An intelligent deck cleaning robot for wind, solar and wave combined power generation

Abstract

This application discloses an intelligent deck cleaning robot that uses wind, solar, and wave-powered combined power generation. The robot includes a cleaning device for cleaning the deck and a wind, solar, and wave-powered complementary power generation device for powering the cleaning device. The device comprises a photovoltaic power generation component, a wind power generation component, a wave power generation component, a rectifier, a controller, and a battery. The wind power generation component and the wave power generation component are connected to the controller in parallel with the photovoltaic power generation component via a rectifier. The controller is connected to the battery to control the storage and release of power. This application uses a wind, solar, and wave-powered complementary power generation device to power the deck cleaning robot, resolving the problem that existing devices rely on batteries for power during cleaning, resulting in inability to operate continuously for long periods of time and low efficiency.

Description

Technical Field

[0001] The present application relates to the technical field of transportation, and in particular to an intelligent deck cleaning robot for wind, solar and wave combined power generation. Background Art

[0002] The deck is a crucial component of a ship's structure. It's a planar structure located above the inner bottom plate, enclosing the interior and dividing it horizontally into layers. When a ship is at sea, waves impact the ship, and some seawater can remain on the deck. If not cleaned promptly, the salt in the seawater can corrode the deck, damaging its performance and causing unnecessary damage. Furthermore, as crew members move about on the deck, they carry dirt with them as they walk, and dirt accumulates from stepping on it. When this dirt accumulates, it can affect the deck's proper function. Therefore, timely and effective cleaning of ship decks is crucial. With the development of the shipping industry, the number and size of ships are constantly increasing, and the area of ​​decks is also gradually increasing. Manual deck cleaning alone is time-consuming, labor-intensive, and inefficient. To address this issue, researchers have developed deck cleaning machines to replace manual cleaning. However, most current research results focus on semi-automatic cleaning robots, which require manual operation and fall short of achieving the goal of automated cleaning. Therefore, the invention described herein incorporates an automatic control device into the deck cleaning robot, enabling automated cleaning.

[0003] Some existing ships have many facilities on their decks, which are distributed in a complex manner. Existing ship deck cleaning equipment has a complex structure and is large in size, making it difficult to clean corners and narrow areas of the deck, resulting in poor cleaning effects.

[0004] Due to environmental pollution and shortages caused by traditional energy use, advocating for the use of green energy has become a consensus. Offshore wind energy resources are abundant, and wind power generation has become the world's fastest-growing clean power generation technology. Solar energy resources are also plentiful and can be used for power generation. Furthermore, ships experience significant swaying during navigation, and generators can be installed to harness the waves generated by the swaying of methyl silicone oil. This complementary wind, solar, and wave-based power generation replaces the consumption of traditional energy sources and meets current green and low-carbon requirements. Summary of the Invention

[0005] In view of this, the present application provides a wind-solar-wave combined power generation intelligent deck cleaning robot, which can solve the problem that existing devices rely on batteries for power supply during cleaning, cannot work continuously for a long time, and have low working efficiency.

[0006] The present application provides a wind-solar-wave combined power generation intelligent deck cleaning robot, comprising a cleaning device for performing deck cleaning and a wind-solar-wave complementary power generation device for powering the cleaning device. The wind-solar-wave complementary power generation device comprises a photovoltaic power generation component, a wind power generation component, a wave power generation component, a rectifier, a controller and a battery. The wind power generation component and the wave power generation component are both connected to the controller in parallel with the photovoltaic power generation component via a rectifier, and the controller is connected to the battery to control the storage and release of electricity.

[0007] Optionally, the photovoltaic power generation group has solar panels, which are distributed in front of and above the vehicle shell and arranged in a matrix.

[0008] Optionally, the wind power generation assembly includes a wind rotor blade, a guide plate, a connecting shaft, a support rod and a wind turbine, and the guide plate is wrapped around the connecting shaft and has an opening angle of 59.5°.

[0009] Optionally, the wave energy power generation assembly comprises a float, a water wheel, a limiting plate, a housing, a clutch (135), a gear box, a wave energy generator and a connecting pipe, the output shaft of the clutch is connected in parallel to the gear box, the output shaft of the gear box is installed with the wave energy generator, the limiting plate fixes the axial position of the water wheel, the housing supports the water wheel, and the housing and the connecting pipe contain methyl silicone oil medium.

[0010] Optionally, the cleaning device includes a front cleaning mechanism, a detergent injection mechanism and a lower cleaning mechanism, the front cleaning mechanism includes a slide control gear, a slide control gear supporting rod, an elastic connecting rod, a cleaning mechanism bristles, a micro rotating motor, a rotatable long shaft and a control motor, the slide control gear is engaged with the control motor output gear and is fixed on the slide control gear supporting rod, the elastic connecting rod is elastic and can be freely extended and retracted, the cleaning mechanism bristles are installed on the outside of the rotatable long shaft, and the micro rotating motor is installed on the inside.

