Underwater hull cleaning device capable of working cooperatively in series

Abstract

The invention discloses an underwater ship body cleaning device capable of realizing series connection cooperative work, through series connection combination of a plurality of cleaning modules, a continuous series connection strip-shaped cleaning structure can be constructed on the surface of a ship body, efficient large-area covering type cleaning of the surface of the ship body is realized, and meanwhile, the underwater ship body cleaning device can adapt to a curved surface structure of the outer surface of the ship body. Based on the biological characteristics that marine creatures are mainly attached to the ship berthing stage and hardly grow in the sailing process, the marine creature anchoring device can be rapidly operated in the ship berthing or anchoring period, and the ship body mucus matrix in the marine creature attachment initial stage can be timely removed, so that the creature attachment foundation can be fundamentally eliminated, and the marine creatures are prevented from being damaged. The development of marine biocenosis is effectively inhibited. Due to the fact that the marine organism attachments in the initial stage are treated, the cleaning device can ensure the cleaning efficiency in the low-power operation state, and meanwhile the flexible brush module can avoid damage to the antifouling coating of the ship body. A new research idea is provided for the technical field of ship antifouling, and a new technical path is expanded.

Description

Technical Field

[0001] The present invention relates to the technical field of ship and ocean engineering, and in particular to an underwater hull cleaning device capable of working in series and in coordination. Background Art

[0002] In the shipping industry, marine biofouling has long posed a significant technical challenge. Attached marine organisms not only significantly increase hull surface friction but also increase the vessel's deadweight, leading to increased fuel consumption and potentially posing the risk of trans-oceanic spread of invasive species. To address this issue, early ships commonly used high-efficiency antifouling coatings containing organotin compounds. However, due to their persistent toxic effects on marine ecosystems, the International Maritime Organization banned their use in 2008.

[0003] In recent years, with increasingly stringent environmental regulations, new environmentally friendly antifouling coating technologies have made significant progress. However, even with antifouling coatings, initial biofouling cannot be avoided during long periods of berthing. Marine ecologically sensitive countries such as Australia and New Zealand have implemented strict biofouling control policies, requiring ships entering port to undergo hull biofouling testing. This regulation increases operating costs for shipping companies. Given that dry docking typically occurs every five years, underwater cleaning and maintenance are essential during this period. Current mainstream underwater cleaning solutions have significant limitations: diver operations pose safety risks and high labor costs. While existing underwater cleaning robots are suitable for heavy-duty contamination removal, their high-power, high-pressure water jets and high-hardness brushes can damage the integrity of the hull coating, accelerating subsequent biofouling and inducing corrosion of the metal substrate. Because underwater robots are generally single-unit devices, their cleaning efficiency is also relatively low. Summary of the Invention

[0004] The present invention discloses an underwater hull cleaning device capable of working in series and in coordination, so as to overcome the above technical problems.

[0005] In order to achieve the above object, the technical solution of the present invention is:

[0006] An underwater hull cleaning device capable of working in series and in coordination, comprising: a plurality of cleaning modules, a flexible linking device, a control module, and a flexible brush module;

[0007] The flexible linking device is fixedly connected to the cleaning module at a side surface of the cleaning module, and the side surface is parallel to the moving direction of the cleaning module;

[0008] The plurality of cleaning modules are sequentially connected in series via the flexible linking device;

[0009] The flexible brush module is fixedly arranged at the front end of the cleaning module in the forward direction, and is used to clean the surface of the hull;

[0010] The cleaning module is in communication with the control module.

[0011] Furthermore, the cleaning module includes a cleaning module body, a magnetic crawler system, a first motor, and a second motor;

[0012] The magnetic crawler system is fixedly connected to the cleaning module body and is in rolling connection with the hull surface;

[0013] The first motor and the second motor are both fixedly connected to the cleaning module body. The first motor is used to drive the rotation of the magnetic track system to achieve the rotation of the magnetic track system on the surface of the hull; the second motor is used to drive the movement of the magnetic track system to achieve the movement of the magnetic track system on the surface of the hull;

[0014] The flexible brush module is fixedly arranged at the front end of the cleaning module body in the forward direction; and the flexible linking device is fixedly connected to the cleaning module body.

