Method for testing the wash resistance of a marine antifouling coating

Abstract

The application relates to the field of paint testing, in particular to a test method for the cleaning resistance of marine antifouling coatings. The test method provides an experimental device, which comprises a sample plate for coating, a groove for accommodating the sample plate, a brush disc, a driving device for driving the brush disc to rotate and move up and down, and a control system electrically connected with the driving device. The test method can reliably evaluate the cleaning resistance of the antifouling coating through steps such as artificial seawater immersion experiment, underwater cleaning experiment, coating detection and coating loss grade evaluation. The application can efficiently and reliably evaluate the cleaning resistance of the antifouling coating in a short time in a room, can provide scientific data support for the development and research of the antifouling coating, and can shorten the period from the laboratory development of the antifouling coating system to the actual application.

Description

Technical Field

[0001] This application relates to the field of coating testing, and in particular to a test method for the washability of marine antifouling coatings. Background Technology

[0002] The International Maritime Organization (IMO) guidelines MEPC.378(80) on the control and management of biofouling on ships were issued in 2023. Countries will continue to strengthen the control of biofouling to minimize the transfer of invasive aquatic species. Applying antifouling coatings to the underwater surfaces of ships is the most economical and commonly used method to prevent the attachment of fouling organisms. The lifespan of antifouling coatings is generally 3-5 years, and at most 7 years. If biofouling occurs on the antifouling coating during this period, according to the new guidelines, the ship may be very likely unable to enter the waters of its destination.

[0003] In recent years, with the development of mechanical automation and intelligence, the application of robots has become increasingly widespread. In the field of marine antifouling, the synergistic antifouling effect of antifouling coating materials and underwater cleaning robots can effectively extend the antifouling period of the coating. Therefore, this synergistic antifouling technology has become a research hotspot in the field of marine antifouling. Jotun, a Norwegian company, has developed a marine antifouling coating product specifically designed for use with the Jotun Hull Skater (hull cleaning robot). The coating film can withstand repeated contact and friction with the brush head.

[0004] The most effective method for evaluating the wash resistance of marine antifouling coatings is to conduct actual underwater cleaning tests using robots. However, this method is difficult and costly to implement, making it unsuitable for the early stages of research and development of antifouling coating products. Currently available accelerated laboratory evaluation methods for antifouling coating systems do not include the evaluation of wash resistance. The standard GB / T6822-2014, "Ship Hull Antifouling and Rust-Preventing Paint Systems," also lacks a test item for the wash resistance of antifouling coatings.

[0005] Chinese invention patent applications No. 202311173357.5, "A Polyurethane Clean-Resistant and Antifouling Coating Based on Oxime-Carbamate Bonds and Its Preparation Method," and No. 202311762908.1, "An Amino Silicone Oil Modified Polyaspartic Ester Polyurea Clean-Resistant and Antifouling Coating and Its Preparation Method," use a benchtop abrasion testing machine to conduct friction tests on the coatings to characterize the wear resistance of the antifouling coatings. This method evaluates the cleanability of the antifouling coating by weight loss, i.e., the difference in coating mass before and after the friction test. However, this method has the following drawbacks:

[0006] First, the grinding wheel of the benchtop abrasion tester is made of a material that differs significantly from the brush disc of the underwater cleaning robot, so the test results may not necessarily represent the cleaning effect of the underwater cleaning robot. Second, the antifouling coating is immersed in seawater in actual applications, and the mechanical properties of the immersed coating are significantly different from those of the unimmersed coating. Furthermore, the abrasion test is conducted in air, which is inconsistent with the underwater operating conditions of the underwater robot. Therefore, the above-mentioned laboratory evaluation methods have significant limitations and are clearly unsuitable for the actual application of antifouling coatings.

[0007] Chinese invention patent application No. 202310758951.4, entitled "A Clean-Resistant and Long-Lasting Antifouling Coating for the Surface of Marine Fixed Facilities and Its Preparation Method," mentions a "cleanability test method." This method primarily involves using a brush of the same size and material as those used in a cleaning robot to rub the soaked coating surface back and forth a specified number of times, then calculating the weight loss of the coating to evaluate its cleanability; the lower the weight loss, the better the cleanability. However, this method relies on manual rubbing, which introduces significant errors due to subjective factors. Furthermore, for some antifouling coating systems, the degree of weight loss does not correlate well with antifouling performance; even with low weight loss, the surface properties of the coating may change, leading to a significant decrease in antifouling performance. Summary of the Invention

[0008] To address the problems existing in the prior art, this application provides a method for testing the washability of marine antifouling coatings, the technical solution of which is as follows:

[0009] An experimental apparatus is provided, comprising a template for applying a coating, a tank for holding the template, a brush, a drive device for driving the brush to rotate and move up and down, and a control system electrically connected to the drive device; wherein the control system has display and control functions for controlling the operating status of the drive device and displaying the operating parameters of the drive device.

[0010] The testing method includes the following steps:

[0011] Coating sample: Apply an anti-fouling coating to the surface of the sample, and apply a non-abrasive coating to the center of the anti-fouling coating;

[0012] Artificial seawater immersion experiment: The coated sample was immersed in artificial seawater for a certain period of time;

[0013] Underwater cleaning experiment: The soaked sample was taken out and fixed in a tank filled with artificial seawater, so that the sample was immersed underwater; the experimental equipment was started, and the control system controlled the drive device to drive the brush plate, so that the brush plate moved directly above the sample and contacted the coating. The drive device was controlled to operate according to the set operating parameters, so that the brush plate rotated on the coating to clean the sample to form a cleaning area on the antifouling coating, and the cleaning area avoided the non-abrasive coating.

[0014] Coating inspection: Inspecting the surface condition indicators of the coating on the sample after underwater cleaning experiment; wherein, the surface condition indicators of the coating include one or more of the following indicators: coating loss thickness, coating surface roughness change, microscale wear level, and coating water contact angle change;

[0015] Coating loss rating: The cleaning resistance of the antifouling coating is evaluated by the surface condition index of the coating.

[0016] In some embodiments, the bristles on the bottom surface of the brush disk are annular, and the rotation axis of the brush disk coincides with the center of the bristles; the non-abrasive coating is circular, and the inner diameter of the annular bristles is larger than the diameter of the non-abrasive coating, so that when the brush disk contacts the coating of the sample, the center of the bristles coincides with the center of the non-abrasive coating, and the bristles are located on the periphery of the non-abrasive coating, so that the formed annular cleaning area avoids the non-abrasive coating.

[0017] In some embodiments, in the artificial seawater immersion experiment step, the sample is immersed in artificial seawater at a temperature of (23±2)℃ for n days; where n≥14.

[0018] In some embodiments, during the underwater cleaning test step, the inner diameter of the annular brush bristles is 40–60 mm, and the diameter of the circular non-abrasive coating is 10–20 mm. During the underwater cleaning test step, the driving device rotates according to set operating parameters; wherein, the operating parameters are set according to the type of antifouling coating and the type of robot, and include normal force, rotational speed, and cleaning time.

