Cleaning device, underwater robot and cleaning method

Abstract

The invention discloses a cleaning device, an underwater robot and a cleaning method.The cleaning device comprises a shell, and a mounting part is arranged on the shell; the cleaning assembly is mounted on the top surface of the shell; the sewage discharging channel is formed in the shell, and the top end of the sewage discharging channel is formed in the top surface of the shell; the sewage discharging mechanism is installed on the shell, the sewage discharging mechanism comprises an inlet and an outlet, the inlet is communicated with the sewage discharging channel, the cleaning device can remove dirt on the surface of an underwater structure and discharge the dirt, the dirt is attached to the surface of a to-be-cleaned structure, and the cleaning effect is improved; images shot by the underwater robot using the cleaning device are clearer, the obtained result is more accurate, and the cleaning method using the underwater robot is convenient to operate and high in efficiency.

Description

Technical Field

[0001] The present application is used in the field of underwater cleaning technology, and in particular relates to a cleaning device, an underwater robot and a cleaning method. Background Art

[0002] At present, underwater robots are being used more and more widely in the fields of underwater structure surface condition monitoring and inspection. Underwater robots collect underwater structure surface disease images, analyze the structural health status and formulate corresponding protection and repair measures through underwater machine photography. Traditional underwater structure inspection robots collect images by directly photographing bridge piers. The dirt, moss and attachments on the surface of underwater structures affect the underwater imaging analysis, resulting in blurred and inaccurate imaging, which in turn causes inaccurate underwater structure assessment. Therefore, cleaning devices are needed to clean the surface of underwater structures.

[0003] However, general cleaning devices are mounted on underwater robots via robotic arms, and the cleaning process requires the underwater robot to provide power to maintain and balance the reaction force of the robotic arm during cleaning contact. At the same time, traditional underwater cleaning devices are unable to handle detached dirt, causing the detached dirt to float between the underwater structure and the imaging device, which will affect the image of the underwater robot. Summary of the invention

[0004] The purpose of the present application is to solve at least one of the technical problems existing in the prior art, and to provide a cleaning device, an underwater robot and a cleaning method, wherein the cleaning device can remove and discharge dirt from the surface of the underwater structure, the images taken by the underwater robot using the cleaning device are clearer, and the results obtained are more accurate, and the cleaning method using the underwater robot is easy to operate and efficient.

[0005] The technical solution adopted by this application to solve its technical problem is:

[0006] A cleaning device comprising

[0007] A housing, wherein a mounting portion is provided on the housing;

[0008] A cleaning assembly, the cleaning assembly being mounted on the top surface of the housing;

[0009] A sewage discharge channel, wherein the sewage discharge channel is opened on the shell, and the top end of the sewage discharge channel is opened on the top surface of the shell;

[0010] A sewage discharge mechanism is installed on the shell, and the sewage discharge mechanism includes an inlet and an outlet, and the inlet is connected to the sewage discharge channel.

[0011] In certain embodiments of the present application, the sewage discharge mechanism includes a sewage discharge fan and an electromagnetic driver, the sewage discharge fan is installed on the inner periphery of the electromagnetic driver, and the electromagnetic driver is installed on the housing and located in the sewage discharge channel.

[0012] In certain embodiments of the present application, the sewage discharge mechanism includes a water inlet kit arranged at the top of the sewage discharge fan and a water outlet kit arranged at the bottom of the sewage discharge fan, the inlet is opened on the water inlet kit, and the outlet is opened on the water outlet kit.

[0013] In certain embodiments of the present application, the sewage fan includes a plurality of shaftless fan blades, the water inlet kit includes an inlet pipe, the water outlet kit includes an outlet pipe cooperating with the inlet pipe, and the inlet pipe passes through the sewage fan axially and is connected to the outlet pipe.

[0014] In certain embodiments of the present application, the cleaning assembly includes a first roller brush and a second roller brush, wherein the first roller brush and the second roller brush are both rotatably connected to the top surface of the shell, the first roller brush and the second roller brush are relatively parallelly arranged and respectively located on both sides of the shell, and the sewage discharge channel is located between the first roller brush and the second roller brush.

