DK179252B1

DK179252B1 - VESSEL CLEANING DEVICE

Info

Publication number: DK179252B1
Application number: DKPA201670635A
Authority: DK
Inventors: Thomas Jørgensen; Michael Iversen; Nikolaj Hans Bramsen Kloster; Bo Møller Hansen
Original assignee: Cliin Aps
Priority date: 2016-08-23
Filing date: 2016-08-23
Publication date: 2018-03-12
Also published as: DK201670635A1

Abstract

A submersible apparatus for cleaning the outer side of the hull of a marine vessel and for cleaning the wall of cargo space in the cargo holds. The apparatus comprises a watertight housing provided with continuous magnetic tracks at opposing lateral sides of the housing. A watertight housing provided with continuous magnetic tracks at opposing lateral sides of said housing. At least one drive motor in the housing operably connected to at least one continuous magnetic track for driving the continuous magnetic tracks. The housing being provided with a main side between the continuous magnetic tracks. The main side preferably facing away from the hull- The main side being configured for detachably attaching a cleaning tool.

Description

HULL CLEANING APPARATUS TECHNICAL FIELD

The disclosure relates to a hull cleaning apparatus and method, in particular to a hull cleaning apparatus and method for removing deposits, organic and inorganic, from both submerged and unsubmerged surfaces of the hull of a marine vessel as well as wall of the cargo space in the hull of a marine vessel.

BACKGROUND

Increased competition in the shipping industry creates increased focus on cost reduction. Fuel is the single biggest cost driver for a shipping company. Big ships use 100+ tons of fuel per day. General trade, slow steaming and idle periods are conditions where marine growth (fouling) thrives.

Marine growth increases the degree of surface roughness of submerged portions of marine vessels and has a significant effect on both ship fuel efficiency and on the speed which can be achieved at a given propeller speed. For marine vessels, commercial, private, or military, losses in ship performance have a variety of consequences, both financial and in terms of meeting scheduled arrival dates.

There are also environmental reasons for regularly cleaning the whole of marine vessel. More strict global environmental global regulations are expected in the near future, combined with a potential future ban of biocidal antifouling products.

Regulations against transfer of foreign aquatic invasive species, for protection of e.g. coral reefs are also likely to be implemented in the not very distant future. Living up to such regulation will require a clean hull at all times.

Use of divers for hull cleaning brings health and safety issues since divers do sometimes perish during cleaning operations. This adds negatively to safety statistics and reports to top managements.

Some new high performance paint types (silicone paint), with no or less biocides are unable to perform and requires continuous cleaning.

Quality cleaning is rarely available when needed i.e. at the location where the ship is located at the time that cleaning is required. The quality of available solutions is often impossible to control or verify. Low-quality cleaning solutions may damage coating, which inflicts further economical consequence for the ship owner.

Existing solutions can only clean below the water line. All existing solutions are "call on demand" services that are contracted when the "damage is done". At this point in time, the added fuel consumption has already created significant costs for the charterer or ship owner. Extensive crew is required for call on demand services (HQ, Agent, Port Authorities or Cleaning company). Call on demand cleaning is expensive .

Cleaning is often not finished as cleaning can only be done during daytime and only on one side of the ship if alongside in a port.

The administration part is very intensive and requires a a large variety of different steps including approval of diving companies, ships agents, diving equipment with physical divers, HSE, etc.

Transfer of aquatic invasive species to restricted areas can lead to requirement of immediate hull cleaning before entering a specific area. This causes additional waiting time for an external cleaning service and inflicts a heavy penalty.

