Ship ballast water outlet docking device and mobile ballast water treatment ship thereof

Abstract

The ship ballast water sea outlet docking device comprises a device body, a crawling arm set, a motor set and a camera, the device body is provided with a through connecting port, the two ends of the device body are suitable for being connected with a pipe body and a sea outlet of a ship body, the crawling arm set is arranged on the device body and can drive the device body to move, and the motor set is arranged on crawling arms and can drive the device body to move. The rotation of the crawling arms is accurately controlled through the motor set, accurate movement and positioning of the device body can be achieved, it is ensured that a connector can be accurately in butt joint with a ship body sea outlet and a pipe body, the success rate and efficiency of butt joint are improved, and the labor intensity of workers is reduced. And the problems of ballast water leakage and the like caused by inaccurate butt joint are reduced.

Description

Technical Field

[0001] This application relates to the technical field of ship ballast water treatment, and particularly relates to a ship ballast water outlet docking device and a mobile ballast water treatment ship. Background Art

[0002] Ocean shipping is one of the main ways of global trade logistics. Approximately 90% of international trade goods are transported by ocean freighters. Ballast water refers to the seawater added to a ship to control the ship's trim, list, draft, stability, or stress. During the process of loading goods on a ship, it is often necessary to discharge or inhale fresh water or seawater in order to adjust the ship's draft and stability in real time and ensure the safe and stable operation of the ship. Seawater in different sea areas contains different types of marine organisms. When a ship adds and discharges ballast water, it will bring local marine organisms to the sea area of the cargo destination, thus causing biological pollution to the local marine environment and disrupting the ecological balance. Approximately 5 billion tons of ship ballast water are transported annually, and more than 3,000 species of animals and plants can be transported to different sea areas around the world with ballast water every day. Depending on the size and use of the ship, each ship can carry hundreds of liters to more than 100,000 tons of ballast water, which leads to the invasion and massive reproduction and spread of alien marine organisms in local waters, disrupting the ecological balance of local waters, endangering fishery resources, and affecting public health. Ballast water organisms are unlike oil pollutants, which can be removed or absorbed by the ocean. Once they invade and settle in local waters, they are almost impossible to eliminate. The Global Environment Facility has listed the introduction of harmful organisms into new environments by ships through ballast water and its impact as one of the four major hazards to the ocean.

[0003] Traditional treatment methods rely on crew members to manually connect pipes, that is, to extend the connecting hose into the engine room through the engine room skylight hole and then connect it to the outlet of the ballast pump. This docking method has a long connecting pipe and a complex environment in the engine room, so the operation is difficult. Moreover, the lift of some ballast pumps is limited and the discharge pressure may not be sufficient. Therefore, there is an urgent need for a remotely controlled underwater docking device that can move autonomously, directly dock with the existing ballast water outlet without modification, and is safe and reliable. Summary of the Invention

[0004] To solve the problem of the traditional difficulty in connecting with the outlet of a cargo ship, the present invention provides a ship ballast water outlet docking device, including: a device main body, a crawling arm group, a motor group, and a camera;

[0005] The device main body is provided with a through connection port, and both ends are respectively adapted to connect a pipe body and the outlet of the ship's hull;

[0006] The crawling arm group is arranged on the device main body and can drive the device main body to move;

[0007] The motor group is arranged on the crawling arm and controls the rotation of the crawling arm group;

[0008] The camera group is arranged on the device main body and is suitable for communicating and connecting with a computer terminal.

[0009] In a possible implementation manner, the device main body is a plate-like structure with a preset thickness, and the cross-section is circular;

[0010] The connection port is opened on the plate surface of the device main body, with a flange at the top, suitable for connecting a pipe body, and a rubber bell mouth at the bottom, suitable for abutting against the outlet of the ship hull.

[0011] In a possible implementation manner, the crawling arm group includes a plurality of crawling arms, and the plurality of crawling arms are arranged at intervals along the circumferential direction of the device main body.

[0012] In a possible implementation manner, the crawling arm includes a first crawling arm and a second crawling arm. The first crawling arm is hinged to the edge position of the device main body, the second crawling arm is hinged to the end of the first crawling arm, and the rotation direction of the second crawling arm is the same as that of the first crawling arm;

[0013] Among them, the motor group includes a hip joint motor and a knee joint motor. The hip joint motor is arranged at the connection position between the first crawling arm and the device main body to control the rotation of the first crawling arm relative to the device main body. The knee joint motor is arranged at the connection position between the second crawling arm and the first crawling arm to control the rotation of the second crawling arm relative to the first crawling arm.