[0015] In certain embodiments of the present application, a wire installation space is provided in the shell, the wire installation space is located at the periphery of the sewage discharge channel, and the wire installation space is located at the bottom of the first roller brush and the second roller brush.

[0016] In certain embodiments of the present application, the mounting portion includes two mounting holes provided on the shell, and the mounting holes are provided on the outer circumferential surface of the shell.

[0017] In certain embodiments of the present application, a power connection contact is provided on the side of the shell, and the power connection contact is located between the two mounting holes. A wire is provided in the shell, and the wire is located in the wire mounting space. One end of the wire is connected to the power connection contact, and the other end is connected to the electromagnetic driver.

[0018] The present application also provides an underwater robot, comprising a robot body and the cleaning device in the above embodiment, wherein the robot body and the cleaning device are detachably connected, and a connecting portion cooperating with the mounting portion is provided on the robot body.

[0019] The present application also provides a cleaning method using the underwater robot, the method comprising the following steps:

[0020] The cleaning device is mounted on the robot body, and the robot body is moved to a shooting position so that the cleaning component contacts the part to be cleaned;

[0021] Activating the sewage discharge mechanism;

[0022] The cleaning component is activated to remove dirt.

[0023] One of the above technical solutions has at least one of the following advantages or beneficial effects: the shell provided with the cleaning device can be connected to the underwater robot through the mounting part provided thereon, and the cleaning component can clean the dirt, moss, attachments, etc. on the surface of the object to be cleaned from the surface of the cleaning object, and then the sewage discharge mechanism can completely discharge these dirt, moss and attachments through the sewage discharge channel provided on the shell, and in the sewage discharge process, the sewage discharge channel discharges the dirt, moss, attachments, etc. on the surface of the cleaning object along with the water flow, at this time, a certain suction force will be formed between the cleaning device and the surface of the object to be cleaned, so that the cleaning device can better adhere to the surface of the structure to be cleaned, so that the cleaning effect is better, which is beneficial to the next shooting work of the underwater robot, and the images taken by the underwater robot using the cleaning device are clearer, and the results obtained are more accurate, and the cleaning method using the underwater robot is easy to operate and efficient.

[0024] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0026] Figure 1 is a cross-sectional view of an embodiment of the present application;

[0027] Figure 2 is a three-dimensional diagram of an embodiment of the present application;

[0028] Figure 3 One of the exploded views of a sewage discharge mechanism in one embodiment of the present application;

[0029] Figure 4 The second exploded view of the sewage discharge mechanism in one embodiment of the present application. DETAILED DESCRIPTION

[0030] This section will describe in detail the specific embodiments of the present application. The preferred embodiments of the present application are shown in the accompanying drawings. The purpose of the accompanying drawings is to supplement the description of the text part of the specification with graphics, so that people can intuitively and vividly understand each technical feature and the overall technical solution of the present application, but it cannot be understood as a limitation on the scope of protection of the present application.

[0031] In the present application, if there is a description of directions (up, down, left, right, front and back), it is only for the convenience of describing the technical solution of the present application, and does not indicate or imply that the technical features referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, it cannot be understood as a limitation on the present application.

[0032] In this application, "several" means one or more, "multiple" means more than two, "greater than", "less than", "exceed" and the like are understood to exclude the number itself; "above", "below", "within" and the like are understood to include the number itself. In the description of this application, if there is a description of "first" or "second", it is only used for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0033] In this application, unless otherwise clearly defined, the words "set", "install", "connect" and the like should be understood in a broad sense, for example, they can be directly connected or indirectly connected through an intermediate medium; they can be fixedly connected, detachably connected, or integrally formed; they can be mechanically connected, electrically connected, or able to communicate with each other; they can be the internal connection of two elements or the interaction relationship between two elements. Those skilled in the art can reasonably determine the specific meanings of the above words in this application in combination with the specific content of the technical solution.

[0034] in, Figure 1 The reference direction coordinate system of the embodiment of the present application is given. Figure 1 The embodiment of the present application is described with reference to the direction shown.

