Offshore movable whole ship cleaning platform system and cleaning method

Abstract

The invention relates to an offshore movable whole ship cleaning platform system. The offshore movable whole ship cleaning platform system comprises a vertical movable rolling brush frame, a vertical movable cavitation jet frame and a control unit. The rolling brush frame translates in the slide way and changes the angle of the brush head so as to remove attachments and dirt of the ship body; the cavitation jet frame can translate and adjust the angle of the nozzle, and cavitation jet is jetted for deep cleaning. The control unit is used for receiving videos, positions and various sensor information of the ship and remotely controlling the rolling brush frame, the cavitation jet flow frame, the brush head and the spray head. The system solves many problems of traditional manual cleaning and underwater robot cleaning, has the advantages of being efficient in cleaning, high in adaptability, convenient to operate, safe, reliable, flexible, good in cleaning effect, low in cost and the like, and provides a movable and accurately-controlled innovative solution for ship cleaning.

Description

Technical Field

[0001] The present invention relates to the technical field of hull cleaning, and in particular, to a mobile whole-ship cleaning platform system and a cleaning method for offshore use without berthing. Background Art

[0002] During the operation of a ship, various marine organisms, dirt, and corrosion products gradually adhere to the hull surface. These attachments not only increase the ship's navigation resistance, reduce the ship's speed, and increase fuel consumption, but also cause corrosion to the hull, shorten the ship's service life, and affect the safety and economy of the ship. Therefore, regular hull cleaning is an important part of ship maintenance.

[0003] Traditional hull cleaning methods mainly include manual cleaning and underwater robot cleaning. Manual cleaning usually requires divers to carry tools and dive underwater for operation. This method is not only inefficient, but also has high technical requirements for divers, with relatively high safety risks. At the same time, the quality of manual cleaning is difficult to guarantee, especially for large-area hull surfaces, it is difficult to achieve uniform and effective cleaning. In addition, the cost of manual cleaning increases continuously with the rise of labor costs and is restricted by harsh marine environmental conditions. For example, cleaning operations cannot be carried out when the wind and waves are large.

[0004] Underwater robot cleaning is a cleaning technology developed in recent years. It uses robots to carry cleaning tools to clean the hull surface. However, underwater robots have some limitations. On the one hand, the equipment cost of underwater robots is relatively high. They need to be equipped with complex control systems and power systems, and require professional personnel for operation and maintenance, resulting in relatively high overall maintenance costs. On the other hand, due to the complex underwater environment, signal transmission is easily interfered, which will affect the control accuracy and cleaning effect of the robot. Moreover, the endurance of underwater robots is limited, and it is difficult to carry out continuous operations for a long time. For the cleaning of large ships, it is necessary to frequently recover, charge, or replace the energy, reducing the cleaning efficiency.

[0005] In addition, most of the existing hull cleaning platforms are of fixed structures and can only clean ships berthed at fixed positions, lacking flexibility and mobility, and cannot meet the diverse cleaning needs of offshore ships. Especially for ships in navigation, they cannot provide timely and effective cleaning services.

[0006] In view of the deficiencies of the above-mentioned existing hull cleaning technologies and cleaning platforms, there is an urgent need for a new mobile whole-ship cleaning platform system for offshore use, which can efficiently, safely, and flexibly clean the hull on a large area and in depth, and can adapt to hulls of different sizes and shapes, while reducing the cleaning cost and operation difficulty to meet the requirements of the ship industry for hull cleaning. Summary of the Invention

[0007] According to the technical problems proposed above, a movable whole-ship cleaning platform system for the sea without berthing is provided. In this system, the cooperation of a vertical movable brush rack, a vertical movable cavitation jet rack and a control unit is adopted. Each structure is interconnected and operates independently, realizing high-stability and high-efficiency ship hull cleaning operations at sea. Compared with the traditional operation mode, by applying the structural form of the vertical movable brush rack combined with the vertical movable cavitation jet rack and cooperating with the control unit, the safety and efficiency of ship hull cleaning operations at sea can be further improved.

[0008] The technical means adopted in the present invention are as follows:

[0009] A movable whole-ship cleaning platform system for the sea, comprising:

[0010] A vertical movable brush rack, which is arranged to be able to perform translational motion in a slideway on the platform deck and can change the angle of the brush head. It includes one or more brush rollers, and the bristles of the brush rollers are made of wear-resistant and flexible materials, which can closely fit the hull surface and are driven by a motor to rotate to remove the attachments and dirt on the hull surface; during the translational motion, the brush rack is pushed along the slideway smoothly by an electric push rod or a hydraulic system to achieve the cleaning of a large area of the hull; when changing the angle of the brush head, an angle adjustment mechanism is used, which can adopt the form of a gear and a toothed disc or an electric rotary joint to achieve precise angle adjustment, so as to be able to adapt to the hull surfaces of different shapes and curvatures and achieve effective cleaning of various positions of the hull;