[0014] In a possible implementation manner, both the hip joint motor and the knee joint motor are provided with communication modules, and the communication modules are suitable for communicating and connecting with a computer terminal to control the rotation of the first crawling arm and the second crawling arm.

[0015] In a possible implementation manner, it further includes an electromagnetic crawling foot and a cable;

[0016] The electromagnetic crawling foot is an electromagnetic chuck and is arranged at the end of the second crawling arm;

[0017] One end of the cable is electrically connected to the electromagnetic crawling foot, the hip joint motor and the knee joint motor, and the other end is suitable for connecting to a power source.

[0018] In a possible implementation manner, it further includes a foot joint bearing;

[0019] The foot joint bearing is arranged on the electromagnetic crawling foot, one end is hinged to the end of the second crawling arm, and the other end is a universal bearing with a spherical structure and is connected to the electromagnetic crawling foot.

[0020] In a possible implementation, the camera group includes a first camera and a second camera;

[0021] The first camera is disposed at the top of the device body, and the shooting direction is towards the edge position of the device body;

[0022] The second camera is disposed at the bottom of the device body, and the shooting direction is the same as the opening direction of the connection port of the device body.

[0023] A mobile ballast water treatment ship includes the ship ballast water outlet docking device as described above, and further includes: a ballast water treatment ship, a ballast water treatment device, a hose, and a ballast water pump;

[0024] A ballast water tank is provided inside the ballast water treatment ship;

[0025] The ballast water treatment device is disposed on the ballast water treatment ship and is flange-connected to the connection port of the device body through the hose;

[0026] The ballast water pump is disposed inside the ballast water treatment ship to adjust the draft of the ballast water treatment ship.

[0027] In a possible implementation, a crane is further included, and the crane is disposed on the ballast water treatment ship;

[0028] A lifting plate hole is provided on the device body, and the sling of the crane passes through the lifting plate hole and is connected to the device body.

[0029] The beneficial effects of the ship ballast water outlet docking device according to the embodiments of the present application: The setting of the crawling arm group enables the device to move autonomously underwater, rather than relying on the movement of the ship or external mechanical assistance for docking operations like traditional docking devices. This has great advantages when the docking position of the ship is not accurate enough or there are interference factors such as water flow and waves in the underwater environment. By precisely controlling the rotation of the crawling arm through the motor group, precise movement and positioning of the device body in three-dimensional space can be achieved, ensuring that the connection port can accurately dock with the ship's outlet and the pipe body, improving the success rate and efficiency of docking, and reducing problems such as ballast water leakage caused by inaccurate docking. The device body is adsorbed on the hull of the cargo ship through the crawling arm group, and the docking device is remotely controlled to crawl along the wall. It enters the water from the freeboard. The operator observes through the upper and lower camera groups, finds the ballast water outlet of the cargo ship, and performs remote positioning. After successful positioning, the device body is driven to approach the hull, and at the same time, the elastic rubber bell mouth and the ballast water outlet are docked and tightened to ensure the seal between the bell mouth and the ballast water outlet of the cargo ship, completing the docking operation. In this way, the docking with the outlet can be completed quickly and accurately, facilitating subsequent treatment of the ballast water.

[0030] Other features and aspects of the present application will become apparent from the following detailed description of exemplary embodiments with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The drawings included in and constituting a part of the specification, together with the specification, illustrate exemplary embodiments, features, and aspects of the present application and are used to explain the principles of the present application.

[0032] Figure 1 Schematic diagram of the ship ballast water outlet docking device showing an embodiment of the present application;

[0033] Figure 2 Another schematic diagram of the ship ballast water outlet docking device showing an embodiment of the present application;

[0034] Figure 3 Bottom view schematic diagram of the ship ballast water outlet docking device showing an embodiment of the present application;

[0035] Figure 4 Front view schematic diagram of the ship ballast water outlet docking device showing an embodiment of the present application;

[0036] Figure 5 Cross-sectional view schematic diagram of the ship ballast water outlet docking device showing an embodiment of the present application;

[0037] Figure 6 Schematic diagram of the main structure of the mobile ballast water treatment ship showing an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0038] The following will detail various exemplary embodiments, features, and aspects of the present application with reference to the drawings. Like reference numerals in the drawings denote elements having the same or similar functions. Although various aspects of the embodiments are shown in the drawings, the drawings do not have to be drawn to scale unless otherwise specified.

