleaning robot, including a body 1; crawler wheels 2 arranged at two sides of the machine body 1; a motor 3 arranged at the top end of the machine body 1; and the cleaning and brushing mechanism 4 is arranged on the machine body 1 and is connected with the motor 3, and the cleaning and brushing mechanism 4 is used for cleaning the ship bottom under the driving of the motor 3.
As shown in fig. 2, a part of the structural members of the brushing mechanism 4 is located inside the machine body 1, and a part of the structural members is located below the bottom end of the machine body 1.
As shown in fig. 2, the inside cavity that is equipped with of organism 1, the position that organism 1 is close to motor 3 is equipped with the first through-hole that runs through organism 1, and wherein first through-hole specifically runs through the last chamber wall, cavity and the lower chamber wall of cavity, and the position that organism 1 kept away from motor 3 is equipped with the second through-hole that runs through the lower chamber wall, and this brush-cleaning mechanism 4 includes: a first cleaning assembly 41, a second cleaning assembly 42, a first rotating rod 43, a second rotating rod 44, a transmission assembly 45 and a bearing 46.
Wherein, first cleaning assembly 41 and second cleaning assembly 42 interval set up in the below of organism 1 bottom, and first cleaning assembly 41 is located the one side of being close to motor 3, and second cleaning assembly 42 is located the one side of keeping away from motor 3.
The first cleaning assembly 41 includes: a plurality of first connecting rods 411, a first brush disk housing 412 and a first brush disk 413. The second cleaning assembly 42 includes: a plurality of second connecting rods 421, a second brush disk housing 422 and a second brush disk 423.
Wherein, a plurality of first connecting rods 411 and a plurality of second connecting rods 421 are all set up at the bottom of organism 1 at the interval, the one end of every first connecting rod 411 and every second connecting rod 421 all with the lower extreme fixed connection of organism 1, the other end of every first connecting rod 411 is connected with the top of first brush dish casing 412, the other end of every second connecting rod 421 is connected with the top of second brush dish casing 422. The top end of the first brush tray housing 412 is provided with a third through hole, and the third through hole is located at the center of the connection position of the plurality of first connecting rods 411 and the first brush tray housing 412. The top end of the second brush disc shell 422 is provided with a fourth through hole, and the fourth through hole is positioned at the central position of the joint of the second connecting rods 421 and the second brush disc shell 422. The first brush disc shell 412 is also internally provided with a first brush disc 413, the second brush disc shell 422 is also internally provided with a second brush disc 423, and bristles of the first brush disc 413 and the second brush disc 423 are both made of 304 stainless steel wire materials.
As shown in fig. 2 and 3, one end of the first rotating rod 43 penetrates through the cavity to be connected with the output end of the motor 3, and the other end is connected with the first cleaning assembly 41. Specifically, the first rotating rod 43 further penetrates through the third through hole to be connected with the first brush disk 413, and the first rotating rod 43 rotates to drive the first brush disk 413 to rotate, so that the first brush disk 413 performs a cleaning operation.
As shown in fig. 2, the bearing 46 is disposed on the inner wall of the upper chamber wall, and the outer ring of the bearing 46 is fixedly connected to the upper chamber wall. One end of the second rotating rod 44 penetrates through the bottom of the machine body 1 and is connected with the inner side wall of the top of the cavity, and the other end of the second rotating rod is connected with the second cleaning component 42. Specifically, one end of the second rotating rod 44 may be connected with an inner ring of the bearing 46 to improve flexibility and fluency when the second rotating rod 44 rotates. The second rotating rod 44 further penetrates through the fourth through hole to be connected with the second brush disc 423, and the second rotating rod 44 rotates to drive the second brush disc 423 to rotate, so that the second brush disc 423 can perform dirt cleaning work.
This embodiment can protect the top of first brush dish 413 and second brush dish 423 through the use of first brush dish casing 412 and second brush dish casing 422, has avoided bagged organisms such as algae and object to twine first rotary rod 43 and second rotary rod 45 to effectively avoided first brush dish 413 and second brush dish 423 to take place the dead phenomenon of card. The embodiment can also avoid the phenomenon that the first rotating rod 43 and the second rotating rod 45 are respectively blocked with the first brush disc housing 412 and the second brush disc housing 422 through the use of the third through hole and the fourth through hole.
