Surface attachment cleaning device for ship maintenance

Abstract

The invention relates to the field of ship maintenance, in particular to a surface attachment cleaning device for ship maintenance, which comprises a scanning mechanism, an impact part, a processing module, a detection part and an adjusting module. The to-be-cleaned image is formed through the scanning mechanism, the processing module can automatically adjust the advancing path of the impact part according to the distribution state of the to-be-cleaned target, intelligence and precision of the cleaning process are achieved, the impact pressure and frequency of the impact part are dynamically adjusted according to the adhesion strength and the adhesion standard strength of the to-be-cleaned target, and the cleaning efficiency is improved. According to the device, attachments with different strengths can be efficiently removed, the cleaning efficiency is improved, the service life of a ship is prolonged, the detection part can monitor the initial quantity and residual quantity of the attachments in a to-be-cleaned area, direct feedback is provided for the cleaning effect, and the adjusting module adjusts the attachment standard strength according to the residual quantity of the attachments. The cleaning parameters of the device can be continuously optimized in the subsequent cleaning period, and the cleaning effect is improved.

Description

Technical Field

[0001] The invention relates to the field of ship maintenance, and in particular to a surface attachment cleaning device for ship maintenance. Background Art

[0002] Ship maintenance is an important part of ensuring the safe operation of ships, among which the cleaning of attachments on the hull surface is a key task. The hull surface is immersed in water for a long time, and it is easy for various marine organisms and dirt to attach, such as barnacles, shellfish, seaweed, etc. These attachments not only affect the appearance of the ship, but also increase the hull resistance, resulting in increased fuel consumption and reduced speed, which seriously affects the economy and safety of the ship. Therefore, regular cleaning of attachments on the hull surface is an important part of ship maintenance.

[0003] Traditional methods for cleaning hull attachments mainly include manual scrubbing, high-pressure water gun flushing, etc. Although manual scrubbing can effectively remove attachments, it is inefficient, labor-intensive, and has safety hazards. Although high-pressure water gun flushing is more efficient, it is difficult to accurately control the flushing intensity and can easily cause damage to the hull coating. In addition, these traditional methods are difficult to carry out targeted cleaning of attachments of different types and degrees of attachment, and often use unified cleaning parameters, and the cleaning effect is not ideal.

[0004] With the development of automation technology, some automated hull cleaning devices have been developed. These devices usually include a cleaning mechanism and a walking mechanism, which can automatically move on the hull surface and perform cleaning operations. However, the existing automatic cleaning devices still have some shortcomings, such as the lack of accurate recognition of the distribution of attachments on the hull surface, difficulty in achieving precise positioning and cleaning targeting, and difficulty in adjusting the cleaning strategy according to the cleaning effect.

[0005] The patent document with publication number CN118144949A discloses a surface attachment cleaning device for ship maintenance, comprising a movable base, a cleaner is movably installed at the front end of the movable base, the movable base and the cleaner are movably connected by a sliding card seat, a plurality of groups of roller brush discs are movably installed on the inner side of the cleaner, and a lifting scraper strip is movably installed at the rear end of the movable base; a fixed top cover is fixedly installed on the outer surface of the upper end of the movable base, and a splicing card seat is spliced ​​and installed at the middle position of the front end of the fixed top cover, a flushing pipe is movably installed on the upper end of the splicing card seat, and a booster nozzle is fixedly installed on the water outlet end of the flushing pipe; two groups of magnetic wheels are provided on both sides of the movable base.

[0006] This shows the following problem: the prior art cannot accurately locate and clean the attachments, and cannot adjust the cleaning strategy for different attachments, resulting in low cleaning efficiency. Summary of the invention

[0007] To this end, the present invention provides a surface attachment cleaning device for ship maintenance, which can determine the cleaning path and adjust the cleaning strategy according to the state of the attachment, so as to solve the problem in the prior art that the attachment cannot be accurately located and cleaned, and the cleaning strategy cannot be adjusted for different attachments, resulting in low cleaning efficiency.

