CN210618409U

CN210618409U - Underwater robot for cleaning ship

Info

Publication number: CN210618409U
Application number: CN201921125369.XU
Authority: CN
Inventors: 崔维成; 宋长会; 李维
Original assignee: Westlake University
Current assignee: Westlake University
Priority date: 2019-07-18
Filing date: 2019-07-18
Publication date: 2020-05-26
Anticipated expiration: 2029-07-18

Abstract

The utility model discloses an underwater robot for ship cleaning, which comprises a frame, a shell arranged on the frame, a cleaning unit arranged on the frame and a driving unit arranged on the frame; the ship cleaning device is characterized in that an indicating and positioning unit used for dividing a ship into a plurality of cleaning areas is further arranged on the shell, and the indicating and positioning unit comprises a starting device provided with at least two starting point positioners, an ending device provided with at least two ending point positioners, a first mechanical arm used for placing the starting point positioners and a second mechanical arm used for placing the ending point positioners. The utility model discloses a divide into solitary washing region with the surface of boats and ships, therefore the robot is when abluent, and the hindrance that the process of marcing received is little, and the motion is steady, and its abluent effectual has improved the abluent efficiency of robot.

Description

Underwater robot for cleaning ship

Technical Field

The utility model belongs to the technical field of boats and ships wash, especially, relate to an underwater robot for boats and ships clearance.

Background

During the whole operation period of the ship, marine organisms are attached to the wall, the bottom and even the propeller of the ship, particularly when the ship is parked at a port, a wharf or an anchorage ground, various marine organisms (including animals, plants, microorganisms and the like) are rapidly attached and grow on the surface of the bottom of the ship, and a thick marine organism scale layer is formed on a shell below the waterline of the ship and mainly consists of algae and shellfish attachments.

Along with the extension of time, the volume of adhering to of these marine organisms will increase, to the navigation state of boats and ships, even operation safety all can bring a great deal of adverse effect, marine organisms adhere to the weight that the hull has increased boats and ships, the smoothness of hull bottom shell has been influenced, make the navigation resistance compare and increase by a wide margin in smooth hull, marine organisms adhere to and can make screw output reduce on the screw, reduce the navigation speed of boats and ships, the oil consumption of boats and ships navigation has been improved, these influences all say the operation cost that directly promotes boats and ships by a wide margin. Research shows that after part of marine organisms are attached for 1-2 months, the individual die, and a corrosion pit with the depth of 2-5 mm can appear on the ship wall of the dead shell, which directly influences the self safety of the ship.

At present, the ship cleaning mode is mainly carried out manually, workers use cleaning tools to carry out marine organism attaching cleaning work on a dock, and then a protective layer, paint and the like are coated; or the diver carries tools and equipment to carry out the removal work of the attached marine organisms under water. With the advance of technology, large foreign docks and wharfs are increasingly equipped with some cleaning equipment with higher automation degree, but still require personnel to participate in a large and heavy cooperation.

With the gradual deepening of people in ocean development and utilization, the related technical field of the underwater robot is rapidly developed, and a plurality of leading-edge technical subjects are mutually fused with the underwater robot technology, including system integration, automatic control, mode recognition, information fusion, artificial intelligence and the like, so that the underwater robot has the capability of completing the preset tasks in the complex ocean environment, and the automatic cleaning of the ship becomes an important application field of the underwater robot on the basis.

Robots for cleaning marine organisms on the surface of a ship are already available on the market, but because the surface of the ship is not a flat ideal plane, except for the edge of the ship, a large single ship usually has a gradually changed convex arc surface, and the wall surfaces of a catamaran and a trimaran are more complicated; when the appearance of the ship is unknown or inaccurate, a cleaned line is difficult to know, after the ship is repaired, the underwater robot is difficult to pass through at the repaired part of the outer wall or the position with a higher welding seam, and the underwater robot is difficult to automatically pass through by the escalator or other equipment welded on the ship wall; because the surface of the ship is uneven, when the robot cleans the ship, the robot moves unevenly, and the surface of the ship cannot be cleaned thoroughly.

SUMMERY OF THE UTILITY MODEL

The utility model discloses an overcome prior art not enough, provide an underwater robot who is used for boats and ships clearance that clearance effect is good.

