Portable hull cleaning robot and cleaning method

Abstract

The invention discloses a portable hull cleaning robot and a cleaning method, and belongs to the technical field of hull cleaning. The robot comprises a robot body, the robot body is composed of a box cavity and a hollow column, and the box cavity comprises a through hole; the adsorption assembly comprises an adsorption impeller; the cleaning assembly comprises a cleaning brush; the moving assembly comprises a propelling impeller and a roller; the observation assembly comprises an observation cover and a camera; and the positioning navigation assembly comprises a positioning instrument and a steering engine. According to the portable hull cleaning robot and the cleaning method, adsorption, cleaning, moving, observation and navigation assemblies are integrated, multifunctional automatic operation is achieved, the working efficiency and applicability are remarkably improved, the robot is endowed with high autonomy and flexibility through the unique double-four-impeller design, and in addition, the cleaning effect is good. The design of the transparent waterproof cover and the sewage filtering function of the adsorption assembly enhance the observation capability of the camera in a turbid water area, and the reliability and safety of the equipment are improved.

Description

Technical Field

[0001] This invention relates to the field of ship hull cleaning technology, and in particular to a convenient ship hull cleaning robot and cleaning method. Background Technology

[0002] During long-term voyages, the underwater hull of ships accumulates shellfish and rust, which not only severely impacts the ship's speed and lifespan but also increases fuel consumption. Therefore, regular cleaning of the hull surface is necessary. Currently, there are two main methods for hull cleaning. The first is manual cleaning by divers using specialized equipment. This method is labor-intensive and inefficient, suitable only for small vessels. The second is automated cleaning using cleaning robots. However, existing hull cleaning robots have many shortcomings in practical applications, significantly affecting cleaning effectiveness and ease of operation.

[0003] First, most ship cleaning robots currently on the market use permanent magnet tracked drive systems. Therefore, they require manual fixing to a specific location on the ship's hull before cleaning operations can begin. These robots are typically large, heavy, expensive, and structurally complex, making them prone to getting stuck by metal filings or dirt, and difficult to maintain. These factors limit the robot's flexibility and portability. Furthermore, existing cleaning robots cause water turbidity and generate a large amount of impurities during the washing process, affecting the environmental perception capabilities of visual sensors (such as cameras or lidar), reducing the accuracy of the positioning system, leading to inaccurate navigation, increasing the risk of collisions, and ultimately impacting cleaning efficiency.

[0004] To address the aforementioned issues, we propose a portable ship hull cleaning robot and cleaning method, aiming to improve cleaning efficiency, ease of operation, and environmental adaptability. The design focuses on simplifying the robot's structure, optimizing the drive system, suppressing water turbidity during the cleaning process, and optimizing the sensor's field of view, thereby achieving a more efficient and safer ship hull cleaning solution. Summary of the Invention

[0005] The purpose of this invention is to provide a convenient ship hull cleaning robot and cleaning method to solve the problems of low efficiency, complex operation, poor flexibility, and the impact of turbid water on navigation and positioning systems in the existing ship hull cleaning process.

[0006] To solve the above-mentioned technical problems, the present invention provides a convenient ship hull cleaning robot and cleaning method, comprising: a body, the body being composed of two hollow box cavities and four through columns connecting the box cavities, the box cavity including four through holes arranged in a square array on its surface, the through holes penetrating the through columns and communicating with the outside; The adsorption assembly is located inside the through column and includes an adsorption impeller disposed in the middle of the through column. The adsorption impeller can generate a bidirectional vortex. Under the action of the adsorption assembly, the robot body is adsorbed onto the clean surface of the hull by negative pressure. Each adsorption impeller can be controlled independently. With the cooperation of the moving assembly, the robot can rise, sink, and flip on the water surface. The cleaning component includes a cleaning brush disposed on one side of the body, the cleaning brush being disc-shaped; The moving component includes a propulsion impeller disposed between the box cavities and rollers disposed on both sides of the cleaning brush; The observation assembly includes an observation cover disposed on one side of the body and a camera disposed inside the observation cover. The observation cover is a transparent, sealed, and waterproof cover used to improve the camera's viewing distance. The positioning and navigation component includes a positioning device disposed on one side of the body and a servo motor disposed on one side of the positioning device.