[0008] To achieve the above-mentioned purpose, the present invention provides a surface attachment cleaning device for ship maintenance, comprising:

[0009] A scanning mechanism, used for scanning the area to be cleaned on the surface of the ship to form an image to be cleaned;

[0010] The impact part is used to remove the target to be cleaned in the area to be cleaned;

[0011] a processing module, connected to the scanning mechanism and the impact part, respectively, for adjusting the travel path of the impact part on the surface of the ship according to the distribution state of the target to be cleaned in the image to be cleaned, and for adjusting the impact pressure and impact frequency of the impact part according to the attachment strength and the attachment standard strength of the target to be cleaned, thereby forming a target impact pressure and a target impact frequency, so that the impact part cleans the area to be cleaned according to the travel path, and when cleaning any target to be cleaned, the target to be cleaned is cleaned according to the target impact pressure and the target impact frequency;

[0012] A detection unit connected to the processing module, used to obtain an initial amount of attachments in the area to be cleaned, and to detect a residual amount of attachments;

[0013] The regulating module is connected to the processing module and the detecting unit respectively, and is used to adjust the standard adhesion strength according to the residual amount of the adhesion to obtain the target adhesion strength, so as to determine the adhesion strength of the target to be cleaned according to the target adhesion strength in the next cleaning cycle.

[0014] Furthermore, the processing module includes:

[0015] An image analysis unit, used for analyzing the to-be-cleaned image to obtain the distribution state of the to-be-cleaned objects, including a first spacing distance between the impact portion and the impact portion, and a second spacing distance between the to-be-cleaned objects;

[0016] a path planning unit connected to the image analysis unit and configured to plan a travel path of the impact portion according to the distribution state;

[0017] a strength determination unit connected to the path planning unit, for comparing the attachment strength with a preset attachment standard strength, and determining whether adjustment is required based on the comparison result;

[0018] A parameter setting unit is connected to the strength determination unit, and is used to adjust the impact pressure and the impact frequency when the determination result is necessary, and to set the target impact pressure and the target impact frequency and transmit them to the impact part.

[0019] Furthermore, the image analysis unit comprises:

[0020] A position determination subunit, used to determine the position of each of the to-be-cleaned objects relative to the impact portion;

[0021] A first distance acquisition subunit, which is connected to the position determination subunit and is used to acquire a first spacing distance between each to-be-cleaned object and the impact part according to the position of each to-be-cleaned object;

[0022] The second distance acquisition subunit is connected to the first distance acquisition subunit and is used to acquire the second interval distance according to the position of each of the objects to be cleaned.

[0023] Furthermore, the path planning unit includes:

[0024] a priority determination subunit, configured to determine the to-be-cleaned target to be cleaned as the first priority according to the first interval distance, and to determine the cleaning order of the remaining to-be-cleaned targets according to the second interval distance;

[0025] The path determination subunit is connected to the sequence determination subunit and is used to connect the adjacent objects to be cleaned into straight line segments according to the cleaning sequence to generate the travel path.

[0026] Furthermore, the strength determination unit includes:

[0027] A strength comparison subunit, used to compare the attachment strength with the attachment standard strength to obtain a comparison result;

[0028] The impact determination subunit is connected to the intensity comparison subunit and is used to determine whether the impact pressure and the impact frequency need to be adjusted according to the comparison result.

[0029] Furthermore, the parameter setting unit includes:

[0030] a calculation subunit, used for calculating an adjustment coefficient according to the adhesion strength and the standard adhesion strength;

[0031] The adjusting subunit is connected to the calculating subunit and is used to adjust the impact pressure and the impact frequency according to the adjusting coefficient to obtain the target impact pressure and the target impact frequency.

[0032] Furthermore, the adjustment module includes:

[0033] A deviation calculation unit, used for calculating the amount of attachment removal according to the amount of attachment residue and the initial amount of attachment;

[0034] The strength adjustment unit is connected to the deviation calculation unit and is used to adjust the adhesion standard strength according to the adhesion cleaning amount to obtain the adhesion target strength.

[0035] Furthermore, the intensity adjustment unit includes:

[0036] A cleaning rate calculation subunit, used to calculate the attachment cleaning rate according to the attachment cleaning amount and the attachment initial amount;

[0037] The strength adjustment subunit is connected to the cleaning rate calculation subunit and is used to calculate the adhesion target strength according to the adhesion cleaning rate and the adhesion standard strength.

[0038] Furthermore, the impact part includes a movable base, a water inlet pipe, a rotating ring, a flushing pipe and a nozzle.