[0019] In some embodiments, during the coating detection step, after the underwater cleaning experiment is completed, the sample is removed, the sample surface is cleaned with tap water, and after the sample dries, its coating surface condition indicators are detected.

[0020] Regarding experimental equipment:

[0021] In some embodiments, the driving device includes a motor, a transmission rod, a lifting module, and a bracket for supporting the lifting module; wherein, the output end of the motor is connected to the brush disc via the transmission rod, the lifting module is connected to the motor, and the lifting module drives the motor to move up and down to move the brush disc up and down; the motor drives the transmission rod to rotate to rotate the brush disc; the motor has a built-in sensor, and the control system is connected to the motor and the sensor to control the operating status of the motor and display the operating parameters of the motor;

[0022] In some embodiments, the bottom surface of the tank is provided with an installation structure for fixing the template.

[0023] In some embodiments, the template has a plurality of positioning holes on its outer periphery, and the bottom of the groove has an installation structure, the installation structure including a planar protrusion, a rubber pad, and a pressure strip; wherein, the bottom of the groove has a planar protrusion for loading the template, and the pressure strip, the rubber pad, and the protrusion are respectively provided with a plurality of screw holes that match the positioning holes, and fasteners are sequentially inserted through the pressure strip, the template, the rubber pad, and the protrusion to fix the template to the bottom of the groove.

[0024] In some embodiments, the sample is a material that is not easily corroded or deformed; for example, a steel plate, a PVC plate, or other materials that are not easily corroded or deformed.

[0025] In some embodiments, the brush plate is made of one of nylon, steel wire, rubber, or sponge;

[0026] In some embodiments, the control system is a PC with display and control functions. The PC has a built-in motor control program and is connected to the motor and the sensors built into the motor to control the motor's operating status and display the operating parameters transmitted by the sensors.

[0027] For the detection of the coating loss thickness, the coating surface roughness change, and the microscale wear level index:

[0028] In some embodiments, the process of detecting one or more of the following indicators: coating loss thickness, coating surface roughness change, and microscale wear level, is as follows:

[0029] A performance testing device is provided, comprising an XY-axis moving sample stage for supporting and fixing the sample, a 3D scanning microscope disposed above the XY-axis moving sample stage, and a control system; wherein the relative position of the XY-axis moving sample stage and the 3D scanning microscope is adjustable; the control system is connected to the 3D scanning microscope and the XY-axis moving sample stage to control their operating status; the control system has a built-in automatic image stitching program and an XY-axis moving sample stage control program.

[0030] The process of detecting indicators includes the following steps:

[0031] S100. Adjust the position of the template and fix the template on the XY axis moving sample stage;

[0032] S200. Open the control system and set the coating scanning mode parameters through the image automatic stitching program. Set the scanning stitching method of a single coating detection area and set the stitching start position. Position the scanning stitching area of ​​the coating detection area by adjusting the relative position of the sample stage and the 3D scanning microscope along the XY axis.

[0033] The scanning splicing area of ​​each of the coating detection areas is a long strip with a length greater than the outer diameter of the cleaning area. The scanning splicing area extends radially from the center of the non-abrasive coating to the outer diameter of the cleaning area, so that the scanning splicing area covers the non-abrasive coating, the uncleaned anti-fouling coating area, and the cleaned anti-fouling coating area.

[0034] S300. After the 3D scanning microscope scans one coating detection area, the sample position is adjusted, and the 3D scanning microscope scans the second coating detection area; repeat the above steps until the M coating detection areas are tested.

[0035] S400, The control system obtains the detection data of the coating detection area, and analyzes the data to obtain one or more of the following indicators: coating loss thickness, coating surface roughness change, and microscale wear level.

[0036] In some embodiments, the XY-axis moving sample stage has positioning lines on its surface, and M pairs of marking lines are provided on both sides of the sample. The line connecting each pair of marking lines passes through the center of the non-abrasive coating and is in the same direction as the radial direction of the non-abrasive coating. In step S100, the position of the sample is adjusted so that the first pair of marking lines is aligned with the positioning lines, and the sample is fixed to the XY-axis moving sample stage. In step S300, after the 3D scanning microscope scans one coating detection area, the position of the sample is adjusted so that the second pair of marking lines on the sample is aligned with the positioning lines, and the 3D scanning microscope scans the second coating detection area. The above steps are repeated until the M coating detection areas are tested. Wherein, M≥3.

[0037] In some embodiments, during the data information analysis process, the calculation formula for the coating loss thickness index is: Coating loss thickness ΔH = Coating thickness of the uncleaned antifouling coating area - Coating thickness of the cleaned antifouling coating area;

[0038] The formula for calculating the coating surface roughness variation index is: Coating surface roughness variation ΔR z = Surface roughness of the antifouling coating in the cleaned area - Surface roughness of the antifouling coating in the uncleaned area;

[0039] The method for assessing the level of damage area is as follows:

[0040] Damage area level Damaged area, % 1 No visible damage 2 ≤1 3 ≤5 4 ≤10 5 >10

[0041] The formula for calculating the percentage of damaged area is: Percentage of damaged area = Measured damaged area in the antifouling coating cleaning area ÷ Cleaning area in the coating inspection area × 100%;

[0042] The method for assessing the size of damage is as follows:

[0043] Damage area level Damaged area, % 1 No visible damage 2 ≤1 3 ≤5 4 ≤10 5 >10

[0044] Wherein, the size of the damage is the maximum dimension of the damaged area;

[0045] The method for assessing the number and grade of cracks is as follows:

[0046] Crack quantity level <![CDATA[Number of cracks per unit area, mm / 100mm 2 > 1 No visible cracks 2 ≤5 3 ≤10 4 ≤20 5 ＞20

[0047] The number of cracks per unit area is: per unit area (100mm) 2 The cumulative length of cracks in the antifouling coating cleaning area;

[0048] The method for assessing the size of cracks is as follows:

[0049] Crack size rating Crack width, μm L1 No visible cracks L2 ≤10 L3 ≤30 L4 ≤50 L5 ＞50

[0050] Wherein, the crack width is the maximum width of the crack;

[0051] The microscale wear level is assessed using damage area level, damage size level, crack quantity level, and crack size level; the assessment method for the microscale wear level is as follows:

[0052]

[0053] For the detection of the coating water contact angle variation index:

[0054] In some embodiments, the process of detecting the coating water contact angle change index is as follows: providing a water contact angle measuring instrument; using the water contact angle measuring instrument to measure the coating water contact angle in the un-cleaned antifouling coating area and the coating water contact angle in the cleaned antifouling coating area; the calculation formula for the coating water contact angle change index is: coating water contact angle change ΔWCA = coating water contact angle in the un-cleaned antifouling coating area - coating water contact angle in the cleaned antifouling coating area.

[0055] Evaluation of the antifouling coating's resistance to cleaning:

[0056] In some embodiments, in the coating loss level assessment step, the coating loss level is assessed based on the coating surface condition index to evaluate the cleaning resistance of the antifouling coating.