[0007] Preferably, the cleaning side surface of the machine body is also equipped with multiple casters to support the movement of the machine body during cleaning.

[0008] Preferably, the propulsion impellers are mounted on the outside of the four through columns to control the movement of the machine body on the horizontal plane, and each of the four propulsion impellers can be controlled independently.

[0009] Preferably, the adsorption impeller and the moving component work together to control the robot's movement. The impeller shafts are coplanarly distributed on the central plane of the machine body. The adsorption impeller controls the robot's vertical propulsion, the propulsion impeller controls the robot's horizontal propulsion, and the rollers control the robot's movement adsorbed onto the hull surface. Both rollers are controlled independently, and steering is controlled by differential speed.

[0010] Preferably, the adsorption assembly further includes a filter element disposed on the side of the adsorption impeller facing the cleaning brush, for adsorbing impurities washed off in the wastewater.

[0011] Preferably, the filter element is detachably installed in the hollow cavity of the through column, allowing it to directly contact the wastewater being cleaned, and its contact side is also provided with a drainage curved surface. The filter element is an activated carbon filter cartridge, which uses activated carbon to adsorb and clean impurities in the wastewater.

[0012] Preferably, the machine body further includes a transport bracket disposed on one side of the roller, and the transport bracket is fixedly installed on both sides of the machine body.

[0013] Preferably, the positioning device is a Doppler velocimeter.

[0014] Preferably, a driving component is provided inside the box cavity to provide power to the cleaning brush and the roller.

[0015] The present invention also provides a method for using a convenient ship hull cleaning robot, comprising the following steps: Step A: The robot moves to fit the hull; Step A1: The robot is placed in the water from the workboat or shore station, laid flat with the cleaning brush side facing down, and floats on the water surface. The robot's movement is controlled by the control system. The two propulsion impellers in opposite directions are activated simultaneously to propel the robot in that direction until it gets close to the hull to be cleaned. Step A2: Adjust the robot's orientation so that the side of the robot is flush with the hull. The rotation method is to simultaneously start all the propulsion impellers and adjust the propulsion direction of the propulsion impellers to be clockwise or counterclockwise to rotate the robot's orientation. Step A3: Adhesion to the hull. Since the cleaning brush is facing down, activate the two adsorption impellers that are far from the outside of the hull to make the robot perpendicular to the water surface and approach the hull. After it is perpendicular, activate all the adsorption impellers at the same time. The adsorption impellers continuously discharge the liquid in the through column, and the through column generates negative pressure, which can adsorb the robot onto the surface of the hull. Step B: Cleaning; Step B1: Immediately following step A3, the adsorption impeller continues to work, and at the same time, the drive unit is activated to drive the cleaning brush to rotate and clean. Step B2: Activate the drive unit to drive the roller to roll on the hull surface. The control system plans the movement path of the roller. When the roller moves, the caster is located between the hull and the robot to support the robot to move. This process is completed in collaboration between the observation component and the positioning and navigation component. Step C: Filtering; Step C1: During the cleaning process, the cleaning brush mixes the cleaned impurities into the water to form turbid wastewater. The wastewater will enter the core column along the guide surface under the adsorption of the adsorption impeller, pass through the activated carbon filter element, and filter the impurities. Step D: Cleaning complete; Step D1: After cleaning is completed, the robot needs to be retrieved and the suction impeller is turned off. Due to the loss of suction force, the robot will detach from the hull. Then, the robot's movement is controlled by the propulsion impeller to return to the work boat or shore station. Step D2: Disassemble the activated carbon filter and replace it with a new one. Wipe the observation hood, rinse the robot, charge all components, and finally put them away. The portable hull cleaning robot is now ready for use.