Further, the transmission assembly 45 is located inside the cavity and respectively sleeved on the first rotating rod 43 and the second rotating rod 44. The motor 3 drives the first rotating rod 43 to rotate, the first rotating rod 43 drives the second rotating rod 44 to rotate through the transmission component 45, the first rotating rod 43 and the second rotating rod 44 rotate, and then the first cleaning component 41 and the second cleaning component 42 are driven to rotate so as to clean the ship bottom.
Specifically, the transmission assembly 45 includes: a first gear 451, a second gear 452, and a drive chain 453.
Wherein, the first gear 451 and the second gear 452 are both located inside the cavity, the first gear 451 is disposed on the first rotating rod 43 and fixedly connected with the first rotating rod 43, and the second gear 452 is disposed on the second rotating rod 44 and fixedly connected with the second rotating rod 44; the driving chain 453 is sleeved on the first gear 451 and the second gear 452.
When the first rotating rod 43 rotates, the first gear 451 fixedly connected to the first rotating rod 43 is driven to rotate synchronously, and the first gear 451 drives the second gear 452 to rotate synchronously through the transmission function of the transmission chain 453, so as to drive the second rotating rod 44 to rotate.
As shown in fig. 1, the ship bottom cleaning robot further includes: a shovel plate 5 and two groups of elastic yielding mechanisms 6. Wherein, shovel 5 sets up in the place ahead of organism 1, and shovel 5 is used for clearing up the filth in place ahead of organism 1. Two sets of elasticity mechanisms 6 of stepping down set up on organism 1 at the interval, and each elasticity of group steps down one end and organism 1 fixed connection of mechanism 6, and the other end and the top fixed connection of shovel board 5.
Two sets of elasticity are stepped down mechanism 6 and are used for when shovel 5 supports hard thing, and two sets of elasticity are stepped down mechanism 6 and are compressed to change shovel 5's the excavation degree of depth, and then make shovel 5 cross hard thing.
As shown in fig. 4 and 5, each set of the elastic abdicating mechanisms 6 includes: a fixed cylinder 61, a bent type movable rod 62, a stabilizing plate 63, first and second circular fixing plates 64 and 65, and a spring 66.
As shown in fig. 1 and 4, the fixed cylinder 61 is disposed on the shovel plate 5, a bottom end of the fixed cylinder is fixedly connected with the shovel plate 5, and a top end of the fixed cylinder 61 is provided with an extension section extending along a radial direction of the fixed cylinder; the first end of the bending type movable rod 62 is connected with the machine body 1, and the second end is arranged in the fixed cylinder 61; the stabilizing plate 63 is positioned in the fixed cylinder 61 and is fixedly connected with the second end of the bent movable rod 62; the first round fixing plate 64 is sleeved on the bent movable rod 62, and the inner ring of the first round fixing plate is fixedly connected with the bent movable rod 62; the second circular fixing plate 65 is sleeved on the outer side of the fixing cylinder 61, and the inner ring of the second circular fixing plate is fixedly connected with the fixing cylinder 61; the spring 66 is sleeved on the bent movable rod 62, the spring 66 is arranged between the first circular fixing plate 64 and the second circular fixing plate 65, one end of the spring 66 is fixedly connected with the first circular fixing plate 64, and the other end of the spring 66 is fixedly connected with the second circular fixing plate 65.
Specifically, when shovel 5 supports hard thing, bent movable rod 62 atress drives stabilizer plate 63 and removes compression spring 66 in the inner chamber of fixed cylinder 61, reduces shovel 5's the excavation degree of depth to make shovel 5 cross hard thing, after shovel 5 crossed hard thing, spring 66 bounced, shovel 5's the excavation degree of depth recovered initial value.
In this embodiment, the use through elasticity mechanism 6 of stepping down can make shovel board 5 directly cross when running into too hard object in the in-process of using to avoid organism 1 can't discern that specific object matter leads to the phenomenon of card pause to take place, improved the efficiency of decontaminating.
As shown in fig. 6, the ship bottom cleaning robot further comprises two electromagnets 7. Two electromagnets 7 are arranged on two sides of the bottom end of the machine body 1, each electromagnet 7 is fixedly connected with the bottom end of the machine body 1, and the outer surface of each electromagnet 7 and the outer surface of the crawler wheel 3 are positioned on the same horizontal plane, so that each electromagnet 7 can be adsorbed at the bottom of the ship bottom under the external control.