[0057] For antifouling coatings that are abrasive or self-polishing, the coating wear level is assessed as follows:

[0058]

[0059] For antifouling coatings that are desorption-type antifouling paints, the coating wear level is assessed as follows:

[0060]

[0061] Based on the above, compared with the prior art, the test method for the cleaning resistance of marine antifouling coatings provided in this application has the following advantages:

[0062] The proposed solution can efficiently and reliably evaluate the cleaning resistance of antifouling coatings in a short time indoors, providing scientific data support for the research and development of antifouling coatings and shortening the cycle from laboratory development to practical application of antifouling coating systems.

[0063] Other features and beneficial effects of this application will be set forth in the following description and will be apparent in part from the description or may be learned by practicing the application. The objectives and other beneficial effects of this application may be realized and obtained by means of the structures particularly pointed out in the description, claims and drawings. Attached Figure Description

[0064] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Unless otherwise specified, the positional relationship of the drawings in the following description is based on the direction in which the components are drawn in the figure.

[0065] Figure 1 This is a schematic diagram of the structure of an experimental device provided in one embodiment of this application.

[0066] Figure 2 This is a schematic diagram of the internal structure of a water tank in an experimental apparatus provided in one embodiment of this application, in which a sample is installed. Figure 1 .

[0067] Figure 3 This is a schematic diagram of the internal structure of a water tank in an experimental apparatus provided in one embodiment of this application, in which a sample is installed. Figure 2 .

[0068] Figure 4 This is a side view of the brush disk structure in an experimental device provided in an embodiment of this application.

[0069] Figure 5 This is a schematic diagram of the bottom structure of the brush plate in an experimental device provided in one embodiment of this application.

[0070] Figure 6 This is a schematic diagram of the structure of a sample before cleaning provided in an embodiment of this application.

[0071] Figure 7 This is a schematic diagram of a sample structure provided in one embodiment of this application, which is placed on an XY-axis moving sample stage after cleaning.

[0072] Figure 8 This is a schematic diagram of the structure of a template provided in an embodiment of this application.

[0073] Figure 9 This is a schematic diagram of the structure of an index detection device provided in an embodiment of this application.

[0074] Figure 10 This is a schematic diagram of the detection splicing setup for Experiment 1 provided in this application.

[0075] Figure 11 This is a data analysis chart of Experiment 1 provided in this application.

[0076] Figure label:

[0077] 10. Index testing equipment; 400. XY-axis moving sample stage; 500. 3D scanning microscope; 600. Control system; 330. Positioning line; 20. Experimental equipment; 30. Sample; 31. Positioning hole; 32. Marking line; 40. Anti-fouling coating; 50. Non-abrasive coating; 41. Unwashed anti-fouling coating; 42. Cleaning area; 43. Coating testing area; 44. Coating before seawater immersion; 45. Coating before cleaning experiment; 2100. Tank; 2210. Support; 2220. Liftable module; 2230. Motor; 2240. Transmission rod; 2300. Brush plate; 2410. Planar protrusion; 2420. Rubber pad; 2430. Pressure strip; 2440. Fastener. Detailed Implementation

[0078] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. The technical features designed in the different implementations of this application described below can be combined with each other as long as they do not conflict with each other. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0079] In the description of this application, it should be noted that all terms used in this application (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains, and should not be construed as limiting this application; it should be further understood that the terms used in this application should be understood to have the same meaning as those in the context of this specification and the relevant field, and should not be understood in an idealized or overly formal sense, except as expressly defined in this application.

[0080] This application provides a specific embodiment of a test method for the wash resistance of marine antifouling coating 40, the scheme of which is as follows:

[0081] like Figure 1-8 As shown, an experimental device 20 is provided, which includes a sample 30 for applying a coating, a tank 2100 for accommodating the sample 30, a brush 2300, a drive device, and a control system 600.

[0082] The driving device includes a motor 2230, a transmission rod 2240, a lifting module 2220, and a bracket 2210 for supporting the lifting module 2220. The output end of the motor 2230 is connected to the brush disc 2300 via the transmission rod 2240. The lifting module 2220 is connected to the motor 2230, causing the lifting module to drive the motor 2230 to move up and down, thereby moving the brush disc 2300 up and down. The motor 2230 drives the transmission rod 2240 to rotate, thereby rotating the brush disc 2300. The motor 2230 has a built-in sensor. The control system 600 is connected to the motor 2230 and the sensor to control the operating status of the motor 2230 and display its operating parameters.

[0083] The bottom surface of the trough 2100 is provided with an installation structure for fixing the template 30.

[0084] The specific testing method includes the following steps:

[0085] S1, Painting Sample 30: (e.g.) Figure 6 As shown, an anti-fouling coating 40 is applied to the surface of the sample 30, and a non-abrasive coating is applied to the center of the anti-fouling coating 40 to form a circular non-abrasive coating 50 covering it.

[0086] S2. Artificial seawater immersion test: The coated sample 30 is immersed in artificial seawater at a temperature of (23±2)℃ for n days; where n≥14;

[0087] The preferred value is n=30; the artificial seawater is prepared in accordance with GB / T7790-2008.

[0088] S3. Underwater cleaning experiment:

[0089] S31. Take out the soaked sample 30 and fix it into the tank 2100 containing artificial seawater through the installation structure, so that the sample 30 is immersed in artificial seawater.

[0090] S32. Start the experimental equipment 20, and control the drive device through the control system 600 to drive the brush 2300, so that the brush 2300 moves directly above the sample 30 and comes into contact with the coating.

[0091] S33. The motor 2230 of the control drive device operates according to the set operating parameters, so that the brush disk 2300 rotates on the coating to clean the sample 30, thereby forming a cleaning area 42 on the anti-fouling coating 40.

[0092] Optionally, the operating parameters of motor 2230 are: normal force of 2-20N, speed of 100-2000rpm, and cleaning time of 5-60s. It should be noted that the operating parameters are set according to the type of anti-fouling coating 40 and the type of robot, including but not limited to the above operating parameter range; normal force refers to the force perpendicular to the plane of template 30.

[0093] The brush bristles on the bottom surface of the selected brush disk 2300 are annular, and the rotation axis of the brush disk 2300 (i.e., the rotation axis of the transmission rod 2240) coincides with the center of the bristles. The inner diameter of the annular bristles is larger than the diameter of the non-abrasive coating 50, so that when the brush disk 2300 contacts the coating of the sample 30, the center of the bristles coincides with the center of the non-abrasive coating 50, and the bristles are located on the periphery of the non-abrasive coating 50, so that the formed annular cleaning area 42 avoids the non-abrasive coating 50.

[0094] Optionally, the inner diameter of the selected annular bristles is 40-60 mm, and the diameter of the circular non-abrasive coating 50 is 10-20 mm.

[0095] S4. Coating inspection: Take out sample 30, wash the surface of sample 30 with tap water, and inspect the surface condition indicators of its coating after sample 30 is dry.