In order to achieve the above purpose, the utility model adopts the following technical scheme: an underwater robot for cleaning ships comprises a rack, a shell arranged on the rack, a cleaning unit arranged on the rack and a driving unit arranged on the rack; the shell is also provided with an indication positioning unit used for dividing the ship into a plurality of cleaning areas, and the indication positioning unit comprises a starting device provided with at least two starting point positioners, a finishing device provided with at least two finishing point positioners, a first mechanical arm used for placing the starting point positioners and a second mechanical arm used for placing the finishing point positioners; when the ship is cleaned, firstly, the surface of the ship is divided into a plurality of cleaning areas, and the second mechanical arm is used for placing the end point positioner at the lower right corner of the cleaning areas; then the first mechanical arm is provided with a starting point positioner at the upper left corner of the cleaning area, and the robot starts cleaning according to the shape of the Chinese character 'ji' from the starting point and stops cleaning to the end point.

The utility model discloses a place starting point locator and terminal point locator and come the surface region of boats and ships to be divided into solitary clearance region, consequently can clear up through distinguishing the region that the surface is comparatively level and smooth, can give obstacles such as the welding seam on boats and ships surface and ladder and avoid this moment, and the robot is when clearing up, and the hindrance that the process of marcing received is little, and the motion is steady, and the effectual and efficiency of robot clearance has been improved; and the utility model discloses an at least two starting point locators and two at least terminal point locators, it is in the robot work, if meet one of them starting point locator or terminal point locator and appear damaging or lose when the aquatic, another can replace, thereby avoid underwater robot to emerge again after reacing work area the surface of water, this mode has ensured the robot when the clearance, can ensure the efficiency of robot work, guarantee that the robot launching homoenergetic at every turn is normal clears up.

Preferably, the starting apparatus includes a storage box for placing the start positioner and a releasing member for supporting the start positioner, the releasing member being provided below the storage box; the starting point positioner is stored by adopting the storage box, so that the starting point positioner can be conveniently and intensively placed in the storage box each time the robot works and then placed into the shell along with the storage box, and the starting point positioner is conveniently placed in the mode; but also can be convenient for the starting point positioner after the overhaul to be stored in the storage box in a centralized way when the robot does not work; and through the release part, when two or more starting point positioners are arranged in the storage box, the two starting point positioners are prevented from coming out of the storage box together, and only one starting point positioner is ensured to be taken out of the storage box.

Preferably, the housing is provided with a storage cavity for inserting the storage box, and a driving structure for driving the releasing component to work is arranged in the storage cavity; the storage box can be conveniently and directly inserted into the storage cavity by arranging the storage cavity on the shell, and the storage is stable and convenient.

Preferably, the releasing part comprises a first supporting part capable of moving left and right and a second supporting part capable of moving left and right, and the first and second supporting parts are symmetrically arranged.

Preferably, the first mechanical arm comprises a first arm body, a second arm body movably connected with the first arm body and a first claw body arranged at the end part of the first arm body, and the starting point positioner can enter the first claw body from the storage box; the starting point positioner can be grabbed and placed through the first claw body, and the operation is convenient; and the starting point positioner is placed on the first claw body, and the starting point positioner can be quickly and conveniently placed on the starting point position.

Preferably, the first arm body is provided with a placement structure for temporarily placing the starting point positioner and a conveying structure for conveying the starting point positioner from the first claw body to the placement structure; through set up the mounting structure on first arm body, consequently when the starting point locator on first claw body takes place the damage, transport structure can take away from first claw body with the starting point locator, and then other starting point locators can enter into first claw body on, keep in the time of location starting point, can be smooth and easy and quick.

Preferably, the placing structure comprises a storage groove for placing the starting point locator and a locking component for locking the starting point locator; the storage groove is arranged to facilitate the positioning and storage of the starting point positioner, and the locking component locks the starting point positioner to prevent the starting point positioner from falling off from the first arm body.

Preferably, the conveying structure comprises a grabbing piece for grabbing the starting point positioner and a driving cylinder for driving the grabbing piece to move back and forth; the grabbing piece is arranged, so that the starting point positioner can be moved conveniently, and the operation is rapid and convenient.