[0011] Optionally, the detergent injection mechanism includes a detergent storage tank, a high-pressure water storage tank, a mechanism fixing bolt hole, a metering pump, a high-pressure connecting tube, a foaming machine, a pre-launching chamber, a high-pressure pump, a liquid separation tee, a detergent delivery pipeline and a rotatable nozzle. The detergent storage tank and the high-pressure water storage tank are fixed to the base plate through the mechanism fixing bolt hole and are connected to the metering pump. The metering pump controls the ratio of detergent to high-pressure water. The high-pressure connecting tube connects the metering pump and the foaming machine. The foaming machine controls the foaming of the detergent in the pre-launching chamber. The high-pressure pump connects the pre-launching chamber and the liquid separation tee. The liquid separation tee connects the detergent delivery pipeline and the rotatable nozzle.

[0012] Optionally, the lower cleaning mechanism includes a slide control rack, cleaning mechanism bristles, a rotatable long shaft, a micro rotary motor, a slide control rack connecting rod, and a synchronous control motor; the slide control rack is fixed on the slide control rack connecting rod and meshes with the output gear of the synchronous control motor; the cleaning mechanism bristles are fixed on the outside of the rotatable long shaft; and the micro rotary motor is installed inside the rotatable long shaft (233).

[0013] Optionally, it also includes a driving device for providing power to the cleaning device, the driving device includes an upper supporting plate, a shock-absorbing spring, a lower supporting plate, an encoder, an encoder gear, a fastening bolt, a differential, a steering motor, a steering motor gear, a steering gear, a pressure plate, a pressure plate bolt, a steering gear washer, a DC speed regulator, a driving pulley, a driving motor, an upper supporting plate limiting sleeve, a fixing flange hole, a driving motor fixing plate, a wheel, a wheel hub bearing, and a driving shaft. The upper supporting plate is punched with a fixing flange hole connected to the bottom plate bolt, a fastening bolt and a shock-absorbing spring are installed between the upper supporting plate and the lower supporting plate, the upper supporting plate limiting sleeve is embedded in the upper supporting plate, and the driving The motor is vertically fixed on the drive motor fixing plate and is connected to the drive pulley through a belt. The DC speed regulator is installed on a plane connected to the drive motor fixing plate. The drive pulley is connected to the differential through a shaft. The differential drives the drive shaft through gears. The drive shaft drives the wheel to rotate through the hub bearing. The clamping plate and the lower support plate are fixed with clamping plate bolts and connected to the steering gear. The steering gear washer is installed between the steering gear and the lower support plate. The steering motor is fixed to the lower surface of the lower support plate and meshes with the steering gear through the steering motor gear. The encoder is fixed to the lower surface of the lower support plate and meshes with the steering gear through the encoder gear.

[0014] Optionally, a chassis device for mounting the cleaning device is further included, the chassis device comprising a bottom plate, a battery pack, and a connecting flange, the battery pack being mounted on the bottom of the bottom plate, and the connecting flange being connected to the upper plate by bolts;

[0015] The fixing device includes a return spring sliding position limiting sleeve, a return spring, an electromagnet sliding position limiting sleeve, and an electromagnet. The return spring sliding position limiting sleeve is welded to the bottom surface, the return spring is connected to the electromagnet, and the circumferential distance between the electromagnet sliding position limiting sleeve and the electromagnet is 5mm.

[0016] Optionally, a control device is also included, which includes a central controller, a high-pressure water level detector, a detergent water level detector, a first laser radar detector, a first vehicle-mounted camera, a second vehicle-mounted camera, a battery pack management module, a second laser radar detector, a third laser radar detector, and a fourth laser radar detector. The high-pressure water level detector and the detergent water level detector are installed inside the detergent storage tank and the high-pressure water storage tank, the first laser radar detector, the first vehicle-mounted camera, the second vehicle-mounted camera, the second laser radar detector, the third laser radar detector, and the fourth laser radar detector are installed outside the vehicle, and the central controller and the battery pack management module are installed on the upper surface of the base plate.

[0017] This application has the following beneficial effects:

[0018] 1. This application has a complete control and drive device, which can solve the problem that existing devices mostly use manual propulsion and do not achieve automated cleaning.

[0019] 2. This application uses a wind-solar-wave complementary power generation device to power the deck cleaning robot, which can solve the problem that the existing device relies on battery power during cleaning, cannot work continuously for a long time, and has low work efficiency.