[0039] The nozzle is fixedly installed at one end of the flushing pipe, and the other end of the flushing pipe is connected to the rotating ring, so as to rotate the flushing pipe and the nozzle through the rotating ring to clean the target to be cleaned. The water inlet pipe is arranged at the side end of the mobile base, and the mobile base is arranged below the rotating ring and is rotatably connected to the rotating ring.

[0040] Furthermore, the detection unit includes a detection strip and a connecting plate.

[0041] The connecting plate is arranged behind the mobile base, and the detection strip is fixedly connected to the connecting plate to obtain the initial amount of the attachments in the area to be cleaned and to detect the residual amount of the attachments after cleaning the target to be cleaned.

[0042] Compared with the prior art, the beneficial effects of the present invention lie in that, by forming an image to be cleaned through a scanning mechanism, the processing module can automatically adjust the travel path of the impact part according to the distribution state of the target to be cleaned, thereby realizing the intelligence and precision of the cleaning process, and dynamically adjusting the impact pressure and frequency of the impact part according to the attachment strength and the attachment standard strength of the target to be cleaned, thereby ensuring that attachments of different strengths can be efficiently removed, thereby improving the cleaning efficiency and extending the service life of the ship, the detection part can monitor the initial amount and residual amount of attachments in the area to be cleaned, and provide direct feedback for the cleaning effect, and the adjustment module adjusts the attachment standard strength according to the residual amount of attachments, so that the device can continuously optimize its cleaning parameters in subsequent cleaning cycles and improve the cleaning effect.

[0043] Furthermore, by analyzing the image to be cleaned, the first interval distance and the second interval distance of the target to be cleaned are accurately obtained, providing an accurate data basis for subsequent cleaning path planning. The path planning unit formulates the optimal travel path based on the distribution state data, which greatly improves the accuracy and energy utilization efficiency of the cleaning process. By comparing the adhesion strength with the preset standard, the impact pressure and frequency are adjusted in time according to the judgment result, ensuring that the cleaning intensity is maintained at an appropriate level and improving the cleaning effect.

[0044] Furthermore, by accurately calculating the distance and obtaining a reliable data basis, the movement and working parameters of the impact part can be optimized, energy waste can be reduced, and the overall cleaning efficiency can be improved.

[0045] Furthermore, by using the first spacing distance and the second spacing distance to determine the cleaning order of the target to be cleaned, the optimal cleaning path can be selected, the total moving distance can be minimized, the cleaning time can be saved, and the energy consumption can be reduced.

[0046] Furthermore, by comparing the adhesion strength with the standard adhesion strength, it is possible to accurately determine whether the cleaning parameters need to be adjusted, thereby avoiding unnecessary excessive cleaning and thus reducing energy waste and equipment operating costs. At the same time, it also avoids insufficient cleaning and ensures the best cleaning effect, thereby significantly improving the overall cleaning efficiency.

[0047] Furthermore, by calculating the adjustment coefficient, the adjustment coefficient is dynamically calculated according to the difference between the actual attachment strength and the standard strength, so that the cleaning parameters can adaptively match the characteristics of different attachments, thereby improving the adaptability and versatility of the device. By precisely adjusting the impact pressure and frequency, energy waste can be minimized while ensuring the cleaning effect, thereby improving the energy utilization efficiency of the device and improving the accuracy and controllability of the cleaning process.

[0048] Furthermore, by comparing the residual amount of attachments with the initial amount, the amount of attachments removed can be accurately calculated, providing a reliable data basis for subsequent adjustments. The intensity adjustment unit automatically adjusts the attachment standard intensity according to the removal amount, achieving real-time optimization of the cleaning process and ensuring continuous improvement in the cleaning effect. It can adaptively formulate the best cleaning strategy for different types and degrees of attachments, thereby enhancing the cleaning effect.

[0049] Furthermore, the cleaning rate calculation subunit accurately calculates the cleaning rate of the attachment, adjusts the current attachment standard strength, and calculates the new attachment target strength, ensuring that the cleaning process can be continuously optimized according to actual conditions and improving the cleaning efficiency.

[0050] Furthermore, by driving the flushing pipe and the nozzle to rotate through the rotating ring, all-round and efficient cleaning of the cleaning target is achieved. The rotating nozzle can cover a larger cleaning area, and combined with intelligent path planning, it can accurately locate the area to be cleaned, reduce cleaning dead corners, improve cleaning efficiency, and achieve precise cleaning.