[0015] Furthermore, the flexible brush module includes a fixed shell, bristles, and a spring group;

[0016] The spring assembly is arranged inside the fixed shell, with one end connected to the bottom of the fixed shell and the other end connected to the bristles;

[0017] The other end of the bristles abuts against the surface of the hull.

[0018] Furthermore, the bristles are detachable replacement modules.

[0019] Furthermore, the flexible brush module further includes a first position sensor and a second position sensor;

[0020] The first position sensor and the second position sensor are both fixedly arranged inside the fixed shell, and the first position sensor and the second position sensor are respectively arranged on both sides of the moving direction of the cleaning module, that is, the first position sensor side and the second position sensor side;

[0021] The spring group includes a plurality of first springs disposed on the first position sensor side and a plurality of second springs disposed on the second position sensor side;

[0022] The first position sensor is used to obtain the compression amount of the first spring; the second position sensor is used to obtain the compression amount of the second spring.

[0023] Furthermore, the cleaning module further includes a control unit;

[0024] An electromagnet group is fixedly provided on one side of the cleaning module body where the magnetic crawler system is provided, and the electromagnet group includes a plurality of first electromagnets provided on the first position sensor side and a plurality of second electromagnets provided on the second position sensor side;

[0025] The first position sensor, the second position sensor, the first electromagnet, and the second electromagnet are all connected to the control unit in communication; the control unit is connected to the control module in communication;

[0026] The control unit determines the magnetic field strength of the first electromagnet according to the compression amount of the first spring; determines the magnetic field strength of the second electromagnet according to the compression amount of the second spring, so as to adjust the magnetic field strengths of the first electromagnet and the second electromagnet.

[0027] Furthermore, the method for determining the magnetic field strength of the first electromagnet and the magnetic field strength of the second electromagnet is as follows:

[0028] First, the voltage signal of the first spring and the voltage signal of the second spring are determined according to the compression amount of the first spring and the compression amount of the second spring respectively:

[0029] V s1 =κ s1 Δs1+V0

[0030] V s2 =κ s2 Δs2+V0

[0031] Where: V s1 、V s2 Represent the voltage signal of the first spring and the voltage signal of the second spring respectively; κ s1 , κ s2 Represent the correction coefficients for the compression degree of the first spring and the second spring, respectively; Δs1 and Δs2 represent the compression amounts of the first and second springs, respectively; V0 is the bias voltage, i.e., the output voltage when the spring compression amount is 0;

[0032] Next, determine the magnetic field strength of the first and second electromagnets as follows:

[0033]

[0034] Where: B e1 、B e2 represents the magnetic field strength of the first electromagnet and the magnetic field strength of the second electromagnet respectively; μ is the magnetic permeability; N1 and N2 are the number of turns of the coils of the first electromagnet and the second electromagnet respectively; L1 and L2 are the average lengths of the magnetic circuits of the first electromagnet and the second electromagnet respectively; V e1 、V e2 Represent the voltage of the first electromagnet and the second electromagnet respectively; Re1 、R e2 are the resistances of the first electromagnet and the second electromagnet respectively; κ1 represents the proportional coefficient between the compression of the first spring and the voltage of the first electromagnet; κ2 represents the proportional coefficient between the compression of the second spring and the voltage of the second electromagnet.

[0035] Furthermore, it also includes a flexible communication power supply cable;

[0036] One end of the flexible communication power supply cable is connected to the cleaning module, and the other end is connected to the control module to achieve communication connection between the cleaning module and the control module.