[0096] The coating surface condition indicators include one or more of the following: coating loss thickness, coating surface roughness change, microscale wear level, and coating water contact angle change.

[0097] S5. Coating loss level assessment: The cleaning resistance of the antifouling coating 40 is evaluated by the coating surface condition index.

[0098] Specifically, in S4, the detection process for the coating loss thickness, the coating surface roughness change, and the microscale wear level index is as follows:

[0099] like Figure 9 As shown, an index detection device 10 is provided, which includes an XY-axis moving sample stage 400 for supporting and fixing the sample 30, a 3D scanning microscope 500 disposed above the XY-axis moving sample stage 400, and the control system 600.

[0100] The relative positions of the XY-axis moving sample stage 400 and the 3D scanning microscope 500 are adjustable; the control system 600 is connected to the 3D scanning microscope 500 and the XY-axis moving sample stage to control their operating status; the control system 600 has a built-in automatic image stitching program and an XY-axis moving sample stage 400 control program.

[0101] The XY-axis movable sample stage 400 has positioning lines 330 on its surface, and M pairs of marking lines 32 are provided on both sides of the sample 30. The line connecting each pair of marking lines 32 passes through the center of the non-abrasive coating 50 and is in the same direction as the radial direction of the non-abrasive coating 50. Preferably, M ≥ 3 lines.

[0102] The process of detecting indicators includes the following steps (for the specific scheme of scanning the coating detection area 43 with a 3D scanning microscope 500 and transmitting the data to the control system 600 for analysis, please refer to patent ZL 202210593273.6):

[0103] S100, such as Figure 7 As shown, adjust the position of the template 30 so that the first pair of marking lines 32 are aligned with the positioning line 330, and fix the template 30 to the table surface of the XY axis moving sample stage 400;

[0104] S200, turn on the control system 600, set the coating scanning mode parameters through the image automatic stitching program, set the scanning stitching method of the single coating detection area 43 and set the stitching start position, and locate the scanning stitching area of ​​the coating detection area 43 by adjusting the relative position of the XY axis moving sample stage 400 and the 3D scanning microscope 500.

[0105] Among them, such as Figure 7 As shown, the scanning splicing area of ​​each of the coating detection areas 43 is a long strip with a length greater than the outer diameter of the cleaning area 42. The scanning splicing area extends radially from the center of the non-abrasive coating 50 to the outer diameter of the cleaning area 42, so that the scanning splicing area covers the non-abrasive coating 50, the area of ​​the uncleaned anti-fouling coating 41, and the cleaning area 42 of the anti-fouling coating 40.

[0106] S300. After the 3D scanning microscope 500 scans one coating detection area 43, the position of the template 30 is adjusted so that the second pair of marking lines 32 of the template 30 are aligned with the positioning line 330, and the 3D scanning microscope 500 scans the second coating detection area 43. The above steps are repeated until the M coating detection areas 43 are tested.

[0107] For the specific parameter design in S200:

[0108] Optionally, the scanning mode of the coating detection area 43 can adopt the full coating scanning mode: according to the specific dimensions of the length and width of the coating detection area 43, the test start position (X,Y), the number of splicing columns and rows are set, and the scanning splicing area covers the non-abrasive coating 50, the area of ​​the uncleaned anti-fouling coating 41, and the cleaned area 42 of the anti-fouling coating 40 of a single coating detection area 43; according to the predetermined number M of coating detection areas 43 to be scanned, the number of scanning repetitions M and the number of pairs of marking lines 32 are set. After scanning each coating detection area 43, the next pair of marking lines 32 is re-aligned with the positioning line 330, and then the next coating detection area 43 can be scanned.

[0109] In specific operation, the full coating scanning mode can be selected in the automatic image stitching program. The automatic image stitching program can scan the thickness, roughness, damage, cracks and other information of each position in the coating detection area 43 at one time (especially the uncleaned anti-fouling coating area 41 and the cleaned anti-fouling coating area 42). The testing process can be fully automated.

[0110] S400, Data Information Analysis:

[0111] A 3D scanning microscope 500 scans the coating detection area 43 and transmits the information to a control system 600 connected thereto. The control system 600 obtains the detection data of the coating detection area 43 and, based on the detection data, analyzes the data to obtain one or more indicators, including coating loss thickness, coating surface roughness change, and microscale wear level.

[0112] The detection data obtained by the control system includes the coating thickness of the un-cleaned antifouling coating 41 area in the coating detection area 43, the coating thickness of the cleaned antifouling coating area 42, the surface roughness of the coating in the un-cleaned antifouling coating 41 area, the surface roughness of the coating in the cleaned antifouling coating area 42, the damaged area in the cleaned antifouling coating area 42, the area of ​​the cleaned area 42, the size of the damage in the cleaned antifouling coating area 42, the cumulative length of the cracks in the cleaned antifouling coating area 42, and the width of the cracks in the cleaned antifouling coating area 42.

[0113] The built-in automatic image stitching program in the control system 600 can automatically stitch images through the detection parameter settings in S200, detection data, and data information analysis. It can automatically generate image thickness information, image roughness information, image damage information, and image crack information for each area of ​​each coating detection area 43 (non-abrasive coating 50, uncleaned anti-fouling coating 41 area, and cleaned anti-fouling coating 40 area 42). In other words, the automatic image stitching program can be used to analyze data information to obtain coating loss thickness, coating surface roughness changes, and microscale wear level indicators.

[0114] The specific data analysis process, including the calculation and evaluation of coating loss thickness, coating surface roughness changes, and microscale wear level indicators, is based on the following:

[0115] (1) The formula for calculating the coating loss thickness index is:

[0116] Coating loss thickness ΔH = Coating thickness of the uncleaned antifouling coating 41 area - Coating thickness of the cleaned antifouling coating 40 area 42.

[0117] (2) The formula for calculating the surface roughness variation index of the coating is:

[0118] Coating surface roughness variation ΔR z =Surface roughness of the antifouling coating 40 in the cleaned area 42 - Surface roughness of the antifouling coating 41 in the uncleaned area.

[0119] (3) Microscale wear level assessment

[0120] The method for assessing the level of damage area is shown in Table 1 below:

[0121] Table 1

[0122] Damage area level Damaged area, % 1 No visible damage 2 ≤1 3 ≤5 4 ≤10 5 >10

[0123] Wherein, the percentage of damaged area = the damaged area in the cleaning area 42 of the antifouling coating 40 (which is the area within the coating inspection area 43) ÷ the area of ​​the cleaning area 42 in the coating inspection area 43 × 100%.

[0124] The method for assessing the size of damage is shown in Table 2 below:

[0125] Table 2

[0126] Damage size rating Damage size, mm S1 No visible damage S2 ≤0.3 S3 ≤0.5 S4 ≤1 S5 >1

[0127] Wherein, the size of the damage is the maximum dimension of the damaged area;

[0128] The method for assessing the number and grade of cracks is shown in Table 3 below:

[0129] Table 3

[0130] Crack quantity level <![CDATA[Number of cracks per unit area, mm / 100mm 2 > 1 No visible cracks 2 ≤5 3 ≤10 4 ≤20 5 ＞20

[0131] The number of cracks per unit area is: per unit area (100mm) 2 The cumulative length of cracks in the cleaning area 42 of the anti-fouling coating 40 (measured within the coating inspection area 43).

