WO2022080961A1

WO2022080961A1 - System for cleaning bottom of ship

Info

Publication number: WO2022080961A1
Application number: PCT/KR2021/014386
Authority: WO
Inventors: 김부기; 최종수; 김성순
Original assignee: 한국해양과학기술원
Priority date: 2020-10-15
Filing date: 2021-10-15
Publication date: 2022-04-21

Abstract

The present invention provides a system for cleaning the bottom of a ship, comprising: a cleaning robot that cleans the outer surface of the hull of a ship; and a pump unit that is spaced apart from the cleaning robot and disposed in water, and sucks, through a hose, hull fouling collected by the cleaning robot, wherein the pump unit is moved in the water to constantly maintain a relative position with the cleaning robot according to movement of the cleaning robot in order to increase pump suction performance, and moves while maintaining the depth of water under a specific pressure so as to suppress occurrence of cavitation acting as a resistance factor in the pump unit.

Description

bottom cleaning system

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 a 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 damage 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 in 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 lowered.

Therefore, recently, a hull cleaning robot that travels while attached to the outer surface of the hull and performs cleaning work 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 with a high curvature, using a small-scale bottom cleaning robot, and the stern part of the hull equipped with a thruster and rudder must still be cleaned by a 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. As this is attached, there is a problem of disturbing the surrounding marine ecosystem due to foreign aquatic organisms introduced into the water during the cleaning process.

In the present invention, it is possible to easily clean curved parts, rudder and thrusters, etc., which are difficult cleaning areas of the hull, through the ship bottom cleaning system, specifically, a cleaning robot equipped with a multi-joint arm, and foreign substances generated in the cleaning process of the hull and 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 description below. 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 and a pump unit that is disposed in the water spaced apart from the cleaning robot and sucks the hull attachments collected by the cleaning robot through a hose. Including, the pump unit is moved in the water to constantly maintain a relative position with the cleaning robot according to the movement of the cleaning robot in order to increase pump suction performance, cavitation acting as a resistance element to the pump unit occurs Provide a bottom cleaning system that moves while maintaining the depth of the water under a certain pressure to suppress the

In addition, provided in the pump unit, provided with a position control function, to move the pump unit in water to a position receiving a constant underwater pressure, and provides a ship bottom cleaning system further comprising a propulsion device for maintaining the position.

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 pump unit provides a ship-bottom cleaning system further comprising a treatment device for processing the hull attachments sucked through the hose from the cleaning robot.

In addition, there is provided a ship bottom cleaning system further comprising a swivel joint provided at a connection portion between the cleaning robot and the hose to suppress twisting of the hose, and a weight body provided on the hose to suppress movement of the hose disposed in water.

In addition, a support ship floating on the sea, connected to the cleaning robot and connected through a cable to control the cleaning robot, and having a position control function to maintain a constant relative position according to the position of the cleaning robot further includes a support ship that moves in the sea, , the pump unit provides a bottom cleaning system that sucks the hull attachments collected by the cleaning robot through a hose and transfers them to the support ship.

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 transports the cleaning robot to the outer surface of the hull and attaches it, or a cleaning robot attached to the outer surface of the hull It includes a cleaning robot dust recovery device that collects dust and a pump unit dust recovery device that lowers or recovers the pump unit into water at a predetermined distance from the cleaning robot, and uses the cleaning robot dust recovery device and the pump unit dust recovery device to clean A ship bottom that is configured to lower or recover the robot and the pump unit into the water in a state of being spaced apart from each other to suppress the interference between the cleaning robot and the pump unit, and to suppress kinking or bending of the cable hose member connected between the cleaning robot and the pump unit A cleaning system is provided.

In addition, the support line, to suppress the twisting of the hose and cable connected between the cleaning robot and the support line, provides a cleaning robot for cleaning the outer surface of the hull and a bottom cleaning system that maintains a constant relative position.

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.

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 an existing cleaning robot, so a diver can It is possible to easily clean curved parts of the hull that had to be cleaned, rudder and thrusters, etc., thereby preventing safety accidents and improving work efficiency.

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

In addition, by maintaining a constant distance between the cleaning robot and the pump unit to prevent the shape change and kinking of the cable hose member connected between the cleaning robot and the pump unit, the pump suction rate can be increased, and thus the operation efficiency of the cleaning robot can increase

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 show the overall configuration of the ship's bottom cleaning system according to the first embodiment of the present invention.

3 and 4 show the configuration of a cleaning robot according to the first embodiment of the present invention.

Figure 5 is a cross-sectional view showing the configuration of the cleaning member according to the first embodiment of the present invention.