[0037] Furthermore, it also includes an ultrasound probe, a camera, a light source, and a display device;

[0038] The ultrasonic probe, camera, and light source are all fixedly arranged at the rear end of the forward direction of the cleaning module;

[0039] The ultrasound probe, camera, and light source are all connected to the control unit through a flexible communication power supply cable;

[0040] The control module is communicatively connected to the display device via a flexible communication power supply cable.

[0041] Beneficial Effects: The present invention provides an underwater hull cleaning device capable of working in tandem. By combining multiple cleaning modules in series, a strip-shaped cleaning structure can be constructed on the hull surface, achieving efficient, large-area cleaning of the hull surface while adapting to the curved surface structure of the hull's outer surface. Based on the biological characteristics of marine organisms, which primarily attach to ships while moored and rarely grow while underway, the present invention can rapidly operate while the ship is docked or anchored, promptly removing the mucus matrix of the hull during the initial stages of marine organism attachment. Since this mucus is secreted by marine organisms and is a necessary carrier for subsequent biofouling growth, the present invention can eliminate this biofouling matrix at its root, effectively inhibiting the growth of marine biota. Because the present invention treats early marine biofouling, the cleaning device can maintain low power operation and rapid cleaning capabilities. Furthermore, due to the minimal loss of the hull's antifouling coating by the flexible brush modules, the cleaning device of the present invention can be used for regular underwater cleaning, ensuring cleaning efficiency. The present invention is suitable for regular underwater cleaning of hulls, significantly improving the timeliness of hull maintenance and providing new research ideas and expanding new technical paths in the field of ship antifouling technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] 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 work.

[0043] Figure 1 This is a schematic front view of the cleaning module structure of the present invention;

[0044] Figure 2 This is a bottom view schematic diagram of the cleaning module structure of the present invention;

[0045] Figure 3 This is a schematic structural diagram of the flexible brush module of the present invention;

[0046] Figure 4 It is a front view schematic diagram of multiple cleaning modules connected in series on the surface of a ship hull in an embodiment of the present invention;

[0047] Figure 5 Schematic diagram of the cleaning module structure from an oblique angle in an embodiment of the present invention.

[0048] Among them, 1. Cleaning module; 11. Cleaning module body; 12. Magnetic track system; 131. First electromagnet; 132. Second electromagnet; 14. First motor; 15. Side; 16. Second motor; 2. Flexible brush module; 21. Fixed shell; 22. Bristles; 23. Spring group; 24. First position sensor; 25. Second position sensor; 231. First spring; 232. Second spring; 3. Ultrasonic probe; 4. Camera; 5. Light source; 6. Flexible link device; 8. Hull; 19. Connection hole. DETAILED DESCRIPTION

[0049] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying 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. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0050] This embodiment introduces an underwater hull cleaning device that can work in series and collaboratively, such as Figures 1 to 5 As shown, it includes: a plurality of cleaning modules 1 that can be quickly connected in series, a flexible linking device 6, a control module, and a flexible brush module 2;

[0051] The flexible linking device 6 is fixedly connected to the cleaning module 1 at a side surface 15 of the cleaning module 1 , and the side surface 15 is parallel to the moving direction of the cleaning module 1 ;

[0052] The plurality of cleaning modules 1 are sequentially connected in series via the flexible linking device 6 ; the flexible linking device can be used to quickly connect the plurality of cleaning modules in series.

[0053] The flexible brush module 2 is fixedly arranged at the front end of the cleaning module in the forward direction, and is used to clean the surface of the hull 8; in this embodiment, a brush with appropriate hardness is selected to clean the hull surface according to the actual situation of the hull surface.

[0054] The cleaning module 1 is in communication with the control module. The control module is capable of centrally controlling each cleaning module, macro-regulating all cleaning modules, enabling the overall movement of the cleaning device in multiple directions, as well as the attachment and removal of the cleaning device from the hull surface. It also controls the overall operating mode of the cleaning device, including a conventional cleaning mode using only the brush module and an ultrasonic-assisted mode.

