KR102321006B1 - A system for cleaning ship hull surface - Google Patents

Abstract

The present invention provides a hull bottom surface cleaning system, which comprises: a cleaning robot which cleans the exterior of a ship's hull; a support ship floating on the sea and connected to the cleaning robot through a cable to control the cleaning robot; and a pump unit which is connected between the cleaning robot and the support ship, and sucks the hull attachments collected by the cleaning robot through a hose and transfers it to the support ship.

Description

The ship's bottom cleaning system {A SYSTEM FOR CLEANING SHIP HULL SURFACE}

The present invention relates to a ship-bottom cleaning system, and more particularly, to a ship-bottom cleaning system capable of easily cleaning a curved part of a hull, a difficult-to-clean area in a hull having a rudder, a thruster, and the like.

In general, since the ship is operated in a state that the lower part of the hull is submerged in seawater, foreign substances such as various contaminants or various aquatic organisms such as water moss and barnacles may be attached to the bottom or side surface located in the water.

As such, various foreign substances and aquatic organisms attached to the hull not only harm the appearance of the ship, but also act as a resistance when the ship is operating and become a factor that lowers the speed of the ship, thus greatly increasing the fuel consumption of the ship. It is very important to periodically clean various foreign substances and aquatic organisms attached to the surface.

In the prior art, the cleaning of the exterior of the hull was carried out by a diver directly to clean foreign substances and aquatic organisms attached to the exterior of the hull. There was a problem that it was impossible to clean in a place with severe weather.

In particular, in the case of large ships, as the amount of cleaning work increases, the time spent in the water becomes longer, which poses a lot of risk to the diver, and by performing the cleaning work depending on the view of the diver, the cleaning quality of the deep bottom of the ship is significantly deteriorated.

Therefore, recently, a hull cleaning robot that travels while attached to the outer surface of the hull and performs a cleaning operation with a brush or the like has been widely used.

However, there is a limit to clean every corner of the hull, especially the bow and stern parts with severe curvature, using a small-sized bottom cleaning robot, and the stern part of the hull equipped with a thruster and rudder must still be cleaned directly by the diver. By doing so, there is a problem that it takes a lot of time and difficulty to clean a large vessel even if the bottom cleaning robot is used.

In addition, in the conventional ship bottom cleaning robot, various foreign substances and aquatic organisms that fall off from the outer surface of the hull during the hull cleaning process are introduced into the water as it is, causing marine pollution. Due to this attachment, there is a problem of disturbing the surrounding marine ecosystem due to foreign aquatic organisms that are introduced into the water during the cleaning process.

Registered Patent No. 10-1516539 (Registration date: April 24, 2015) "Underwater cleaning robot"

In the present invention, it is possible to easily clean the curved part, the rudder and the thruster, etc., which are difficult-to-clean areas of the hull, through the ship-bottom cleaning system, specifically, the cleaning robot equipped with the multi-joint arm, An object of the present invention is to provide a bottom cleaning system that can absorb and treat hull attachments such as aquatic organisms.

The technical problems to be achieved in the present invention are not limited to the technical problems mentioned above, and other technical problems not mentioned will be clearly understood by those of ordinary skill in the art to which the present invention belongs from the following description. will be able

In order to solve the above problems, the present invention provides a cleaning robot for cleaning the outer surface of a ship's hull, a support ship floating on the sea, connected to the cleaning robot and a cable through a cable to control the cleaning robot, and between the cleaning robot and the support ship It is connected to, and provides a bottom cleaning system including a pump unit that sucks the hull attachments collected by the cleaning robot through a hose and transports them to a support ship.

In addition, it is provided on the support ship and provides a ship-bottom cleaning system further comprising a treatment device for processing the hull attachment transferred by the pump unit.

In addition, the support ship has a position control function, and provides a bottom cleaning system that maintains a constant relative position with the cleaning robot for cleaning the outer surface of the hull so as to suppress the twisting of the hose and cable connected between the cleaning robot and the support ship do.

In addition, the pump unit, to suppress the occurrence of cavitation, is disposed in the water to provide a bottom cleaning system that operates under water pressure.

In addition, a cable hose member in which a cable and a hose are integrally bundled is connected between the cleaning robot, the pump unit and the support line, and on the cable hose member, a weight for suppressing the movement of the cable hose member disposed in water is provided. A cleaning system is provided.