Preferably, the driving structure includes a first driving member for driving the first supporting member to move and a second driving member for driving the second supporting member to move, the first driving member is in plug-in connection with the first supporting member, and the second driving member is in plug-in connection with the second supporting member; through the mode that adopts the grafting between setting up first support piece and the first driving piece, when the storage box inserts and deposits in the middle of the chamber, it can realize that first driving piece and first support piece realize connecting, and its is operatable conveniently and quick.

Preferably, a first convex part is arranged on the first supporting part, and a first groove for the first convex part to insert into is arranged on the end part of the first driving part; after the first convex part is inserted into the first groove, the two first pressing pieces are tightly pressed on the side wall of the first convex part; insert into first recess through setting up first convex part, it is connected stably, and then the stability that first driving piece drove the action of first support piece is high.

To sum up, the utility model discloses a surface division with boats and ships is solitary clearance region, therefore the robot is in the clearance, and the hindrance that the process of marcing received is little, moves steadily, and the effect of its clearance is good, has improved the efficiency of robot clearance.

Drawings

Fig. 1 is a schematic structural diagram of the present invention.

Fig. 2 is a schematic structural diagram of the present invention.

Fig. 3 is a third schematic structural diagram of the present invention.

Fig. 4 is a schematic structural diagram of the first robot of the present invention.

Fig. 5 is a schematic view of a partial structure of the first robot of the present invention.

Fig. 6 is a schematic structural view of the grasping member of the present invention.

Fig. 7 is a schematic structural diagram of the starting point positioner of the present invention.

Fig. 8 is a schematic view of a partial structure of the present invention.

Fig. 9 is a partial sectional view of the present invention.

Fig. 10 is a partial exploded view of the present invention.

Fig. 11 is a schematic view of the moving path of the robot during cleaning.

FIG. 12 is a schematic view of the robot of the present invention repositioning the course when navigating off course.

Detailed Description

In order to make the technical field personnel understand the utility model discloses the scheme, will combine the drawing in the embodiment of the utility model below, to the technical scheme in the embodiment of the utility model carries out clear, complete description.

As shown in fig. 1 to 12, an underwater robot for ship cleaning includes a frame 1, a housing 10, a cleaning unit 2, and a driving unit 3; the machine frame 1 is a metal frame, the housing 10 is disposed on the machine frame 1, the housing 10 is a metal shell or a high-strength plastic shell, the cleaning unit 2 and the driving unit 3 are both disposed in the housing 10, and the cleaning unit 2 is an existing cavitation water jet cleaning technology, which is the prior art, and therefore is not described herein again; the driving unit 3 is mainly used for realizing motion control of the underwater robot, and comprises independent motion in directions of heave, advance and retreat, rotation and the like and linkage of a plurality of degrees of freedom; the driving unit 3 mainly comprises six thrusters 31, the thrusters 31 being composed of motors and propellers, which is prior art; four propellers 31 are arranged at the upper part of the shell 10, the four propellers 31 are used for controlling the robot to heave underwater, and the other two propellers 31 are arranged at the tail part of the shell 10, and the two propellers 31 are used for controlling the robot to advance underwater.

In order to avoid obstacles on the surface of a ship during cleaning, the robot divides the surface of the ship into a plurality of cleaning areas and then gradually cleans each cleaning area; an indication positioning unit for distinguishing the cleaning area is further disposed on the housing 10, and the indication positioning unit includes a start device 51 having a start point positioner 6, a finish device 52 having a finish point positioner, a first mechanical arm 53 and a second mechanical arm 54, wherein the start point positioner 6 and the finish point positioner are identical in structure, and therefore only the start point positioner 6 is explained in detail herein; the starting point positioner 6 comprises a shell 61, a sensor and a magnetic part 63, wherein the shell 61 is a waterproof plastic shell, and the outer wall of the shell 61 is inwards sunken to form a concave ring 611; the sensor is a conventional signal sensor which can be directly purchased in the market and is arranged inside the shell 61; the magnetic member 63 is a magnet adhered to the bottom of the housing 61, and when the starting point positioner 6 is placed, the starting point positioner 6 can be directly adsorbed to the side wall of the ship; when the side wall of the ship is partitioned, the robot moves to the right lower corner of a cleaning area, and then the second mechanical arm 54 places the end point positioner 7 to the right lower corner; then the robot directly moves to the upper left corner of the cleaning area, the first mechanical arm 51 places the starting point positioner 6 to the upper left corner, then the robot starts to clean the side wall of the ship in the area from the starting point, and the robot cleans along the Chinese character 'ji' shaped path in the cleaning process until the robot stops at the end point positioner 7.