[0132] The method for assessing crack size is shown in Table 4 below:

[0133] Table 4

[0134] Crack size rating Crack width, μm L1 No visible cracks L2 ≤10 L3 ≤30 L4 ≤50 L5 ＞50

[0135] Wherein, the crack width is the maximum width of the crack;

[0136] The microscale wear level is evaluated using damage level and crack level, as shown in Table 5 below;

[0137] Table 5

[0138]

[0139] It should be noted that in Table 5, when the ratings from best to worst among the four individual grades are inconsistent, the worst grade is taken as the final microscale wear grade. For example, if the damage area grade of 2 is rated as good, the damage size grade of S3 is rated as medium, the number of cracks grade of 2 is rated as good, and the crack size grade of L2 is rated as good, then the worst grade among the four grades is taken as the final microscale wear grade.

[0140] Specifically, in S4, the detection process for the coating water contact angle change index is as follows:

[0141] The process of detecting the change index of the coating water contact angle is as follows: a water contact angle measuring instrument is provided; the water contact angle of the coating in the area where the antifouling coating 41 has not been cleaned is measured using the water contact angle measuring instrument, and the water contact angle of the coating in the area 42 where the antifouling coating 40 has been cleaned is measured.

[0142] The formula for calculating the coating water contact angle variation index is as follows:

[0143] The change in water contact angle of the coating ΔWCA = the water contact angle of the coating in the area of ​​the uncleaned antifouling coating 41 - the water contact angle of the coating in the cleaned area of ​​the antifouling coating 40 42.

[0144] Specifically, in S5, the method for evaluating the wash resistance of the antifouling coating 40 is as follows:

[0145] In the coating loss level assessment step, the coating loss level is assessed based on the coating surface condition index to evaluate the cleaning resistance of the antifouling coating 40. It should be noted that the coating loss level assessment method can be directly set in the control system 600 for data processing, or the coating loss level can be assessed manually based on the coating surface condition index.

[0146] The specific method for evaluating coating loss levels is as follows:

[0147] (1) For antifouling coating 40, which is an abrasive or self-polishing type antifouling paint, the coating loss level assessment method is shown in Table 6:

[0148] Table 6

[0149]

[0150] (2) For antifouling paints that are prone to desorption, the coating loss rating is assessed as shown in Table 7:

[0151] Table 7

[0152]

[0153] Table 6-7 above shows the coating wear level assessment. For self-polishing or abrasive antifouling paints, the coating wear level assessment requires consideration of three items: coating wear thickness, coating surface roughness, and microscale abrasion level. For fouling-desorption antifouling paints, the coating wear level assessment requires consideration of three items: coating surface roughness, microscale abrasion level, and coating water contact angle.

[0154] It should be noted that:

[0155] In Table 6-7, when the ratings from best to worst among the three individual grades are inconsistent, the worst grade is taken as the final coating loss grade. For example, if the coating loss thickness ΔH≤1μm is rated as good, the coating surface roughness change ≤25μm is rated as medium, and the micro-scale wear grade is rated as good, then the worst grade among the three is taken as the final coating loss grade.

[0156] For newly developed antifouling paints that are not abrasive, self-polishing, or desiccation-removing, relevant test items can be selected from the four categories as appropriate, or corresponding test items can be added according to the characteristics of the newly developed antifouling paint.

[0157] In addition, the components of the above-mentioned experimental equipment 20 and index detection equipment 10 can be designed with the following structural features:

[0158] (1) For the components of experimental equipment 20:

[0159] Optionally, the sample 30 is a material that is not easily corroded or deformed; for example, a steel plate, a PVC plate, or other materials that are not easily corroded or deformed.

[0160] Optionally, the template 30 has several positioning holes 31 on its outer periphery, and the bottom of the groove 2100 has an installation structure, which includes a planar protrusion 2410, a rubber pad 2420, and a pressure strip 2430. The bottom of the groove 2100 has a planar protrusion 2410 for loading the template 30, and the pressure strip 2430, rubber pad 2420, and protrusion each have several screw holes matching the positioning holes 31. Fasteners 2440 are sequentially inserted through the pressure strip 2430, template 30, rubber pad 2420, and protrusion to fix the template 30 to the bottom of the groove 2100. The positioning holes 31 and installation structure are designed on the outer periphery of the template 30 to avoid obstructing coating inspection.

[0161] Optionally, the brush plate 2300 is made of one of nylon, steel wire, rubber, or sponge. It should be noted that the material of the brush plate 2300 in the experimental equipment 20 can be adjusted slightly according to the actual brush material of the underwater robot, including but not limited to the materials mentioned above.

[0162] (2) For indicator testing equipment 10:

[0163] Optionally, the control system 600 is a PC with a built-in automatic image stitching program, which can be integrated with the control system 600 of the experimental equipment 20 on the same PC, that is, a PC with a built-in automatic image stitching program and a built-in motor control program can be selected.

[0164] Optionally, the 3D scanning microscope 500 has a Z-axis optical resolution ≤0.10μm, an X-axis optical resolution ≤2.0μm, and a Y-axis optical resolution ≤2.0μm; and its scanning mode is one or more combinations of white light interference, phase interference, confocal, fusion confocal, and focal plane superposition.

[0165] It should be noted that:

[0166] In this embodiment, the positioning lines 330 of the XY-axis moving sample stage 400 and the marking lines 32 of the sample 30 are designed to work together, allowing the position of the sample 30 to be manually rotated to change the detection area. Based on the above design concept, a rotary table electrically connected to the control system 600 can also be designed above the XY-axis moving sample stage 400. The sample 30 is then placed on the rotary table, and by controlling parameters such as the rotation angle and rotation interval, the 3D scanning microscope 500, in conjunction with the rotary table on the XY-axis moving sample stage 400, can scan multiple detection areas one by one.

[0167] This application also provides the following implementation experiments and comparative experiments:

[0168] Six commercially available antifouling coatings were selected and tested using a 40-system approach: “Commercial Sample A”, “Commercial Samples B1 and B2”, “Commercial Sample C”, and “Commercial Samples D1 and D2”.

[0169] Commercially available sample A is an abrasive copper-containing antifouling coating; commercially available samples B1 and B2 are self-polishing copper-containing antifouling coatings; commercially available sample C is a self-polishing copper-free antifouling coating; and commercially available samples D1, D2, and D3 are desorption antifouling coatings.

