KR20150053374A - Underwater cleaning robot - Google Patents

Abstract

Disclosed is an underwater cleaning robot. According to an embodiment of the present invention, the underwater cleaning robot comprises: a frame; a driving unit having a driving wheel which is in contact with a work target surface, and a track driving unit driving the same, and installed on the frame; a steering unit having a steering wheel controlling the movement direction of the frame, and a steering driving unit operating the same; a cleaning unit arranged on the frame and including a cleaning brush which cleans the work target surface by rotation; and a foreign substance processing unit sucking and sterilizing foreign substances which are ejected from the work target surface by operation of the cleaning unit.

Description

UNDERWATER CLEANING ROBOT

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an underwater cleaning robot, and more particularly, to an underwater cleaning robot capable of effectively cleaning foreign matter adhered to an outer surface of a ship and minimizing contamination of the marine environment.

Since the ship is operated with the lower side being immersed in water, aquatic organisms such as water moss, barnacle, etc. may be attached to the bottom or side of the water. As such, foreign matter adhering to the hulls acts as a resistance when the ship is operating, thereby lowering the speed and increasing the fuel consumption. Therefore, it is necessary to remove it through periodic cleaning.

Conventionally, in order to remove foreign matter adhered to the hull, a method of moving the ship to a dock on the land and cleaning the hull by spraying high pressure washing water onto the outer surface of the hull has been used. However, this method required a procedure to transfer the hull to the dock, which required a long working time and a lot of workmen in the cleaning process.

Alternatively, the diver directly went into the water to operate the cleaning equipment and clean the hull. However, this method also has a problem that the working time is prolonged because the diver is moving in the water, and the work environment is poor and the work fatigue is increased. In addition, as the foreign substances that are separated from the hull during the cleaning process are dispersed into the water, the visibility of the working area is worsened, and there is a burden on the safety accident due to the poor working environment.

Considering these points, recently, an underwater cleaning robot has been proposed, which can carry out cleaning of the outer surface of the hull while traveling along the hull in water. Such an underwater cleaning robot can refer to an example of Korean Patent Laid-Open Publication No. 10-2011-0062248 (published on June 10, 2011).

However, such an underwater cleaning robot is difficult to stably run the outer surface of the hull having many curved surfaces, and the brush device is maintained at the same height irrespective of the change of the outer surface of the hull, so that it is difficult to obtain a uniform cleaning effect as a whole. In addition, the foreign body which is separated from the hull during the cleaning process may be polluted by the water, and the ship is operated in various aquatic environments. Therefore, if the cleaning process is performed in other countries after the operation of the ship, There was a fear that the change would occur.

Korean Patent Publication No. 10-2011-0062248 (published on June 10, 2011)

An embodiment of the present invention is to provide a cleaning robot capable of effectively collecting foreign matter leaving the upper surface of a work bench during a cleaning process, thereby securing a working area and minimizing marine pollution.

In the embodiment of the present invention, in the case where there is a possibility that the foreign matter leaving the upper surface of the work bench during the cleaning process includes foreign biological species and cause environmental changes in the sea area, an underwater cleaning robot .

The underwater cleaning robot according to the embodiment of the present invention is intended to provide an underwater cleaning robot in which the posture of the cleaning unit can be adjusted in response to a change in the state of the upper surface of the workpiece during traveling.

According to an aspect of the present invention, there is provided a steering apparatus comprising a frame, a driving wheel in contact with an upper surface of a workbench, and a traveling driving unit for driving the driving wheel, A cleaning unit that is provided on the frame and includes a cleaning brush that rotates the upper surface of the work table by rotation; and a foreign matter processing unit that sucks and removes foreign substances separated from the upper surface of the work surface by the operation of the cleaning unit Unit may be provided.

The foreign matter processing unit includes a cover member covering the upper surface and the peripheral portion of the cleaning brush, a foreign matter collecting pump for sucking and discharging the foreign matter inside the cover member together with water and a foreign matter collecting pump connected to the outlet of the foreign matter collecting pump, And a sterilizing device for treating the same.

The sterilization apparatus includes a heat transfer pipe having one end connected to the outlet of the foreign object collecting pump and the other end made of a material having high thermal conductivity, and a heat transfer pipe provided on the outer surface of the heat transfer pipe, And a heat exchanging device including a heat transferring fin.

The discharge port may be provided with a foreign matter collecting apparatus having a filtering member for filtering out foreign matter.

The cleaning unit includes a cleaning unit frame mounted on the frame, a cleaning motor provided with the cleaning unit frame and coupled to the rotation shaft of the cleaning brush to rotate the cleaning brush, and a lift device for lifting the cleaning motor and the cleaning brush .

