WO2022121202A1 - Dispositif de nettoyage sous-marin pour équipement marin et son procédé de commande de nettoyage - Google Patents

Dispositif de nettoyage sous-marin pour équipement marin et son procédé de commande de nettoyage Download PDF

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Publication number
WO2022121202A1
WO2022121202A1 PCT/CN2021/087803 CN2021087803W WO2022121202A1 WO 2022121202 A1 WO2022121202 A1 WO 2022121202A1 CN 2021087803 W CN2021087803 W CN 2021087803W WO 2022121202 A1 WO2022121202 A1 WO 2022121202A1
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Prior art keywords
cleaning
underwater
positioning
cleaning device
base
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PCT/CN2021/087803
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English (en)
Chinese (zh)
Inventor
唐文献
郭胜
朱华伦
张建
苏世杰
何佳伟
殷宝吉
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江苏科技大学
镇江宇诚智能装备科技有限责任公司
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Publication of WO2022121202A1 publication Critical patent/WO2022121202A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B59/00—Hull protection specially adapted for vessels; Cleaning devices specially adapted for vessels
    • B63B59/06—Cleaning devices for hulls
    • B63B59/10—Cleaning devices for hulls using trolleys or the like driven along the surface
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/08—Endless track units; Parts thereof
    • B62D55/18—Tracks
    • B62D55/26—Ground engaging parts or elements
    • B62D55/265—Ground engaging parts or elements having magnetic or pneumatic adhesion
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
    • Y02A40/80—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in fisheries management
    • Y02A40/81—Aquaculture, e.g. of fish

Definitions

  • the invention relates to the field of ocean cleaning, in particular to an underwater cleaning device for marine equipment and a cleaning control method thereof.
  • Marine fouling has always been a problem plaguing shipping and underwater facilities because marine organisms such as algae and shellfish will adsorb and erode marine equipment such as hull surfaces, aquaculture nets, and seawater pipelines.
  • marine fouling will increase the resistance of ships, resulting in increased fuel consumption and reduced ship speed.
  • it will also accelerate the process and speed of electrochemical corrosion of metals on the surface of the hull, affecting the safe operation of ships.
  • the sea creatures cause mesh clogging, they also compete with the aquaculture shellfish for the attachment base and bait, which affects the growth and output of oysters and other aquaculture shellfish.
  • marine fouling will increase the volume and roughness of the platform support, increase the external load, increase the platform's own weight and increase the platform's center of gravity, and increase the possibility of the platform tilting or collapsing.
  • the control methods of marine fouling organisms can be divided into physical anti-fouling method, chemical anti-fouling method and biological anti-fouling method according to the principle of anti-fouling technology.
  • the physical anti-fouling method is a traditional anti-fouling method, which is simple and convenient to operate, has strong timeliness, is non-toxic and environmentally friendly, but has low removal efficiency, is easy to damage hull components, and has high removal costs; chemical anti-fouling method can achieve long-term anti-fouling.
  • the biological antifouling method adopts the biological method of natural enemy prevention and control to solve the problem of marine organism attachment and achieve the purpose of preventing fouling organisms.
  • Patent CN208882066U is a device for removing attachments in ships traveling and docking at anchorages.
  • the magnetic compensation device compensates the adsorption force to remove the attachments without damaging the paint surface.
  • the camber angle of the hull is too large, because the crawler structure is a single crawler type, it cannot pass normally. It is difficult to ensure all-round cleaning of the hull surface.
  • Patent CN10994001A is an underwater net washing machine, its net washing module and its net washing method. It relies on the propeller to generate thrust so that the cleaning disc on the net washing module fits the surface of the net clothes for cleaning, but the cleaning effect of the propeller is too small.
  • the patent CN108380601A is an underwater steel pipe pile surface cleaning and cleaning device.
  • the overall structure is arc-shaped, which is suitable for the outer surface of the steel pipe arc, and the walking system is 4 magnetic drive wheels, which can generate magnetic force to be adsorbed on the surface of the steel pipe column.
  • the walking system is 4 magnetic drive wheels, which can generate magnetic force to be adsorbed on the surface of the steel pipe column.
  • the purpose of the present invention is to provide an underwater cleaning device for marine equipment, which is convenient for underwater cleaning operations and meets positioning requirements. And provides its cleaning control method.
  • an underwater cleaning device for marine equipment including a fuselage, a robotic arm, a washer, a positioning gripping arm, an electric crawler, and a cleaning disc.
