1035results 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 composite multi-frequency marine ultrasonic anti-fouling system and method, relates to the technical field of marine anti-fouling, and aims to change a single-frequency or simple-pulse ultrasonic transmitting mode, transmit composite multi-frequency ultrasonic waves in a wide frequency band, and superpose the ultrasonic waves of multiple frequencies in a transmission medium to generate a cavitation effect so as to achieve the anti-fouling effect. The method is used for avoiding the tolerance of marine organisms, improving the anti-adhesion efficiency and enhancing the effect of a specific area; the wave generating frequency and the working frequency are dynamically adjusted according to the running state and the environment condition of the ship, the energy consumption and the biological adhesion rate of the ship are reduced, and the relation among the biological adhesion rate, low energy consumption and the environment protection requirement is balanced.

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 real-time monitoring device for a polar nearshore marine environment is provided, including a cabin body, a main control cabin and a scraping structure, an outer wall of the cabin body is provided with collecting holes, an electric motor is arranged in the main control cabin, the electric motor provides power through a first rotating rod penetrating a side wall of the main control cabin. The scraping structure includes a power structure, a scraper and a collecting bucket, the scraper is arranged outside the cabin body and is fixedly provided with the collecting bucket. The power structure is connected to the first rotating rod and drives the scraper and the collecting bucket to rotate relative to the cabin body, the collecting bucket collects the floating objects on the outer wall and around the cabin body, and the floating objects enter the cabin body through the collecting holes.

The invention relates to a ship bottom dirt removal system and a ship bottom dirt removal process, and belongs to the technical field of ship bottom dirt removal. The ship bottom dirt removal system comprises an underwater robot platform, four multi-degree-of-freedom mechanical arms, a high-pressure water jet nozzle, a sprinkler type coating nozzle, an underwater motor and an ultrasonic generator; the four multi-degree-of-freedom mechanical arms are all installed on the underwater robot platform, the underwater robot platform is provided with an underwater holder, the underwater holder is provided with a high-definition underwater camera, and the underwater robot platform is provided with a water jet pump, a liquid storage water tank and a conveying pump. According to the system, the underwater robot with the path designed through an algorithm can achieve dirt recognition, multi-mode collaborative removal (high-pressure water jet, bio-enzyme and ultrasonic wave) and self-repairing coating spraying, the system has high efficiency, environment friendliness and long-acting antifouling capacity, and the ship maintenance cost and the marine pollution risk can be remarkably reduced.

A self-adaptive fender system suitable for LNG side-by-side conveying is applied to an FSRU or FLNG or other fixed offshore LNG treatment platforms, movable fenders are fixed to the bow end and the stern end of a parallel midbody deck of a floating LNG receiving treatment platform respectively, and fixed fenders are fixed to the two ends of a collecting pipe area of the floating LNG receiving treatment platform respectively. The sound wave range finder is fixed to the end close to the bow portion of the fender body located on the bow portion of the parallel midbody deck, and the sound wave range finder is fixed to the end close to the stern portion of the fender body located on the stern portion of the parallel midbody deck. And the actual distance between the floating LNG receiving and processing platform and the LNG ship is continuously measured, the actual distance is compared with the theoretical distance, the movable fender moves till the actual distance is equal to the theoretical distance, and then the fender system automatically adapts to the parallel midbody range of the LNG ship. All the fender devices are always located in the parallel middle bodies of the two ships, and the situation that due to the fact that the positions of traditional fender devices cannot be adjusted, the traditional fender devices are located outside the parallel middle bodies of the LNG ships, and fenders fail is avoided.

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 invention discloses a bionic machine for hull cleaning and spraying. The bionic machine comprises a body, double heads, eight feet, a spraying device and a walking mechanism. The body adopts a bionic turtle shell design and is internally provided with a water storage tank, a paint storage tank, an energy storage tank and a control processor; double heads are provided with cameras and sensors with AI identification, so that the state of attachments and painted surfaces of the ship body can be intelligently identified; the eight feet adopt flexible limb sections and sucker arrays, can adapt to the curvature of the ship body and realize stable adsorption; the spraying device has a high-pressure cleaning mode and a pressure adjusting spraying mode, and attachment cleaning and protective paint spraying operation can be completed respectively. The bionic eight-legged walking mechanism realizes omnidirectional movement and is matched with a vacuum adsorption system to ensure the operation stability, and an intelligent sensing system is utilized to realize autonomous decision making. The bionic machine achieves autonomous cleaning and spraying operation through system presetting, has the advantages of being high in operation efficiency, wide in coverage, safe and reliable to operate and the like, and remarkably improves the automation level and operation quality of ship body maintenance.

The invention discloses a ship cleaning robot based on a cavitation jet technology. The ship cleaning robot comprises a machine body. A cleaning device is arranged in the middle of the machine body and used for cleaning the ship body. A four-rotor device is arranged at the top of the machine main body and is used for providing water working power; the two thrust vectoring nozzles are arranged on the two sides of the bottom of the robot body and used for assisting the four-rotor device to provide power for hovering in the air, and the underwater propeller provides underwater working power and can move in different directions. The invention further discloses a cleaning method of the ship cleaning robot based on the cavitation jet technology. The robot has an overwater and underwater integrated operation function, rust, barnacles and other marine organisms on a ship body can be removed through cavitation jet flow on the premise that the ship body is not damaged, the application range is wide, movement is flexible, energy consumption is low, the structure is simple, the size is small, efficiency is high, important theoretical and practical significance is achieved for development of ship cleaning robots, and the robot is worthy of popularization and application. The popularization prospect is good.

