Deformable automatic crawling ultrasonic cleaning robot for ship

Abstract

The invention provides a deformable ship autonomous crawling ultrasonic cleaning robot which comprises a cleaning robot body, the cleaning robot body is composed of five octagonal phased array ultrasonic devices and small phased array ultrasonic devices, the octagonal phased array ultrasonic devices are symmetrically installed, and the small phased array ultrasonic devices are symmetrically installed. The number of the small phased array ultrasonic devices is four, and the small phased array ultrasonic devices are located at the four corners of the cleaning robot body correspondingly. The cleaning robot body is further connected with four mechanical arms capable of climbing, the mechanical arms are three-axis joints, the three-axis joints are driven by an air cylinder to expand and stretch out and draw back, the air cylinder is provided with an electromagnetic valve, the tail end of each mechanical arm is provided with an independent control chip, and the control chips are installed on a circuit board and connected to a main control device on the back of the cleaning robot body through cables. A mechanical suction cup is arranged at the head end of the mechanical arm and connected through a waterproof air cylinder in the cleaning robot body.

Description

Technical Field

[0001] The invention relates to the field of ship cleaning, in particular to a deformable ship autonomous crawling ultrasonic cleaning robot. Background Art

[0002] Existing ship cleaning systems are all based on high-pressure cavitation technology, which uses the cavitation phenomenon generated by high-pressure water to remove stains on the bottom of the ship. The cleaning must be done when the ship is stopped, which wastes the efficiency of the ship. The energy consumption is high, the equipment cost is high, and a lot of manpower is required to complete a cleaning. Summary of the invention

[0003] In view of the problems existing in the prior art, the present invention provides a deformable ship autonomous crawling ultrasonic cleaning robot to solve at least one of the above-mentioned technical problems.

[0004] The technical solution of the present invention is: a deformable ship autonomous crawling ultrasonic cleaning robot, comprising a cleaning robot body, characterized in that the cleaning robot body is composed of an octagonal phased array ultrasonic device and a small phased array ultrasonic device, five octagonal phased array ultrasonic devices are provided, and the octagonal phased array ultrasonic devices are symmetrically installed, and four small phased array ultrasonic devices are provided, and the small phased array ultrasonic devices are respectively located at the four corners of the cleaning robot body;

[0005] The cleaning robot body is also connected to four climbable robotic arms, which are three-axis joints. The three-axis joints are driven to expand and retract by cylinders. The cylinders are provided with solenoid valves. An independent control chip is provided at the end of each robotic arm. The control chip is installed on a circuit board and connected to a main control device on the back of the cleaning robot body via cables. A mechanical suction cup is provided at the head end of the robotic arm, which is connected via a waterproof cylinder inside the cleaning robot body.

[0006] When working, the robot arm is attached to the bottom of the ship through the suction cup, and then the main control system starts to drive the phased array ultrasonic wave through the algorithm. The resonance and cavitation phenomenon generated by the ultrasonic wave act on the biological fouling on the bottom of the ship, shattering and falling off it. Different organisms have different frequencies to complete. After cleaning the covered area, the main control system controls the cylinder of the robot arm to open and close the suction cup, move to the next position, and start cleaning work. Repeatedly, the overall cleaning is completed. The suction cup is connected through the internal waterproof cylinder. When the cylinder and the control of some of the suction cups fail, there will be one with adsorption ability to ensure that the equipment does not fall off. After the suction cup adsorbs the bottom of the ship, the entire robot is pulled close to the 4cm position of the hull surface without damaging the hull and the ship's anti-corrosion paint, and the cleaning work begins. After 1-5 minutes of cleaning, the robot arm crawls to the next position for cleaning. No human intervention is required throughout the process, and the main control chip sets the autonomous working mode. Through unique algorithm control, the underlying logic is based on underwater vision slam modeling combined with Gazebosim simulation to perform preset scene positioning, combined with high-precision gyroscopes and ultrasonic visual imaging effects to achieve path planning and move along the path. The independently developed RTOS robot control system links each robotic arm through the Ethercat bus system, and transmits information to the data architecture system based on postgresql+babelfis in the server, and combines it with the management system based on odoo.

[0007] Further preferably, the bottom of the mechanical suction cup is provided with a plurality of rubber suction cups to increase the adsorption force and prevent the device from falling.

[0008] Further preferably, the mechanical chuck can be a permanent magnetic chuck, an electromagnetic chuck or a pneumatic chuck, which is applicable to different scenarios.

[0009] Further preferably, the cleaning robot body includes a frame, the octagonal phased array ultrasonic groups are welded on the frame, and each group of octagonal phased array ultrasonic groups is connected to the main control device via a cable.

[0010] Further preferably, the robotic arms are also mounted on the frame, and each robotic arm is connected to a solenoid valve group via an air pipe, and then connected to the main control device, and the main control device is connected to the hull via a cable.

[0011] Further preferably, the front ends of the two mechanical arms are pneumatically operated. As the front cleaning mechanical arms, large and stubborn stains are cut and removed, and then finely cleaned by the ultrasonic system.

