Ship body cleaning device mounted on shipboard

Abstract

The invention discloses a ship body cleaning device installed on a ship side. The ship body cleaning device comprises a ship body, a cleaning equipment storage device, a rail laying device and a cleaning robot. The cleaning equipment storage device is arranged on one side of a ship side of the ship body and stores the track laying device and the cleaning robot when not working; and during working, the two are released from the storage device. The track laying device lays a track for the cleaning robot to walk on the surface of the ship body, and the cleaning robot moves along the track to clean the surface of the ship body. The rail laying device lays rails on the surface of the ship body to provide a stable walking path for the cleaning robot. The cleaning robot can move along the track to achieve automatic cleaning of the surface of the hull. Long-time stable operation can be achieved, and efficiency is improved; the whole process is automatic, workers do not need to approach a cleaning site, and operation risks and manpower requirements are greatly reduced; the cleaning equipment storage device is arranged on one side of the ship side of the ship body, so that regular storage of the track laying device and the cleaning robot in a non-working state is achieved, and equipment is prevented from being exposed and damaged.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of ship hull cleaning, in particular to a ship hull cleaning device installed on a ship side. BACKGROUND

[0002] As a key link in the operation and maintenance of ships, ship hull cleaning always plays a crucial role in reducing sailing resistance, reducing energy consumption and ensuring sailing safety.

[0003] The prior art often uses manual ship hull cleaning, and the traditional manual ship hull cleaning method has the following problems: the traditional ship hull cleaning equipment has no special storage structure, is exposed and easy to be damaged in a non-working state, and is scattered and placed to occupy space, which affects the response efficiency when re-operated and needs to be additionally transported and assembled; manual cleaning is difficult to stabilize the path due to environmental limitations, and simple machinery is easy to slip and deviate due to the lack of a special track, which cannot guarantee the regularity of the cleaning track and the uniformity of the coverage; manual cleaning is difficult to continuously operate for a long time due to the limitations of body strength, environment and time, and the coverage area per unit time is small, the cleaning period is long, and it cannot meet the demand for rapid turnaround of ships. SUMMARY

[0004] The present application provides a ship hull cleaning device installed on a ship side to overcome the above problems.

[0005] In order to achieve the above purpose, the technical scheme of the present application is:

[0006] A ship hull cleaning device installed on a ship side, comprising a ship body, a cleaning equipment storage device, a track laying device and a cleaning robot;

[0007] The cleaning equipment storage device is arranged on one side of the ship side of the ship body, and is used to store the track laying device and the cleaning robot in a non-working state;

[0008] The track laying device can be stored in the cleaning equipment storage device in a non-working state, and is released from the cleaning equipment storage device when working, and can lay a track for the cleaning robot to walk on the surface of the ship body;

[0009] The cleaning robot can be stored in the cleaning equipment storage device in a non-working state, and is released from the cleaning equipment storage device when working, and moves along the track laid by the track laying device to clean the surface of the ship body.

[0010] Further, the track laying device comprises a wall-climbing robot group, a track storage winch and the track.

[0011] The wall-climbing robot set comprises a starting wall-climbing robot and an ending wall-climbing robot capable of being adsorbed on the ship body and walking on the ship body, the starting wall-climbing robot is provided with the track storage winch capable of winding or releasing the track, one end of the track is connected to the track storage winch, the other end of the track is fixed to the ending wall-climbing robot, and the starting wall-climbing robot and the ending wall-climbing robot jointly pull the track.

[0012] Further, the cleaning robot comprises a track coupling base and a cleaning brush disc set, the track coupling base is installed on the track and capable of moving along the track, the cleaning brush disc set is arranged on the track coupling base towards one side of the ship body, the track coupling base is provided with a first magnetic attraction universal wheel and a first power device;

[0013] The first magnetic attraction universal wheel generates adsorption force through the built-in permanent magnet, so that the track coupling base is adsorbed on the surface of the ship body, and the track coupling base is driven to move on the surface of the ship body along the track through the rotation of the wheel body.

[0014] The first power device is arranged in the track coupling base, and the first power device is used to drive the rotation of the first magnetic attraction universal wheel to drive the movement of the track coupling base.

[0015] Further, the starting wall-climbing robot and the ending wall-climbing robot are both provided with a second magnetic attraction universal wheel and a second power device;

[0016] The second magnetic attraction universal wheel generates adsorption force through the built-in permanent magnet, so that the starting wall-climbing robot and the ending wall-climbing robot are tightly adsorbed on the surface of the ship body, and the starting wall-climbing robot and the ending wall-climbing robot are driven to walk on the surface of the ship body through the rotation of the wheel body.

[0017] The second power device is used to drive the rotation of the second magnetic attraction universal wheel to complete the movement of the wall-climbing robot.

[0018] Further, the cleaning equipment storage device comprises a storage box, a lifting device and an arc-shaped release track.

[0019] The arc-shaped release track is fixed on the deck of the ship body, one end of the arc-shaped release track is a connecting end, and the other end of the arc-shaped release track is a release end extending to the surface of the ship body; the lifting device is arranged at the bottom of the ship body, and the lifting device can drive the lifting of the storage box, so that the outlet end of the storage box is connected to the connecting end of the arc-shaped release track.

[0020] Further, the starting wall-climbing robot and the ending wall-climbing robot are further provided with a first positioning device and an infrared calibration instrument; the first positioning device is used for positioning the positions of the starting wall-climbing robot and the ending wall-climbing robot on the ship body in real time, and controlling the starting wall-climbing robot and the ending wall-climbing robot to move to the target positions along the two sides of the ship body respectively.

[0021] The infrared calibration instrument is used for verifying whether the starting wall-climbing robot and the ending wall-climbing robot are in the same plane, so as to ensure that the track is horizontally laid.

[0022] Further, the cleaning robot further comprises a second positioning device arranged on the track coupling base.

[0023] The second positioning device is used for realizing the positioning and motion track control of the cleaning robot.