[0051] Furthermore, the detection strip can detect the cleaning effect in real time during the cleaning process to avoid cleaning omissions. By accurately obtaining the initial amount of attachments in the area to be cleaned and detecting the residual amount after cleaning, accurate data is provided for cleaning effect evaluation, which is used to adjust cleaning parameters and improve cleaning effects. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 A schematic diagram of the structure of a surface attachment cleaning device for ship maintenance provided by an embodiment of the present invention;

[0053] Figure 2 It is a structural schematic diagram of a processing module according to an embodiment of the present invention;

[0054] Figure 3 This is a schematic diagram of the structure of a path planning unit according to an embodiment of the present invention;

[0055] Figure 4 It is a structural schematic diagram of an adjustment module according to an embodiment of the present invention. DETAILED DESCRIPTION

[0056] In order to make the purpose and advantages of the present invention more clearly understood, the present invention is further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0057] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the protection scope of the present invention.

[0058] It should be noted that, in the description of the present invention, terms such as "up", "down", "left", "right", "inside" and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings. This is merely for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention.

[0059] In addition, it should be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0060] See also Figure 1 ,like Figure 1 As shown, it is a schematic diagram of the structure of a surface attachment cleaning device for ship maintenance provided by an embodiment of the present invention;

[0061] The components include a scanning camera 1, a rotating table 2, a rotating ring 3, a flushing pipe 4, a nozzle 5, a water inlet pipe 6, a mobile base 7, a driving wheel 8, a connecting plate 9, and a detection strip 10;

[0062] Specifically, the surface attachment cleaning device for ship maintenance provided by the embodiment of the present invention comprises:

[0063] A scanning mechanism, used for scanning the area to be cleaned on the surface of the ship to form an image to be cleaned;

[0064] The impact part is used to remove the target to be cleaned in the area to be cleaned;

[0065] a processing module, connected to the scanning mechanism and the impact part, respectively, for adjusting the travel path of the impact part on the surface of the ship according to the distribution state of the target to be cleaned in the image to be cleaned, and for adjusting the impact pressure and impact frequency of the impact part according to the attachment strength and the attachment standard strength of the target to be cleaned, thereby forming a target impact pressure and a target impact frequency, so that the impact part cleans the area to be cleaned according to the travel path, and when cleaning any target to be cleaned, the target to be cleaned is cleaned according to the target impact pressure and the target impact frequency;

[0066] A detection unit connected to the processing module, used to obtain an initial amount of attachments in the area to be cleaned, and to detect a residual amount of attachments;

[0067] The regulating module is connected to the processing module and the detecting unit respectively, and is used to adjust the standard adhesion strength according to the residual amount of the adhesion to obtain the target adhesion strength, so as to determine the adhesion strength of the target to be cleaned according to the target adhesion strength in the next cleaning cycle.

[0068] Specifically, the scanning mechanism includes a scanning camera 1 and a rotating table 2. The scanning camera 1 is fixedly arranged on the rotating table 2 to comprehensively scan the area to be cleaned when the rotating table 2 rotates to form an image to be cleaned, and identify the target to be cleaned in the image to be cleaned. It can be understood that the scanning camera 1 can be a traditional optical camera or a lidar camera, etc., which can obtain the image of the area to be cleaned and identify the target to be cleaned. Its specific structure is not limited here. A driving wheel 8 is arranged below the impact part. In the embodiment of the present invention, three driving wheels 8 are arranged. It can be understood that the driving wheel 8 can also be any other number that can smoothly drive the impact part. The processing module processes the image to be cleaned so that the impact part cleans the target to be cleaned according to the adjusted travel path under the action of the driving wheel 8 arranged thereunder.

[0069] Specifically, an image to be cleaned is formed through a scanning mechanism, and the processing module can automatically adjust the travel path of the impact part according to the distribution status of the target to be cleaned, thereby realizing the intelligence and precision of the cleaning process. According to the attachment strength and the attachment standard strength of the target to be cleaned, the impact pressure and frequency of the impact part are dynamically adjusted to ensure that attachments of different strengths can be efficiently removed, thereby improving the cleaning efficiency and extending the service life of the ship. The detection part can monitor the initial amount and residual amount of attachments in the area to be cleaned, and provide direct feedback on the cleaning effect. The adjustment module adjusts the attachment standard strength according to the residual amount of attachments, so that the device can continuously optimize its cleaning parameters in subsequent cleaning cycles to improve the cleaning effect.