[0055] The flexible linking device of this embodiment utilizes conventional flexible linking members, and its structure will not be described in detail here. Specifically, connection holes 19 are provided on the cleaning module body 11 of the cleaning module 1 to facilitate connecting multiple cleaning modules in series via the flexible linking member. The flexible linking member also provides power supply and communication functions.

[0056] Preferably, the cleaning module 1 includes a cleaning module body 11 , a magnetic track system 12 , a first motor 14 , and a second motor 16 ;

[0057] The magnetic crawler system 12 is fixedly connected to the cleaning module body 11 and is magnetically connected to the surface of the hull 8 in a rolling manner;

[0058] Optionally, a magnetic track system 12 is arranged at the bottom of the cleaning module 1, which is used in conjunction with the electromagnet group to enable the cleaning module 1 to roll on the hull 8. The magnetic track system 12 of this embodiment is a magnetic roller made of permanent magnetic material or an electromagnetic structure, which operates by providing an electromagnetic field through external power supply.

[0059] The first motor 14 and the second motor 16 are both fixedly connected to the cleaning module body 11. The first motor 14 is used to drive the rotation of the magnetic track system 12 to achieve the rotation of the magnetic track system 12 on the surface of the hull; the second motor 16 is used to drive the movement of the magnetic track system 12 to achieve the movement of the magnetic track system 12 on the surface of the hull; the rotation and movement of the magnetic track system 12 on the surface of the hull jointly achieve a rolling connection between the magnetic track system 12 and the surface of the hull 8;

[0060] The flexible brush module 2 is fixedly arranged at the front end of the cleaning module body 11 in the forward direction; the flexible linking device 6 is fixedly connected to the cleaning module body 11.

[0061] Specifically, the magnetic track system is conventional technology for those skilled in the art, and its structure will not be described in detail here. In this embodiment, electromagnets are installed in the middle or on both sides of the side where the magnetic track system contacts the hull to increase the downward force of the cleaning module against the hull surface. Rollers are also installed on both sides of the magnetic track system to assist in movement, ensuring greater stability in the movement of the cleaning module on the hull surface.

[0062] Preferably, the flexible brush module 2 includes a fixed shell 21, bristles 22, and a spring assembly 23;

[0063] The spring assembly 23 is disposed inside the fixed shell 21 , with one end connected to the bottom of the fixed shell 21 and the other end fixedly connected to the bristles 22 ;

[0064] The other end of the bristles 22 abuts against the surface of the hull to clean the surface of the hull;

[0065] Preferably, the bristles 22 in this embodiment are detachable replacement modules.

[0066] Preferably, the flexible brush module 2 further includes a first position sensor 24 and a second position sensor 25;

[0067] The first position sensor 24 and the second position sensor 25 are both fixedly arranged inside the fixed shell 21, and the first position sensor 24 and the second position sensor 25 are respectively arranged on both sides of the moving direction of the cleaning module 1, that is, the first position sensor side and the second position sensor side; the sensing elements of the first position sensor 24 and the second position sensor 25 are horizontally aligned with the corresponding first spring 231 and the second spring 232.

[0068] The spring group 23 includes a plurality of first springs 231 disposed on the first position sensor side and a plurality of second springs 232 disposed on the second position sensor side;

[0069] The first position sensor 24 is used to obtain the compression amount of the first spring 231, and the second position sensor 25 is used to obtain the compression amount of the second spring 232. The number of the first position sensor and the second position sensor is set according to the specific usage to ensure that the first spring 231 and the second spring 232 are respectively located close to the first position sensor and the second position sensor.

[0070] Specifically, the bristles in the flexible brush module 2 of this embodiment can be replaced according to the usage situation, and the bristles of different hardness can be replaced according to the different coatings on the hull surface;

[0071] Specifically, the position sensors on both sides of this embodiment can detect the spring state of the spring group in real time. When the brush body structure is tilted relative to the hull, the position sensor can detect the abnormal state of the spring and feed it back to the control unit. The control unit adjusts the strength of the electromagnet to rebalance the robot, thereby making the robot fit more closely to the curved surface of the hull to better clean the hull surface.

