阅读说明：本技术 一种针对船体水下清洁的系统及运行方法 (System for underwater cleaning ship body and operation method ) 是由 陈晓博 刘羽菁 官涛 周广胜 车明 于 2021-05-11 设计创作，主要内容包括：本发明公开了一种针对船体水下清洁的系统及运行方法,水上辅助系统模块包括运输设备及布放设备；水下清洗模块包括水下机器人及安装在水下机器人底部的空化清洗系统；水下监控系统模块包括水下监控设备和水下照明设备；水下监控设备和水下照明设备均安装在水下机器人上；水上显示控制系统模块包括上位机和无线遥控器；上位机与水下机器人电性连接；上位机分别与水下监控设备和水下照明设备电性连接；无线遥控器与水下机器人电性连接。本发明能够快速高效地完成船体水下清洗,同时在清洗过程中采用空化射流技术能够不损伤船漆。(The invention discloses a system for underwater cleaning of a ship body and an operation method thereof.A water auxiliary system module comprises a transportation device and a distribution device; the underwater cleaning module comprises an underwater robot and a cavitation cleaning system arranged at the bottom of the underwater robot; the underwater monitoring system module comprises underwater monitoring equipment and underwater lighting equipment; the underwater monitoring equipment and the underwater lighting equipment are both arranged on the underwater robot; the water display control system module comprises an upper computer and a wireless remote controller; the upper computer is electrically connected with the underwater robot; the upper computer is electrically connected with the underwater monitoring equipment and the underwater lighting equipment respectively; the wireless remote controller is electrically connected with the underwater robot. The invention can quickly and efficiently complete the underwater cleaning of the ship body, and simultaneously, the cavitation jet technology is adopted in the cleaning process, so that the ship paint is not damaged.)

1. A hull cleaning system, comprising:

the system comprises a water auxiliary system module, a water auxiliary system module and a water distribution module, wherein the water auxiliary system module comprises transportation equipment and distribution equipment;

the underwater cleaning module comprises an underwater robot and a cavitation cleaning system arranged on the underwater robot;

the underwater monitoring system module comprises underwater monitoring equipment and underwater lighting equipment; the underwater monitoring equipment and the underwater lighting equipment are both arranged on the underwater robot;

the overwater display control system module comprises an upper computer and a wireless remote controller; the upper computer and the wireless remote controller are respectively electrically connected with the underwater robot.

2. The hull cleaning system according to claim 1, wherein the underwater robot comprises a support frame, two buoyancy plates and a power system;

the supporting frame is internally provided with a sealing control cabin; the sealed control cabin is internally provided with a circuit board and a sensor; the circuit board and the sensor are electrically connected with the upper computer; the underwater monitoring device and the underwater lighting device are both arranged on the supporting frame;

the two buoyancy plates are respectively fixed at the top and the bottom of the supporting frame;

the power system is fixed at the corner end of the support frame; the power system is electrically connected with the upper computer.

3. The hull cleaning system according to claim 2, wherein said power system comprises four horizontal thrusters and four vertical thrusters;

the four horizontal thrusters are respectively fixed at four corner ends of the supporting frame, and the main shafts of the horizontal thrusters form included angles with the front and back movement directions of the underwater robot; the four vertical thrusters are respectively fixed at the four corner ends of the supporting frame and are adjacent to the horizontal thrusters;

the four horizontal thrusters and the four vertical thrusters are electrically connected with the upper machine respectively.

4. A hull cleaning system according to claim 1, wherein said cavitation wash system comprises an above-water pressurizing device, a wash tray and a recovery device;

the marine supercharging device is placed on the transport device;

the cleaning disc is arranged at the bottom of the underwater robot; the cleaning disc is communicated with the water supercharging equipment through a connecting pipe;

the recovery device is installed at the periphery of the cleaning disc.

5. The hull cleaning system according to claim 4, wherein said wash tray comprises a semi-enclosed tray body and nozzles;

the semi-closed disc body is fixed at the bottom of the underwater robot;

the nozzle is arranged in the center of the semi-closed disc body and is communicated with the water pressurizing equipment through the connecting pipe.

6. The hull cleaning system according to claim 5, wherein said recovery means comprises a plurality of recovery collection pipes and a recovery filtration system connected thereto; and the plurality of recovery collecting pipes are respectively arranged on the periphery of the semi-closed disk body.

