Cleaning and decontamination unmanned ship

Abstract

The utility model discloses a cleaning and decontamination unmanned ship which comprises a main body, and a driving assembly used for driving the main body to move in any direction is arranged on the lower side of the main body. A lifting assembly is further arranged on the lower side of the main body, and a decontamination assembly is arranged at the output end of the lifting assembly; the decontamination assembly comprises a connecting plate, an ultrasonic vibration rod is mounted at the lower end of the connecting plate, and the bottom of the chemical pool is subjected to decontamination treatment through the ultrasonic vibration rod; the main body comprises a lower box body, an upper cover is fixed at an opening in the upper side of the lower box body, and an environment detector, a communication unit and a controller are arranged in the lower box body; a laser radar and a high-precision inertial navigation device are mounted on the upper side of the upper cover; an anti-collision ball is fixed on the outer side wall of the lower box body; a groove is formed in the outer wall of the bottom of the lower box body, and the main body part of the lifting assembly is installed in the groove. According to the chemical pool cleaning device, automatic, efficient and safe cleaning of a chemical pool in a polluted environment is achieved.

Description

Technical Field

[0001] This utility model relates to the field of environmental protection technology, and in particular to a cleaning and decontamination unmanned vessel. Background Technology

[0002] In the field of pool cleaning, especially in special environments such as the chemical industry, traditional cleaning methods face many insurmountable technical challenges. First, these pools often contain high levels of pollutants and corrosive substances, posing extremely high safety risks to manual workers. Furthermore, prolonged exposure to highly polluted environments can cause irreversible damage to human health, making manual cleaning highly impractical.

[0003] Secondly, most existing mechanical cleaning equipment is fixed or track-mounted, limiting its mobility and making it difficult to cover the entire area of ​​the pool. This is especially true for irregularly shaped pools, which often have many blind spots and result in unsatisfactory cleaning effects. While some equipment does have mobility capabilities, it lacks precise positioning and navigation systems, making it prone to collisions with the pool walls, leading to equipment damage or damage to the pool walls. Furthermore, it cannot perform path planning, resulting in low operational efficiency.

[0004] Furthermore, traditional cleaning methods mostly rely on physical scrubbing or chemical agents. Physical scrubbing has limited effectiveness against stubborn stains and is prone to secondary pollution; chemical agents may react with substances in the pool, posing safety hazards, and are difficult to control precisely, easily causing environmental pollution. In addition, in highly polluted environments, the components of ordinary equipment are easily affected by contamination and fail, making it impossible to work stably for a long time, and the lack of real-time monitoring of environmental pollutant content makes it difficult to assess the cleaning effect.

[0005] Furthermore, the existing equipment has a low level of automation, requiring frequent manual intervention, which not only increases labor costs but also makes remote monitoring and control impossible, hindering rapid response in emergencies. The lifting components of some equipment lack precision, making it impossible to accurately control the distance between the cleaning components and the pool bottom. Too close a distance can cause component wear, while too far a distance affects the cleaning effect. Additionally, the lack of anti-collision and anti-bottom-out protection mechanisms results in poor equipment operational safety. Utility Model Content

[0006] The purpose of this invention is to overcome the shortcomings of the existing technology and provide a cleaning and decontamination unmanned vessel, thereby solving the above-mentioned defects.

[0007] The objective of this utility model is achieved through the following technical solution:

[0008] A cleaning and decontamination unmanned surface vessel, comprising:

[0009] The main body has a drive component on its lower side for moving the main body in any direction; a lifting component is also provided on the lower side of the main body, and a decontamination component is provided at the output end of the lifting component; the decontamination component includes a connecting plate, and an ultrasonic vibration rod is installed at the lower end of the connecting plate, which is used to decontaminate the bottom of the chemical water tank.

[0010] In one or more embodiments of this utility model, the main body includes a lower box, an upper cover is fixed to the opening on the upper side of the lower box, and an environmental detector, a communication unit and a controller are disposed inside the lower box.

[0011] In one or more embodiments of this utility model, a mounting frame is installed on the upper side of the top cover, a lidar is installed inside the mounting frame, and a high-precision inertial navigation system is installed on the mounting frame.

[0012] In one or more embodiments of this utility model, an anti-collision ball is fixed to the outer side wall of the lower box.