Further, the starting apparatus 51 includes a storage box 511 and a releasing member 512, a storage chamber 100 is provided on the housing 10, and the storage box 511 is inserted into the storage chamber 100; a rotation stopping groove 101 is formed on the inner wall of the storage chamber 100, a rotation stopping protrusion 501 capable of being inserted into the rotation stopping groove 101 is formed on the side wall of the storage box 511, and when the storage box 511 is inserted into the storage chamber 100, the rotation stopping protrusion 501 is inserted into the rotation stopping groove 101; wherein the storage box 511 is a high-strength plastic box, the storage box 511 has an upper box body part 519 and a lower box body part 518 integrally formed with the upper box body part 519, the upper box body part 519 and the lower box body part 518 are both cylindrical, and the diameter of the upper box body part 519 is larger than that of the lower box body part 518, so that a stepped part 517 is formed at the joint between the upper box body part 519 and the lower box body part 518; a circle of air bags 515 are arranged on the inner wall of the upper box body part 519 in a surrounding manner, the air bags 515 are rubber bags, and air is filled in the air bags 515; the starting point positioner 6 is placed in the upper box portion 519; through the arrangement of the air bag, the starting point positioner 6 can be better protected in the upper box body, and the starting point positioner 6 is prevented from being collided and damaged due to shaking; meanwhile, if the storage box 511 is detached from the housing 10, the storage box 511 and the starting point positioner 6 are driven to float upwards due to the buoyancy of the air bag 515, so that the storage box 511 is prevented from being lost; a cover made of plastic is provided on the upper portion of the upper case member 519, and is a plastic cover screwed to the inner wall of the upper case member 519, and the cover has a plurality of through holes for holding the starting point positioning device 6 to be smoothly discharged from the storage case.

The release member 512 is disposed on the upper portion of the lower case portion 519, the release member 512 includes a first support member 551 capable of moving left and right and a second support member 552 capable of moving left and right, the first and second support members are symmetrically disposed, and the first support member 551 and the second support member 552 are both C-shaped metal claws, and an opening is provided on the lower case portion 519, and the opening is used for the first and second support members to move; a first convex part 555 is arranged on the first supporting part 551, and a second convex part 556 is arranged on the second supporting part 552; the first convex portions 555 are convex strips, and the second convex portions 556 are also convex strips; a driving structure is disposed in the storage cavity 100, the driving structure includes a first driving member 559 and a second driving member 558, the first driving member 559 is a cylinder, the second driving member 558 is also a cylinder, a first groove 571 is disposed at an end of the first driving member 559, a second groove 570 is disposed at an end of the second driving member 558, when the storage box 511 is inserted into the storage cavity 100, the first protrusion 555 is inserted into the first groove 571, and the second protrusion 556 is inserted into the second groove 570.

Meanwhile, the structure of the end point locator is completely the same as that of the start point locator, and the structure of the end device is also completely the same as that of the start device, so the description is omitted here.

Specifically, the first mechanical arm 53 includes a first arm 531, a second arm 532 and a first claw 533 arranged at an end of the first arm 531, wherein the first arm 531 and the second arm are movably connected; a pushing cylinder is connected between the first arm body 531 and the second arm body 532, so that the first arm body 531 and the second arm body 532 can be bent; the first claw body 533 is movably connected with an end of the second arm 532, and the first claw body 533 is a plurality of C-shaped metal claws; the first claw 533 is located at an end of the first arm 531, the first arm 531 is provided with a gripper cylinder 539, a second claw 538 is connected to an end of the gripper cylinder 539, and the second claw 538 is symmetrical to the first claw 539, so that when the starting point positioner 6 is gripped, the gripper cylinder 539 drives the second claw 538 to move, and the starting point positioner 6 is gripped.