[0016] Compared with the prior art, the beneficial effects of the present invention are: 1. The present invention provides a portable ship hull cleaning robot by incorporating an adsorption component, a cleaning component, a moving component, an observation component, and a positioning and navigation component on the robot body. These components complement each other, enabling the cleaning robot to perform multiple functions such as automatic movement, adsorption, cleaning, propulsion, filtration, and observation and navigation. This compact and reasonable structural design not only improves work efficiency but also makes the equipment small in size and light in weight, easy to operate and transport, and widely applicable to the cleaning needs of various ship types, thereby significantly improving the applicability and convenience of the cleaning robot. 2. The portable ship cleaning robot of the present invention achieves multi-dimensional motion control through a vector arrangement of four adsorption impellers (vertical propulsion) and four propulsion impellers (horizontal propulsion). When the adsorption impellers are not adsorbed, they can be used as propellers for motion control, enabling the robot to have multiple motion capabilities such as heave, advance and retreat, lateral movement, bow turning and turning in place. This high degree of autonomy and flexibility allows the robot to drive from the shore to the ship without human intervention and autonomously adsorb onto the hull, demonstrating a high degree of automation. 3. The observation component of the portable hull cleaning robot of the present invention adopts a transparent and sealed observation cover design, which significantly enhances the camera's observation capability in turbid water. In turbid water, the normal viewing distance is only 5 to 10 centimeters. By increasing the height of the observation cover while keeping the distance between the viewing window and the hull surface unchanged, the viewing distance of the camera can be effectively increased. This waterproof cover design not only optimizes the camera's viewing area, but also greatly improves the observation effect in complex water environments, ensuring the safety and accuracy of cleaning operations. 4. The present invention provides a convenient ship hull cleaning robot and cleaning method that employs negative pressure adsorption technology. The cleaning robot is firmly adsorbed onto the ship hull surface. An adsorption impeller draws liquid from the core column, creating a negative pressure environment within the core column. Simultaneously, a rotating cleaning brush scrubs the ship hull surface. The resulting wastewater flows smoothly into the core column along a guide surface. After filtration by an activated carbon filter, tiny particles and impurities are effectively captured, ensuring water purification. This not only improves camera clarity and reduces the risk of collisions but also effectively protects the impeller, preventing damage or jamming caused by impacts from rust and other impurities. The filter element can be replaced after use, greatly enhancing the reliability and safety of the cleaning robot. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of a convenient ship hull cleaning robot provided by the present invention; Figure 2 This is a top view of a portable ship hull cleaning robot provided by the present invention; Figure 3 This invention provides a convenient ship hull cleaning robot. Figure 2 AA section view in the image; Figure 4 This invention provides a convenient ship hull cleaning robot. Figure 2 BB section view in the middle; Figure 5 This is an exploded view of the structure of a convenient ship hull cleaning robot provided by the present invention; In the diagram: 1. Body; 2. Adsorption assembly; 3. Cleaning assembly; 4. Moving assembly; 5. Observation assembly; 6. Positioning and navigation assembly; 101. Cavity; 101a. Through hole; 101b. Drive component; 102. Core column; 103. Caster wheel; 104. Transport bracket; 201. Adsorption impeller; 202. Filter; 203. Drainage surface; 301. Cleaning brush; 401. Roller; 402. Propulsion impeller; 501. Observation cover; 502. Camera; 601. Positioner; 602. Servo motor. Detailed Implementation

[0018] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. The advantages and features of the present invention will become clearer from the following description and claims. It should be noted that the drawings are all in a very simplified form and use non-precise proportions, and are only used to facilitate and clarify the illustration of the embodiments of the present invention.

[0019] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are used only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0020] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0021] Example 1 This embodiment provides a convenient ship hull cleaning robot. Please refer to [link / reference]. Figures 1-5 The system includes a body 1, which consists of two hollow box cavities 101 and four through-columns 102 connecting the box cavities 101. Each box 101 has four through holes 101a arranged in a square array on its surface, which penetrate the through-columns 102 and communicate with the outside. An adsorption assembly 2 is located inside the through-columns 102 and includes an adsorption impeller 201 disposed in the middle of the through-columns 102. The adsorption impeller 201 generates a bidirectional vortex. The adsorption assembly 2 is used to adsorb the body 1 onto the hull cleaning surface under negative pressure. A cleaning assembly 3 is also included. The cleaning brush 301 is disc-shaped; the moving component 4 includes rollers 401 disposed on both sides of the cleaning brush 301 and a propulsion impeller 402 disposed between the box cavity 101; the observation component 5 includes an observation cover 501 disposed on one side of the body 1 and a camera 502 disposed inside the observation cover 501, the observation cover 501 being a transparent, sealed, and waterproof cover used to improve the viewing distance of the camera 502; the positioning and navigation component 6 includes a positioning device 601 disposed on one side of the body 1 and a servo motor 602 disposed on one side of the positioning device 601.