[0011] A vertical movable cavitation jet rack, which can perform translational motion in a slideway on the platform deck and can change the angle of the nozzle. The nozzle of the jet rack is connected to a water source through a high-pressure pump system and can generate cavitation jets. The cavitation jets use a special nozzle structure to make the water flow generate high-speed flow and pressure changes in the nozzle to form cavitation bubbles. When these bubbles break when contacting the hull surface, a strong impact force is generated to deeply clean the stubborn attachments on the hull surface; during the translational motion, it is driven by a linear guide rail and a driving motor to achieve precise movement along the slideway. At the same time, the angle adjustment mechanism is used to change the direction of the nozzle. The angle adjustment mechanism can adopt the form of a servo motor or a hydraulic rotary joint to enable the nozzle to cover a large area of the hull surface;

[0012] A control unit, which includes a video acquisition module for acquiring video information during the process of a marine ship entering and leaving a cleaning platform, a position sensor for obtaining the position information of the ship in the cleaning platform, a gravity sensor for detecting the weight distribution of the cleaning platform itself and the weight change of the ship during cleaning, and an angle sensor for monitoring the tilt angle of the platform itself and the docking angle of the ship. The control unit receives data information from these sensors and remotely controls a vertical movable brush rack, a vertical movable cavitation jet rack, a brush, and a cavitation jet nozzle through wired or wireless communication. The control signal is processed and sent through a PLC or a microcontroller. According to the preset cleaning program and the data feedback from the sensors, it precisely controls the rotation speed, translation speed, angle adjustment of the brush, and the pressure, jet angle, and jet time of the cavitation jet.

[0013] Furthermore,

[0014] The vertical movable brush rack includes a sliding table, a vertical support, a brush head telescopic rack, a brush head rotating platform, a brush, a pressure sensor, an angle sensor, a motor, a rotating brush head remote control module, and a rotating brush head wireless signal transmission module. The sliding table is fitted into the sliding table groove on the platform deck and is used to support the movement of the vertical movable brush rack. The vertical brush support is installed on the sliding table and is used to connect the brush head telescopic rack. The other end of the brush head telescopic rack is used to connect the brush head rotating platform. Seven brushes are connected to the brush head rotating platform in a circle. The pressure sensor is installed outside the brush head rotating platform and is used to detect the average pressure received by the brush head during cleaning. The angle sensor is installed outside the brush head rotating platform and is used to monitor the angle between the brush head rotating platform and the platform deck and the angle between the brush head rotating platform and the surface of the hull to be cleaned. The motor is installed inside the brush head telescopic rack and is used to provide power for the movement of the brush head telescopic rack and the brush head rotating platform. The rotating brush head remote control module is connected to the motor and is used to receive the control signal from the control unit at a remote end and then control the working state of the motor. The rotating brush head wireless signal transmission module is connected to the pressure sensor and the angle sensor and is used to transmit data information such as the collected tension and angle to the control unit.

[0015] Furthermore,

[0016] The vertical movable cavitation jet rack includes a sliding table vertical bracket, a cavitation jet nozzle, a pressure sensor, an angle sensor, a motor, a remote control module for the cavitation jet nozzle, and a wireless signal transmission module for the cavitation jet nozzle; the sliding table is fitted in the sliding table groove on the platform deck and is used to support the movement of the vertical movable cavitation jet rack, and the vertical cavitation jet bracket is installed on the sliding table and is used to connect the cavitation jet nozzle; the pressure sensor is installed outside the cavitation jet nozzle and is used to monitor the pressure of the jet water flow during the cleaning process; the angle sensor is installed outside the cavitation jet nozzle and is used to monitor the angle between the cavitation jet nozzle and the surface of the hull to be cleaned; the motor is installed at the rear of the cavitation jet nozzle and is used to provide power for the cavitation jet nozzle, the remote control module for the cavitation jet nozzle is connected to the motor and is used to receive the control signal from the control unit at the remote end and then control the working state of the motor, and the wireless signal transmission module for the cavitation jet nozzle is connected to the pressure sensor and the angle sensor and is used to transmit the collected data information such as pressure and angle to the control unit.

[0017] Further,

[0018] The control unit includes a control cabinet, a data receiving module, a data processing module, a communication module, and a camera. The control cabinet is installed in the four superstructures of the offshore movable whole-ship cleaning platform. The data receiving module, the data processing module, and the communication module are installed in the control cabinet. The data receiving module is used to receive the video information from the camera and the data information from the wireless signal transmission module of the rotating brush head and the wireless signal transmission module of the cavitation jet nozzle. The data processing module is connected to the data receiving module and is used to input and output control signals and process the control signals in real time. The communication module is connected to the data processing module and is used to output the control signals to the vertical movable brush rack and the vertical movable cavitation jet rack.