[0020] 3. The driving device of the present application can realize the circular rotation of the entire vehicle, which can solve the problems of the existing device such as clumsy driving, inconvenient operation, difficulty in cleaning small areas and crossing obstacles.

[0021] 4. This application can also detect paint-peeling areas on the deck and mark them on the mobile terminal to remind relevant staff to repaint in time. This can solve the problem that existing devices can only clean deck stains and have relatively single functions.

[0022] 5. The present application has a fixing device, which can solve the problem that the existing device is placed on the deck when not in use, and is easily changed in position with the shaking of the ship, making it difficult to fix. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The following detailed description of the specific embodiments of the present application in conjunction with the accompanying drawings will make the technical solutions and other beneficial effects of the present application apparent.

[0024] Figure 1 A schematic structural diagram of the entire vehicle provided in an embodiment of the present application.

[0025] Figure 2 A schematic structural diagram of a wind power generation assembly provided in an embodiment of the present application.

[0026] Figure 3 A schematic structural diagram of a wave energy power generation assembly provided in an embodiment of the present application.

[0027] Figure 4 This is a schematic structural diagram of the front cleaning mechanism provided in an embodiment of the present application.

[0028] Figure 5 This is a schematic structural diagram of the detergent injection mechanism provided in an embodiment of the present application.

[0029] Figure 6 This is a schematic structural diagram of the lower cleaning mechanism provided in an embodiment of the present application.

[0030] Figure 7 A schematic structural diagram of the driving device provided in an embodiment of the present application.

[0031] Figure 8 A schematic structural diagram of the chassis device provided in an embodiment of the present application.

[0032] Figure 9 A schematic structural diagram of the fixing device provided in an embodiment of the present application.

[0033] Figure 10 A schematic structural diagram of a control device is provided for an embodiment of the present application.

[0034] The components in the figure are identified as follows:

[0035] 111 - solar panel; 121 - wind turbine blade; 122 - guide plate; 123 - connecting shaft; 124 - support rod; 125 - wind turbine;

[0036] 131- float; 132- water wheel; 133- limit plate; 134- housing; 135- clutch; 136- gear box; 137- wave energy generator; 138- connecting pipe;

[0037] 211 - slide control gear; 212 - slide control gear support rod; 213 - elastic connecting rod; 214 - cleaning mechanism bristles; 215 - micro rotary motor; 216 - rotatable long shaft; 217 - control motor;

[0038] 2201 - Detergent storage tank; 2202 - High-pressure water storage tank; 2203 - Mechanism fixing bolt hole; 2204 - Metering pump; 2205 - High-pressure connecting tube; 2206 - Foaming machine; 2207 - Pre-launch chamber; 2208 - High-pressure pump; 2209 - Liquid separation tee; 2210 - Detergent delivery pipeline; 2211 - Rotatable spray head;

[0039] 231 - Slide control rack; 232 - Cleaning mechanism bristles; 233 - Rotatable long shaft; 234 - Micro rotary motor; 235 - Slide control rack connecting rod; 236 - Synchronous control motor;

[0040] 3101 - Upper support plate; 3102 - Shock absorber spring; 3103 - Lower support plate; 3104 - Encoder; 3105 - Encoder gear; 3106 - Fastening bolt; 3107 - Differential; 3108 - Steering motor; 3109 - Steering motor gear; 3110 - Steering gear; 3111 - Pressure plate; 3112 - Pressure plate bolt; 3113 - Steering gear washer; 3114 - DC speed regulator; 3115 - Drive pulley; 3116 - Drive motor; 3117 - Upper support plate limiting sleeve; 3118 - Fixing flange hole; 3119 - Drive motor fixing plate; 3120 - Wheel; 3121 - Wheel hub bearing; 3122 - Drive shaft;

[0041] 321-base plate; 322-battery pack; 323-connecting flange;

[0042] 41-reset spring travel limit sleeve; 42-reset spring; 43-electromagnet travel limit sleeve; 44-electromagnet;

[0043] S01-central controller; S02-high-pressure water level detector; S03-detergent water level detector; S04-first lidar detector; S05-first vehicle-mounted camera; S10-second vehicle-mounted camera; S06-battery pack management module; S07-second lidar detector; S08-third lidar detector; S09-fourth lidar detector. DETAILED DESCRIPTION

[0044] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the embodiments described are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without making creative efforts are within the scope of protection of this application.

[0045] In the description of this application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of the technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the described features. In the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0046] In the description of this application, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections, electrical connections, or mutual communication; they can refer to direct connections or indirect connections through an intermediate medium; they can refer to internal communication between two components or the interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on specific circumstances.