[0024] The beneficial effects of the present application are as follows:

[0025] The ship body cleaning device installed on the ship side disclosed in the present application can realize the stable running of the cleaning robot by arranging the track laying device on the ship body surface to lay the track, and can realize the automatic cleaning of the ship body surface by arranging the cleaning robot to move and clean along the track. Compared with manual cleaning, the overall device can stably run for a long time and improve the efficiency. Since the whole process is automatically operated, the workers do not need to approach the cleaning site, which greatly reduces the operation risk and labor demand. The cleaning equipment storage device is arranged on one side of the ship side of the ship body to realize the neat storage of the track laying device and the cleaning robot in the non-working state, and avoid the exposure and damage of the equipment. BRIEF DESCRIPTION OF DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and those skilled in the art can also obtain other drawings according to these drawings without any creative labor.

[0027] Figure 1 The structure diagram of the ship body cleaning device installed on the ship side disclosed in the embodiment of the present application Figure 1 ;

[0028] Figure 2 The structure diagram of the ship body cleaning device installed on the ship side disclosed in the embodiment of the present application Figure 2 (the connection end of the outlet end of the storage box and the arc-shaped release track is connected);

[0029] Figure 3Structure diagram of a hull cleaning device installed on a ship side disclosed in an embodiment of the present application Figure 3 (in storage state);

[0030] Figure 4 Structure diagram of a track laying device of a hull cleaning device installed on a ship side disclosed in an embodiment of the present application

[0031] Figure 5 Structure diagram of a cleaning robot of a hull cleaning device installed on a ship side disclosed in an embodiment of the present application

[0032] Figure 6 Schematic diagram of a hull cleaning device installed on a ship side disclosed in an embodiment of the present application during cleaning work

[0033] Figure 7 Control system architecture principle diagram of a hull cleaning device installed on a ship side disclosed in an embodiment of the present application

[0034] In the figure:

[0035] 1, hull;

[0036] 2, cleaning equipment storage device; 21, storage box; 22, lifting device; 23, arc-shaped release track;

[0037] 3, track laying device; 31, wall-climbing robot group; 311, starting wall-climbing robot; 312, ending wall-climbing robot; 313, second magnetic universal wheel; 32, track storage winch; 33, track; 34, first positioning device; 35, infrared calibration instrument;

[0038] 4, cleaning robot; 41, track coupling base; 42, cleaning brush disc group; 43, first magnetic universal wheel; 44, second positioning device. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme of the embodiments of the present application will be described clearly and completely below in combination with the drawings of the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0040] As Figures 1-5 shown is a hull cleaning device installed on a ship side provided by the present embodiment, which comprises a hull 1, a cleaning equipment storage device 2, a track laying device 3 and a cleaning robot 4.

[0041] The cleaning equipment storage device 2 is arranged on the ship side of the ship body, and is used for storing the track laying device 3 and the cleaning robot 4 in a non-working state;

[0042] The track laying device 3 can be stored in the cleaning equipment storage device 2 in a non-working state, and is released from the cleaning equipment storage device 2 in a working state, and can lay a track 33 for the cleaning robot 4 to walk on the surface of the ship body.

[0043] The cleaning robot 4 can be stored in the cleaning equipment storage device 2 in a non-working state, and is released from the cleaning equipment storage device 2 in a working state, and moves along the track 33 laid by the track laying device 3 to clean the surface of the ship body.

[0044] The ship body cleaning device provided by the application can realize regular storage of the track laying device and the cleaning robot in a non-working state by arranging the cleaning equipment storage device on the ship side of the ship body, and can avoid damage caused by exposure of the equipment. The track laying device is arranged to lay a track on the surface of the ship body, and provides a stable walking path for the cleaning robot. The cleaning robot is arranged to move along the track to clean, and can realize automatic cleaning of the surface of the ship body. The overall device can be stably operated for a long time compared with manual cleaning, and can improve efficiency. Since the device is automatically operated throughout the process, workers do not need to approach the cleaning site, and the operation risk and labor demand can be greatly reduced.

[0045] In specific embodiments, as shown in Figure 4 The track laying device 3 includes a wall-climbing robot group 31, a track storage winch 32 and the track 33.

[0046] The wall-climbing robot group 31 includes a starting wall-climbing robot 311 and an ending wall-climbing robot 312 which can be adsorbed on and walk on the ship body. The starting wall-climbing robot 311 is provided with the track storage winch 32 which can wind or release the track 33. One end of the track 33 is connected to the track storage winch 32, and the other end of the track 33 is fixed to the ending wall-climbing robot 312. The starting wall-climbing robot 311 and the ending wall-climbing robot 312 jointly pull the track.

[0047] The track 33 is a flexible metal track, which is convenient to pull during use and can also ensure structural strength; when the cleaning operation starts, the starting wall-climbing robot 311 is firmly adsorbed on the surface of the ship body by the adsorption capacity of the first magnetic universal wheel 43 (generally the adsorption force is ≥200N), and is moved to the target position along the predetermined path by the first magnetic universal wheel 43, while the terminal wall-climbing robot 312 is also stably adsorbed on the ship body by the adsorption capacity of the second magnetic universal wheel 313, and is moved to the target position along the predetermined path, in the process, the track storage winch 32 on the starting wall-climbing robot 311 gradually releases the track, and the two keep real-time data interaction through the built-in communication module, share the key information such as their own position, moving speed, adsorption state, and continuously adjust their own speed and direction (this process is prior art), to ensure that the released track always maintains a tensioned state and is laid along the preset optimal path, to ensure that the track is in a tensioned state, and to provide a reliable basis for the stable operation of the cleaning robot 4. The schematic diagram of the device during cleaning is shown in Figure 6 .

[0048] In specific embodiments, as shown in Figure 5 , the cleaning robot 4 includes a track coupling base 41 and a cleaning brush disc group 42, the track coupling base 41 is installed on the track and can move along the track 33, the cleaning brush disc group 42 is arranged on the track coupling base 41 towards one side of the ship body, and the track coupling base 41 is provided with a first magnetic universal wheel 43 and a first power device;

[0049] The first magnetic universal wheel 43 generates adsorption force through the built-in permanent magnet, so that the track coupling base 41 (cleaning robot) is adsorbed on the surface of the ship body, and the track coupling base 41 is moved on the surface of the ship body along the track by rotating the wheel body;

[0050] The first power device is arranged in the track coupling base 41, and the first power device is used to drive the first magnetic universal wheel 43 to rotate to drive the movement of the track coupling base 41.