[0039] It should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention or simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation of the present invention.

[0040] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, "a plurality of" means two or more, unless otherwise specifically defined.

[0041] As used herein, the term "exemplary" means "serving as an example, embodiment, or illustration". Any embodiment described herein as "exemplary" is not necessarily to be construed as superior or better than other embodiments.

[0042] In addition, for a better illustration of the present application, numerous specific details are given in the following detailed description. Those skilled in the art should understand that the present application can be implemented without some of these specific details. In some instances, methods, means, elements, and circuits well known to those skilled in the art are not described in detail so as to highlight the gist of the present application.

[0043] As Figure 1 and Figure 2 shown, the docking device for the ship's ballast water outlet of the embodiment of the present application includes: a device main body 10, a crawler arm group 20, a motor group, and a camera. The device main body 10 is provided with a through connection port 11, and both ends are respectively adapted to connect to the pipe body and the ship's outlet, for connecting and fixing the pipe body and the outlet of the cargo ship. The crawler arm group 20 is arranged on the device main body 10 and can drive the device main body 10 to move on the surface of the ship's hull. The motor group is arranged on the crawler arm to control the rotation of the crawler arm group 20. The camera group is arranged on the device main body 10 and is adapted to communicate with a computer terminal to find the ship's outlet and the docking of the device main body 10 with the outlet.

[0044] In this embodiment, the setting of the crawling arm group 20 enables the device to move autonomously underwater, rather than relying on the movement of the ship or external mechanical assistance like traditional docking devices for docking operations. This has great advantages when the docking position of the ship is not precise enough or there are interference factors such as water flow and waves in the underwater environment. By precisely controlling the rotation of the crawling arms through the motor group, the precise movement and positioning of the device main body 10 in three-dimensional space can be achieved, ensuring that the connection port 11 can accurately dock with the ship's hull outlet and the pipe body, improving the success rate and efficiency of docking, and reducing problems such as ballast water leakage caused by inaccurate docking. The device main body 10 is adsorbed on the hull of the cargo ship through the crawling arm group 20, and the docking device is remotely controlled to crawl along the wall. It enters the water from the freeboard. The operator observes through the camera group set up above and below, finds the ballast water outlet of the cargo ship, and conducts remote positioning. After successful positioning, the device main body 10 is driven to stick to the ship's hull. At the same time, the elastic rubber bell mouth 13 and the ballast water outlet are docked and pressed tightly to ensure the seal between the bell mouth 13 and the ballast water outlet of the cargo ship to complete the docking operation, and the docking with the outlet can be completed quickly and accurately, facilitating the subsequent treatment of ballast water. In this way, a remotely controlled underwater docking device that can move autonomously, directly dock with the existing ballast water outlet without modification, and is safe and reliable can be realized.

[0045] In a specific embodiment, as Figure 4 shown, the device main body 10 is a plate-like structure with a preset thickness, and the cross-section is circular. The connection port 11 is opened on the plate surface of the device main body 10. A flange is provided at the top, suitable for connecting to the pipe body, and a rubber bell mouth 13 is provided at the bottom, suitable for abutting against the outlet of the ship's hull. Among them, the device main body 10 itself is a flange structure, and a through connection port 11 is opened in the middle position. A flange is provided on one side of the connection port 11 at the top of the device main body 10, which can be flange-connected to the pipe body for extracting ballast water from the cargo ship. A rubber bell mouth 13 is provided on the other side of the connection port 11 of the device main body 10 for docking with the outlet of the cargo ship to ensure the seal between the device main body 10 and the ballast water outlet of the cargo ship, and the rubber bell mouth 13 elastically deforms to adapt to the surface of the ship's hull outlet to prevent leakage. Moreover, the device main body 10 is a circular plate-like structure, which can evenly disperse the water flow pressure and prevent the device from tilting.

[0046] Furthermore, in this specific embodiment, as Figure 2 shown, the rubber bell mouth 13 on the device main body 10 adaptively fits due to slight corrosion of the ship's hull outlet, and the flange end is fastened to the external pipe body by bolts to achieve zero-leakage transmission. In addition, the rubber bell mouth 13 can be used for outlets with different shapes and structures.

