Underwater hull cleaning robot based on cavitation jet flow and crawler chassis

Abstract

The invention provides an underwater hull cleaning robot based on cavitation jet flow and a crawler-type chassis. The underwater hull cleaning robot comprises the crawler-type chassis, a cavitation jet flow device, an electric control cabin, a battery cabin, a steel frame, a propelling device, a camera and a lighting device. Wherein the crawler-type chassis adopts a double-crawler-type driving structure and adapts to complex underwater terrains; the cavitation jet device integrates a high-pressure water pump, a cavitation nozzle and the like, and the cleaning efficiency is enhanced through the cavitation effect. The electric control cabin internally comprises a control mainboard, a communication module, an electronic speed controller and the like and is used for storing various electronic elements in a sealed mode, the battery cabin comprises a power management module and a battery and is used for supplying power to the robot, the steel frames are fixedly connected through bolts, and the propelling device comprises four vertical propellers and two horizontal propellers. Posture adjustment and position movement of the robot can be achieved, and the cleaning effect can be observed in real time when the camera and the lighting device are used. The underwater facility cleaning device can replace manual work to complete efficient cleaning operation of underwater facilities, the operation risk is reduced, the operation safety is improved, and the underwater facility cleaning device has a large market prospect.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater robots, and in particular to a crawler robot for cleaning the surface of ships, which is combined with a cavitation jet device to improve cleaning efficiency and adapt to complex underwater running surfaces. Background Art

[0002] In the field of marine engineering and underwater facility maintenance, cleaning operations are of vital importance. In recent years, cleaning robots have become a research hotspot and have achieved certain results, but existing cleaning robots still have many shortcomings in practical applications.

[0003] Currently, underwater cleaning robots fall into several main categories. Some utilize high-pressure water jet cleaning technology, removing dirt through the impact of high-pressure water. However, this method is limited in its effectiveness against hard-attached contaminants. For example, when cleaning offshore platform piles that have long been covered with marine organisms, thorough removal is difficult. Furthermore, the high-pressure water jet can damage the cleaning surface, increasing maintenance costs. Furthermore, high-pressure water jet cleaning consumes significant energy and is inefficient in terms of energy utilization.

[0004] While some underwater cleaning robots that utilize mechanical brushing can remove dirt to a certain extent, they are severely limited in their adaptability when working with underwater facilities with complex shapes and structures. For example, the complex curves and narrow gaps in a ship's propeller make it difficult for the brush to effectively reach and clean it, resulting in incomplete cleaning and impacting facility performance.

[0005] Many underwater cleaning robots also have limitations in terms of mobility and positioning. Some robots that rely on wheels for mobility struggle to maintain stability in complex seabed terrain or areas with turbulent currents, prone to slipping and tipping over, and unable to ensure the continuity and stability of cleaning operations. Furthermore, some robots powered by thrusters have low positioning accuracy, making it difficult for them to reach the designated location during precise cleaning tasks, reducing cleaning efficiency.

[0006] In summary, existing underwater cleaning robots have significant shortcomings in cleaning effectiveness, adaptability, and mobile positioning. To address these issues and meet the growing demand for underwater facility cleaning, the development of a tracked hull cleaning robot equipped with a novel cavitation jet mechanism is of great practical significance. This robot aims to utilize cavitation jet technology to improve cleaning effectiveness and, with its tracked chassis, enhance its ability to adapt to complex terrain. This effectively addresses the shortcomings of existing underwater cleaning robots and promotes advancements in underwater cleaning technology. Summary of the Invention

[0007] In response to the technical problems raised above, a crawler-type hull cleaning robot with a novel cavitation jet device is provided, which realizes efficient and safe cleaning of underwater facilities through the combination of cavitation jet and crawler-type moving mechanism.

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

[0009] An underwater hull cleaning robot based on a cavitation jet and a tracked chassis comprises: a steel frame, a tracked chassis fixed to both sides of the steel frame, a cavitation jet device arranged at the front of the steel frame; an electric control cabin and a battery compartment arranged within the steel frame; four vertical thrusters and two horizontal thrusters, respectively located at the four corners and both sides of the steel frame, as well as cameras and lighting devices installed at the head and tail of the robot; the tracked chassis comprises: fixed clamping plates on both sides, a driving wheel, a driven wheel II and a driven wheel I installed on the clamping plates, a crawler with anti-skid teeth and a drive motor, and a front tensioning device; the cavitation jet device comprises: a connecting pipe for connecting to an external water pump, a cleaning disc provided with a guide groove, a disc brush around the cleaning disc, and three universal wheels distributed at 120 degrees; the electric control cabin comprises: an aluminum alloy shell of the electric control cabin, a control mainboard, and a communication module; and the battery compartment comprises: an aluminum alloy shell, a battery, and a power management module.