As shown in fig. 1, the ship bottom cleaning robot further includes: an illumination apparatus 8 and an image pickup apparatus 9. An illumination device 8 is provided at the front side of the body 1, and the illumination lamp 8 is used to provide illumination to the ship bottom cleaning robot in an operating state. The camera device 9 is disposed on the front side of the body 1 and is disposed at the same level as the illumination device 8, and the camera device 9 is used to capture and provide an image of the bottom of the ship.
Optionally, the ship bottom cleaning robot further comprises a control system 10, which is arranged inside the machine body 1 and is used for controlling the ship bottom cleaning robot to perform cleaning work on the ship bottom.
The control system 10 includes: an image acquisition module 101, an image analysis module 102, a geographic information module 103, and a control module 104. The image acquisition module 101 is connected with the camera device 9, and the image acquisition module 101 is used for receiving dirt image information shot by the camera device 9; the image analysis module 102 is connected with the image acquisition module 101, and the image analysis module 102 is used for analyzing and processing the dirt image information acquired by the image acquisition module 101 and outputting dirt image analysis result information; the geographic information module 103 is used for acquiring current position information of the ship bottom cleaning robot; the control module 104 is configured to output a control instruction according to the dirt image analysis result information and the current position information of the ship bottom cleaning robot, so that the ship bottom cleaning robot travels to an area where the dirt is located to perform a cleaning operation.
The control system 10 further includes: a light control module 105, a cleaning module 106, an adsorption module 107, a driving module 108, and a power supply module 109.
The lighting control module 105 is connected with the control module 104, and the lighting control module 105 is used for receiving a lighting control instruction output by the control module 104 and executing the lighting control instruction so as to control the lighting equipment (8) to provide lighting; the cleaning module 106 is connected with the control module 104, and the cleaning module 106 is configured to receive a brushing instruction output by the control module 104 and execute the brushing instruction to control the first brush disc 413 and the second brush disc 423 to perform a cleaning operation; the adsorption module 107 is connected with the control module 104, and the adsorption module 107 is used for receiving the adsorption instruction output by the control module 104 and executing the adsorption instruction so as to control the electromagnet 7 to be adsorbed on the bottom of the ship; the driving module 108 is connected with the control module 104, and the driving module 108 is configured to receive a driving instruction output by the control module 104 and execute the driving instruction to drive the track wheel 2 to move forward; the power module 109 is coupled to the control module 104 for providing power to the control module 104.
Optionally, the control system 10 further comprises: a storage module 110 and an information feedback module 111. The storage module 110 is connected to the image analysis module 102, and the storage module 110 is configured to store dirt image analysis result information; the information feedback module 111 is connected to the image analysis module 102, and the information feedback module 111 is configured to send the dirt image analysis result information to the outside.
Specifically, as shown in fig. 7, a control system 10 is further provided in the machine body 1. The control system 10 includes a control module 104, the input end of the control module 104 is respectively and unidirectionally electrically connected with a power supply module 109, an information feedback module 111 and a geographic information module 103, the output end of the control module 104 is respectively and unidirectionally electrically connected with a light control module 105, a cleaning module 106, an adsorption module 107 and a driving module 108, the input end of the information feedback module 111 is unidirectionally electrically connected with an image analysis module 102, the output end of the image analysis module 102 is unidirectionally electrically connected with a storage module 110, and the input end of the image analysis module 102 is unidirectionally electrically connected with an image acquisition module 101.
Specifically, the output end of the driving module 108 is electrically connected to the input end of the track wheel 2 in a unidirectional manner, and the output end of the adsorption module 107 is electrically connected to the input ends of the two electromagnets 7 in a unidirectional manner. This embodiment can drive the athey wheel 2 through drive module 108 and rotate to make the bottom of a ship robot of decontaminating can carry out smooth removal at uneven bottom of a ship, this embodiment drives two electro-magnets 7 through adsorption module 107 and adsorbs at the bottom of a ship, can avoid organism 1 to break away from the bottom of a ship.
Optionally, the one-way electric connection of light control module 105's output and lighting apparatus 8's input, camera equipment 9's the one-way electric connection of output and image acquisition module 101's input, the output of clean module 106 respectively with the one-way electric connection of first brush dish 413 and second brush dish 423's input, lighting apparatus 8 and camera equipment 9's use are passed through to this embodiment, can throw light on and shoot the image in order to carry out analysis and storage to the scene of hull bottom, thereby can effectively guarantee the hull bottom robot of decontaminating to the quick trash cleaning of hull bottom.
