Cabin washing device for ship

Abstract

The cabin washing device for the ship comprises an aircraft, a first mechanical arm, an adsorption device and a controller, and the aircraft, the first mechanical arm and the adsorption device are all electrically connected with the controller; the first mechanical arm is fixed to the upper portion of the aircraft, a high-pressure spray head is detachably connected to the first mechanical arm, and the high-pressure spray head is connected with an external pipeline; the adsorption device is detachably fixed at the lower part of the aircraft; the adsorption device comprises a shell and a rubber pad, the rubber pad is fixedly connected to the adsorption side of the shell, the rubber pad and the adsorption side are in sealed connection, a plurality of adsorption holes are formed in the rubber pad, a vacuum pump is arranged in the shell, and the vacuum pump is communicated with the adsorption holes; the cabin washing device for the ship can improve the cabin washing efficiency and reduce danger.

Description

Technical Field

[0001] The present invention relates to ship equipment, in particular to a tank cleaning device for ships. Background Art

[0002] Large ships are divided into container ships and bulk carriers. Bulk carriers are generally used to carry unpackaged goods, such as grain, sugar and coal. The goods are directly loaded into the ship's cargo hold, which makes loading and unloading convenient. However, since the goods are in direct contact with the cargo hold, the ship needs to thoroughly clean the cargo hold every time it changes the type of cargo. Since the coal is unloaded and grain or sugar is loaded again, the cleaning standards for the cargo hold are higher and the cleaning difficulty is greater. The crew usually uses a high-pressure water gun to clean the cargo hold, but due to the depth of the cabin, the high-pressure water gun cannot spray to high places. At this time, the crew needs to be hoisted onto a high-rise support frame and use a handheld high-pressure water gun to clean it, which is not only inefficient but also very dangerous. Summary of the Invention

[0003] Based on this, it is necessary to provide a tank cleaning device for ships that can improve efficiency and reduce danger.

[0004] The present invention provides a tank cleaning device for a ship, comprising an aircraft, a first manipulator, an adsorption device, and a controller, wherein the aircraft, the first manipulator, and the adsorption device are all electrically connected to the controller;

[0005] The first manipulator is fixed to the upper part of the aircraft, and a high-pressure nozzle is detachably connected to the first manipulator, and the high-pressure nozzle is connected to an external pipeline;

[0006] The adsorption device is detachably fixed to the lower part of the aircraft;

[0007] The adsorption device includes a shell and a rubber pad, the rubber pad is fixedly connected to the adsorption side of the shell, and the rubber pad and the adsorption side are sealed. A plurality of adsorption holes are opened on the rubber pad, and a vacuum pump is provided in the shell, and the vacuum pump is connected to the plurality of adsorption holes.

[0008] Preferably, a vacuum cavity is provided in the shell, the vacuum pump is connected to the vacuum cavity, and the vacuum cavity is connected to the plurality of adsorption holes.

[0009] Preferably, a first electronic valve is provided on each of the adsorption holes, the first electronic valve is provided in the vacuum chamber, and a pressure sensing chip is provided in the adsorption hole; the first electronic valve and the pressure sensing chip are both electrically connected to the controller; when the tank washing device starts the preparatory landing mode, the vacuum pump is started, and when the tank washing device lands, the pressure sensing chip transmits the detected signal to the controller, and the negative pressure value detected by the pressure sensing chip reaches a predetermined value and is qualified. When the qualified rate of multiple pressure sensing chips is greater than or equal to 60%, the propeller of the aircraft stops rotating, and at the same time, the first electronic valve corresponding to the adsorption hole whose negative pressure value has not reached the qualified state is closed.

[0010] Preferably, when the qualified rate of the plurality of pressure sensing chips reaches 80% or more, the propeller of the aircraft stops rotating, and at the same time, the first electronic valve corresponding to the adsorption hole whose negative pressure value does not reach the qualified state is closed.

[0011] Preferably, a second electronic valve is further provided in the shell, and the second electronic valve connects the vacuum chamber and the outside world. When the aircraft starts the pre-landing mode, the vacuum pump is started and the second electronic valve is closed; when the aircraft starts the flight mode, the vacuum pump is turned off and the second electronic valve is also closed.