[0051] In the embodiment, the cleaning brush disc group 42 is an electric rotating brush disc; the first power device specifically comprises: a double-output shaft DC speed reduction motor, a motor controller, a synchronous belt transmission mechanism and an electromagnetic brake assembly; wherein the double-output shaft DC speed reduction motor receives an instruction signal of a cleaning robot control unit through the motor controller, an output shaft at one end is connected with an axle of the first magnetic universal wheel 43 through the synchronous belt transmission mechanism (composed of a driving synchronous wheel, a driven synchronous wheel and a polyurethane synchronous belt) to realize walking driving along the track, the other output shaft of the double-output shaft DC speed reduction motor is connected with a driving shaft of the cleaning brush disc group 42 through a bevel gear reversing mechanism to drive the brush disc to rotate and work; the motor controller adopts an existing PID speed regulation algorithm and can realize stepless speed regulation through a pulse signal; the electromagnetic brake assembly is coaxially installed with the axle and can realize brake locking in the case of power failure or emergency.

[0052] In the embodiment, the double-output shaft DC speed reduction motor selects a miniature DC speed reduction motor with a diameter of 25-35 mm, the motor controller adopts a miniature controller (size: 30 mm x 20 mm x 8 mm) designed with a surface mount device, integrates a PID speed regulation module and a driving circuit, can be directly connected with the motor through a flexible circuit board, and saves the space waste of traditional wiring; the synchronous belt transmission mechanism adopts a miniature synchronous belt with a module of 0.5-0.8 (width: 6-8 mm), the driving wheel has a diameter of 12-15 mm, the driven wheel has a diameter matched with the axle of the universal wheel (15-20 mm), the overall thickness of the transmission mechanism can be controlled to be 10-15 mm, and power transmission is realized through a compact wheel train layout.

[0053] The electromagnetic brake assembly selects an ultra-thin electromagnetic brake (thickness: 8-12 mm, diameter: 30-40 mm), is coaxially installed with the axle, adopts a spring sheet type brake structure, and can directly lock the axle through a magnetic sheet when power failure occurs;

[0054] The first magnetic universal wheel 43 has a universal structure (360° steering is achieved) and cooperates with the differential control of the power device. When the robot needs to walk along the curve segment of the track, the motor controller adjusts the speed difference between the left and right wheels (the difference is generally 10%-30%), and the self-adaptive steering of the universal wheel is combined to achieve smooth steering with a minimum turning radius of ≤100mm, avoiding disengagement from the track. The electromagnetic brake assembly of the power device is rigidly connected with the wheel shaft of the universal wheel. When braking, the brake pad locks the wheel shaft in a short time (generally within 0.5 seconds). At this time, the magnetic attraction of the permanent magnet of the universal wheel quickly fixes the robot on the track, forming a double safety guarantee of "mechanical braking + magnetic locking", which can ensure that the robot does not slip in a stationary state even at a vertical ship wall (90°). When the first power device drives the cleaning brush disc group 42 to work through the bevel gear reversing mechanism, the magnetic attraction of the universal wheel can offset the reaction force (about 3-5N) generated by the rotation of the brush disc, avoiding the robot from being deviated due to the recoil force, and ensuring the straightness of the cleaning track. The structure components of the above-mentioned first power device are all prior art, and the specific process and principle of the action between the components and the specific process and principle of driving the first magnetic universal wheel 43 to rotate will not be described here.

[0055] In specific embodiments, the starting wall-climbing robot 311 and the terminal wall-climbing robot 312 are each provided with a second magnetic universal wheel 313 and a second power device.

[0056] The second magnetic universal wheel 313 generates an attractive force through a built-in permanent magnet, which can tightly attract the starting wall-climbing robot 311 and the terminal wall-climbing robot 312 to the surface of the ship body, and drive the starting wall-climbing robot 311 and the terminal wall-climbing robot 312 to walk along the surface of the ship body through wheel rotation.

[0057] The second power device is used to drive the second magnetic universal wheel 313 to rotate to complete the movement of the wall-climbing robot.

[0058] The attractive force of the permanent magnet of the second magnetic universal wheel 313 (usually designed as 1.5-2 times the weight of the wall-climbing robot, and in this embodiment, the attractive force is ≥200N) provides a basis for the effective output of the power device. Sufficient attractive force can avoid wheel slip under the action of driving force, especially on the inclined surface or curved surface of the ship body, which can ensure that the power is converted into effective travel distance.

[0059] The second power device is integrated inside the track coupling base 41 (not shown in the figure), and specifically includes a direct-current speed reduction motor, a motor driver, and a transmission gear set. The direct-current speed reduction motor receives a control signal through the motor driver and outputs torque, which is transmitted to the wheel shaft of the second magnetic attraction universal wheel 313 through the transmission gear set (composed of a driving gear, a driven gear, and a gear shaft) to realize rotation of the wheel body. In this embodiment, the speed reduction ratio of the transmission gear set is set to 1:15-1:30 (which can be adjusted and set according to actual needs) to meet the load capacity and moving speed requirements of the wall climbing robot on the surface of the ship body. The motor driver is electrically connected with the track laying device control unit of the wall climbing robot, and the motor speed can be adjusted through the existing PWM signal technology to realize omnidirectional movement control of the wall climbing robot in cooperation with the steering function of the second magnetic attraction universal wheel 313.