[0022] The cleaning side surface of the body 1 is also equipped with multiple casters 103, which are used to support the movement of the body 1 during cleaning. The propulsion impeller 402 is installed on the outside of the four through-columns 102 to control the movement of the body 1 on the horizontal plane. Each of the four propulsion impellers 402 can be controlled independently. The adsorption impeller 201 and the moving component 4 work together to control the movement of the robot. The impeller shafts are coplanarly distributed on the central plane of the body 1. The adsorption impeller 201 controls the vertical propulsion of the robot, the propulsion impeller 402 controls the horizontal propulsion of the robot, and the roller 401 controls the movement of the robot adsorbed on the hull surface. The rollers 401 on both sides are controlled independently and the steering is controlled by differential speed.

[0023] The adsorption assembly 2 further includes a filter element 202 disposed on the side of the adsorption impeller 201 facing the cleaning brush 301, for adsorbing impurities washed off in the sewage; the filter element 202 is detachably installed in the hollow cavity of the through column 102, and can directly contact the cleaning sewage, and its contact side is also provided with a flow-guiding curved surface 203; the filter element 202 is an activated carbon filter element, which uses activated carbon to adsorb impurities in the cleaned sewage; the body 1 also includes a transport bracket 104 disposed on one side of the roller 401, and the transport bracket 104 is fixedly installed on both sides of the body 1; the positioning device 601 is a Doppler velocimeter; a driving component 101b is disposed in the box cavity 101 to provide power to the cleaning brush 301 and the roller 401.

[0024] It should be noted that the body 1, including the cavity 101 and the through column 102, is made of engineering plastic. Engineering plastic has excellent corrosion resistance and lightweight properties, making it suitable for use in underwater environments. The cavity 101 has a hollow structure to provide the necessary buoyancy for the cleaning robot. It is sealed to the through column 102. The through column 102 has four through columns, which correspond to the four through holes 101a of the cavity 101. The through holes 101a pass through the through column 102 and communicate with the outside.

[0025] Preferably, the four corners of the body 1 have four cavities, and universal wheels 103 are installed in the cavities. These cavities are designed to support the body 1 in aligning with the movement of the moving components 4 during the cleaning process, reducing friction. When encountering obstacles, the universal wheels 103 can roll flexibly to ensure smooth passage. In addition, a pair of transport brackets 104 are fixed on both sides of the body 1. The transport brackets 104 are fixedly connected to the through columns 102 on both sides, providing a stable fulcrum for transporting the cleaning robot. The drive unit 101b is located in a motor compartment between the upper and lower box cavities 101a. The drive unit 101b includes three sets of drives, which control the two rollers 402 and the cleaning brush 301 respectively. The rollers 401 are two-drive designs, and the robot's steering is achieved through differential speed control.

[0026] Preferably, a pair of rollers 401 are installed between the transport bracket 104 and the body 1. The rollers 401 are connected to the drive component 101b via a drive shaft, and the connection is sealed with sealing materials such as sealing rings to prevent water from flowing into the motor compartment. The height of the rollers 401 is slightly lower than that of the cleaning brush 301, which is intended to increase the contact area between the cleaning brush 301 and the surface of the hull, thereby improving the cleaning effect.

[0027] Preferably, the cleaning brush 301 consists of two disc-shaped brushes, which are simultaneously controlled by the drive unit 101b. The cleaning brush 301 is composed of a base and dense cleaning bristles. The base rotates around the central axis, which can effectively remove shellfish, rust spots and other impurities from the surface of the hull.

[0028] There are four propulsion impellers 402, which are fixedly installed at the four corners of the through column 102, and the adsorption impeller 201 is fixed at the center of the through column 102. All impellers can rotate in both directions to generate bidirectional vortices, which form a counter-thrust in the opposite direction of the vortex to propel the robot to move.

[0029] Preferably, the observation cover 501 is a transparent, sealed, waterproof cover with five transparent sides, housing a wide-angle camera 502 with a 270-degree rotating field of view. This design allows the system to analyze position and direction in real time and coordinate with the positioning and navigation component 6 to plan a path. Since the visibility distance in turbid water is only 5-10cm, increasing the distance between the observation cover 501 and the camera 502 can significantly improve the camera's field of view. Tests have shown that every 10cm increase in the distance between the observation cover 501 and the camera 502 can approximately double the field of view. Therefore, the distance between the observation cover 501 and the camera 502 can be adjusted according to the actual water quality of the water area.