[0035] The embodiment of the present application provides a cleaning device, see Figures 1 to 4 , comprising a housing 100, on which a mounting portion 110 is provided;

[0036] A cleaning assembly 200, the cleaning assembly 200 is mounted on the top surface of the housing 100;

[0037] A drain channel 300 is provided on the housing 100, and a top end of the drain channel 300 is provided on a top surface of the housing 100;

[0038] The sewage discharge mechanism 400 is installed on the housing 100 . The sewage discharge mechanism 400 includes an inlet 450 and an outlet 460 . The inlet 450 is communicated with the sewage discharge channel 300 .

[0039] The shell 100 in which the cleaning device is arranged can be connected to the underwater robot through the mounting portion 110 arranged thereon, and the cleaning component 200 can clean the dirt, moss, attachments, etc. on the surface of the object to be cleaned from the surface of the cleaning object, and then the sewage discharge mechanism 400 can completely discharge these dirt, moss, attachments through the sewage discharge channel 300 arranged on the shell 100, and in the sewage discharge process, the sewage discharge channel 300 discharges the dirt, moss, attachments, etc. on the surface of the cleaning object along with the water flow, at this time, a certain suction force will be formed between the cleaning device and the surface of the object to be cleaned, so that the cleaning device can better adhere to the surface of the structure to be cleaned, so that the cleaning effect is better, and the cleaning device is conducive to the next step of shooting of the underwater robot, making the image clearer and the result more accurate.

[0040] In some embodiments, the sewage discharge mechanism 400 includes a sewage discharge fan 410 and an electromagnetic driver 420. The sewage discharge fan 410 is installed on the inner periphery of the electromagnetic driver 420. The electromagnetic driver 420 is installed on the housing 100 and is located in the sewage discharge channel 300. The electromagnetic driver 420 drives the sewage discharge fan 410 to rotate and provides suction. The direction of the suction is Figure 1 In the direction shown in the figure, the suction force required for stain cleaning is provided, while the adsorption force between the underwater robot and the surface of the object to be cleaned is provided.

[0041] In other embodiments, the sewage discharge mechanism 400 includes an outer sleeve, and the sewage discharge fan 410 and the electromagnetic driver 420 are installed in the inner groove of the outer sleeve. Specifically, the shell 100 is hollow and a large-diameter hole is provided in the middle part. The hole is a retention space for the sewage discharge mechanism 400. The sewage discharge fan 410 will generate suction during operation, so that the cleaning device can better adhere to the surface of the structure to be cleaned.

[0042] In some embodiments, the sewage discharge mechanism 400 includes a water inlet kit 430 disposed at the top of the sewage discharge fan 410 and a water outlet kit 440 disposed at the bottom of the sewage discharge fan 410, the inlet 450 is opened on the water inlet kit 430, and the outlet 460 is opened on the water outlet kit 440. Specifically, the suction direction is from the water inlet kit 430 to the water outlet kit 440, and the outer sides of the water inlet kit 430 and the water outlet kit 440 are tightly attached to the shell 100.

[0043] The outer edges of the water inlet kit 430 and the water outlet kit 440 are both provided with hooks, and the top and bottom of the outer sleeve are both provided with protruding parts. The hooks of the water inlet kit 430 and the hooks of the water outlet kit 440 can be respectively embedded in the protruding parts, so that the water inlet kit 430, the water outlet kit 440 and the outer sleeve form a whole.