In addition, it is provided on the support ship and further includes a dust recovery device for launching or recovering the cleaning robot and the pump unit, wherein the dust recovery device transfers and attaches the cleaning robot to the outer surface of the hull, or a cleaning robot attached to the outer surface of the hull Provided is a ship bottom cleaning system including a cleaning robot dust recovery device for collecting dust and a pump unit dust recovery device for lowering or recovering a pump unit into water at a predetermined distance from the cleaning robot.

In addition, the cleaning robot is provided in plurality to divide and clean the outer surface of the hull for each area, and provides a bottom cleaning system connected to the pump unit.

In addition, the plurality of cleaning robots, a cleaning robot that performs cleaning through a multi-joint arm provided with a cleaning member, and a cleaning robot provided with a cleaning member on the bottom surface to run and perform cleaning It provides a ship-bottom cleaning system. .

In addition, the support ship provides a bottom cleaning system provided with a damper for cushioning on the side.

In addition, the cleaning robot is provided in the main body, the main body and a traveling member having a magnet to travel in a state attached to the outer surface of the hull, a cleaning member for cleaning the outer surface of the hull, and the main body to remove the cleaning member to the outer surface of the hull A bottom cleaning system comprising an articulated arm operable to move is provided.

In addition, the traveling member is connected to the caterpillar and the plurality of rollers rotating through a plurality of rollers, and provides a bottom cleaning system including a suspension device for controlling the caterpillar to be grounded in response to the curvature of the outer surface of the hull.

In addition, the cleaning member includes a brush or a high-pressure spray nozzle, and a hose for transporting the hull attachments collected by the cleaning member is connected to the body portion, and a swivel joint is provided at the connection portion with the hose to suppress kinking of the hose We provide a bottom cleaning system.

The ship bottom cleaning system according to an embodiment of the present invention includes a cleaning robot that can freely control the angle and movement of a cleaning member through a multi-joint arm and can perform hull cleaning, so it is difficult to clean with a conventional cleaning robot, so a diver It is possible to easily clean the curved parts of the hull, rudder and thrusters, etc., which had to be cleaned, so that safety accidents can be prevented and work efficiency can be improved.

In addition, when cleaning the outer surface of the hull of the vessel to be cleaned through the cleaning robot, by moving the support line to maintain a constant relative position with the cleaning robot, the shape of the cable hose member connected between the cleaning robot, the pump unit and the support line Change and twist can be suppressed, and through this, it is possible to increase the operation efficiency of the cleaning robot by facilitating the handling of the cable hose member, and to increase the suction rate of the hull attachments sucked from the cleaning robot through the hose of the cable hose member. can

In addition, by disposing a pump unit connected between the cleaning robot and the support line in water, cavitation (cavitation phenomenon) occurring in the pump is suppressed, thereby increasing the performance and durability of the pump.

The effects obtainable in the present invention are not limited to the above-mentioned effects, and other effects not mentioned may be clearly understood by those of ordinary skill in the art to which the present invention belongs from the following description. will be.

1 and 2 are views showing the overall configuration of the ship's bottom cleaning system according to an embodiment of the present invention.
3 and 4 show a state of cleaning the outer surface of the hull by using the cleaning robot provided in the ship bottom cleaning system according to an embodiment of the present invention.
5 shows a detailed configuration of a cleaning robot according to an embodiment of the present invention.
6 and 7 are diagrams illustrating a support line moving in response to the position of the cleaning robot according to an embodiment of the present invention.
8 and 9 show a state in which the hull cleaning is performed using a plurality of cleaning robots according to an embodiment of the present invention.
10 and 11 show a state in which the cleaning robot and the pump unit are launched respectively using the dust recovery device according to an embodiment of the present invention.

Hereinafter, preferred embodiments according to the present invention will be described in detail with reference to the accompanying drawings.

DETAILED DESCRIPTION The detailed description set forth below in conjunction with the appended drawings is intended to describe exemplary embodiments of the present invention and is not intended to represent the only embodiments in which the present invention may be practiced.

In order to clearly explain the present invention in the drawings, parts irrelevant to the description may be omitted, and the same reference numerals may be used for the same or similar components throughout the specification.

