Ship cleaning robot and ship cleaning method

Abstract

The present invention discloses a ship cleaning robot and a ship cleaning method, comprising a main body, two walking mechanisms are arranged on the main body, the two walking mechanisms are arranged on both sides of the main body, and an adsorption unit is arranged on the walking mechanism; a mounting surface is formed on the top surface of the main body, a cleaning area is formed between the bottom surface of the main body and the bottom end of the walking mechanism, a brushing mechanism is arranged on the mounting surface, the brushing mechanism comprises a rotating driving member, the rotating driving member is fixed on the mounting surface, a brushing head is connected to the bottom of the rotating driving member, and the brushing head is arranged inside the cleaning area; a cavitation cleaning mechanism is arranged on the brushing mechanism, the cavitation cleaning mechanism is arranged in the cleaning area, or the cavitation cleaning mechanism faces the cleaning area. The present invention can adapt to the cleaning treatment of different working conditions on the surface of the ship, replace traditional manual cleaning, reduce labor cost investment, and improve cleaning efficiency.

Description

Technical Field

[0001] The invention belongs to the technical field of underwater ship cleaning equipment, and in particular relates to a ship cleaning robot and a ship cleaning method. Background Art

[0002] With the gradual growth of my country's maritime trade, more and more ships are put into the shipping industry. When ships sail in the ocean for a long time, a large number of marine organisms and marine debris will adhere to the surface of the ships. The marine organisms and marine debris attached to the surface of the ships will destroy the anti-corrosion layer on the surface of the ships, thereby causing a series of problems such as reduced service life of the ships, reduced sailing speed, and increased sailing energy consumption.

[0003] Therefore, it is necessary to clean the surface of the ship. At present, the main methods for cleaning the surface of the ship are dock washing and underwater cleaning, and both are achieved by manual operation. In the process of underwater cleaning, due to the real-time changes in waves and the uneven distribution of marine organisms and marine garbage attached to the surface of the ship, the degree of siltation in different areas is different. It is necessary to overcome the changes in waves while combining different working conditions on the surface of the ship to adopt different cleaning methods to clean the surface of the ship. There are problems such as high difficulty in operation for workers, high risk factor of operation, high labor cost, high labor intensity, and low cleaning efficiency. Summary of the invention

[0004] The object of the present invention is to provide a ship cleaning robot and a ship cleaning method, which can adapt to the cleaning treatment of different operating conditions on the surface of the ship, replace traditional manual cleaning, reduce labor cost investment, and improve cleaning efficiency.

[0005] The above-mentioned purpose is achieved by the following technical solutions.

[0006] The present invention provides a ship cleaning robot, comprising a main body, on which two walking mechanisms are arranged, the two walking mechanisms are arranged on both sides of the main body, and a suction unit is arranged on the walking mechanisms;

[0007] A mounting surface is formed on the top surface of the main body, a cleaning area is formed between the bottom surface of the main body and the bottom end of the walking mechanism, a brushing mechanism is provided on the mounting surface, the brushing mechanism comprises a rotating driving member, the rotating driving member is fixed on the mounting surface, a brushing head is drivingly connected to the bottom of the rotating driving member, and the brushing head is arranged inside the cleaning area;

[0008] A cavitation cleaning mechanism is provided on the brushing mechanism, and the cavitation cleaning mechanism is arranged in the cleaning area, or the cavitation cleaning mechanism faces the cleaning area.

[0009] In some embodiments, the cleaning mechanism includes a fixed seat, which is arranged on the mounting surface, and the bottom end of the fixed seat passes through the main body toward the cleaning area, a receiving cavity is formed in the fixed seat, a rotating member is provided in the receiving cavity, and the rotating driving member is provided above the fixed seat, and the rotating driving member at least partially extends into the receiving cavity and is transmission-connected with the rotating member, and the cleaning head is provided at the bottom of the fixed seat, and the bottom end of the cleaning head is fixedly connected to the rotating member, and the bottom end of the cleaning head is flush with the bottom end of the walking mechanism.

[0010] In some embodiments, a fixing frame is provided on the main body, the fixing frame is mounted above the fixing seat, the top end of the rotating driving member passes through the fixing frame and extends to above the fixing frame, an anti-twist sleeve is arranged on the rotating driving member, and an anti-twist seat is fixed on the fixing frame and is arranged on the anti-twist sleeve.

[0011] In some embodiments, two oppositely disposed first through holes are provided on the main body, two oppositely disposed mounting blocks are provided on the main body near the first through holes, a connecting shaft is provided on the mounting block, and two oppositely disposed connecting blocks are provided on the outer wall of the fixing seat, and the other end of the connecting shaft is connected to the connecting block.