[0047] In a specific embodiment, as Figure 1As shown, the crawling arm group 20 includes multiple crawling arms. The multiple crawling arms are arranged at intervals along the circumferential direction of the device main body 10. The crawling arm group 20 includes multiple crawling arms, which are distributed at intervals along the circumferential direction of the device main body 10, forming a multi-point support structure to jointly support and move the device main body 10 towards the opening position of the sea outlet. In this way, the circumferentially distributed crawling arms provide uniform driving force, prevent the device from offsetting unilaterally, and the multi-arm cooperation can cross the hull welds or rivet protrusions.

[0048] In a specific embodiment, as Figure 1 shown, the crawling arm includes a first crawling arm 22 and a second crawling arm 24. The first crawling arm 22 is hinged to the edge position of the device main body 10, and the second crawling arm 24 is hinged to the end of the first crawling arm 22, and the rotation direction of the second crawling arm 24 is the same as that of the first crawling arm 22. By jointly using the first crawling arm 22 and the second crawling arm 24, the device main body 10 is accurately moved to the position of the sea outlet.

[0049] Among them, the first crawling arm 22 is equivalent to the thigh of the human body for the device main body 10. The first crawling arm 22 can be hinged to the edge position of the device main body 10 and can rotate relative to both sides of the device main body 10.

[0050] Among them, the second crawling arm 24 is equivalent to the calf of the human body for the device main body 10. The second crawling arm 24 is hinged to the end of the first crawling arm 22, and the rotation direction is the same as the rotation direction of the first crawling arm 22 relative to the device main body 10. In this way, using the first crawling arm 22 and the second crawling arm 24 for the device main body 10 to replace the movement of the thigh and calf relative to the human body, the device main body 10 can move on the outer wall of the bottom of the cargo ship.

[0051] Furthermore, in this specific embodiment, as Figure 1 shown, the motor group includes a hip joint motor 21 and a knee joint motor 23. The hip joint motor 21 is arranged at the connection position between the first crawling arm 22 and the device main body 10 to control the rotation of the first crawling arm 22 relative to the device main body 10. The hip joint motor 21 is relative to the first crawling arm 22, similar to the relationship between the hip joint and the thigh. The hip joint motor 21 can drive the first crawling arm 22 to rotate relative to the device main body 10, and the hip joint motor 21 is connected to an external terminal through a cable to control the rotation of the first crawling arm 22.

[0052] Further, the knee joint motor 23 is disposed at the connection position between the second crawling arm 24 and the first crawling arm 22 to control the rotation of the second crawling arm 24 relative to the first crawling arm 22. The knee joint motor 23 is relative to the second crawling arm 24, similar to the relationship between the knee joint and the calf. The knee joint motor 23 can drive the second crawling arm 24 to rotate relative to the first crawling arm 22, and the knee joint motor 23 is connected to an external terminal through a cable to control the rotation of the second crawling arm 24.

[0053] Furthermore, communication modules can be provided in both the hip joint motor 21 and the knee joint motor 23. The communication modules are communicatively connected to a computer terminal to control the rotation of the first crawling arm 22 and the second crawling arm 24. Alternatively, the computer terminal can be separately connected to the hip joint motor 21 and the knee joint motor 23 through cable lines to control the rotation of the first crawling arm 22 and the second crawling arm 24. Both methods can achieve the control of the first crawling arm 22 and the second crawling arm 24, and can be selected according to the specific usage situation.

[0054] It should be noted that how to edit the program to control the rotation of the first crawling arm 22 and the second crawling arm 24 can be achieved through the prior art and is not the subject matter of this application, so no further elaboration will be provided here.