6 is a view showing a state of cleaning the hull using the multi-joint arm of the cleaning robot according to the first embodiment of the present invention.

7 and 8 show the pump unit moving in response to the position of the cleaning robot according to the first embodiment of the present invention.

9 and 10 show the overall configuration of the ship's bottom cleaning system according to the second embodiment of the present invention.

11 and 12 show a state of cleaning the outer surface of the hull using the cleaning robot provided in the ship bottom cleaning system according to the second embodiment of the present invention.

13 and 14 are diagrams illustrating a support line moving in response to the position of the cleaning robot according to the second embodiment of the present invention.

15 and 16 show a state in which the hull cleaning is performed using a plurality of cleaning robots according to the second embodiment of the present invention.

17 and 18 show a state in which the cleaning robot and the pump unit are launched respectively using the dust recovery device according to the second 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 not related 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 1000 according to a first embodiment of the present invention, and FIGS. 3 and 4 are a cleaning robot 1100 according to the first embodiment of the present invention. shows the configuration of

1 to 4 , the ship bottom cleaning system 1000 according to the first embodiment of the present invention may include a cleaning robot 1100 and a pump unit 1200 .

The cleaning robot 1100 travels in a state attached to the outer surface of the hull of the ship 1 and can clean attachments such as foreign substances and aquatic organisms attached to the outer surface of the hull.

Such a cleaning robot 1100 may move to the outer surface of the hull of the vessel 1 to be cleaned through a seismic recovery device (not shown) in the vessel 1 or in a port or pier.

In addition, the cleaning robot 1100 may clean the outer surface of the hull by using a brush 1142 or the like while driving while the magnetic driving means is attached to the outer surface of the hull submerged in water through the back.

Specifically, as shown in FIGS. 3 and 4 , the cleaning robot 1100 includes a main body 1110 and a magnet provided in the main body 1110 and attached to the outer surface of the hull. A track-type traveling member 1120, a camera 1131 and a lighting unit 1132 provided in front and rear of the body unit 1110, a cleaning member 1140 for cleaning the outer surface of the hull, and the body unit 1110 It may include a multi-joint arm 1150 that is provided to move the cleaning member 1140 to the outer surface of the hull.

Here, the traveling member 1120 provided in the main body 1110 is formed of a caterpillar 1121 including a magnet and can travel while attached to the outer surface of the hull, and is located on 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.

As an example, a suspension device (not shown) arranged in a line inside the caterpillar 1121 and connected to a plurality of rollers 1122 for rotating the caterpillar 1121 by a link may be provided, and accordingly, the cleaning robot When the 1100 travels on the outer surface of the hull, the roller 1122 moves and rotates in response to the curvature of the hull by the suspension (not shown), so that the caterpillar 1121 can be safely driven while grounded on the outer surface of the hull. there is.

In addition, the lighting unit 1132 provided at the front and rear of the main body 1110 illuminates the cleaning process of the outer surface of the hull through the cleaning robot 1100, and the camera 1131 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 1140 may include a brush for cleaning the outer surface of the hull while rotating, or a water jet type high-pressure spray nozzle for spraying high-temperature or room-temperature water at high pressure, and in FIG. 3, the cleaning robot 1100 The cleaning robot 1100 provided with the brush-type cleaning member 1140a is shown as an example, and in FIG. 4, the cleaning robot 1100 provided with the waterjet-type cleaning member 1140b is shown as an example. are giving

That is, 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 of the hull located in the water. can do.

In addition, a swivel joint 1111 may be provided at the connection portion between the main body 1110 and the suction hose 1310 , and the swivel joint 1111 sucks the attachments collected and sucked by the cleaning member 1140 . It can be easily introduced into the hose 1310, and it is possible to effectively prevent the kinking of the suction hose 1310.

5 is a cross-sectional view showing the configuration of the cleaning member 1140 according to the first embodiment of the present invention.

Specifically, referring to FIG. 5A , the cleaning member 1140a of the brush type includes a suction case 1141 having an opening formed on one side, and a brush rotatably installed in the opening of the suction case 1141 ( 1142 , and a driving motor 1143 for rotating the brush 1142 may be included.

At this time, a suction hose 1310 for sucking the attachments falling off from the outer surface of the hull by the brush 1142 may be connected to the suction case 1141 .

The brush-type cleaning member 1140 of this configuration rotates the brush 1142 through the driving motor 1143 to remove foreign substances and aquatic organisms attached to the outer surface of the hull, and at the same time, the pump unit 1200 ) can be operated to suck the attachments falling off the outer surface of the hull through the suction case 1141 and the suction hose 1310 .