[0072] Preferably, the cleaning module 1 further comprises a control unit;

[0073] On one side of the cleaning module body 11 where the magnetic crawler system 12 is provided, an electromagnet group including a plurality of electromagnets is fixedly provided, including a plurality of first electromagnets 131 provided on the first position sensor side and a plurality of second electromagnets 132 provided on the second position sensor side;

[0074] The first position sensor 24, the second position sensor 25, the first electromagnet 131, and the second electromagnet 132 are all communicatively connected to the control unit; the control unit is communicatively connected to the control module; the control module can macro-control all cleaning modules to achieve the overall movement of the entire cleaning device in multiple directions and the cleaning device can be adsorbed on the surface of the hull or removed from the surface of the hull.

[0075] The control unit determines the magnetic field strength of the first electromagnet 131 according to the compression amount of the first spring 231; determines the magnetic field strength of the second electromagnet 132 according to the compression amount of the second spring 232, so as to adjust the magnetic field strengths of the first electromagnet 131 and the second electromagnet 132 to ensure that the cleaning module can always be firmly attached to the surface of the hull and prevent the risk of the cleaning module falling.

[0076] Preferably, the method for determining the magnetic field strength of the first electromagnet and the magnetic field strength of the second electromagnet is as follows:

[0077] First, determine the voltage signal of the first spring and the voltage signal of the second spring according to the compression amount of the first spring and the compression amount of the second spring respectively:

[0078] Vs1 =κ s1 Δs1+V0

[0079] V s2 =κ s2 Δs2+V0

[0080] Where: V s1 、V s2 Represent the voltage signal of the first spring and the voltage signal of the second spring respectively; κ s1 , κ s2 Respectively represent the correction coefficients for the compression degree of the first spring and the second spring; Δs1 and Δs2 represent the compression amount of the first spring and the second spring, respectively, which are negative values; V0 is the bias voltage, that is, the output voltage when the spring compression amount is 0;

[0081] Next, determine the magnetic field strength of the first and second electromagnets as follows:

[0082]

[0083] Where: B e1 、B e2 Represent the magnetic field strength of the first electromagnet and the magnetic field strength of the second electromagnet respectively; μ is the magnetic permeability, the unit is Henry per meter (H / m); N1 and N2 are the number of turns of the coils of the first electromagnet and the second electromagnet respectively; L1 and L2 are the average lengths of the magnetic circuits of the first electromagnet and the second electromagnet respectively; V e1 、V e2 Represent the voltage of the first electromagnet and the second electromagnet respectively; R e1 、R e2 are the resistances of the first and second electromagnets, respectively, which are positive numbers in ohms (Ω); κ1 represents the proportionality coefficient between the compression of the first spring and the voltage of the first electromagnet; κ2 represents the proportionality coefficient between the compression of the second spring and the voltage of the second electromagnet, which is a positive number;

[0084] Specifically, in this embodiment, four electromagnets are provided on the cleaning module body, namely, two first electromagnets 131 and two second electromagnets 132. By adjusting the magnetic field strength of the first electromagnets 131 and the second electromagnets 132, the cleaning module is ensured to always be firmly attached to the hull surface, thereby preventing the risk of the cleaning module falling. Specifically, the cleaning module body 11 of this embodiment has a certain degree of deformation ability, so that when the magnetic field strength of the first electromagnets and the second electromagnets is adjusted, the cleaning module can be better attached to the hull surface.

[0085] Preferably, the cleaning device of this embodiment further includes a flexible communication power supply cable;

[0086] One end of the flexible communication power supply cable is connected to the external cable of the cleaning module 1, and the other end is connected to the control module to achieve communication connection between the cleaning module 1 and the control module.

[0087] Specifically, the external flexible communication power supply cable is connected to the external cable connection of the cleaning module, and the other end is connected to the power supply, display and control module.