[0030] Preferably, the filter element 202 uses an activated carbon filter cartridge that matches the inner diameter of the through column 102. Using activated carbon as the filter material, the filter element 202 is detachably installed at the outlet of the through column 102. Removal is achieved by the step inside the through column 102 clamping the filter element to the metal mesh outside the chamber 101. Activated carbon has a large specific surface area and abundant pore structure, effectively adsorbing suspended solids, rust particles, and other impurities in wastewater, ensuring water cleanliness, thereby improving the image clarity of the visual sensor and enhancing the robot's navigation and monitoring capabilities in complex environments. Figure 1 As shown, the drainage surface 203 is formed on the side of the four protruding parts of the box cavity 101 facing the cleaning brush 301. The drainage surface 203 can guide the sewage into the core column 102. During the washing process, Figure 1 The gap between the upper surface of the central chamber 101 and the hull is small. As the rollers 401 and casters 103 slide on the hull, the wastewater generated during washing naturally flows into the central column 102 along the vortex generated by the adsorption impeller 201. It then passes through the activated carbon filter element for impurity filtration, capturing tiny particles and impurities that remain inside the filter element. It is worth noting that because the activated carbon filter element has a porous structure, the resistance generated when the liquid flows through is relatively small and within an acceptable range, so it does not affect the negative pressure adsorption effect of the adsorption impeller 201.

[0031] Preferably, the positioning device 601 uses a DVL Doppler velocimeter. As a positioning and navigation device for the cleaning robot, the DVL Doppler velocimeter can automatically adjust the servo motor 602 when the robot is flipping and working in alignment to ensure that the velocimeter is pointing downwards, so as to provide accurate navigation and positioning.

[0032] In summary, the portable ship cleaning robot of this invention integrates adsorption, cleaning, movement, observation, and positioning navigation components, achieving multiple functions such as automatic movement, adsorption, cleaning, propulsion, filtration, and observation navigation. This compact and reasonable structural design not only improves work efficiency but also makes the equipment small in size and light in weight, facilitating operation and transportation. It is widely applicable to the cleaning needs of various ship types, significantly enhancing the applicability and convenience of the cleaning robot. The robot adopts a vector arrangement of four adsorption impellers (vertical propulsion) and four propulsion impellers (horizontal propulsion), providing multi-dimensional motion control. In its non-adhesive state, the adsorption impeller can be used as a propulsion device, enabling the robot to perform various movements such as rising and falling, forward and backward movement, lateral movement, bow turning, and turning in place. Its high degree of autonomy and flexibility allows the robot to drive autonomously from the shore to the ship without human intervention and to autonomously adhere to the hull, demonstrating a high degree of automation. In addition, the robot's observation component adopts a transparent and sealed waterproof cover design, which significantly enhances the camera's observation capabilities in turbid waters. In turbid waters, the typical visibility distance is only 5 to 10 centimeters. By increasing the height of the waterproof cover while keeping the distance between the viewing window and the hull surface constant, the camera's viewing distance can be effectively increased. This waterproof cover design not only optimizes the camera's field of view but also greatly improves the observation effect in complex water environments, ensuring the safety and accuracy of cleaning operations.