No current solutions perform preventive cleaning of the hull of large marine vessels. US2014230711 discloses a chassis that clings to a ship hull or other ferrous surface by a magnet that moves toward or away from the surface to adjust the magnet air gap and thus the attractive force. The magnet(s) can be the only clinging force or used with other sources such as a suction chamber or fluid jet drive. An internal magnet on a crank mechanism can pivot around a wheel rotation axis inside a wheel body having a non-ferrous traction surface or tire. The magnet gap is least at an angle perpendicular to the surface on which the wheel rests, and larger at an angle oblique to that, for varying the attractive force to two or more levels . The vehicle can be an autonomous hull maintenance device with sensors, controllers and actuators to sense, measure and clean away fouling. The chassis is provided with tools for cleaning the hull of a ship to which the chassis clings. CN101704241 discloses a wall-climbing robot for removing rust on wall surfaces of ships and a working method thereof. The wall-climbing robot comprises a frame, a chain track walking mechanism, a permanent magnetic adsorption unit, a left-upper drive motor, a left-upper decelerator, a right-lower drive motor and a right-lower decelerator, wherein the chain track walking mechanism consists of a left chain track and a right chain track, the permanent magnetic adsorption unit is mounted on the chain track walking mechanism, and an ultrahigh pressure water jet vacuum rust-removing cleaner is externally connected with a vacuum source and the permanent magnetic adsorption unit to form vacuum permanent magnetic mixed adsorption. The method comprises the steps of regulation of the tension of chains, height adjustment and movement control. In the invention, by adopting the vacuum permanent magnetic mixed adsorption mode to design the wall-climbing robot and effectively utilizing and recycling negative pressure of the rust vacuum in combination with permanent magnetic adsorption force, the wall-climbing robot achieves reliable adsorption, safe working and compact adsorption structure and is capable of realizing working with large load at high altitude.

SUMMARY

It is an object of the invention to provide an apparatus that allows for cleaning of the hull of a marine vessel both above and below the waterline.

The foregoing and other objects are achieved by the features of the independent claims. Further implementation forms are apparent from the dependent claims, the description and the figures .

According to a first aspect there is provided a submersible apparatus for cleaning the outer side of the hull of a marine vessel and for cleaning the wall of cargo space in the cargo holds, the apparatus comprising a watertight housing provided with continuous magnetic tracks at opposing lateral sides of the watertight housing, at least one drive motor in the watertight housing operably connected to at least one continuous magnetic track for driving the continuous magnetic tracks, the watertight housing being provided with a main side between the continuous magnetic tracks, the main side preferably facing away from the hull, the main side being configured for detachably attaching a tool.

The apparatus enables early cleaning to prevent heavy fouling by removing the fouling at an early stage. The preventive cleaning is supported by gentle cleaning by either high pressure water jetting or brushes. The cleaning can be done at any time anywhere in the world, as the apparatus is permanently installed on the marine vessel, preferably also whilst the marine vessel is sailing.

Due to magnetic adhesion the apparatus is able to clean during sailing

Due to magnetic tracks the apparatus can clean above the water line, which is needed due to different water levels during cargo/ballast, etc.

The apparatus is permanently installed on the marine vessel whilst all current solutions are "call on demand" - The solution is permanently on board vessel for use when needed.

In a first possible implementation form of the first aspect the two continuous magnetic tracks are provided with a plurality of permanent magnets substantially equally distributed along the length of the continuous tracks for allowing the continuous tracks to magnetically adhere to the hull of the marine vessel.

In a second possible implementation form of the first aspect the watertight housing as a front and a rear, the apparatus further comprising a front wheel and a rear wheel for each of the two continuous magnetic tracks, the watertight housing comprising two electric drive motors, one electric drive motor being operably connected to the front wheel of one of the continuous magnetic tracks and the other electric drive motor being operably connected to a rear wheel of the other one of the continuous magnetic tracks.

In a third possible implementation form of the first aspect each electric drive motor is provided with a reduction gear that forms one integral unit with the electric drive motor with the combination of the reduction gear and the electric drive motor preferably having a substantially cylindrical shape, with the respective driven front or rear wheel being directly fitted to an output shaft of the reduction gear or to an output shaft of a clutch unit connected to said reduction gear.

In a fourth possible implementation form of the first aspect a portion of the electric drive motor opposite to the output shaft protrudes from a lateral side of the watertight housing with a non- driven front or rear wheel having an offset that allows for the protruding portion of the electric drive motor to be received inside the non-driven front or rear wheel being disposed over the protruding portion.