[0055] In a specific embodiment, such as Figure 2As shown, it further includes electromagnetic crawling feet 26 and a cable. The electromagnetic crawling feet 26 are electromagnetic suction cups and are arranged at the end of the second crawling arm 24. The electromagnetic crawling feet 26 are rotatably arranged at the end of the second crawling arm 24, can rotate relative to the second crawling arm 24, and the rotation direction is the same as the rotation direction of the second crawling arm 24 relative to the first crawling arm 22, and are used for the overall support of the crawling arm group 20, making the movement of the device main body 10 more stable and increasing the contact area with the cargo ship. A collaborative working system is formed among the electromagnetic crawling feet 26, the cable, the first crawling arm 22, the second crawling arm 24 and the computer terminal. The adsorption function of the electromagnetic crawling feet 26 cooperates with the moving function of the crawling arm, enabling the device main body 10 to perform docking operations more flexibly and stably in the underwater environment. The cable provides the necessary energy support for the entire system to ensure the normal operation of each component. Further, in this specific embodiment, one end of the cable is electrically connected to the electromagnetic crawling feet 26, the hip joint motor 21 and the knee joint motor 23, and the other end is suitable for connecting to a power source and a computer terminal. Among them, the hip joint motor 21 and the knee joint motor 23 are electrically connected to the cable to control the rotation of the first crawling arm 22 and the second crawling arm 24, and the electromagnetic crawling feet 26 are electromagnetic suction cups, which can be magnetically adsorbed on the outer wall of the cargo ship after being energized, making the connection between the device main body 10 and the cargo ship more firm and avoiding the influence of seawater on the movement of the device main body 10. Specifically, when the device main body 10 moves to a position near the ship's outlet, the electromagnetic crawling feet 26 can generate electromagnetic force through power-on and adsorb on the ship's surface, providing additional stable support for the device main body 10, which is particularly important in the case of large water flow or ship sway, and can effectively prevent the device main body 10 from displacing or swaying during the docking process, improving the stability and accuracy of docking. Compared with traditional mechanical hook and other fixing methods, the electromagnetic crawling feet 26 have the advantages of strong adsorption force, fast response speed, and small damage to the ship's surface.

[0056] According to the above embodiment, the crawling arm group 20 includes eight crawling arms. The setting of the eight crawling arms increases the flexibility of the device, enabling it to achieve more flexible turning in the underwater environment. By controlling the rotation speed and angle of different crawling arms, various turning actions of the device main body 10 in three-dimensional space can be realized to adapt to complex underwater terrain and the environment around the ship. Even if a certain crawling arm fails, the other crawling arms can still continue to work, ensuring that the device main body 10 can complete the movement and docking tasks, or at least can remain in a safe position waiting for repair.

[0057] Among them, both the first crawling arm 22 and the second crawling arm 24 are hollow structures, reducing the gravity of the crawling arm group 20 and facilitating water passability, greatly reducing the resistance of water flow.

[0058] In a specific embodiment, such as Figure 1As shown in the figure, it further includes a foot joint bearing 25. The foot joint bearing 25 is arranged on the electromagnetic crawling foot 26, with one end hinged to the end of the second crawling arm 24, and the other end being a universal bearing with a spherical structure, which is connected to the electromagnetic crawling foot 26. The foot joint bearing 25 is relative to the electromagnetic crawling foot 26, similar to the ankle relative to the sole of the foot. While the foot joint bearing 25 rotates relative to the second crawling arm 24, it can also rotate in a certain amount in various directions relative to the electromagnetic crawling foot 26, improving the applicability and flexibility of the electromagnetic crawling foot 26. Specifically, the spherical universal structure of the foot joint bearing 25 allows the electromagnetic crawling foot 26 to rotate in multiple directions, including horizontal rotation, vertical swing, and any combination between the two, enabling the electromagnetic crawling foot 26 to better adapt to the irregular shape of the hull surface and different docking angle requirements. For example, when there is a certain inclination angle at the position of the hull outlet, the electromagnetic crawling foot 26 can automatically adjust the adsorption angle through the rotation of the foot joint bearing 25 to ensure close fitting with the hull surface and provide a stable adsorption force. This ability of multi-directional flexible rotation greatly improves the working ability of the docking device in complex environments.

[0059] Among them, when subjected to external force impacts, the foot joint bearing 25 can absorb part of the impact force through its own rotation and deformation, reducing damage to the electromagnetic crawling foot 26 and the second crawling arm 24 and extending the service life of the equipment. At the same time, the buffering and shock absorption effects also contribute to improving the stability of the device main body 10 during the working process and ensuring the smooth progress of the docking operation.

[0060] Among them, through the flexible rotation of the foot joint bearing 25, the electromagnetic crawling foot 26 can fit more closely to the hull surface, increasing the adsorption area and improving the adsorption reliability. Under different underwater environments and hull surface conditions, the foot joint bearing 25 can automatically adjust the posture of the electromagnetic crawling foot 26 to ensure that the electromagnetic force can effectively act on the hull surface and prevent the device main body 10 from falling off due to insufficient adsorption. This design that improves the adsorption reliability further enhances the safety and stability of the docking device during underwater operations.