[0010] Furthermore, the driving motor of the crawler chassis is an independent dual-motor structure, and the tracks on both sides can be driven differentially.

[0011] Furthermore, the guide groove of the cavitation jet device is a spiral structure, which guides the water flow to two symmetrical cavitation cavities.

[0012] Furthermore, the axial angle of the vertical propeller is 90°, and the horizontal propeller is parallel to the track.

[0013] Furthermore, the electrical control cabin also includes a sensor interface board for connecting to underwater environment sensors.

[0014] Further,

[0015] The electric control cabin and the battery cabin are connected by flange bolts, the connection surface is provided with a power interface and a signal interface, and a sealing member is provided on the flange joint surface;

[0016] The control mainboard is fixed to the inside of the aluminum alloy shell of the electric control cabin through a thermal conductive silicone pad, and the communication module is vertically installed on the interface of the control mainboard in a slot manner;

[0017] The battery is fixed inside the aluminum alloy shell of the battery compartment via an insulating bracket, and the power management module is connected to the battery via a cable and is mounted on the inner wall of the aluminum alloy shell.

[0018] The present invention adopts the above technical solution, through the combined design of dual-track chassis + cavitation jet + multi-axis propeller, to achieve: the synergistic effect of the dual-track anti-skid tooth structure and the guide groove type cavitation jet device to solve the technical problems of poor adaptability to complex underwater terrain and low hard dirt removal rate; the 4 vertical + 2 horizontal thruster layout is combined with the real-time feedback of the electronic control system to break through the limitations of insufficient positioning accuracy of traditional underwater robots. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0020] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0021] Figure 2 This is a schematic diagram of the crawler chassis structure of the present invention;

[0022] Figure 3 This is a schematic structural diagram of the cavitation jet device of the present invention;

[0023] Figure 4 This is a structural schematic diagram of the electric control cabin and battery cabin of the present invention.

[0024] Figure 5 This is the working diagram of the cavitation jet device.

[0025] In the figure: 1. Battery compartment; 101. Aluminum alloy shell; 102. Battery; 103. Power management module; 2. Steel frame; 3. Tracked chassis; 301. Fixing splint; 302. Track; 303. Driven wheel II; 304. Tensioning device; 305. Driving wheel; 306. Driven wheel I; 307. Drive motor; 4. Vertical thruster; 5. Camera and lighting device; 6. Electronic control cabin; 601. Control main board; 602. Aluminum alloy shell; 603. Communication module; 604. Sensor interface board; 7. Cavitation jet device; 701. Connecting pipe; 702. Cleaning disc; 703. Universal wheel; 704. Guide groove; 705. Disc brush; 8. Horizontal thruster.

[0026] A. Launching equipment; B. Water control station; C. Hull cleaning robot. DETAILED DESCRIPTION

[0027] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments of the present invention can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0028] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is in no way intended to limit the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0029] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0030] Unless otherwise specifically stated, the relative arrangement of the parts 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 ease of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship. The technology, methods and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but in appropriate cases, the technology, methods and equipment should be considered as part of the specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, not as a limitation. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that similar numbers and letters represent similar items in the following figures, and therefore, once an item is defined in one figure, it does not need to be further discussed in subsequent figures.

[0031] In the description of the present invention, it should be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "horizontal, vertical, vertical, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention: the directional words "inside and outside" refer to the inside and outside relative to the outline of each component itself.

[0032] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used herein to describe the spatial positional relationship of a device or feature to other devices or features as shown in the figures. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figures. For example, if the device in the drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below their position devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0033] 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 distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the present invention.

[0034] like Figures 1 to 4 As shown, the present invention provides an underwater hull cleaning robot based on cavitation jet and tracked chassis, including a tracked chassis 3, a cavitation jet device 7, an electric control cabin 6, a battery cabin 1, a steel frame 2, a vertical thruster 4, a horizontal thruster 8, a camera and a lighting device 5.