[0012] Preferably, an isolation structure is further provided around the adsorption device, and the isolation structure includes an isolation pad and an isolation ring provided between the isolation pad and the adsorption device, the isolation ring is slightly convex from the adsorption device, an isolation cavity is provided on the isolation pad, and wind cavities are provided at both ends of the shell, and the isolation cavity and the wind cavity are communicated; the wind cavity is connected to an air pump.

[0013] Preferably, the tank washing device also includes a second manipulator, to which a high-pressure nozzle is also fixedly connected. When the two high-pressure nozzles are used simultaneously, the spraying direction of the high-pressure nozzle of the second manipulator is opposite to that of the first manipulator.

[0014] Preferably, the tank washing device is also provided with a photographing device and a remote control device, both of which are electrically connected to the controller. The images taken by the photographing device are transmitted to the controller, and the controller transmits the image data to the remote control device. The operator selects a suitable parking position according to the image data.

[0015] Preferably, the tank washing device is also provided with a scanning device, which is electrically connected to the controller. The scanning device transmits the scanned information to the controller, and the controller determines the location of the dirt based on the data. The controller then transmits a signal to the first manipulator, causing the first manipulator to spray high-pressure water at the dirt.

[0016] As an option, the following steps are required to use the tank cleaning device:

[0017] Connect the water pipe to the high-pressure sprinkler head;

[0018] Start the aircraft and select a landing position with an inclination angle of 0°-70°;

[0019] Flushing the landing surface until it is clean, and then the tank washing device is parked on the landing surface;

[0020] Start the vacuum pump and open the water pipe;

[0021] After the flushing is completed, the vacuum pump is turned off and the aircraft starts to fly.

[0022] Preferably, when the inclination angle of the landing surface is 30°-70°, the water outlet direction of the high-pressure nozzle is downward.

[0023] The ship tank cleaning device of the present invention includes an aircraft, a first manipulator, an adsorption device, and a controller. The first manipulator is provided with a high-pressure nozzle, which can be connected to a water pipe. The aircraft flies to a suitable position, the adsorption device is adsorbed on the side wall of the cabin, the high-pressure nozzle starts to spray water, and the first manipulator can adjust the water spraying direction of the high-pressure nozzle. This arrangement does not require the crew to climb to a high position to achieve the purpose of using a high-pressure water gun to clean the cabin; because the adsorption device can be adsorbed on the inner wall of the cabin, the recoil force of the high-pressure nozzle can be offset, and the aircraft can steadily spray water to clean the ship's cabin wall;

[0024] Since the inner wall of the cabin is not very smooth, the adsorption device cannot be well adsorbed on the side wall. Once an adsorption hole leaks, the overall adsorption force will be affected. The present invention provides multiple first electronic valves and pressure sensing chips. Each adsorption hole can be regarded as an independent space. It does not need to be sealed by the inner wall of the cabin to achieve a good adsorption effect.

[0025] An isolation structure is also provided around the adsorption device, and the isolation structure includes an isolation pad and an isolation ring provided between the isolation pad and the adsorption device, the isolation ring is slightly convex from the adsorption device, an isolation cavity is provided on the isolation pad, and air cavities are provided at both ends of the shell, the isolation cavity and the air cavity are connected, the air cavity is connected to an air pump, and the isolation ring is slightly convex from the adsorption device. When the adsorption hole of the isolation ring is evacuated, the isolation ring will be pressed against the bulkhead, so that the inside of the isolation ring is a vacuum adsorption cavity, and the vacuum adsorption cavity will also press against the adsorption bulkhead due to continuous vacuuming, and the outside is an isolation cavity, which separates the two cavities and prevents the two cavities from communicating. When water and particulate impurities approach the isolation cavity on the outside, the water and impurities will be blown away due to the action of air pressure, so that an isolation structure that can isolate water and impurities that are easy to cause vacuum failure will be formed on the outside of the vacuum adsorption cavity;

[0026] Since the second electronic valve is provided, when the second electronic valve is opened, the vacuum chamber can be quickly filled with air. When the aircraft is about to take off, the pressure in the vacuum chamber can be quickly released, so that the tank cleaning device can start to blow smoothly.