[0012] In some embodiments, the cavitation cleaning mechanism includes a first connecting plate and a second connecting plate, which are spliced ​​and connected to form an installation cavity and a second through hole that penetrates the first connecting plate and the second connecting plate, the first connecting plate and the second connecting plate are sleeved on the cleaning mechanism, an ultrasonic transducer is provided in the installation cavity, and a piezoelectric sheet is connected to the ultrasonic heat exchanger.

[0013] In some embodiments, an image feedback mechanism is provided on the main body, and the image feedback mechanism includes a first camera and a second camera arranged at two ends of the main body, a display light is provided on one end of the main body close to the first camera or the second camera, and a light sensor is fixedly provided on the display light or the main body.

[0014] In some embodiments, an auxiliary cleaning mechanism is provided on one end of the main body opposite to the cleaning brush mechanism, and the auxiliary cleaning mechanism includes two connecting sleeves fixed on the main body, a rotating shaft is provided on the end of the connecting sleeve away from the main body, a swing rod is sleeved on the rotating shaft, a connecting rod is provided between the two swing rods, the end of the swing rod is sleeved on the connecting rod, and a cleaning brush roller is sleeved on the connecting rod, and the cleaning brush roller can rotate along the circumferential direction of the connecting rod.

[0015] In some embodiments, a third through hole is provided on the main body, a mounting seat is provided above the third through hole, a receiving hole is formed in the mounting seat, a rotating motor is provided in the receiving hole, a rotary blade propeller is transmission-connected to the rotating motor, a sleeve is provided in the cleaning area, the top of the sleeve is connected to the main body to form a collecting bin, a collecting groove connected to the collecting bin and a water inlet connected to the collecting bin are provided on the sleeve, and a partition net is provided at the water inlet.

[0016] In some embodiments, a control mechanism is provided on the main body, and the control mechanism includes a control box. A control circuit board is provided in the control box, and the control circuit board is respectively connected to the cleaning mechanism, the cavitation cleaning mechanism and the walking mechanism.

[0017] The present invention also provides a ship cleaning method.

[0018] The adsorption unit of the walking mechanism is adsorbed on the surface of the hull and drives the main body to walk on the surface of the hull under the control of the control circuit board;

[0019] The image feedback mechanism captures the image on the hull surface and converts it into image information and feeds it back to the control circuit board of the control mechanism;

[0020] The control circuit board determines the deposition conditions of the attachments on the hull surface according to the received image information, and controls the cavitation cleaning mechanism and / or the brushing mechanism to start according to the different deposition conditions, so as to clean the attachments on the hull surface.

[0021] The ship cleaning robot and the ship cleaning method provided by the present invention form a mounting surface on the top surface of the main body, form a cleaning area between the bottom surface of the main body and the bottom end of the walking mechanism, and arrange a cleaning brush mechanism on the mounting surface of the main body. The cleaning brush head of the cleaning brush mechanism is arranged in the cleaning area, and a cavitation cleaning mechanism is arranged on the cleaning brush mechanism. The cavitation cleaning mechanism is arranged in the cleaning area or arranged toward the cleaning area. When in use, the cavitation cleaning mechanism and / or the cleaning brush mechanism are controlled to start according to the accumulation of marine garbage and / or marine organisms on the surface of the hull. When cleaning the area on the surface of the hull where only tiny marine organisms and / or marine garbage are attached, the cavitation cleaning mechanism is started separately to perform cavitation treatment on the molecules of seawater, thereby cavitating the molecules through cavitation nucleus fragmentation. The impact force generated during the cracking destroys the adhesion properties of marine organisms and / or marine garbage attached to the surface of the hull, thereby achieving cleaning of the surface of the hull; when cleaning areas where the accumulation of marine organisms and / or marine garbage attached to the surface of the hull is serious, the cleaning mechanism is started separately, and the cleaning head is driven to rotate by the rotating drive member to scrub the surface of the hull, or the cleaning mechanism and the cavitation cleaning mechanism are used simultaneously, and the holes, slits and other parts of the hull surface that cannot be scrubbed by the cleaning head are cleaned by the cavitation effect while scrubbing; the ship cleaning robot and the ship cleaning method can adapt to the cleaning of different operating conditions on the surface of the ship, replace traditional manual cleaning, reduce labor cost investment, and improve cleaning efficiency.