In an embodiment of the present invention, expressions such as “or” and “at least one” may indicate one of the words listed together, or a combination of two or more.

1 and 2 are views showing the overall configuration of a ship-bottom cleaning system 100 according to an embodiment of the present invention, and FIGS. 3 and 4 are views showing the ship-bottom cleaning system 100 according to an embodiment of the present invention. It shows a state of cleaning the outer surface of the hull using the provided cleaning robot 100.

1 to 4 , the ship bottom cleaning system 10 according to an embodiment of the present invention may include a cleaning robot 100 , a support ship 200 , and a pump unit 300 .

The cleaning robot 100 travels in a state attached to the outer surface of the hull of the ship 1 and can clean the attachments such as foreign substances and aquatic organisms attached to the outer surface of the hull.

Such a cleaning robot 100 may move to the outer surface of the hull of the cleaning target vessel 1 through the dust recovery device 600 provided in the support vessel 200 .

In addition, the cleaning robot 100 is connected through the support line 200 and the cable 430, and can operate under the control of a control unit (not shown) provided in the support line 200, magnetic driving means, etc. It is possible to clean the outer surface of the hull by using the brush 141, etc. while driving while attached to the outer surface of the hull submerged in water.

5 shows a detailed configuration of the cleaning robot 100 according to an embodiment of the present invention.

Referring to FIG. 5 , the cleaning robot 100 includes a main body 110 and a caterpillar type traveling member 120 provided on the main body 110 and having a magnet to travel while attached to the outer surface of the hull. And, the camera 131 and the lighting unit 132 provided in the front and rear of the body unit 110, the cleaning member 140 for cleaning the outer surface of the hull, and the cleaning member 140 provided in the body unit 110 It may include an articulated arm 150 operable to move to the outer surface of the hull.

Here, the traveling member 120 provided in the main body 110 is formed of a caterpillar 121 including a magnet and can travel in a state attached to the outer surface of the hull, and is attached to the outer surface of the hull in response to the curvature of the hull. A suspension device (not shown) may be provided so that the vehicle can be driven while being grounded.

In addition, the lighting unit 132 provided in the front and rear of the main body 110 illuminates the light during the cleaning process of the outer surface of the hull through the cleaning robot 100, the camera 131 may photograph the outer surface of the hull.

At this time, the captured image is stored or transmitted to the manager, so that the manager can check the cleaning status of the hull.

In addition, the cleaning member 140 may include a brush 141 for cleaning the outer surface of the hull while rotating, or a water jet type high-pressure spray nozzle (not shown) for spraying high-temperature or room-temperature water at high pressure.

As an example, in this embodiment, it is shown that the cleaning member 140 is formed in a brush type, it is possible to clean the attachments attached to the outer surface of the hull by using a plurality of rotating brushes 141 .

In addition, the multi-joint arm 150 provided on the upper portion of the main body 110 may be formed in the form of a robot arm and may include a cleaning member 140 at the end, and is cleaned through a driving unit (not shown) that operates the joint. The member 140 may be moved toward the outer surface of the hull.

Thereby, the driving unit (not shown) operates the multi-joint arm to adjust the direction in which the cleaning member 140 provided at the arm end faces, and it is possible to move the cleaning member 140 to the outer surface of the hull.

The multi-joint arm 150 can move the cleaning member 140 in response to the shape of the bow / stern, the thruster and the rudder, and can easily clean every corner of the outer surface of the hull through the cleaning member 140 .

In addition, the suction hose 410 is connected to the cleaning member 140, and the suction hose 410 according to the operation of the pump unit 300 to be described later, foreign substances and aquatic organisms that fall off from the outer surface of the hull during the cleaning process. can be inhaled.

The suction hose 410 may extend from the cleaning member 140 and the main body 110 of the cleaning robot 100 to be connected to the pump unit 300, and the attachments sucked into the suction hose 410 are the pump unit ( 300 ) may be introduced into the processing device 500 provided in the support line 200 .

In addition, as shown in FIG. 5 , a swivel joint 111 may be provided at the connection portion between the main body 110 and the suction hose 410 , and such a swivel joint 111 is attached to the cleaning member 140 . The attachments collected and sucked by the suction hose 410 can be easily introduced into the suction hose 410 , and the kinking of the suction hose 410 can be effectively prevented.