  • the robotic arm is installed on the top of the fuselage, and the cleaner is installed at the end of the robotic arm
  • a group of positioning and clamping arms are symmetrically arranged on the laterally opposite sides of the fuselage
  • two electric crawler belts are arranged at intervals on the laterally opposite sides of the fuselage respectively, and each group includes two positioning and clamping arms arranged at intervals.
  • the cleaner includes a base, a bearing with a seat, a hollow rotating shaft, a cleaning brush driving device, a cleaning brush, a stepper motor, a cleaning gun, and a cleaning gun driving device.
  • the cleaning brush is arranged in and connected to one end of the hollow shaft through the cleaning brush drive device, and the cleaning gun penetrates through the other end of the hollow shaft, and the stepper motor is installed in the hollow shaft.
  • the base is connected with the hollow rotating shaft
  • the cleaning gun driving device is installed on the base at one side of the rear end of the hollow rotating shaft
  • the cleaning gun is connected with the cleaning gun driving device
  • the base is connected with the mechanical arm.
  • the cleaning brush driving device and the cleaning gun driving device are both linear module structures.
  • the positioning clamping arm includes a base driving device, a base, a first clamping joint, and a second clamping joint
  • the base driving device is installed on the side of the fuselage
  • the base driving device is provided with a base
  • the base is The end of the seat is hinged with one end of the first clamping joint
  • the other end of the first clamping joint is hinged with one end of the second clamping joint.
  • the base driving device is a linear module structure.
  • the electric crawler includes a support frame, a crawler, a first hinged rod, a second hinged rod, and a crawler drive device.
  • the outer ring of the support frame includes a plurality of wheels distributed at intervals in sequence, and the crawler is sleeved on the outer peripheral surface of the plurality of wheels.
  • One end of the first hinge rod and one end of the second hinge rod are respectively connected with the support frame, the other end of the first hinge rod is hinged with the fuselage, the other end of the second hinge rod is hinged with the crawler drive device, and the crawler drive device is hinged on the fuselage superior.
  • the cleaning tray includes a cleaning pipe and a cleaning cover, the cleaning pipe is pierced through and connected to the middle of the cleaning cover, and the cleaning cover is fixed on the bottom of the fuselage.
  • the number of cleaning disks is five, including one large cleaning disk and four small cleaning disks.
  • the large cleaning disk is located in the middle of the bottom of the fuselage, and the small cleaning disk is around the large cleaning disk. interval distribution.
  • the device further includes a control system, the control system includes an upper computer and a lower computer, the lower computer is installed on the fuselage, and the lower computer includes a control module, a monitoring module and a data processing module.
  • a cleaning control method for an underwater cleaning device for marine equipment comprising the following steps:
  • Step 1 The upper computer controls the cleaning device to move to the vicinity of the object to be cleaned, and the cleaning device is initially positioned;
  • Step 2 According to the positioning feature of the object to be cleaned, select an appropriate positioning method to fix the cleaning device on the object to be cleaned; when the positioning feature is a plane or a surface with a small curvature change, use the electric crawler electromagnetic adsorption combined with the dynamic pressing. method; when the positioning feature is a hollow mesh surface, two underwater cleaning devices are used, and the electric crawler is oppositely adsorbed; when the positioning feature is a cylindrical surface, the clamping arm is used for positioning;
  • Step 3 Select the cleaning method.
  • the surface to be cleaned is a flat surface or a surface with a small curvature change or a hollow mesh surface
  • the surface to be cleaned is a complex curved surface or the cleaning space is small, use the mechanical arm to drive the cleaner. cleaning;
  • Step 4 During the positioning and cleaning process, the monitoring module of the control system monitors the operating parameter information of the underwater cleaning device in real time, judges whether the cleaning device is operating normally according to the collected information, and feeds back the information to the upper computer for display;
  • the cleaning image collected by the underwater cleaning device is used to judge whether the cleanliness of the cleaned area meets the requirements, and the areas that do not meet the cleanliness requirements need to re-plan the cleaning path for repeated cleaning until the cleanliness meets the requirements;
  • Step 5 After the cleaning is completed, the movement of the underwater cleaning device is controlled by the upper computer, and the cleaning device is recovered.
  • the device is equipped with a variety of positioning structures and cleaning structures, and suitable positioning methods and cleaning methods are selected according to different cleaning objects to meet the cleaning operation methods of hull surface cleaning, offshore platform jackets, submarine pipelines, and aquaculture nets. , strong versatility, wide adaptability, cost saving;
  • the opposite electromagnetic adsorption method is adopted to realize the positioning of the cleaning device on the hollow mesh surface. Compared with unidirectional adsorption, the adhesion to the mesh clothing can be reduced, and the risk of being entangled due to the soft texture of the mesh clothing can be reduced. The effect of undersea current has a certain swing, and it is difficult for the cleaning device to achieve continuous cleaning operations.