[0022] The ship cleaning robot and ship cleaning method provided by the present invention are provided with an image feedback mechanism on the main body. The first camera and the second camera of the image feedback mechanism operate to monitor the accumulation of marine garbage and / or marine organisms on the surface of the hull in real time, and feedback is given to the ship cleaning robot. The ship cleaning robot chooses to start the brushing mechanism or the cavitation cleaning mechanism alone, or starts the brushing mechanism and the cavitation cleaning mechanism at the same time to clean the surface of the hull according to the accumulation of different marine garbage and / or marine organisms, thereby improving the efficiency and cleaning effect of the cleaning process. Of course, the image information can also be transmitted to the ground control room through the image feedback mechanism. The operator can manually choose to start the brushing mechanism and / or the cavitation cleaning mechanism according to the attachment of marine garbage and / or marine organisms, thereby avoiding the occurrence of wrong judgments by the ship cleaning robot. At the same time, when in use, a photometric sensor is used to detect the lighting conditions of the working environment of the ship cleaning robot to control the operation of the display light, thereby providing a light source for the shooting of the first camera and the second camera. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the structure of the present invention;

[0024] Figure 2 is an exploded view of the present invention;

[0025] Figure 3It is an exploded view of the brushing mechanism and the cavitation cleaning mechanism of the present invention;

[0026] Figure 4 is an exploded view of the connecting socket of the present invention;

[0027] Figure 5 is an exploded view of the auxiliary adsorption mechanism of the present invention;

[0028] Figure 6 It is an exploded view of the walking mechanism of the present invention.

[0029] Description of reference numerals:

[0030] 10. Main body; 101. First through hole; 102. First through slot; 103. Third through hole; 104. Mounting block; 105. Connecting shaft; 106. Control box;

[0031] 20, cleaning mechanism; 201, fixed seat; 2011, connecting block; 2012, first limiting protrusion; 202, accommodating cavity; 203, rotating driving member; 204, rotating member; 205, cleaning head; 206, fixed frame; 207, anti-twist sleeve; 208, anti-twist seat;

[0032] 30. Cavitation cleaning mechanism; 301. First connecting plate; 302. Second connecting plate; 303. Mounting cavity; 304. Second through hole; 305. Piezoelectric sheet; 306. Second position-limiting protrusion;

[0033] 401, first camera; 402, second camera; 403, display light; 404, light sensor; 405, installation sleeve;

[0034] 50, auxiliary adsorption mechanism; 501, mounting seat; 502, receiving hole; 503, rotating motor; 504, rotary blade propeller; 505, sleeve; 506, collecting bin; 507, collecting tank; 508, water inlet; 509, partition net; 510, connecting chassis; 511, fixing rod;

[0035] 60, auxiliary cleaning mechanism; 601, cleaning brush roller; 602, connecting sleeve; 603, rotating shaft; 604, swing rod; 605, connecting rod;

[0036] 70. Traveling mechanism; 701. Traveling motor; 702. Fixing plate; 7021. Inserting convex block; 7022. Locking groove; 7023. Adjusting groove; 7024. First through hole; 7025. Mortise and tenon block; 703. Traveling chain; 7031. Chain link; 704. Driving gear; 705. Driven gear; 706. Driven connecting rod; 707. Connecting seat; 7071. Embossed groove; 7072. Avoiding groove; 708. Adsorption unit; 709. Anti-slip plate;

[0037] 80, tensioning mechanism; 801, tensioning block; 802, tensioning rod; 803, movable block; 8031, second through hole; 8032, fixing hole;

[0038] 901, bearing plate; 902, rotating pair; 903, supporting block; 904, mortise and tenon groove; 905, extension plate. DETAILED DESCRIPTION

[0039] In order to facilitate the understanding of the present invention, specific embodiments of the present invention will be described in more detail below with reference to the accompanying drawings.

[0040] Unless otherwise specified or defined, the "first, second..." used in this article is merely used to distinguish names and does not represent a specific quantity or order.

[0041] Unless specifically stated or defined otherwise, the term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0042] It should be noted that, in this document, “fixed to” or “connected to” may mean directly fixing or connecting to an element, or indirectly fixing or connecting to an element.

[0043] refer to Figures 1 to 6 The ship cleaning robot provided in this embodiment includes a main body 10, on both sides of the main body 10 are provided with walking mechanisms 70 for walking on the surface of the hull, on the walking mechanism 70 is provided an adsorption unit 708 for adsorbing on the surface of the hull, a mounting surface is formed on the top surface of the main body 10, and a cleaning area is formed between the bottom surface of the main body 10 and the bottom end of the walking mechanism 70.

[0044] refer to Figure 6 The walking mechanism 70 includes a fixed plate 702 arranged on both sides of the main body 10, a walking motor 701 is fixedly provided on the fixed plate 702, a driving gear 704 is sleeved on the motor shaft of the walking motor 701, a movable block 803 is provided at one end of the fixed plate 702 opposite to the walking motor 701, a driven connecting rod 706 is provided on the movable block 803, a driven gear 705 is sleeved on the driven connecting rod 706, a walking chain 703 is sleeved on the driving gear 704 and the driven gear 705, a connecting seat 707 is provided on each link 7031 of the walking chain 703, an engaging groove 7071 is opened on the end of the connecting seat 707 away from the walking chain 703, the adsorption unit 708 is provided in the engaging groove 7071, and an anti-slip plate 709 is fixedly provided on the end of the adsorption unit 708 away from the walking chain 703.

