668results about "Vessel cleaning" patented technology

The invention discloses a ship intelligent operation robot based on artificial intelligence, and relates to the technical field of ship equipment. The device comprises a mobile platform, and an operation execution mechanism is arranged at the top of the mobile platform; the operation executing mechanism comprises a driving arm mounted at the top of the movable platform, and a spray gun and a flaw detector which are mounted at the output end of the driving arm. The mobile platform is of a crawler-type structure and is matched with sensing assemblies such as a laser radar and a camera, so that the robot can navigate autonomously and adapt to the complex ship environment, the potential safety hazard that workers enter a dangerous area for operation is avoided, a driving arm in the operation executing mechanism can accurately control the positions of a spray gun and a flaw detector, and the working efficiency is improved. Automatic paint make-up and damage detection are achieved, errors of manual operation are reduced, the rust removal assembly forms a set of complete automatic rust removal system through reciprocating knocking of an impact rod and rotary sweeping of a cleaning roller, and the risk that operators make contact with poisonous and harmful gas and dust is effectively avoided.

The invention discloses a coating with in-situ plugging and active protection functions as well as a preparation method and application thereof, and belongs to the technical field of metal material surface treatment. An innovative electrolyte design scheme is provided, the commercial 5083 aluminum alloy is subjected to micro-arc oxidation in a phosphate system containing specific cerium salt and a complexing agent, film layer growth and in-situ chemical blocking of micropores are completed in one step, the process is simple, and the obtained coating has excellent blocking firmness and corrosion resistance, has an active protection function and is suitable for large-scale industrial production. And a new solution is provided for improving the durability of the 5083 aluminum alloy in a harsh marine environment.

A system and method for enhancing marine vessel efficiency through integrated hull optimizations is disclosed. The system includes automated bow thruster covers that reduce hull drag and condition water flow, coupled with strategically positioned air lubrication nozzles that create and maintain an air layer under the vessel. The bow thruster covers may be configured as circular doors or parallel panels, optionally incorporating air discharge ports or working in conjunction with dedicated air jets. An intelligent control system optimizes the integrated components using real-time sensor data and computational fluid dynamic analysis. The system modulates air distribution and cover positions based on sea conditions and vessel speed, maintaining optimal efficiency during operation. External surfaces may incorporate superaerophilic structures to enhance air retention and reduce drag. The comprehensive integration of these components provides improved hydrodynamic efficiency while maintaining full bow thruster functionality when required.

The utility model provides an anti-collision rubber fender, which belongs to the technical field of ship berthing protection and comprises a fender frame, a clamping seat, a limiting block, a D-shaped rubber fender, a clamping block, a butt joint block, a screw rod and a locking nut, the clamping seat is integrally arranged on the front face of the fender frame, the limiting block is integrally arranged on the front face of the fender frame and located on the side face of the clamping seat, and the D-shaped rubber fender is arranged on the butt joint block. The L-shaped clamping seats are arranged on the edges of the upper end and the lower end of the fender frame, the D-shaped rubber fender can be installed and in butt joint from the side faces of the clamping seats, and the clamping blocks at the upper end and the lower end of the D-shaped rubber fender are embedded into the clamping seats, so that the D-shaped rubber fender can be transversely and horizontally installed on the fender frame, alignment is not needed, and a single person can operate the fender frame. The D-shaped rubber fender is simple in structure and convenient to install, butt joint blocks on the inner side of the D-shaped rubber fender and limiting blocks on the side face of the fender frame can be fixed through screws and locking nuts, buckle type connection is adopted, the D-shaped rubber fender can be rapidly replaced, disassembled and assembled, and maintenance is more convenient.

This application provides a swimming pool robot, including a robot body, a filter, a control unit, and a moving mechanism. Operating environments of the swimming pool robot at least include a first operating environment and a second operating environment. The moving mechanism at least includes a first moving mechanism configured to drive the swimming pool robot to move in the first operating environment and a second moving mechanism configured to drive the swimming pool robot to move in the second operating environment. The first operating environment is an underwater environment. The second operating environment is a non-underwater environment. The control unit is capable of controlling, based on a current operating environment of the swimming pool robot, a moving mechanism corresponding to the current operating environment of the swimming pool robot to drive the swimming pool robot to move. According to this application, operating efficiency of the robot can be improved.