[0044] In some embodiments, the sewage fan 410 includes a plurality of shaftless blades 411. The circumferential motion of the shaftless blades 411 generates a pressure difference. The shaftless blades 411 rotate, causing the water flow to generate a low-pressure area above the shaftless blades 411, and then push the water flow to the bottom of the shaftless blades 411 to generate a high-pressure area. The pressure difference and the driving effect of the water flow can achieve suction and stabilization effects. The sewage discharge mechanism 400 uses the fluid pressure brought by the shaftless blades 411 to discharge the dirt removed by the first roller brush 210 and the second roller brush 220 from the sewage channel 300. At the end of the sewage channel 300, the pressure difference and the driving effect of the water flow discharged from the water outlet kit 440 are used to completely discharge the dirt, which is beneficial to the next step of shooting of the underwater robot, making the image clearer and the result more accurate. That is, this suction can bring cleaning and stabilization effects. The water inlet kit 430 includes a water inlet pipe 431, and the water outlet kit 440 includes The water outlet pipe 441 cooperates with the water inlet pipe 431, and the water inlet pipe 431 passes through the sewage exhaust fan 410 in the axial direction and is connected to the water outlet pipe 441. In other words, the bottom of the water inlet kit 430 is set as a cylindrical part (water inlet pipe 431), and the top of the water outlet kit 440 is set as a cylindrical part (water outlet pipe 441), and a step structure is set on the cylindrical part (water outlet pipe 441), and the cylindrical part (water outlet pipe 441) of the water outlet kit 440 and the water outlet kit 4 The cylindrical parts of 40 (water outlet pipe 441) are interlocked, and the cylindrical parts of the water inlet kit 430 (water inlet pipe 431) and the cylindrical parts of the water outlet kit 440 (water outlet pipe 441) cooperate with each other, so that the water inlet kit 430 and the water outlet kit 440 form an inner sleeve. Specifically, the shaftless fan blade 411 is located between the water inlet kit 430 and the water outlet kit 440, and rotates around the two cylindrical parts (water outlet pipe 441 and water outlet pipe 441) as the axis.

[0045] When preparing to start the cleaning work, the electromagnetic driver 420 should be started first. Under the power of the electromagnetic driver 420, the shaftless fan blade 411 is prompted to rotate axially so that it starts to absorb water, and then the first roller brush 210 and the second roller brush 220 are started to clean the dirt. If the first roller brush 210 and the second roller brush 220 are started first, the dirt brushed off by the first roller brush 210 and the second roller brush 220 will be scattered in the water, and then the sewage discharge mechanism 400 will not be able to suck the dirt into the sewage discharge channel 300 in time.

[0046] Specifically, the top (umbrella) of the cylindrical part (water inlet pipe 431) of the water inlet kit 430 is provided with an angle-interrupted hollow structure, so that the water entering from the water inlet kit 430 is discharged from the hollow structure and collected at the bottom (tail) of the water outlet kit 440, forming a pressure difference, which causes the liquid to flow to the bottom of the shell 100 under the action of pressure. The hollow structure is a water inlet hole with small holes arranged on the water inlet pipe 431, which can allow water to pass through. The size of the hole is designed to be a size that dirt cannot pass through. A part of the water flows into the internal space of the sewage fan 410 through the water inlet hole of the water inlet kit 430, and then flows into the sewage fan 410. Driven by the shaftless fan blade 411, the water flow generates a low-pressure area on the upper part of the shaftless fan blade 411, and then pushes the water flow to the lower part of the shaftless fan blade 411 to generate a high-pressure area. The water flow is finally discharged from the hollow part of the umbrella part of the water outlet sleeve and gathered to form a pressure difference; under the action of the pressure difference, a part of the water flow passes through the central hole of the sewage discharge unit and converges with the previous part of the water flow. Due to the pressure difference, the underwater structure cleaning device can better adsorb on the surface of the structure to be cleaned, avoiding the problems of shaking, power loss and low efficiency of traditional underwater cleaning devices due to the need to maintain the necessary contact force during cleaning.

[0047] In some embodiments, the cleaning assembly 200 includes a first roller brush 210 and a second roller brush 220, the first roller brush 210 and the second roller brush 220 are both rotatably connected to the top surface of the shell 100, the first roller brush 210 and the second roller brush 220 are relatively parallel and respectively located on both sides of the shell 100, and the sewage discharge channel 300 is located between the first roller brush 210 and the second roller brush 220. Specifically, the first roller brush 210 and the second roller brush 220 are embedded in the shell 100, and the cleaning assembly 200 includes a roller, the first roller brush 210 and the second roller brush 220 are both fixed on the roller, and the roller rotates by electricity, and the rotation direction is from the outside to the inside, that is, toward The sewage discharge mechanism 400 rotates at the position where the first roller brush 210 and the second roller brush 220 are attached to the roller, and the roller drives the brush skin to rotate so that the removed dirt falls toward the sewage discharge mechanism 400 to achieve a cleaning effect. Specifically, a roller groove is provided on the shell 100, and the roller can rotate in a specified direction in the roller groove. The roller groove is located on both sides of the sewage discharge mechanism 400. The roller groove is a retention space for the first roller brush 210 and the second roller brush 220. Cylindrical holes are further left on both sides of the head and tail of the roller groove. The first roller brush 210 and the second roller brush 220 are embedded in the cylindrical holes provided on both sides of the shell 100, so that the roller can rotate.