As an example, the machine body 1 is first placed at a designated position on the surface of the ship body and started, and the control module 104 may transmit the collected pictures through the image collection module 101, and perform comparative analysis and storage through the image analysis module 102. The control module 104 drives the track wheel 2 to move through controlling the driving module 108, and the geographic information module 103 feeds back the real-time position to the control module 104, so that a user can conveniently position the machine body 1. When the image analysis module 102 compares and analyzes the areas where the dirt is located, the dirt image analysis result information is output, and the information feedback module 111 transmits the dirt image analysis result information to the control module 104. Of course, the information feedback module 111 may also send the dirt image analysis result information to the shore remote control system. The control module 104 or the shore remote control system controls the driving module 108 to drive the track wheel 2 to move to the area where the dirt is located according to the current position information of the ship bottom decontamination robot output by the geographic information module 103 and the acquired dirt image analysis result information, and controls the first brush disc 413 and the second brush disc 423 to rotate for cleaning through the cleaning module 106. Wherein, control module 104 is at the in-process of traveling, and the appeal of controlling electro-magnet 7 through adsorption module 107 removes, has guaranteed that organism 1 can carry out stable smooth operation of decontaminating at the ship bottom.
When meetting hard thing, bent type movable rod 62 drives stabilizer plate 63 and removes at the inner chamber of fixed cylinder 61, first circular fixed plate 64 drives spring 66 and takes place elastic deformation simultaneously, reduce the excavation degree of depth of shovel board 5, thereby make shovel board 5 cross hard thing, after shovel board 5 crossed hard thing, spring 66 bounced, the excavation degree of depth of shovel board 5 resumes initial value, avoided the unable discernment of organism 1 specific matter to lead to the phenomenon emergence of card pause from this, the efficiency of decontaminating has been improved.
The ship bottom cleaning robot can scrape moss and microorganisms at the bottom of the ship bottom through the use of the shovel plate, the bottom of the ship bottom can be cleaned under the driving of the motor through the use of the brush disc, the cleanness degree of the ship bottom can be effectively ensured after the double cleaning of the ship bottom is ensured, safety accidents and increased oil consumption of the ship bottom under the condition of long-time non-cleaning are avoided, the ship bottom cleaning robot is adsorbed at the ship bottom through the electromagnet, and the stable and smooth cleaning operation of a machine body at the ship bottom can be ensured;
the use of mechanism is stepped down through elasticity to the hull bottom robot of decontaminating of this embodiment, when the shovel board meets hard thing, the bending movable rod drives the stabilizer plate and removes at the inner chamber of fixed cylinder, first circular fixed plate drives the spring and takes place elastic deformation simultaneously, can make the excavation degree of depth of shovel board change, with directly crossing hard thing, avoided the unable discernment object matter of organism to lead to the phenomenon of card pause to take place, the efficiency of decontaminating has been improved, this embodiment is still through the use of brushing a set casing and connecting rod, can protect brushing a set top, it twines first rotary rod and second rotary rod to have avoided bagged organisms such as alga and object, the dead phenomenon of card has been taken place to the brush dish.
The hull bottom robot of decontaminating of this embodiment can make first rotary rod and second rotary rod carry out smooth rotation in step through transmission assembly's use, has guaranteed that the brush dish can carry out effectual operation of decontaminating to and through the use of third through-hole and fourth through-hole, can make first rotary rod and second rotary rod and brush dish casing can not take place the dead phenomenon of card.
The hull bottom robot of decontaminating of this embodiment passes through the use of bearing, can improve the flexibility and the smoothness nature of second rotary rod when rotating to and through lighting apparatus and camera equipment's use, can throw light on and shoot image analysis and storage to the scene of hull bottom, guaranteed that the organism can carry out quick decontamination to the hull bottom.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
It should be noted that the apparatuses and methods disclosed in the embodiments herein can be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments herein. In this regard, each block in the flowchart or block diagrams may represent a module, a program, or a portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems that perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, the functional modules in the embodiments herein may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
While the present invention has been described in detail with reference to the preferred embodiments, it should be understood that the above description should not be taken as limiting the invention. Various modifications and alterations to this invention will become apparent to those skilled in the art upon reading the foregoing description. Accordingly, the scope of the invention should be determined from the following claims.