[0170] The experimental procedure is as follows:

[0171] (1) Preparation of template 30

[0172] Prepare a 250mm*250mm*3mm steel plate, and sandblast the surface to Sa.2.5 grade. Apply an air spray coating: one coat of epoxy anti-rust primer (100μm thickness); one coat of intermediate coat (80μm thickness); and two coats of antifouling coating (250μm thickness). After the antifouling coating has fully dried for 40 minutes, proceed as follows... Figure 6 The diagram illustrates how, in a process where the center of the antifouling coating 40 is covered with tape to create an exposed area, a chlorinated rubber topcoat is then sprayed onto the exposed area to form a circular cover layer with a diameter of 20 mm, serving as the non-abrasive coating 50. After the non-abrasive coating 50 has surface-dried, the tape is removed, and the sample 30 is obtained after the non-abrasive coating 50 has fully dried. Five parallel samples are prepared for each type of antifouling coating.

[0173] (2) Evaluation of the coating's resistance to cleaning

[0174] Comparative Experiment 1:

[0175] The method described in Chinese invention patent application No. 202311173357.5 was used to test the cleaning resistance of the coating. The test method is as follows: the samples 30 of "commercial sample A", "commercial sample B1, B2", "commercial sample C" and "commercial sample D1, D2, D3" were subjected to friction test respectively. The turntable speed was set to 60 rpm and the cycle was 500 times. The weight loss was expressed as the difference in the quality of the coating before and after.

[0176] Comparative Experiment 2:

[0177] The method described in Chinese invention patent application No. 202310758951.4 was used to test the washability of the coating. The test method is as follows: Samples 30 of "commercial sample A", "commercial samples B1, B2", "commercial sample C" and "commercial samples D1, D2, D3" were immersed in artificial seawater for 30 days, then removed, and the surface water droplets were gently absorbed with wiping paper and weighed. M 0.

[0178] After rubbing the surface back and forth a specified number of times with bristles, rinse the surface with artificial seawater, gently absorb the water droplets with wiping paper, and weigh it. M w Using weight loss M 0- M w "This represents the cleaning resistance; the higher the value, the worse the cleaning resistance. The bristles are made of the same material as the brush disc 2300 used in Experiment 1 of this application."

[0179] Experiment 1 was conducted:

[0180] Step 1:

[0181] Four types of samples, namely “commercial sample A”, “commercial samples B1 and B2”, “commercial sample C”, and “commercial samples D1, D2 and D3”, were placed in artificial seawater at a temperature of 23±2℃. After 30 days of soaking, the samples were taken out and an underwater cleaning experiment was conducted.

[0182] Step 2:

[0183] The sample 30 is fixed into the tank 2100 of the experimental equipment 20 (the tank 2100 is filled with artificial seawater). The brush 2300 is moved to directly above and in contact with the coating via the lifting module 2220. The control system 600 is then activated, and the parameters of the motor 2230 are set via the motor control program to clean the sample 30. The motor 2230 parameters are: normal force 8.0 N, rotation speed 250 rpm, and cleaning time 10 s.

[0184] The inner diameter of the selected annular brush bristles is 40mm, and the diameter of the circular non-abrasive coating 50 is 10mm.

[0185] Step 3:

[0186] After the underwater cleaning experiment, sample 30 was removed, its surface was rinsed with tap water, and dried for 3 days at an ambient temperature of (23±2)℃ and a relative humidity of (50±5)%. The surface condition indicators of the coating were then tested. These indicators included coating thickness loss, surface roughness variation, microscale wear level, and water contact angle variation.

[0187] 1. Detection of coating loss thickness, coating surface roughness, and microscale wear level:

[0188] 1) Referring to the testing method described in the above embodiment, place the sample 30 after the cleaning test on the table surface of the XY-axis moving sample stage 400. During the installation process, adjust the first pair of marking lines 32 on the side of the sample 30 to align with the positioning lines 330 on the table surface of the XY-axis moving sample stage 400 (see...). Figure 7 , Figure 8 There are 3 pairs of marking lines 32 on the side of the sample 30, meaning that only 3 coating inspection areas 43 are scanned.

[0189] 2) Detection was performed using a 3D scanning microscope 500:

[0190] like Figure 7 As shown, the coating detection area 43 of the 3D scanning microscope 500 is set to be elongated, with a length of 10cm, penetrating the non-abrasive coating 50 and extending radially from both ends of the center of the non-abrasive coating 50 to the outer diameter of the cleaning area 42. An automatic image stitching program is opened on a computer, wherein the 3D scanning microscope 500 uses a confocal scanning mode.

[0191] 3D Scanning Microscope 500 parameter settings: 5x confocal lens, vertical (Z-axis) resolution of 75nm, X and Y-axis optical resolution of 0.93μm.

[0192] The coating scanning mode parameters are set using an automatic image stitching program, and the stitching settings parameters are detected as follows: Figure 10 As shown: the stitching start position is set to (X, Y) as (-0.0000, -0.0000), the number of stitching columns is 4, the number of stitching rows is 33, and the coating size of the stitching area is 99.99mm*10.70mm (i.e., the coating detection area size 43). The scanning time under this program is 10 minutes and 24 seconds;

[0193] After the 3D scanning microscope 500 scans one coating detection area 43, it adjusts the second pair of marking lines 32 on the side of the sample 30 and the positioning lines 330 on the table surface of the XY axis moving sample stage 400 to be aligned. The 3D scanning microscope 500 then scans the second coating, and so on, until all three coatings are tested. All detection items are tested in the three coatings, and the average value of the three coatings is taken.

[0194] 3) Obtain the coating loss thickness, the coating surface roughness change, and the microscale wear level index:

[0195] The control system 600 obtains the detection data of the coating detection area 43, and analyzes the data to obtain one or more indicators among the coating loss thickness, the coating surface roughness change, and the microscale wear level.

[0196] The 3D scanning microscope 500 scans the coating detection area 43 and transmits the information to the connected control system 600. The built-in automatic image stitching program automatically stitches and generates image information for each region of the coating detection area 43, such as... Figure 11As shown, the control system 600 generates a data analysis chart, which displays information about each area: the area of ​​the untreated antifouling coating 41, the cleaned area 42, the coating 44 before seawater immersion, and the coating 45 before the cleaning experiment.

[0197] The specific data analysis process, including the calculation and evaluation of coating loss thickness, coating surface roughness change, and microscale wear level index, is the same as described in the above embodiments.

[0198] 2. Coating water contact angle variation index

[0199] The water contact angle measuring instrument is used to measure the water contact angle of the untreated antifouling coating 41 area and the water contact angle of the cleaned antifouling coating 42 area, and to obtain the coating water contact angle change index.

[0200] Step 4:

[0201] The coating loss level is assessed based on the coating surface condition indicators to evaluate the cleaning resistance of the antifouling coating 40. The specific assessment criteria are the same as those described in the above embodiments.

[0202] Experiment 2 was conducted:

[0203] The only difference from Experiment 1 is the parameters of the 2230 motor: normal force: 2.5N, speed: 250rpm, and cleaning time: 10s. The rest of the steps are the same as Experiment 1.

[0204] Experiment 3 was conducted.

[0205] The only difference from Experiment 1 is the parameters of the 2230 motor: normal force: 8.0N, speed: 700rpm, and cleaning time: 10s. The rest of the steps are the same as Experiment 1.