[0019] Further,

[0020] The control unit further includes a storage module, which is used to store the cleaning programs and cleaning records of different ships, and call the corresponding cleaning programs according to the model and size of the ship. The storage module can use a solid-state drive or a flash card to ensure the storage and reading speed of data. At the same time, the storage module can also store the data of the sensors for subsequent analysis and optimization of the cleaning process.

[0021] A cleaning method for an offshore movable whole-ship cleaning platform system,

[0022] Step 1: Cleaning preparation

[0023] Dock the offshore ship on the offshore movable whole-ship cleaning platform to ensure that the ship is in a stable state.

[0024] Start the control unit of the offshore mobile whole-ship cleaning platform system to make it enter the working state. The video acquisition module in the control unit starts to collect video information of the ship entering and leaving the cleaning platform. The position sensor obtains the position information of the ship in the cleaning platform. The gravity sensor detects the weight distribution of the cleaning platform itself and the weight change of the ship during cleaning. The angle sensor monitors the inclination angle of the platform itself and the docking angle of the ship.

[0025] Step 2: Rotary brush cleaning operation

[0026] The control unit sends a start signal to the vertical movable rotary brush frame to start the motor on the rotary brush frame, causing the rotary brush to start rotating. The bristles of the rotary brush are made of wear-resistant and flexible materials and are driven by the motor to rotate to remove the attachments and dirt on the hull surface.

[0027] The control unit uses an electric push rod or a hydraulic system to push the vertical movable rotary brush frame to move horizontally in the slideway on the platform deck. The position marks set in the slideway can assist in positioning the rotary brush frame to ensure that it can accurately reach the hull area to be cleaned.

[0028] When encountering hull surfaces with different shapes and curvatures, the control unit uses an angle adjustment mechanism (which can be in the form of a gear and a toothed disc or an electric rotary joint) to change the angle of the brush head on the rotary brush frame, so that the bristles of the rotary brush closely fit the hull surface to ensure effective cleaning of all positions on the hull. The translation speed and rotation speed of the rotary brush can be adjusted according to the dirt degree of the hull and the cleaning requirements to achieve the best cleaning effect.

[0029] Step 3: Cavitation jet cleaning operation

[0030] At the same time, the control unit sends a start signal to the vertical movable cavitation jet frame to start the high-pressure pump system of its nozzle. The high-pressure pump system pressurizes the water in the water source, and through a special nozzle structure, the water flow generates high-speed flow and pressure change in the nozzle to form a cavitation jet.

[0031] Use a linear guide rail and a driving motor to drive the vertical movable cavitation jet frame to move horizontally in the slideway on the platform deck, and use an angle adjustment mechanism (which can be in the form of a servo motor or a hydraulic rotary joint) to change the direction of the nozzle so that the cavitation jet covers the hull surface area to be cleaned. The angle of the nozzle can be adjusted according to the cleaning requirements to ensure that the cavitation jet can fully impact the stubborn attachments on the hull surface.

[0032] According to the cleaning requirements of the hull, by adjusting the motor speed or valve opening of the high-pressure pump system, control the pressure of the cavitation jet so that the cavitation bubbles generated by it burst when contacting the hull surface, exerting the effect of deep cleaning.

[0033] Step 4: Combined cleaning operation

[0034] During the cleaning process, the control unit precisely controls the movement of the vertical movable brush rack and the vertical movable cavitation jet rack according to the preset cleaning program and the data feedback from the sensors, enabling the brush and the cavitation jet to cooperate with each other to clean the hull over a large area and to a certain depth.

[0035] The control unit continuously receives the data information of the position information, the gravity sensor, and the angle sensor, and monitors the status of the cleaning platform and the ship in real time to ensure the safety and efficiency of the cleaning operation.

[0036] Step Five: End of Cleaning

[0037] When the cleaning of the hull is completed, the control unit sends a stop signal to the vertical movable brush rack and the vertical movable cavitation jet rack to stop the rotation of the brush and the spraying of the jet nozzles, and closes the relevant motor and pump systems.

[0038] Inspect and maintain the cleaning platform system to prepare for the next cleaning operation.

[0039] Compared with the prior art, the present invention has the following advantages:

[0040] Efficient cleaning:

[0041] Adopting the combination of a vertical movable brush rack and a vertical movable cavitation jet rack, the brush rack uses the rotating brush to clean the attachments and dirt on the hull surface over a large area. At the same time, the cavitation jet ejected by the cavitation jet rack can perform deep cleaning on the hull. The two cooperate with each other, greatly improving the cleaning efficiency and effectively removing various marine organisms, dirt, and corrosion products, etc.

[0042] Strong adaptability:

[0043] The vertical movable brush rack can translate in the slideway on the platform deck and change the angle of the brush head. Its angle adjustment mechanism can precisely adjust the angle of the brush head and can adapt to the hull surfaces of different shapes and curvatures; while the vertical movable cavitation jet rack can also translate and change the angle of the nozzle, enabling the nozzle to cover a large area of the hull surface. Therefore, this system can meet the cleaning requirements of ships of different sizes and shapes and can effectively clean all positions of the hull.