In a fifth possible implementation form of the first aspect the electric drive motors are disposed at or near the two opposite longitudinal ends of the watertight housing with their respective output shaft and/or the respective output shafts of the reduction gear coupled to the electric drive motor concerned being directed in opposite directions and preferably protruding from opposite lateral sides of the watertight housing at or near opposite longitudinal ends of the watertight housing.

In a sixth possible implementation form of the first aspect the apparatus further comprises a clutch unit integrally connected to the electric drive motor and reduction gear unit, the combination of the drive motor, reduction gear and the clutch unit preferably having a cylindrical shape.

In a seventh possible implementation form of the first aspect the main side is provided with a versatile mounting plate for detachably attaching a tool.

In an eight possible implementation form of the first aspect the watertight housing is provided with front or rear side that is provided with a configurable interface area for attaching lights, cameras or sensors.

In a ninth possible implementation form of the first aspect further comprising a docking station connected to the apparatus by a suspension wire, a power cable and/or a communication cable.

In a tenth possible implementation form of the first aspect the docking station is provided with a high pressure pump for delivering high pressure water and wherein an inlet of a high pressure cleaning tool attached to the apparatus is connected via a high pressure hose to an outlet of the high pressure pump .

In an eleventh possible implementation form of the first aspect the cleaning tool comprises nozzles and/or brushes rotatable by a least one brush drive, the brush drive preferably being powered by high pressure water from the high pressure pump.

In a twelfth possible implementation form of the first aspect a user interface unit is coupled to, or part of the docking station, the user interface unit being preferably provided with user interface elements for controlling the operation of the apparatus in response to input from a human operator.

In a thirteenth possible implementation form of the first aspect the docking station is provided with a water hose on a hose reel for connecting to a water supply system of the marine vessel and/or with a power cable and power cable reel for connecting to the grid of the marine vessel.

In a fourteenth possible implementation form of the first aspect the docking station is provided with a motorized wire reel for the suspension wire and/or with a cable reel for the power cable and/or communication cable and/or with a high pressure hose reel for the high pressure hose.

In a fifteenth possible implementation form of the first aspect the docking station is wheeled and wherein the apparatus and the docking station are configured such that the apparatus can be carried and transported by the docking station .

In a sixteenth possible implementation form of the first aspect the docking station is provided with an RFID transceiver configured to read an RFID transponder provided on the marine vessel. A transponder is placed on the vessel and by placing the docking station above or near this RFID transponder, the right route is automatically selected for cleaning.

In a sixteenth possible implementation form of the first aspect the apparatus and or the docking station is provided with an electronic control unit configured for semi or full automatic cleaning.

In a seventeenth possible implementation form of the first aspect the electronic control unit is configure to perform a preprogrammed route for optimized cleaning.

These and other aspects of the invention will be apparent from and the embodiment (s) described below.

BRIEF DESCRIPTION OF THE DRAWINGS

In the following detailed portion of the present disclosure, the invention will be explained in more detail with reference to the example embodiments shown in the drawings, in which:

Figs. 1 and 2 are front and rear elevated views of an example embodiment of an apparatus for hull cleaning, respectively, Fig. 3 is an elevated view of the applause of Figs. 1 and 2 in action on the cargo hold of a marine vessel,

Fig. 4 is a sectional view of the apparatus of Figs. 1 and 2, Fig. 5 is top view of a marine vessel on which the apparatus of Figs. 1 and 2 an be used to clean the hull and the walls of the cargo space,

Fig. 6 is an elevated view of a portion of the deck of the marine vessel of Fig, 5 illustration a parking place for a docking station associated with the apparatus of Figs 1 and 2, and

Fig. 7. is an elevated view of the docking station associated with the apparatus of Figs . 1 an 2 parked on the parking place of Fig. 6.

DETAILED DESCRIPTION

Figs. 1 and 2 show a submersible apparatus 1 for cleaning the outer side of the hull 60 of a marine vessel 50 (Fig. 5). The apparatus 1 is also suitable for cleaning the wall of a cargo space in the cargo holds 60. The apparatus 1 comprises a watertight housing 2 provided with continuous magnetic tracks 3 at opposing lateral sides of the watertight housing 2.

The endless magnetic tracks are in an embodiment provided with one or more road wheels (not shown) and with one or more idlers 26.