In addition, referring to FIG. 5B , the cleaning member 1140 of the waterjet method includes a suction case 1141 having an opening formed on one side, and a rotating member 1144 installed in the opening of the suction case 1141 and , a driving motor (not shown) for rotating the rotating member 1144, and a plurality of high-

pressure injection nozzles

1145 and 1146 provided on the rotating member 1144 and for jetting high-pressure water to the outside through the opening of the suction case 1141 ) may be included.

Here, the plurality of high-

pressure jetting nozzles

1145 and 1146 includes a first high-pressure jetting nozzle 1145 for vertically jetting high-pressure water, and a second high-pressure jetting nozzle 1146 for jetting high-pressure water at an inclined angle. As an example, a plurality of second high-pressure injection nozzles 1146 may be provided in the central portion of the rotating member 1144 , and the first high-pressure injection nozzles 1145 may be provided in the remaining portion.

In addition, a suction hose 1310 for sucking the attachment may be connected to the suction case 1141 of the cleaning member 1140 .

The cleaning member 1140 of the waterjet method of this configuration rotates the rotating member 1144 through a driving motor (not shown), and at the same time, high-pressure water through a plurality of first and second high-

pressure injection nozzles

1145 and 1146 . It is possible to remove the attachments attached to the outer surface of the hull by spraying, and the attachments falling off the outer surface of the hull may be sucked through the suction case 1141 and the suction hose 1310 .

At this time, a plurality of first high-pressure injection nozzles 1145 that are rotated at high speed by the rotating member 1144 and vertically spray high-pressure water toward the outer surface of the hull, and a plurality of spraying high-pressure water at an angle inclined toward the outer surface of the hull Through the second high-pressure injection nozzle 1146 of the, it is possible to more effectively remove the attachment attached to the outer surface of the hull.

In particular, when performing cleaning of the outer surface of the hull by spraying high-pressure water at an inclined angle while rotating, damage to the hull can be minimized, and attached organisms such as barnacles can be easily removed.

Moreover, when cleaning the hull by spraying high-temperature water, it is possible to more easily remove attached organisms vulnerable to high temperature, and in this case, the high-

pressure injection nozzles

1145 and 1146 are a heating part (not shown) for heating water and a pipe It is connected through the , and high-temperature water heated through a heating unit (not shown) may be sprayed at a high pressure.

In addition, referring to FIGS. 3 and 4 , the multi-joint arm 1150 provided on the upper part of the main body 1110 is formed in the form of a robot arm of 4 to 6 axes, and a cleaning member 1140 can be provided at the end. There, it is possible to move the cleaning member 1140 toward the outer surface of the hull through a driving unit (not shown) that operates the joint.

Thereby, the driving unit (not shown) operates the multi-joint arm to adjust the direction in which the cleaning member 1140 provided at the end of the arm faces, and it is possible to move the cleaning member 1140 to the outer surface of the hull.

6 shows a state in which the hull is cleaned using the multi-joint arm 1150 of the cleaning robot 1100 according to the first embodiment of the present invention.

Referring to FIG. 6 , the cleaning robot 1100 can move the cleaning member 1140 in response to the shape of the bow/stern, the thruster and the rudder using the multi-joint arm 1150, and the cleaning member 1140 This makes it easy to clean every nook and cranny of the outer surface of the hull.

Accordingly, it is possible to easily clean the curved part of the hull, rudder and thruster, etc., which had to be cleaned by divers because it is difficult to clean with the existing cleaning robot, thereby preventing safety accidents and improving work efficiency.

As an example, as shown in FIG. 6 , when cleaning the wings of a thruster that is difficult to clean, the multi-joint arm 1150 is operated around the thruster to remove the cleaning member 1140 having a brush or a high-pressure spray nozzle. Adhesives can be removed by easily adhering to the .

In addition, the multi-joint arm 1150 or the cleaning member 1140 may be provided with a sensor member (not shown) that detects a gap with the outer surface of the hull, and the multi-joint arm according to the detection signal of the sensor member (not shown) by operating to maintain an appropriate distance from the outer surface of the hull, it is possible to clean the outer surface of the hull through the cleaning member 1140.

In addition, the suction hose 1310 is connected to the cleaning member 1140, and the suction hose 1310 is attached to foreign substances and aquatic organisms that fall off from the outer surface of the hull during the cleaning process according to the operation of the pump unit 1200 to be described later. can be inhaled.