[0047] The disclosure below provides many different embodiments or examples for realizing different structures of the present application. In order to simplify the disclosure of the present application, the components and settings of specific examples are described below. Of course, they are merely examples and are not intended to limit the present application. In addition, the present application may repeat reference numbers and / or reference letters in different examples, and such repetition is for the purpose of simplicity and clarity, and does not itself indicate the relationship between the various embodiments and / or settings discussed. In addition, the present application provides examples of various specific processes and materials, but those of ordinary skill in the art will appreciate the application of other processes and / or the use of other materials.

[0048] The wind-solar-wave combined power generation intelligent deck cleaning robot of the present application includes a wind-solar-wave complementary power generation device, a cleaning device, a driving device, a chassis device, a fixing device and a control device.

[0049] The wind-solar-wave hybrid power generation system includes photovoltaic (PV) components, wind power components, wave power components, a rectifier, a controller, batteries, and an inverter. Both the wind and wave power components are connected to the controller in parallel with the PV components via a rectifier. The controller is then connected to the battery to control the storage and release of power.

[0050] Photovoltaic power generation components are placed on the top and front sides of the vehicle housing, using solar panels to generate electricity. Solar panels 111 are distributed in the front and top of the vehicle housing and are arranged in a matrix.

[0051] The wind power generation assembly uses a vertical axis wind turbine to generate electricity. Specifically, the wind power generation assembly includes rotor blades 121, guide plates 122, a connecting shaft 123, a support rod 124, and a wind turbine 125. The guide plates 122 are wrapped around the connecting shaft 123 and have an opening angle of 59.5 degrees.

[0052] The wave energy power generation assembly includes a float 131, a water wheel 132, a limit plate 133, a box 134, a clutch 135, a gear box 136, a wave energy generator 137 and a connecting pipe 138. The output shaft of the clutch 135 is connected in parallel to the gear box 136. The output shaft of the gear box 136 is installed with the wave energy generator 137. The limit plate 133 fixes the axial position of the water wheel 132. The box 134 supports the water wheel 132. The box 134 and the connecting pipe 138 contain methyl silicone oil medium.

[0053] The water wheel 132 is composed of two rows of blades. The blades are wing-shaped and the thickness of the blades gradually decreases from the root of the blade to the edge of the blade. The two impellers are arranged in a staggered manner.

[0054] The wave energy power generation component of the above structure has the following specific working principle: methyl silicone oil is used as the medium, and the methyl silicone oil is placed in the box 134. When the robot moves and the hull shakes, the methyl silicone oil in the box will shake accordingly, and circulate through the connecting pipe 138, driving the blades of the water wheel 135 to rotate. The water wheel 132 transmits torque through the shaft connected to it. The water wheel output shaft is connected to the clutch 135 outside the box 134. Multiple clutches 135 are connected in parallel to the gear box 135. The gear box 136 is connected to the wave energy generator 137. The torque of the impeller shaft is transmitted to the wave energy generator 137 through this series of devices to generate electricity. At the same time, multiple floats are installed at the bottom of the box 134 to jointly generate electricity.

[0055] The cleaning device cleans the hull deck and the outer wall of the cargo hold through the front cleaning mechanism, the detergent spraying mechanism and the lower cleaning mechanism.

[0056] The front cleaning mechanism includes a slide control gear 211, a slide control gear supporting rod 212, an elastic connecting rod 213, a cleaning mechanism bristles 214, a micro rotating motor 215, a rotatable long shaft 216 and a control motor 217. The slide control gear 211 is engaged with the output gear of the control motor 217 and is fixed on the slide control gear supporting rod 212. The elastic connecting rod 213 is elastic and can be freely extended and retracted. The cleaning mechanism bristles 214 are installed on the outside of the rotatable long shaft 216, and the micro rotating motor 215 is installed on the inside.

[0057] The front cleaning mechanism operates as follows: a travel control gear 211 is fixed to a travel control gear support rod 212. A control motor 217 controls the front cleaning mechanism's elevation to clean the bulkhead. An elastic connecting rod 213 automatically conforms to the bulkhead and cleans within a set distance. A micro-rotating motor 215 drives the cleaning mechanism's bristles 214 to rotate and clean the bulkhead.

[0058] The detergent spraying mechanism 22 includes a detergent storage tank 2201, a high-pressure water storage tank 2202, a mechanism fixing bolt hole 2203, a metering pump 2204, a high-pressure connecting tube 2205, a foaming machine 2206, a pre-launching chamber 2207, a high-pressure pump 2208, a liquid separation tee 2209, a detergent delivery pipeline 2210 and a rotatable spray head 2211. The detergent storage tank 2201 and the high-pressure water storage tank 2202 are fixed to the mechanism fixing bolt hole 2203. On the bottom plate 321, it is connected to the metering pump 2204, the metering pump 2204 controls the ratio of detergent to high-pressure water, the high-pressure connecting tube 2205 connects the metering pump 2204 and the foaming machine 2206, the foaming machine 2206 controls the foaming of the detergent in the pre-launching chamber 2207, the high-pressure pump 2208 connects the pre-launching chamber 2207 and the liquid separation tee 2209, and the liquid separation tee 2209 connects the detergent delivery pipeline 2210 and the rotatable nozzle 2211.