[0206] Analysis of Experimental and Comparative Experiment Results

[0207] The evaluation results of the experimental and control experiments are shown in Table 8-10 below:

[0208] Table 8 Evaluation Results of Coating Cleanability 1

[0209]

[0210] Table 9. Evaluation Results of Coating Cleanability 2

[0211]

[0212] Table 10 Results of the antifouling performance verification test of the coating after cleaning experiment

[0213]

[0214] The antifouling performance tests in Table 10 are verification tests. After the cleaning experiment, the antifouling performance of the samples was tested according to the shallow sea immersion test method for antifouling paint samples in GB / T 5370-2007. No fouling organisms grew on the unwashed areas of any of the test samples.

[0215] For self-polishing or abrasive antifouling coatings (samples A, B1, B2, C), the surface roughness ΔRz (μm) and microscale wear level of the coatings in Experiment 1 were not bad. However, their antifouling effectiveness was most closely related to the coating thickness; that is, the greater the coating thickness loss during each underwater cleaning, the more easily the coating would fail. During a period of high marine biodiversity, after one underwater robotic cleaning, the coating could still maintain good antifouling performance because its thickness remained within the effective range of its antifouling performance.

[0216] For antifouling coatings of the desorption type (D1, D2, D3), since their antifouling performance is related to the surface properties of the coating, after one underwater robot cleaning during a period of high marine biodiversity, the coating surface will be damaged, and the antifouling performance will be affected.

[0217] The antifouling performance (%) is calculated as: (Soiled area of ​​cleaning zone 42) ÷ (Area of ​​cleaning zone 42) × 100%. The higher the value, the worse the antifouling performance.

[0218] In summary, compared with the prior art, the test method for the cleaning resistance of marine antifouling coating 40 provided in this application has the following design concept and beneficial effects:

[0219] This application provides an experimental and testing device and evaluation method for the wash resistance of a marine antifouling coating 40. It enables a reliable assessment of the wash resistance of the antifouling coating 40 in a short time within the laboratory, providing scientific data support for the research and development of the antifouling coating 40 and shortening the cycle from laboratory development to practical application of the antifouling coating 40 system. The design concept is as follows:

[0220] a) Simulate the actual application environment using artificial seawater immersion experiments.

[0221] The antifouling coating 40 is applied in seawater. Compared with the coating that is not immersed in seawater, the surface state of the coating will change after being immersed in seawater. For example, after the antifouling coating 40 containing antifouling agent is immersed in seawater, as the antifouling agent and other pigments and fillers desorb and dissolve, an exudate layer will be generated on the surface of the coating. At this time, the surface state of the coating changes significantly compared with the initial surface state without being immersed in seawater. Therefore, artificial seawater immersion experiments are used to simulate the actual application environment of the antifouling coating 40.

[0222] b) An underwater cleaning experiment was conducted using experimental equipment 20 to simulate the actual working environment of an underwater robot.

[0223] The actual working environment of underwater robots is also in seawater. Compared with working in the air, the underwater robot's brush head has different effects on the underwater coating, the cleaning force, and the cleaning efficiency. Therefore, experimental equipment 20 is used to conduct underwater cleaning experiments to simulate the actual working environment of underwater robots.

[0224] c) A 3D scanning microscope 500 is used for inspection to obtain information on multiple coatings in a single, non-destructive manner.

[0225] By designing the brush head of experimental equipment 20, the sample 30, and the parameters of the 3D scanning microscope 500, the testing steps for coating thickness are greatly simplified. Moreover, this test is a non-destructive test. After the test, the sample 30 can continue to be tested. Using the 3D scanning microscope 500, information on coating loss thickness, coating surface roughness, and microscale wear level can be obtained. The test is accurate and efficient.

[0226] d) The cleaning resistance of the antifouling coating 40 was evaluated using the coating loss rating method.

[0227] The application environment of antifouling coating 40 is special, and different types of antifouling coating 40 vary greatly. Using a single index to evaluate the cleaning resistance of antifouling coating 40 often results in overlooking other aspects. By combining the above multiple test indicators, the coating loss level evaluation method can reliably and efficiently evaluate the cleaning resistance of antifouling coating 40.

[0228] Beneficial effects:

[0229] This application method evaluates the wash resistance of the antifouling coating 40 through artificial seawater immersion experiments, underwater cleaning experiments, coating testing, and coating loss level assessment. Its main advantage is that it allows for a reliable and efficient assessment of the wash resistance of the antifouling coating 40 in a short time within the laboratory, providing scientific data support for the research and development of the antifouling coating 40 and shortening the cycle from laboratory development to practical application of the antifouling coating 40 system.

[0230] It should be noted that:

[0231] Although this document frequently uses terms such as tank, bracket, lifting module, motor, transmission rod, and brush plate, the possibility of using other terms is not excluded. These terms are used merely for the convenience of describing and explaining the essence of this application; interpreting them as any kind of additional limitation would contradict the spirit of this application. The terms "first," "second," etc. (if present) in the description, claims, and accompanying drawings of the embodiments of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0232] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A method for testing the washability of marine antifouling coatings, characterized in that: An experimental apparatus is provided, comprising a template for applying a coating, a tank for holding the template, a brush, a drive device for driving the brush to rotate and move up and down, and a control system electrically connected to the drive device; wherein the control system has display and control functions for controlling the operating status of the drive device and displaying the operating parameters of the drive device. The testing method includes the following steps: Coating sample: Apply an anti-fouling coating to the surface of the sample, and apply a non-abrasive coating to the center of the anti-fouling coating; Artificial seawater immersion experiment: The coated sample was immersed in artificial seawater for a certain period of time; Underwater cleaning experiment: The soaked sample was taken out and fixed in a tank filled with artificial seawater, so that the sample was immersed underwater; the experimental equipment was started, and the control system controlled the drive device to drive the brush plate, so that the brush plate moved directly above the sample and contacted the coating. The drive device was controlled to operate according to the set operating parameters, so that the brush plate rotated on the coating to clean the sample to form a cleaning area on the antifouling coating, and the cleaning area avoided the non-abrasive coating. Coating inspection: Inspecting the surface condition indicators of the coating on the sample after underwater cleaning experiment; wherein, the surface condition indicators of the coating include one or more of the following indicators: coating loss thickness, coating surface roughness change, microscale wear level, and coating water contact angle change; Coating loss rating: The cleaning resistance of the antifouling coating is evaluated by the surface condition index of the coating. The microscale wear level is assessed using damage area level, damage size level, crack quantity level, and crack size level; the assessment method for the microscale wear level is as follows:

2. The test method for the cleaning resistance of marine antifouling coatings according to claim 1, characterized in that: The driving device includes a motor, a transmission rod, a lifting module, and a bracket for supporting the lifting module. The output end of the motor is connected to the brush disc via the transmission rod, and the lifting module is connected to the motor, enabling the lifting module to move the motor up and down to move the brush disc up and down. The motor drives the transmission rod to rotate, thereby rotating the brush disc. The motor has a built-in sensor, and the control system is connected to the motor and the sensor to control the motor's operating status and display its operating parameters. The bottom surface of the trough is provided with an installation structure for fixing the template.