The suction hose 1310 may extend from the cleaning member 1140 and the main body 1110 to be connected to the pump unit 1200, and the attachments sucked into the suction hose 1310 are external through the pump unit 1200. It may flow into a processing device (not shown) provided in a ship, wharf, or port facility.

Here, the processing device (not shown) may be provided integrally with the pump unit 1200, and pre-treats, filters, Can be sterilized and neutralized.

In addition, a cable 1330 such as a power cable and a communication cable may be connected to the main body 1110 of the cleaning robot 1100 together with the suction hose 1310, and the cable 1330 is integrated with the suction hose 1310. It may be tied and connected to an external control device that controls the cleaning robot 1100 via the pump unit 1200 .

Such a cleaning robot 1100 travels on the bottom and side surfaces of the hull and can perform hull cleaning using a cleaning member 1140 such as a brush or a high-pressure spray nozzle, and in particular, a cleaning member through the multi-joint arm 1150 By freely controlling the angle and movement of 1140, it is possible to easily clean curved parts of the hull that are difficult to clean, rudders and thrusters, and the like.

In addition, it goes without saying that an auxiliary cleaning member (not shown) may be provided on the bottom surface of the main body 1110 facing the outer surface of the hull to perform cleaning while driving.

As an example, the auxiliary cleaning member is formed in the form of a rotating disk-shaped brush on the bottom surface of the main body 1110 of the cleaning robot 1100, so that when the cleaning robot runs along the outer surface of the hull, the cleaning is performed while being in close contact with the outer surface of the hull. can do.

On the other hand, the pump unit 1200 is connected to the cleaning robot 1100, and when the cleaning robot 1100 cleans the outer surface of the hull of the cleaning target vessel 1, it is disposed in water and collected by the cleaning robot 1100. The hull attachment to be sucked through the

hoses

1310 and 1320 may be transferred to a processing device (not shown).

The ship bottom cleaning system 1000 of this embodiment includes a large-capacity pump unit 1200 separately from the cleaning robot 1100, so that the cleaning robot 1100 can be downsized, and the suction performance of the pump unit 1200 is improved. It is possible to increase the collection efficiency for hull attachments.

Specifically, the pump unit 1200 operates when the cleaning robot 1100 cleans the hull, and in the cleaning process, foreign substances and aquatic organisms that fall off the outer surface of the hull are suctioned through the suction hose 1310, and are sucked. The attached material may be introduced into the processing device (not shown) through the delivery hose 1320 .

In this case, the pump unit 1200 may suppress cavitation (cavitation) occurring in the pump by operating under water pressure, thereby improving the suction power of the pump.

That is, when the pump unit 1200 is disposed above the water surface and operated, the pump pressure is maintained at 1 bar or less, so that cavitation may occur inside the pump to generate a resistance element, thereby reducing the suction power of the pump.

As an example, when the pressure of the pump suction port in the pump unit 1200 is lower than the effective suction pressure of the pump, cavitation occurs, and problems such as damage to the pump, failure, reduced life and noise generation due to the resistance element due to cavitation this can happen

Accordingly, in this embodiment, in order to prevent cavitation in the pump unit 1200, the pump unit 1200 may be disposed at a predetermined position in the water and may be operated under water pressure.

In this case, the pressure of the pump suction port is maintained higher than the effective suction pressure of the pump, so that cavitation occurring in the pump can be effectively suppressed, thereby increasing the suction power of the pump.

In addition, the pump unit 1200 is provided with a propulsion device 1210, it can move in the water to maintain a constant relative position with the cleaning robot 1100 for cleaning the outer surface of the hull.

Specifically, the pump unit 1200 can be moved in the water by the propulsion device 1210. According to the movement of the cleaning robot 1100, by moving in the water to keep the relative position of the cleaning robot 1100 constant. , it can move while maintaining the depth of water under a specific pressure so as to suppress the occurrence of cavitation acting as a resistance element in the pump unit 1200 .

In addition, the propulsion device 1210 of the pump unit 1200 controls the position in the water of the pump unit 1200 through the position control function, the relative position with the cleaning robot according to the movement of the cleaning robot 1100, Moving the pump unit 1200 in consideration of a position that receives pressure under water that can effectively suppress cavitation and a position that minimizes a decrease in transport efficiency according to the distance between the pump unit 1200 and an external processing device (not shown) can do it

For example, even when the pump unit 1200 is moved to a position that receives the underwater pressure capable of suppressing cavitation and the suction efficiency of the pump unit 1200 is increased, according to the movement of the pump unit 1200, the pump unit ( When the distance between the 1200 and the processing device (not shown) increases and the transport efficiency decreases, the overall efficiency of the pump unit 1200 may decrease.