[0044] Precise control:

[0045] The control unit receives the video information, position information, and the data information of the gravity sensor and the angle sensor during the process of the ship entering and leaving the cleaning platform, and remotely controls the brush rack, cavitation jet rack, brush head, and nozzle through a PLC or a microcontroller. It can precisely control the rotation speed, translation speed, angle adjustment of the brush, and the pressure, spraying angle, and spraying time of the cavitation jet according to the preset cleaning program and the data feedback from the sensors, ensuring the accuracy and consistency of the cleaning process.

[0046] High safety:

[0047] Compared with traditional manual cleaning, it avoids the safety risks of divers working underwater and reduces potential safety hazards caused by human operation. At the same time, anti-collision sensors in the system (such as ultrasonic sensors or infrared sensors) can prevent damage to the brush roller frame and jet frame during movement when approaching the two ends of the slideway or encountering obstacles, improving the safety of equipment operation.

[0048] Convenient operation:

[0049] The control unit has a human-machine interface. Operators can input cleaning parameters, start and stop cleaning operations, view cleaning status and sensor data through a touch display screen or a remote terminal device. They can also modify and edit cleaning programs, providing an intuitive operation interface and clear operation prompts, reducing the operation difficulty and facilitating operation by operators.

[0050] Flexible and mobile:

[0051] Different from existing fixed cleaning platforms, this system is a movable offshore platform that can move flexibly according to the position of the ship, can clean ships at different positions, provides more flexible and diverse cleaning services for offshore ships, especially suitable for ships in navigation, and can provide timely and effective cleaning services.

[0052] Good cleaning effect:

[0053] The bristles of the brush roller are made of wear-resistant and flexible materials, which can closely fit the hull surface; the cavitation jet uses the cavitation bubbles generated by a special nozzle structure to produce a strong impact force when contacting the hull surface, having a good cleaning effect on stubborn attachments. The two work together to ensure the quality and depth of hull cleaning, effectively improving the cleaning condition of the hull, reducing the ship's navigation resistance, lowering fuel consumption, and extending the service life of the ship.

[0054] High cost-effectiveness:

[0055] Compared with the underwater robot cleaning method, this system does not require complex underwater robots and their high maintenance costs, and the operation is relatively simple. The operation and maintenance costs of the equipment are relatively low, while improving the cleaning efficiency, thus reducing the overall cost of ship cleaning. Description of the drawings

[0056] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the accompanying drawings required for the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can also be obtained based on these drawings.

[0057] Figure 1 It is a schematic structural diagram of the offshore movable whole-ship cleaning platform system in the specific embodiment of the present invention.

[0058] Figure 2 It is a schematic structural diagram of the vertical movable brush rack in the specific embodiment of the present invention.

[0059] Figure 3 It is a schematic structural diagram of the vertical movable cavitation jet rack in the specific embodiment of the present invention.

[0060] Figure 4 It is a block diagram of the control unit structure in the specific embodiment of the present invention.

[0061] Figure 5 It is a working schematic diagram of the control unit on the vertical movable brush rack in the specific embodiment of the present invention.

[0062] Figure 6 It is a working schematic diagram of the control unit on the vertical movable cavitation jet rack in the specific embodiment of the present invention. Specific Embodiment

[0063] It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments can be combined with each other. The following will describe the present invention in detail with reference to the accompanying drawings and in combination with the embodiments.

[0064] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in combination with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, rather than all the embodiments. The description of at least one exemplary embodiment below is actually only illustrative and in no way restricts the present invention and its application or use. Based on the embodiments in the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0065] It should be noted that the terms used herein are for the purpose of describing specific embodiments only and are not intended to limit the exemplary embodiments of the present invention. As used herein, unless the context clearly dictates otherwise, the singular forms are also intended to include the plural forms. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they specify the presence of the features, steps, operations, devices, components, and / or combinations thereof.

[0066] Unless otherwise specifically stated, the relative arrangements of the components and steps, numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present invention. At the same time, it should be clear that, for the sake of convenience of description, the dimensions of the various parts shown in the drawings are not drawn in actual proportional relationships. Technologies, methods, and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, such technologies, methods, and devices should be regarded as part of the authorized specification. In all the examples shown and discussed here, any specific values should be construed as merely exemplary and not as a limitation. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that like reference numerals and letters denote like items in the following drawings, and thus, once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0067] In the description of the present invention, it should be understood that the orientation or positional relationships indicated by orientation words such as "front, rear, upper, lower, left, right", "lateral, vertical, perpendicular, horizontal", and "top, bottom" are generally based on the orientation or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description. Without contrary description, these orientation words do not indicate and imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the protection scope of the present invention. The orientation words "inner, outer" refer to the inside and outside relative to the contour of each component itself.