[0060] The direct-current speed reduction motor is a miniature speed reduction motor (diameter 10-30 mm), the power density of which can meet the load requirements of the wall climbing robot, and can be integrated in a compact space through modular design. The motor driver can use a miniature driver (30 mm x 20 mm) of a patch element, which can be directly integrated with the motor or connected through a flexible circuit board, without the need for additional occupation of a large amount of space. A miniature gear set (module 0.3-0.8, axial length 20-40 mm) is used. The power device is built-in along the wheel shaft direction of the second magnetic attraction universal wheel 313 in the robot chassis, and space multiplexing is realized through compact coaxial layout or side-by-side parallel layout (the gear set and the wheel shaft are connected through a shaft coupling), without additional increase in the external size of the wall climbing robot. When the robot needs to turn or adjust the posture along the track, the motor controller adjusts the speed difference between the left and right wheels, and realizes smooth transition along the curve segment of the track in cooperation with the steering flexibility of the universal wheel. The brake pad directly acts on the wheel shaft during braking, and locking is realized within a short time (0.5 seconds), at which time the attraction force of the universal wheel can firmly fix the robot on the track, avoiding sliding due to inertia after braking, forming a double safety guarantee of "power braking + magnetic attraction fixing", and also avoiding the influence of the water body on the positions of the starting wall climbing robot 311 and the ending wall climbing robot 312, to ensure the position stability of the wall climbing robot. The above-mentioned second power device is prior art, and the specific principle of driving the second magnetic attraction universal wheel 313 to rotate, i.e., speed adjustment, will not be described here.

[0061] In specific embodiments, as shown in Figure 2 The cleaning equipment storage device 2 includes a storage box 21, a lifting device 22, and an arc-shaped release track 23.

[0062] The arc-shaped release track 23 is fixed on the deck of the ship body, one end of the arc-shaped release track 23 is a connecting end, and the other end of the arc-shaped release track 23 is a release end extending to the surface of the ship body; the lifting device 22 is arranged at the bottom of the ship body, and the lifting device 22 can drive the lifting of the storage box 21, so that the outlet end of the storage box 21 is connected with the connecting end of the arc-shaped release track 23; the outlet end of the storage box 21 is provided with a storage door driven by oil pressure to punch or close;

[0063] The lifting device 22 is a cylinder, the cylinder piston end is fixedly connected with the bottom of the storage box 21, and the cylinder is electrically connected with a remote main control console; when the cleaning task needs to be performed, the cylinder lifts the storage box 21 to the state that the outlet end of the storage box 21 is connected with the connecting end of the arc-shaped release track 23, so that the track laying device 3 and the cleaning robot 4 are released through the release end and stored in the storage box.

[0064] In specific embodiments, the starting wall-climbing robot 311 and the ending wall-climbing robot 312 are further provided with a first positioning device 34 and an infrared calibration instrument 35; the first positioning device 34 is used for positioning the positions of the starting wall-climbing robot 311 and the ending wall-climbing robot 312 on the ship body in real time, and controlling the starting wall-climbing robot and the ending wall-climbing robot to move to target positions along the two sides of the ship body respectively;

[0065] The infrared calibration instrument 35 is used for verifying whether the starting wall-climbing robot and the ending wall-climbing robot are in the same plane, so as to ensure the horizontal laying of the track.

[0066] In specific embodiments, the cleaning robot 4 further includes a second positioning device 44 arranged on the track coupling base 41;

[0067] The second positioning device 44 is used for realizing the positioning and motion track control of the cleaning robot.

[0068] The following is a description of the control principle of the ship body cleaning device control system installed on the ship side:

[0069] The control system of the device can communicate with the track laying device, the cleaning robot and the cleaning equipment storage device, and the control system includes:

[0070] The central control unit as a central control center communicates with the cleaning equipment storage device control unit, the track laying device control unit, the cleaning robot control unit and the safety protection control unit and issues control commands;

[0071] A track laying device control unit is configured to control the wall-climbing robot to move to a specified position after receiving a control command, to adjust the speed at which the track storage winch releases the flexible track in real time based on hull surface curvature information, to monitor the distance between the flexible track and the hull surface in real time and to trigger a safety protection action when the distance exceeds a limit.

[0072] A cleaning robot control unit is configured to control the cleaning robot to move back and forth along the preset flexible track in real time, to detect the type of dirt on the hull surface in the cleaning path area during the back-and-forth movement in real time and to feed back the type of dirt to the central control unit so that the central control unit generates a cleaning strategy based on the type of dirt on the hull surface, and to control the cleaning equipment to adjust the pressure of the cleaning nozzle in real time based on the cleaning strategy.

[0073] A cleaning equipment storage device control unit is configured to control the key equipment in real time and to obtain the state information of the key equipment, to feed back the state information to the central control unit through the CAN bus, and to trigger a preset safety protection mechanism or switch to a manual remote control mode in an abnormal situation. The control of the key equipment and the real-time acquisition of the state information of the key equipment refer to real-time monitoring and control of the opening and closing state of the cleaning equipment storage bin door and verification of whether it is in a preset position when the cleaning robot and the track storage winch are released or recovered, as well as monitoring of the oil pressure value of the hydraulic mechanism of the cleaning equipment storage bin door to ensure the power stability of the action of the storage bin.

[0074] A safety protection control unit is configured to calculate the electromagnetic attraction force in real time and obtain its margin, to adopt a differentiated control strategy according to the margin level, to dynamically scan the forward path in a preset range in front of the cleaning robot, to identify a sudden obstacle and to execute a sudden obstacle braking strategy immediately when the obstacle is detected, and to monitor the vibration state of the key mechanical components and to perform fault early warning and positioning protection.

[0075] As the core module of the entire cleaning robot control system, the central control unit is composed of a main control chip PLC, which is mainly responsible for receiving sensor signals, executing preset programs and fully coordinating the work of each subsystem, and supports three working modes such as active cruise cleaning, manual remote control and emergency braking.

[0076] The central control unit receives a start instruction, sends a command to prepare work to the cleaning equipment storage device control unit, the track laying device control unit and the cleaning robot control unit through the CAN bus.