[0027] When using the tank cleaning device, if it lands on a side wall with an inclination angle of 30°-70°, it can only spray water downward, which can offset the gravity of the device and enable the device to be stably adsorbed on the side wall of the hold. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The above and other purposes, features and advantages of the present invention will become more apparent by describing in more detail the preferred embodiments of the present invention shown in the accompanying drawings. The same reference numerals indicate the same parts throughout the accompanying drawings, and the drawings are not intentionally scaled to actual size, but rather are intended to illustrate the subject matter of the present invention.

[0029] Figure 1 A bottom view of the tank cleaning device for a ship according to the present invention;

[0030] Figure 2 A top view of the ship tank cleaning device of the present invention;

[0031] Figure 3 It is a partially enlarged view of the adsorption device of the present invention;

[0032] Figure 4 is a diagram showing the internal structure of the adsorption device of the present invention;

[0033] Figure 5 A bottom view of another embodiment of the adsorption device of the present invention;

[0034] Figure 6 This is a diagram showing the internal structure of an adsorption device according to another embodiment of the present invention;

[0035] Figure 7 This is a structural block diagram of the ship tank cleaning device of the present invention;

[0036] Figure 8 It is a schematic diagram of the structure of the ship hold side wall of the present invention.

[0037] In the figure: 1. Aircraft; 2. First manipulator; 3. Adsorption device; 31. Shell; 32. Rubber pad; 33. Vacuum pump; 34. Vacuum chamber; 35. First electronic valve; 36. Second electronic valve; 37. Pressure sensing chip; 38. Adsorption hole; 4. High-pressure nozzle; 5. Isolation structure; 51. Isolation pad; 52. Isolation chamber; 53. Wind chamber; 54. Air pump. DETAILED DESCRIPTION

[0038] To facilitate understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings.

[0039] It should be noted that when an element is considered to be "connected" to another element, it may be directly connected to the other element and integrated therewith, or there may be an intermediate element. The terms "mounted", "one end", "the other end" and similar expressions used herein are for illustrative purposes only.

[0040] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one skilled in the art to which this invention pertains. The terms used in this specification are for the purpose of describing specific embodiments only and are not intended to limit the present invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0041] refer to Figure 1-8 The present invention provides a tank cleaning device for a ship, comprising an aircraft 1, a first manipulator 2, an adsorption device 3, and a controller. The aircraft 1, the first manipulator 2, and the adsorption device 3 are all electrically connected to the controller. The controller controls the takeoff and landing of the aircraft 1 and the flight direction of the aircraft 1. The controller also controls the movement of the manipulator and whether the adsorption device 3 generates negative pressure. Figure 2 The first manipulator 2 is fixed to the upper part of the aircraft 1. The first manipulator 2 is detachably connected to a high-pressure nozzle 4. The high-pressure nozzle 4 is connected to an external pipe. Furthermore, the pipe is a hose that can pour water from the water valve into the high-pressure nozzle 4. Figure 1 The adsorption device 3 is detachably fixed to the lower part of the aircraft 1, which is convenient for replacement and disassembly. The aircraft 1 can also be used in other places. For example, when repairing the damaged part of the inner wall of the ship, it is necessary to spray the damaged part with repair liquid. At this time, the adsorption device 3 is replaced with a repair liquid tank, and the aircraft 1 can complete the spraying task. Figure 3 and Figure 4 The adsorption device 3 includes a shell 31 and a rubber pad 32. The rubber pad 32 is fixedly connected to the adsorption side of the shell 31, and the rubber pad 32 and the adsorption side are sealed. A plurality of adsorption holes 38 are opened on the rubber pad 32. A vacuum pump 33 is provided in the shell 31. The vacuum pump 33 is connected to the plurality of adsorption holes 38. Negative pressure can be generated in the adsorption holes 38, so that it is adsorbed on the inner wall of the ship warehouse. The rubber pad 32 has a certain elasticity. If there are uneven places on the warehouse wall, the adsorption holes 38 can also be sealed to ensure that the negative pressure is large enough and the suction force is also large enough.