The application discloses a kind of ship lifting fin plate self-adapting cleaning device, belong to ship equipment technical field, including fixed plate, the fixed plate is connected with fin plate by suspension assembly, the fin plate outside is provided with deep well, the deep well side wall is provided with cleaning assembly, the cleaning assembly includes the slide rail mounting bracket of the deep well side wall, the slide rail mounting bracket is installed with slide rail, the slide rail is installed with push rod, the push rod is connected with sanding wheel, the whole device is provided with control component.The application adopts the above-mentioned ship lifting fin plate self-adapting cleaning device, push rod is adjusted sanding wheel and fin plate adhesion degree by spring and hydraulic equipment, symmetrically arranged sanding wheel is combined with slide rail and can fully cover fin plate surface, improve cleaning efficiency;Real-time monitoring data is obtained by torque sensor and flexible pressure sensing array, and the cleaning strength is intelligently adjusted by using fuzzy PID algorithm, which can ensure the cleaning effect and avoid damaging the anticorrosive coating of fin plate.

The invention discloses a robot and method for cleaning attachments on the surface of an underwater hull, the robot comprises a machine body, walking devices, a smashing device, a sweeping device and an adsorption steering device, and the walking devices are arranged on the two sides of the machine body and used for driving the robot to advance and retreat; the smashing device is arranged at the front end of the machine body and used for chopping attachments on the surface of the hull. The sweeping device is arranged at the bottom of the machine body and used for sweeping away attachments smashed by the smashing device. The adsorption steering device pumps water in a suction cup through a centrifugal pump, negative pressure is generated in the suction cup, the suction cup is adsorbed to the surface of a ship body, a lifting rod abuts against a gear box and jacks up a machine body, a steering motor drives the gear box and the machine body to rotate through a driving gear and a driven gear, and steering of the robot is achieved. The robot can adapt to different surfaces of the ship body and flexibly steer and move on the surface of the ship body, and attachments are efficiently removed.

The invention discloses an underwater curved surface active self-adaptive adsorption cleaning robot which comprises a rack, a control cabin, a sensor system, an underwater propelling system and four Bernoulli suckers. The Bernoulli sucking disc comprises a connecting shell, a Bernoulli sucking disc surface and a sucking disc power source; the connecting shell is rotatably connected with the rack through the rotating flange bearing and the rotating shaft; a driving push rod is connected between the connecting shell and the rack; the active angle self-adaption of the Bernoulli suction cup is realized through the active push rod; the control cabin completes reconstruction of a working curved surface through the sound wave range finder, the angle of each Bernoulli suction cup needing to rotate is calculated, then the length of each driving push rod is controlled to enable the corresponding Bernoulli suction cup to rotate to the calculated angle, and finally the suction cup power source is controlled to enable the robot to be attached to the working surface. The wall-climbing cleaning device can adapt to most special-shaped curved surfaces, wall-climbing cleaning work can be carried out on the complex and changeable curved surfaces, and no mandatory requirement for surface materials of the adsorption curved surfaces exists.

The invention discloses a ship body cleaning device installed on a ship side. The ship body cleaning device comprises a ship body, a cleaning equipment storage device, a rail laying device and a cleaning robot. The cleaning equipment storage device is arranged on one side of a ship side of the ship body and stores the track laying device and the cleaning robot when not working; and during working, the two are released from the storage device. The track laying device lays a track for the cleaning robot to walk on the surface of the ship body, and the cleaning robot moves along the track to clean the surface of the ship body. The rail laying device lays rails on the surface of the ship body to provide a stable walking path for the cleaning robot. The cleaning robot can move along the track to achieve automatic cleaning of the surface of the hull. Long-time stable operation can be achieved, and efficiency is improved; the whole process is automatic, workers do not need to approach a cleaning site, and operation risks and manpower requirements are greatly reduced; the cleaning equipment storage device is arranged on one side of the ship side of the ship body, so that regular storage of the track laying device and the cleaning robot in a non-working state is achieved, and equipment is prevented from being exposed and damaged.