Accordingly, the propulsion device 1210 of the pump unit 1200 moves the pump unit 1200 in consideration of the relative position with the cleaning robot according to the movement of the cleaning robot 1100, and the suction efficiency of the pump unit 1200 and In consideration of the transfer efficiency, the pump unit 1200 may be moved along an appropriate path, and it may be controlled to stay at the position.

In addition, the pump unit 1200 has a certain relative position with the cleaning robot 1100 so that the cleaning robot 1100 can suppress the twisting of the cable hose member 1300 when the cleaning robot 1100 cleans the outer surface of the hull of the cleaning target vessel 1 . You can move underwater while holding it.

Here, the cable hose member 1300 is formed in the form of a bundle of

hoses

1310 and 1320 and the cable 1330, and the

hoses

1310 and 1320 are suction connected between the cleaning member 1140 and the pump unit 1200. It may include a hose 1310 and a delivery hose 1320 connected between the pump unit 1200 and a processing device (not shown).

In addition, the cable 1330 may include a communication cable and a power cable.

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

1310 and 1320 and the cable 1330 .

The pump unit 1200 may move in water through the propulsion device 1210 to maintain a constant relative position according to the position of the cleaning robot 1100 for cleaning the hull in conjunction with the cleaning robot 1100 .

7 and 8 show the pump unit 1200 moving in response to the position of the cleaning robot 1100 according to the first embodiment of the present invention.

7 and 8, in the process of cleaning the hull of the cleaning target vessel 1 through the cleaning robot 1100, the pump unit 1200 moves in the water according to the movement of the cleaning robot 1100 to clean it By always keeping the cable hose member 1300 connected between the robot 1100 and the pump unit 1200 short, it is possible to suppress the shape change or twist of the cable hose member 1300 caused by the current.

In addition, a weight body 1340 may be additionally provided on the cable hose member 1300 to facilitate handling by maximally suppressing the movement of the cable hose member 1300 by tidal currents.

Accordingly, when cleaning the outer surface of the hull of the vessel 1 to be cleaned through the cleaning robot 1100, the shape change of the cable hose member 1300 connected between the cleaning robot 1100 and the pump unit 1200 and By suppressing kinking and facilitating handling of the cable hose member 1300, the operating efficiency of the cleaning robot 1100 can be increased, and the

hoses

1310 and 1320 of the cable hose member 1300 from the cleaning robot 1100 are removed. It is possible to increase the suction rate of the hull attachments sucked through.

9 and 10 are views showing the overall configuration of the ship-bottom cleaning system 2000 according to the second embodiment of the present invention, and FIGS. 11 and 12 are the ship-bottom cleaning system 2000 according to the second embodiment of the present invention. ) shows a state of cleaning the outer surface of the hull using the cleaning robot 2100 provided in the .

9 to 12 , the ship bottom cleaning system 2000 according to the second embodiment of the present invention may include a cleaning robot 2100 , a support ship 2200 , and a pump unit 2300 .

The cleaning robot 2100 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 2100 may move to the outer surface of the hull of the cleaning target vessel 1 through the dust recovery device 2600 provided in the support ship 2200 .

In addition, the cleaning robot 2100 is connected through the support line 2200 and the cable 2430, and can operate under the control of a control unit (not shown) provided in the support line 2200, magnetic driving means, etc. It is possible to clean the outer surface of the hull by using a brush (not shown), etc. while driving while attached to the outer surface of the hull submerged in water.

A suction hose 2410 is connected to a cleaning member (not shown) such as a brush or a high-pressure spray nozzle provided in the cleaning robot 2100, and the suction hose 2410 is cleaned according to the operation of the pump unit 2300 to be described later. In the process, it is possible to inhale foreign substances and aquatic organisms that fall off the outer surface of the hull.

The suction hose 2410 may extend from the cleaning robot 2100 and be connected to the pump unit 2300, and the attachments sucked into the suction hose 2410 are provided on the support line 2200 through the pump unit 2300. may be introduced into the processing device 2500 .

In addition, a cable 2430 such as a power cable and a communication cable may be connected to the cleaning robot 2100 together with the suction hose 2410, and the cable 2430 is integrally bundled with the suction hose 2410 and the pump unit 2300. It may be connected to a control unit (not shown) provided on the support line 2200 through the .

In addition, the cleaning robot 2100 may be provided with a cleaning member (not shown) on the bottom surface of the cleaning robot 2100 opposite to the outer surface of the hull to perform cleaning while driving, and by the cleaning member (not shown) Attachments falling off the outer surface of the hull may be sucked through the suction hose (2410).