[0042] refer to Figure 3-5In a preferred embodiment, a vacuum chamber 34 is provided in the shell 31, the vacuum pump 33 is connected to the vacuum chamber 34, and the vacuum chamber 34 is connected to multiple adsorption holes 38. With such a configuration, a vacuum pump 33 can be used to drive all the adsorption holes 38 to generate negative pressure, and when the adsorption holes 38 are sealed, the negative pressure value in each adsorption hole 38 is equivalent.

[0043] refer to Figure 3-5 In a preferred embodiment, each adsorption hole 38 is provided with a first electronic valve 35 , which is located within the vacuum chamber 34 . A pressure sensing chip 37 is located within the adsorption hole 38 . The first electronic valve 35 connects or disconnects the adsorption hole 38 from the vacuum chamber 34 , while the pressure sensing chip 37 detects the pressure within the adsorption hole 38 . Both the first electronic valve 35 and the pressure sensing chip 37 are electrically connected to a controller. The pressure information detected by the pressure sensing chip 37 is transmitted to the controller, which then controls the opening or closing of the corresponding first electronic valve 35 based on the pressure information. When the tank cleaning device enters the preparatory landing mode, the vacuum pump 33 is activated to prepare for landing, enabling the adsorption device 3 to generate adsorption force upon landing. When the tank cleaning device lands, the pressure sensing chip 37 transmits the detected signal to the controller. The negative pressure value detected by the pressure sensing chip 37 reaches a predetermined value and is qualified. If the pressure value is qualified, the corresponding first electronic valve 35 does not change its state and remains in an open state; when the pressure value is unqualified, the corresponding first electronic valve 35 changes to a closed state to prevent it from affecting the overall negative pressure and causing a reduction in the adsorption force; when the qualified rate of multiple pressure sensing chips 37 is greater than or equal to 60%, the propeller of the aircraft 1 stops rotating. If there are one hundred adsorption holes 38, there are also one hundred pressure sensing chips 37 correspondingly. When the pressure values ​​detected by 60 or more pressure sensing chips 37 are qualified, it is proved that the landing position of the tank cleaning device is qualified, and the tank cleaning device will not slide after the propeller of the aircraft 1 stops rotating. The first electronic valve 35 corresponding to the adsorption hole 38 whose negative pressure value does not reach the qualified state is closed. The unqualified negative pressure value indicates that the corresponding adsorption hole 38 is not sealed well and there is air leakage. If the corresponding first electronic valve 35 is not closed, the adsorption force of the entire adsorption device 3 will be affected.

[0044] In a further preferred embodiment, when the qualified rate of the plurality of pressure sensing chips 37 reaches 80% or greater, the propellers of the aircraft 1 stop rotating. Simultaneously, the first electronic valves 35 corresponding to the adsorption holes 38 whose negative pressure values ​​have not reached the qualified state close. Improving the adsorption standard further ensures the adsorption force of the tank cleaning device, ensuring that it does not slip during operation.

[0045] refer to Figure 3-7In a preferred embodiment, a second electronic valve 36 is further disposed within the housing 31. This connects the outside air to the vacuum chamber 34. Opening this valve quickly releases the negative pressure within the vacuum chamber 34. When the aircraft 1 enters the pre-landing mode, the vacuum pump 33 activates while the second electronic valve 36 closes, ensuring that the vacuum chamber 34 remains sealed and allows for the rapid generation of negative pressure. When the aircraft 1 enters flight mode, the vacuum pump 33 and the second electronic valve 36 also close, allowing the negative pressure within the vacuum chamber 34 to be rapidly released, allowing the aircraft 1 to successfully take off.