[0059] The detergent spray mechanism operates as follows: A metering pump 2204 controls the flow rates of the detergent storage tank 2201 and the high-pressure water storage tank 2202 to ensure the correct ratio of detergent to high-pressure water. A foaming machine 2206, driven by a motor, foams the detergent within the pre-launch chamber 2207, achieving optimal cleaning results. A high-pressure pump 2208 delivers the foamed detergent within the pre-launch chamber 2207 via a liquid separation tee and detergent delivery line 2210 to a rotatable spray head 2211. The rotatable spray head 2211 controls the foamed detergent to spray the area in front of the vehicle.

[0060] The lower cleaning mechanism 23 includes a slide control rack 231, cleaning mechanism bristles 232, a rotatable long shaft 233, a micro-rotating motor 234, a slide control rack connecting rod 235, and a synchronous control motor 236. The slide control rack 231 is fixed on the slide control rack connecting rod 235 and is engaged with the output gear of the synchronous control motor 236. The cleaning mechanism bristles 232 are fixed on the outside of the rotatable long shaft 233, and the micro-rotating motor 234 is installed inside the rotatable long shaft 233.

[0061] The lower cleaning mechanism operates as follows: A travel control rack 231 is fixed to a travel control rack connecting rod 235 and meshes with the output gear of a synchronous control motor 236, controlling the lower cleaning mechanism's height above the ground. During cleaning operations, the lower cleaning mechanism is pressed down into contact with the deck, providing a certain downward force to ensure effective cleaning. When the vehicle is navigating obstacles, the lower cleaning mechanism is raised to prevent collisions with the deck. A micro rotary motor 234 controls the cleaning mechanism's bristles 232 to rotate and clean the deck.

[0062] The driving device includes an upper support plate 3101, a shock absorbing spring 3102, a lower support plate 3103, an encoder 3104, an encoder gear 3105, a fastening bolt 3106, a differential 3107, a steering motor 3108, a steering motor gear 3109, a steering gear 3110, a pressure plate 3111, a pressure plate bolt 3112, a steering gear washer 3113, a DC speed regulator 3114, a driving pulley 3115, a driving motor 3116, and an upper support plate limiting sleeve. 3117, fixed flange hole 3118, drive motor fixing plate 3119, wheel 3120, wheel hub bearing 3121, drive shaft 3122, the upper plate 3101 is punched with a fixed flange hole 3118 and is connected to the bottom plate 321 with bolts, the fastening bolts 3106 and the shock-absorbing spring 3102 are installed between the upper plate 3101 and the lower plate 3103, the upper plate limiting sleeve 3117 is embedded in the upper plate 3101, and the drive motor 3116 is vertically fixed. The drive pulley 3115 is fixed on the drive motor fixing plate 3119 and connected to the drive pulley 3115 through a belt. The DC speed regulator 3114 is installed on a plane connected to the drive motor fixing plate 3119. The drive pulley 3115 is connected to the differential 3107 through a shaft. The differential 3107 drives the drive shaft 3122 through a gear. The drive shaft 3122 drives the wheel 3120 to rotate through the hub bearing 3121. The pressure plate 3111 and the lower support plate 3103 are connected through the pressure plate 3111. The tightening disc bolt 3112 is fixed and connected to the steering gear (3110). The steering gear washer (3113) is installed between the steering gear (3110) and the lower support plate 3103. The steering motor 3108 is fixed to the lower surface of the lower support plate 3103 and meshes with the steering gear 3110 through the steering motor gear 3109. The encoder 3104 is fixed to the lower surface of the lower support plate 3103 and meshes with the steering gear 3110 through the encoder gear 3105.