Such a cleaning robot 2100 travels on the bottom and side surfaces of the hull and can perform hull cleaning using a cleaning member (not shown) such as a brush or a high-pressure spray nozzle, and in particular, a cleaning member (not shown) through a multi-joint arm. By freely controlling the angle and movement of city), it is possible to easily clean curved parts of the hull that are difficult to clean, rudder and thrusters, etc.

On the other hand, referring to FIGS. 9 to 12 , the support ship 2200 is floating on the sea, and is connected to the cleaning robot 2100 and the cable 2430 to control the cleaning robot 2100, and to clean the outer surface of the hull. It can move in the sea to maintain a constant relative position with the cleaning robot 2100 .

Specifically, the support ship 2200 is equipped with a propulsion device 2210 to move at sea, and a dust recovery device 2600 to launch or recover the cleaning robot 2100 and the pump unit 2300. there is.

In addition, the support line 2200 may be connected through the cleaning robot 2100 and the cable hose member 2400. When the cleaning robot 2100 cleans the outer surface of the hull of the cleaning target vessel 1, the cable hose member 2400 ) can be moved in the sea while maintaining a constant relative position with the cleaning robot 2100 to suppress the twist.

Here, the cable hose member 2400 is formed in the form of a bundle of

hoses

2410 and 2420 and cables 2430, and the

hoses

2410 and 2420 are suction connected between the cleaning robot 2100 and the pump unit 2300. It may include a hose 2410 and a delivery hose 2420 connected between the pump unit 2300 and the support line 2200 .

In addition, the cable 2430 includes a communication cable and a power cable, and may be connected between the cleaning robot 2100 , the pump unit 2300 , and the support line 2200 in the form of a bundle with the

hoses

2410 and 2420 .

In this case, a joint member (not shown) such as a swivel joint for preventing kinking may be provided at the connection portion between the ends of the

hoses

2410 and 2420 and the cable 2430 .

In addition, the support ship 2200 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 2100 . Thus, it can move on the sea to maintain a constant relative position according to the position of the cleaning robot 2100 for cleaning the hull.

That is, in this embodiment, when the cleaning robot 2100 cleans the outer surface of the hull of the cleaning target vessel 1, the pump provided in the cable hose member 2400 between the support ship 2200 and the cleaning robot 2100. Position the unit 2300 in the water, and move the support ship 2200 according to the working position of the cleaning robot 2100 to determine the relative position between the support ship 2200, the pump unit 2300 and the cleaning robot 2100. By keeping it constant, the length of the cable hose member 2400 is always kept short, thereby suppressing the shape change or twisting of the cable hose member 2400 due to the current.

At this time, since the pump unit 2300 provided in the middle of the cable hose member 2400 is disposed in the water, the movement of the cable hose member 2400 by the current, the support ship 2200 by the waves, or the cleaning target vessel Even with the factor of change in the shape of the cable hose member 2400 due to the movement of (1), the shape change or twist of the cable hose member 2400 can be suppressed by the weight (inertia) of the pump unit 2300 .

In addition, a weight body 2440 may be additionally provided on the cable hose member 2400 so as to facilitate handling by maximally suppressing the movement of the cable hose member 2400 by birds.

As an example, the weight 2440 may be provided on the cable hose member 2400 between the pump unit 2300 and the cleaning robot 2100 .

Accordingly, in this embodiment, when the cleaning robot 2100 cleans the outer surface of the hull of the cleaning target vessel 1, the cleaning robot 2100, the pump unit 2300, and the cable connected between the support ship 2200 By facilitating handling of the cable hose member 2400 by suppressing the shape change and twisting of the hose member 2400, the operating efficiency of the cleaning robot 2100 can be increased, and the cable hose member 2400 from the cleaning robot 2100 ) It is possible to increase the suction rate of the hull attachments sucked through the hoses (2410, 2420).

13 and 14 illustrate a support line 2200 that moves in response to the position of the cleaning robot 2100 according to the second embodiment of the present invention.

As an example, referring to FIGS. 13 and 14 , in the process of cleaning the hull of the cleaning target vessel 1 through the cleaning robot 2100 , the support ship 2200 moves according to the movement of the cleaning robot 2100 . Thus, the shape deformation and twisting of the cable hose member 2400 connected between the cleaning robot 2100 and the support line 2200 can be suppressed, and the cleaning robot 2100 is adjacent to the support line 2200 from the opposite side of the hull. When cleaning is performed, it is possible to keep the cable hose member 2400 as short as possible by attaching the support line 2200 close to the hull.