[0046] In a preferred embodiment, the tank cleaning device further includes a second manipulator, to which a high-pressure nozzle 4 is also fixedly connected. When the two high-pressure nozzles 4 are used simultaneously, the spray direction of the high-pressure nozzle 4 of the second manipulator is opposite to that of the first manipulator 2. It should be noted that this "opposite" means that when the first manipulator 2 sprays downward or obliquely downward (left), the second manipulator sprays upward or obliquely upward (right), that is, this "opposite" is not strictly opposite. This arrangement can at least partially offset the recoil of the high-pressure nozzle 4, ensuring that the tank cleaning device is not affected by the recoil of the high-pressure nozzle 4.

[0047] In a preferred embodiment, the tank cleaning device is further provided with a camera and a remote control device, both of which are electrically connected to a controller. The camera captures images that are transmitted to the controller, which in turn transmits the image data to the remote control device. The operator selects an appropriate landing position based on the image data. The operator then operates the tank cleaning device based on the images captured by the camera.

[0048] In a preferred embodiment, the tank cleaning device is further provided with a scanning device electrically connected to a controller. The scanning device transmits scanned information to the controller, which determines the location of the dirt based on the data. The controller then transmits a signal to the first manipulator 2, causing it to spray high-pressure water at the dirt. This tank cleaning device can automatically perform tank cleaning.

[0049] refer to Figure 5 and Figure 6 The adsorption device is also provided with an isolation structure around it, the isolation structure includes an isolation pad and an isolation ring provided between the isolation pad and the adsorption device, the isolation ring is slightly convex from the adsorption device, an isolation cavity is provided on the isolation pad, and wind cavities are provided at both ends of the shell, the isolation cavity and the wind cavity are connected; the wind cavity is connected to an air pump

[0050] Bulk carriers often carry granular cargoes such as coal, sugar, and fertilizers. When washing the tanks, a large amount of moisture and cargo particle impurities will flow down the bulkhead, which will have a significant negative impact on vacuum adsorption, destroy the airtightness, reduce the effective adsorption area, and because the pressure of the high-pressure water gun itself is high, it is easy for the adsorption device to fall off due to the destruction of the vacuum degree. Therefore, in the present application, an isolation structure 5 is also provided on both sides of the adsorption device 3. Preferably, an isolation structure 5 is provided around the periphery of the adsorption device 3. The isolation structure 5 includes an isolation pad 51 and an isolation ring (not shown) provided between the isolation pad 51 and the adsorption device 3. The isolation pad 51 is also made of rubber. An isolation cavity 52 is provided on the isolation pad 51, and the isolation cavity 52 is continuously provided around the outer periphery of the isolation pad 51. An air cavity 53 is provided at both ends of the shell 31. The isolation cavity 52 and the air cavity 53 are connected. The air cavity 53 is connected to an air pump 54. The air pump 54 generates gas, and the gas is then passed into the isolation cavity 52. ​​The high-pressure pump 54 is a small air pump, which can form an environment in the isolation cavity that is slightly higher than the atmospheric pressure. The isolation ring is slightly convex from the adsorption device 3. When the adsorption hole of the isolation ring is evacuated, the isolation ring will be pressed against the bulkhead, so that the inside of the isolation ring is a vacuum adsorption chamber. The vacuum adsorption chamber will also press against the adsorption bulkhead due to the continuous vacuuming. The outside is an isolation chamber 52, which separates the two chambers to prevent the two chambers from communicating. When water and particulate impurities approach the isolation chamber 52 on the outside, the water and impurities will be blown away due to the effect of air pressure. In this way, an isolation structure will be formed on the outside of the vacuum adsorption chamber to isolate water and impurities that can easily cause vacuum failure. When the vacuum adsorption chamber stops evacuating when the tank washing position is changed, the isolation chamber 52 will also make it easier for the adsorption device to fall off. It can even be easier to detach by increasing the pressure of the isolation chamber. In addition, before adsorption, the impurities can be blown away by the gas in the isolation chamber 52 to facilitate adsorption.

[0051] In another embodiment, the air chamber 53 is connected to the exhaust port of the vacuum pump 33. However, in this embodiment, the pressure of the air chamber is difficult to control. Of course, it can also be achieved through a pressure valve.