[0012] Further preferably, the octagonal phased array ultrasonic device and the small phased array ultrasonic device are both multi-frequency ultrasonic devices, each independent ultrasonic wave of the multi-frequency ultrasonic device is composed of multiple frequencies such as 18khz, 20khz, 220khz and 500khz, each octagonal phased array ultrasonic device is composed of more than 100 dual-frequency ultrasonic groups, each group has 2 frequencies, and more than 100 ultrasonic waves can be composed of multiple frequencies.

[0013] The number can be increased or decreased according to the size of the ship. The frequency can be changed according to the needs of the work. When the ultrasonic waves work at the same time, the sound pressure, cavitation bubbles, resonance, and resonant frequency generated are superimposed and amplified, which can kill and remove biological stains such as barnacles in a short time.

[0014] Further preferably, the power of the multi-frequency ultrasonic device is 50W, and the multi-frequency ultrasonic device is powered by a 48V battery.

[0015] Further preferably, five defense ultrasonic transducers are provided on the top of the frame.

[0016] It can drive away barnacle larvae, algae spores and other organisms within 50cm of the water body in contact with the ship, forming a defensive position and extending the ship's cleaning time.

[0017] Further preferably, the abdomen of the cleaning robot body is provided with 4 ultrasonic imaging systems. The ultrasonic imaging system is a system based on the principle of ultrasonic sound wave reflection. Through the reflection of ultrasonic waves, the imaging is realized in the control system, and the digital data is converted into image data. During the cleaning process, the drawing can be automatically drawn, and the underwater conditions can automatically form a path planning, and the work is adaptive. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0019] Figure 2 It is a schematic diagram of the abdominal structure of the present invention;

[0020] Figure 3 It is a side view of the present invention.

[0021] In the figure: 1. Octagonal phased array ultrasonic device; 2. Small phased array ultrasonic device; 3. Frame; 4. Mechanical suction cup; 5. Rubber suction cup; 6. Robotic arm; 7. Control chip. DETAILED DESCRIPTION

[0022] The present invention will be further described below in conjunction with the accompanying drawings.

[0023] like Figure 1-Figure 3As shown, a deformable ship autonomous crawling ultrasonic cleaning robot comprises a cleaning robot body, which is composed of an octagonal phased array ultrasonic device 1 and a small phased array ultrasonic device 2. Five octagonal phased array ultrasonic devices are provided, and the octagonal phased array ultrasonic devices are symmetrically installed. Four small phased array ultrasonic devices are provided, and the small phased array ultrasonic devices are respectively located at the four corners of the cleaning robot body; the cleaning robot body is also connected to four climbable mechanical arms 6, which are three-axis joints. The three-axis joints are driven to expand and retract by cylinders. The cylinders are provided with solenoid valves. An independent control chip 7 is provided at the end of each mechanical arm. The control chip is installed on a circuit board and is connected to a main control device on the back of the cleaning robot body through a cable. A mechanical suction cup 4 is provided at the head end of the mechanical arm, and the mechanical suction cup is connected through a waterproof cylinder inside the cleaning robot body.

[0024] When working, the robot arm is attached to the bottom of the ship through the suction cup, and then the main control system starts to drive the phased array ultrasonic wave through the algorithm. The resonance and cavitation phenomenon generated by the ultrasonic wave act on the biological fouling on the bottom of the ship, shattering and falling off it. Different organisms have different frequencies to complete. After cleaning the covered area, the main control system controls the cylinder of the robot arm to open and close the suction cup, move to the next position, and start cleaning work. Repeatedly, the overall cleaning is completed. The suction cup is connected through the internal waterproof cylinder. When the cylinder and the control of some of the suction cups fail, there will be one with adsorption ability to ensure that the equipment does not fall off. After the suction cup adsorbs the bottom of the ship, the entire robot is pulled close to the 4cm position of the hull surface without damaging the hull and the ship's anti-corrosion paint, and the cleaning work begins. After 1-5 minutes of cleaning, the robot arm crawls to the next position for cleaning. No human intervention is required throughout the process, and the main control chip sets the autonomous working mode. Through unique algorithm control, the underlying logic is based on underwater vision slam modeling combined with Gazebosim simulation to perform preset scene positioning, combined with high-precision gyroscopes and ultrasonic visual imaging effects to achieve path planning and move along the path. The independently developed RTOS robot control system links each robotic arm through the Ethercat bus system, and transmits information to the data architecture system based on postgresql+babelfis in the server, and combines it with the management system based on odoo.

[0025] Further preferably, a plurality of rubber suction cups 5 are provided at the bottom of the mechanical suction cup to increase the adsorption force and prevent the device from falling.

[0026] Further preferably, the cleaning robot body includes a frame 3, the octagonal phased array ultrasonic group is welded on the frame, and each group of octagonal phased array ultrasonic groups is connected to the main control device via a cable.

[0027] Further preferably, the mechanical chuck can be a permanent magnetic chuck, an electromagnetic chuck or a pneumatic chuck, which is applicable to different scenarios.

[0028] Further preferably, the robotic arms are also mounted on the frame, and each robotic arm is connected to the solenoid valve group through an air pipe, and then connected to the main control device, and the main control device is connected to the hull through a cable.