In addition, the support ship 2200 is provided with a damper (not shown) on the side to buffer the collision with the cleaning target ship 1 can be suppressed, such as damage to the hull.

In addition, the support ship 2200 may be provided with a treatment device 2500 for pre-processing, filtering, sterilizing, and neutralizing attachments such as foreign substances and aquatic organisms transferred from the cleaning robot 2100 .

On the other hand, the pump unit 2300 is connected between the cleaning robot 2100 and the support ship 2200, and when the cleaning robot 2100 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 2100 may be sucked through the

hoses

2410 and 2420 and transferred to the support ship 2200 .

Specifically, the pump unit 2300 operates when the cleaning robot 2100 cleans the hull, and in the cleaning process, foreign substances and aquatic organisms that fall off from the outer surface of the hull are sucked in through the suction hose 2410 and sucked. The attached attachment may be introduced into the processing device 2500 of the support ship 2200 through the outgoing hose 2420 .

At this time, the pump unit 2300 may suppress cavitation (cavitation) occurring in the pump by operating under water pressure, thereby improving the suction power of the pump.

That is, when the pump unit 2300 is disposed and operated on the support line 2200, 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, by disposing the pump unit 2300 in water and operating it under water pressure, it is possible to effectively suppress cavitation occurring in the pump, thereby increasing the suction power of the pump.

In addition, the support line 2300 can control the position in the water of the pump unit 2200 connected through the cable hose member 2400 using the position control function, and the cleaning robot according to the movement of the cleaning robot 2100 and In consideration of the relative position of It can be moved, and the pump unit 2200 can be controlled to stay at the position.

Meanwhile, the ship bottom cleaning system 2000 according to the present embodiment may perform hull cleaning of the cleaning target vessel 1 using a plurality of cleaning robots 2100 .

15 and 16 show a state in which the hull cleaning is performed using a plurality of cleaning robots 2100 according to the second embodiment of the present invention.

15 and 16 , the ship bottom cleaning system 2000 in this embodiment may include a support ship 2200 , a pump unit 2300 , and a plurality of cleaning robots 2100 , the pump unit 2300 . ), a plurality of cleaning robots 2100 may be respectively connected to each other through a cable hose member 2400, and cleaning may be performed by dividing the hull by area through the plurality of cleaning robots 2100.

Here, as for the plurality of cleaning robots 2100 for cleaning the hull, a plurality of cleaning robots 2100 provided with articulated arms having the aforementioned cleaning members may be operated, or cleaning robots provided with cleaning members on the bottom surface (2100) can be operated together.

As an example, the cleaning robot 2100 provided 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 The provided cleaning robot 2100 may be used for cleaning the center of a relatively flat hull.

In this way, when a plurality of cleaning robots 2100 are operated, the hull cleaning time can be shortened and cleaning efficiency can be increased.

On the other hand, FIGS. 17 and 18 show a state in which the cleaning robot 2100 and the pump unit 2300 are launched respectively by using the dust recovery device 2600 according to the second embodiment of the present invention.

17 and 18 , in the present embodiment, the dust recovery device 2600 provided on the support ship 2200 may include a cleaning robot dust recovery device 2610 and a pump unit dust recovery device 2620. .

Here, the cleaning robot dust collection device 2610 may transfer the cleaning robot 2100 to the hull of the cleaning target vessel 1 and attach it, or may recover the cleaning robot 2100 attached to the hull.

The cleaning robot dust recovery device 2610 may include a transport crane 2611 capable of transporting the cleaning robot 2100 toward the hull of the cleaning target vessel 1 . When the cleaning robot 2100 is launched, the transport After attaching the cleaning robot 2100 to the hull of the vessel 1 to be cleaned using a crane 2611, unwind the lifting rope 2612 at the end of the transfer crane 2611 to lower the cleaning robot 2100 into the water. Thereby, when the cleaning robot 2100 enters the water along the outer surface of the hull, the lifting rope 2612 bound to the cleaning robot 2100 may be released.

In this case, the lifting rope 2612 may be a motion suppression rope capable of reducing the movement of the cleaning robot 2100 .

In addition, the cleaning robot vacuum recovery device 2610 is disposed to be spaced apart from the pump unit vacuum recovery device 2620 on the support line 2200 to prevent bending or damage of the cable hose member 2400 connected to the cleaning robot 2100 . can do.