  • the opposing electromagnetic adsorption method can use the thrust device of the underwater cleaning device itself to achieve fixed-depth and fixed-point cleaning in the water, without the need for nets. Adhesion, improve the applicable scope of the device of the present invention;
  • the use of the buoy and the propeller can effectively reduce the buoyancy effect caused by the change of seawater density while moving in all directions, so that the cleaning device can freely adjust the underwater posture to ensure cleaning in all corners, with high cleaning efficiency and cleanliness. high degree.
  • Fig. 1 is the three-dimensional structure schematic diagram of the present invention
  • Fig. 2 is the structural representation of cleaning disk
  • Fig. 3 is the structural representation of the cleaning device
  • Figure 4 is a schematic structural diagram of a positioning clamping arm
  • Fig. 5 is the structural schematic diagram of electric crawler
  • Figure 6 is a schematic diagram of clamping and positioning
  • Fig. 7 is the control principle diagram of the control system
  • FIG. 8 is a flow chart of the cleaning method.
  • the robotic arm 2 is installed on the top of the fuselage 1 , the robotic arm 2 includes a plurality of movable joints, and the relative movement between the joints is realized by the servo steering gear.
  • the cleaner 3 is installed at the end of the robotic arm 2 .
  • the cleaner 3 includes a base 31, a bearing 32 with a seat, a hollow shaft 33, a cleaning brush driving device 34, a cleaning brush 35, a stepper motor 36, a cleaning gun 37, and a cleaning gun driving device 38. Two parallel intervals are installed on the base 31.
  • the bearing 32 with a seat the hollow shaft 33 is successively passed through the two bearings 32 with a seat and connected with the two, the cleaning brush 35 is circumferentially arranged and connected to one end of the hollow shaft 33 through the cleaning brush driving device 34, and the cleaning gun 37 Penetrating from the other end of the hollow shaft 33, the stepping motor 36 is installed on the base 31 and connected to the hollow shaft 33, the cleaning gun driving device 38 is installed on the base 31 on the side of the rear end of the hollow shaft 33, and the cleaning gun 37 is connected to the cleaning gun 37.
  • the gun driving device 38 is connected, and the base 31 is connected with the mechanical arm 2 .
  • the cleaning brush driving device 34 and the cleaning gun driving device 38 are both linear module structures.
  • the cleaning brush driving device 34 includes a fixed seat 341, a driving block 342, and a connecting rod 343.
  • the cleaning brush 35 is hinged on the fixed seat 341.
  • the driving block 342 and The cleaning brush 35 is hingedly connected by the connecting rod 343, and the driving block 342 moves back and forth to drive the cleaning brush 35 to open or retract; , drives the cleaning plate 35 to rotate to realize the cleaning function; the cleaning gun driving device 38 drives the cleaning gun 37 to move back and forth.
  • the cleaning device 3 includes two states of cleaning brush plate and cleaning gun, and is used for cleaning complex curved surfaces or narrow spaces with large curvature changes; when cleaning with the cleaning brush 35, the cleaning gun driving device 38 drives the cleaning gun 37 to retract, and the driving block 342 Moving forward, the cleaning brush 35 is opened to form a complete cleaning brush plate; when the cleaning gun 37 is used for cleaning, the driving block 342 moves backward, so that the cleaning brush 35 is retracted, and the cleaning gun driving device 38 drives the cleaning gun 37 to extend , to realize the multiplexing function of cleaning disk and cleaning gun 37.
  • a set of positioning and clamping arms 4 are symmetrically arranged on opposite sides of the lateral direction of the fuselage 1, and each group includes two positioning and clamping arms 4 arranged at intervals.
  • the positioning and clamping arms 4 include a base driving device 41, a base 42, A clamping joint 43, a second clamping joint 44, the base drive device 41 is a linear module structure, the base drive device 41 is installed on the side of the fuselage 1, the base drive device 41 is provided with a base 42, the base The end of the seat 42 is hinged with one end of the first clamping joint 43 , and the other end of the first clamping joint 43 is hinged with one end of the second clamping joint 44 .
  • the two hinge points are respectively provided with a driving motor as a driving member, so that the three can rotate relative to each other, so as to realize the clamping movement.
  • the base driving device 41 can drive the base 42 to move and adjust the distance between a set of clamping arms 4; the lengths of the first clamping joint 43 and the second clamping joint 44 can be adjusted, which are suitable for cleaning tubular objects of different diameters .