In addition, a cable 430 such as a power cable and a communication cable may be connected to the body part 110 together with the suction hose 410, and the cable 430 is bundled with the suction hose 410 integrally with the pump unit 300. It may be connected to a control unit (not shown) provided on the support line 200 through the .

In addition, the cleaning robot 100 may be provided with a cleaning member (not shown) on the bottom surface of the main body portion 110 opposite to the outer surface of the hull so as to perform cleaning while driving, and the hull by the cleaning member 140 . Attachments falling off the outer surface may be sucked through the suction hose (410).

Such a cleaning robot 100 travels on the bottom and side surfaces of the hull and can perform hull cleaning using a cleaning member 140 such as a brush 141 or a high-pressure spray nozzle (not shown), and in particular, a multi-joint arm. By freely controlling the angle and movement of the cleaning member 140 through 150, it is possible to easily clean the curved part of the hull, which is difficult to clean, the rudder and the thruster.

Accordingly, the cleaning robot 100 according to this embodiment can easily clean the curved part of the hull, the rudder and the thruster, etc., which the diver had to clean because it is difficult to clean with the existing cleaning robot, so that a safety accident can be prevented. and has the advantage of improving work efficiency.

On the other hand, referring to Figures 1 to 4, the support ship 200 is floating in the sea, connected through the cleaning robot 100 and the cable 430 to control the cleaning robot 100, cleaning the outer surface of the hull It can move in the sea to maintain a constant relative position with the cleaning robot 100 .

Specifically, the support ship 200 is equipped with a propulsion device 210 to move in the sea, and a dust recovery device 600 to launch or recover the cleaning robot 100 and the pump unit 300 . have.

In addition, the support ship 200 may be connected through the cleaning robot 100 and the cable hose member 400, when the cleaning robot 100 cleans the outer surface of the hull of the cleaning target vessel 1, the cable hose member 400 ) can be moved in the sea while maintaining a constant relative position with the cleaning robot 100 so as to suppress the twist.

Here, the cable hose member 400 is formed in the form of a bundle of hoses 410 and 420 and the cable 430, and the hoses 410 and 420 are suction hoses 410 connected between the cleaning member 140 and the pump unit 300. And, it may include a delivery hose 420 connected between the pump unit 300 and the support line (200).

In addition, the cable 430 may include a communication cable and a power cable, and may be connected between the hoses 410 and 420 and the cleaning member 140 , the pump unit 300 and the support line 200 in a bundle form.

In this case, a joint member (not shown) such as a swivel joint for preventing twisting may be provided at the connection portion between the ends of the hoses 410 and 420 and the cable 430 .

In addition, the support ship 200 is equipped with a position control function such as a DPS (Dynamic Position System), and can control the position and posture in response to currents, waves, and winds in a marine environment, and interlocks with the cleaning robot 100 . Thus, it can move in the sea to maintain a certain relative position according to the position of the cleaning robot 100 for cleaning the hull.

That is, in this embodiment, when the cleaning robot 100 cleans the outer surface of the hull of the cleaning target vessel 1 , the pump provided in the cable hose member 400 between the support ship 200 and the cleaning robot 100 . The unit 300 is placed in the water, and the support line 200 is moved according to the working position of the cleaning robot 100 to determine the relative position between the support line 200 , the pump unit 300 and the cleaning robot 100 . By keeping it constant, the length of the cable hose member 400 is always kept short, thereby suppressing the shape change or twisting of the cable hose member 400 caused by the current.

At this time, since the pump unit 300 provided in the middle of the cable hose member 400 is disposed in the water, the movement of the cable hose member 400 by the current, the support ship 200 or the cleaning target vessel by the waves Even with the factor of change in the shape of the cable hose member 400 due to the movement of (1), the shape change or twist of the cable hose member 400 can be suppressed by the weight (inertia) of the pump unit 300 .

In addition, a weight body 440 may be additionally provided on the cable hose member 400 to facilitate handling by maximally suppressing the movement of the cable hose member 400 by birds.

As an example, the weight 440 may be provided on the cable hose member 400 between the pump unit 300 and the cleaning robot 100 .