[0013] In one or more embodiments of this utility model, a groove is provided on the bottom outer wall of the lower box body, and the main body of the lifting assembly is installed in the groove; the lifting assembly includes a lifting motor fixed in the groove, a rotating drum is fixed at the output end of the lifting motor, a steel wire is wound inside the rotating drum, a fixed bent rod is provided on the upper middle part of the connecting plate, a hook is fixed on the fixed bent rod, and the upper end of the hook is connected to the steel wire.

[0014] In one or more embodiments of this utility model, a counterweight is fixed to the lower center of the connecting plate.

[0015] In one or more embodiments of this utility model, the driving assembly includes four fixing blocks fixed to the bottom of the lower box, and a pusher is installed on the lower side of the fixing blocks.

[0016] In one or more embodiments of this utility model, a mounting groove is provided on the outer bottom of the lower box, and a high-definition underwater camera is disposed in the mounting groove; a first mounting seat and a second mounting seat are fixedly disposed opposite to each other inside the lower box, and a rotary motor is also fixed inside the lower box. A first rotating shaft is fixed to the output end of the rotary motor, and the extension end of the first rotating shaft passes through the first mounting seat and extends into the mounting groove and is fixed to a first fixing plate. A second rotating shaft is rotatably disposed in the second mounting seat, and the first end of the second rotating shaft extends into the mounting groove and is fixed to a second fixing plate. A fixing seat is fixed between the first fixing plate and the second fixing plate, and the high-definition underwater camera is fixed on the fixing seat.

[0017] In one or more embodiments of this utility model, a searchlight is installed on the side wall of the lower box, and an underwater altimeter is also installed inside the lower box.

[0018] In one or more embodiments of this utility model, two oppositely arranged locking blocks are also fixed on the upper cover, and the space between the two locking blocks is used to lock the display of the environmental detector.

[0019] The beneficial effects of this utility model are:

[0020] This utility model adopts a boat-shaped main body design combined with a drive component to achieve full-area movement. It uses an ultrasonic vibration rod to achieve efficient physical decontamination, avoiding chemical pollution. Equipped with lidar, high-precision inertial navigation, and a high-definition underwater camera, it achieves precise positioning and environmental perception. Combined with anti-collision balls and an underwater altimeter, it enhances operational safety. It integrates an environmental detector and a communication unit to achieve real-time monitoring and remote control of pollutant content, and shields and reinforces key components to adapt to special environments. The lifting component can precisely control the height of the decontamination parts to ensure decontamination effect and equipment safety. The overall device realizes automated, efficient, and safe cleaning of pools in high-risk environments, solving many defects of traditional cleaning methods in terms of safety, adaptability, efficiency, and effectiveness. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the structure of the present invention after removing the decontamination component;

[0022] Figure 2 This is a front view of the present invention;

[0023] Figure 3 yes Figure 1 A schematic diagram of the structure after removing the top cover;

[0024] Figure 4 yes Figure 1 A schematic diagram of the structure after removing the top cover and the lower box. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. The components of the embodiments of this utility model described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this utility model provided in the accompanying drawings is not intended to limit the scope of the claimed utility model, but merely represents selected embodiments of the utility model. All other embodiments obtained by those skilled in the art based on the embodiments of this utility model without inventive effort are within the scope of protection of this utility model.

[0026] In this embodiment, as Figures 1 to 4 As shown, a cleaning and decontamination unmanned vessel includes a main body, and a drive component for moving the main body in any direction is provided on the lower side of the main body; a lifting component is also provided on the lower side of the main body, and a decontamination component is provided at the output end of the lifting component; the decontamination component includes a connecting plate 1, and an ultrasonic vibration rod 2 is installed at the lower end of the connecting plate 1, and the bottom of the chemical water tank is decontaminated by the ultrasonic vibration rod 2.

[0027] The main body is made of aluminum alloy with a hollow shell, featuring a cylindrical or boat-like structure. It is bolted together from the lower housing 3 to the upper cover 4, achieving an overall IP68 sealing rating to prevent moisture and corrosive gases from entering. The aluminum alloy material is not only high-strength and lightweight but also possesses corrosion resistance. Combined with shielding and reinforcement of key components within the shell, it meets the requirements for use in highly polluted environments, ensuring long-term stable operation. The hollow shell design utilizes air buoyancy to allow the main body to float naturally on the surface of the pool, eliminating the need for additional buoyancy devices. This simplifies the structure and reduces energy consumption. This floating operation method allows it to cover any area of ​​the pool, unrestricted by the pool bottom terrain.