[0088] Preferably, it also includes a pluggable ultrasound probe 3, a pluggable camera 4, a pluggable light source 5, and a display device;

[0089] Among them, the pluggable ultrasonic probe 3, the pluggable camera 4, and the pluggable light source 5 are all fixedly arranged at the rear end of the forward direction of the cleaning module 1;

[0090] The pluggable ultrasound probe 3, the pluggable camera 4, and the pluggable light source 5 are all connected to the control unit through a flexible communication power supply cable to transmit detection signals of the ultrasound probe, camera, and light source to the control unit;

[0091] The control module is communicatively connected to the display device via a flexible communication power supply cable.

[0092] Specifically, the control module and control unit in this embodiment are both utilizations of existing technologies in the field. This embodiment only uses them to implement the power supply, signal transmission, control and other functions required by this embodiment, and will not be described in detail here.

[0093] This embodiment utilizes a plug-in strip ultrasonic probe and camera. When a ship's hull is heavily clogged with marine growth due to prolonged cleaning, the plug-in strip ultrasonic probe is installed on the device. This allows for the use of an ultrasonic cleaning auxiliary cleaning module to provide robust cleaning of the heavily fouled hull surface. To ensure effective cleaning, the plug-in camera and light source are used to transmit visual images from the camera's monitoring signals, captured under illumination, to the control module via a flexible cable. This image is then transmitted to a display device for visual inspection of the hull's cleanliness.

[0094] Specifically, the underwater hull cleaning device of this embodiment, capable of coordinated serial operation, is composed of multiple serially connected cleaning modules. Each cleaning module is equipped with a replaceable brush head. The cleaning module comprises a cleaning module body, a magnetic track system, a motor and control unit embedded within the cleaning module body, a plug-in ultrasonic belt probe, a flexible link with both power supply and communication functions, and a control module capable of centralized control of the multiple cleaning modules.

[0095] The cleaning device of this embodiment is driven by a magnetic crawler system, and can move the cleaning device on the surface of the hull without a propulsion device. The structure is simple, and the overall size of the cleaning device is small. A plurality of cleaning devices are connected in series, so that the hull cleaning device of this embodiment can not only achieve good fit along the curved surface of the hull, but also, under the joint action of a plurality of motors, can achieve multi-directional coordinated movement of the entire cleaning device, thereby achieving rapid and large-area cleaning of the hull surface. When the magnetic crawler system drives the device to move, it cleans the marine organisms at the early stage of attachment, and can clean the hull at high speed and high efficiency.

[0096] Specifically, the power supply, display device and control module of this embodiment can issue instructions to enable the cleaning modules to move in coordination to clean the hull together. The hull condition can also be observed through the camera, and the ultrasonic probe can be controlled to assist in ultrasonic cleaning.

[0097] Specifically, in this embodiment, the cleaning modules are sequentially connected and the power supply, communication, and display devices are activated. The control module controls the water-discharging mode of the cleaning modules, and the cleaning modules are sequentially lowered into the water along the hull. Multiple cleaning modules will conform to the hull to form a strip that fits snugly against the hull. After the specified number of cleaning modules are connected, the cleaning function is activated. Each cleaning module sweeps across the hull surface together. Optionally, the brush head at the front of the cleaning module has two modes: rolling and brushing. The rear end of the cleaning module has a pluggable strip-shaped ultrasonic probe to destroy and remove the mucus attached to the hull.