Wherein said magnetic tracks are built from modular chain links joined by a hinge, with each link or each second link being provided with a permanent magnet.

At least one drive motor 14, 17 in the watertight housing 2 is operably connected to at least one continuous magnetic track 3 for driving the continuous magnetic tracks 3. The watertight housing 2 is provided with a main side 7 between the continuous magnetic tracks 3. The main side 7 facing away from the hull or the wall of the cargo room during cleaning operation. The main side 7 is provided with a versatile mounting plate for detachably attaching a cleaning tool 20, e.g. by a magnetic or quick coupling(s) (not shown) . The cleaning tool 2 can be one of a variety of types. On type of cleaning tool 20 comprises high pressure cleaning nozzles 20 and inlet 24 for connecting to a high pressure water hose (not shown). The cleaning apparatus 20 may in an embodiment (not shown) comprise rotating brushes and a drive powered by high pressure water received via the high pressure hose.

The two continuous magnetic tracks 3 are provided with a plurality of permanent magnets 4 substantially equally distributed along the length the continuous tracks 3 for allowing the continuous tracks to magnetically adhere to the hull or wall of the cargo space of the marine vessel 50.

Each permanent magnet is molded into a rubber material and then remolded into a polymer housing, with the rubber penetrating the part of the polymer housing, with is facing the steel surface. This allows to change hardness of the tracks, depending on the type of surface to be cleaned. The watertight housing 2 comprises a front and a rear. The apparatus 1 further comprises a front wheel and a rear wheel 5,6 for each of the two continuous magnetic tracks 3. The watertight housing 2 comprises two electric drive motors 14,17. Electric drive motor 14 being operably connected to the driven front wheel 6 of one of the continuous magnetic tracks 3 and the other electric drive motor 17 being operably connected to the rear wheel 6 of the continuous magnetic track.

Each electric drive motor 14,17 is provided with a reduction gear 15,18 that forms one integral unit with the electric drive motor 14,17 concerned with the combination of the reduction gear 15,18 and the electric drive motor 14, having a substantially cylindrical shape, with the respective driven front or rear wheel 6 being directly fitted to an output shaft 27,28 of the reduction gear or of a clutch 16,19 operably connected with the respective reduction gear 15,18. A portion of the electric drive motor 14,17 opposite to the output shaft 27,28 protrudes from a lateral side of the housing with a non- driven front or rear wheel 5 having an offset that allows for the protruding portion of the electric drive motor 14,17 to be received inside the non-driven front or rear wheel 5 being disposed over the protruding portion.

The electric drive motors 14,17 are disposed at or near the two opposite longitudinal ends of the watertight housing 2 with their respective output shaft and/or the respective output shafts 27,28 of the reduction gear 16,18 coupled to the electric drive motor 14,17 concerned being directed in opposite directions and preferably protruding from opposite lateral sides of the watertight housing 2 at or near opposite longitudinal ends of the watertight housing 2.

The apparatus 1 comprises a clutch unit 16,19 integrally connected to the electric drive motor and reduction gear unit. The combination of the drive motor, reduction gear and the clutch unit preferably having a cylindrical shape.

The watertight housing 2 is provided with front or rear side 8 that is provided with a configurable interface area for attaching lights, cameras or sensors 12.

Fig. 7 shows a docking station 30 associate with and connected to the apparatus by a suspension wire 23 for ensuring that the apparatus 1 is not lost if the magnetic endless tracks 3 should inadvertently become detached from the hull or from the wall of the cargo hold. A power cable 24 extends between the docking station 30 and the apparatus 1 for supplying the apparatus 1 with electrical power. A communication cable (not shown), that can in embodiment be integrated into the power cable 24 allows for the transmission of signals between the apparatus 1 and the docking station 30.

The docking station 30 is provided with a high pressure pump (not shown) for delivering high pressure water. An inlet 24 of a high pressure cleaning tool 20 attached to the apparatus 1 is connected via a high pressure hose (not shown) to an outlet of the high pressure pump.