[0070] See also Figure 2 ,like Figure 2 As shown, it is a schematic diagram of the structure of the processing module of an embodiment of the present invention;

[0071] Specifically, the processing module includes:

[0072] An image analysis unit, used for analyzing the to-be-cleaned image to obtain the distribution state of the to-be-cleaned objects, including a first spacing distance between the impact portion and the impact portion, and a second spacing distance between the to-be-cleaned objects;

[0073] a path planning unit connected to the image analysis unit and configured to plan a travel path of the impact portion according to the distribution state;

[0074] a strength determination unit connected to the path planning unit, for comparing the attachment strength with a preset attachment standard strength, and determining whether adjustment is required based on the comparison result;

[0075] A parameter setting unit is connected to the strength determination unit, and is used to adjust the impact pressure and the impact frequency when the determination result is necessary, and to set the target impact pressure and the target impact frequency and transmit them to the impact part.

[0076] Specifically, the image analysis unit obtains a first spacing distance between each target to be cleaned and the device, and obtains a straight-line distance between any two targets to be cleaned as a second spacing distance according to the positions of the targets to be cleaned. The path planning unit determines a travel path with the shortest driving distance required to clean all targets to be cleaned according to the first spacing distance and the second spacing distance, and adjusts the impact pressure and impact frequency of the impact part according to the adhesion strength of the targets to be cleaned.

[0077] Specifically, by analyzing the image to be cleaned, the first interval distance and the second interval distance of the target to be cleaned are accurately obtained, providing an accurate data basis for subsequent cleaning path planning. The path planning unit formulates the optimal travel path based on the distribution state data, which greatly improves the accuracy and energy utilization efficiency of the cleaning process. By comparing the adhesion strength with the preset standard, the impact pressure and frequency are adjusted in time according to the judgment results, ensuring that the cleaning intensity remains at an appropriate level and improving the cleaning effect.

[0078] Specifically, the image analysis unit includes:

[0079] A position determination subunit, used to determine the position of each of the to-be-cleaned objects relative to the impact portion;

[0080] A first distance acquisition subunit, which is connected to the position determination subunit and is used to acquire a first spacing distance between each to-be-cleaned object and the impact part according to the position of each to-be-cleaned object;

[0081] The second distance acquisition subunit is connected to the first distance acquisition subunit and is used to acquire the second interval distance according to the position of each of the objects to be cleaned.

[0082] Specifically, according to the position of each target to be cleaned, a first spacing distance between each target to be cleaned and the device and a second spacing distance between each target to be cleaned can be obtained.

[0083] Specifically, by accurately calculating the distance and obtaining a reliable data basis, the movement and working parameters of the impact part can be optimized, energy waste can be reduced, and the overall cleaning efficiency can be improved.

[0084] See also Figure 3 ,like Figure 3 As shown, it is a schematic diagram of the structure of a path planning unit according to an embodiment of the present invention;

[0085] Specifically, the path planning unit includes:

[0086] a priority determination subunit, configured to determine the to-be-cleaned target to be cleaned as the first priority according to the first interval distance, and to determine the cleaning order of the remaining to-be-cleaned targets according to the second interval distance;

[0087] The path determination subunit is connected to the sequence determination subunit and is used to connect the adjacent objects to be cleaned into straight line segments according to the cleaning sequence to generate the travel path.

[0088] Specifically, after determining that the target to be cleaned that is closest to the first-priority target to be cleaned is the second-priority target, determine that the target to be cleaned that is closest to the second-priority target to be cleaned template is the third-priority target, and thereby obtain the cleaning order of the remaining targets to be cleaned. In the specific implementation process, there are three targets to be cleaned A, B, and C in the area to be cleaned, and the image analysis unit obtains that the first interval distance between A and the device is 4 meters, the first interval distance between B and the device is 3 meters, and the first interval distance between C and the device is 5 meters. Then, determine that the target to be cleaned A with the smallest first interval distance is the first-priority target to be cleaned, the second interval distance between B and A is 5 meters, and the second interval distance between C and A is 8 meters, then determine that B is the second-priority target to be cleaned, and C is the third-priority target to be cleaned.

