阅读说明：本技术 水下机器人搭载的高压脉冲放电船体表面清洗装置及方法 (High-voltage pulse discharge hull surface cleaning device and method carried by underwater robot ) 是由 赵雪梦 单鸣雷 李好洋 李江海 马浩 纪世豪 徐天宇 王贤松 陈秉岩 姚澄 于 2019-10-28 设计创作，主要内容包括：本发明公开了一种水下机器人搭载的高压脉冲放电船体表面清洗装置及方法,属于机械领域,其特征在于：本装置运用水下高电压放电技术,利用放电时的等离子体效应、空化清洗效应、冲击波效应和热点效应,实现及时、高效自动化清洗船体附着物；其包括高压脉冲电源、信息采集单元、控制单元和致泡清洗单元、脐带；本发明具有以下有益效果：1.高压脉冲放电致泡的方式能够充分利用空化泡产生时的冲击波效应和溃灭时的空化射流效应、冲击波效应,且对清洗介质无要求；2.该设备轻巧,可搭载于水下机器人,且无需额外机械动力；3.船体表面水下清洗无需进坞,可在海上实现自动化清洗；4.减去将船体周身的水排尽的中间步骤,减少清洗成本。(The invention discloses a high-voltage pulse discharge hull surface cleaning device and method carried by underwater robots, which belong to the field of machinery and are characterized in that the device utilizes an underwater high-voltage discharge technology and utilizes a plasma effect, a cavitation cleaning effect, a shock wave effect and a hot spot effect during discharge to realize timely and efficient automatic cleaning of hull attachments, and comprises a high-voltage pulse power supply, an information acquisition unit, a control unit, a bubble-causing cleaning unit and an umbilical cord.)

The high-voltage pulse discharge hull surface cleaning device carried by the underwater robot is characterized by comprising a bubble generating cleaning unit, wherein the bubble generating cleaning unit comprises an electrode plate and an insulating pad fixed on the periphery of the electrode plate, and the electrode plate comprises an insulating substrate and a plurality of electrode pairs arranged on the insulating substrate.

2. The type underwater robot carried high-voltage pulse discharge hull surface cleaning device according to claim 1, wherein the electrode pair includes two electrodes disposed opposite to each other;

the tail end of the electrode is connected with an umbilical cable;

the periphery of the umbilical cable is wrapped by a pollutant recovery pipe.

3. The device for cleaning the surface of the ship body by high-voltage pulse discharge carried by the underwater robots, according to claim 2, is characterized in that the distance between the head ends of the two electrodes in the electrode pair is 1-1.5 mm, the distance between the tail ends of the electrodes in the electrode pair is 8-12mm, the cross section area of the electrodes is 1-2mm, the length of the electrodes is 8-12mm, the distance between the electrode pairs is more than 15mm, the electrodes are made of tungsten, and the electrodes are columnar.

4. The device for cleaning the surface of a ship hull by high-voltage pulse discharge carried by underwater robots according to claim 1, wherein the electrodes are fixed on the insulating substrate by high-temperature-resistant waterproof silicone.

5. The type underwater robot carried high-voltage pulse discharge hull surface cleaning device according to claim 1, wherein the material of the insulating base plate includes an epoxy resin plate.

6. The device for cleaning the surface of a ship hull by high-voltage pulse discharge carried by underwater robots according to claim 1, wherein universal wheels are provided at four corners of the electrode plate.

7. The device for cleaning the surface of the ship body with the kinds of underwater robots carried by the device according to claim 1, wherein the device further comprises a control unit, an information acquisition unit and a robot, wherein the control unit comprises a steering engine;

the end of the steering engine is connected with the insulating substrate, and the end of the steering engine is connected with the underwater robot;

the information acquisition unit comprises a mechanical arm and a seawater conductivity sensor;

the seawater conductivity sensor is arranged at the bottom end of the insulating substrate;

the end of the mechanical arm is connected with the insulating substrate, and the end of the mechanical arm is provided with a camera.

8, method for cleaning ship hull surface by high-voltage pulse discharge carried by underwater robot, characterized in that, the method includes the following steps:

the electrode plate is watered to the side of the ship body to be cleaned;

adjusting the electrode plate to be attached to the ship body;

obtaining the conductivity of the seawater, and the types and thicknesses of attachments to be cleaned;

calculating the pulse amplitude of the high-voltage pulse voltage to be applied to the electrode pair according to the seawater conductivity and the types and thicknesses of the attachments to be cleaned;

powering a bubble-generating cleaning unit according to the pulse amplitude;

the foaming cleaning unit generates cavitation bubbles to clean the ship body.