[0077] The central control unit receives an external starting instruction, and then sends instructions to the track laying device control unit, the cleaning robot control unit, the cleaning equipment storage device control unit and other units in turn, and leads the system to complete the process control procedures such as time sequence switching and mode switching of track laying, cleaning operation and equipment recovery to ensure seamless connection of each stage operation process. For example, after receiving an external starting instruction, the system enters the track laying mode, sends a "laying start" instruction to the track laying device control unit; after receiving a "track laying completion" signal, the system automatically switches to the cleaning operation mode and transfers the control right to the cleaning robot control unit; after receiving a "current plane cleaning completion" signal and confirming that there is no residual dirt, the system triggers the next plane movement process; after receiving a "cleaning task end" instruction, the system switches to the equipment recovery mode and instructs the cleaning equipment storage device control unit to perform the recovery action; at the same time, the system communicates with each control unit through the CAN bus in both directions, acquires the equipment state and sensor data in real time, receives the insufficient adsorption force, obstacle or vibration anomaly signals sent by the safety protection control unit, and triggers the speed reduction, emergency braking or system shutdown according to the signal level; for example, the system collects the starting / ending robot positioning state, infrared calibration result and track release completion signal obtained by the track laying device control unit, starts laying, adjusts the release speed and triggers the secondary compression instruction; the system collects the photoelectric encoder deviation, IMU attitude, dirt identification result and cleaning completion signal obtained by the cleaning robot control unit, starts cleaning, adjusts the cleaning parameters and switches the operation area instruction; the system collects the storage door state, hydraulic pressure, equipment homing confirmation and storage completion signal obtained by the cleaning equipment storage device control unit, opens / closes the storage bin and starts the recovery hydraulic mechanism instruction; the system collects the adsorption force safety margin, obstacle alarm and vibration anomaly obtained by the safety protection control unit, triggers the emergency braking, receives the alarm and executes the system level shutdown or switches to the manual mode instruction; the system can also perform secondary verification on the cleaning completion state and track disengagement state based on the data of the multispectral imager and the laser range finder; and the system integrates various sensor data for comprehensive state evaluation and decision making, such as judging whether the storage bin can be closed during the track recovery stage based on the laser range finder (track disengagement state), Hall sensor (adsorption force unloading) and ultrasonic sensor (equipment homing) data, etc., thereby improving the system intelligence level and operation reliability.

[0078] Preferably, the central control unit also provides an operation interface and a remote communication interface to support local / remote monitoring, parameter setting and fault troubleshooting. For example, the system state, operation progress and alarm information are displayed through the HMI (human-machine interface); and the system supports 4G / 5G or Wi-Fi remote connection to realize real-time control of the underwater operation by the shore-based monitoring center, thereby realizing its application in unattended or long-distance operation scenarios.

[0079] The track arrangement is a basic link of the operation, which is dominated by the track arrangement device control unit. Therefore, the track arrangement device control unit is required to control the starting wall-climbing robot and the ending wall-climbing robot to move to the target position respectively after receiving the control command, to adjust the speed of the track storage winch releasing the flexible track based on the curvature information of the ship surface and to monitor the distance between the flexible track and the ship surface synchronously, and to trigger the safety protection action when the distance exceeds the limit;

[0080] After the central control unit receives the start instruction, the corresponding central control instruction is sent to each subsystem through the CAN bus, such as controlling the cleaning equipment storage device control unit to start the hydraulic mechanism, opening the storage bin, and releasing the track arrangement device and the cleaning robot to the underwater operation position; the track arrangement device control unit activates the starting wall-climbing robot and the ending wall-climbing robot to move.

[0081] Specifically, the track arrangement device control unit includes a first positioning device 34, an infrared calibration instrument 35 (the starting wall-climbing robot 311 and the ending wall-climbing robot 312 are each provided with a first positioning device 34 and an infrared calibration instrument 35), a servo motor driving unit, a laser range finder, and an electromagnetic adsorption unit.

[0082] The positioning device is used to control the starting wall-climbing robot and the ending wall-climbing robot to move to the target position along the two sides of the ship body, respectively, i.e., the starting wall-climbing robot is positioned by climbing along one side of the ship surface, and the ending wall-climbing robot is moved to the target operation position on the opposite side synchronously.

[0083] The infrared calibration instrument is used to verify whether the starting wall-climbing robot and the ending wall-climbing robot are in the same plane to ensure that the track is arranged horizontally, and to determine that the positioning device is notified to reposition the robot if they are not in the same plane.

[0084] The servo motor driving unit is arranged on the track storage winch and is used to release the track by driving the track reel on the track storage winch through the servo motor, to adaptively adjust the output of the servo motor driving unit based on the curvature information of the ship surface to control the speed of releasing the flexible track and form a suitable cleaning path; the servo motor driving unit can dynamically adjust the track release speed according to the geometric characteristics of the ship surface. Specifically, the laser range finder and the positioning device carried by the starting wall-climbing robot and the ending wall-climbing robot are used to collect the spatial coordinate point column of the ship surface in real time; the spatial coordinate point column is curve-fitted to obtain a continuous trajectory function of the track laying path; the local curvature value is calculated based on the second derivative of the trajectory function; the track release speed adjustment signal is generated according to the local curvature value, and the speed of the track storage winch is controlled through the servo motor driving unit to realize the adaptive adjustment and release of the flexible track.

[0085] The laser range finder array is used to monitor the distance between the flexible track and the ship surface in real time, and trigger a safety protection action when the distance exceeds a certain safety range; the safety protection action includes increasing the current of the electromagnetic adsorption unit (increasing the adsorption force between the track and the ship) and performing secondary compression of the track (ensuring that the track is tightly attached to the ship surface), and can also simultaneously feedback the abnormality to the central control unit through the CAN bus.

[0086] The electromagnetic adsorption units are multiple, and each electromagnetic adsorption unit is arranged along the length direction of the flexible track to form a magnetic adsorption unit array; when the laser range finder detects that the distance between the track and the ship surface exceeds a predetermined threshold, the central control unit is notified to increase the driving current of the corresponding region electromagnetic adsorption unit, to enhance the magnetic attraction force, and to trigger the mechanical compression mechanism to perform a secondary compression action.

[0087] In some specific embodiments, after the flexible track is deployed, the cleaning robot control unit needs to take over and lead the automatic operation process of the cleaning robot to control and improve the cleaning effect of the cleaning robot. This requires the cleaning robot control unit to be able to control the cleaning robot to move back and forth along the predetermined flexible track in real time, detect the type of dirt on the ship surface in the cleaning path area during the back and forth movement in real time, and feed back to the central control unit, so that the central control unit generates a cleaning strategy according to the type of dirt on the ship surface; at the same time, control the cleaning robot to adjust the cleaning nozzle pressure in real time based on the cleaning strategy.