7. The hull cleaning system according to claim 1, wherein said deployment device is a suspension or an elevator.

8. The hull cleaning system according to claim 1, further comprising an above-water video monitoring module, wherein the above-water video monitoring module is a mobile display device, and the mobile display device is electrically connected to the underwater monitoring device.

9. A hull cleaning system according to claim 1, wherein said underwater lighting device is either or both of LED and laser light.

10. A method of operating a hull cleaning system, comprising the steps of:

1) the transporting equipment transports the underwater cleaning module to a working place and puts the underwater cleaning module into water through the laying equipment;

2) the underwater monitoring system module shoots the surface area of the transportation system module below the waterline and transmits the density and thickness information of attachments to the overwater display control system module;

3) the water display control system module controls the underwater cleaning module to clean the surface of the transportation equipment;

4) the underwater monitoring equipment shoots a cleaning process and transmits a video image to the overwater video monitoring module;

5) and (5) recovering the underwater cleaning module after the cleaning process is finished.

Technical Field

The invention relates to the technical field of ship cleaning, in particular to a system for underwater cleaning of a ship and an operation method.

Background

In the long-term sailing process of the ocean vessel, shellfish, rusty spots and the like can be attached to the surface of the underwater part of the hull, the sailing speed and the service life of the vessel are seriously influenced, the fuel consumption is increased by nearly 20%, the oil consumption of the vessel can be reduced through cleaning, the operation and maintenance cost is reduced, the coating layer is protected, the service life of the hull is prolonged, and the removal of attached marine organisms is beneficial to reducing the accident risk of the offshore oil platform, and the stability and the storm resistance are enhanced.

However, at present, two modes of docking and manual diving cleaning by divers are adopted for cleaning underwater hulls at home and abroad, the normal navigation period of the ship can be seriously influenced by docking of the ship, and the transportation capacity is greatly wasted; the problem that boats and ships do not dock can be solved in diver's washing, but diver is because dive environment and human physical stamina influence, can't accomplish the hull fast and wash the task, and diver washs under water moreover, can't verify cleaning quality, has caused the difficulty to the acceptance of cleaning performance, and diver uses the cleaning brush to wash most of under water simultaneously, can cause the destruction to ship lacquer, and then influences the hull life-span.

Accordingly, there is a need in the art to provide a hull cleaning system and method of operation that is fast and non-destructive to the ship paint.

Disclosure of Invention

In view of the above, the invention provides a system and an operation method for underwater cleaning of a ship body, which can quickly and efficiently finish underwater cleaning of the ship body, and simultaneously can not damage ship paint by adopting a cavitation jet technology in the cleaning process.

In order to achieve the purpose, the invention adopts the following technical scheme:

a hull cleaning system, comprising:

the system comprises a water auxiliary system module, a water auxiliary system module and a water distribution module, wherein the water auxiliary system module comprises transportation equipment and distribution equipment;

the underwater cleaning module comprises an underwater robot and a cavitation cleaning system arranged on the underwater robot;

the underwater monitoring system module comprises underwater monitoring equipment and underwater lighting equipment; the underwater monitoring equipment and the underwater lighting equipment are both arranged on the underwater robot;

the overwater display control system module comprises an upper computer and a wireless remote controller; the upper computer and the wireless remote controller are respectively electrically connected with the underwater robot.

By adopting the scheme, the invention has the beneficial effects that:

the water display control system module is used for controlling the underwater robot and providing electric energy required by the operation of the underwater robot, the underwater robot drives the cavitation cleaning system to complete underwater rapid cleaning, the cavitation cleaning system adopts a cavitation jet technology to avoid damaging ship paint, and the cleaning quality and efficiency are improved.

Further, the underwater robot comprises a supporting frame, two buoyancy plates and a power system;

the supporting frame is internally provided with a sealing control cabin; the sealed control cabin is internally provided with a circuit board and a sensor; the circuit board and the sensor are electrically connected with the upper computer; the underwater monitoring device and the underwater lighting device are both arranged on the supporting frame;

the two buoyancy plates are respectively fixed at the top and the bottom of the supporting frame;

the power system is fixed at the corner end of the support frame; the power system is electrically connected with the upper computer.

The beneficial effect who adopts above-mentioned further technical scheme to produce does, and braced frame provides the support safeguard function to supervisory equipment and lighting apparatus under water, and the buoyancy board adopts glass microballon buoyancy material to provide buoyancy.