Technical Field

The invention relates to a method and a device for cleaning the surface of a high-voltage pulse discharge ship body carried by underwater robots, belonging to the field of machinery.

Background

The number of ships reaches hundreds of thousands around the world, China is the largest shipowner country in the world, and the number of ships reaches 5206. The ship sails in strong corrosive seawater and strong adhesive force marine organism environment for a long time, and a plurality of microorganisms which are difficult to remove are attached to the part below a waterline, so that sailing resistance is increased, fuel consumption is increased, and exhaust emission is increased.

However, the existing ship body cleaning technology has series of defects, the ship cannot be cleaned in time due to low manual cleaning efficiency and insufficient dock, and the transportation cost is greatly increased.

Disclosure of Invention

Aiming at the defects of the prior art, the invention aims to provide a method and a device for cleaning the surface of a ship hull by high-voltage pulse discharge carried by underwater robots, so as to solve the problem of low efficiency in the prior art.

In order to solve the technical problems, the technical scheme adopted by the invention is as follows:

high-voltage pulse discharge hull surface cleaning device carried by underwater robot comprises a bubble generating cleaning unit, wherein the bubble generating cleaning unit comprises an electrode plate and an insulating pad fixed around the electrode plate, and the electrode plate comprises an insulating substrate and a plurality of electrode pairs arranged on the insulating substrate.

, the electrode pair includes two oppositely disposed electrodes;

the tail end of the electrode is connected with an umbilical cable;

the periphery of the umbilical cable is wrapped by a pollutant recovery pipe.

, the distance between the head ends of the two electrodes in the electrode pair is 1-1.5 mm, the distance between the tail ends of the electrodes in the electrode pair is 8-12mm, the cross section area of the electrodes is 1-2mm, the length of the electrodes is 8-12mm, the distance between the electrode pairs is larger than 15mm, the electrodes are made of tungsten, and the electrodes are columnar.

, the electrode is fixed on the insulating substrate by high temperature resistant waterproof silica gel.

, the insulating substrate is made of epoxy resin board.

And , arranging universal wheels at four corners of the electrode plate.

, the device also comprises a control unit, an information acquisition unit and a robot, wherein the control unit comprises a steering engine;

the end of the steering engine is connected with the insulating substrate, and the end of the steering engine is connected with the underwater robot;

the information acquisition unit comprises a mechanical arm and a seawater conductivity sensor;

the seawater conductivity sensor is arranged at the bottom end of the insulating substrate;

the end of the mechanical arm is connected with the insulating substrate, and the end of the mechanical arm is provided with a camera.

A method for cleaning the surface of a ship body by high-voltage pulse discharge carried by an underwater robot, comprising the following steps:

the electrode plate is watered to the side of the ship body to be cleaned;

adjusting the electrode plate to be attached to the ship body;

obtaining the conductivity of the seawater, and the types and thicknesses of attachments to be cleaned;

calculating the pulse amplitude of the high-voltage pulse voltage to be applied to the electrode pair according to the seawater conductivity and the types and thicknesses of the attachments to be cleaned;

powering a bubble-generating cleaning unit according to the pulse amplitude;

the foaming cleaning unit generates cavitation bubbles to clean the ship body.

Compared with the prior art, the invention has the advantages that:

the invention generates cavitation bubbles through the electrode pairs on the electrode plates, realizes the function of cleaning the ship body through the shock wave effect when the cavitation bubbles are generated and the cavitation jet effect when the cavitation bubbles are collapsed, and realizes the function of efficiently cleaning attachments which are difficult to clean on the surface of the ship body because no requirement is made on a cleaning medium.

Drawings

FIG. 1 is a top view of an experimental set-up according to the present invention;

FIG. 2 is a side view of the experimental set-up of the present invention;

FIG. 3 is a detailed flow chart of the method of the present invention.

Reference numerals: 1-an insulating substrate; 2-an insulating pad; 3-an electrode; 4-electrode pair; 5-an electrode plate; 6-a cable; 7-ground wire; 8-high temperature resistant waterproof silica gel; 9-universal wheels; 10-umbilical cord; 11-contaminant recovery tube.