Apparatus for servicing a structure has one or more buoyancy chambers attached thereto such that the angle of the apparatus when floating may be adjusted. The attachment may be by a pivotal connector with a pivot point at or near a midpoint or centre of gravity of the structure. The apparatus may comprise a frame that can be opened to fit around the structure to be serviced. This may facilitate attachment of the apparatus to angled structures in an aquatic environment.

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 full-rotation ocean tugboat rubber fender system, and relates to the technical field of ship rubber fenders, the full-rotation ocean tugboat rubber fender system comprises a plurality of protection assemblies and a plurality of rebound assemblies, and the number of the protection assemblies and the number of the rebound assemblies are both multiple. According to the rubber fender system of the full-rotation ocean tugboat, a plurality of bent fenders are connected to form a W-shaped structure, so that the rubber fenders have a plurality of buffering stages, energy generated by ship collision is effectively absorbed and dispersed in stages, impact force on a boat body is reduced, and the service life of the boat body is prolonged. The buffering performance of the cylindrical structure of the cylindrical fender in all directions can be uniform, the buffering stage number and complexity can be increased through the multiple buffering elastic cylinders and the connecting elastic pieces which are designed in an overlapped mode, and when the protection springs are collided and compressed, extra elastic restoring force can be provided for the rubber fender, so that the buffering performance of the rubber fender is improved. The ship can be pushed away from a tugboat body after being collided, the contact time and friction force between the ship and the tugboat body are reduced, and the possibility that the tugboat body is damaged is reduced.

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 utility model belongs to the technical field of underwater equipment, and particularly relates to a buoy underwater cleaning device which comprises a floating block. A plurality of connecting rods are fixedly connected to the bottom of the floating block; a first cleaning ring is fixedly connected to the bottom of the connecting rod; a plurality of guide pipes are fixedly connected to the top of the first cleaning ring; the top of the guide pipe is fixedly connected with a second cleaning ring; a plurality of brushes are fixedly connected to the inner side walls of the first cleaning ring and the second cleaning ring; the side wall of the second cleaning ring is fixedly connected with a water supply pipe; cavities are formed in the second cleaning ring and the first cleaning ring; the water supply pipe is communicated with the cavity; the first cleaning ring is communicated with the second cleaning ring through a guide pipe; a plurality of water spraying holes are formed in the inner side walls of the second cleaning ring and the first cleaning ring; the brushes capable of floating up and down are arranged around the buoy, so that when the buoy is placed on the sea surface for a long time, the surface of the buoy can be cleaned, and attachment of organisms such as barnacles or green mouths is reduced.

The invention discloses a ship bottom adsorption robot, and belongs to the field of underwater robots, the ship bottom adsorption robot can execute tasks in polar regions, the robot comprises a robot body and a walking base, and the walking base is detachably installed on the upper portion of the robot body; a propeller system and a control system are mounted on the robot body; the walking base comprises a magnetic adsorption system, a crawler walking system and a crawler heating system, when the temperature of the crawler is lower than the preset temperature, the crawler heating system heats the crawler to prevent the crawler from slipping at low temperature, and the walking stability of the ship bottom adsorption robot is improved; the control system cooperatively controls the propeller system, the magnetic adsorption system, the crawler walking system and / or the crawler heating system, and walking stability and accuracy are improved under the condition that the ship bottom adsorption robot keeps proper adsorption force. When any one of the propeller system, the magnetic adsorption system, the crawler walking system and the crawler heating system breaks down, the other systems make up the function deficiency of the fault system.

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 utility model discloses an underwater robot, belongs to the technical field of cleaning / detecting robots, and particularly relates to an underwater robot based on multifunctional detection, which comprises a body structure assembly, a power assembly and an operation assembly, the power assembly and the operation assembly are installed on the body structure assembly and connected with the body structure assembly. The body structure assembly is composed of a structure frame, a system cabin, a power supply cabin, a buoyancy block, rolling wheels and a housing. The power assembly is composed of a plurality of propellers so that the underwater robot can move horizontally and vertically. The operation assembly comprises a bridge underwater detection operation group and a ship underwater detection brushing operation group; according to the utility model, dirt, rust and other attachments on the surface of a detected object are cleaned, and good operation conditions are provided for subsequent detection operation, so that a better detection operation effect is achieved.

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.

The present invention relates to the field of manipulator equipment, specifically to a manipulator arm for underwater cleaning and maintenance of ships, comprising: a bending portion, which is slidably installed under a sliding guide rail, and a connecting portion is rotatably installed at the front end of the bending portion; a swing frame is provided on the inner side of a mounting base, and the corners of the swing frame are rotatably connected to the mounting base through a rotating shaft, and the strip scraper and the connecting piece are arc-shaped as a whole, and the center of the circle coincides with the rotating shaft; a driving turntable is rotatably installed in the inner cavity of the mounting base; the beneficial effect is: by sliding the bending portion under the sliding guide rail, the front end of the bending portion is installed with the mounting base through the connecting portion, the swing frame is "V"-shaped, the strip scraper and the connecting piece are arc-shaped as a whole, and coincide with the swing center of the swing frame, the swing frame and the strip scraper form a flat structure as a whole, which is subject to less resistance from the water body when working underwater, and combined with the movement of the bending portion and the connecting piece, the surface of the ship can be cleaned underwater.

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.