[0045] The adsorption unit 708 described in this embodiment is a neodymium magnet, the anti-slip plate 709 is a Q235 steel plate, and a plurality of anti-slip grooves are formed on one end of the anti-slip plate 709 away from the adsorption unit 708 .

[0046] A plurality of plug-in protrusions 7021 are provided at the top of the fixing plate 702, and a plurality of first through grooves 102 are provided on both sides of the main body 10. The plug-in protrusions 7021 are inserted into the first through grooves 102, and the top of the plug-in protrusions 7021 extends above the top surface of the main body 10. A locking groove 7022 is provided in the portion extending above the top surface of the main body 10, and a locking block (not shown in the figure, the same below) is inserted into the locking groove 7022. The locking block is pressed against the top surface of the main body 10 to limit the lifting and lowering of the plug-in protrusion 7021 in the first through groove 102, thereby realizing the connection and fixation between the fixing plate 702 and the main body 10, and improving the convenience of disassembly and assembly of the fixing plate 702 and the main body 10.

[0047] A first through hole 7024 is opened on the fixing plate 702, and the travel motor 701 is screwed and fixed to the fixing plate 702 on a side close to the main body 10. The motor shaft of the travel motor 701 passes through the first through hole 7024 and extends to the side of the fixing plate 702 away from the main body 10 to be connected to the driving gear 704.

[0048] The fixing plate 702 described in this embodiment is provided with a plurality of hollow grooves, and the bottom of the fixing plate 702 is arched, which improves the load-bearing capacity of the fixing plate 702 while reducing the weight of the fixing plate 702 and reducing material input.

[0049] A downwardly extending mortise and tenon block 7025 is provided at the bottom of the fixing plate 702, two oppositely arranged supporting blocks 903 are provided at the bottom of the fixing plate 702, mortise and tenon grooves 904 are provided on the supporting blocks 903, and the mortise and tenon block 7025 is inserted into the mortise and tenon grooves 904 and connected to the supporting blocks 903 by mortise and tenon.

[0050] A void groove 7072 is provided on the side of the connecting seat 707 facing the main body 10, and one end of the support block 903 facing the fixed plate 702 extends into the void groove 7072, and the end of the support block 903 described in this embodiment extends into at least three void grooves 7072 of the connecting seat 707, so that at least three chain links 7031 cannot rotate to form an integral structure, and the three adsorption units 708 adsorb on the surface of the hull at the same time, thereby improving the adsorption capacity of the walking structure, thereby improving the walking stability of the walking mechanism 70.

[0051] An upwardly extending extension plate 905 is provided at one end of the support block 903 away from the fixed plate 702, and a bearing plate 901 is provided between the extension plate 905 and the fixed plate 702. The bearing plate 901 is arc-shaped, and a rotating pair 902 is provided at the top and both ends of the bearing plate 901. The rotating pair 902 located at the top of the bearing plate 901 is connected to the fixed plate 702, and the rotating pairs 902 located at both ends of the bearing plate 901 are connected to the extension plate 905. When in use, the bearing plate 901 utilizes the rotation characteristics of the three rotating pairs 902 to enable the bearing plate 901 to rotate along the circumferential direction of the rotating pairs 902, so as to adapt the walking mechanism 70 to walk on the hull surface with different concave and convex states, and to disperse the load of the main body 10 acting on the walking mechanism 70.

[0052] A tensioning mechanism 80 is provided on the fixed plate 702, and the tensioning mechanism 80 includes a tensioning block 801 arranged on the side of the movable block 803, and a tensioning rod 802 is provided on the tensioning block 801, and the end of the tensioning rod 802 faces the movable block 803. When in use, the tensioning rod 802 moves toward the movable block 803 to push the movable block 803 to move on the fixed plate 702, thereby driving the driven gear 705 to move to achieve the tensioning of the walking chain 703.

[0053] The movable block 803 is provided with a second through hole 8031, and the driven connecting rod 706 is connected to the driven gear 705 through the second through hole 8031, and a fixing hole 8032 is provided on the movable block 803. An adjusting groove 7023 is opened at a position corresponding to the fixing hole 8032 on the fixed plate 702. The movable block 803 is connected to the fixed plate 702 through a bolt structure passing through the fixing hole 8032 and the adjusting groove 7023. The bolt can be used to move in the adjusting groove 7023 to achieve the purpose of the movable block 803 being moved on the fixed plate 702 when pushed by the tensioning rod 802.