[0061] In a specific embodiment, such as Figure 2As shown in the figure, it further includes an adsorption column 41 and an adsorption disc 42. The adsorption column 41 is arranged on the device main body 10 and is electrically connected to the hip joint motor 21 to control the up and down telescoping of the adsorption column 41 along the plate surface direction of the device main body 10. The adsorption disc 42 is arranged at the end of the adsorption column 41 and is electrically connected to the hip joint motor 21, and can be magnetically connected to the outer wall of the cargo ship. After receiving the instruction, the hip joint motor 21 first controls the adsorption column 41 to extend downward along the plate surface direction of the device main body 10, so that the adsorption disc 42 gradually approaches the outer wall of the cargo ship. When the adsorption disc 42 reaches an appropriate distance from the outer wall of the cargo ship, the hip joint motor 21 controls the adsorption disc 42 to generate a magnetic adsorption effect and tightly adsorb on the outer wall of the cargo ship. After the ballast water operation is completed, the hip joint motor 21 runs in the reverse direction, controls the adsorption column 41 to retract upward, and at the same time releases the magnetic connection between the adsorption disc 42 and the outer wall of the cargo ship, enabling the mobile ballast water treatment ship to sail away smoothly. The setting of the adsorption column 41 and the adsorption disc 42 greatly improves the stability of the mobile ballast water treatment ship during the operation. In traditional ballast water operations, the ship may sway due to factors such as water flow, wind and waves, which not only affects the docking accuracy between the ballast water docking device and the ship's hull outlet, but may also cause loosening of the connection, leading to problems such as ballast water leakage. The adsorption column 41 and the adsorption disc 42 provide additional stable support for the mobile ballast water treatment ship through the magnetic connection with the outer wall of the cargo ship. Even in relatively harsh sea conditions, the mobile ballast water treatment ship can maintain a relatively stable position, ensuring the smooth progress of the ballast water operation. For example, in a sea area with large waves, the adsorption disc 42 tightly adsorbs on the outer wall of the cargo ship, can effectively resist the impact force of the waves on the ship, reduce the sway amplitude of the ship, and enable the ship's ballast water outlet docking device to continuously and stably maintain the docking state with the cargo ship's outlet, greatly improving the safety and reliability of the operation.

[0062] Specifically, the adsorption column 41 is of a columnar structure, the adsorption disc 42 is an electromagnetic chuck, and the adsorption disc 42 is connected to the computer terminal through a cable to control whether the adsorption disc 42 adsorbs on the outer wall of the cargo ship. Among them, the number of adsorption columns 41 is eight, which are arranged at intervals along the circumferential direction of the device main body 10, and the adsorption disc 42 is arranged at the end of the adsorption column 41 and is located on the side of the device main body 10 where the rubber bell mouth 13 is provided.

[0063] In a specific embodiment, such as Figure 4 and Figure 5As shown, the device main body 10 is a flange structure. Specifically, the device main body 10 is a double-layer plate structure. Flanges are provided at both ends of the connection port 11 opened in the middle, and a rubber bell mouth 13 is covered on one of the flanges. The middle of the double-layer structure of the device main body 10 is connected by fixing columns, and the hollow structure can ensure that the device main body 10 is in seawater and reduce the influence of water flow resistance. Moreover, devices such as sensors and motors can be arranged inside the device main body 10. The cable lines connected to each crawler arm converge inside the device main body 10 and then are concentrated and connected to an external terminal.

[0064] In a specific embodiment, as Figure 4 shown, the camera group includes a first camera 31 and a second camera 32. The first camera 31 is arranged at the top end of the device main body 10, and the shooting direction is towards the edge position of the device main body 10. The second camera 32 is arranged at the bottom end of the device main body 10, and the shooting direction is the same as the opening direction of the connection port 11 of the device main body 10. The number of the first cameras 31 is four, and they are all arranged at the top end of the device main body 10, spaced at intervals along the circumferential direction. Moreover, the shooting direction of the first camera 31 is arranged along the plate surface direction of the device main body 10, that is, the shooting direction is perpendicular to the opening direction of the connection port 11, and it is used to observe the position of the sea outlet, enabling the operator to understand information such as whether there are obstacles, water flow conditions, and the stretching and rotation states of the crawler arms around the device. This is very important for planning the movement path and operation strategy of the device in a complex underwater environment. For example, when approaching the hull, the operator can observe whether there are protruding structures or other obstacles around the hull through the first camera 31 to avoid collision with them during the movement of the device. The number of the second cameras 32 is four, and they are arranged at the bottom of the device main body 10, spaced at intervals along the circumferential direction. Moreover, the shooting direction of the second camera 32 is towards the lower part of the device main body 10, and the outer wall of the cargo ship can be photographed. When the first camera 31 finds the specific position of the sea outlet, the second camera 32 is used to complete the docking of the sea outlet and the connection port 11. The second camera 32 focuses on the docking situation between the connection port 11 and the hull sea outlet. The operator can clearly see details such as the alignment degree of the connection port 11 and the sealing state of the rubber bell mouth 13, so as to timely adjust the position and posture of the crawler arm to ensure the accuracy and tightness of the docking.