Accordingly, in this embodiment, when the cleaning robot 100 cleans the outer surface of the hull of the cleaning target vessel 1, the cleaning robot 100, the pump unit 300, and the cable connected between the support line 200 By facilitating the handling of the cable hose member 400 by suppressing the shape change and twisting of the hose member 400, the operating efficiency of the cleaning robot 100 can be increased, and the cable hose member 400 from the cleaning robot 100 ) It is possible to increase the suction rate of the hull attachments sucked through the hoses (410, 420).

6 and 7 show the support line 200 moving in response to the position of the cleaning robot 100 according to an embodiment of the present invention.

As an example, referring to FIGS. 6 and 7 , in the process of cleaning the hull of the cleaning target vessel 1 through the cleaning robot 100 , the support ship 200 moves according to the movement of the cleaning robot 100 . Thus, the shape deformation and twisting of the cable hose member 400 connected between the cleaning robot 100 and the support line 200 can be suppressed, and the cleaning robot 100 is located on the opposite side of the support line 200 and adjacent to the hull. When cleaning is performed, it is possible to keep the cable hose member 400 as short as possible by attaching the support line 200 close to the hull.

In addition, the support ship 200 is provided with a damper (not shown) on the side to buffer the collision with the cleaning target vessel (1) can suppress damage to the hull and the like.

In addition, the support ship 200 may be provided with a processing device 500 for pre-processing, filtering, sterilizing and neutralizing attachments such as foreign substances and aquatic organisms transferred from the cleaning robot 100 .

On the other hand, the pump unit 300 is connected between the cleaning robot 100 and the support ship 200, and when the cleaning robot 100 cleans the outer surface of the hull of the cleaning target vessel 1, it is disposed in water and cleaned The hull attachment collected by the robot 100 may be sucked through the hoses 410 and 420 and transferred to the support ship 200 .

At this time, the ship bottom cleaning system 10 of this embodiment includes a large-capacity pump unit 300 separately from the cleaning robot 100 , so that the cleaning robot 100 can be downsized, and the suction performance of the pump unit 300 . can be improved to increase the collection efficiency for hull attachments.

Specifically, the pump unit 300 operates when the cleaning robot 100 cleans the hull through the suction hose 410, and suctions, The attached attachment may be introduced into the processing device 500 of the support ship 200 through the delivery hose 420 .

At this time, the pump unit 300 can improve the suction power of the pump by suppressing cavitation (cavitation phenomenon) occurring in the pump by operating under water pressure.

That is, when the pump unit 300 is disposed and operated on the support line 200, the pump pressure may be maintained at 1 bar or less. In this case, cavitation may occur inside the pump and a resistance element may be generated. suction power may be reduced.

Accordingly, in the present embodiment, it is possible to effectively suppress cavitation generated in the pump by disposing the pump unit 300 in water and operating it under water pressure, thereby increasing the suction power of the pump.

On the other hand, the ship bottom cleaning system 10 according to the present embodiment may perform hull cleaning of the cleaning target vessel 1 using a plurality of cleaning robots 100 .

8 and 9 show a state in which the hull cleaning is performed using a plurality of cleaning robots 100 according to an embodiment of the present invention.

8 and 9 , the ship bottom cleaning system 10 in this embodiment may include a support ship 200 , a pump unit 300 , and a plurality of cleaning robots 100 , the pump unit 300 . ), a plurality of cleaning robots 100 may be respectively connected to each other through the cable hose member 400 , and the cleaning may be performed by dividing the hull by area through the plurality of cleaning robots 100 .

Here, as for the plurality of cleaning robots 100 for cleaning the hull, a plurality of cleaning robots 100 equipped with articulated arms having the aforementioned cleaning members may be operated, or cleaning robots provided with cleaning members on the bottom surface (100) can be operated together.

As an example, the cleaning robot 100 equipped with a multi-joint arm having a cleaning member can be used for cleaning the bow and stern of the hull because it is easy to clean the curved part or rudder and thruster of the hull, and the cleaning member is on the bottom surface The provided cleaning robot 100 can be used for cleaning the center of a relatively flat hull.

In this way, when a plurality of cleaning robots 100 are operated, it is possible to shorten the hull cleaning time and increase cleaning efficiency.