[0089] Specifically, by using the first spacing distance and the second spacing distance to determine the cleaning order of the target to be cleaned, the optimal cleaning path can be selected, the total moving distance can be minimized, the cleaning time can be saved, and the energy consumption can be reduced.

[0090] Specifically, the strength determination unit includes:

[0091] A strength comparison subunit, used to compare the attachment strength with the attachment standard strength to obtain a comparison result;

[0092] The impact determination subunit is connected to the intensity comparison subunit and is used to determine whether the impact pressure and the impact frequency need to be adjusted according to the comparison result.

[0093] Specifically, the attachment strength is determined by determining the type of attachment, and whether the impact pressure and the impact frequency need to be adjusted is determined based on the comparison result with the preset standard attachment strength. In the specific implementation, the preset standard attachment strength is 100KPa, and the target to be cleaned is determined to be barnacles. The barnacle attachment strength is 150kPa, which is greater than the standard attachment strength, then it is determined that the impact pressure and the impact frequency need to be adjusted.

[0094] Specifically, by comparing the adhesion strength with the standard adhesion strength, it is possible to accurately determine whether the cleaning parameters need to be adjusted, thereby avoiding unnecessary excessive cleaning and thus reducing energy waste and equipment operating costs. It also avoids insufficient cleaning and ensures the best cleaning effect, thereby significantly improving the overall cleaning efficiency.

[0095] Specifically, the parameter setting unit includes:

[0096] a calculation subunit, used for calculating an adjustment coefficient according to the adhesion strength and the standard adhesion strength;

[0097] The adjusting subunit is connected to the calculating subunit and is used to adjust the impact pressure and the impact frequency according to the adjusting coefficient to obtain the target impact pressure and the target impact frequency.

[0098] Specifically, the adjustment coefficient is obtained by dividing the adhesion strength by the standard adhesion strength, and the impact pressure and the impact frequency are multiplied by the adjustment coefficient to obtain the corresponding target impact pressure and target impact frequency.

[0099] During the specific implementation process, the impact pressure is 200 bar, the impact frequency is 50 Hz, the adhesion strength of the target to be cleaned is 150 kPa, and the adhesion standard strength is 100 KPa. The adjustment coefficient is 1.5, which is the adhesion strength of 150 kPa divided by the adhesion standard strength of 100 KPa. The impact pressure and impact frequency are adjusted according to the adjustment coefficient, and the target impact pressure is 300 bar and the target impact frequency is 75 Hz.

[0100] Specifically, by calculating the adjustment coefficient and dynamically calculating the adjustment coefficient according to the difference between the actual attachment strength and the standard strength, the cleaning parameters can adaptively match the characteristics of different attachments, thereby improving the adaptability and versatility of the device. By precisely adjusting the impact pressure and frequency, energy waste can be minimized while ensuring the cleaning effect, thereby improving the energy utilization efficiency of the device and improving the accuracy and controllability of the cleaning process.

[0101] See also Figure 4 ,like Figure 4 As shown, it is a schematic diagram of the structure of the adjustment module according to an embodiment of the present invention;

[0102] Specifically, the adjustment module includes:

[0103] A deviation calculation unit, used for calculating the amount of attachment removal according to the amount of attachment residue and the initial amount of attachment;

[0104] The strength adjustment unit is connected to the deviation calculation unit and is used to adjust the adhesion standard strength according to the adhesion cleaning amount to obtain the adhesion target strength.

[0105] Specifically, the remaining attachment area after cleaning is detected as the attachment residual amount, and compared with the initial amount of attachment, that is, the initial attachment area, to calculate the attachment cleaning amount.

[0106] Specifically, by comparing the residual amount of attachments with the initial amount, the amount of attachments removed can be accurately calculated, providing a reliable data basis for subsequent adjustments. The intensity adjustment unit automatically adjusts the attachment standard intensity according to the removal amount, achieving real-time optimization of the cleaning process and ensuring continuous improvement in the cleaning effect. It can adaptively formulate the best cleaning strategy for different types and degrees of attachments, thereby enhancing the cleaning effect.

[0107] Specifically, the intensity adjustment unit includes:

[0108] A cleaning rate calculation subunit, used to calculate the attachment cleaning rate according to the attachment cleaning amount and the attachment initial amount;

[0109] The strength adjustment subunit is connected to the cleaning rate calculation subunit and is used to calculate the adhesion target strength according to the adhesion cleaning rate and the adhesion standard strength.