[0065] Among them, a total of four cameras cooperate with each other, and the real-time transmitted image information provides intuitive operation guidance for the operator. During the docking process, the operator can precisely control the movement of the crawler arm according to the images fed back by the cameras to achieve fine adjustment of the position and angle of the connection port 11.

[0066] A mobile ballast water treatment ship, as Figure 6As shown in the figure, according to the above-mentioned ship ballast water outlet docking device, it further includes: a ballast water treatment ship 1, a ballast water treatment device 3, a hose 4, and a ballast water pump 2. Inside the ballast water treatment ship 1, there is a ballast water tank. The ballast water treatment device 3 is arranged on the ballast water treatment ship 1 and is flange-connected to the connection port 11 of the device main body 10 through the hose 4. The ballast water pump 2 is arranged inside the ballast water treatment ship 1 to adjust the draft of the ballast water treatment ship 1.

[0067] In this embodiment, the ballast water treatment device 3 is integrated onto the mobile ballast water treatment ship 1, forming a movable and one-stop ballast water purification treatment platform. Compared with the traditional onshore fixed treatment facilities, this mobile treatment method has higher flexibility and adaptability. The ship does not need to specifically dock at a specific treatment terminal, and the ballast water can be treated in any suitable sea area, greatly saving time and transportation costs.

[0068] In this specific embodiment, the ballast water treatment ship 1 is the carrier of the entire system. Inside it, there is a ballast water tank, and the weight and distribution of the water in the ballast water tank are adjusted. Among them, the ballast water treatment device 3 is arranged on the ballast water treatment ship 1. It is the core equipment for purifying the ship's ballast water. The ballast water treatment device 3 removes harmful organisms, pathogens, and other pollutants in the ballast water through a series of physical, chemical, or biological treatment processes to make it meet the environmental protection discharge standards. This device is flange-connected to the connection port 11 of the device main body 10 through the hose 4. This connection method ensures that during the treatment process, the ballast water can be safely and stably transmitted between the ballast water treatment device 3 and the ship, without problems such as leakage, ensuring the tightness and reliability of the entire treatment process. Among them, the hose 4, as an intermediate medium connecting the ballast water treatment device 3 and the ship ballast water outlet docking device, has the characteristics of good flexibility and strong corrosion resistance, ensuring the continuity of the connection and effectively preventing the ballast water from being interfered by external factors during the transmission process. Among them, the ballast water pump 2 is installed inside the ballast water treatment ship 1, and its main function is to adjust the draft of the ballast water treatment ship 1 and reversely supply the treated ballast water to the cargo ship.

[0069] In this specific embodiment, the hose 4 is used to flange-connect the ballast water treatment device 3 and the ship ballast water outlet docking device. This connection method not only ensures the firmness of the connection but also has good tightness. The flange connection can be tightly fixed through connecting parts such as bolts to prevent loosening under the impact of high-pressure water flow, while the flexibility of the hose 4 can absorb the vibration and displacement of the ship during operation, avoiding damage or leakage at the connection due to rigid connection. The stable and reliable connection and transmission system ensure that the ballast water can flow smoothly throughout the treatment process, without affecting the treatment efficiency and quality due to connection problems, providing a solid hardware guarantee for the effective treatment of ballast water.