The cleaning motor may be rotatably supported in the front, rear, left, and right directions with respect to the frame for tilting the cleaning brush.

The cleaning unit includes a first rotation supporting member rotatably installed on the cleaning unit frame in a state of supporting the lifting device, and a second rotation supporting member mounted rotatably on the lifting device in a state supporting the cleaning motor, And a second rotation support member disposed to intersect the direction of the rotation center axis of the first rotation support member.

The lift device may include at least one spring to adjust the height of the cleaning brush corresponding to the shape of the top surface of the work bench.

The cleaning unit includes a cleaning unit frame mounted on the frame, a cleaning motor mounted on the cleaning unit frame so as to be able to move up and down and coupled to a rotating shaft of the cleaning brush to rotate the cleaning brush, And the cover member is provided to be raised and lowered together with the cleaning brush, and the sterilizing device and the foreign matter collecting device may be mounted on the upper part of the frame.

Since the underwater cleaning robot according to the embodiment of the present invention can effectively collect foreign substances leaving the upper surface of the work surface, it is possible to easily secure the visibility of the work area and to minimize marine pollution.

The underwater cleaning robot according to the embodiment of the present invention can treat foreign species that deviate from the upper surface of the workbench and thus can prevent the marine environment change in the corresponding water area.

The underwater cleaning robot according to the embodiment of the present invention stably contacts the upper surface of the work table to improve the cleaning quality of the upper surface of the work surface.

The underwater cleaning robot according to the embodiment of the present invention has an effect of maintaining the optimal cleaning quality since the height of the cleaning unit can be adjusted according to the shape such as the height and tilt of the upper surface of the workbench and the tilting of the cleaning brush can be performed.

FIG. 1 shows an example of cleaning foreign matter adhering to the outer surface of a ship using an underwater cleaning robot according to an embodiment of the present invention.
2 is a perspective view showing the overall structure of an underwater cleaning robot according to an embodiment of the present invention.
FIG. 3 is a perspective view illustrating a bottom portion of an underwater cleaning robot according to an embodiment of the present invention. FIG.
4 is a plan view of an underwater cleaning robot according to an embodiment of the present invention.
5 is a bottom view of an underwater cleaning robot according to an embodiment of the present invention.
FIG. 6 is a perspective view of an underwater cleaning robot according to an embodiment of the present invention.
7 is a perspective view of a driving unit of an underwater cleaning robot according to an embodiment of the present invention.
8 is an exploded perspective view of a driving unit of an underwater cleaning robot according to an embodiment of the present invention.
9 shows a tilting operation of the driving unit in the underwater cleaning robot according to the embodiment of the present invention.
10 is a perspective view of a steering unit of an underwater cleaning robot according to an embodiment of the present invention.
11 is a perspective view of a cleaning unit of an underwater cleaning robot according to an embodiment of the present invention.
12 is a side view of a cleaning unit of an underwater cleaning robot according to an embodiment of the present invention.
13 is a front view of a cleaning unit of an underwater cleaning robot according to an embodiment of the present invention.
FIG. 14 is a perspective view showing a foreign body collecting apparatus of an underwater cleaning robot according to an embodiment of the present invention. FIG.
15 is a perspective view showing a control unit of an underwater cleaning robot according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. The embodiments described below are provided by way of example so that those skilled in the art will be able to fully understand the spirit of the present invention. The present invention is not limited to the embodiments described below, but may be embodied in other forms. In order to clearly explain the present invention, parts not related to the description are omitted from the drawings, and the width, length, thickness, etc. of the components may be exaggerated for convenience. Like reference numerals designate like elements throughout the specification.

FIG. 1 shows an example of cleaning foreign matter (moss, barn, etc.) attached to the outer surface of a ship using an underwater cleaning robot according to an embodiment of the present invention. As shown in the figure, the underwater cleaning robot 100 according to the present embodiment can clean the outer surface of the hull 10 while traveling on the outer surface of the hull 10 immersed in water. In other words, the underwater cleaning robot 100 can approach the work area of the vessel anchored in the water through the underwater swim, and is attached to the outer surface of the hull 10 by traveling to the working area, then travels along the outer surface of the hull 10, can do.

Although not shown in the drawing, the underwater cleaning robot 100 may be connected to a cable 20 extending from a separate manipulation facility and a power supply facility. Maneuvering equipment and power supply facilities may be operated on the ground or on the deck of the ship or on the deck of another ship which is being cleaned. FIG. 1 illustrates a case where the underwater cleaning robot 100 cleans the outer surface of the hull 10, but the use range of the underwater cleaning robot 100 is not limited thereto. It can also be used to clean the outer surfaces of various offshore plants and floating structures that float on the sea.