Claims (10)
1. A ship bottom cleaning robot comprises a machine body (1); crawler wheels (2) arranged on two sides of the machine body (1); a motor (3) provided on the machine body (1); the cleaning and brushing mechanism (4) is arranged on the machine body (1) and is connected with the motor (3), and the cleaning and brushing mechanism (4) is used for cleaning the ship bottom under the driving of the motor (3).
2. The ship bottom cleaning robot as claimed in claim 1, wherein a cavity is provided inside the body (1), and the brushing mechanism (4) comprises:
a first cleaning assembly (41) and a second cleaning assembly (42) located below the machine body (1);
one end of the first rotating rod (43) penetrates through the cavity to be connected with the motor (3), and the other end of the first rotating rod is connected with the first cleaning component (41);
one end of the second rotating rod (44) penetrates through the bottom of the machine body (1) and is connected with the inner side wall of the top of the cavity, and the other end of the second rotating rod is connected with the second cleaning component (42);
the transmission assembly (45) is positioned in the cavity and sleeved on the first rotating rod (43) and the second rotating rod (44) respectively;
the motor (3) drive first rotary rod (43) are rotatory, first rotary rod (43) pass through drive assembly (45) drive second rotary rod (44) are rotatory, and then drive first clean subassembly (41) with second clean subassembly (42) are rotatory in order to right the hull bottom is decontaminated the work.
3. The hull bottom clearing robot according to claim 2, characterized in that said transmission assembly (45) comprises:
a first gear (451) and a second gear (452) located inside the cavity, the first gear (451) being disposed on the first rotating shaft (43), the second gear (452) being disposed on the second rotating shaft (44);
a transmission chain (453) sleeved on the first gear (451) and the second gear (452);
the first rotating rod (43) rotates to drive the first gear (451) to rotate synchronously, and the first gear (451) drives the second gear (452) to rotate through the transmission chain (453), so that the second rotating rod (44) is driven to rotate.
4. A hull bottom clearing robot according to claim 3, characterized in that said first cleaning assembly (41) comprises:
a plurality of first connecting rods (411);
a first brush disc shell (412) which is connected with the machine body (1) through a plurality of first connecting rods (411) and is positioned at the bottom of the machine body (1);
a first brush plate (413) located inside the first brush plate housing (412) and connected to the first rotating rod (43);
the first rotating rod (43) rotates to drive the first brushing disc (413) to rotate, so that the first brushing disc (413) rotates to clean the ship bottom;
the second cleaning assembly (42) comprises:
a plurality of second connecting rods (421);
the second brush disc shell (422) is connected with the machine body (1) through a plurality of second connecting rods (421) and is positioned at the bottom of the machine body (1);
a second brush plate (423) located inside the second brush plate housing (422) and connected to the second rotating rod (44);
the second rotating rod (44) rotates to drive the second brush disc (423) to rotate, so that the second brush disc (423) rotates to clean the ship bottom.
5. The bottom cleaning robot according to claim 4, further comprising:
the shovel plate (5) is arranged in front of the machine body (1), and the shovel plate (5) is used for cleaning dirt in front of the machine body (1);
the two groups of elastic yielding mechanisms (6) are arranged on the machine body (1) at intervals, one end of each group of elastic yielding mechanisms (6) is connected with the machine body (1), and the other end of each group of elastic yielding mechanisms (6) is connected with the shovel plate (5);
two sets of elasticity is stepped down mechanism (6) and is used for when shovel board (5) support hard thing, two sets of elasticity is stepped down mechanism (6) compression to change the excavation degree of depth of shovel board (5), and then make shovel board (5) cross hard thing.