[0088] Specifically, the cleaning robot control unit includes a photoelectric encoder, a six-axis inertial measurement unit, a multispectral imager, and a force feedback sensor; the photoelectric encoder and the six-axis inertial measurement unit constitute the second positioning device 44 (the second positioning device 44 is arranged on the track coupling base 41);

[0089] The photoelectric encoder is used to detect the rotation angle signal between the pulley of the cleaning robot and the flexible track in real time; so that the central control unit controls the accurate back and forth movement of the cleaning robot along the track based on the pulley rotation angle data detected by the photoelectric encoder and the attitude angle detected by the six-axis inertial measurement unit, that is, judges whether the cleaning robot completely moves back and forth along the track, and judges whether it deviates from the track, if there is deviation, it is corrected in real time. Movement deviation to ensure the accuracy of its trajectory, thereby ensuring the consistency and stability of the robot operation path, realizing the accurate positioning and motion trajectory control of the cleaning robot.

[0090] The six-axis inertial measurement unit (such as IMU) is used to detect the attitude angle signal (such as pitch, roll, and yaw information) of the cleaning robot in real time, so that the central control unit dynamically corrects the motion attitude of the cleaning robot, that is, according to the attitude change, the moving direction and speed of the cleaning robot are adjusted in real time, so that the motion trajectory matches the flexible track, and the stable cleaning path on the complex curved surface is ensured.

[0091] The multispectral imager is used to non-contact scan the hull surface on the cleaning path area by using multispectral imaging technology, collect the reflection signals of multiple waveband spectra (such as visible light, near-infrared, and short-wave infrared), and automatically identify the dirt type (such as biological attachment, oil stain, or rust) and then feed the dirt type data to the central control unit; so that the central control unit generates a cleaning strategy according to the identified hull surface dirt type to formulate differentiated cleaning parameters, thereby realizing "on-demand cleaning" and avoiding over-cleaning or under-cleaning problems; for example, the central control unit formulates differentiated cleaning parameters according to the identified hull surface dirt type data.

[0092] The multispectral imager is based on a preset dirt spectrum feature database (such as barnacles, algae, oil stains, rust, etc.), classifies and identifies the current image through an image recognition algorithm (such as SVM and CNN), feeds the identification result to the central control unit as a basis for generating a strategy to adjust the cleaning intensity (such as determining the corresponding optimal cleaning pressure value through a PID control algorithm; outputting a control signal to the force feedback sensor).

[0093] The force feedback sensor is used to adjust the cleaning nozzle pressure in real time based on the cleaning strategy, so as to ensure that it can effectively remove dirt without damaging the hull coating due to excessive pressure, and realize efficient and safe cleaning operation, that is, the present scheme can automatically adjust the optimal cleaning parameters for different hull materials and dirt conditions, taking into account the cleaning efficiency and hull protection, and prolonging the service life of the hull.

[0094] In some more specific embodiments, the cleaning robot control unit also needs to work with the safety protection control unit to monitor the working state of the cleaning robot in real time and trigger an abnormal response mechanism, so a cooperative safety protection unit is provided, wherein the abnormal response mechanism refers to performing control operations such as speed reduction, braking, or shutdown of the cleaning robot when insufficient adsorption force, obstacles, or abnormal vibration are detected; such as receiving electromagnetic adsorption force data from the adsorption force safety monitoring unit, evaluating the safety margin; if the adsorption force is insufficient or the track gap is out of limit, issuing a speed reduction or emergency braking instruction; receiving laser radar obstacle detection signals to trigger a double-redundancy braking system; receiving vibration sensor frequency spectrum analysis results to determine whether the mechanical parts are abnormal, and stopping and marking the fault point if necessary, thereby building a multi-level safety protection system to ensure safe and reliable underwater operation.

[0095] In addition, the cleaning robot control unit as the main control module of the cleaning stage also needs to complete the timing and state switching process of managing the cleaning operation process, that is, to formulate the cleaning start, process monitoring, completion judgment and task movement process. After receiving the "track defense completion" signal sent by the central control unit, the cleaning operation is started. After completing the current ship body plane cleaning area, the starting wall climbing robot and the terminal wall climbing robot are controlled to move to the adjacent plane area in cooperation, and the track defense and cleaning operation are continued. The cleaning robot control unit also needs to monitor the cleaning progress. When the multispectral imager confirms that there is no residual dirt in the current area, a "current plane cleaning completion" signal is generated. The central control unit controls the coordinated action of the starting / terminal wall climbing robot moving to the next cleaning plane area through the track laying device control unit. After the new track defense is completed, the cleaning robot control unit receives the "new plane ready" instruction sent by the central control unit, and starts the next round of cleaning.

[0096] In some specific embodiments, after the cleaning task is completed, the central control unit receives the cleaning completion signal and switches to the recovery mode to provide safety protection for track and cleaning robot arrangement and recovery. At this time, the cleaning equipment storage device control unit as the main control module of the equipment storage stage needs to send key state information to the central control unit to formulate the system mode switching and fault diagnosis process based on the information, that is, the cleaning equipment storage device control unit needs to be able to control the key equipment in real time and obtain the state information corresponding to the key equipment. The state information is fed back to the central control unit through the CAN bus, and in the case of abnormality, a preset safety protection mechanism is triggered or switched to a manual remote control mode (if the track is wound during recovery, the mode is automatically switched to manual intervention for processing and recording of fault codes). The control of the key equipment and the real-time acquisition of the state information corresponding to the key equipment means that the opening and closing state of the cleaning equipment storage bin door is monitored and controlled in real time, and whether the cleaning robot and the track storage winch are released or recovered is verified when they are in the preset position. At the same time, the oil pressure value of the cleaning equipment storage bin door hydraulic mechanism is monitored to ensure the power stability of the storage bin action.

[0097] The cleaning equipment storage device control unit comprises a control storage door switch, a pressure sensor and an ultrasonic sensor.