3. The test method for the cleaning resistance of marine antifouling coatings according to claim 1, characterized in that: The bristles on the bottom surface of the brush disk are circular, and the rotation axis of the brush disk coincides with the center of the bristles. The non-abrasive coating is circular, and the inner diameter of the annular brush bristles is larger than the diameter of the non-abrasive coating, so that when the brush disk contacts the coating of the sample, the center of the brush bristles coincides with the center of the non-abrasive coating, and the brush bristles are located on the periphery of the non-abrasive coating, so that the formed annular cleaning area avoids the non-abrasive coating.

4. The test method for the cleaning resistance of marine antifouling coatings according to claim 3, characterized in that: In the artificial seawater immersion experiment, the sample is immersed in artificial seawater at a temperature of (23±2)℃ for n days; where n≥14; In the underwater cleaning test step, the inner diameter of the annular brush bristles is 40-60 mm, and the diameter of the circular non-abrasive coating is 10-20 mm. In the underwater cleaning experiment, the drive device rotates according to the set operating parameters; wherein, the operating parameters are set according to the type of antifouling coating and the type of robot, and the operating parameters include normal force, rotation speed and cleaning time; In the coating testing step, after the underwater cleaning experiment is completed, the sample is taken out, the surface of the sample is cleaned with tap water, and after the sample dries, its coating surface condition indicators are tested.

5. The test method for the cleaning resistance of marine antifouling coatings according to claim 3, characterized in that: The process of detecting one or more of the following indicators: coating loss thickness, coating surface roughness change, and microscale wear level is as follows: A performance testing device is provided, comprising an XY-axis moving sample stage for supporting and fixing the sample, a 3D scanning microscope disposed above the XY-axis moving sample stage, and a control system; wherein the relative position of the XY-axis moving sample stage and the 3D scanning microscope is adjustable; the control system is connected to the 3D scanning microscope and the XY-axis moving sample stage to control their operating status; the control system has a built-in automatic image stitching program and an XY-axis moving sample stage control program. The process of detecting indicators includes the following steps: S100. Adjust the position of the template and fix the template on the XY axis moving sample stage; S200. Open the control system and set the coating scanning mode parameters through the image automatic stitching program. Set the scanning stitching method of a single coating detection area and set the stitching start position. Position the scanning stitching area of ​​the coating detection area by adjusting the relative position of the sample stage and the 3D scanning microscope along the XY axis. The scanning splicing area of ​​each of the coating detection areas is a long strip with a length greater than the outer diameter of the cleaning area. The scanning splicing area extends radially from the center of the non-abrasive coating to the outer diameter of the cleaning area, so that the scanning splicing area covers the non-abrasive coating, the uncleaned anti-fouling coating area, and the cleaned anti-fouling coating area. S300. After the 3D scanning microscope scans one coating detection area, the sample position is adjusted, and the 3D scanning microscope scans the second coating detection area; repeat the above steps until the M coating detection areas are tested. S400, The control system obtains the detection data of the coating detection area, and analyzes the data to obtain one or more of the following indicators: coating loss thickness, coating surface roughness change, and microscale wear level.

6. The test method for the cleaning resistance of marine antifouling coatings according to claim 5, characterized in that: The XY-axis moving sample stage has positioning lines on its surface, and M pairs of marking lines are provided on both sides of the sample. The line connecting each pair of marking lines passes through the center of the non-abrasive coating and is in the same direction as the radial direction of the non-abrasive coating. In step S100, the position of the template is adjusted so that the first pair of marking lines are aligned with the positioning lines, and the template is fixed to the table surface of the XY axis moving sample stage. In step S300, after the 3D scanning microscope scans one coating detection area, the sample position is adjusted so that the second pair of marking lines on the sample are aligned with the positioning lines, and the 3D scanning microscope scans the second coating detection area; the above steps are repeated until M coating detection areas are tested; wherein, M≥3.

7. The test method for the cleaning resistance of marine antifouling coatings according to claim 6, characterized in that: During the data information analysis process, the calculation formula for the coating loss thickness index is: Coating loss thickness ΔH = Coating thickness of the uncleaned antifouling coating area - Coating thickness of the cleaned antifouling coating area; The formula for calculating the coating surface roughness variation index is: Coating surface roughness variation ΔR z = Surface roughness of the antifouling coating in the cleaned area - Surface roughness of the antifouling coating in the uncleaned area; The method for assessing the level of damage area is as follows: The formula for calculating the percentage of damaged area is: Percentage of damaged area = Measured damaged area in the antifouling coating cleaning area ÷ Cleaning area in the coating inspection area × 100%; The method for assessing the size of damage is as follows: Wherein, the size of the damage is the maximum dimension of the damaged area; The method for assessing the number and grade of cracks is as follows: Wherein, the number of cracks per unit area is: the cumulative length of cracks in the antifouling coating cleaning area per unit area; The method for assessing the size of cracks is as follows: Wherein, the crack width is the maximum width of the crack.

8. The test method for the cleaning resistance of marine antifouling coatings according to claim 1, characterized in that: The process for detecting the change in the water contact angle of the coating is as follows: Provide a water contact angle measuring instrument; The water contact angle measuring instrument was used to measure the water contact angle of the coating in the area where the antifouling coating was not cleaned and the water contact angle of the coating in the area where the antifouling coating was cleaned. The formula for calculating the coating water contact angle change index is: Coating water contact angle change ΔWCA = Coating water contact angle in the un-cleaned antifouling coating area - Coating water contact angle in the cleaned antifouling coating area.

9. The test method for the cleaning resistance of marine antifouling coatings according to claim 1, characterized in that: In the coating loss level assessment step, the coating loss level is assessed based on the coating surface condition index to evaluate the cleaning resistance of the antifouling coating. For antifouling coatings that are abrasive or self-polishing, the coating wear level is assessed as follows: For antifouling coatings that are desorption-type antifouling paints, the coating wear level is assessed as follows:

10. The test method for the cleaning resistance of the marine antifouling coating according to claim 1, characterized in that: The sample is a type of board that is not easily corroded or deformed; And / or, the template is provided with a plurality of positioning holes on its outer periphery, and the bottom of the groove is provided with an installation structure, the installation structure including a planar protrusion, a rubber pad, and a pressure strip; wherein, the bottom of the groove is provided with a planar protrusion for loading the template, and the pressure strip, the rubber pad, and the protrusion are respectively provided with a plurality of screw holes that match the positioning holes, and fasteners are sequentially inserted through the pressure strip, the template, the rubber pad, and the protrusion to fix the template to the bottom of the groove; And / or, the material of the brush disc is one of nylon, steel wire, rubber, and sponge; And / or, the control system is a PC with display and control functions, the PC has a built-in motor control program, and the PC is connected to the motor and the sensors built into the motor to control the operating status of the motor and display the operating parameters transmitted by the sensors.

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