[0048] In some embodiments, a wire installation space 120 is provided in the housing 100 , and the wire installation space 120 is located at the outer periphery of the sewage discharge channel 300 , and the wire installation space 120 is located at the bottom of the first roller brush 210 and the second roller brush 220 .

[0049] In some embodiments, the mounting portion 110 includes two mounting holes 111 provided on the shell 100. The mounting holes 111 are provided on the outer peripheral surface of the shell 100 to ensure that the cleaning device is securely connected to the robot body. The cleaning device can be embedded in a specific part of the underwater robot through the mounting portion 110 to ensure the reliability of the cleaning device.

[0050] In some embodiments, a power connection contact 130 is provided on the side of the shell 100, and the power connection contact 130 is located between the two mounting holes 111. A wire is provided in the shell 100, and the wire is located in the wire installation space 120. One end of the wire is connected to the power connection contact 130, and the other end is connected to the electromagnetic driver 420. The power connection contact 130 is used to connect to the underwater robot (robot body). The power connection contact 130 is connected to the power transmission part of the underwater robot to provide power for the cleaning component 200 and the sewage discharge mechanism 400 to ensure the stable operation of the cleaning component 200 and the sewage discharge mechanism 400, so that the cleaning device can receive electricity from the underwater robot to operate the underwater cleaning dirt cleaning device.

[0051] The shell 100 includes a detachably connected outer shell 140 and a base plate 150, which are assembled into a sealed space for arranging an electrical device for providing power to the cleaning component 200 and the sewage discharge mechanism 400. The sewage discharge channel 300 runs through the top and bottom surfaces of the shell 100, that is, the top end of the sewage discharge channel 300 is opened on the top surface of the shell 140, and the bottom end of the sewage discharge channel 300 is opened in the middle position of the floor 150. The edge of the sewage discharge mechanism 400 is connected to the inner wall of the outer shell 140 (i.e., the inner wall of the sewage discharge channel 300), and the outer periphery of the bottom plate 150 is arranged to be a step structure so that the outer periphery of the bottom plate 150 overlaps and seals with the outer shell 140; it can be understood that the shell 100 includes a cylindrical inner shell arranged in the outer shell 140, and the inner shell constitutes the installation and operation space required for the sewage discharge mechanism 400. A sewage discharge hole is left in the middle of the bottom plate 150, and the sewage discharge hole is arranged to be a step structure. The inner shell abuts against the step, and the inner shell separates the sewage discharge channel 300 and the wire installation space 120, that is, the water inlet kit 430, the water outlet kit 440 and the outer sleeve are tightly attached to the inner wall of the inner shell, that is, tightly attached to the inner wall of the sewage discharge channel 300.

[0052] The present application also provides an underwater robot, comprising a robot body and the cleaning device in the above-mentioned embodiment, the robot body and the cleaning device are detachably connected, and a connecting portion cooperating with the mounting portion 110 is provided on the robot body so that the cleaning device can be securely mounted on the underwater robot body.

[0053] The present application also provides a cleaning method using the underwater robot in the above embodiment, comprising the following steps:

[0054] In the preparation stage, the cleaning device is installed on the robot body, the robot body is moved to the shooting position (i.e., the robot body reaches the bridge pier position to be shot), and the cleaning component 200 is made to contact the part to be cleaned (i.e., the first roller brush 210 and the second roller brush 220 are made to contact the bridge pier position to be cleaned);

[0055] In the cleaning phase, the sewage discharge mechanism 400 is activated;

[0056] The cleaning assembly 200 is activated to remove dirt.