[0052] In a preferred embodiment, using the tank cleaning device requires the following steps:

[0053] Connect the water pipe to the high-pressure nozzle 4;

[0054] refer to Figure 8The aircraft 1 is started and a landing position with an inclination angle of 0°-70° is selected. The cargo hold of a bulk carrier typically has a lower bulkhead at a 90° right angle, a middle bulkhead at an inclination angle of approximately 60°, and an upper bulkhead at a 90° right angle or approximately 120°. Furthermore, transverse plates or transverse racks with a 0° angle (parallel to the bulkhead floor) are fixed to the bulkheads. The lower 90° bulkhead can be manually cleaned by flushing, but the middle 60° bulkhead and the upper 90° right angle or approximately 120° bulkhead are more difficult to clean. In these cases, the tank cleaning device can be placed on the middle 60° bulkhead or on the transverse plates or transverse racks, and cleaned with a high-pressure nozzle 4. The high-pressure nozzle 4 has a relatively long range, and can also clean the upper 90° and 120° bulkheads.

[0055] Rinse the landing surface until it is clean, and then the tank washing device is parked on the landing surface; cleaning the landing surface can effectively seal the adsorption hole 38 of the adsorption device 3 and generate a qualified adsorption negative pressure.

[0056] Start the vacuum pump 33 and open the water pipe to connect the water pipe to the high-pressure nozzle 4;

[0057] After the flushing is completed, the vacuum pump 33 is turned off and the aircraft 1 starts to fly.

[0058] In a preferred embodiment, when the inclination angle of the landing site is 30°-70°, the water outlet direction of the high-pressure nozzle 4 is downward (generally downward, not strictly downward, it can be a downward sweep). At this time, since the inclination angle of the warehouse wall is too large, the water spraying direction of the high-pressure nozzle 4 is downward, which can generate an upward recoil force, which can offset part of the gravity of the tank washing device.

[0059] The ship tank cleaning device of the present invention includes an aircraft 1, a first manipulator 2, an adsorption device 3, and a controller. The first manipulator 2 is provided with a high-pressure nozzle 4, which can be connected to a water pipe. The aircraft 1 flies to a suitable position, the adsorption device 3 is adsorbed on the side wall of the cabin, and the high-pressure nozzle 4 starts to spray water. The first manipulator 2 can adjust the water spraying direction of the high-pressure nozzle 4. This arrangement does not require the crew to climb to a high position to achieve the purpose of using a high-pressure water gun to clean the cabin; because the adsorption device 3 can be adsorbed on the inner wall of the cabin, the recoil force of the high-pressure nozzle 4 can be offset, and the aircraft 1 can steadily spray water to clean the ship's cabin wall;

[0060] Since the inner wall of the cabin is not very smooth, the adsorption device 3 cannot be well adsorbed on the side wall. Once one adsorption hole 38 leaks, the overall adsorption force will be affected. The present invention provides multiple first electronic valves 35 and pressure sensing chips 37. Each adsorption hole 38 can be regarded as an independent space. It is not necessary for each adsorption hole 38 to be sealed by the inner wall of the cabin to achieve a good adsorption effect.

[0061] Due to the provision of the second electronic valve 36, when the second electronic valve 36 is opened, the vacuum chamber 34 can be quickly filled with air. When the aircraft 1 is about to take off, the pressure in the vacuum chamber 34 can be quickly released, so that the tank cleaning device can start to blow smoothly.

[0062] When using the tank cleaning device, if it lands on a side wall with an inclination angle of 30°-70°, it can only spray water downward, which can offset the gravity of the device and enable the device to be stably adsorbed on the side wall of the hold.

[0063] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0064] The above embodiments merely represent specific implementation methods of the invention. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent. It should be noted that a person skilled in the art would be able to make various modifications and improvements without departing from the spirit of the present invention, all of which fall within the scope of protection of the present invention. The scope of protection of the patent for this invention shall be determined by the appended claims.