[0028] A shock absorber ball 8 is fixed to the outer wall of the lower housing 3. The shock absorber ball 8 is made of elastic rubber and filled with inert gas, providing excellent cushioning performance. When the device approaches the pool wall or other obstacles during movement, the shock absorber ball 8 can absorb the collision energy through its own deformation, preventing damage to the pool wall or internal components of the device from impact, thus improving the safety of equipment operation.

[0029] The lower housing 3 integrates a complete set of control and sensing components, including an environmental monitoring instrument 5, a communication unit, a controller, and a power distribution unit. The environmental monitoring instrument 5 can monitor the pollutant element rate in the working area of ​​the pool in real time. It transmits data to a remote control workstation via the communication unit, automatically generating a dose trend chart during operation. This allows operators to monitor the decontamination effect (the decrease in pollutant elements) in real time and accumulates pollution data for subsequent analysis. The communication unit includes an embedded switch, network card, and data radio, supporting both wired and wireless communication modes. It enables data interaction between modules within the system and stable communication with remote terminals, ensuring accurate transmission of control commands and real-time feedback of operational data.

[0030] The power distribution unit consists of a capacity management module, a voltage monitoring module, and a current monitoring module. It intelligently allocates power according to the power consumption requirements of each component, while simultaneously monitoring voltage and current changes in real time. In case of overload, short circuit, or other abnormal conditions, it automatically cuts off the power supply, providing stable and safe power support for the entire system. The controller uses an industrial-grade PLC, which features fast processing speed and strong anti-interference capabilities. It can receive feedback signals from various sensors and execute corresponding control logic to achieve automated operation of the device.

[0031] A mounting bracket 24 is installed on the upper side of the top cover 4. A lidar 6 is installed inside the mounting bracket 24, and a high-precision inertial navigation system 7 is mounted on the mounting bracket 24. The lidar 6 scans the surrounding environment by emitting a laser beam, accurately measuring the distance between the device and the pool wall (measurement accuracy ±2cm), providing data support for device positioning and path planning, and facilitating control of the movement trajectory to avoid collisions. The high-precision inertial navigation system 7 consists of a three-axis accelerometer and a three-axis gyroscope, and is an autonomous navigation system that can output the device's attitude, velocity, and position information in real time without relying on external signals. The accelerometer measures changes in force and calculates acceleration using a piezoresistive / capacitive sensor, while the gyroscope detects changes in MEMS capacitance to reflect the magnitude of the Coriolis force and obtain the rotational speed. The combination of these two systems effectively compensates for measurement errors of the lidar in complex environments, ensuring that the device's center of gravity does not shift due to water flow or external forces during movement, thus ensuring overall stability. The top cover 4 is also equipped with a smart fisheye panoramic camera. Its body is made of 304 stainless steel, which has explosion-proof and corrosion-resistant properties. It can collect 360° panoramic images and provide intuitive visual reference for remote operation.

[0032] The drive assembly is responsible for moving the main body in any direction. It includes four fixed blocks 12 fixed to the bottom of the lower housing 3, with a thruster 13 mounted on the underside of each fixed block 12. The thruster 13 adopts an all-metal enclosed body and impeller, with a built-in high-efficiency brushless motor, which can effectively resist the corrosion of the high humidity and high corrosiveness environment underwater, while meeting corrosion resistance requirements and having a service life of more than 8,000 hours. The four thrusters 13 are symmetrically distributed in an X-shape, and each can be independently controlled in speed and direction. Through coordinated work, they generate a resultant force in any direction on the horizontal plane. For example, controlling the two diagonally opposite thrusters to rotate clockwise and the other two to rotate counterclockwise can realize the rotation of the device; controlling the speed difference of the thrusters on the same side can realize left and right translation, so that the device has multiple movement modes such as forward, backward, left, right and rotation, which is highly flexible and can adapt to the cleaning needs of complex pool environments.