[0110] Specifically, the adhesion target strength is obtained by dividing the adhesion standard strength by the adhesion cleaning rate.

[0111] In the specific implementation process, the standard attachment strength is 100KPa, the initial amount of attachments is 100 square centimeters, the residual amount of attachments is 20 square centimeters, and the attachment cleaning amount is 80 square centimeters. The calculated attachment cleaning rate is 80%, and the target attachment strength is 125KPa.

[0112] Specifically, the cleaning rate calculation subunit accurately calculates the cleaning rate of the attachment, adjusts the current attachment standard strength, and calculates the new attachment target strength, ensuring that the cleaning process can be continuously optimized according to actual conditions and improve the cleaning efficiency.

[0113] Specifically, the impact part includes a mobile base 7, a water inlet pipe 6, a rotating ring 3, a flushing pipe 4 and a nozzle 5.

[0114] The nozzle 5 is fixedly installed at one end of the flushing pipe 4, and the other end of the flushing pipe 4 is connected to the rotating ring 3, so as to rotate the flushing pipe 4 and the nozzle 5 through the rotating ring 3 to clean the target to be cleaned. The water inlet pipe 6 is arranged at the side end of the mobile base 7, and the mobile base 7 is arranged below the rotating ring 3 and is rotatably connected to the rotating ring 3.

[0115] Specifically, the mobile base 7 is used to carry the scanning mechanism and the detection part. The mobile base 7 moves under the drive of the driving wheel 8 below. The rotating ring 3 is set on the mobile base 7 and can rotate to drive the flushing pipe 4 and the nozzle 5. The water inlet pipe 6 is inserted into the mobile base 7 from the side of the mobile base 7 to provide flushing medium for the flushing pipe 4 and the nozzle 5.

[0116] Specifically, by rotating the ring 3 to drive the flushing pipe 4 and the nozzle 5 to rotate, all-round and efficient cleaning of the cleaning target is achieved. The rotating nozzle 5 can cover a larger cleaning area, and combined with intelligent path planning, it can accurately locate the area to be cleaned, reduce cleaning dead corners, improve cleaning efficiency, and achieve precise cleaning.

[0117] Specifically, the detection unit includes a detection strip 10 and a connecting plate 9.

[0118] The connecting plate 9 is arranged behind the mobile base 7, and the detection strip 10 is fixedly connected to the connecting plate 9 to obtain the initial amount of the attachments in the area to be cleaned and to detect the residual amount of the attachments after cleaning the target to be cleaned.

[0119] Specifically, the detection strip 10 detects the remaining attachment area of ​​the target to be cleaned after cleaning as the attachment residue amount, and the connecting plate 9 connects the detection strip 10 with the movable base 7 to transmit the detected information to the impact part.

[0120] Specifically, the detection strip 10 can detect the cleaning effect in real time during the cleaning process to avoid cleaning omissions. By accurately obtaining the initial amount of attachments in the area to be cleaned and detecting the residual amount after cleaning, accurate data is provided for cleaning effect evaluation, which is used to adjust cleaning parameters and improve cleaning effects.

[0121] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

[0122] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A surface attachment cleaning device for ship maintenance, characterized in that: include: A scanning mechanism, used for scanning the area to be cleaned on the surface of the ship to form an image to be cleaned; The impact part is used to remove the target to be cleaned in the area to be cleaned; a processing module, connected to the scanning mechanism and the impact part, respectively, for adjusting the travel path of the impact part on the surface of the ship according to the distribution state of the target to be cleaned in the image to be cleaned, and for adjusting the impact pressure and impact frequency of the impact part according to the attachment strength and the attachment standard strength of the target to be cleaned, thereby forming a target impact pressure and a target impact frequency, so that the impact part cleans the area to be cleaned according to the travel path, and when cleaning any target to be cleaned, the target to be cleaned is cleaned according to the target impact pressure and the target impact frequency; A detection unit connected to the processing module, used to obtain an initial amount of attachments in the area to be cleaned, and to detect a residual amount of attachments; The regulating module is connected to the processing module and the detecting unit respectively, and is used to adjust the standard adhesion strength according to the residual amount of the adhesion to obtain the target adhesion strength, so as to determine the adhesion strength of the target to be cleaned according to the target adhesion strength in the next cleaning cycle.