2 to 6, the submersible cleaning robot 100 includes a frame 110 constituting an overall external shape and a skeleton, a pair of driving units 120 installed on both sides of the frame 110, A cleaning unit 150 for cleaning the upper surface of the workbench, a foreign matter disposal unit 160 for sterilizing or disinfecting the foreign substances separated from the upper surface of the workbench together with water during the cleaning process, A plurality of thrusters 181 to 186 for underwater swimming and posture control, and a control unit 190 for controlling the operation of the units. Here, the expression " forward " means the traveling direction in which the underwater cleaning robot 100 travels, and the rear means the opposite side.

The frame 110 may be a rectangular parallelepiped-like structure, as shown in Fig. A plurality of vertical frame portions 113 and a plurality of reinforcing frame portions 114 connecting the upper frame portion 111 and the lower frame portion 112 are connected to the upper frame portion 111, the lower frame portion 112, So that a rectangular parallelepiped shape can be formed as a whole. The four corners of the frame 110 may be provided in a curved shape for reducing resistance and impact reduction during underwater swim.

Here, the rectangular frame 110 is shown as an example, but the shape of the frame 110 is not limited thereto. The frame may be variously modified to facilitate supporting the devices and to reduce the resistance of the fluid. The frame 110 may be made of a metal material such as steel or aluminum, or may be made of a composite resin material having high rigidity such as engineering plastic.

The pair of drive units 120 are installed on both sides of the rear side of the frame 110 so as to be mutually symmetrical. 7 and 8, each of the driving units 120 includes a driving wheel 121 which rolls in contact with the upper surface of the work table, and a driving wheel 121 which is disposed outside the driving wheel 121 A wheel housing 122 to be installed, and a driving driving part for driving the driving wheel 121. [

The wheel housing 122 includes a wheel receiving portion 122a having a lower surface and a side surface opened. The driving wheel 121 is received in the wheel receiving portion 122a and partially rotatably supported on the side surface of the wheel housing 122 so that the driving wheel 121 is in contact with the upper surface of the work surface.

The traveling driving unit includes a driving motor 123 mounted on the upper portion of the wheel housing 122 and a power transmitting device for transmitting the rotational force of the driving motor 123 to the driving wheel 121. The power transmission device is provided with a drive bevel gear 124a coupled to the shaft of the drive motor 123 while being accommodated in the upper space 122b of the wheel housing 122, A driven bevel gear 124b which is accommodated in the upper space 122b and whose shaft 124c is rotatably supported on the side surface of the wheel housing 122 and a driven bevel gear 124b which penetrates the side surface of the wheel housing 122 outside the wheel housing 122 A driving pulley 124d coupled to the shaft 124c of the driven bevel gear 124b engaged with the shaft 121a of the driving wheel 121 through the side of the wheel housing 122 outside the wheel housing 122, A driven belt 124f connecting the drive pulley 124d and the driven pulley 124e and a tensioner 124g adjusting the tension of the drive belt 124f. A belt cover 125 is provided on the side surface of the wheel housing 122 to cover and protect the drive belt 124f.

This drive unit 120 is configured such that the rotational force of the drive motor 123 is transmitted to the drive wheel 124a via the drive bevel gear 124a, the driven bevel gear 124b, the drive pulley 124d, the drive belt 124f, (121). Therefore, the driving wheel 121 contacting with the upper surface of the work table can be moved forward and reverse by the forward rotation and the reverse rotation of the driving motor 123, thereby realizing the movement of the underwater cleaning robot 100.

Although not shown in the drawing, the driving wheel 121 can perform rolling motion in a state where it is attached to the upper surface of the work bench by the magnetic force of the built-in magnet. Therefore, it is possible to prevent the underwater cleaning robot 100 from being separated from the upper surface of the workbench during the work. The magnet incorporated in the driving wheel 121 may be a permanent magnet or an electromagnet.

Since the pair of drive units 120 are arranged to be symmetrical on both sides of the frame 110, rotation or turning of the underwater cleaning robot 100 can be performed in such a manner that the rotation direction or rotation speed of the both- Can be implemented.

Referring to FIGS. 8 and 9, the wheel housing 122 of the drive unit 120 may be inclined by a predetermined interval about the X axis (running direction axis) with respect to the frame 110. A support bracket 126 for supporting the front and rear side surfaces of the wheel housing 122 is mounted on the frame 110 and a support shaft 127 for engaging with the wheel housing 122 is attached to the support bracket 126, Respectively.