[0054] The tensioning rod 802 described in this embodiment can be a tensioning screw, and the travel chain 703 can be tensioned by manual screwing. It can also use electric push rods, pneumatic rods and cylinders to achieve automatic tensioning of the travel chain 703.

[0055] refer to Figure 2 and Figure 3The main body 10 is provided with two first through holes 101 which are arranged opposite to each other. A cleaning mechanism 20 is provided at a position on the main body 10 corresponding to the first through holes 101. The cleaning mechanism 20 includes a fixing seat 201, the fixing seat 201 is arranged in the first through hole 101, and the diameter of the first through hole 101 is larger than the diameter of the fixing seat 201. Two mounting blocks 104 which are arranged opposite to each other are provided at a position close to the first through hole 101 on the mounting surface of the main body 10. Two connecting blocks 2011 which are arranged opposite to each other are provided on the outer wall of the fixing seat 201. The connecting blocks 2011 and the mounting blocks 104 are provided opposite to each other. The mounting block 104 is connected via a connecting shaft 105, and one end of the connecting shaft 105 is fixed on the mounting block 104, and the other end is rotatably connected to the connecting block 2011, or one end of the connecting shaft 105 is fixed on the connecting block 2011, and the other end is rotatably connected to the mounting block 104, so that the fixing seat 201 can be rotated by a certain angle along the circumferential direction of the connecting shaft 105 within the limiting range of the first through hole 101, thereby preventing the cleaning head 205 at the bottom of the fixing seat 201 from being damaged due to its inability to move when it touches marine garbage or marine life deposited on the surface of the hull.

[0056] A receiving cavity 202 is provided in the fixing seat 201 , a rotating member 204 is provided in the receiving cavity 202 , a rotating driving member 203 is provided above the rotating member 204 , the rotating driving member 203 is transmission-connected to the rotating member 204 , and the bottom of the rotating member 204 is fixedly connected to the cleaning head 205 .

[0057] The rotating driving member 203 described in this embodiment is a driving motor, and a fixing frame 206 is arranged above the first through hole 101, and the top end of the rotating driving member 203 passes through the fixing frame 206 and extends to the top of the fixing frame 206, and an anti-twist sleeve 207 is arranged on the rotating driving member 203, and an anti-twist seat 208 arranged on the anti-twist sleeve 207 is fixed on the fixing frame 206. When in use, when the ship cleaning robot enters the water to clean the surface of the hull, under different underwater depths and when the cleaning head 205 collides with the deposited marine garbage and / or marine life, the position of the rotating driving member 203 is kept stable to avoid the cleaning head 205 being eccentric due to the offset of the rotating driving member 203, thereby reducing the cleaning effect of the cleaning mechanism 20.

[0058] The bottom end of the fixed seat 201 extends into the cleaning area, the bottom end of the cleaning head 205 is flush with the bottom end of the walking mechanism 70, and a cavitation cleaning mechanism 30 is sleeved on the portion of the fixed seat 201 extending into the cleaning area, the cavitation cleaning mechanism 30 includes a first connecting plate 301 and a second connecting plate 302, the first connecting plate 301 and the second connecting plate 302 are spliced ​​and connected to form an installation cavity 303 and a second through hole 304 that penetrates the first connecting plate 301 and the second connecting plate 302, the first connecting plate 301 and the second connecting plate 302 are sleeved on the cleaning mechanism 20, an ultrasonic transducer (not shown in the figure, the same below) is provided in the installation cavity 303, and a piezoelectric sheet 305 is connected to the ultrasonic heat exchanger.

[0059] A plurality of first limiting protrusions 2012 are provided on the outer peripheral wall of the fixing seat 201, and a plurality of second limiting protrusions 306 extending toward the second through hole 304 are provided on the first connecting plate 301 or the second connecting plate 302. When the fixing seat 201 extends into the second through hole 304, the first limiting protrusions 2012 are pressed against the second limiting protrusions 306 and are connected and fixed by bolts or screws.

[0060] The piezoelectric sheet 305 described in this embodiment is a ceramic piezoelectric sheet 305 , and an accommodating hole (not shown in the figure, the same below) for accommodating the piezoelectric sheet 305 is provided on the first connecting plate 301 or the second connecting plate 302 .

[0061] The cavitation cleaning mechanism 30 described in this embodiment may also use an ultrasonic industrial vibrator to replace the ultrasonic transducer and the piezoelectric sheet 305, as long as it can clean the holes and crevices on the surface of the hull, and is not limited to the technical solution described in this embodiment.