[0068] For ease of description, spatial relative terms such as "above", "over", "on the upper surface", "upper", etc. can be used here to describe the spatial positional relationship between a device or feature shown in the figure and other devices or features. It should be understood that the spatial relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figure for the device. For example, if the device in the drawing is inverted, a device described as "above" or "over" other devices or structures will then be positioned "below" or "beneath" other devices or structures. Thus, the exemplary term "above" can include both the orientations of "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and corresponding interpretations will be made for the spatial relative descriptions used here.

[0069] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of differentiating the corresponding components. Without additional statements, the above terms have no special meanings, and thus should not be construed as limiting the protection scope of the present invention.

[0070] As Figure 1 shown in the marine mobile whole-ship cleaning platform system, the present technical solution designs a new type of marine cleaning platform to solve the problem of cleaning ships without berthing at sea. Specifically, it includes a vertical movable brush rack 1, a vertical movable cavitation jet rack 2, and a control unit 3. The vertical movable brush rack 1 and the vertical movable cavitation jet rack 2 are installed in the chutes on the platform deck to clean the hull, and the control unit 3 controls the operation of the vertical movable brush rack 1 and the vertical movable cavitation jet rack 2.

[0071] As Figure 2 shown, the vertical movable brush rack 1 includes a sliding table 1.1, a vertical support 1.2, a brush head telescopic frame 1.3, a brush head rotating platform 1.4, a roller brush 1.5, a pressure sensor 1.6, an angle sensor 1.7, a motor 1.8, a rotating brush head remote control module 1.9, and a rotating brush head wireless signal transmission module 1.10. The sliding table 1.1 and the vertical support 1.2 are used to position the rotating brush head at a suitable position on the hull to be cleaned. The pressure sensor 1.6 is used to monitor the average pressure of the roller brush 1.5 on the brush head rotating platform 1.4. The angle sensor 1.7 is used to monitor the angle between the brush head rotating platform 1.4 and the platform deck and the angle between the brush head rotating platform 1.4 and the surface of the hull to be cleaned. The rotating brush head wireless signal transmission module 1.10 is used to transmit the collected data information such as pressure and angle to the control unit 3.

[0072] As Figure 3As shown in the figure, the vertical movable cavitation jet frame 2 is used to eject cavitation jets to cooperate with the vertical movable rotary brush for deep cleaning of the hull. It includes a sliding table 2.1, a vertical support 2.2, a cavitation jet nozzle 2.3, a pressure sensor 2.4, an angle sensor 2.5, a motor 2.6, a remote control module 2.7 for the cavitation jet nozzle, and a wireless signal transmission module 2.8 for the cavitation jet nozzle. The sliding table 2.1 and the vertical support 2.2 are used to position the cavitation jet nozzle at a suitable position on the hull to be cleaned. The pressure sensor 2.4 is installed outside the cavitation jet nozzle 2.3 to monitor the water jet pressure. The angle sensor 2.5 is used to monitor the angle between the cavitation jet nozzle and the platform deck. The wireless signal transmission module 2.8 for the cavitation jet nozzle is used to transmit data information such as the collected pressure and angle to the control unit 3.

[0073] As Figure 4 As shown in the figure, a mobile whole-ship cleaning platform system for offshore use without berthing includes: a vertical movable rotary brush frame 1, a vertical movable cavitation jet frame 2, and a control unit 3. The vertical movable rotary brush frame 1 is used to brush the surface of the ship and automatically adjust the angle of the brush head and the length of the brush head telescopic frame 1.3 according to the structure of the hull. The vertical movable cavitation jet frame 2 is used to eject cavitation jets onto the surface of the hull and automatically control the angle and jet pressure of the cavitation jet nozzle 2.3 according to the structure of the hull. The control unit 3 is used to receive the video information during the process of the ship to be cleaned entering and leaving the platform and the data information of the pressure sensor 1.7 and the angle sensor 1.8, and remotely control the vertical movable rotary brush frame 1 and the vertical movable cavitation jet frame 2.

[0074] As Figure 5 As shown in the figure, the control unit 3 real-time collects the data information from the wireless signal transmission module 1.10 of the rotary brush head and the video information of the camera 3.5 through the data receiving module 3.2, processes the data through the data processing module 3.3, combines the instructions of the operator to output control signals, and the control signals are transmitted to the remote control module 1.9 of the rotary brush head through the communication module 3.4. First, it controls the sliding table 1.1 and the vertical support 1.2 to make the position and direction of the vertical support fit the hull properly. Secondly, it controls the brush head telescopic frame 1.3 and the brush head rotating platform 1.4 to make the rotary brush head fit the hull to be cleaned properly. Finally, it controls the operation of the motor, thus realizing the function of brushing the hull.