[0063] The aforementioned drive mechanism operates as follows: The drive mechanism is used to drive the deck cleaning robot to complete its cleaning operations. The upper support plate 3101 and lower support plate 3102 in the drive mechanism are connected to the shock-absorbing spring 3102 via fastening bolts 3106, providing shock absorption for the entire vehicle. The upper support plate 3101 is restrained by the upper support plate's retaining sleeve 3117, preventing lateral displacement. Under the control of a DC speed regulator 3114, the drive motor 3116 rotates via a belt-driven pulley 3115, which in turn drives the differential 3107 via a shaft. The differential 3107 outputs power to the drive shaft 3122, ensuring circular rotation of the vehicle and reducing cornering resistance. The drive shaft 3122 drives the wheels 3120 via the hub bearing 3121, ensuring forward movement. The pressure plate 3111 secures the lower plate 3101 in place via the pressure plate bolts 3112. Together with the steering gear washer 3113 above the lower plate 3101, it secures the axial position of the steering gear 3110. The steering motor 3108, via the steering motor gear 3109, engages with the steering gear 3110, driving the steering gear 3110 and, in turn, the entire vehicle. The encoder 3104, through the meshing of the encoder gear 3105 with the steering gear 3110, records the wheel coordinates and displacement. This is then processed by the central controller to determine the steering angle and displacement parameters of the wheel.

[0064] The chassis device includes a base plate 321, a battery pack 322, and a connecting flange 323. The battery pack 322 is installed at the bottom of the base plate 321, and the connecting flange 323 is connected to the upper plate 3101 by bolts.

[0065] Thus, the battery pack 322 in the chassis device is used to store the electric energy generated by the power generation device and supply it to the drive device. The bottom plate 321 provides support for the entire vehicle.

[0066] The fixing device includes a return spring position limiting sleeve 41, a return spring 42, an electromagnet position limiting sleeve 43, and an electromagnet 44. The return spring position limiting sleeve 41 is welded to the lower surface of the base plate 321, the return spring 42 is connected to the electromagnet 44, and the circumferential distance between the electromagnet position limiting sleeve 43 and the electromagnet 44 is 5 mm.

[0067] In this way, the deck cleaning robot can resume operation when inclement weather or when it is stopped for charging. A return spring position limiting sleeve 41 limits the spatial position of a return spring 42. When not in operation, the return spring 42 controls the electromagnet 44 to remain within the electromagnet position limiting sleeve 41. When powered on, the electromagnet 44 adheres to the deck, securing the deck cleaning robot on the deck and ensuring its spatial stability. When powered off, the electromagnet 44 is held in place by the tension of the return spring 42 and the restraint of the electromagnet position limiting sleeve 43, preventing the deck cleaning robot from shaking during operation.

[0068] The control device includes a central controller S01, a high-pressure water level detector S02, a detergent water level detector S03, a first laser radar detector S04, a first vehicle-mounted camera S05, a second vehicle-mounted camera S10, a battery pack management module S06, a second laser radar detector S07, a third laser radar detector S08, and a fourth laser radar detector S09. The high-pressure water level detector S02 and the detergent water level detector S03 are installed inside the detergent storage tank 2201 and the high-pressure water storage tank 2202. The first laser radar detector S04, the first vehicle-mounted camera S05, the second vehicle-mounted camera S10, the second laser radar detector S07, the third laser radar detector S08, and the fourth laser radar detector S09 are installed outside the vehicle. The central controller S01 and the battery pack management module S06 are installed on the upper surface of the base plate 321.

[0069] The control device operates as follows: a high-pressure water level detector S01 and a detergent level detector S02 monitor the liquid levels in the high-pressure water storage tank 2201 and the detergent storage tank 2202, respectively, and transmit this data to a central controller S01. The central controller S01 makes decisions regarding the high-pressure water and detergent levels. If these levels are insufficient to complete the cleaning operation, the central controller S01 instructs the vehicle to return and refill. The second, third, and fourth laser radar sensors S07, S08, and S09 surrounding the vehicle collect real-time position information around the vehicle. The central controller processes this information through an algorithm and displays the vehicle's real-time position on the control terminal. Simultaneously, based on data from the encoder S01 and the second, third, and fourth laser radar sensors S07, S08, and S09, the central controller displays the vehicle's trajectory on the control terminal. The central controller also uses an algorithm to plan the robot's cleaning path, ensuring precise cleaning operations and a safe position on the deck. Simultaneously, the central controller S01 processes data from the second, third, and fourth LiDAR sensors S07, S08, and S09 to determine whether the bulkhead ahead requires cleaning and activates the forward cleaning mechanism. The first and second onboard cameras S05 and S10 scan the deck in real time, transmitting the images to the central controller S01. Using an algorithm, the central controller S01 determines whether obstacles need to be overcome and simultaneously controls the synchronous control motor to raise the lower cleaning mechanism to prevent collisions between the cleaning mechanism and the deck. The central controller S01 analyzes the images input from the first and second onboard cameras S05 and S10, marking rusted areas on the deck on the control terminal so that workers can efficiently and promptly initiate repainting. The battery pack management module S06 monitors the battery pack's status in real time, outputting battery charge levels and alarm information to the control terminal.