[0062] refer to Figure 1 An auxiliary cleaning mechanism 60 is provided on one end of the main body 10 opposite to the cleaning brush mechanism 20, and the auxiliary cleaning mechanism 60 includes two connecting sleeves 602 fixedly mounted on the main body 10, and a rotating shaft 603 is provided on one end of the connecting sleeve 602 away from the main body 10, and a swing rod 604 is sleeved on the rotating shaft 603, and a connecting rod 605 is provided between the two swing rods 604, and the end of the swing rod 604 is sleeved on the connecting rod 605, and a cleaning brush roller 601 is sleeved on the connecting rod 605, and the cleaning brush roller 601 can rotate along the circumferential direction of the connecting rod 605.

[0063] During use, when the cleaning mechanism 20 and the cavitation cleaning mechanism 30 are unable to clean the attachments on the surface of the hull (such as seaweed, barnacles and other marine organisms that are difficult to clean), the cleaning brush roller 601 is used for brushing to improve the cleaning effect and cleaning efficiency of the ship cleaning robot.

[0064] refer to Figure 1 , Figure 4 and Figure 5 A third through hole 103 is provided on the main body 10, a mounting seat 501 is provided above the third through hole 103, a receiving hole 502 is formed in the mounting seat 501, a rotating motor 503 is provided in the receiving hole 502, a rotary blade propeller 504 is transmission-connected to the rotating motor 503, a sleeve 505 is provided in the cleaning area, the top of the sleeve 505 is connected to the main body 10 to form a collecting bin 506, a collecting trough 507 connected to the collecting bin 506, and a water inlet 508 connected to the collecting bin 506 are provided on the sleeve 505, and a partition net 509 is provided at the water inlet 508.

[0065] A connecting chassis 510 is provided at the bottom of the mounting seat 501, and a plurality of fixing rods 511 distributed in a ring array are provided on the outer peripheral wall of the connecting chassis 510, and the fixing rods 511 extend toward the mounting seat 501, and the fixing rods 511 are connected to the mounting seat 501, and partially extend outside the mounting seat 501, the rotating motor 503 is connected and fixed to the connecting chassis 510 by means of bolts or screws, and the part of the fixing rods 511 extending outside the mounting seat 501 is connected and fixed to the main body 10 by means of bolts or screws.

[0066] When in use, the rotary motor 503 is used to drive the propeller 504 to rotate, and a water pressure difference is generated through the flow of water to compensate for the adsorption force between the walking mechanism 70 and the surface of the hull when the adsorption force of the adsorption unit 708 is insufficient. At the same time, the attachments on the surface of the hull are sucked into the collection bin 506 through the collection trough 507, thereby further improving the cleaning effect and cleaning efficiency of the ship cleaning robot. At the same time, the marine life or marine garbage collected in the collection bin 506 can bring certain economic benefits.

[0067] A control mechanism is provided on the main body 10, and the control mechanism includes a control box 106 fixedly mounted on the mounting surface of the main body 10, and a control circuit board arranged in the control box 106. The control circuit board is directly or through a distribution board connected to the brushing mechanism 20, the auxiliary cleaning mechanism 60, the cavitation cleaning mechanism 30, the auxiliary adsorption mechanism 50, the image feedback mechanism and the walking mechanism 70, so as to realize the automatic monitoring and automatic cleaning of the attachments on the surface of the hull by the ship cleaning robot.

[0068] An image feedback mechanism is provided on the mounting surface of the main body 10, and the image feedback mechanism includes a first camera 401 and a second camera 402 arranged at both ends of the main body 10, a display light 403 is provided on one end of the main body 10 close to the first camera 401 or the second camera 402, and a light sensor 404 is fixedly provided on the display light 403 or on the main body 10.

[0069] Two installation sleeves 405 arranged opposite to each other are provided on one side of the display light 403 close to the main body 10 . The installation sleeves 405 are sleeved on the main body 10 and fixed to the main body 10 by means of bolts or screws.

[0070] When in use, the first camera 401 and the second camera 402 can be used to monitor the condition of attachments on the hull and perform hydrological monitoring of the seawater in real time, and feed back to the control circuit board. The control circuit board selects to start the cleaning mechanism 20 and / or the cavitation cleaning mechanism 30 according to the received information, and starts the auxiliary adsorption mechanism 50 to assist the cleaning mechanism 20 and / or the cavitation cleaning mechanism 30 to clean the surface of the hull according to the situation; the image information can also be directly fed back to the ground control station through the control circuit board or the image feedback mechanism, and the accumulation of attachments on the surface of the hull can be judged manually, so as to avoid errors in the judgment of the control circuit board due to the influence of the underwater environment and light, resulting in inadequate cleaning of the attachments on the surface of the hull.

[0071] The display light 403 described in this embodiment is an LED display light 403 .