[0098] Specifically, to accommodate the curved surface of the hull's outer surface, the module length and width should not be excessive. During hull cleaning, the cleaning modules are connected in series via connectors and controlled by a control module, allowing them to be lowered underwater along the hull. When the specified number of cleaning modules is connected in series, the control module issues a command to rapidly move the modules along the hull's outer surface. The brushes at the front of the cleaning modules are selected based on the allowable hardness of the ship's paint. As the modules move, the brushes clean the hull surface. This embodiment is suitable for regular maintenance when the hull surface is free of large amounts of marine organisms, but is not suitable for deep cleaning of the hull after it has become contaminated. The design utilizes a cascaded cleaning module structure, meeting the requirements for movement of the equipment along the curved surface of the hull. Furthermore, by connecting multiple cleaning modules in series, efficient cleaning of a large area can be achieved simultaneously. The cleaning device of this embodiment allows for regular maintenance of the hull surface, ensuring that the ship is free of marine organisms, improving ship energy efficiency, and addressing the problem of marine biofouling on the hull.

[0099] This embodiment of an underwater hull cleaning device with tandem coordination can meet the practical needs of current underwater pollution cleaning operations. By combining multiple cleaning modules in series, it can construct a strip-like cleaning structure on the hull surface, achieving efficient, large-area cleaning of the hull surface. Based on the biological characteristics of marine organisms, which primarily attach to ships while moored and rarely grow while underway, this embodiment can quickly operate while the ship is docked or anchored, promptly removing the mucus matrix from the hull during the initial stages of marine organism attachment. Since this mucus is secreted by marine organisms and is a necessary carrier for subsequent biofouling and growth, this embodiment can eliminate this biofouling matrix at its root, effectively inhibiting the growth of marine biota. Because this embodiment treats the initial stage of marine biofouling, the cleaning device can maintain cleaning efficiency while operating at low power, while the flexible brush module avoids damaging the hull's antifouling coating. This embodiment is suitable for regular underwater hull cleaning operations, significantly improving the timeliness of hull maintenance and providing new research ideas and technical paths in the field of ship antifouling technology. The low power, high cleaning rate, rapid cleaning capability and minimal damage to the hull antifouling coating caused by the flexible brushes of the cleaning device enable regular underwater cleaning work of this embodiment to be achieved.

[0100] 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 device that can work in series, characterized in that: include: A plurality of cleaning modules (1), a flexible linking device (6), a control module, and a flexible brush module (2); The flexible linking device (6) and the cleaning module (1) are fixedly connected to a side surface (15) of the cleaning module (1), and the side surface (15) is parallel to the moving direction of the cleaning module (1); The plurality of cleaning modules (1) are sequentially connected in series via the flexible linking device (6); The flexible brush module (2) is fixedly arranged at the front end of the cleaning module (1) in the forward direction, and is used to clean the surface of the hull (8); The cleaning module (1) is in communication connection with the control module.

2. The underwater hull cleaning device capable of working in series and in coordination according to claim 1, characterized in that: The cleaning module (1) comprises a cleaning module body (11), a magnetic crawler system (12), a first motor (14), and a second motor (16); The magnetic crawler system (12) is fixedly connected to the cleaning module body (11) and is rollingly connected to the surface of the hull (8); The first motor (14) and the second motor (16) are both fixedly connected to the cleaning module body (11); the first motor (14) is used to drive the rotation of the magnetic crawler system (12) to realize the rotation of the magnetic crawler system (12) on the surface of the hull; the second motor (16) is used to drive the movement of the magnetic crawler system (12) to realize the movement of the magnetic crawler system (12) on the surface of the hull; The flexible brush module (2) is fixedly arranged at the front end of the cleaning module body (11) in the forward direction; and the flexible linking device (6) is fixedly connected to the cleaning module body (11).

3. The underwater hull cleaning device capable of working in series and in coordination according to claim 2, characterized in that: The flexible brush module (2) comprises a fixed shell (21), bristles (22), and a spring assembly (23); The spring group (23) is arranged inside the fixed shell (21), and one end is connected to the bottom of the fixed shell (21), and the other end is connected to the bristles (22); The other end of the bristles (22) abuts against the surface of the hull.

4. The underwater hull cleaning device capable of working in series and in coordination according to claim 3, characterized in that: The bristles (22) are detachable replacement modules.