[0070] In a specific embodiment, it further includes a crane 5. The crane 5 is arranged on the ballast water treatment ship 1. A hoisting plate hole is formed in the device main body 10. The hoisting cable of the crane 5 passes through the hoisting plate hole and is connected to the device main body 10. A hoisting plate hole is formed in the device main body 10, and the hoisting cables of the crane 5 pass through these hoisting plate holes and are connected to the device main body 10. In this way, the crane 5 can lift the device main body 10 to the operation position of the ship, specifically above the sea outlet of the cargo ship, and then move it through the crawler arm group 20 on the device main body 10.

[0071] The embodiments of the present application have been described above. The above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations are obvious to those of ordinary skill in the art in the technical field without departing from the scope and spirit of the described embodiments. The choice of terms used herein is intended to best explain the principles of the embodiments, practical applications, or improvements to the technologies in the market, or to enable other ordinary skill in the art in the technical field to understand the embodiments disclosed herein.

Claims

1. A ship ballast water outlet docking device, characterized in that: include: The device body, crawling arm group, motor group and camera; The device body is provided with a through connection port, and the two ends are respectively suitable for connecting the pipe body and the sea outlet of the hull; The crawling arm group is arranged on the device body and can drive the device body to move; The motor group is arranged on the crawling arm to control the rotation of the crawling arm group; The camera group is arranged on the device body and is suitable for communication connection with a computer terminal.

2. The ship ballast water outlet docking device according to claim 1, characterized in that: The device body is a plate-like structure with a preset thickness and a circular cross section; The connection port is arranged on the plate surface of the device body, the top end is provided with a flange suitable for connecting the pipe body, and the bottom end is provided with a rubber bell mouth suitable for abutting against the sea outlet of the ship body.

3. The ship ballast water outlet docking device according to claim 2, characterized in that: The crawling arm group includes a plurality of crawling arms, and the plurality of crawling arms are arranged at intervals along the circumference of the device body.

4. The ship ballast water outlet docking device according to any one of claims 1 to 3, characterized in that: The crawling arm comprises a first crawling arm and a second crawling arm, the first crawling arm is hinged to the edge of the device body, the second crawling arm is hinged to the end of the first crawling arm, and the rotation direction of the second crawling arm is the same as the rotation direction of the first crawling arm; Among them, the motor group includes a hip joint motor and a knee joint motor. The hip joint motor is arranged at the connection position between the first crawling arm and the device body, and controls the rotation of the first crawling arm relative to the device body. The knee joint motor is arranged at the connection position between the second crawling arm and the first crawling arm, and controls the rotation of the second crawling arm relative to the first crawling arm.

5. The ship ballast water outlet docking device according to claim 4, characterized in that: The hip joint motor and the knee joint motor are both provided with a communication module, and the communication module is suitable for communicating with a computer terminal to control the rotation of the first crawling arm and the second crawling arm.

6. The ship ballast water outlet docking device according to claim 5, characterized in that: It also includes electromagnetic crawling feet and cable lines; The electromagnetic crawling foot is an electromagnetic suction cup, which is arranged at the end of the second crawling arm; One end of the cable is electrically connected to the electromagnetic crawling foot, the hip joint motor and the knee joint motor, and the other end is suitable for connecting to a power source.

7. The ship ballast water outlet docking device according to claim 6, characterized in that: Also included are foot joint bearings; The foot joint bearing is arranged on the electromagnetic crawling foot, one end of which is hinged to the end of the second crawling arm, and the other end is a universal bearing with a spherical structure, which is connected to the electromagnetic crawling foot.

8. The ship ballast water outlet docking device according to claim 6, characterized in that: The camera group includes a first camera and a second camera; The first camera is arranged at the top of the device body, and the shooting direction is toward the edge position of the device body; The second camera is arranged at the bottom of the device body, and the shooting direction is the same as the direction in which the connection port of the device body is opened.

9. A mobile ballast water treatment ship, comprising the ship ballast water outlet docking device according to any one of claims 1 to 8, characterized in that: Also includes: Ballast water treatment vessels, ballast water treatment plants, hoses and ballast water pumps; The ballast water treatment ship is provided with a ballast water tank inside; The ballast water treatment device is arranged on the ballast water treatment ship and is connected to the connection port flange of the device body through the hose; The ballast water pump is arranged inside the ballast water treatment ship to adjust the draft of the ballast water treatment ship.

10. The mobile ballast water treatment vessel according to claim 9, characterized in that: It also includes a crane, which is arranged on the ballast water treatment ship; A hoisting plate hole is provided on the device body, and the hoisting rope of the crane passes through the hoisting plate hole and is connected to the device body.

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