Accordingly, the driving unit 120 can be tilted about the X axis in response to a change in the curved surface of the working surface 11 contacting the driving wheel 121 as shown in FIG. When the driving unit 120 is tilted as described above, the driving wheel 121 can perform the rolling motion in a state in which the driving wheel 121 stably attaches to the top surface 11 of the work table 11 despite the slope change of the top surface 11 of the work surface.

The support bracket 126 and the wheel housing 122 may be provided with a tilting range limiting device for limiting the tilting of the wheel housing 122 to a predetermined range to prevent the drive unit 120 from being sideways. The tilting range limiting device includes an arcuate tilting restriction hole 128a formed in the support bracket 126 and a locking pin 128b that enters the tilting restriction hole 128a while being coupled to the wheel housing 122 . Such a configuration can be achieved by limiting the tilting range of the drive unit 120 by moving the engaging pin 128b within the range of the tilting limit hole 128a so that the weight of the drive motor 123 mounted on the wheel housing 122 It is possible to prevent the drive unit 120 from falling sideways.

The support bracket 126 and the wheel housing 122 may be provided with tilting preventing means for restricting the wheel housing 122 and preventing tilting, if necessary. The tilting prevention means may include a pin or a bolt-shaped restraining member 129 that is fastened to penetrate the support bracket 126 and the wheel housing 122 as needed. In general, since the tilting of the drive unit 120 should be possible, such a restricting member 129 is operated in a separated state.

3 and 5, the steering unit 130 is installed at a front central portion of the frame 110 in a state of being separated from the driving wheels 121 of the pair of driving units 120. [ 10, the steering unit 130 includes two steering wheels 131 disposed adjacent to each other on the same axis, a wheel housing 132 rotatably supporting the two steering wheels 131, And a steering driver that rotates the steering wheel 132 to implement the steering.

The steering driving unit includes a steering motor 133 whose axis is arranged to face up and down and whose axis is coupled to the upper part of the wheel housing 132 and a steering motor 133 which is fixed to the frame 110, And a bracket 134.

The steering unit 130 can control the moving direction of the frame 110 by rotating the wheel housing 132 in the forward or reverse direction by the operation of the steering motor 133. [ Also, two steering wheels 131, which are in contact with the upper surface of the work table, are mounted on both sides of the wheel housing 132, thereby operating in such a manner that the mutual rotation speed is changed instantaneously as the wheel housing 132 is rotated for steering. Therefore, smooth steering can be realized in a state where friction and slip between the upper surface of the work bench and the steering wheel 131 are minimized.

The steering wheel 131 can also perform rolling motion in a state where it is attached to the upper surface of the work bench by the magnetic force of the built-in magnet, like the driving wheel 121. Therefore, it is possible to prevent the underwater cleaning robot 100 from being separated from the upper surface of the workbench during the work. In FIG. 10, reference numeral 135 denotes a rotation sensing device for sensing the rotation of the steering wheel 131. The rotation sensing device 135 may be a means for sensing a rotation angle, such as a rotary encoder, and may be used to determine whether the steering wheel 131 is slipping or not, in comparison with the operation of the driving wheel 121.

The steering unit 130 implements three-point support of the frame 110 together with a pair of drive units 120 disposed on both sides of the rear side of the frame 110, as shown in Fig. That is, the steering wheel 131 is arranged in a triangular configuration maintaining the same distance as the driving wheels 121, thereby realizing the three-point support of the frame 110. Such a configuration can keep the driving wheels 121 and the steering wheel 131 always attached to the upper surface of the work surface even when the top surface of the work surface is curved like the outer surface of the hull 10. Therefore, the underwater cleaning robot 100 of the present embodiment can be stably attached to the work surface even when a curved surface or an uneven surface exists on the work surface.

The cleaning unit 150 is installed in the frame 110 between the steering unit 130 and the pair of drive units 120, as shown in Figs. That is, the cleaning unit 150 is disposed so as to be symmetrical on both sides between the steering unit 130 and the pair of drive units 120 so that the underwater cleaning robot 100 can be operated in a balanced manner, .

11 to 13, the cleaning unit 150 includes a cleaning unit frame 151 to which both ends of the cleaning unit 150 are attached to the frame 110, a pair of cleaning motors 152 And a pair of cleaning brushes 153 that are respectively coupled to the axes of the pair of cleaning motors 152 and clean the upper surface of the work surface while being rotated by the operation of each cleaning motor 152. The cleaning brush 153 includes a rotating plate 153a coupled to the shaft of each cleaning motor 152 and a brush portion 153b extending from the lower surface of the rotating plate 153a toward the work surface upper surface 11 side.