[0057] (First, the electromagnetic driver 420 drives the shaftless fan blade 411 to rotate, and when a pressure difference is generated and a water flow is formed, the power unit starts a roller brush 210 and a second roller brush 220 to clean the bridge pier, and the fallen dirt is discharged through the sewage discharge mechanism 400. At the same time, the pressure difference generated by the shaftless fan blade 411 can also provide adhesion for the robot body cleaning process, so that the underwater robot can better adhere to the surface of the structure to be cleaned, increase the friction between the cleaning brush and the surface of the structure, improve the cleaning effect, and at the same time increase the stability of the underwater robot during cleaning operation).

[0058] It is understandable that the sewage discharge mechanism 400 is started first, so that the pressure difference and water flow are generated first, and the dirt brushed off by the cleaning component 200 can be sucked into the sewage discharge mechanism 400 in time, minimizing the situation of dirt floating in the water, which is more beneficial to the shooting work of the underwater robot.

[0059] In the description of this specification, the description with reference to the terms "example", "embodiment" or "some embodiments" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0060] Of course, the invention is not limited to the above-mentioned embodiments, and those skilled in the art may make equivalent modifications or substitutions without violating the spirit of the present application, and these equivalent modifications or substitutions are all included in the scope defined by the claims of the present application.

Claims

1. A cleaning device, characterized in that: include A housing, wherein a mounting portion is provided on the housing; A cleaning assembly, the cleaning assembly being mounted on the top surface of the housing; A sewage discharge channel, wherein the sewage discharge channel is opened on the shell, and the top end of the sewage discharge channel is opened on the top surface of the shell; A sewage discharge mechanism is installed on the shell, and the sewage discharge mechanism includes an inlet and an outlet, and the inlet is connected to the sewage discharge channel.

2. The cleaning device according to claim 1, characterized in that The sewage discharge mechanism comprises a sewage discharge fan and an electromagnetic driver. The sewage discharge fan is installed on the inner periphery of the electromagnetic driver. The electromagnetic driver is installed on the housing and is located in the sewage discharge channel.

3. The cleaning device according to claim 2, characterized in that: The sewage discharge mechanism comprises a water inlet kit arranged at the top of the sewage discharge fan and a water outlet kit arranged at the bottom of the sewage discharge fan, the inlet is arranged on the water inlet kit, and the outlet is arranged on the water outlet kit.

4. The cleaning device according to claim 3, characterized in that: The sewage fan includes a plurality of shaftless blades, the water inlet kit includes a water inlet pipe, the water outlet kit includes a water outlet pipe matched with the water inlet pipe, and the water inlet pipe passes through the sewage fan along the axial direction and is connected to the water outlet pipe.

5. The cleaning device according to claim 2, characterized in that: The cleaning component includes a first roller brush and a second roller brush, the first roller brush and the second roller brush are both rotatably connected to the top surface of the shell, the first roller brush and the second roller brush are relatively parallel and respectively located on both sides of the shell, and the sewage discharge channel is located between the first roller brush and the second roller brush.

6. The cleaning device according to claim 5, characterized in that: A wire installation space is provided in the shell, and the wire installation space is located at the outer periphery of the sewage discharge channel, and the wire installation space is located at the bottom of the first roller brush and the second roller brush.

7. The cleaning device according to claim 6, characterized in that: The mounting portion includes two mounting holes provided on the housing, and the mounting holes are provided on the outer peripheral surface of the housing.

8. The cleaning device according to claim 7, characterized in that: A power connection contact is provided on the side of the shell, and the power connection contact is located between the two mounting holes. A wire is provided in the shell, and the wire is located in the wire mounting space. One end of the wire is connected to the power connection contact, and the other end is connected to the electromagnetic driver.

9. An underwater robot, characterized in that: The invention comprises a robot body and the cleaning device according to any one of claims 1 to 8, wherein the robot body is detachably connected to the cleaning device, and a connecting portion cooperating with the mounting portion is provided on the robot body.

10. A cleaning method using the underwater robot as claimed in claim 9, characterized in that The following steps are involved: The cleaning device is mounted on the robot body, and the robot body is moved to a shooting position so that the cleaning component contacts the part to be cleaned; Activating the sewage discharge mechanism; The cleaning component is activated to remove dirt.

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