The invention discloses a rust removal equipment attachment control method and device and a storage medium in the technical field of rust removal, and the method comprises the steps that when a cleaning accessory of rust removal equipment is attached to a ship body cleaning area, the minimum distance between a detection switch installed on the rust removal equipment and the ship body cleaning area is obtained; the number of triggered detection switches with the minimum distance smaller than or equal to the preset distance is obtained, the ship surface curvature is judged according to the number of triggered detection switches, and a single-attaching mode and a repeated-attaching mode are selected; when the single fitting mode is selected, a swing mechanism of the rust removal equipment is controlled to swing, and single-direction fitting is executed; and when the re-lamination mode is selected, controlling a rotary mechanism of the rust removal equipment to rotate, controlling a crank arm mechanism of the rust removal equipment to stretch out and draw back, and executing bi-directional lamination. The technical problems that due to long-time manual rust removal operation, fatigue is prone to occurring, secondary reworking is prone to occurring, the complex curved surface adaptability of an automatic robot is poor, and the working efficiency and the attaching precision are affected can be solved.

A mobile platform and a usage method for the mobile platform. The mobile platform comprises a platform body (10) and crawler mechanisms (20), wherein the crawler mechanisms (20) are provided on two opposite sides of the platform body (10); each crawler mechanism (20) comprises a plurality of chain links (26), each chain link (26) comprising a chain link base (2100) and a magnetic attraction module (2200); the chain link bases (2100) on the plurality of chain links (26) are connected end to end and form an annular crawler body (27), and the magnetic attraction modules (2200) are detachably connected to the chain link bases (2100); and a plurality of types of magnetic attraction modules (2200) are provided, and different types of magnetic attraction modules (2200) are configured to provide different magnitudes of magnetic attraction forces, such that the mobile platform can select, on the basis of different degrees of concavity and convexity of a working face (W), different types of magnetic attraction modules (2200) to be connected to the crawler body (27), and the magnetic attraction forces generated by the crawler mechanisms (20) can reduce the risk of the mobile platform falling off from the working face (W), and also enable the mobile platform to operate smoothly on the working face (W).

The invention discloses a cleaning device for barnacles on the surface of a ship, and relates to the technical field of barnacle cleaning. The cleaning device for barnacles on the surface of the ship comprises a barnacle cleaning device body, and a polishing assembly, a shoveling assembly and a guiding-out assembly are installed on the outer side surface of a cleaning power assembly; according to the barnacle stripping device, the single-direction stress requirement is lowered through the effect of composite force through the inclined auxiliary knives on the outer sides of the perching knives, energy consumption and blade abrasion are reduced, the multiple perching knives reciprocate side by side, local pressure concentration is avoided through covering type cleaning, the arc-shaped bottom ends of the perching knives are attached to the curved surface of a ship body, and it is ensured that barnacles are thoroughly stripped; the barnacle cleaning device has the advantages that the barnacles can be cleaned by the barnacle cleaning device, accordingly, liquid can be blown, shoveled barnacles can be blown away from the bottom end of the barnacle cleaning device in real time, residues can be prevented from scattering back to a cleaning area due to movement or gravity of the barnacle cleaning device, cutting blades are matched with limiting ring grooves through limiting blocks, stable rotating tracks can be kept, the barnacle cleaning device automatically adapts to unevenness of the surfaces of hulls, and deflection or vibration caused by local jamming can be prevented.

In a first aspect, embodiments described herein relate to a diving robot system for inspecting and / or scrubbing an object (e.g., a warship) in a marine environment. In some embodiments, the robotic system includes: a housing; a plurality of adhesive engines disposed within the housing; a plurality of adhesive engines disposed within the housing; a lighting device; and an image forming apparatus. In some applications, each adhesion engine comprises: a plurality of adhesion devices constructed and arranged to secure the system to the object; a magnetic switch motor for turning on and off the adhesion device; at least one scrubbing element; and a body rotation motor for moving the scrubbing element across a surface of the object.