  • the clamping and positioning principle of the clamping arm 4 is shown in FIG. 6 , the distance between the bases 42 of a group of clamping arms 4 is 2B, and the diameter of the cleaned tubular object is 2R, then the first clamping joint 43 and the second clamping joint 44
  • the minimum lengths L1 and L2 are:
  • the lengths of the first clamping joint 43 and the second clamping joint 44 of the clamping arm 4 are designed or adjusted according to the calculation result.
  • the electric crawler belt 5 includes a support frame 51 , a crawler belt 52 , a first hinge rod 53 , a second hinge rod 54 , a crawler belt drive device 55 , and a support frame
  • the outer ring of 51 includes a plurality of wheels distributed in sequence, and the crawler belt 52 is sleeved on the outer peripheral surface of the plurality of wheels.
  • One end of the first hinge rod 53 and one end of the second hinge rod 54 are respectively connected to the support frame 51.
  • the first hinge rod 53 is hinged with the fuselage 1
  • the other end of the second hinge rod 54 is hinged with the crawler drive device 55
  • the crawler drive device 55 is hinged on the fuselage 1 .
  • the first hinge rod 53 is rotated by an external power source, so that it drives the electric crawler 5 to walk.
  • the crawler drive device 55 is an electric push rod, and the movement principle is the same as that of the screw nut.
  • the rod 53 rotates, which in turn drives the electric crawler 5 to rotate around the first hinge rod 53; the crawler 52 generates magnetism after being energized and can be adsorbed on the magnetic metal surface. If the cleaning object is a hollow mesh surface, the two cleaning devices can be arranged symmetrically.
  • the electric crawler of the table cleaning device is adsorbed and fixed on the hollow mesh surface.
  • a plurality of cleaning trays 6 are provided, and are installed on the bottom of the body 1 .
  • the number of cleaning disks 6 is five, including one large-sized cleaning disk 6 and four small-sized cleaning disks 6.
  • the large-sized cleaning disk 6 is arranged in the middle of the bottom of the fuselage 1, and is the main cleaning disk and the small-sized cleaning disk 6. Distributed at intervals around the large-size cleaning disk 6, it is the auxiliary cleaning disk.
  • the cleaning tray 6 includes a cleaning pipe 61 and a cleaning cover 62 .
  • the cleaning pipe 61 penetrates and is connected to the middle of the cleaning cover 62 , and the cleaning cover 62 is fixed on the bottom of the fuselage 1 .
  • the control system based on the above cleaning device includes an upper computer 100 and a lower computer 200, the lower computer 200 is installed on the fuselage 1, and the upper computer 100 sends user instructions to the lower computer 200, and receives the lower computer at the same time. 200 feedback cleaning device operating status, parameters and other information and display.
  • the lower computer 200 includes a motion control module, a monitoring module and a data processing module.
  • the motion control module of the lower computer 200 includes a thruster, a linear module driver, a manipulator joint motor driver, and an electromagnetic crawler relay.
  • the detection module includes a depth gauge, a gyroscope, etc.
  • the core of the data processing module is an embedded computer, which is composed of a human-computer interaction interface program written by software.
  • the lower computer 200 After the lower computer 200 is turned on, it runs automatically, including data exchange, camera image acquisition and other functions; the lower computer 200 receives the instructions of the upper computer 100, according to The command controls the operation of the cleaning device, including the control of the fuselage, the positioning mechanism and the motion control of the cleaning device; the monitoring module is located in the electronic cabin of the lower computer 200 and consists of sensors such as depth gauge, gyroscope, ultrasonic sensor, camera, etc.
  • the depth gauge can be real-time Monitor the depth of the cleaning device into the water, the gyroscope can feed back the attitude information of the cleaning device, and the ultrasonic sensor can ensure the best distance between the cleaning brush and the blade surface. Monitor the operation status, positioning status, cleaning status, fault information, etc.
  • the data processing module processes the image information and motion parameter information collected by the underwater cleaning device to obtain valid information and then uses the lower computer 200 to control the operation of the cleaning device. At the same time, the information is fed back to the upper computer 100 through the lower computer 200 .
  • a cleaning control method of the above-mentioned marine equipment underwater cleaning device comprises the following steps:
  • Step 1 The upper computer controls the cleaning device to move to the vicinity of the object to be cleaned, and the cleaning device is initially positioned;
  • Step 2 According to the positioning feature of the object to be cleaned, select an appropriate positioning method to fix the cleaning device on the object to be cleaned; when the positioning feature is a plane or a surface with a small curvature change, use the electric crawler electromagnetic adsorption combined with the dynamic pressing.