The cleaning unit 150 can adjust the height of the pair of cleaning brushes 153 in response to a change in shape such as a curved surface or a height of the upper surface 11 of the working table 11 while the underwater cleaning robot 100 travels, The pair of cleaning brushes 153 can be tilted in various directions. That is, the posture of the cleaning brush 153 can be adjusted in accordance with the shape change of the work surface during traveling.

The cleaning unit 150 includes a pair of cleaning motors 152 connected to the pair of cleaning brushes 153 for supporting the first rotation supporting member 154, the elevating device 155, 156 so as to be rotatable and liftable relative to the frame 110.

The first rotation support member 154 is rotatably supported on the shaft support members 151a provided on both sides of the cleaning unit frame 151 so that the rotation axis 154a extending from both ends thereof in the Z axis direction . Accordingly, the first rotating member 154 can rotate about the Z axis.

Two elevating devices 155 are provided on both sides of the upper surface of both sides of the first rotation supporting member 154 and two elevating devices 155 are provided on the opposite sides of each cleaning motor 152, As shown in Fig. A total of four elevating apparatuses 155 are provided on the upper portion of the first rotation supporting member 154.

Each elevating device 155 includes two slide bars 155a vertically installed on the first rotation supporting member 154, an elevating member 155b ascending and descending along the two slide bars 155a, two slide bars 155a, And a gas spring 155c for moving the lifting member 155b downward by a predetermined force. The lower end of the gas spring 155c is fixed to the first rotation supporting member 154 and the upper rod portion is coupled to the elevating member 155b to give a force for moving the elevating member 155b downward.

As shown in FIGS. 11 and 12, the second rotation supporting member 156 has a connecting shaft 156a (axes in the X axis direction) provided before and after the cleaning motor 152 in the center thereof, And is rotatably coupled to the elevating member 155b. Therefore, the second rotation support member 156 can rotate around the X-axis (longitudinal axis of the frame) crossing the Z-axis.

Since the cleaning unit 150 is rotatably supported by the first rotation support member 154 rotating about the Z axis and the second rotation support member 156 rotating about the X axis, And can be tilted in the front, rear, left, and right directions. That is, the rotation center axis direction of the first rotation support member 154 and the rotation center axis direction of the second rotation support member 156 intersect. Therefore, each cleaning brush 153 connected to the axis of each cleaning motor 152 can be tilted in various directions corresponding to the curved surface or the inclination of the upper surface 11 of the work table, as shown in FIGS.

The cleaning brush 153 can not only be lifted by the lifting device 155 but also can maintain the pressure of the working surface 11 with the pressure set by the gas spring 155c of the lifting device 155. [ Therefore, as shown in FIGS. 12 and 13, the cleaning brush 153 has a curved surface on the top surface 11 of the work surface, and when the height of the top surface 11 of the work surface changes, the height of the cleaning brush 153 is automatically adjusted, The contact with the top surface can be maintained, thereby maintaining the best cleaning conditions at all times. That is, the cleaning brush 153 descends when the height of the upper surface 11 of the work bench is lowered, and the cleaning brush 153 is pushed up when the height of the upper surface 11 of the work surface increases. In the present embodiment, the gas spring 155c is provided to realize lifting and pressing of the cleaning brush 153, but it may be replaced with a normal spring (coil spring, leaf spring, etc.) having an elastic restoring force.

5, the pair of cleaning brushes 153 are disposed between the steering wheel 131 and the pair of driving wheels 121, so that when the underwater cleaning robot 100 travels, a pair of driving wheels 121 Can be preliminarily cleaned.

That is, the maximum width (W, the distance from the outer end of one cleaning brush to the outer end of the other cleaning brush) formed by the pair of cleaning brushes 153 is larger than the separation distance The upper surface of the work table on which the driving wheel 121 passes can be previously cleaned. Therefore, since the driving wheel 121 travels in a state where it is attached to the upper surface of the workbench which has always been cleaned, it is possible to minimize the slip of the driving wheel 121 and to make stable running.

11 and 14, the foreign matter processing unit 160 includes a pair of cleaning brushes 153, a pair of cleaning brushes 153, and a cover member A foreign matter collecting pump 162 installed between a pair of cleaning motors 152 for sucking and discharging foreign matters inside the cover member 161 together with water and a pair of cleaning motors 152 connected to the outlet of the foreign matter collecting pump, And a sterilizing device 163 for sterilizing or treating the sterilized water.