[0098] The control door switch is used to monitor and control the opening and closing state of the cleaning equipment storage door in real time, and to ensure that the equipment release and recovery process is carried out in a safe condition (real-time monitoring of the physical state of the storage door, controlling its opening and closing according to the preset timing, and prohibiting related actions in abnormal conditions). It preferably uses a position detection element (such as a limit switch, encoder or magnetic sensor - Hall sensor) to collect the opening / closing state of the storage door in real time, i.e. the door state signal, for example, before a certain equipment is released or recovered, it is verified that the door is completely open; after the recovery is completed, the closing instruction is executed and the position is confirmed; in addition, it can also be linked with the hydraulic mechanism, i.e. drive the hydraulic mechanism to perform the opening / closing door action, to ensure that the door is only allowed to be closed when the equipment is in the correct position, forming a "open door - release" and "recovery - close door" safe timing logic.

[0099] The pressure sensor is installed in the hydraulic cylinder oil inlet / oil return pipeline to collect the oil pressure value of the hydraulic system in real time, ensuring the stability of the hydraulic cylinder thrust and avoiding the failure of the storage bin due to insufficient pressure. For example, when the oil pressure value is detected to be lower than the set lower limit, a hydraulic failure warning is sent to the central control unit, and the equipment release or recovery action is suspended;

[0100] The ultrasonic sensor is used for non-contact detection of the internal space of the storage bin, verifying whether the track storage winch / cleaning robot has completely separated or returned to the storage bin, i.e. verifying whether it is in the preset position when the cleaning robot and the track storage winch are released or recovered (whether the track laying device and the cleaning robot have completely separated or returned to the storage bin), preventing equipment from being stuck, squeezed or mechanically damaged, and improving the automation and safety of the storage action. For example, it can be arranged at key positions inside the storage bin (such as the entrance, the bottom track slot), forming a space scanning area, emitting ultrasonic waves and receiving echoes, and calculating the distance and existence state of the target object in combination with the laser range finder array to determine whether the track storage winch / cleaning robot has completely separated (release stage) or completely returned (recovery stage); if it is detected that the track storage winch / cleaning robot is still stranded in the bin (such as the tail of the robot not completely exiting), an alarm is triggered and subsequent actions (such as closing the door and collecting the track) are prevented; for example, the servo motor drive unit is reversed to wind the flexible track into the storage winch with constant tension, avoiding track distortion or jamming; during the recovery process, the Hall sensor continuously monitors the magnetic attraction unit current to ensure smooth unloading of the attraction force; and the laser range finder array verifies the state of the flexible track separating from the hull surface again to prevent scratching problems.

[0101] In some specific embodiments, in order to realize multi-dimensional and multi-level safety monitoring and emergency response during the whole cleaning robot operation, a safety protection control unit is specially added, which is configured to calculate the electromagnetic adsorption force in real time and obtain its margin, adopt a differentiated control strategy according to the margin level, and dynamically scan the forward path of the preset range in front of the cleaning robot, identify the sudden obstacles, and immediately execute the sudden obstacle braking strategy when the obstacle is detected. It is also used to monitor the vibration state of the key mechanical parts and perform fault warning and positioning protection.

[0102] The safety protection control unit comprises an adsorption force safety monitoring unit, a laser radar and a vibration sensor,

[0103] The adsorption force safety monitoring unit is used to monitor the working current of the magnetic adsorption unit in real time, calculate the electromagnetic adsorption force and the margin, reduce the robot running speed when the margin is lower than the first threshold, and trigger the emergency brake when the margin is lower than the second threshold. When the margin is between 1.2 and 1.5, the cleaning robot is appropriately slowed down, and when the margin is less than 1.2, the signal is returned to the central control unit, which adopts emergency braking to stop the cleaning robot from working and prevent the robot from falling off due to adsorption failure during operation. Preferably, the adsorption force safety monitoring unit comprises a Hall sensor, which detects the working current flowing through the electromagnet coil in a non-contact manner, calculates the real-time adsorption force, and sets multiple response threshold values: when the margin is between 1.2 and 1.5, it is determined as "mild deficiency", a speed reduction instruction is sent to the central control unit to reduce the dynamic load; when the margin is less than 1.2, it is determined as "serious deficiency", and the emergency brake mechanism is triggered, and the central control unit immediately stops the robot movement;

[0104] The laser radar dynamically scans the forward path of the preset range (3 meters in front) in front of the cleaning robot, identifies the sudden obstacles, and immediately executes the sudden obstacle braking strategy when the obstacle is detected. That is, the forward path of the robot is dynamically scanned to identify sudden obstacles (such as divers, floating objects, and other ship parts), and when the obstacle enters the trigger distance, the double protection action is immediately triggered: the central control cuts off the driving motor power supply (electrical level fast power-off); and starts the double-redundancy disc brake (mechanical level brake), realizes the "perception-judgment-execution" integrated proactive insurance measure, and improves the operation safety in complex underwater environment;

[0105] The vibration sensor is used for monitoring the vibration state of the key mechanical components and realizing the fault early warning and positioning function, that is, the vibration spectrum analysis (FFT or wavelet transform) of the key mechanical components such as pulleys and mechanical arms, identifying early mechanical faults such as bearing fault frequency and resonance peak, if an abnormal vibration mode (abnormal frequency band energy surge) is identified, the central control unit controls the robot to stop and marks the fault position (right front pulley bearing abnormality). Meanwhile, the safety protection control unit packages the above-mentioned various abnormal events (insufficient adsorption, obstacles, abnormal vibration) and feeds back to the central control unit through the CAN bus, realizing the whole system linkage protection.