A placing structure is arranged on the first arm body 531, and the placing structure is used for temporarily placing the starting point positioner 6 on the first claw body 531; the positioning structure comprises a storage groove 561 formed on the first arm 531, a closing member 562 arranged on the upper part of the storage groove 561, the storage groove 561 is a conventional metal groove, the bottom of the storage groove 561 is provided with a drainage hole 560, and the starting point positioner 6 can be placed in the storage groove 561; the closing component 52 is a door capable of being opened by rotating, the closing component 52 comprises an opening and closing door 569 and a torsion spring 568, the opening and closing door 569 is movably connected with the first arm body 531 through a shaft, the torsion spring 568 is sleeved on the shaft, and the torsion spring 568 pushes the opening and closing door 569 to bounce upwards; a limiting convex part 567 is arranged on the opening and closing door 569, the limiting convex part 567 is a convex strip, and the limiting convex part 567 is abutted against the upper end surface of the first arm body 531, so that the limiting convex part 567 can only be turned downwards; when the start point locator 6 is placed on the closing member, the closing member is pressed downward, and the closing member is opened by the pressure.

The first arm body 531 is also provided with a conveying structure for conveying the starting point positioner 6 on the first claw body 531 to the storage groove 561; the conveying structure comprises a grabbing piece 581 used for grabbing the starting point positioner 6, a driving air cylinder 582 used for driving the grabbing piece 581 to move back and forth, a steering air cylinder 583 used for pushing the driving air cylinder 582 to rotate and a lifting air cylinder 584; the grabbing member 581 is a C-shaped metal claw, two ends of the grabbing member 581 are provided with elastic pressing members 588, each pressing member 588 is an arc-shaped metal elastic sheet, and the end parts of the pressing members 588 are movably connected with the grabbing member 581; an arc-shaped concave rail 585 is arranged on the grabbing member 581, an anti-drop part 584 positioned in the concave rail 585 is arranged at the end part of the pressing member 588, the anti-drop part 584 is positioned in the concave rail, and the anti-drop part 584 is contacted with the inner wall of the concave rail 585; meanwhile, a positioning part 69 is arranged on the side edge of the starting point positioner 6, the positioning part 69 is a groove, and the pressing piece 588 is clamped on the positioning bar 69.

Further, the driving cylinder 582 is a conventional cylinder, the driving cylinder 582 drives the grabbing member 581 to move back and forth, the lifting cylinder 584 is a conventional cylinder, the lifting cylinder 584 is disposed on the first arm 531, a convex plate 591 is disposed at an upper end of the lifting cylinder 584, a bearing is disposed on the convex plate 591, the driving cylinder 582 is disposed on the bearing, the steering cylinder 583 is disposed on the convex plate 591, and the cylinder 583 pushes the bearing to rotate; after the grabbing part 581 grabs the starting point locator 6, the driving cylinder drives the starting point locator 6 to act, then the steering cylinder 583 drives the starting point locator 6 to turn to the upper part of the placing groove, and then the lifting cylinder drives the starting point locator to act downwards to the middle of the placing groove 561.

Specifically, the second robot arm 54 and the first robot arm 53 are symmetrically arranged, and the structure thereof is completely the same as that of the first robot arm 53.

While the pair of origin locators fall without adhering to the vessel sidewall, the robot dives downward and then picks up the origin locators again.

Therefore, the ship is divided into a plurality of cleaning areas, in each area, the cleaning operation of the underwater robot sails in the cleaning according to a set program, and the reversing is carried out on the edge of the cleaning area, and the specific working steps are as follows:

1) when the underwater robot starts to work, the underwater robot slowly moves around the cleaning ship for a circle, and the camera and the optical radar shoot and scan the ship wall to generate a three-dimensional model of the ship wall. The three-dimensional model can display the size information of the ship, the change trend of the ship wall, the folding angle information and the like;

2) in the three-dimensional model, if the height of the protrusions on the ship wall exceeds the passing height H of the underwater robot, the underwater robot cannot crawl through along the ship wall. The characteristic of ship construction is that the weld seam is usually perpendicular to the direction of the plywood. In the present application, once such a protrusion is found, it is extended longitudinally to the bottom of the ship, defining such a protrusion as a boundary protrusion;