In addition, the pump unit dust recovery device 2620 may include an auxiliary crane 2621 and a winch 2622 provided in the auxiliary crane 2621, and a pump unit ( 2300), and unwinding the wire 2623 from the winch 2622 to lower the pump unit 2300 into the water.

When described in more detail as the process of launching the cleaning robot 2100 and the pump unit 2300 as described above, first, the auxiliary crane 2621 and the winch 2622 of the pump unit vibration recovery device 2620 are operated to operate the pump unit ( After the 2300 is moved above the sea level, the wire 2623 of the winch 2622 is unwound to lower the pump unit 2300 bound to the wire 2623 into the water.

At the same time, by operating the transfer crane 2611 of the cleaning robot dust recovery device 2610, the cleaning robot 2100 can be safely attached to the outer surface of the hull of the cleaning target vessel 1, and the cleaning robot from the transfer crane 2611 By unwinding the lifting rope 2612 bound to the 2100, the cleaning robot 2100 may enter the water along the outer surface of the hull.

In addition, when the pump unit 2300 and the cleaning robot 2100 are submerged in water, the wire 2623 bound to the pump unit 2300 is released, and the lifting rope 2612 bound to the cleaning robot 2100 is removed. can be unlinked.

At this time, the suction hose 2410 is connected between the pump unit 2300 and the cleaning robot 2100, and the sending hose 2420 is connected between the pump unit 2300 and the processing device 2500 of the support line 2200. It is possible to prevent kinking or bending of the

hoses

2410 and 2420 by descending into the water in a state where the cleaning robot 2100 and the pump unit 2300 are spaced apart from each other.

On the other hand, when the cleaning of the hull through the cleaning robot 2100 is completed, the cleaning robot 2100 and The pump unit 2300 may be recovered to the support ship 2200 .

As described above, the ship

bottom cleaning systems

1000 and 2000 according to an embodiment of the present invention are a cleaning robot 1100 capable of freely controlling the angle and movement of a cleaning member through a multi-joint arm and performing hull cleaning; 2100), it is possible to easily clean curved parts of the hull, rudder and thrusters, 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. .

In addition, by disposing the

pump units

1200 and 2300 connected to the

cleaning robots

1100 and 2100 in water, cavitation (cavitation) occurring in the pump is suppressed, thereby increasing the performance and durability of the pump.

In addition, a cable hose member (1300, 2400) connected between the cleaning robot (1100, 2100) and the pump unit (1200, 2300) by maintaining a constant distance between the cleaning robot (1100, 2100) and the pump unit (1200, 2300) ) by preventing the shape change and twisting, it is possible to increase the pump suction rate, thereby increasing the operating efficiency of the

cleaning robots

1100 and 2100.

The 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.

The ship bottom cleaning system according to the embodiment of the present invention can easily clean the curved part of the hull, rudder, and thruster, etc., which the diver had to clean because it is difficult to clean with the existing cleaning robot, so it is possible to prevent safety accidents and work Since efficiency can be improved, it can be effectively used in domestic as well as overseas ship cleaning fields.

Claims

A cleaning robot that cleans the outer surface of the ship's hull; and

and a pump unit disposed in water spaced apart from the cleaning robot and sucking the hull attachments collected by the cleaning robot through a hose,

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 it is possible to suppress the occurrence of cavitation acting as a resistance element in the pump unit A bottom cleaning system that moves while maintaining the depth of the water under a certain pressure.
The method of claim 1,

Provided in the pump unit, having a position control function, moving the pump unit in the water to a position receiving a constant underwater pressure, and further comprising a propulsion device for maintaining the position.
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 while 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.
The method of claim 1,

The pump unit is

Ship bottom cleaning system further comprising a processing device for processing the hull attachment sucked through the hose from the cleaning robot.
The method of claim 1,

a swivel joint provided at a connection portion between the cleaning robot and the hose to suppress twisting of the hose; and

The ship bottom cleaning system further comprising a weight provided on the hose in order to suppress the movement of the hose disposed in the water.
The method of claim 1,

A support ship floating on the sea, connected to the cleaning robot and connected through a cable to control the cleaning robot, and having a position control function, further comprising a support ship moving in the sea to maintain a constant relative position according to the position of the cleaning robot do,

The pump unit is

A ship-bottom cleaning system that sucks the hull attachments collected by the cleaning robot through a hose and transfers them to the support ship.
7. The method of claim 6,

It is provided on the support ship and further comprises 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 cleaning robot dust recovery device and the pump unit dust 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.
7. The method of claim 6,

The support line is

A ship-bottom cleaning system for 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.
7. The method of claim 6,

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.