The cover member 161 includes an upper cover portion 161a covering the upper side of the pair of cleaning brushes 153 and a pair of cleaning brushes 153 for connecting the upper end to the upper cover portion 161a, And a skirt portion 161b that covers the periphery of the underwater cleaning robot 100 and forms an opening portion 161c in front of a direction in which the underwater cleaning robot 100 travels. The skirt portion 161b may be made of a rubber or a soft resin to prevent damage to the upper surface of the work surface.

14, the foreign matter collecting pump 162 includes a pump section 162a for pumping fluid and a motor section 162b for driving the impeller in the pump section 162a. The suction side of the pump part 162a is connected to the inside of the cover member 161 through the suction pipe 162d and the discharge side of the pump part 162a is connected to the sterilizing device 163 through the discharge pipe 162e . This foreign matter collecting pump 162 is disposed at the center between a pair of cleaning motors 152 so that the underwater cleaning robot 100 can be balanced as shown in FIG.

The sterilizing device 163 may be mounted on top of the frame 110, as shown in FIGS. The sterilizing device 163 has a heat transfer pipe 163a having one end connected to the outlet of the foreign object collecting pump 162 and the other end made of a discharge port 163b made of a material having high thermal conductivity, And a heat transfer fin 163c provided on the heat transfer pipe 163a for heating the heat transfer pipe 163a by electric resistance heat.

The heat transfer pipe 163a and the heat transfer fin 163c are provided inside the case 163d and the case 163d is filled with the heat transfer fluid so as to transfer the heat generated from the heat transfer fin 163c to the heat transfer pipe 163a have. The heat transfer pipe 163a may be made of a material having high thermal conductivity such as copper or the like and may be formed in a zigzag shape so as to effectively receive heat generated from the heat transfer fin 163c. Although the heat conductive fins 163c are not shown in the drawing, electricity can be supplied from a power source to generate heat by electrical resistance. Heat generated in the heat transfer fins 163c is transferred to the heat transfer pipe 163a through the heat transfer fluid and the foreign substances and water passing through the heat transfer pipe 163a are heated to 90 degrees Celsius or more to sterilize or treat the foreign substances . Thus, even if the foreign object which is separated from the upper surface of the work surface due to the cleaning process of the underwater cleaning robot 100 is capable of causing a change in the environment of the marine area, it can be sterilized and killed and discharged. And can prevent marine pollution.

The discharge port 163b of the sterilizing device 163 may be provided with a foreign matter collecting device 164 having a filtering member 164b for filtering out foreign matter. The foreign substance collecting device 164 includes a collecting case 164a mounted on the discharge port 163b of the sterilizing device 163 and one or more collecting devices 164a and 165b for collecting and collecting the foreign substances discharged from the sterilizing device 163, And a filtration member 164b. The filtration member 164b collects the foreign matter inside and allows only water to be discharged to the outside. The filter member 164b can be replaced when foreign substances are accumulated therein.

Since the foreign matter collecting device 164 sucks the foreign matter separated from the upper surface of the workbench by the operation of the cleaning unit 150 and the foreign matter processing unit 160 together with the water and then collects it by the filtering member 164b, So that the contamination of the working water area can be minimized. In addition, since foreign matters are collected while cleaning, it is easy to secure a view of the working area, and a smooth cleaning work can be performed.

Referring to FIG. 2, the plurality of thrusters 181 to 186 are installed at both the front and rear sides of the frame 110 and include four vertical thrusters 181 - And two lateral thrusters 185 and 186 which are installed on both sides of the frame 110 and generate a thrust force in the front-rear direction of the frame 110, respectively. Here, four vertical thrusters and two lateral thrusters are illustrated, but the number of these thrusters can be changed according to the design.

The vertical thrusters 181 to 184 generate the thrust in the upward direction or the downward direction so that the underwater cleaning robot 100 can be raised or lowered when the underwater cleaning robot 100 swims in water, So that the underwater cleaning robot 100 can be rotated around the X-axis. In addition, when the underwater cleaning robot 100 is attached to the upper surface of the workbench, the cleaning robot 100 propels the upper surface of the workbench to help maintain the posture of the underwater cleaning robot 100.

The lateral thrusters 185 and 186 can apply thrust force to the underwater cleaning robot 100 in the forward and backward directions of the frame 110 when the underwater cleaning robot 100 is swimming in water. In addition, the underwater cleaning robot 100 can be swiveled in such a manner that the rotations of the two sides are different from each other or any one of them is selectively driven. Although the present embodiment shows the case where the two lateral thrusters 185 and 186 on both sides are installed on the outside of the frame 110, the two lateral thrusters 185 and 186 may be disposed on the inner side of the frame 110.