[0075] As Figure 6As shown in the figure, the control unit 3 collects in real time the data information from the wireless signal transmission module 2.8 of the cavitating jet nozzle and the video information of the camera 3.5 through the data receiving module 3.2, processes the data through the data processing module 3.3, outputs a control signal in combination with the instructions of the operator, and the control signal is transmitted to the remote control module 2.7 of the cavitating jet nozzle through the communication module 3.4. First, the sliding table 2.1 and the vertical bracket 2.2 are controlled to make the position and direction of the vertical bracket fit the hull properly. Secondly, the cavitating jet nozzle 2.3 is controlled to make the angle between the nozzle and the hull to be cleaned fit properly. Finally, the motor is controlled to operate, so as to realize the function of jetting water on the hull.

[0076] Step 1: Cleaning preparation

[0077] Dock the offshore ship on the offshore mobile whole-ship cleaning platform to ensure that the ship is in a stable state.

[0078] Start the control unit of the offshore mobile whole-ship cleaning platform system to make it enter the working state. The video acquisition module in the control unit starts to collect the video information of the ship entering and leaving the cleaning platform. The position sensor obtains the position information of the ship in the cleaning platform. The gravity sensor detects the weight distribution of the cleaning platform itself and the weight change of the ship during cleaning. The angle sensor monitors the tilt angle of the platform itself and the docking angle of the ship.

[0079] Step 2: Rotary brush cleaning operation

[0080] The control unit sends a start signal to the vertically movable rotary brush frame to start the motor on the rotary brush frame and make the rotary brush start to rotate. The bristles of the rotary brush are made of wear-resistant and flexible materials and are driven by the motor to rotate to remove the attachments and dirt on the hull surface.

[0081] The control unit pushes the vertically movable rotary brush frame to move horizontally in the slideway on the platform deck through the electric push rod or hydraulic system. The position marks set in the slideway can assist the positioning of the rotary brush frame to ensure that it can accurately reach the hull area to be cleaned.

[0082] When encountering hull surfaces with different shapes and curvatures, the control unit uses the angle adjustment mechanism (which can adopt the form of gear and gear disc cooperation or electric rotary joint) to change the angle of the brush head on the rotary brush frame, so that the bristles of the rotary brush closely fit the hull surface to ensure effective cleaning of all positions of the hull. The translation speed and rotation speed of the rotary brush can be adjusted according to the dirt degree of the hull and the cleaning requirements to achieve the best cleaning effect.

[0083] Step 3: Cavitating jet cleaning operation

[0084] Meanwhile, the control unit sends a start signal to the vertical movable cavitation jet rack to start its high-pressure pump system for the nozzle. The high-pressure pump system pressurizes the water in the water source, and through a special nozzle structure, the water flow generates high-speed flow and pressure changes inside the nozzle to form a cavitation jet.

[0085] The vertical movable cavitation jet rack is driven to translate in the slideway on the platform deck by using a linear guide rail and a driving motor, and the direction of the nozzle is changed by using an angle adjustment mechanism (which can be in the form of a servo motor or a hydraulic rotary joint) so that the cavitation jet covers the area of the hull surface to be cleaned. The angle of the nozzle can be adjusted according to the cleaning requirements to ensure that the cavitation jet can fully impact the stubborn attachments on the hull surface.

[0086] According to the cleaning requirements of the hull, the pressure of the cavitation jet is controlled by adjusting the motor speed or valve opening of the high-pressure pump system, so that the cavitation bubbles generated by it burst when contacting the hull surface, exerting the effect of deep cleaning.

[0087] Step Four: Combined cleaning operation

[0088] During the cleaning process, the control unit precisely controls the movements of the vertical movable brush rack and the vertical movable cavitation jet rack according to the preset cleaning program and the data fed back by the sensors, so that the brush and the cavitation jet cooperate with each other to clean the hull on a large area and in depth.

[0089] The control unit continuously receives the data information of the position information, the gravity sensor, and the angle sensor, and monitors the states of the cleaning platform and the ship in real time to ensure the safety and efficiency of the cleaning operation.

[0090] Step Five: End of cleaning

[0091] When the cleaning of the hull is completed, the control unit sends stop signals to the vertical movable brush rack and the vertical movable cavitation jet rack to stop the rotation of the brush and the spraying of the jet nozzle, and turns off the relevant motors and pump systems.

[0092] Check and maintain the cleaning platform system to prepare for the next cleaning operation.