Meanwhile, FIGS. 10 and 11 show a state in which the cleaning robot 100 and the pump unit 300 are launched respectively by using the dust recovery device 600 according to an embodiment of the present invention.

10 and 11 , in the present embodiment, the dust recovery device 600 provided on the support ship 200 may include a cleaning robot dust recovery device 610 and a pump unit dust recovery device 620 . .

Here, the cleaning robot dust recovery device 610 may transfer and attach the cleaning robot 100 to the hull of the cleaning target vessel 1 or may recover the cleaning robot 100 attached to the hull.

The cleaning robot dust recovery device 610 may include a transport crane 611 capable of transporting the cleaning robot 100 toward the hull of the cleaning target vessel 1 . When the cleaning robot 100 is launched, the transport After attaching the cleaning robot 100 to the hull of the cleaning target vessel 1 using a crane 611, unwind the lifting rope 612 at the end of the transfer crane 611 to lower the cleaning robot 100 into the water. Thereby, when the cleaning robot 100 enters the water along the outer surface of the hull, the lifting rope 612 bound to the cleaning robot 100 may be released.

In this case, the lifting rope 612 may be a motion suppression rope capable of reducing the movement of the cleaning robot 100 .

In addition, the cleaning robot vacuum recovery device 610 is disposed to be spaced apart from the pump unit vacuum recovery device 620 on the support line 200 to prevent bending or damage of the cable hose member 400 connected to the cleaning robot 100 . can do.

In addition, the pump unit dust recovery device 620 may include an auxiliary crane 621 and a winch 622 provided in the auxiliary crane 621, and a pump unit ( 300) and unwinding the wire 623 from the winch 622 to lower the pump unit 300 into the water.

When described in more detail as the process of launching the cleaning robot 100 and the pump unit 300 as described above, first, the auxiliary crane 621 and the winch 622 of the pump unit vibration recovery device 620 are operated to operate the pump unit ( 300) is moved above the sea level, and then the wire 623 of the winch 622 is unwound to lower the pump unit 300 bound to the wire 623 into the water.

At the same time, by operating the transfer crane 611 of the cleaning robot dust recovery device 610, the cleaning robot 100 can be safely attached to the outer surface of the hull of the cleaning target vessel 1, and the cleaning robot in the transfer crane 611 By unwinding the lifting rope 612 bound to 100 , the cleaning robot 100 may enter the water along the outer surface of the hull.

In addition, when the pump unit 300 and the cleaning robot 100 are submerged in water, the wire 623 bound to the pump unit 300 is released, and at the same time, the lifting rope 612 bound to the cleaning robot 100 is removed. can be unlinked.

At this time, the suction hose 410 is connected between the pump unit 300 and the cleaning robot 100 , and the sending hose 420 is connected between the pump unit 300 and the processing device 500 of the support line 200 . It is possible to prevent kinking or bending of the hoses 410 and 420 by descending into the water in a state where the cleaning robot 100 and the pump unit 300 are spaced apart from each other.

On the other hand, when the cleaning of the hull through the cleaning robot 100 is completed, the cleaning robot 100 and The pump unit 300 may be recovered to the support line 200 .

As described above, the ship bottom cleaning system 10 according to an embodiment of the present invention can freely control the angle and movement of the cleaning member 140 through the articulated arm 150 and perform hull cleaning. By having the cleaning robot 100, it is possible to easily clean the curved part of the hull, rudder, and thruster, etc. that divers had to clean because it is difficult to clean with the existing cleaning robot, so it is possible to prevent safety accidents and improve work efficiency can do it

In addition, by moving the support ship 200 to maintain a constant relative position with the cleaning robot 100 during the operation of cleaning the outer surface of the hull of the cleaning target vessel 1 through the cleaning robot 100, the cleaning robot 100 , it is possible to suppress the shape change and twist of the cable hose member 400 connected between the pump unit 300 and the support line 200, and through this, it is possible to facilitate the handling of the cable hose member 400 and to make the cleaning robot ( 100) can be increased, and the suction rate of the hull attachments sucked from the cleaning robot 100 through the hoses 410 and 420 of the cable hose member 400 can be increased.