6. The hull bottom clearing robot according to claim 5, characterized in that each set of said elastic abdicating means (6) comprises:
the fixed cylinder (61) is arranged on the shovel plate (5), the bottom end of the fixed cylinder is fixedly connected with the shovel plate (5), and the top end of the fixed cylinder (61) is provided with an extension section extending along the radial direction of the fixed cylinder;
a bent movable rod (62), the first end of which is connected with the machine body (1), and the second end of which is arranged inside the fixed cylinder (61);
the stabilizing plate (63) is positioned in the fixed cylinder (61) and is fixedly connected with the second end of the bent movable rod (62);
the first round fixing plate (64) is sleeved on the bent movable rod (62);
the second round fixing plate (65) is sleeved on the outer side of the fixing cylinder (61);
the spring (66) is sleeved on the bent movable rod (62) and is positioned between the first circular fixing plate (64) and the second circular fixing plate (65);
when shovel board (5) supported hard thing, bent type movable rod (62) atress drives stabilizer plate (63) are in compression spring (66) is removed in the inner chamber of fixed section of thick bamboo (61), reduces the excavation degree of depth of shovel board (5), so that shovel board (5) cross hard thing, shovel board (5) cross behind the hard thing, spring (66) bounce, the excavation degree of depth of shovel board (5) resumes initial value.
7. The bottom cleaning robot according to claim 6, further comprising:
the two electromagnets (7) are arranged on two sides of the bottom end of the machine body (1), the outer surface of each electromagnet (7) and the outer surface of the crawler wheel (3) are positioned on the same horizontal plane, and each electromagnet (7) is used for being adsorbed at the bottom of the ship bottom under external control;
an illumination device (8) provided at a front side of the body (1), the illumination lamp (8) for providing illumination;
and the camera device (9) is arranged on the front side of the machine body (1) and is arranged at the same level as the illuminating device (8), and the camera device (9) is used for collecting and providing images of the ship bottom.
8. The bottom cleaning robot according to claim 7, further comprising:
a control system (10) arranged inside the machine body (1), the control system (10) comprising:
the image acquisition module (101) is connected with the camera device (9), and the image acquisition module (101) is used for receiving dirt image information shot by the camera device (9);
the image analysis module (102) is connected with the image acquisition module (101), and the image analysis module (102) is used for analyzing and processing the dirt image information acquired by the image acquisition module (101) and outputting dirt image analysis result information;
the geographic information module (103) is used for acquiring the current position information of the ship bottom decontamination robot;
and the control module (104) is used for outputting a control instruction according to the dirt image analysis result information and the current position information of the ship bottom cleaning robot so as to enable the ship bottom cleaning robot to drive to an area where the dirt is located to perform cleaning work.
9. The hull bottom clearing robot according to claim 8, characterized in that said control system (10) further comprises:
the lighting control module (105) is connected with the control module (104), and the lighting control module (105) is used for receiving a lighting control instruction output by the control module (104) and executing the lighting control instruction so as to control the lighting equipment (8) to provide lighting;
the cleaning module (106) is connected with the control module (104), and the cleaning module (106) is used for receiving a brushing instruction output by the control module (104) and executing the brushing instruction so as to control the first brushing disk (413) and the second brushing disk (423) to perform a cleaning work;
the adsorption module (107) is connected with the control module (104), and the adsorption module (107) is used for receiving an adsorption instruction output by the control module (104) and executing the adsorption instruction so as to control the electromagnet (7) to be adsorbed on the ship bottom;
the driving module (108) is connected with the control module (104), and the driving module (108) is used for receiving a driving command output by the control module (104) and executing the driving command so as to drive the crawler wheel (2) to advance;
the power supply module (109) is connected with the control module (104) and is used for supplying power to the control module (104).
10. The hull bottom clearing robot according to claim 9, characterized in that said control system (10) further comprises:
the storage module (110) is connected with the image analysis module (102), and the storage module (110) is used for storing the dirt image analysis result information;
the information feedback module (111) is connected with the image analysis module (102), and the information feedback module (111) is used for sending the dirt image analysis result information to the outside.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110405727.8A CN113104171A (en) | 2021-04-15 | 2021-04-15 | Ship bottom cleaning robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110405727.8A CN113104171A (en) | 2021-04-15 | 2021-04-15 | Ship bottom cleaning robot |
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| CN113104171A true CN113104171A (en) | 2021-07-13 |
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| CN202110405727.8A Pending CN113104171A (en) | 2021-04-15 | 2021-04-15 | Ship bottom cleaning robot |
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| CN113844609A (en) * | 2021-09-30 | 2021-12-28 | 郑开敏 | Shoveling mechanism with photovoltaic function and capable of removing barnacles attached to bottom of ship |
| CN116116766A (en) * | 2022-12-29 | 2023-05-16 | 浙江华东测绘与工程安全技术有限公司 | Dam body surface fouling attachment removing robot |
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