Further, the power system comprises four horizontal propellers and four vertical propellers;

the four horizontal thrusters are respectively fixed at four corner ends of the supporting frame, and the main shafts of the horizontal thrusters form included angles with the front and back movement directions of the underwater robot; the four vertical thrusters are respectively fixed at the four corner ends of the supporting frame and are adjacent to the horizontal thrusters;

the four horizontal thrusters and the four vertical thrusters are electrically connected with the upper machine respectively.

The beneficial effect that adopts above-mentioned further technical scheme to produce is, can realize underwater robot up/down, left/right, preceding/back 6 dimensions's free movement.

Further, the cavitation cleaning system comprises an overwater pressurizing device, a cleaning disc and a recovery device;

the marine supercharging device is placed on the transport device;

the cleaning disc is arranged at the bottom of the underwater robot; the cleaning disc is communicated with the water supercharging equipment through a connecting pipe;

the recovery device is installed at the periphery of the cleaning disc.

Further, the cleaning disc comprises a semi-closed disc body and a nozzle;

the semi-closed disc body is fixed at the bottom of the underwater robot;

the nozzle is arranged in the center of the semi-closed disc body and is communicated with the water pressurizing equipment through the connecting pipe.

Adopt the beneficial effect that above-mentioned further technical scheme produced to be, under the supercharging equipment effect on water, high-pressure rivers can be erupted at the during operation to the nozzle, and nozzle and connecting pipe can rotate and form rivers swirl, and rivers form the negative pressure in semi-closed dish is internal, and then form the adsorption affinity to wasing the ship wall, can improve the stability of underwater robot in the cleaning process, can avoid simultaneously because of adopting the problem that the underwater robot that other absorption modes caused removed the difficulty.

Further, the recycling device comprises a plurality of recycling collecting pipes and a recycling filtering system connected with the recycling collecting pipes; and the plurality of recovery collecting pipes are respectively arranged on the periphery of the semi-closed disk body.

The beneficial effect who adopts above-mentioned further technical scheme to produce does, retrieves the collection pipe and can adsorb the hull attachment that drops among the cleaning process by the negative pressure, retrieves filtration system and smashes the filtration to the attached crop that adsorbs into, and then retrieves.

Further, the distribution equipment is a suspension mechanism or an elevator.

The further technical scheme has the advantages that the operation environment of the transportation equipment adopts a ship when in a port or an anchorage, and the distribution equipment is a suspension mechanism or a lifter; the operation environment adopts the car when harbour or maintenance factory, and the equipment of laying is suspension mechanism.

Further, still include video monitoring module on water, video monitoring module on water is mobile display device, mobile display device with supervisory equipment electric connection under water.

Adopt the beneficial effect that above-mentioned further technical scheme produced to be, video monitoring module on water can let the ship owner know the cleaning status in real time, can verify the cleaning performance fast after the washing finishes, and mobile display device is used for the long-range demonstration supervisory equipment under water to shoot the picture, and then through the motion of wireless remote controller manual control underwater robot.

Further, the underwater lighting equipment is one or two of an LED and a laser lamp.

Adopt the beneficial effect that above-mentioned further technical scheme produced to be, adopt full-color LED lamp to throw light on, the host computer can control the color simultaneously, adopts the spectrum of specific wavelength to throw light on under different water environment, can improve by shooting thing luminance, obtains more clear image under water.

A method of operating a hull cleaning system, comprising the steps of:

1) the transporting equipment transports the underwater cleaning module to a working place and puts the underwater cleaning module into water through the laying equipment;

2) the underwater monitoring system module shoots the surface area of the transportation system module below the waterline and transmits the density and thickness information of attachments to the overwater display control system module;

3) the water display control system module controls the underwater cleaning module to clean the surface of the transportation equipment;

4) the underwater monitoring equipment shoots a cleaning process and transmits a video image to the overwater video monitoring module;

5) and (5) recovering the underwater cleaning module after the cleaning process is finished.

By adopting the scheme, the invention has the beneficial effects that: the underwater ship body cleaning device can rapidly complete underwater ship body cleaning work and improve cleaning quality.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.