[0106] Based on the same inventive concept, the application further provides a control method of the ship body cleaning device, step 1, the central control unit sends a track laying instruction to the track laying device control unit, and starts the track laying process;

[0107] Step 2, the track laying device control unit controls the starting wall climbing robot and the ending wall climbing robot to move to the designated positions on both sides of the ship body, and dynamically adjusts the speed of the flexible track released by the track storage winch based on the curvature information of the ship body surface; meanwhile, during the track releasing process, the distance between the flexible track and the ship body surface is monitored in real time, if the distance exceeds the preset threshold, the safety protection action is triggered, including enhancing the adsorption force of the magnetic adsorption unit or executing the secondary track compression;

[0108] Step 3, after the track laying is completed, the central control unit switches to the cleaning operation mode, the cleaning robot control unit controls the cleaning robot to reciprocate along the flexible track; meanwhile, the cleaning robot control unit scans the ship body surface of the cleaning path area in real time through the multispectral imager, identifies the dirt type, and feeds back the identification result to the central control unit, the central control unit generates a cleaning strategy according to the dirt type, and controls the cleaning equipment to adjust the pressure of the high-pressure water jet nozzle;

[0109] Step 4, in the cleaning operation mode, the safety protection control unit implements multi-dimensional and multi-level safety monitoring and emergency response to the whole cleaning robot operation, specifically, the adsorption force safety monitoring unit of the safety protection control unit calculates the electromagnetic adsorption safety margin in real time: when the margin is lower than the first threshold, the robot running speed is reduced, and when the margin is lower than the second threshold, the emergency brake is triggered; the laser radar dynamically scans the preset range in front of the robot, if a moving obstacle is detected, the driving motor power is immediately cut off and the double-redundancy brake is started; meanwhile, the vibration sensor monitors the vibration spectrum of the pulley and the mechanical arm joint, if an abnormal vibration mode is identified, the robot is controlled to stop and the fault position is marked;

[0110] Step 5, after the cleaning task is completed, the central control unit switches to the equipment recovery mode, the cleaning equipment storage device control unit controls the hydraulic mechanism to open the storage bin, and the servo motor driving unit reverses to wind the flexible track; at the same time, during the equipment recovery process, the opening and closing state of the storage bin door, the hydraulic mechanism oil pressure value and whether the equipment is completely homed are monitored in real time, and after confirming that there is no abnormality, the storage bin is closed, and the "storage completion" state is fed back to the central control unit through the CAN bus. For example Figure 7 The control system architecture principle diagram is shown in FIG. 1.

[0111] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A hull cleaning device installed on the side of a ship, characterized in that: It comprises a hull (1), a cleaning equipment storage device (2), a track placement device (3) and a cleaning robot (4); The cleaning equipment storage device (2) is arranged on one side of the ship hull and is used to store the track placement device (3) and the cleaning robot (4) in a non-working state; The track laying device (3) can be stored in the cleaning equipment storage device (2) in a non-operating state, and released from the cleaning equipment storage device (2) in operation to lay a track (33) for the cleaning robot (4) to travel on the hull surface; The cleaning robot (4) can be stored in the cleaning equipment storage device (2) when not in operation, and is released from the cleaning equipment storage device (2) when in operation, and moves along the track (33) laid by the track placement device (3) to clean the surface of the hull.

2. The hull cleaning device installed on the ship's side according to claim 1, characterized in that: The track laying device (3) comprises a wall-climbing robot group (31), a track storage winch (32) and the track (33); The wall-climbing robot group (31) comprises a starting wall-climbing robot (311) and a terminal wall-climbing robot (312) capable of being adsorbed on the hull and walking on the hull. The starting wall-climbing robot (311) is provided with a track storage winch (32) capable of retracting or releasing the track (33). One end of the track (33) is connected to the track storage winch (32), and the other end of the track (33) is fixed to the terminal wall-climbing robot (312). The starting wall-climbing robot (311) and the terminal wall-climbing robot (312) cooperate to pull the track (33).

3. The hull cleaning device installed on the side of a ship according to claim 1, characterized in that: The cleaning robot (4) comprises a track coupling base (41) and a cleaning brush disc group (42), wherein the track coupling base (41) is mounted on the track and can move along the track (33), the cleaning brush disc group (42) is arranged on a side of the track coupling base (41) facing the hull, and the track coupling base (41) is provided with a first magnetic universal wheel (43) and a first power device; The first magnetic universal wheel (43) generates an adsorption force through a built-in permanent magnet, so that the track coupling base (41) is adsorbed on the surface of the hull, and the track coupling base (41) is driven to move along the track (33) on the surface of the hull by the rotation of the wheel body; The first power device is arranged in the track coupling base (41), and is used to drive the first magnetic universal wheel (43) to rotate to drive the track coupling base (41) to move.

4. The hull cleaning device installed on the ship's side according to claim 2, characterized in that: The starting wall-climbing robot (311) and the ending wall-climbing robot (312) are both provided with a second magnetic universal wheel (313) and a second power device; The second magnetic universal wheel (313) generates an adsorption force through a built-in permanent magnet, which enables the starting wall-climbing robot (311) and the terminal wall-climbing robot (312) to be tightly adsorbed on the surface of the hull, and drives the starting wall-climbing robot (311) and the terminal wall-climbing robot (312) to move along the surface of the hull through the rotation of the wheel body; The second power device is used to drive the second magnetic universal wheel (313) to rotate to complete the movement of the wall-climbing robot.

5. The hull cleaning device installed on the ship's side according to claim 1, characterized in that: The cleaning equipment storage device (2) comprises a storage box (21), a lifting device (22) and an arc-shaped release track (23); The arc-shaped release track (23) is fixed on the deck of the hull (1), one end of the arc-shaped release track (23) is a connecting end, and the other end of the arc-shaped release track (23) is a release end extending to the surface of the hull; the bottom of the lifting device (22) is arranged in the hull, and the lifting device (22) can drive the storage box (21) to lift, so that the outlet end of the storage box (21) is docked with the connecting end of the arc-shaped release track (23).

6. The hull cleaning device installed on the side of a ship according to claim 2, characterized in that: The starting wall-climbing robot (311) and the ending wall-climbing robot (312) are also provided with a first positioning device (34) and an infrared calibration instrument (35); the first positioning device (34) is used to locate the positions of the starting wall-climbing robot (311) and the ending wall-climbing robot (312) on the hull in real time, and control the starting wall-climbing robot and the ending wall-climbing robot to move to the target position along both sides of the hull respectively; The infrared calibration instrument (35) is used to verify whether the starting wall-climbing robot and the ending wall-climbing robot are in the same plane, so as to ensure that the track is arranged horizontally.

7. The hull cleaning device installed on the side of a ship according to claim 3, characterized in that: The cleaning robot (4) further includes a second positioning device (44) provided on the track coupling base (41); The second positioning device (44) is used to realize the positioning and motion trajectory control of the cleaning robot.

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