[0029] Further preferably, the front ends of the two mechanical arms are pneumatically operated. As the front cleaning mechanical arms, large and stubborn stains are cut and removed, and then finely cleaned by the ultrasonic system.

[0030] It is further preferred that both the octagonal phased array ultrasonic device and the small phased array ultrasonic device are multi-frequency ultrasonic devices. Each independent ultrasonic wave of the multi-frequency ultrasonic device is composed of multiple frequencies of 18khz, 20khz, 220khz and 500khz. Each octagonal phased array ultrasonic device is composed of more than 100 dual-frequency ultrasonic groups, each group has 2 frequencies, and more than 100 ultrasonic waves can be composed of multiple frequencies. The number can be increased and decreased according to the size of the ship. And the frequency can be changed according to the needs of the matter. When the ultrasonic waves work at the same time, the sound pressure, cavitation bubbles, resonance, and resonant frequency generated are superimposed and amplified, which can kill and clear biological stains such as barnacles in a short time.

[0031] Further preferably, the power of the multi-frequency ultrasonic device is 50W, and the multi-frequency ultrasonic device is powered by a 48V battery.

[0032] Further preferably, five defensive ultrasonic transducers are provided on the top of the frame, which can drive away barnacle larvae, algae spores and other organisms within 50 cm of the water body in contact with the ship, forming a defensive position, and extending the cleaning time of the ship.

[0033] It is further preferred that the abdomen of the cleaning robot body is provided with 4 ultrasonic imaging systems. The ultrasonic imaging system is a system based on the principle of ultrasonic sound wave reflection. Through the reflection of ultrasonic waves, the imaging is realized in the control system, and the digital data is converted into image data. During the cleaning process, the drawing can be automatically drawn, and the underwater conditions can automatically form a path planning, and work adaptively.

[0034] The above are only preferred embodiments of the present invention. It should be pointed out that, for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A deformable ship autonomous crawling ultrasonic cleaning robot, comprising a cleaning robot body, characterized in that: The cleaning robot body is composed of an octagonal phased array ultrasonic device and a small phased array ultrasonic device. There are five octagonal phased array ultrasonic devices, and the octagonal phased array ultrasonic devices are symmetrically installed. There are four small phased array ultrasonic devices, and the small phased array ultrasonic devices are respectively located at the four corners of the cleaning robot body. The cleaning robot body is also connected to four climbable robotic arms, which are three-axis joints. The three-axis joints are driven to expand and retract by cylinders. The cylinders are provided with solenoid valves. An independent control chip is provided at the end of each robotic arm. The control chip is installed on a circuit board and connected to a main control device on the back of the cleaning robot body via cables. A mechanical suction cup is provided at the head end of the robotic arm, which is connected via a waterproof cylinder inside the cleaning robot body.

2. The deformable ship autonomous crawling ultrasonic cleaning robot according to claim 1 is characterized in that: A plurality of rubber suction cups are also arranged at the bottom of the mechanical suction cup.

3. The deformable ship autonomous crawling ultrasonic cleaning robot according to claim 1 is characterized in that: The cleaning robot body comprises a frame, the octagonal phased array ultrasonic groups are welded on the frame, and each group of octagonal phased array ultrasonic groups is connected to the main control device via a cable.

4. The deformable ship autonomous crawling ultrasonic cleaning robot according to claim 3 is characterized by: The mechanical arms are also mounted on the frame, and each mechanical arm is connected to a solenoid valve group through an air pipe, and then connected to the main control device, and the main control device is connected to the hull through a cable.

5. The deformable ship autonomous crawling ultrasonic cleaning robot according to claim 1 is characterized in that: The octagonal phased array ultrasonic device and the small phased array ultrasonic device are both multi-frequency ultrasonic devices. Each independent ultrasonic wave of the multi-frequency ultrasonic device is composed of multiple frequencies such as 18khz, 20khz, 220khz and 500khz. Each octagonal phased array ultrasonic device is composed of more than 100 dual-frequency ultrasonic groups, each group has 2 frequencies, and more than 100 ultrasonic waves can be composed of multiple frequencies.

6. The deformable ship autonomous crawling ultrasonic cleaning robot according to claim 5 is characterized in that: The power of the multi-frequency ultrasonic device is 50w, and the multi-frequency ultrasonic device is powered by a 48v battery.

7. The deformable ship autonomous crawling ultrasonic cleaning robot according to claim 3 is characterized by: Five defensive ultrasonic transducers are located on the top of the frame.

8. The deformable ship autonomous crawling ultrasonic cleaning robot according to claim 1 is characterized in that: The abdomen of the cleaning robot body is provided with four ultrasonic imaging systems.

9. The deformable ship autonomous crawling ultrasonic cleaning robot according to claim 2, characterized in that: The mechanical chuck is a permanent magnetic chuck, an electromagnetic chuck or a pneumatic chuck.

10. The deformable ship autonomous crawling ultrasonic cleaning robot according to claim 4, characterized in that: The front ends of two of the robotic arms are pneumatically operated.

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