[0072] The main body 10 described in this embodiment is provided with a plurality of hollow grooves and hollow holes to reduce the weight of the main body 10 and increase the water flow path when the auxiliary cleaning mechanism 60 is in operation, thereby improving the adsorption force of the walking mechanism 70 on the hull surface.

[0073] The ship cleaning robot provided in this embodiment, when in use,

[0074] The ship cleaning robot is adsorbed on the surface of the hull by the adsorption units 708 on the walking mechanisms 70 on both sides of the main body 10;

[0075] The first camera 401 and the second camera 402 of the image feedback mechanism take real-time photos of the accumulation of marine organisms and / or marine garbage attachments on the hull surface (the display light 403 is activated when the light sensor 404 detects insufficient underwater illumination), and feed back to the control circuit board and / or the ground control station;

[0076] The control circuit board or the ground control station determines the condition of the attachments on the hull surface according to the received image information, and selects to start the cleaning mechanism 20 and / or the cavitation cleaning mechanism 30 according to the different conditions of the attachments accumulation to clean the attachments on the hull surface.

[0077] When the marine garbage or marine organisms attached to the surface of the hull are small in size and / or there are many blind holes and slits on the hull, the cavitation cleaning mechanism 30 is started to emit ultrasonic waves to the surface of the hull, and the dirt (marine garbage or marine organisms) is emulsified, dispersed and peeled off from the surface of the object (destroying the adsorption of marine garbage or marine organisms on the surface of the hull) by the acceleration, cavitation and straight flow of ultrasonic waves on seawater, so that the marine garbage or marine organisms are separated from the surface of the hull to achieve the cleaning treatment of the hull surface;

[0078] When the marine garbage or marine organisms attached to the surface of the hull are seriously deposited, the ultrasonic generating mechanism is turned off, and the driving motor is started to drive the cleaning brush to rotate and scrub the surface of the hull;

[0079] When there are both areas with serious accumulation of marine garbage or marine life and areas with small volume of marine garbage or marine life on the surface of the hull, the ultrasonic generating mechanism and the driving motor are started at the same time to drive the cleaning brush to rotate and clean the surface of the hull.

[0080] When a ship sails in the water for a long time and a large number of marine organisms that are difficult to clean, such as seaweed, barnacles, and shellfish, are adsorbed on its surface, and starting the cavitation cleaning mechanism 30 and the brush mechanism 20 at the same time may not achieve a better cleaning effect on the hull surface, the angle of the swing rod 604 of the auxiliary cleaning mechanism 60 in the circumferential direction of the rotating shaft 603 is adjusted so that the cleaning brush roller 601 is pressed against the hull surface. When the walking mechanism 70 drives the main body 10 to walk on the hull surface, the marine organisms on the hull surface are pushed to separate from the hull surface.

[0081] When the adsorption unit 708 encounters thick marine organisms or marine debris that can accumulate and the adsorption capacity is weakened or even disappears, the auxiliary adsorption mechanism 50 is started, and the rotary motor 503 in the mounting seat 501 is used to drive the rotary blade propeller 504 to operate, and the third through hole 103 of the conductive body 10 is used to achieve the flow of water from the cleaning area to the top of the mounting surface, thereby enhancing the adsorption capacity of the ship cleaning robot, ensuring that the ship cleaning robot can still be adsorbed on the surface of the hull, and avoiding the cleaning robot from sinking into the water due to excessive accumulation of marine organisms or marine debris, resulting in weakened or disappeared adsorption force.

[0082] Of course, when the adsorption force of the adsorption unit 708 is sufficient, the auxiliary adsorption mechanism 50 can also be started to use its adsorption effect to perform auxiliary cleaning on the hull surface, and at the same time use the collection bin 506 to collect some attachments, thereby increasing the economic benefits of cleaning the hull surface to a certain extent.

[0083] The ship cleaning robot and ship cleaning method provided in this embodiment can adapt to the cleaning treatment of different operating conditions on the surface of the ship, replace traditional manual cleaning, reduce labor cost investment, and improve cleaning efficiency.

[0084] The above embodiments are not exhaustive enumerations of the present invention, and there may be multiple other implementations not listed. Any replacement and improvement made without violating the concept of the present invention shall fall within the protection scope of the present invention.