The invention belongs to the technical field of robots, and discloses a ship and bridge dual-purpose cleaning robot and a cleaning control method. The main body structure comprises a resistance reduction-propulsion integrated power system jointly formed by a fairing and a vector nozzle, a grading collaborative cleaning module jointly formed by a cavitation water jet module and a grinding cleaning module, an adsorption system and an auxiliary supporting module, and the auxiliary supporting module comprises a plurality of auxiliary supporting mechanical arms and is used for achieving the purpose of cleaning the water jet in a cleaning mode and an underwater swimming mode. By adjusting the position of a supporting point in real time, the device adapts to structural changes of ribs and bilges of a hull and is used for being matched with an adsorption system and a vector sprayer to form an alternate-cooperative dual-working mode, and different operations of vertical climbing and surface-changing movement are assisted to be completed. The device has multiple purposes, can continuously work on a ship body and a bridge pier, does not need to be modified or replaced by multiple machines, and reduces the comprehensive use cost. And meanwhile, multi-machine cooperation is supported, an efficient cluster cleaning mode is formed, and the operation efficiency and economical efficiency are further improved.

The invention discloses an underwater robot global positioning and trajectory tracking method based on a hull NURBS curved surface. The method comprises the following steps: firstly, constructing a hull NURBS curved surface model, and extracting differential geometric parameters including a curved surface basis vector, a curved surface normal vector, a curved surface first basic form matrix and a Cristomide symbol; then, on the basis of the differential geometry theory, according to the hull NURBS curved surface model, a continuous time nonlinear kinematics model is constructed; and finally, constructing an extended Kalman filter based on the continuous time nonlinear kinematics model. Based on an extended Kalman filter, fusing the multi-modal sensing data to perform global positioning, and obtaining a posteriori estimation state vector at the current moment; and performing curved surface trajectory tracking based on nonlinear model predictive control according to the posteriori estimation state vector at the current moment. The problem that the trajectory tracking precision is low or fails due to the fact that the robot is prone to accumulative drifting in positioning and cannot achieve global positioning in underwater, curved-surface, GPS-free and external-vision-free denial environments is solved.

The invention relates to the technical field of ship cleaning, and discloses ship cleaning equipment which comprises a first moving assembly, a second moving assembly, a first cleaning assembly and a second cleaning assembly. The first moving assembly comprises a first driving wheel set, a first crawler belt, a plurality of first magnetic attraction parts and a plurality of first attraction parts, the first crawler belt is wound around the first driving wheel set, and the first driving wheel set is used for driving the first crawler belt to move in the first direction; the multiple first magnetic attraction parts and the multiple first adsorption parts are arranged on the first crawler belt in a staggered mode in the extending direction of the first crawler belt. The second moving assembly is arranged on the side, in the first direction, of the first moving assembly, and the second moving assembly is movably connected with the first moving assembly. The first cleaning assembly is arranged on the first moving assembly and used for cleaning the surface of the ship body. The second cleaning assembly is arranged on the second moving assembly and used for cleaning the surface of the ship body. The cleaning device has the beneficial effect that the cleaning operation coverage area is increased.

A personal watercraft includes a watercraft body and a front bumper unit. The watercraft body includes a hull, a deck, and a gunnel line being a joint between the hull and the deck. The front bumper unit is attached to a front of the watercraft body. The front bumper unit has a front end located above and forward of the gunnel line in a side view of the watercraft body.

The invention provides an underwater robot for hull cleaning. The underwater robot comprises a chassis supporting frame shell and a walking assembly, and the side face of the chassis supporting frame shell is connected with the walking assembly; the buoyancy block is connected to the top of the chassis supporting frame shell; the propulsion control assembly is used for controlling the underwater robot to move; the shoveling unit is used for shoveling impurities adhered to the surface of the ship body; and the list brushing unit is used for brushing and cleaning the surface of the ship body. By means of the walking assembly, the propelling control assembly and other structures, the underwater robot can be conveniently put into water and can be attached to the outer surface of a ship body to move; the shoveling power assembly can drive the electric shovel to shovel stubborn and firm marine organisms and other impurities on the outer surface of the ship body, the scrubbing power assembly can drive the scrubbing assembly to operate, and therefore the scrubbing assembly can be used for further cleaning the marine organisms and other impurities, and the ship body cleaning effect is improved; and convenient, efficient and environment-friendly cleaning of the ship can be achieved.