Claims

1. A tank cleaning device for a ship, characterized in that: The device comprises an aircraft, a first manipulator, a suction device and a controller, wherein the aircraft, the first manipulator and the suction device are all electrically connected to the controller; The first manipulator is fixed to the upper part of the aircraft, and a high-pressure nozzle is detachably connected to the first manipulator, and the high-pressure nozzle is connected to an external pipeline; The adsorption device is detachably fixed to the lower part of the aircraft; The adsorption device includes a shell and a rubber pad, the rubber pad is fixedly connected to the adsorption side of the shell, and the rubber pad and the adsorption side are sealed. A plurality of adsorption holes are opened on the rubber pad, and a vacuum pump is provided in the shell, and the vacuum pump is connected to the plurality of adsorption holes.

2. The tank cleaning device for a ship according to claim 1, characterized in that: A vacuum chamber is provided in the shell, the vacuum pump is communicated with the vacuum chamber, and the vacuum chamber is communicated with the plurality of adsorption holes.

3. The tank cleaning device for a ship according to claim 2, characterized in that: A first electronic valve is provided on each of the adsorption holes, and the first electronic valve is provided in the vacuum chamber. A pressure sensing chip is provided in the adsorption hole; the first electronic valve and the pressure sensing chip are both electrically connected to the controller; when the tank cleaning device starts the pre-landing mode, the vacuum pump is started, and when the tank cleaning device lands, the pressure sensing chip transmits the detected signal to the controller, and the negative pressure value detected by the pressure sensing chip reaches a predetermined value and is qualified. When the qualified rate of multiple pressure sensing chips is greater than or equal to 60%, the propeller of the aircraft stops rotating, and at the same time, the first electronic valve corresponding to the adsorption hole whose negative pressure value does not reach the qualified state is closed.

4. The tank cleaning device for a ship according to claim 3, characterized in that: When the qualified rate of the plurality of pressure sensing chips reaches 80% or more, the propeller of the aircraft stops rotating, and at the same time, the first electronic valves corresponding to the adsorption holes whose negative pressure values ​​do not reach the qualified state are closed.

5. The tank cleaning device for a ship according to claim 1, characterized in that: An isolation structure is also provided around the adsorption device, and the isolation structure includes an isolation pad and an isolation ring provided between the isolation pad and the adsorption device, the isolation ring is slightly convex from the adsorption device, an isolation cavity is provided on the isolation pad, and wind cavities are provided at both ends of the shell, and the isolation cavity and the wind cavity are communicated; the wind cavity is connected to an air pump.

6. The tank cleaning device for a ship according to claim 1, characterized in that: A second electronic valve is also provided in the shell, which connects the vacuum chamber and the outside world. When the aircraft starts the pre-landing mode, the vacuum pump is started and the second electronic valve is closed; when the aircraft starts the flight mode, the vacuum pump is turned off and the second electronic valve is also closed.

7. The tank cleaning device for a ship according to claim 1, characterized in that: The tank cleaning device also includes a second manipulator, which is also fixedly connected to a high-pressure nozzle. When the two high-pressure nozzles are used at the same time, the spraying direction of the high-pressure nozzle of the second manipulator is opposite to that of the first manipulator.

8. The tank cleaning device for a ship according to claim 1, characterized in that: The tank washing device is also provided with a photographing device and a remote control device, both of which are electrically connected to the controller. The images taken by the photographing device are transmitted to the controller, and the controller transmits the image data to the remote control device. The operator selects a suitable parking position according to the image data.

9. The tank cleaning device for a ship according to claim 1, characterized in that: The tank washing device is also provided with a scanning device, which is electrically connected to the controller. The scanning device transmits the scanned information to the controller, and the controller determines the location of the dirt based on the data. The controller then transmits a signal to the first manipulator, causing the first manipulator to spray high-pressure water at the dirt.

10. The tank cleaning device for a ship according to claim 1, characterized in that: The following steps are required to use the tank cleaning device: Connect the water pipe to the high-pressure sprinkler head; Start the aircraft and select a landing position with an inclination angle of 0°-70°; Flushing the landing surface until it is clean, and then the tank washing device is parked on the landing surface; Start the vacuum pump and open the water pipe; After the flushing is completed, the vacuum pump is turned off and the aircraft starts to fly.

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