FIG. 1 is a schematic diagram of a transport system module and an underwater cleaning module according to the present invention;

FIG. 2 is a schematic diagram of an underwater robot provided by the present invention;

FIG. 3 is a schematic structural diagram of a cavitation cleaning system according to the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

As shown in fig. 1 to 3, an embodiment of the present invention discloses a hull cleaning system, including:

the system comprises a water auxiliary system module, a water auxiliary system module and a water distribution system, wherein the water auxiliary system module comprises transportation equipment 1 and distribution equipment 2;

the underwater cleaning module comprises an underwater robot 3 and a cavitation cleaning system 4 arranged on the underwater robot 3;

the underwater monitoring system module comprises an underwater monitoring device 6 and an underwater lighting device 7; the underwater monitoring device 6 and the underwater lighting device 7 are both arranged on the underwater robot 3;

the overwater display control system module comprises an upper computer and a wireless remote controller; the upper computer and the wireless remote controller are respectively electrically connected with the underwater robot.

The on-water display control system module is used for controlling the underwater robot 3 and providing electric energy required by the operation of the underwater robot 3, the underwater robot 3 drives the cavitation cleaning system 4 to complete underwater rapid cleaning, the cavitation cleaning system 4 adopts a cavitation jet technology to avoid damaging ship paint, and the cleaning quality and efficiency are improved.

Specifically, the underwater robot 3 includes a support frame 31, two buoyancy plates 32, and a power system 33;

the supporting frame 31 has a sealed control cabin 34 inside; the sealed control cabin 34 is internally provided with a circuit board and a sensor; the circuit board and the sensor are electrically connected with the upper computer; the underwater monitoring device 6 and the underwater lighting device 7 are both mounted on the support frame 31;

two buoyancy plates 32 are respectively fixed on the top and bottom of the support frame 31;

the power system 33 is fixed at the corner end of the support frame 31; the power system 33 is electrically connected with the upper computer.

Specifically, the power system 33 includes four horizontal thrusters and four vertical thrusters;

the four horizontal thrusters are respectively fixed at the four corner ends of the supporting frame 31, and the main shafts of the horizontal thrusters form included angles with the front and back movement directions of the underwater robot 3; the four vertical thrusters are respectively fixed at the four corner ends of the supporting frame 31 adjacent to the horizontal thrusters;

the four horizontal thrusters and the four vertical thrusters are electrically connected with the upper machine respectively.

Specifically, the cavitation cleaning system 4 comprises an overwater pressurizing device, a cleaning disc 41 and a recovery device 42;

the water supercharging equipment is placed on the transportation equipment 1;

the cleaning disc 41 is arranged at the bottom of the underwater robot 3; the cleaning disc 41 is communicated with the water supercharging equipment through a connecting pipe;

the recovery device 42 is installed at the periphery of the cleaning tray 41.

Specifically, the cleaning tray 41 includes a semi-closed tray body 411 and a nozzle 412;

the semi-closed tray 411 is fixed at the bottom of the underwater robot 3;

the nozzle 412 is installed at the center of the semi-closed disk 411, and the nozzle 412 is connected and communicated with the water pressurizing device through a connecting pipe.

Specifically, the recycling device 42 includes a plurality of recycling collection pipes 421 and a recycling filter system 422 connected thereto; a plurality of recovery collecting pipes 421 are installed at the outer periphery of the semi-closed tray 411, respectively.

Specifically, the underwater robot deployment device 2 is a suspension mechanism or a lifter.

Specifically, still include video monitoring module on water, video monitoring module on water is mobile display device, mobile display device and monitoring equipment 6 electric connection under water. The underwater monitoring device 6 shoots underwater pictures, the video data are communicated to the switch through the upper computer, if the operation environment carries the wireless base station AP, the video data are transmitted to the mobile display device which is connected to a private network through WIFI, the mobile display device comprises a mobile phone or a notebook computer, if the operation environment does not carry the wireless base station AP, the video data are uploaded to the cloud server through a mobile public network through a 4G wireless router, and the mobile display device browses image data through the mobile public network.

Specifically, the underwater lighting device 7 is one or two of an LED and a laser lamp.

The embodiment of the invention also discloses an operation method of the ship body cleaning system, which comprises the following steps:

1) the transporting device 1 transports the underwater cleaning module to a working place and puts the underwater cleaning module into water through the laying device 2;

2) the underwater monitoring system module shoots the surface area of the transportation system module below the waterline and transmits the density and thickness information of attachments to the overwater display control system module;

3) the water display control system module controls the underwater cleaning module to clean the surface of the transportation equipment;

4) the underwater monitoring equipment shoots a cleaning process and transmits a video image to the overwater video monitoring module;

5) and (5) recovering the underwater cleaning module after the cleaning process is finished.

The underwater ship cleaning device can quickly complete underwater ship cleaning work and improve cleaning quality.

The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.