[0093] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An offshore movable whole ship cleaning platform system, characterized in that: include: A vertical movable roller brush rack is configured to perform translational movement in a slideway on a platform deck and to change the angle of a brush head. The roller brush rack comprises one or more roller brushes, the bristles of which are made of wear-resistant and flexible materials, and can fit closely to the surface of the hull. The roller brushes are driven to rotate by a motor to remove attachments and dirt on the surface of the hull. During the translational movement, the roller brush rack is pushed by an electric push rod or a hydraulic system to move smoothly along the slideway, thereby achieving cleaning of a large area of ​​the hull. When changing the angle of the brush head, an angle adjustment mechanism is used, which can be in the form of a gear and a toothed disc or an electric rotary joint to achieve precise angle adjustment, thereby being able to adapt to hull surfaces of different shapes and curvatures, and achieving effective cleaning of various positions of the hull. A vertical movable cavitation jet rack, which can perform translational movement in the slideway on the platform deck and change the angle of the nozzle. The nozzle is connected to the water source through a high-pressure pump system to generate cavitation jets. The cavitation jets use a special nozzle structure to make the water flow produce high-speed flow and pressure changes in the nozzle to form cavitation bubbles. When these bubbles contact the hull surface, they burst and generate a strong impact force to deeply clean the stubborn attachments on the hull surface. During the translational movement, the linear guide and the drive motor are used to achieve precise movement along the slideway. At the same time, the direction of the nozzle is changed by the angle adjustment mechanism, which can be in the form of a steering gear or a hydraulic rotary joint, so that the nozzle can cover a large area of ​​the hull surface; The control unit includes a video acquisition module for collecting video information of a marine vessel entering and exiting a cleaning platform, a position sensor for obtaining position information of the vessel in the cleaning platform, a gravity sensor for detecting the weight distribution of the cleaning platform itself and the weight change of the vessel during cleaning, and an angle sensor for monitoring the inclination angle of the platform itself and the docking angle of the vessel. The control unit receives data information from these sensors and remotely controls the vertical movable roller brush rack, the vertical movable cavitation jet rack, the roller brush and the cavitation jet nozzle through wired or wireless communication. The control signal is processed and sent through a PLC or a microcontroller. According to a preset cleaning program and data fed back by the sensor, the rotation speed, translation speed, angle adjustment of the roller brush and the pressure, injection angle and injection time of the cavitation jet are accurately controlled.

2. The offshore movable whole ship cleaning platform system according to claim 1 is characterized in that: The vertical movable roller brush rack (1) comprises a slide (1.1), a vertical bracket (1.2), a brush head telescopic bracket (1.3), a brush head rotating platform (1.4), a roller brush (1.5), a pressure sensor (1.6), an angle sensor (1.7), a motor (1.8), a rotating brush head remote control module (1.9), and a rotating brush head wireless signal transmission module (1.10); the slide (1.1) is matched in a slide slot on the platform deck to support the movement of the vertical movable roller brush rack; the roller brush vertical bracket (1.2) is installed on the slide (1.1) to connect to the brush head telescopic bracket; the other end of the brush head telescopic bracket (1.3) is used to connect to the brush head rotating platform (1.4); seven roller brushes (1.5) are connected to the brush head rotating platform (1.4) in a circular manner; the pressure sensor (1.6) is installed on the outside of the brush head rotating platform (1.4), The invention is used to detect the average pressure exerted on the brush head during the cleaning process; the angle sensor (1.7) is installed on the outside of the brush head rotating platform (1.4) and is used to monitor the angle between the brush head rotating platform (1.4) and the platform deck, and the angle between the brush head rotating platform (1.4) and the surface of the hull being cleaned; the motor (1.8) is installed inside the brush head telescopic frame (1.3) and is used to provide power for the movement of the brush head telescopic frame (1.3) and the brush head rotating platform (1.4); the rotating brush head remote control module (1.9) is connected to the motor (1.8) and is used to remotely receive the control signal of the control unit (3) and thus control the working state of the motor; the rotating brush head wireless signal transmission module (1.10) is connected to the pressure sensor (1.6) and the angle sensor (1.7) and is used to transmit the collected data information such as tension and angle to the control unit (3).

3. The offshore movable whole ship cleaning platform system according to claim 1 is characterized in that: The vertical movable cavitation jet rack (2) comprises a slide (2.1), a vertical bracket (2.2), a cavitation jet nozzle (2.3), a pressure sensor (2.4), an angle sensor (2.5), a motor (2.6), a cavitation jet nozzle remote control module (2.7), and a cavitation jet nozzle wireless signal transmission module (2.8); the slide (2.1) is matched in a slide slot on the platform deck to support the movement of the vertical movable cavitation jet rack; the cavitation jet vertical bracket (2.2) is installed on the slide (2.1) to connect the cavitation jet nozzle (2.3); the pressure sensor (2.4) is installed on the outside of the cavitation jet nozzle (2.3) to monitor the water spraying during the cleaning process. The angle sensor (2.5) is installed on the outside of the cavitation jet nozzle (2.3) and is used to monitor the angle between the cavitation jet nozzle (2.3) and the surface of the hull being cleaned; the motor (2.6) is installed at the rear of the cavitation jet nozzle (2.3) and is used to provide power for the cavitation jet nozzle (2.3); the cavitation jet nozzle remote control module (2.7) is connected to the motor (2.6) and is used to remotely receive control signals from the control unit (3) to control the working state of the motor; the cavitation jet nozzle wireless signal transmission module (2.8) is connected to the pressure sensor (2.4) and the angle sensor (2.5) and is used to transmit the collected data information such as pressure and angle to the control unit (3).