[0070] The advantages of the wind-solar-wave combined power generation intelligent deck cleaning robot in this application can be summarized as follows:

[0071] i) It is equipped with a real-time motion control device that can identify stains on the deck, calculate the driving route, and control the cleaning device to achieve automatic cleaning, thereby improving cleaning efficiency;

[0072] ii) A wind-solar-wave hybrid power generation device is used to power the deck cleaning robot. While the robot consumes energy during cleaning, it can also replenish its power, ensuring long-term stable operation. Furthermore, the robot uses clean energy and is pollution-free during use.

[0073] iii) The steering gear drive system enables the entire vehicle to rotate in a circular motion, improving flexibility and enabling free movement in confined areas. The control device can control the height of the cleaning device below from the ground, enabling collision avoidance when crossing obstacles.

[0074] iiii) Detect paint-shedding areas on the deck and mark them on a mobile device, reminding relevant staff to repaint promptly;

[0075] v) It is provided with a fixing device, in which a return spring is connected to an electromagnet. When the electromagnet is energized, it is adsorbed onto the deck to fix the deck cleaning robot and ensure the stability of the spatial position of the deck cleaning robot.

[0076] The above is only a preferred specific implementation method of the present application, but the scope of protection of the present application is not limited thereto. Any changes or replacements that can be easily thought of by any technician familiar with this technical field within the technical scope disclosed in this application should be covered by the scope of protection of the present application.

Claims

1. A wind-solar-wave combined power generation intelligent deck cleaning robot, characterized in that: The device comprises a cleaning device for performing deck cleaning and a wind-solar-wave complementary power generation device for powering the cleaning device. The wind-solar-wave complementary power generation device comprises a photovoltaic power generation component, a wind power generation component, a wave power generation component, a rectifier, a controller, and a battery. The wind power generation component and the wave power generation component are connected to the controller in parallel with the photovoltaic power generation component via the rectifier. The controller is connected to the battery to control the storage and release of electricity. The wave energy power generation assembly comprises a float (131), a water wheel (132), a limiting plate (133), a housing (134), a clutch (135), a gear box (136), a wave energy generator (137) and a connecting pipe (138); the output shaft of the clutch (135) is connected in parallel to the gear box (136); the output shaft of the gear box (136) is mounted with the wave energy generator (137); the limiting plate (133) fixes the axial position of the water wheel (132); the housing (134) supports the water wheel (132); and the housing (134) and the connecting pipe (138) contain methyl silicone oil medium; The cleaning device comprises a front cleaning mechanism, a detergent spraying mechanism and a lower cleaning mechanism.

2. The wind-solar-wave combined power generation intelligent deck cleaning robot according to claim 1 is characterized in that: The photovoltaic power generation group has solar panels (111), and the solar panels (111) are distributed in front of and above the entire vehicle shell and arranged in a matrix.

3. The wind-solar-wave combined power generation intelligent deck cleaning robot according to claim 1 is characterized in that: The wind power generation assembly (12) comprises a wind wheel blade (121), a guide plate (122), a connecting shaft (123), a support rod (124), and a wind generator (125); the guide plate (122) is wrapped around the connecting shaft (123) and forms an opening angle of 59.5°.

4. The wind-solar-wave combined power generation intelligent deck cleaning robot according to claim 1 is characterized in that: The front cleaning mechanism comprises a travel control gear (211), a travel control gear supporting rod (212), an elastic connecting rod (213), cleaning mechanism bristles (214), a micro-rotating motor (215), a rotatable long shaft (216) and a control motor (217); the travel control gear (211) is meshed with an output gear of the control motor (217) and is fixed to the travel control gear supporting rod (212); the elastic connecting rod (213) is elastic and can be freely extended and retracted; the cleaning mechanism bristles (214) are installed on the outside of the rotatable long shaft (216), and the micro-rotating motor (215) is installed on the inside.

5. The wind-solar-wave combined power generation intelligent deck cleaning robot according to claim 4 is characterized in that: The detergent spraying mechanism (22) comprises a detergent storage tank (2201), a high-pressure water storage tank (2202), a mechanism fixing bolt hole (2203), a metering pump (2204), a high-pressure connecting tube (2205), a foaming machine (2206), a pre-launching chamber (2207), a high-pressure pump (2208), a liquid separation tee (2209), a detergent delivery pipeline (2210) and a rotatable spray head (2211). The detergent storage tank (2201) and the high-pressure water storage tank (2202) are fixed via the mechanism fixing bolt hole (2203). On the bottom plate (321), and connected to the metering pump (2204), the metering pump (2204) controls the ratio of the detergent to the high-pressure water, the high-pressure connecting tube (2205) connects the metering pump (2204) and the foaming machine (2206), the foaming machine (2206) controls the foaming of the detergent in the pre-launching chamber (2207), the high-pressure pump (2208) connects the pre-launching chamber (2207) and the liquid separation tee (2209), and the liquid separation tee (2209) connects the detergent delivery pipeline (2210) and the rotatable spray head (2211).