Detailed Description

The invention is further described with reference to the accompanying drawings, the following examples are only for better clarity of the technical solution of the invention, and the protection scope of the invention is not limited thereby.

In order to reduce the navigation energy consumption and cost increased by untimely ship cleaning, a high-voltage pulse discharge hull surface cleaning method and a high-voltage pulse discharge hull surface cleaning device carried by underwater robots are developed, so that the high-voltage pulse discharge hull surface cleaning device can efficiently and energy-saving automatically clean attachments which are difficult to clean on the hull surface without docking, and the device is put into operation for times, low in operation cost, free of environmental pollution and good in application prospect at home and abroad.

As shown in fig. 1 and fig. 2, the high-voltage pulse discharge hull surface cleaning device carried by underwater robots comprises an information acquisition unit, a control unit, a bubble-generating cleaning unit and an umbilical cord 10;

the umbilical cord 10 consists of an umbilical cord cable 6 and a pollutant recovery pipe 11 wrapped on the periphery of the umbilical cord cable 6; the pollutant recovery pipe 11 is connected with a pollutant recovery cabin on the operation ship, and the knocked-down ship body attachments are recovered by using the low-pressure cabin, so that the marine environment is prevented from being polluted;

the foaming cleaning unit is connected with a high-voltage pulse power supply, and the high-voltage pulse power supply is supplied with power by the operation ship; the high-voltage pulse power supply provides pulse voltage with the frequency of more than 40kHz, the voltage of more than 10kV and the pulse width of millisecond level; the pulse amplitude, pulse frequency and pulse width of the high-voltage pulse power supply can be adjusted according to the conductivity of the seawater and the category of the ship attachments to be cleaned.

The foaming cleaning unit comprises an electrode plate 5 and a high-voltage-resistant insulating pad 2; the electrode plate 5 is composed of an insulating substrate 1 and a plurality of electrode pairs 4; the insulating substrate 1 is made of epoxy resin plates or other waterproof, high-pressure-resistant and wear-resistant insulating materials; the periphery of the insulating substrate 1 near the ship side is fixed with a high-voltage-resistant insulating pad 2; the height of the insulating pad 2 is calculated and obtained according to the length of the electrode 3 and other practical conditions, the minimum distance between the electrode 3 and the ship body is limited, and the electrode 3 is protected;

the distance between the head ends of the two electrodes 3 in the electrode pair 4 is 1-1.5 mm, and the distance can be obtained by actual calculation according to the conductivity of the seawater, the type and the thickness of the attachments of the ship body to be cleaned and the like; the electrode pair 4 is composed of two electrodes 3, and the number of the electrodes 3 is properly adjusted according to the actual situation; the material of the electrode 3 is tungsten or other high-pressure resistant and wear resistant conductive materials; the shape of the electrode 3 is selected from a column shape, a cone shape or other shapes which are convenient to clean, produce and generate cavitation bubbles; the sectional area of the electrode 3 is 1-2mm, the sectional area of the electrode 3 also needs to meet the actual situation, and the sectional area is obtained according to actual calculation such as seawater conductivity, the type and thickness of the ship attachment to be cleaned and the like; the length of the electrode 3 is 8-12mm, and the length of the electrode 3 can be adjusted according to the actual situation, such as the conductivity of the seawater and the category of the attachments of the ship body to be cleaned; the distance between the ends of the electrodes 3 in the electrode pair 4 is 8-12mm, the distance between the electrode pairs 4 is larger than 15mm, the distance between the ends of the electrodes 3 in the electrode pair 4 and the distance between the electrode pairs 4 are calculated by actual factors such as seawater conductivity, the type and thickness of the attachments to be cleaned and the like, and can be adjusted according to actual conditions.

The distance between the electrode pairs 4 cannot be too short, so that the two electrodes 3 of the non-electrode pairs 4 are prevented from being broken down to influence the cleaning efficiency; electrode material, electrode cross-sectional area, electrode shape, electrode length, and distance between electrodes will directly affect cleaning effect and production and maintenance costs.