[0035] The crawler chassis 3 is fixed to both sides of the steel frame 2 by bolts, and the crawlers on both sides are driven by independent motors 307, and the steel frame 2 is fixedly connected by bolts;

[0036] The cavitation jet device 7 is fixed to the steel frame 2 with bolts and needs to be connected to an external water pump when in use;

[0037] The electric control cabin 6 is installed in the steel frame 2 and adopts an aluminum alloy shell 602, including a control mainboard 601, a communication module 603, etc.

[0038] The battery compartment 1 is installed in a steel frame 2 and adopts an aluminum alloy shell 101, including a power management module 103, a battery 102, etc.

[0039] The electric control cabin 6 is connected to the battery cabin 1 through flange bolts, the connection surface is provided with a power interface and a signal interface, and a seal is provided on the flange joint surface; the flange plate is arranged on the docking end surface of the two cabins, and 4 M6 bolt holes are evenly distributed around the flange. The connection surface of the two cabins is provided with a power docking socket (the male head is located in the battery cabin, and the female head is located in the electric control cabin), and the signal transmission terminal adopts a waterproof connector.

[0040] The control mainboard 601 is fixed to the inner side of the aluminum alloy shell 602 of the electric control cabin 6 via a thermal conductive silicone pad, and the communication module 603 is vertically installed on the interface of the control mainboard 601 in a slot manner;

[0041] The battery 102 is fixed inside the aluminum alloy shell 101 of the battery compartment 1 via an insulating bracket. The power management module 103 is connected to the battery 102 via a cable and is mounted on the inner wall of the aluminum alloy shell 101.

[0042] Furthermore, the propulsion device includes four vertical propellers 4 and two horizontal propellers 8, wherein the vertical propellers are installed on the inner sides of the four corners of the steel frame 2 with an axial angle of 90°, and the horizontal propellers are installed on the inner sides of the steel frame 2 and parallel to the crawler 302;

[0043] The camera and lighting device 5 are installed at the head and tail of the robot;

[0044] like Figure 2 As shown, the crawler chassis 3 includes a fixed clamping plate 301, a driving wheel 305, a driven wheel II 303, a tensioning device 304, a crawler track 302, a driven wheel I 306, and a driving motor 307.

[0045] The fixing plates 301 are installed on both sides of the crawler track 302 to fix the driving wheel 305, the driven wheel II 303 and the driven wheel I 306.

[0046] The driving wheel 305, the driven wheel II 303 and the driven wheel I 306 are fixed to the clamping plate 301 by bolts and are used to drive the crawler track 302;

[0047] Furthermore, the tensioning device 304 is installed on the front side of the crawler 302, and the tension of the crawler is adjusted by changing the bolt process.

[0048] The surface of the crawler 302 is provided with staggered anti-skid teeth, and the driving motor 307 is installed on the side plate through the support module. The crawlers on both sides are driven by independent motors respectively.

[0049] like Figure 3 As shown, the cavitation jet device 7 is installed at the front of the robot, including a connecting pipe 701, a guide groove 704, a cleaning disc 702, a disc brush 705, and a universal wheel 703;

[0050] The connecting pipe 701 is installed at the center of the cleaning plate 702 and is used to connect to an external water pump.

[0051] The guide groove 704 is installed inside the cleaning plate 702 to guide the water flow into the two cavitation chambers.

[0052] The cleaning plate 702 is fixed to the steel frame 2 with bolts.

[0053] Furthermore, the disc brush 705 is installed on the periphery of the cleaning disc 702 to improve the cleaning efficiency. There are three universal wheels 703 installed on the surface of the cleaning disc, and the axial angle thereof is 120°.

[0054] like Figure 4 As shown, the electric control cabin 6 is installed in the steel frame 2 and adopts an aluminum alloy shell 602, including a control mainboard 601, a communication module 603, etc.

[0055] Furthermore, the control main board 601 is used to control the propeller 4, the cavitation jet device 7, etc.

[0056] The communication module 603 is used to receive ground control information and feed back robot information to the ground;

[0057] The battery compartment 1 is installed in a steel frame 2 and adopts an aluminum alloy shell 101, including a power management module 103, a battery 102, etc.

[0058] The battery 102 and the power management module 103 are used to power the robot and ensure the normal operation of each device.