3) the cross section and the longitudinal direction of the ship are gradually changed curved surfaces, when the underwater robot walks at the junction of the curved surfaces, the underwater robot can not pass through the curved surfaces, and the passing angle of the underwater robot

Wherein LZ is the wheel base of the front and rear wheels, LL is the wheel base of the left and right wheelsWhen the surface included angle of the ship wall or the acute angle of the included angle formed by the extension line of the ship wall is larger than the passing angle, the underwater robot cannot drive through the broken line, and the broken line is defined as a boundary broken line;

4) the surface of the ship wall can be divided into N approximate rectangular areas through the ship head position, the waterline, the bottom, the determined boundary bulges and the determined boundary broken lines, and the machine can continuously walk and traverse the whole area through a task planning route in any one area;

5) for each individual cleaning zone, the upper left cleaning point is defined as a work starting point S, and the lower right cleaning point is defined as a work ending point T. The underwater robot firstly runs to an operation end point T of a cleaning area, an end point positioner is arranged through the second mechanical arm, the end point positioner is adsorbed on a ship wall through the magnetic force of a permanent magnet and then runs to an operation start point S of the cleaning area, a start point positioner is arranged through the second mechanical arm, and through the connection of the positioning indicators, when the underwater robot operates at any position in the cleaning area, the position of the underwater robot relative to the start point is unique. The positioning indicator is used for measuring the relative distance between the underwater robot and the work starting point, the distance from the work starting point to the underwater robot is defined as r1, and the distance from the work ending point to the underwater robot is defined as r 2;

6) the effective width of the cleaning operation of the underwater robot is D, the width W between the flight paths of the operation of the underwater robot is 0.5X D, and the allowable deviation error sigma of the operation process of the underwater robot is 0.25X D, so that the efficiency of the underwater cleaning operation can be ensured, and the coverage can be sufficient;

7) when the underwater robot advances along the direction of S → O1, the horizontal coordinate of the underwater robot is x-v-t, and the vertical coordinate of the underwater robot is y-n-W-0 relative to the point S. When the underwater robot advances to the boundary point O1, the underwater robot turns to let t be 0, n be n +1, the underwater robot advances along the direction O1 → O2, the horizontal distance of the S point O1 is SOn, and then the underwater robot has x-SOn-v t horizontal coordinates and y-n W vertical coordinates relative to the S point, where n represents the number of turns. At the moment, the theoretical coordinate point of the underwater machine can be calculated by (x, y);

8) in the running process of the underwater robot, the underwater robot deviates from the flight path, the actual coordinates (x1 and y1) of the underwater robot relative to the S point can be calculated by the end point locator and the start point locator, if the distance deviation indicates that the underwater robot deviates from the set flight path, the running time t is timed to stop, and the current time value is saved;

the underwater robot can deviate from the air route in the running process, the relative distance r1 and the theoretical coordinate (x, y) of the underwater robot are measured by the end point locator, if the distance deviation indicates that the current underwater robot deviates from the set air route, the running time t is timed to stop, and the current time value is saved;

on a plane, S, T is taken as a center of a circle, r1 and r2 are taken as radiuses to make a circle, 2 intersection points P1 and P2 are provided, and coordinates (x1 and y1) and (x2 and y2) of the intersection points P1 and P2 can be obtained through calculation, if the water depth of the underwater robot at the current position is the water depth, wherein α is the included angle between the ship wall of the underwater robot and a plumb line, P2 is the actual position of the underwater robot, and the underwater robot drives to a point P along the direction P2 → P, otherwise, the underwater robot drives to the point P along the direction P1 → P;

9) readjusting the course of the underwater robot to the set course, keeping timing when the running time t is up, and keeping the underwater robot going forward according to the set direction;

10) after the underwater robot runs to the O2 point, repeating the steps 7) to 9) until the underwater robot runs to the operation end point T;

11) the underwater robot uses the second mechanical arm to grab and hold the end point locator, and current is passed to the electromagnetic coil on the mechanical arm device, so that the magnetic force generated by the second mechanical arm coil counteracts the adsorption magnetic force of the end point locator, and the end point locator is withdrawn;

