A hull cleaning device based on tension-torque collaborative control

By forming a closed-loop path through a wire rope closed-loop drive device and a guide pulley assembly, combined with real-time monitoring and coordinated control by a tension-torque sensor, the problem of jamming in existing cleaning devices on curved surfaces or with attached materials is solved, thus achieving stability and safety in hull cleaning.

CN122211538APending Publication Date: 2026-06-16DALIAN MARITIME UNIVERSITY
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
DALIAN MARITIME UNIVERSITY
Filing Date
2026-04-27
Publication Date
2026-06-16

AI Technical Summary

Technical Problem

Existing hull cleaning devices are prone to jamming or unstable operation when encountering curved areas of the hull or large attachments. They lack real-time monitoring and feedback control of the wire rope stress and drive load, which can lead to equipment damage or interruption of cleaning operations.

Method used

A closed-loop operating path is formed by a wire rope closed-loop drive device and a guide pulley assembly. Combined with tension and torque sensors for real-time monitoring, the main control chip executes a coordinated control strategy to reduce speed, release wire rope length, or compensate for reverse vibration, ensuring the stability and safety of the cleaning device.

Benefits of technology

It achieves efficient and continuous cleaning of the outer surface of the ship, avoids the risks of manual underwater operations, improves the operational stability and safety of the device, and adapts to the cleaning needs of different ship shapes.

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Abstract

A ship hull cleaning device based on tension-torque collaborative control relates to the technical field of marine equipment and ship maintenance. The device comprises a steel wire rope closed loop driving device, a cleaning unit and a measurement and control unit. The steel wire rope is output by the driving device on the first operation platform, passes through the ship hull side and the bottom, and then returns to the second operation platform through the guide pulley assembly to form a closed loop operation path; the cleaning unit comprises a cleaning brush disc driven by a waterproof motor, which moves along the closed loop path to clean the ship hull; the measurement and control unit comprises a tension sensor and a torque sensor, when the collected tension or torque data exceeds the threshold value, the main control chip controls the driving device to execute speed reduction, release the length of the steel wire rope or reverse shaking compensation, and maintains the stable force of the steel wire rope. The present application realizes continuous and stable cleaning of the outer wall and the bottom of the ship hull.
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