[0059] like Figure 5 As shown, the cavitation jet device 7 has the following steps:

[0060] Step 1: Conduct a comprehensive inspection of the underwater cleaning robot at the water control station to ensure that all components of the cavitation jet device are firmly connected. Once ready, use professional deployment equipment to launch the robot underwater into the target cleaning area.

[0061] Step 2: After the robot enters the water, the control system in the electronic control cabin uses sensors to detect the underwater environment and simultaneously drives the tracked chassis to adjust its position so that the cavitation jet device is aligned with the target cleaning area, completing the initial positioning.

[0062] Step 3: After positioning is complete, the control board sends a start command to the cavitation jet device. The high-pressure water pump begins operating, pressurizing the water, which is then transported through pipes to the cavitation nozzle assembly. The control system then adjusts the cavitation jet device's operating parameters based on information such as the type and thickness of the target attachments acquired by the visual sensor and the pre-set cleaning strategy.

[0063] Step 4: After the cavitation jet device is started and the parameters are adjusted, the control system drives the cavitation nozzle assembly to perform cleaning operations according to the preset cleaning path.

[0064] Step 5: Once the entire target cleaning area is cleaned and the visual sensor confirms the cleaning effect meets the expected standards, the control system sends a stop command, the cavitation jet device stops operating, and the high-pressure water pump stops supplying water. The robot then moves to the designated recovery point on its tracked chassis. The recovery equipment, operated by the water control station, brings the robot back to the surface of the water, completing the cleaning mission.

[0065] 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 it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein with equivalents. However, 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 underwater hull cleaning robot based on cavitation jet and crawler chassis, characterized in that: include: Steel frame (2), A crawler chassis (3) fixed to both sides of the steel frame, and a cavitation jet device (7) provided in front of the steel frame (2); An electric control cabin (6) and a battery cabin (1) are arranged in a steel frame (2); Four vertical thrusters (4) and two horizontal thrusters (8), located at the four corners and two sides of the steel frame (2), and cameras and lighting devices (5) installed at the head and tail of the robot; The crawler chassis comprises: fixed clamping plates (301) on both sides, a driving wheel (305) and a driven wheel mounted on the clamping plates, a crawler with anti-skid teeth (302) and a driving motor (307), and a front tensioning device (304); The cavitation jet device (7) comprises: a connecting pipe (701) connected to an external water pump, a cleaning disc (702) provided with a guide groove (704), a disc brush (705) around the cleaning disc, and three universal wheels (703) distributed at 120 degrees; The electric control cabin (6) comprises: an aluminum alloy shell (602) of the electric control cabin, a control mainboard (601), and a communication module (603); The battery compartment (1) comprises: an aluminum alloy shell (101), a battery (102), and a power management module (103).

2. The underwater hull cleaning robot based on cavitation jet and crawler chassis according to claim 1, characterized in that: The driving motor (307) of the crawler chassis (3) is an independent dual-motor structure, and the crawlers on both sides can be driven at differential speeds.

3. The underwater hull cleaning robot based on cavitation jet and crawler chassis according to claim 1, characterized in that: The guide groove (704) of the cavitation jet device (7) is a spiral structure, which guides the water flow into two symmetrical cavitation cavities.

4. The underwater hull cleaning robot based on cavitation jet and crawler chassis according to claim 1, characterized in that: The axial angle of the vertical propeller (4) is 90°, and the horizontal propeller (8) is parallel to the crawler (302).

5. According to claim 1, an underwater hull cleaning robot based on cavitation jet and crawler chassis is characterized in that: The electric control cabin (6) also includes a sensor interface board (604) for connecting an underwater environment sensor.

6. The underwater hull cleaning robot based on cavitation jet and crawler chassis according to any one of claims 1 to 5, characterized in that: The electric control cabin (6) is connected to the battery cabin (1) via flange bolts, a power interface and a signal interface are provided on the connection surface, and a sealing member is provided on the flange joint surface; The control mainboard (601) is fixed to the inner side of the aluminum alloy shell (602) of the electric control cabin (6) via a heat-conducting silicone pad, and the communication module (603) is vertically installed on the interface of the control mainboard (601) in a slot manner; The battery (102) is fixed inside the aluminum alloy shell (101) of the battery compartment (1) via an insulating bracket, and the power management module (103) is connected to the battery (102) via a cable and is mounted on the inner wall of the aluminum alloy shell (101).

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