The cleaning tool 20 comprises high pressure cleaning nozzles 22 and/or brushes rotatable by a least one brush drive (not shown) the brush drive preferably powered by high pressure water from the high pressure pump. A user interface unit 36 is coupled to, or part of the docking station 30. The user interface unit comprises user interface elements for controlling the operation of the apparatus 1 in response to input from a human operator. The apparatus 1 is either configured to perform exact instructions of the human operator or configured to perform tasks autonomously in response to a command from the human operator.

The docking station 30 is provided with a water hose 32 on a hose reel for connecting to a water supply system of the marine vessel 50. The docking station 30 us also provided with a power cable 33 and power cable reel 34 for connecting to the grid of the marine vessel 50.

The docking station 30 is also provided with a motorized wire reel (not shown) for the suspension wire 23 and with a cable reel (not shown) for the power cable 24 and with a high pressure hose reel (not shown) for the high pressure hose.

In an embodiment the docking station 30 is wheeled. The apparatus 1 and the docking station 30 are in an embodiment configured such that the apparatus 1 can be placed on the docking station 30 so that the apparatus 1 can be carried and transported by the docking station 30.

The docking station 30 is provided with an RFID (Radio Frequency Identification) transceiver (not shown) configured to read an RFID transponder 15 provided on the deck 57 of the marine vessel 50. RFID transponders 15 are placed on the marine vessel 50 at a suitable parking positions for the docking station 30. By placing the docking station 30 above or near an RFID transponder 15, the right route for the apparatus 1 over the hull section in the area of the parking position is automatically determined by an electronic control unit in the docking station 30 (or in the apparatus 1) . An electronic control unit configured for either semi or full automatic cleaning. Various suitable positions for the RFID transponders 15 on the deck of the marine vessel 50 are shown in Fig. 5. In an embodiment the electronic control unit is configured to perform a preprogrammed route for optimized cleaning .

Fig. 5 shows the marine vessel 50 with its hull 60 extending from the bow 51 to the stern 52, bridge 54 and funnel 55 and the RFID transponders 15 for the selected parking positions for the docking station 30.

In operation the apparatus 1 drives starting from the top of the hull 60 face down downwards to the center of the bottom of the hull 60 and back in a zigzag pattern to cover the area of the hull 60 associated with the parking position of the docking station 30. The motorized wire reel keeps a minimum amount of tension in the suspension wire 23 to avoid that the wire 23 has slack. The power cable reel and the high pressure hose reel are resilient or motorized in order to keep the power cable and high pressure hose at light tension during the zigzag movement of the apparatus 1.

Fig. 3 shows the apparatus 1 in action on a wall 70 of a cargo space. water jets 13 clean the surface of the cargo hold, including any beams 72.

The apparatus 1 is further provided with various sensors that provide signals that allow the apparatus to keep distance form obstacles such as beams 72 and assist operation of the apparatus .

In operation the apparatus 1 drives starting from the bottom of the cargo space face up downwards top of the of cargo space and back in a zigzag pattern to cover the area of the cargo space associated with the present parking position of the docking station 30. The presence of a suspension wire 23 is not essential for use of the apparatus 1 for cleaning a cargo space .

The apparatus 1 enables early cleaning to prevent heavy fouling. The preventive cleaning is supported by gentle cleaning by either high pressure water jetting or brushes.

Due to magnetic adhesion the apparatus 1 is able to clean during sailing. Due to magnetic tracks the apparatus can clean above the water line, which is needed due to different water levels during cargo/ballast, etc.

The apparatus 1 can be permanently installed on the marine vessel whilst all current solutions are "call on demand" -Our solution is permanently on board vessel for use when needed.

The invention has been described in conjunction with various embodiments herein. However, other variations to the disclosed embodiments can be understood and effected by those skilled in the art in practicing the claimed invention, from a study of the drawings, the disclosure, and the appended claims. In the claims, the word "comprising" does not exclude other elements or steps, and the indefinite article "a" or "an" does not exclude a plurality. A single processor or other unit may fulfill the functions of several items recited in the claims. The mere fact that certain measures are recited in mutually different dependent claims does not indicate that a combination of these measured cannot be used to advantage.