The cavitation spraying disc self-cleaning device comprises a shell, a supporting plate is fixedly installed at the bottom of the shell, a shell body is fixedly embedded in the supporting plate, and the top of the shell body fixedly communicates with a sewage suction pipe; the two filter screens are arranged, when one filter screen is located in the filter area for filtering work, the other filter screen can be located in the cleaning area for cleaning, cleaning of the filter screens can be completed without shutdown, the cleaning efficiency of the ship body and the breeding netting is greatly improved, the mounting frame can drive the filter screens to move only by controlling opening and closing of the one-way valves, and the cleaning efficiency is greatly improved. Automatic switching between filtering and cleaning is achieved, operation is convenient and fast, the automation degree is high, and the purchase cost can be effectively reduced; the annular pipe, the cleaning pipe and the cleaning area are connected, when the filter screen moves to the cleaning area, the cleaning pipe can be exposed at the same time, high-pressure water can conduct back-flushing cleaning on the filter screen, cleaned impurities are guided in cooperation with the flow guide cover, the impurities are discharged through the blow-off pipe, and the cleaning effect is remarkable.

The invention relates to the technical field of corrosion prevention of marine equipment, in particular to a sacrificial anode for a dry-wet alternating and high-temperature environment and a preparation method and application of the sacrificial anode. According to the sacrificial anode, the composite material composed of the carbon nanotubes and the metal elements is added into the aluminum-based alloy, the microstructure of the aluminum alloy is improved due to the addition of the carbon nanotubes, the thermal stability of the anode is improved, surface activation of the anode is promoted, the phenomenon that the surface of the anode is crusting and even passivated due to the influence of high temperature and a dry-wet alternating environment is prevented, and the service life of the anode is prolonged. Meanwhile, good conductivity is maintained; and by optimizing the ratio of the carbon nanotubes to the metal elements, the anti-corrosion protection efficiency on a metal structure in a high-temperature and dry-wet alternating environment is enhanced. Therefore, the method is expected to be applied to ocean environments such as ocean crude oil ship ballast tanks, FPSO (Floating Production Storage and Offloading) ballast tanks and mobile oil production platforms. The preparation method provided by the invention is simple and convenient, has a good industrial application prospect, and can improve the production efficiency and reduce the environmental pollution.

The embodiment of the invention discloses a control system and method for a hull cleaning device. The system comprises a central control unit and a track deployment device control unit used for controlling a wall-climbing robot to move to a designated position and adjusting the speed of a track storage winch releasing a flexible track in real time. The hull cleaning robot control unit is used for controlling the hull cleaning robot to reciprocate along a preset flexible track in real time, identifying the type of dirt on the surface of the hull in real time and adjusting the pressure of a cleaning nozzle in real time; the cleaning equipment storage device control unit is used for acquiring state information corresponding to the key equipment; and the safety protection control unit is used for implementing multi-dimensional and multi-layer safety monitoring and emergency response in the whole operation process of the ship body cleaning robot. Through the design of intelligent closed-loop control, multi-mode cooperation, redundancy safety and the like, the cleaning precision, efficiency and reliability of the system are remarkably improved, and a full-process automatic solution is provided for ship maintenance.

The invention relates to the technical field of fire rescue, and discloses water surface rescue equipment for fire rescue, which comprises a ship body, a supporting device, a stabilizing device and a cleaning device, a supporting plate is fixedly connected to the left side of the ship body, a motor is fixedly connected to the top of the supporting plate, a rotating disc is fixedly connected to the output end of the motor, a limiting rod is fixedly connected to the bottom of the rotating disc, a swing rod is rotationally connected to the inner wall of the supporting plate through a connecting rod, and a cleaning rod is fixedly connected to the surface of the swing rod. When the device moves forwards, the motor can be started and drive the rotating disc to rotate, the rotating disc can drive the limiting rod to rotate, the limiting rod can move on the inner wall of the transmission plate and drive the transmission plate to swing, and the transmission plate can drive the swing rod to swing; the swing rod can drive the cleaning rod to push obstacles in the advancing direction of the device to the two sides, and therefore the advancing speed of the device can be increased.

A server device (40) is provided with: an acquisition means (412) for acquiring the degree of fouling in a plurality of regions on the hull surface of a ship; and a calculation means (415) for calculating the frictional resistance of the entire hull using frictional resistance coefficients corresponding to the degree of fouling of the plurality of regions.