The universal wheels 9 can be fixed at four corners of the insulating substrate 1 near the ship side; the length of the universal wheel 9 is adjusted according to the bubble diameter of the cavitation bubbles, so that the ratio of the bubble diameter of the cavitation bubbles to the distance from the cavitation bubble core to the surface of the attachment is approximate to 1.2; the parameters can be adjusted according to actual conditions;

the included angle between two electrodes 3 in the electrode pair 4 and the included angle between the two electrodes 3 and the insulating substrate 1 are obtained through calculation of sea water conductivity, the category and the thickness of attachments of a ship body to be cleaned, and respectively face to another tungsten rods in the electrode pair 4, and the included angle between the electrode 3 and the insulating substrate 1 and the distance and the included angle between the two electrodes 3 in the electrode pair 4 directly influence the cleaning effect.

The electrode 3 discharges at the front end; the tail end of the electrode 3 is connected with the cable 6 of the umbilical cord 10 and fixed on the insulating substrate 1; the electrode 3 is fixed on the insulating substrate 1 by high-temperature-resistant insulating waterproof silica gel; the insulating pad 2 is fixed on the insulating substrate 1 by high-temperature-resistant insulating waterproof silica gel 8, and is convenient to replace after being damaged;

the insulating substrate 1 is also provided with a ground line 7.

The action of the electrode plate 5 is adjusted by the control unit, the control unit of the electrode plate 5 comprises a steering engine, the front end of the steering engine is connected to the center position of the back of the ship surface of the insulating substrate 1, the other end of the steering engine is fixed on a flange of the underwater robot, and the angle between the insulating substrate 1 and the ship body is adjusted by remotely controlling the steering engine, so that the purpose of adapting to ships of different types and attachments of different types is achieved.

The information acquisition unit comprises a mechanical arm, a camera and a seawater conductivity sensor; the mechanical arm is arranged at the edge position of the center line of the back ship surface of the insulation base 1; the mechanical arm comprises a mechanical arm and a clamping device; the mechanical arm is connected with the clamping device; the seawater conductivity sensor is arranged at the bottom end of the insulating substrate.

The operation boat controls the steering engine to change the posture of the mechanical arm, so that multi-angle omnibearing information is collected in real time; the clamping device is provided with a camera for collecting ship body cleaning information; the collected information is transmitted to the operation ship in a wireless way, is calculated at the control end and is displayed by a display, and the cleaning information is fed back in real time; the seawater conductivity sensor measures the conductivity of the seawater and wirelessly transmits the acquired information back to the operation ship; and calculating the amplitude of the pulse voltage according to the conductivity of the seawater, the category and the thickness of the attachments to be cleaned.

As shown in fig. 3, the method for cleaning the hull surface by high-voltage pulse discharge carried by underwater robots uses the above-mentioned device and comprises the following steps:

(1) carrying a cleaning device on a working ship to reach a designated cleaning position;

(2) the underwater robot carries the electrode plate 5 to drain water and moves to the side of a ship body to be cleaned;

(3) the seawater conductivity is measured by a seawater conductivity sensor and is wirelessly transmitted to an operation ship;

(4) the angle between the polar plate and the ship body is adjusted through the steering engine to be attached to the ship body;

(5) calculating the pulse amplitude of the high-voltage pulse voltage according to the conductivity of the seawater and the types and thicknesses of attachments of the ship body to be cleaned;

(6) turning on a high-voltage pulse power supply to supply power to the foaming cleaning unit;

(7) the foaming cleaning unit automatically and continuously generates cavitation bubbles;

(8) controlling the steering engine to enable the electrode plate 5 to move, and realizing the cleaning of the ship body;

(9) cleaning information is collected through a camera and displayed at a control end for real-time monitoring;

(10) after the periphery is cleaned, controlling the carrying electrode plate 5 of the underwater robot to move to a lower cleaning position;

(11) and (5) after the ship body is completely cleaned, closing the high-voltage pulse power supply.

The device is light and handy, can be carried on an underwater robot, and does not need additional mechanical power; the underwater cleaning of the surface of the ship body does not need docking, and the automatic cleaning can be realized at sea; the intermediate step of draining the water around the ship body is omitted, and the cleaning cost is reduced. The device utilizes the underwater high-voltage discharge technology, and utilizes the plasma effect, the cavitation cleaning effect, the shock wave effect and the hot spot effect during discharge to realize timely, efficient and automatic cleaning of the attachments of the ship body.

The above-mentioned embodiments provide a detailed description of the technical problems, technical solutions and advantages solved by the present invention in step , and it should be noted that the technical solutions disclosed in the present invention are not limited to the technical solutions disclosed in the above-mentioned embodiments, but also include technical solutions formed by any combination of the above technical features.