The control unit 190 is installed at the center between the pair of drive units 120 on the rear side of the frame 110, as shown in Figs. 15, the control unit 190 includes various control devices 191 including a control panel for controlling the operation of the units, a cylindrical control case 191 having its periphery and front surface closed, And a cable connection block 193 sealingly coupled to the rear surface of the control case 192 and having a plurality of cables connected thereto.

A seal 194 capable of maintaining a watertightness can be interposed between the rear surface of the control case 192 and the cable connection block 193. The cable connection block 193 has a plurality of cable terminals 193a associated with various control devices 191 inside the control case 192. [ The cable 20 extending from the external steering and power supply equipment is connected to the rear portion of the cable connection block 193.

This control unit 190 is installed at the center portion of the rear surface of the frame 110, thereby contributing to maintaining the balance of the underwater cleaning robot 100 as well as its inherent functions. Particularly, the cylindrical control case 192 is disposed parallel to the front-rear direction centerline of the frame 110 so that the weight of the both sides of the underwater cleaning robot 100 can be uniform. In addition, since the control case 192 has a cylindrical shape, it is possible to reduce the resistance to fluid when the underwater cleaning robot 100 operates underwater. Thus, the underwater cleaning robot 100 can be stably swung and driven.

As shown in FIGS. 2 and 6, the cleaning robot 100 of the present embodiment is provided with cameras for monitoring the forward and backward conditions and the conditions of both sides in the process of running underwater swim or traveling on the work surface. A front camera 201 provided at the front of the frame 110, a rear camera 202 provided at the rear of the frame 110 and two side cameras 203 installed at both sides. The front and rear cameras 201 and 202 may be panoramic cameras capable of photographing wide angles. In addition, a plurality of lighting devices 205 are installed in front and rear sides of the frame 110 and both sides thereof.

In addition, a laser vision system is installed in front of the frame 110 to detect an obstacle ahead of the cleaning robot 100. The laser vision system may include at least one irradiating device 211 for irradiating a laser beam toward the front side and a laser vision camera 212 for acquiring an image of the laser beam and reading the existence of an obstacle. If it is determined that an obstacle exists in the path to be traveled through the laser vision system, the cleaning robot 100 may be controlled to bypass the obstacle.

The operation of the underwater cleaning robot having the above configuration will be described below.

When cleaning foreign objects such as water moss, barnacle, etc. attached to the outer surface of the vessel, the vessel is moored at the dock. In this state, the underwater cleaning robot 100 is connected to the manipulating equipment and the power supply equipment provided on the ground or the deck of the ship by the cable 20. The length of the cable 20 can be adjusted to be longer or shorter depending on the position of the underwater cleaning robot 100 entering the water by keeping the state of being wound around the winding drum. After connecting the cable 20, the submersible cleaning robot 100 enters the water. In this case, lifting means such as a ship or a crane on the ground can be used.

The submerged underwater cleaning robot 100 can be remotely controlled by the manager using the steering equipment to swim in the water and access the work area of the hull 10. At this time, the underwater cleaning robot 100 can control the flotation and posture by the operation of the vertical thrusters 181 to 184, and can move to a desired position in the water by the operation of the lateral thrusters 185 and 186.

The underwater cleaning robot 100 arriving at the work area is attached to the upper surface of the work table while being positioned by the operation of the vertical and lateral thrusters 181 to 186. That is, a pair of the driving wheels 121 and the steering wheel 131 are attached to the upper surface of the work table by a magnetic force. When the influence of algae or waves is large and more stable attachment is required, a plurality of vertical thrusters 181 to 184 are operated and the underwater cleaning robot 100 can be brought into close contact with the upper surface of the work surface.

The underwater cleaning robot 100 attached to the upper surface of the workbench can perform cleaning while traveling on the upper surface of the workbench in accordance with a command from the administrator using the predetermined program or the steering equipment. At this time, the running can be performed by the operation of the pair of drive units 120, and the running direction can be controlled by the operation of the steering unit 130. [ In this way, the cleaning unit 150 is operated to clean the upper surface of the workbench. The foreign substances that are separated in the cleaning process are sucked by the foreign substance processing unit 160, sterilized or salted, ). ≪ / RTI > Accordingly, even if foreign substances attached to the upper surface of the workbench are foreign species that can cause a change in the marine environment in which cleaning is performed, or may cause environmental pollution, they are sterilized or killed by the sterilizing device 163, (164) collects foreign matter, thereby preventing change of the marine environment and preventing marine pollution.