The invention discloses an intelligent robot for identifying and cleaning bulkhead pollutants and a bulkhead cleaning method. The robot body carries a positioning navigation system and is equipped with a track assembly, a magnetic adsorption wheel, a mechanical arm assembly and a cleaning brush assembly. The positioning navigation system is combined with inertial navigation, visual SLAM and graph neural network loopback detection error correction, and a visual unit identifies pollutants through deep learning and other technologies. The cleaning method comprises the following steps: positioning and mapping, capturing an image, stretching out the camera as required, moving and fixing the robot, cleaning at an adaptive rotating speed, correcting the position in real time, and determining whether to continue after secondary detection. The robot can adjust the posture in a self-adaptive mode, and bulkhead cleaning is efficiently completed.

Marine terminals and processes for using same. In some embodiments, the marine terminal can include a buoyant structure configured to be moored to a seabed via first and second mooring structures. The first mooring structure can include an elongated member, a mooring leg configured to be attached to the seabed and to the elongated member, and a coupler configured to provide an articulated connection about at least two axes of rotation between the elongated member and the buoyant structure. The second mooring structure can include a mooring line anchor configured to be connected to the buoyant structure and the seabed or a second elongated member, a second mooring leg configured to be attached to the seabed and to the second elongated member, and a second coupler configured to provide an articulated connection about at least two axes of rotation between the second elongated member and the buoyant structure.

The utility model belongs to the technical field of ocean measurement and control, and particularly relates to an ocean resource satellite remote sensing detection device which comprises a cable movably penetrating through the middle of a first floating body bin, the first floating body bin is fixedly connected with a second floating body bin through a connecting bin, and a transmission meshing mechanism is assembled in the connecting bin. A sealing ring is rotationally connected to the position, located between the first floating body bin and the second floating body bin, in the connecting bin, connecting plates are symmetrically and fixedly connected to the inner wall of the sealing ring, connecting rods are fixedly connected to the tops of the connecting plates, and one ends of the two connecting rods are jointly and fixedly connected with a gear ring. The floating body bin floats or dives along the guide rod through the propeller, the floating body bin is prevented from being lost or deviating from a preset floating point, the cutter is driven to sweep away marine litter on the two sides of the guide rod in the snorkeling process, smooth snorkeling of the floating body bin is ensured, the floating body bin is prevented from being stuck with a cable, and compared with a transmission lifting winch, the overall manufacturing cost is lower, and the service life of the floating body bin is prolonged. And the maintenance cost and difficulty are low.

The present invention relates to a fouling control coating composition comprising an anionic polymer, an amine cation, and less than 5% by weight of water, wherein the anionic polymer has one or more covalently bonded siloxane moieties, the amine cation is a protonated amine compound, the boiling point of the amine compound (before protonation) at atmospheric pressure is at least 100°C, and the molecular weight is at least 70.

Provided is an antifouling coating composition comprising a silicon atom-containing resin wherein the silicon atom-containing resin comprises a constituent unit (A) and a constituent unit (B), the constituent unit (A) being a constituent unit derived from a monomer (a), and the constituent unit (B) being a constituent unit derived from a monomer (b). The monomer (a) has at least one silicon atom-containing group selected from the group consisting of a group represented by formula (I), a group represented by formula (II), a group represented by formula (III), and a group represented by formula (IV), and the constituent unit (B) is a constituent unit derived from a monomer (b) which is a polyfunctional (meth) acrylate having two or more (meth) acryloyl groups.

The invention provides an underwater cleaning method, a cleaning control device and an underwater cleaning robot, and the method comprises the steps: S1, recognizing the types and growth cycles of attachments on each region of a ship body in a video image through a deep learning network according to the underwater video frame image of the surface of the ship body, and recognizing the type of a coating on the surface of the ship body; s2, for each area, obtaining attachment hardness corresponding to the type of the attachment on the area and a paint fragility grade corresponding to the type of the paint on the surface of the ship body; s3, aiming at each area, activating all fuzzy rules matched with the obtained attachment hardness, the coating fragility grade and the current growth cycle of the attachment in a preset fuzzy rule base, and determining operation parameters of a corresponding cleaning execution device according to the activated fuzzy rules; and S4, according to the determined operation parameters, a cleaning execution device is controlled to conduct cleaning. By means of the technical scheme, the hull condition can be recognized, and the cleaning strategy can be adaptively adjusted.