[0033] Example 2 This invention provides a method for using a convenient ship hull cleaning robot. Please refer to [link / reference]. Figures 1-5 It includes the following steps: Step A: The robot moves to fit the hull; Step A1: The robot is placed in the water from the workboat or shore station, laid flat with the cleaning brush 301 facing down, and floats on the water surface. The robot's movement is controlled by the control system. The two propulsion impellers 402 in the opposite direction of the required movement are activated simultaneously to propel the robot in that direction until it gets close to the hull to be cleaned. Step A2: Adjust the robot's orientation so that the side of the robot is flush with the hull. The rotation method is to simultaneously start all propulsion impellers 402 and adjust the propulsion direction of the propulsion impellers 402 to be clockwise or counterclockwise, which will rotate the robot's orientation. Step A3: Adhesion to the hull. Since the cleaning brush 301 is facing down, the two adsorption impellers 201 away from the outside of the hull are activated, so that the robot is perpendicular to the water surface and approaches the hull. After it is perpendicular, all adsorption impellers 201 are activated at the same time. The adsorption impellers 201 continuously discharge the liquid in the through column 102, and the through column 102 generates negative pressure, which can adsorb the robot onto the surface of the hull. Step B: Cleaning; Step B1: Immediately following step A3, the adsorption impeller 201 continues to work, and at the same time, the drive unit 101b is started to drive the cleaning brush 301 to rotate and clean. Step B2: Activate the drive component 101b to drive the roller 401 to roll on the surface of the hull. The control system plans the movement path of the roller 401. When the roller 401 moves, the caster wheel 103 is located between the hull and the robot to support the robot to move. This process is completed in collaboration between the observation component 5 and the positioning and navigation component 6. Step C: Filtering; Step C1: During the cleaning step, the cleaning brush 301 mixes the cleaned impurities into the water to form turbid wastewater. The wastewater will be adsorbed by the adsorption impeller 201 and enter the core column 102 along the guide surface, passing through the activated carbon filter element to filter impurities. Step D: Cleaning complete; Step D1: After cleaning, the robot needs to be retrieved. The adsorption impeller 201 is deactivated. Due to the loss of adsorption force, the robot will detach from the hull. Then, the robot's movement is controlled by the propulsion impeller 402 to return to the workboat or shore station. Step D2: Disassemble the activated carbon filter and replace it with a new one. Wipe the observation cover 501, rinse the robot, charge all components, and finally put them away. The portable hull cleaning robot is now in use.

[0034] In summary, the present invention provides a convenient ship hull cleaning robot and cleaning method that employs negative pressure adsorption technology to firmly attach the cleaning robot to the ship hull surface. The adsorption impeller draws liquid from the core column, creating a negative pressure environment within the core column. Simultaneously, the cleaning brush rotates and washes the ship hull surface. The resulting wastewater flows smoothly into the core column along the guide curved surface and is filtered by the activated carbon filter, effectively capturing tiny particles and impurities, ensuring water purification. This not only improves camera clarity and reduces the risk of collision but also effectively protects the impeller, preventing damage or jamming caused by impacts from rust and other impurities. After use, the filter element can be replaced, greatly enhancing the reliability and safety of the cleaning robot.

[0035] The above description is merely a description of preferred embodiments of the present invention and is not intended to limit the scope of the present invention in any way. Any changes or modifications made by those skilled in the art based on the above disclosure shall fall within the protection scope of the claims.

Claims

1. A portable hull cleaning robot, characterized in that: include, A machine body (1), the machine body (1) comprising two layers of hollow box cavities (101) and four through-core columns (102) communicating with the box cavities (101), the box cavities (101) comprising four through-holes (101a) arranged in a square array on a surface thereof, the through-holes (101a) passing through the through-core columns (102) communicating with the outside; An adsorption component (2), the adsorption component (2) being located in the through-core column (102), and comprising an adsorption impeller (201) disposed in the middle of the through-core column (102), the adsorption impeller (201) being capable of generating a bidirectional vortex, and under the action of the adsorption component (2), the body (1) is negatively pressure adsorbed on the cleaning surface of the hull, the adsorption impeller (201) being capable of being controlled individually, and under the coordination of the moving component (4), the robot can be able to rise, sink, and flip on the water surface; A cleaning component (3) comprising a cleaning brush (301) arranged on one side of the machine body (1), wherein the cleaning brush (301) is in the shape of a disc; A moving assembly (4), comprising rollers (401) arranged on both sides of the cleaning brush (301), and a propulsion impeller (402) arranged between the box cavities (101); An observation assembly (5) comprising an observation cover (501) arranged on one side of the body (1), and a camera (502) arranged in the observation cover (501), wherein the observation cover (501) is a transparent sealed waterproof cover and is used to increase the viewing distance of the camera (502); The positioning and navigation component (6) comprises a positioning device (601) arranged on one side of the body (1), and a steering engine (602) arranged on one side of the positioning device (601).

2. A portable hull cleaning robot as claimed in claim 1, characterized in that: The cleaning side surface of the machine body (1) is also equipped with a plurality of universal wheels (103) for supporting the movement of the machine body (1) during the cleaning movement.