[0033] The bottom outer wall of the lower housing 3 has a groove, and the main body of the lifting assembly is installed in the groove, including a lifting motor 9, a rotating drum 22, a steel wire 23, a hook 10, and a fixed bent rod. The lifting motor 9 is a servo motor with high control precision. The rotating drum fixed at its output end can retract and extend the steel wire by rotating forward and backward. The lower end of the steel wire is connected to the hook 10, which is connected to the fixed bent rod on the upper side of the connecting plate 1, thereby driving the cleaning assembly to rise and fall. This structure can precisely control the water immersion depth of the ultrasonic vibrating rod 2 (control accuracy ±1mm), and the distance between the vibrating rod and the bottom of the pool can be adjusted according to the degree of pollution at the bottom of the pool to ensure the cleaning effect.

[0034] The connecting plate 1 of the cleaning component is made of stainless steel, and an ultrasonic vibrating rod 2 is installed at the lower end. The ultrasonic vibrating rod 2 generates mechanical waves through high-frequency vibration (vibration frequency 20-40kHz), causing the dirt at the bottom of the pool to detach from the surface under the vibration, thus achieving the purpose of cleaning. A counterweight 11 is fixed in the middle of the lower side of the connecting plate 1. The counterweight 11 is a high-density metal block, which can increase the gravity of the cleaning component and prevent it from shaking under ultrasonic vibration and water flow impact, ensuring stable contact between the vibrating rod and the bottom of the pool.

[0035] The lower housing 3 has a mounting slot on its outer bottom, housing a high-definition underwater camera 14. The camera body is made of 304 stainless steel, and the lens uses sapphire glass, offering wear and corrosion resistance, allowing it to operate normally at a depth of 30 meters. Inside the lower housing 3 are a first mounting base 15, a second mounting base 16, and a rotary motor. The output end of the rotary motor is connected to a first rotating shaft 17, which extends through the first mounting base 15 into the mounting slot and secures a first mounting plate 18. A second rotating shaft within the second mounting base 16 extends into the mounting slot and secures a second mounting plate. The high-definition underwater camera 14 is mounted on a mounting base 19 between the two mounting plates. The rotary motor can rotate the camera 360°, enabling omnidirectional real-time detection and data acquisition of the underwater work area, facilitating observation of the decontamination process by operators. Due to the boat-like structure of the main body, the outer end of the rotary motor extends to the outside of the main body; therefore, the rotary motor is waterproof, and a shock absorber 8 is also fixed to the outside of the rotary motor.

[0036] A searchlight 20 is installed on the side wall of the lower housing 3. The searchlight 20 uses an LED light source, which is bright and energy-efficient, providing sufficient illumination underwater. Together with the high-definition underwater camera 14, it can acquire clear images in dim environments. An underwater altimeter is also installed inside the lower housing 3. It measures the distance between the device and the bottom of the pool using the ultrasonic ranging principle. The controller calculates the underwater position of the ultrasonic vibrating rod 2 based on this distance and the position data of the lifting component. When a risk of touching the bottom is detected, the controller promptly controls the lifting component to raise the vibrating rod to avoid damage to the equipment.

[0037] Two opposing locking blocks 21 are fixed on the top cover 4. The space between the two blocks is used to hold the display of the environmental detector. The display can intuitively show the real-time pollutant element rate, which makes it convenient for on-site operators to quickly understand the level of environmental pollution.

[0038] Working principle of this utility model:

[0039] When in use, the device is placed in the pool to be cleaned. The main body floats on the water surface by its own buoyancy. The remote control workstation sends a start command to the controller through the communication unit. The controller starts the drive component and plans the movement path according to the feedback data of the lidar 6 and the high-precision inertial navigation 7, so that the device moves to the area to be cleaned. At the same time, the environmental detector 5 starts to monitor pollutants and transmit data, and the high-definition underwater camera 14 and the searchlight 20 are activated to transmit underwater images in real time.

[0040] Upon reaching the target area, the controller controls the lifting motor 9 to rotate, releasing the steel wire to lower the cleaning component until the ultrasonic vibrating rod 2 is close to the bottom of the pool. The ultrasonic vibrating rod 2 is activated to remove the dirt from the bottom through high-frequency vibration. During the process, the underwater altimeter monitors the distance in real time to prevent the vibrating rod from touching the bottom. During the cleaning process, the propeller 13 drives the device to move slowly so that the vibrating rod covers the entire area to be cleaned. The wastewater generated during the cleaning process can be naturally diffused with the water flow or removed by subsequent treatment equipment.