Claims

DEVICE FOR CLEANING SHIP HODS PATEHTKRÅY I ': One underwater device for cleaning, the outer side of a ship's hull and for cleaning the wall of las trem, comprising: a watertight housing provided with continuous magnetic belts at opposite transverse sides of the watertight housing, at least one drive motor in the housing, which drive motor is operatively connected to. at least one continuous magnetic belt for operating the continuous magnetic belts, said waterproof housing being provided with a main side between the continuous magnetic belts: said main side preferably facing away from the hull, said main side being configured for removable attachment of a cleaning tool.

2. Apparatus according to claim in which at least two of the continuous: magnetic belts are provided with a plurality of permanent magnets which are substantially evenly distributed longitudinally of the continuous belts, thereby allowing the continuous belts to adhere to the hull of the ship,

The device 1 of claim 1 or 2, wherein the waterproof housing has a front and one rear end, and the device: further comprising a front wheel and a rear wheel for each of the two continuous magnetic belts, said waterproof housing comprising two electric drive motors: wherein one drive motor is operatively connected to the front wheel by ot of the continuous magnetic belts and the other drive motor is operatively connected to. rear wheel of another of the continuous magnetic belts * 4.: Device according to kray 3f Before each electric drive motor is provided · with one. reduction gear forming: an integrated unit with the electric drive motor, where the combination of the reduction gear and the electric drive motor preferably has a mainly cylindrical shape and the respective driven front or rear wheels are mounted directly on an output shaft of the reduction gear or on an output shaft belonging to it a clutch connected to the reduction gear.

Device according to claim 4, wherein a portion of the electric drive motor opposite the output shaft advances from a transverse side of the watertight housing, wherein a non-driven front or rear wheel has a displacement allowing the forward portion of the electric the drive motor can be received within this non-powered rear wheel which is positioned above the forward projection .1. Apparatus according to claim 4 or 5, wherein the electric drive motors are arranged at. or near the two opposite longitudinal ends of the watertight housing with their respective output shafts and / or respective output shafts of the reduction gear coupled to the affected electric drive motor, facing in opposite directions and preferably projecting from opposite transverse sides of the watertight housing at or near opposite longitudinal ends of the waterproof housing.

Device according to any one of claims 4 to 6, further comprising a coupling unit integrally connected to the electric drive motor and the reduction gear, and wherein the combination of the drive motor, the reduction gear and the coupling unit preferably carries a cylindrical form.

8. An indication of any one of claims 1 to 7, wherein the main side is provided with a different mounting plate for removable attachment of a tool. Device according to any one of claims 1 to 8, wherein the watertight housing is provided with configurable interface areas for attaching lighting units, cameras or sensors, the interface areas preferably providing a front or back side of the watertight housing.

Device according to any one of claims 1 to 8, further comprising a docking station connected to the device with a suspension wire, a power cable and / or a communication cable.

The device of claim 10, wherein the docking station is provided with a high pressure pump for supply of high pressure water and wherein an inlet to a: high pressure cleaning tool attached to the device is connected via a high pressure hose to an outlet of the high pressure pump.

The device of claim 1, wherein the cleaning tool comprises nozzles and / or brushes that are rotatable. at least one brush drive, which brush drive is preferably driven by high pressure water from the high pressure pump.

Device according to any one of claims 10 to 12, wherein a user interface unit is coupled to or is part of the docking station, which user interface unit is preferably provided with user interface elements for controlling the operation of the device as response to input from a human operator ;,

Device according to any one of claims 10 to 13, wherein the docking station is provided with a water hose on a hose reel for connection to a water supply system on the ship and / or with a power cable and power cable reel for connection to the network on the ship.

Device according to any one of claims .10 to 14, wherein the docking station is provided with a motorized wire reel for use in the suspension wire and / or with a cable reel for use with the power cable and / or the communication cable and / or a high pressure hose reel for use. need the high pressure hose. Device according to any of the following. preferably, of claims ΊΌ to 25, wherein the docking station has wheels and wherein the device and docking station are configured so that the device can be carried and transported by the docking station.

Device according to any one of the following. any of claims 10 to 16, wherein the docking station is provided with an RF1D transceiver configured to read an EF ID transponder provided on the ship.