In addition, since the driving wheels 121 and the steering wheel 131 implement three-point support in the traveling process, they can always be kept attached to the upper surface of the workbench. Therefore, the underwater cleaning robot 100 can stably travel even when a curved surface or an uneven surface exists on the upper surface of the work surface. In addition, since a curved surface exists on the upper surface of the worktable, the height of the cleaning brush 153 is adjusted and the tilting is performed when the height or slope of the worktable is changed, so that the best cleaning condition can be maintained at all times. In this case, since the driving wheel 121 is also tilted corresponding to the upper surface of the workbench, the vehicle can be stably driven.

The manager who remotely controls the underwater cleaning robot 100 during the cleaning process can determine the state before cleaning and the state after cleaning while viewing the images obtained through the front and rear cameras 201 and 202 and the both side cameras 203, Speed, travel path, operation of the cleaning unit 150, and the like. Particularly, in the present embodiment, since the foreign matter collecting device 164 collects and collects the foreign substances which are separated during the cleaning process, it is easy to secure a clock in the cleaning area and its surroundings. Accordingly, the manager can easily confirm the traveling direction of the underwater cleaning robot 100, the cleaning state, and the like through a plurality of cameras.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is clearly understood that the same is by way of illustration and example only and is not to be taken by way of limitation, You will understand. Accordingly, the true scope of the invention should be determined only by the appended claims.

100: underwater cleaning robot 110: frame
120: drive unit 121: drive wheel,
130 Steering unit 131 Steering wheel
150: Cleaning unit 152: Cleaning motor
153: Cleaning brush 160: Foreign object processing unit
161: cover member 162: foreign matter collecting pump
163: Sterilization device 163a: Heat transfer pipe
163b: Outlet port 163c: Heat transfer pin
164: foreign material collecting apparatuses 181 to 184: vertical thrusters
185, 186: lateral thruster 190: control unit
192: control case 202: rear camera
203: side camera

Claims (9)

frame;
A drive unit mounted on the frame, the drive wheel having a drive wheel in contact with an upper surface of a workbench and a drive unit for driving the drive wheel;
A steering unit having a steering wheel for controlling a moving direction of the frame and a steering driver for operating the steering wheel;
A cleaning unit provided on the frame and including a cleaning brush for rotating the top surface of the work table by rotation; And
And a foreign matter processing unit for sucking foreign substances separated from the upper surface of the workbench by the operation of the cleaning unit and performing a pickling treatment. The method according to claim 1,
The foreign matter processing unit
A cover member covering an upper surface and a peripheral portion of the cleaning brush;
A foreign matter collecting pump for sucking and discharging foreign matters inside the cover member together with water,
And a sterilizing device connected to the outlet of the foreign body collection pump and treating the foreign matter. 3. The method of claim 2,
The sterilization apparatus
A heat transfer pipe having one end connected to an outlet of the foreign object collecting pump and the other end made of a discharge port,
And a heat-conducting pin provided on an outer surface of the heat-transfer pipe to heat the heat-transfer pipe by electric resistance heat. The method of claim 3,
The outlet
(EN) An underwater cleaning robot provided with a foreign matter collecting device having a filtering member for filtering out foreign matter. 5. The method according to any one of claims 1 to 4,
The cleaning unit
A cleaning unit frame mounted on the frame,
A cleaning motor provided on the cleaning unit frame and coupled to a rotating shaft of the cleaning brush to rotate the cleaning brush;
And a lift device for raising and lowering the cleaning motor and the cleaning brush. 6. The method of claim 5,
The cleaning motor
Wherein the cleaning brush is rotatably supported in the front, rear, left, and right directions with respect to the frame for tilting the cleaning brush. 6. The method of claim 5,
The cleaning unit
A first rotation supporting member rotatably installed in the cleaning unit frame in a state of supporting the lift device;
Further comprising a second rotation supporting member rotatably installed in the elevating device in a state of supporting the cleaning motor, the second rotation supporting member being arranged such that the direction of the rotation center axis crosses the direction of the rotation center axis of the first rotation supporting member robot. 6. The method of claim 5,
The platform
Wherein the cleaning brush includes at least one spring to adjust a height of the cleaning brush corresponding to a shape of an upper surface of the workbench. 5. The method of claim 4,
The cleaning unit
A cleaning unit frame mounted on the frame,
A cleaning motor coupled to the rotation shaft of the cleaning brush to rotate the cleaning brush,
And a lift device for lifting the cleaning motor and the cleaning brush,
Wherein the cover member is provided to move up and down together with the cleaning brush,
Wherein the sterilizing device and the foreign matter collecting device are mounted on the upper part of the frame.

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