6. The wind-solar-wave combined power generation intelligent deck cleaning robot according to claim 4 is characterized in that: The lower cleaning mechanism (23) comprises a slide control rack (231), cleaning mechanism bristles (232), a rotatable long shaft (233), a micro rotary motor (234), a slide control rack connecting rod (235), and a synchronous control motor (236); the slide control rack (231) is fixed to the slide control rack connecting rod (235) and meshes with an output gear of the synchronous control motor (236); the cleaning mechanism bristles (232) are fixed to the outside of the rotatable long shaft (233); and the micro rotary motor (234) is installed inside the rotatable long shaft (233).

7. The wind-solar-wave combined power generation intelligent deck cleaning robot according to claim 1 is characterized in that: The cleaning device also includes a driving device for providing power to the cleaning device, wherein the driving device includes an upper support plate (3101), a shock absorbing spring (3102), a lower support plate (3103), an encoder (3104), an encoder gear (3105), a fastening bolt (3106), a differential (3107), a steering motor (3108), a steering motor gear (3109), a steering gear (3110), a pressure plate (3111), a pressure plate bolt (3112), a steering gear washer (3113), a DC speed regulator (3114), a driving pulley (311 5), drive motor (3116), upper support plate limiting sleeve (3117), fixed flange hole (3118), drive motor fixing plate (3119), wheel (3120), wheel hub bearing (3121), drive shaft (3122), the upper support plate (3101) is punched with a fixed flange hole (3118) and is bolted to the bottom plate (321), fastening bolts (3106) and shock-absorbing springs (3102) are installed between the upper support plate (3101) and the lower support plate (3103), the upper support plate limiting sleeve (3117) is embedded in the upper support plate (310 1) Inside, the drive motor (3116) is vertically fixed on the drive motor fixing plate (3119) and connected to the drive pulley (3115) via a belt. The DC speed regulator (3114) is installed on a plane connected to the drive motor fixing plate (3119). The drive pulley (3115) is connected to the differential (3107) via a shaft. The differential (3107) drives the drive shaft (3122) via gears. The drive shaft (3122) drives the wheel (3120) to rotate via the hub bearing (3121). The pressure plate (3111) It is fixed to the lower support plate (3103) via a clamping plate bolt (3112) and connected to the steering gear (3110). The steering gear washer (3113) is installed between the steering gear (3110) and the lower support plate (3103). The steering motor (3108) is fixed to the lower surface of the lower support plate (3103) and meshes with the steering gear (3110) via the steering motor gear (3109). The encoder (3104) is fixed to the lower surface of the lower support plate (3103) and meshes with the steering gear (3110) via the encoder gear (3105).

8. The wind-solar-wave combined power generation intelligent deck cleaning robot according to claim 1 is characterized in that: Also included is a chassis device for installing the cleaning device, the chassis device comprising a bottom plate (321), a battery pack (322), and a connecting flange (323), the battery pack (322) being installed at the bottom of the bottom plate (321), and the connecting flange (323) being connected to the upper support plate (3101) via bolts; The fixing device comprises a return spring position limiting sleeve (41), a return spring (42), an electromagnet position limiting sleeve (43), and an electromagnet (44). The return spring position limiting sleeve (41) is welded to the lower surface of the base plate (321). The return spring (42) is connected to the electromagnet (44). The circumferential distance between the electromagnet position limiting sleeve (43) and the electromagnet (44) is 5 mm.

9. The wind-solar-wave combined power generation intelligent deck cleaning robot according to claim 1, characterized in that: The vehicle further comprises a control device, which comprises a central controller (S01), a high-pressure water level detector (S02), a detergent water level detector (S03), a first laser radar detector (S04), a first vehicle-mounted camera (S05), a second vehicle-mounted camera (S10), a battery pack management module (S06), a second laser radar detector (S07), a third laser radar detector (S08), and a fourth laser radar detector (S09). The high-pressure water level detector (S02) and the detergent water level detector (S03) are installed inside the detergent storage tank (2201) and the high-pressure water storage tank (2202). The first laser radar detector (S04), the first vehicle-mounted camera (S05), the second vehicle-mounted camera (S10), the second laser radar detector (S07), the third laser radar detector (S08), and the fourth laser radar detector (S09) are installed outside the vehicle. The central controller (S01) and the battery pack management module (S06) are installed on the upper surface of the bottom plate (321).

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