[0041] After the operation is completed, the controller controls the lifting component to retrieve the decontamination component, and the drive component drives the device back to the initial position. At the same time, the environmental detector 5 continuously monitors the polluting elements until the device leaves the high-pollution area. The whole process can be fully automated or manually operated through a remote terminal, making it suitable for high-risk environments that are difficult for people to enter.

[0042] In the description of this utility model, it should be noted that the terms "upper," "lower," "inner," "outer," "left," and "right," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this utility model is in use, or the orientation or positional relationship commonly understood by those skilled in the art. They are used only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. Furthermore, the terms "first," "second," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance. In the description of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, terms such as "set" and "connect" should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

Claims

1. A cleaning and decontamination unmanned surface vessel, characterized in that, include: The main body has a driving component on its lower side for moving the main body in any direction; a lifting component is also provided on the lower side of the main body, and a decontamination component is provided at the output end of the lifting component; the decontamination component includes a connecting plate (1), and an ultrasonic vibration rod (2) is installed at the lower end of the connecting plate (1) to decontaminate the bottom of the chemical water tank through the ultrasonic vibration rod (2).

2. The cleaning and decontamination unmanned surface vessel according to claim 1, characterized in that: The main body includes a lower box (3), and an upper cover (4) is fixed to the opening on the upper side of the lower box (3). An environmental detector (5), a communication unit and a controller are installed inside the lower box (3).

3. The cleaning and decontamination unmanned surface vessel according to claim 2, characterized in that: A mounting bracket (24) is installed on the upper side of the cover (4), a lidar (6) is installed inside the mounting bracket (24), and a high-precision inertial navigation system (7) is installed on the mounting bracket (24).

4. The cleaning and decontamination unmanned surface vessel according to claim 2, characterized in that: The outer wall of the lower box (3) is fixed with a shock-absorbing ball (8).

5. The cleaning and decontamination unmanned surface vessel according to claim 2, characterized in that: The bottom outer wall of the lower box (3) is provided with a groove, and the main body of the lifting assembly is installed in the groove; the lifting assembly includes a lifting motor (9) fixed in the groove, and a rotating drum (22) is fixed at the output end of the lifting motor (9). A steel wire (23) is wound inside the rotating drum (22). The upper middle part of the connecting plate (1) has a fixed bent rod, and a hook (10) is fixed on the fixed bent rod. The upper end of the hook (10) is connected to the steel wire (23).

6. The cleaning and decontamination unmanned surface vessel according to claim 1, characterized in that: A counterweight (11) is fixed to the lower center of the connecting plate (1).

7. The cleaning and decontamination unmanned surface vessel according to claim 2, characterized in that: The drive assembly includes four fixing blocks (12) fixed to the bottom of the lower box (3), and a pusher (13) is installed on the lower side of the fixing blocks (12).

8. The unmanned surface vessel for cleaning and decontamination according to claim 2, characterized in that: The lower box (3) has an installation groove on its outer bottom, and a high-definition underwater camera (14) is installed in the installation groove. The lower box (3) has a first mounting seat (15) and a second mounting seat (16) fixed inside it. The lower box (3) also has a rotary motor fixed inside it. The output end of the rotary motor is fixed with a first rotating shaft (17). The extension end of the first rotating shaft (17) passes through the first mounting seat (15) and extends into the installation groove and is fixed with a first fixing plate (18). The second mounting seat (16) has a second rotating shaft rotatably installed inside it. The first end of the second rotating shaft extends into the installation groove and is fixed with a second fixing plate. A fixing seat (19) is fixed between the first fixing plate (18) and the second fixing plate. The high-definition underwater camera (14) is fixed on the fixing seat (19).

9. The unmanned surface vessel for cleaning and decontamination according to claim 2, characterized in that: A searchlight (20) is installed on the side wall of the lower box (3), and an underwater altimeter is also installed inside the lower box (3).

10. The cleaning and decontamination unmanned surface vessel according to claim 2, characterized in that: Two opposing locking blocks (21) are also fixed on the top cover (4), and the space between the two locking blocks (21) is used to lock the display of the environmental detector (5).

Images