5. The underwater hull cleaning device capable of working in series and in coordination according to claim 3, characterized in that: The flexible brush module (2) further includes a first position sensor (24) and a second position sensor (25); The first position sensor (24) and the second position sensor (25) are both fixedly arranged inside the fixed shell (21), and the first position sensor (24) and the second position sensor (25) are respectively arranged on both sides of the moving direction of the cleaning module (1), namely, the first position sensor side and the second position sensor side; The spring group (23) includes a plurality of first springs (231) arranged on the first position sensor side and a plurality of second springs (232) arranged on the second position sensor side; The first position sensor (24) is used to obtain the compression amount of the first spring (231); the second position sensor (25) is used to obtain the compression amount of the second spring (232).

6. The underwater hull cleaning device capable of working in series and in coordination according to claim 5, characterized in that: The cleaning module (1) further comprises a control unit; An electromagnet group is fixedly provided on one side of the cleaning module body (11) where the magnetic crawler system (12) is provided, and the electromagnet group includes a plurality of first electromagnets (131) provided on the first position sensor side and a plurality of second electromagnets (132) provided on the second position sensor side; The first position sensor (24), the second position sensor (25), the first electromagnet (131), and the second electromagnet (132) are all communicatively connected to the control unit; and the control unit is communicatively connected to the control module; The control unit determines the magnetic field strength of the first electromagnet (131) according to the compression amount of the first spring (231); and determines the magnetic field strength of the second electromagnet (132) according to the compression amount of the second spring (232), so as to adjust the magnetic field strengths of the first electromagnet (131) and the second electromagnet (132).

7. The underwater hull cleaning device capable of working in series and in coordination according to claim 6, characterized in that: The method for determining the magnetic field strength of the first electromagnet and the magnetic field strength of the second electromagnet is as follows: First, the voltage signal of the first spring and the voltage signal of the second spring are determined according to the compression amount of the first spring and the compression amount of the second spring respectively: V s1 =k s1 ·Δs1+V0 V s2 =k s2 ·Δs2+V0 Where: V s1 、V s2 Represent the voltage signal of the first spring and the voltage signal of the second spring respectively; κ s1 , κ s2 Represent the correction coefficients for the compression degree of the first spring and the second spring, respectively; Δs1 and Δs2 represent the compression amounts of the first and second springs, respectively; V0 is the bias voltage, i.e., the output voltage when the spring compression amount is 0; Next, determine the magnetic field strength of the first and second electromagnets as follows: Where: B e1 、B e2 represents the magnetic field strength of the first electromagnet and the magnetic field strength of the second electromagnet respectively; μ is the magnetic permeability; N1 and N2 are the number of turns of the coils of the first electromagnet and the second electromagnet respectively; L1 and L2 are the average lengths of the magnetic circuits of the first electromagnet and the second electromagnet respectively; V e1 、V e2 Represent the voltage of the first electromagnet and the second electromagnet respectively; R e1 、R e2 are the resistances of the first electromagnet and the second electromagnet respectively; k1 represents the proportional coefficient between the compression of the first spring and the voltage of the first electromagnet; k2 represents the proportional coefficient between the compression of the second spring and the voltage of the second electromagnet.

8. The underwater hull cleaning device capable of working in series and in coordination according to claim 1, characterized in that: Also included are flexible communication power supply cables; One end of the flexible communication power supply cable is connected to the cleaning module (1), and the other end is connected to the control module, so as to achieve a communication connection between the cleaning module (1) and the control module.

9. The underwater hull cleaning device capable of working in series and in coordination according to claim 6, characterized in that: It also includes an ultrasound probe (3), a camera (4), a light source (5), and a display device; The ultrasonic probe (3), camera (4), and light source (5) are all fixedly arranged at the rear end of the forward direction of the cleaning module (1); The ultrasound probe (3), camera (4), and light source (5) are all communicatively connected to the control unit via a flexible communication power supply cable; The control module is communicatively connected to the display device via a flexible communication power supply cable.

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