3. A portable hull cleaning robot as claimed in claim 2, characterized in that: The propulsion impellers (402) are installed on the outside of the four through-core columns (102) and are used to control the movement of the machine body (1) on a horizontal plane. The four propulsion impellers (402) can all be independently controlled.

4. A portable hull cleaning robot as claimed in claim 2, characterized in that: The adsorption impeller (201) and the mobile component (4) cooperate to control the movement of the robot, and the impeller axes are coplanarly distributed on the central plane of the body (1). The adsorption impeller (201) controls the propulsion of the robot in the vertical direction, the propulsion impeller (402) controls the propulsion of the robot in the horizontal direction, and the roller (401) controls the movement of the robot adsorbed on the surface of the hull. The rollers (401) on both sides are controlled separately, and the steering is controlled by differential speed.

5. A portable hull cleaning robot as claimed in claim 4, characterized in that: The adsorption assembly (2) further comprises a filter element (202) arranged on the side of the adsorption impeller (201) facing the cleaning brush (301), and used for adsorbing impurities cleaned from the sewage.

6. A portable hull cleaning robot as claimed in claim 5, characterized in that: The filter element (202) is detachably mounted in the hollow cavity of the through-core column (102), and can directly contact the cleaned sewage, and a drainage curved surface (203) is also provided on its contact side; The filter element (202) is an activated carbon filter element, and the activated carbon is used to absorb and clean impurities in the sewage.

7. The portable hull cleaning robot according to claim 1, characterized in that: The machine body (1) further comprises a transport bracket (104) arranged on one side of the roller (401), and the transport bracket (104) is fixedly mounted on both sides of the machine body (1).

8. A portable hull cleaning robot as claimed in claim 1, characterized in that: The locator (601) is a Doppler velocimeter.

9. A portable hull cleaning robot as claimed in claim 1, characterized in that: A driving member (101b) is provided in the box cavity (101) to provide power for the cleaning brush (301) and the roller (401).

10. A method for using the portable hull cleaning robot according to any one of claims 2 to 9, characterized in that: The steps include: Step A: The robot moves to fit the hull; Step A1: The robot is placed in water from a workboat or a shore station, laid flat with the cleaning brush (301) facing downward, and floats on the water surface. The robot is controlled to move by a control system, and two propulsion impellers (402) in opposite directions of the desired travel direction are synchronously started to propel the robot in the desired travel direction until it approaches the hull to be cleaned; Step A2: Adjust the direction of the robot so that the side of the robot is flush with the hull. The rotation method is to start all the propulsion impellers (402) synchronously and adjust the propulsion direction of the propulsion impellers (402) to be clockwise or counterclockwise, so as to rotate the direction of the robot; Step A3: Adsorbing the hull. Since the cleaning brush (301) faces downward, the two adsorption impellers (201) away from the outside of the hull are activated, so that the robot is perpendicular to the water surface and close to the hull. After being perpendicular, all the adsorption impellers (201) are activated at the same time. The adsorption impellers (201) continuously discharge the liquid in the core column (102), and the core column (102) generates negative pressure, so that the robot can be adsorbed on the surface of the hull. Step B: Cleaning; Step B1: immediately following step A3, the adsorption impeller (201) continues to work, and at the same time the driving member (101a) is started to drive the cleaning brush (301) to rotate and clean; Step B2: activating the driving member (101b) to drive the roller (401) to roll on the surface of the hull, and planning the moving path of the roller (401) through the control system. When the roller (401) moves, the universal wheel (103) is located between the hull and the robot to support the robot to perform auxiliary movement. This process is completed by the observation component (5) and the positioning and navigation component (6). Step C: Filtration; Step C1: During the cleaning step, the cleaning brush (301) mixes the impurities cleaned by the cleaning brush into the water to form turbid sewage. The sewage is adsorbed by the adsorption impeller (201) and flows along the drainage curved surface into the through column (102), passes through the activated carbon filter element, and the impurities are filtered out; Step D: Cleaning is completed; Step D1: After the cleaning is completed, the robot needs to be recovered, and the adsorption impeller (201) is deactivated. Due to the loss of adsorption force, the robot will be separated from the hull, and then the robot is controlled to move by the propulsion impeller (402) and return to the workboat or shore station; Step D2: remove the activated carbon filter element and replace it with a new one, wipe the observation cover (501), rinse the robot, charge each component and finally store it, and the portable hull cleaning robot is ready for use.

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