4. The offshore movable whole ship cleaning platform system according to claim 3 is characterized in that: The control unit (3) comprises a control cabinet, a data receiving module, a data processing module, a communication module and a camera. The control cabinet is installed in four superstructures of the offshore movable whole ship cleaning platform. The data receiving module, the data processing module and the communication module are installed in the control cabinet. The data receiving module is used to receive video information from the camera and data information from the rotating brush head wireless signal transmission module (1.10) and the cavitation jet nozzle wireless signal transmission module (2.8). The data processing module is connected to the data receiving module and is used to input and output control signals and process control signals in real time. The communication module is connected to the data processing module and is used to output control signals to the vertical movable roller brush rack (1) and the vertical movable cavitation jet rack (2).

5. The offshore movable whole ship cleaning platform system according to claim 4 is characterized in that: The control unit (3) also includes a storage module for storing cleaning programs and cleaning records for different ships. The corresponding cleaning program is called according to the model and size of the ship. The storage module can use a solid-state hard disk or a flash memory card to ensure the storage and reading speed of data. At the same time, the storage module can also store sensor data to facilitate subsequent analysis and optimization of the cleaning process.

6. A cleaning method using the offshore movable whole ship cleaning platform system as described in any one of claims 1 to 5, characterized in that: Step 1: Cleaning and preparation, Dock the ship at sea on the mobile whole-ship cleaning platform at sea to ensure that the ship is in a stable state; Start the control unit of the offshore mobile whole ship cleaning platform system to put it into working state. The video acquisition module in the control unit starts to collect video information of the ship entering and leaving the cleaning platform, the position sensor obtains the position information of the ship in the cleaning platform, the gravity sensor detects the weight distribution of the cleaning platform itself and the weight change of the ship during cleaning, and the angle sensor monitors the tilt angle of the platform itself and the docking angle of the ship; Step 2: Roller brush cleaning operation, The control unit sends a start signal to the vertical movable roller brush frame, starts the motor on the roller brush frame, and makes the roller brush start to rotate; the bristles of the roller brush are made of wear-resistant and flexible materials, and are driven by the motor to rotate to remove attachments and dirt on the surface of the hull; The control unit pushes the vertical movable roller brush frame to perform translational movement in the slideway on the platform deck through an electric push rod or a hydraulic system; the position marks set in the slideway can assist in positioning the roller brush frame to ensure that it can accurately reach the hull area that needs to be cleaned; When encountering a hull surface of different shapes and curvatures, the control unit uses the angle adjustment mechanism to change the angle of the brush head on the roller brush holder so that the bristles of the roller brush fit closely to the hull surface, ensuring effective cleaning of all parts of the hull; the translation speed and rotation speed of the roller brush can be adjusted according to the degree of dirtiness of the hull and the cleaning requirements to achieve the best cleaning effect; Step 3: Cavitation jet cleaning operation. At the same time, the control unit sends a start signal to the vertical movable cavitation jet stand to start the high-pressure pump system of its nozzle; the high-pressure pump system pressurizes the water in the water source, and through the special nozzle structure, the water flow generates high-speed flow and pressure changes in the nozzle to form a cavitation jet; The linear guide and drive motor are used to drive the vertical movable cavitation jet frame to move in the slideway on the platform deck, and the angle adjustment mechanism is used to change the direction of the nozzle so that the cavitation jet covers the hull surface area that needs to be cleaned; the angle of the nozzle can be adjusted according to the cleaning requirements to ensure that the cavitation jet can fully impact the stubborn attachments on the hull surface; According to the cleaning requirements of the hull, the pressure of the cavitation jet is controlled by adjusting the motor speed or valve opening of the high-pressure pump system, so that the cavitation bubbles it generates burst when they contact the surface of the hull, achieving a deep cleaning effect. Step 4: Combined cleaning operation, During the cleaning process, the control unit accurately controls the movement of the vertical movable roller brush rack and the vertical movable cavitation jet rack according to the preset cleaning program and the data fed back by the sensor, so that the roller brush and the cavitation jet cooperate with each other to clean the hull in a large area and depth; The control unit continuously receives position information, data from gravity sensors and angle sensors, and monitors the status of the cleaning platform and the ship in real time to ensure the safety and efficiency of the cleaning operation; Step 5: Cleaning is complete. When the cleaning of the hull is completed, the control unit sends a stop signal to the vertical movable roller brush rack and the vertical movable cavitation jet rack to stop the rotation of the roller brush and the spraying of the jet nozzle, and turn off the relevant motor and pump system; Inspect and maintain the cleaning platform system to prepare for the next cleaning operation.

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