  • the operator controls the cleaning device to run near the positioning surface along the specified route, adjusts the posture of the cleaning device so that the crawler faces the positioning surface, controls the propeller to make the underwater cleaning device close to the positioning surface, or energizes the magnetic track to make the underwater cleaning device It is adsorbed on the positioning surface; when the positioning feature is a hollow mesh surface, the electric crawler is used to set the adsorption method relatively, and two underwater cleaning devices are used.
  • the operator controls the crawler of the underwater cleaning device to face the surface of the cage, and adjusts the two underwater cleaning devices.
  • the position and posture of the cleaning device make the two electric crawlers fit together, and the electromagnetic adsorption positioning function is realized after power-on; when the positioning feature is a cylindrical surface, the clamping arm is used for positioning, and the operator controls the underwater cleaning device to move to the area above the pipeline , control the driving motor to expand the clamping joint, then control the movement of the underwater cleaning device, so that the clamping joint wraps the pipeline, and finally control the driving motor to lock the clamping arm to realize the pipeline positioning function.
  • Step 3 Select the cleaning method after the positioning is completed.
  • the surface to be cleaned is a flat surface or a surface with a small curvature change, a hollow mesh surface, use a cleaning disk to clean;
  • the surface to be cleaned is a complex curved surface or a small cleaning space, use a robotic arm Drive the cleaner to clean;
  • the fuselage collects the image information of the object to be cleaned (onshore operators can observe the cleaning object in real time through the camera in the washer) and send it to the data processing module.
  • the data processing module combines the cleaning method and effective cleaning range of the cleaning device according to the collected image information. , plan the cleaning path, and send the motion control parameters to the motion control module, and then the motion control module controls the cleaning device to complete the cleaning motion and realize the cleaning function;
  • Step 4 During the positioning and cleaning process, the monitoring module of the control system monitors the operation parameter information of the underwater cleaning device, the cleaning mechanism and the positioning mechanism in real time, judges whether the cleaning device is running normally according to the collected information, and feeds back the information to the upper computer for display; At the same time, the data processing module judges whether the cleanliness of the cleaned area meets the requirements according to the cleaning images collected by the fuselage, and the areas that do not meet the cleanliness requirements need to re-plan the cleaning path for repeated cleaning until the cleanliness meets the requirements;
  • Step 5 After the cleaning is completed, the movement of the underwater cleaning device is controlled by the upper computer, and the cleaning device is recovered.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Ocean & Marine Engineering (AREA)
  • Cleaning In General (AREA)

Abstract

La présente invention concerne un dispositif de nettoyage sous-marin pour équipement marin et son procédé de commande de nettoyage. Le dispositif de nettoyage sous-marin comprend un corps de machine (1), un bras mécanique (2), un dispositif de nettoyage (3), des bras de positionnement et de serrage (4), des courroies de chenilles électriques (5) et des disques de nettoyage (6) ; le bras mécanique (2) est monté sur la partie supérieure du corps de machine (1) ; le dispositif de nettoyage (3) est monté à l'extrémité arrière du bras mécanique (2) ; deux groupes de bras de positionnement et de serrage (4) sont disposés symétriquement sur deux côtés transversalement opposés du corps de machine (1), chaque groupe comprenant deux bras de positionnement et de serrage (4) espacés les uns des autres ; deux courroies de chenilles électriques (5) sont disposées de manière séquentielle sur chacun des deux côtés transversalement opposés du corps de machine (1) et espacées l'une de l'autre ; et une pluralité de disques de nettoyage (6) sont prévus et montés au fond du corps de machine (1).
PCT/CN2021/087803 2020-12-10 2021-04-16 Dispositif de nettoyage sous-marin pour équipement marin et son procédé de commande de nettoyage WO2022121202A1 (fr)

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CN202011452246.4A CN112407179B (zh) 2020-12-10 2020-12-10 一种海洋装备水下清洗装置及其清洗控制方法
CN202011452246.4 2020-12-10

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CN113275295B (zh) * 2021-04-30 2022-09-13 中国水产科学研究院南海水产研究所 利用海水网箱养殖履带式网衣清洗机器人的网衣清洗方法
CN114162279B (zh) * 2021-10-28 2023-12-19 福建省微柏工业机器人有限公司 一种基于机器视觉的船舶清洗方法及装置
CN114348201B (zh) * 2021-12-31 2024-05-03 国信中船(青岛)海洋科技有限公司 一种用于养殖工船养殖舱舱壁的智能清理系统
CN115071905A (zh) * 2022-06-10 2022-09-20 瑞力杰(北京)智能科技有限公司 一种能够主动调整位置的船体清洗器
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