Claims

1. A ship cleaning robot, characterized in that: It comprises a main body, on which two walking mechanisms are arranged, the two walking mechanisms are arranged on both sides of the main body, and a suction unit is arranged on the walking mechanisms; A mounting surface is formed on the top surface of the main body, a cleaning area is formed between the bottom surface of the main body and the bottom end of the walking mechanism, a brushing mechanism is provided on the mounting surface, the brushing mechanism comprises a rotating driving member, the rotating driving member is fixed on the mounting surface, a brushing head is drivingly connected to the bottom of the rotating driving member, and the brushing head is arranged inside the cleaning area; A cavitation cleaning mechanism is provided on the cleaning mechanism, and the cavitation cleaning mechanism is arranged in the cleaning area, or the cavitation cleaning mechanism faces the cleaning area; A third through hole is provided on the main body, a mounting seat is provided above the third through hole, a receiving hole is formed in the mounting seat, a rotating motor is provided in the receiving hole, a rotary blade propeller is transmission-connected to the rotating motor, a sleeve is provided in the cleaning area, a top of the sleeve is connected to the main body to form a collecting bin, a collecting groove connected to the collecting bin and a water inlet connected to the collecting bin are provided on the sleeve, and a partition net is provided at the water inlet position; A connecting chassis is arranged at the bottom of the mounting seat, and a plurality of fixing rods distributed in a ring array are arranged on the outer peripheral wall of the connecting chassis.

2. The ship cleaning robot according to claim 1, characterized in that: The cleaning mechanism includes a fixed seat, which is arranged on the mounting surface, and the bottom end of the fixed seat passes through the main body toward the cleaning area. A accommodating cavity is formed in the fixed seat, and a rotating member is arranged in the accommodating cavity. The rotating driving member is arranged above the fixed seat, and the rotating driving member at least partially extends into the accommodating cavity and is transmission-connected with the rotating member. The cleaning head is arranged at the bottom of the fixed seat, and the bottom end of the cleaning head is fixedly connected to the rotating member, and the bottom end of the cleaning head is flush with the bottom end of the walking mechanism.

3. The ship cleaning robot according to claim 2, characterized in that: A fixing frame is provided on the main body, and the fixing frame is mounted above the fixing seat. The top end of the rotating driving member passes through the fixing frame and extends to the top of the fixing frame. An anti-twist sleeve is arranged on the rotating driving member, and an anti-twist seat arranged on the anti-twist sleeve is fixed on the fixing frame.

4. The ship cleaning robot according to claim 2, characterized in that: Two oppositely arranged first through holes are provided on the main body, two oppositely arranged mounting blocks are provided on the main body near the first through holes, a connecting shaft is provided on the mounting block, and two oppositely arranged connecting blocks are provided on the outer wall of the fixing seat, and the other end of the connecting shaft is connected to the connecting block.

5. The ship cleaning robot according to any one of claims 1 to 4, characterized in that: The cavitation cleaning mechanism includes a first connecting plate and a second connecting plate, which are spliced ​​and connected to form an installation cavity and a second through hole that penetrates the first connecting plate and the second connecting plate, and the first connecting plate and the second connecting plate are sleeved on the cleaning mechanism, an ultrasonic transducer is provided in the installation cavity, and a piezoelectric sheet is connected to the ultrasonic heat exchanger.

6. The ship cleaning robot according to any one of claims 1 to 4, characterized in that: An image feedback mechanism is provided on the main body, and the image feedback mechanism includes a first camera and a second camera arranged at two ends of the main body. A display light is provided on one end of the main body close to the first camera or the second camera, and a light sensor is fixedly provided on the display light or the main body.

7. The ship cleaning robot according to any one of claims 1 to 4, characterized in that: An auxiliary cleaning mechanism is provided on the main body at one end opposite to the cleaning brush mechanism, and the auxiliary cleaning mechanism includes two connecting sleeves fixed on the main body, a rotating shaft is provided on the end of the connecting sleeve away from the main body, a swing rod is sleeved on the rotating shaft, a connecting rod is provided between the two swing rods, the end of the swing rod is sleeved on the connecting rod, and a cleaning brush roller is sleeved on the connecting rod, and the cleaning brush roller can rotate along the circumferential direction of the connecting rod.

8. The ship cleaning robot according to any one of claims 1 to 4, characterized in that: A control mechanism is arranged on the main body, and the control mechanism comprises a control box. A control circuit board is arranged in the control box, and the control circuit board is respectively connected with the cleaning mechanism, the cavitation cleaning mechanism and the walking mechanism.

9. A ship cleaning method, using the ship cleaning robot according to any one of claims 1 to 8, characterized in that: The adsorption unit of the walking mechanism is adsorbed on the surface of the hull and drives the main body to walk on the surface of the hull under the control of the control circuit board; The image feedback mechanism captures the image on the hull surface and converts it into image information and feeds it back to the control circuit board of the control mechanism; The control circuit board determines the deposition conditions of the attachments on the hull surface according to the received image information, and controls the cavitation cleaning mechanism and / or the brushing mechanism to start according to the different deposition conditions, so as to clean the attachments on the hull surface.

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