In addition, by arranging the pump unit 300 connected between the cleaning robot 100 and the support line 200 in water to suppress cavitation (cavitation) occurring in the pump, the performance and durability of the pump can be increased. have.

Embodiments of the present invention disclosed in the present specification and drawings are merely provided for specific examples in order to easily explain the technical contents of the present invention and help the understanding of the present invention, and are not intended to limit the scope of the present invention.

Therefore, the scope of the present invention should be construed as including all changes or modifications derived based on the technical spirit of the present invention in addition to the embodiments disclosed herein are included in the scope of the present invention.

10: hull cleaning system 100: cleaning robot
110: main body 120: traveling member
140: cleaning member 150: articulated arm
200: support line 210: propulsion device
200: cleaning member 300: pump unit
400: cable hose member 410: suction hose
420: transmission hose 430: cable
440: weight 500: processing device
600: dust recovery device 610: dust recovery device for cleaning robot
620: pump unit dust recovery device

Claims (12)

A cleaning robot that cleans the outer surface of the ship's hull;
a support ship floating on the sea, connected to the cleaning robot and connected through a cable to control the cleaning robot, having a position control function, and moving in the sea to maintain a constant relative position according to the position of the cleaning robot; and
and a pump unit disposed in the water spaced apart from the cleaning robot, sucking the hull attachment collected by the cleaning robot through a hose and transferring it to the support ship,
The pump unit is
In order to increase the pump suction performance, according to the movement of the cleaning robot, it is moved in the water to maintain a constant relative position with the cleaning robot, and the occurrence of cavitation acting as a resistance element in the pump unit can be suppressed. A bottom cleaning system that moves while maintaining the depth of the water under a certain pressure.
The method of claim 1,
It is provided on the support ship and further includes a dust recovery device for launching or recovering the cleaning robot and the pump unit,
The dust recovery device is
a cleaning robot dust recovery device for transferring and attaching the cleaning robot to the outer surface of the hull, or recovering the cleaning robot attached to the outer surface of the hull; and
and a pump unit dust recovery device for lowering or recovering the pump unit into water at a predetermined distance from the cleaning robot,
It is configured to lower or recover the cleaning robot and the pump unit into the water in a state of being spaced apart from each other by using the vacuum cleaning robot dust recovery device and the pump unit vibration recovery device, thereby suppressing the interference between the cleaning robot and the pump unit And, a ship-bottom cleaning system for suppressing kinking or bending of the cable hose member connected between the cleaning robot and the pump unit.
The method of claim 1,
The support line is
A ship bottom cleaning system having a position control function and maintaining a constant relative position with the cleaning robot for cleaning the outer surface of the hull so as to suppress twisting of the hose and the cable connected between the cleaning robot and the support line.
delete The method of claim 1,
A cable hose member in which the cable and the hose are integrally bundled is connected between the cleaning robot, the pump unit and the support line,
On the cable hose member, a ship bottom cleaning system provided with a weight for suppressing the movement of the cable hose member disposed in water.
delete The method of claim 1,
The cleaning robot is
A ship bottom cleaning system that is provided in plurality to divide and clean the outer surface of the hull by area, and is connected to the pump unit.
8. The method of claim 7,
The plurality of cleaning robots,
A ship-bottom cleaning system comprising: a cleaning robot for cleaning through a multi-joint arm provided with a cleaning member;
The method of claim 1,
The support line is
A bottom cleaning system equipped with a damper for cushioning on the side.
The method of claim 1,
The cleaning robot is
body part;
a traveling member provided in the body portion and having a magnet to travel in a state attached to the outer surface of the hull;
a cleaning member for cleaning the outer surface of the hull; and
A ship-bottom cleaning system comprising a multi-joint arm provided in the main body and operating to move the cleaning member to the outer surface of the hull.
11. The method of claim 10,
The traveling member is
a caterpillar rotating through a plurality of rollers; and
A ship bottom cleaning system including a suspension connected to the plurality of rollers and controlling the caterpillar to be grounded in response to the curvature of the outer surface of the hull.
11. The method of claim 10,
The cleaning member includes a brush or a high-pressure spray nozzle,
The body part is connected to the hose for transporting the hull attachments collected by the cleaning member, and a swivel joint is provided at a connection portion with the hose to suppress twisting of the hose.

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