12) when the underwater robot sails to the operation starting point S, the second mechanical arm is used for grabbing and holding the starting point positioner, current is passed to the electromagnetic coil on the second mechanical arm device, so that the magnetic force generated by the mechanical arm coil counteracts the adsorption magnetic force of the starting point positioner, and the starting point positioner is withdrawn;

13) and (3) completing the cleaning work of the cleaning area by the underwater robot, separating from the ship wall, sailing to the area No. 2 in the water, and repeating the steps 1) -12) until the cleaning work of all the areas is completed.

It is obvious that the described embodiments are only some of the embodiments of the present invention, and not all of them. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts shall belong to the protection scope of the present invention.

Claims

1. An underwater robot for ship cleaning comprises a frame (1), a shell (10) arranged on the frame (1), a cleaning unit (2) arranged on the frame (1) and a driving unit (3) arranged on the frame (1); the method is characterized in that: the shell (10) is further provided with an indicating and positioning unit (5) used for dividing the ship into a plurality of cleaning areas, and the indicating and positioning unit (5) comprises a starting device (51) provided with at least two starting point positioners (6), a finishing device (52) provided with at least two finishing point positioners (502), a first mechanical arm (53) used for placing the starting point positioners (6) and a second mechanical arm (54) used for placing the finishing point positioners (502); when the ship is cleaned, firstly, the surface of the ship is divided into a plurality of cleaning areas, and the second mechanical arm (54) is used for placing the end point positioner (502) at the lower right corner of the cleaning areas; then a starting point positioner (6) is arranged on the first mechanical arm (53) at the upper left corner of the cleaning area, and the robot starts cleaning according to a Chinese character 'ji' shape from the starting point to stop at the end point.

2. An underwater robot for cleaning of ships according to claim 1, characterized in that: the starting device (51) comprises a storage box (511) for placing the starting point positioner (6) and a releasing component (512) for supporting the starting point positioner (6), wherein the releasing component (512) is arranged below the storage box (511).

3. An underwater robot for cleaning of ships according to claim 2, characterized in that: the shell (10) is provided with a storage cavity (100) for inserting the storage box (511), and a driving structure for driving the releasing component (512) to work is arranged in the storage cavity (100).

4. An underwater robot for cleaning of ships according to claim 3, characterized in that: the releasing part (512) comprises a first supporting part (551) capable of moving left and right and a second supporting part (552) capable of moving left and right, and the first supporting part and the second supporting part are symmetrically arranged.

5. An underwater robot for cleaning of ships according to claim 2, characterized in that: the first mechanical arm (53) comprises a first arm body (531), a second arm body (532) movably connected with the first arm body (531) and a first claw body (533) arranged at the end part of the first arm body (531), and the starting point positioner (6) can enter the first claw body (533) from the storage box (511).

6. An underwater robot for cleaning of ships according to claim 5, characterized in that: the first arm body (531) is provided with a placement structure for temporarily placing the starting point positioner (6) and a conveying structure for conveying the starting point positioner (6) from the first claw body (533) to the placement structure.

7. An underwater robot for cleaning of ships according to claim 6, characterized in that: the placement structure comprises a storage slot (561) for placing the starting point locator (6) and a locking member for locking the starting point locator (6).

8. An underwater robot for cleaning of ships according to claim 6, characterized in that: the conveying structure comprises a grabbing piece (581) used for grabbing the starting point positioner (6) and a driving air cylinder (582) used for driving the grabbing piece (581) to move back and forth.

9. An underwater robot for cleaning of ships according to claim 4, characterized in that: the driving structure comprises a first driving piece (559) used for driving the first supporting piece (551) to move and a second driving piece (558) used for driving the second supporting piece (552) to move, the first driving piece (559) is in plug connection with the first supporting piece (551), and the second driving piece (558) is in plug connection with the second supporting piece (552).

10. An underwater robot for cleaning of ships according to claim 9, characterized in that: the first supporting piece (551) is provided with a first convex part (555), and the end part of the first driving piece (559) is provided with a first groove (571) for the first convex part (555) to insert.