2. The surface deposit cleaning device for ship maintenance according to claim 1, characterized in that: The processing module comprises: An image analysis unit, used for analyzing the to-be-cleaned image to obtain the distribution state of the to-be-cleaned objects, including a first spacing distance between the impact portion and the impact portion, and a second spacing distance between the to-be-cleaned objects; a path planning unit connected to the image analysis unit and configured to plan a travel path of the impact portion according to the distribution state; a strength determination unit connected to the path planning unit, for comparing the attachment strength with a preset attachment standard strength, and determining whether adjustment is required based on the comparison result; A parameter setting unit is connected to the strength determination unit, and is used to adjust the impact pressure and the impact frequency when the determination result is necessary, and to set the target impact pressure and the target impact frequency and transmit them to the impact part.

3. The surface deposit cleaning device for ship maintenance according to claim 2, characterized in that: The image analysis unit comprises: A position determination subunit, used to determine the position of each of the to-be-cleaned objects relative to the impact portion; A first distance acquisition subunit, which is connected to the position determination subunit and is used to acquire a first spacing distance between each to-be-cleaned object and the impact part according to the position of each to-be-cleaned object; The second distance acquisition subunit is connected to the first distance acquisition subunit and is used to acquire the second interval distance according to the position of each of the objects to be cleaned.

4. The surface deposit cleaning device for ship maintenance according to claim 2, characterized in that: The path planning unit comprises: a priority determination subunit, configured to determine the to-be-cleaned target to be cleaned as the first priority according to the first interval distance, and to determine the cleaning order of the remaining to-be-cleaned targets according to the second interval distance; A path determination subunit is connected to the sequence determination subunit and is used to connect the adjacent objects to be cleaned into straight line segments according to the cleaning sequence to generate the travel path.

5. The surface deposit cleaning device for ship maintenance according to claim 2, characterized in that: The strength determination unit comprises: A strength comparison subunit, used to compare the attachment strength with the attachment standard strength to obtain a comparison result; The impact determination subunit is connected to the intensity comparison subunit and is used to determine whether the impact pressure and the impact frequency need to be adjusted according to the comparison result.

6. The surface deposit cleaning device for ship maintenance according to claim 2, characterized in that: The parameter setting unit comprises: a calculation subunit, used for calculating an adjustment coefficient according to the adhesion strength and the standard adhesion strength; The adjusting subunit is connected to the calculating subunit and is used to adjust the impact pressure and the impact frequency according to the adjusting coefficient to obtain the target impact pressure and the target impact frequency.

7. The surface deposit cleaning device for ship maintenance according to claim 1, characterized in that: The adjustment module comprises: A deviation calculation unit, used for calculating the amount of attachment removal according to the amount of attachment residue and the initial amount of attachment; The strength adjustment unit is connected to the deviation calculation unit and is used to adjust the adhesion standard strength according to the adhesion cleaning amount to obtain the adhesion target strength.

8. The surface deposit cleaning device for ship maintenance according to claim 7, characterized in that: The intensity adjustment unit comprises: A cleaning rate calculation subunit, used to calculate the attachment cleaning rate according to the attachment cleaning amount and the attachment initial amount; The strength adjustment subunit is connected to the cleaning rate calculation subunit and is used to calculate the adhesion target strength according to the adhesion cleaning rate and the adhesion standard strength.

9. The surface deposit cleaning device for ship maintenance according to claim 1, characterized in that: The impact part comprises a movable base (7), a water inlet pipe (6), a rotating ring (3), a flushing pipe (4) and a nozzle (5). The nozzle (5) is fixedly mounted on one end of the flushing pipe (4), and the other end of the flushing pipe (4) is connected to the rotating ring (3) so as to rotate the flushing pipe (4) and the nozzle (5) through the rotating ring (3) to clean the target to be cleaned. The water inlet pipe (6) is arranged at the side end of the mobile base (7), and the mobile base (7) is arranged below the rotating ring (3) and is rotatably connected to the rotating ring (3).

10. The surface deposit cleaning device for ship maintenance according to claim 1, characterized in that: The detection part comprises a detection strip (10) and a connecting plate (9). The connecting plate (9) is arranged behind the mobile base (7), and the detection strip (10) is fixedly connected to the connecting plate (9) to obtain the initial amount of the attached matter in the area to be cleaned and to detect the residual amount of the attached matter after cleaning the target to be cleaned.

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