Deck surface treatment device for a ship

Abstract

The present application provides a kind of deck surface treatment device for ship, it is related to ship maintenance technical field, including transport vehicle, cleaning box, high-pressure spray gun, two-axis moving platform, scraper, multistage water tank group, filter system, water pump valve group, flexible apron and stabilizer block, also include controller is configured as: real-time identification deck stain type by image recognition model, adaptive adjustment spray gun pressure, flow and moving track;Fusion laser scanning, Doppler radar constructs semantic grid map containing obstacle, stain state and flatness, adopts A-Star Algorithm algorithm and plans " falls box point " path automatically;According to conductivity, oil concentration and temperature, dynamic shunt recovery water, realize hierarchical reuse;Stabilizer block built-in electromagnet, according to the dynamic enhancement of ship attitude adsorption, prevent overturning, the device realizes deck full-automatic, water-saving, anti-shaking efficient cleaning, significantly improve operation safety and water resource utilization rate.

Description

Technical Field

[0001] This invention relates to the field of ship maintenance technology, and in particular to a ship deck surface treatment device. Background Technology

[0002] Ships operate in the marine environment for extended periods, and the surface of the deck is prone to the accumulation of solid impurities such as salt stains and rust. If not cleaned in time, this will not only exacerbate deck corrosion but also affect the safety and reliability of the ship's operating environment.

[0003] Traditional methods for treating decks typically involve manual desalination and rust removal using high-pressure water guns and brushes. This method is labor-intensive, relatively inefficient, and exposes personnel to significant noise and unpredictable sea conditions, posing safety hazards. Another technique uses fixed spray systems to wash large areas of deck, but this method consumes a large amount of water and has relatively low cleaning efficiency. Still other techniques propose using trolley-mounted devices with spray nozzles or similar cleaning mechanisms for localized deck cleaning; however, these devices generally consume large amounts of water, are not efficient in water utilization, and lack stability. When the ship is rocking or the deck is slippery, the device is prone to movement and instability, affecting cleaning effectiveness and creating safety hazards. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a ship deck surface treatment device, which realizes water-saving, unmanned and anti-sway automatic cleaning of ship decks by intelligently identifying the type of stains on the deck and the adaptive cleaning strategy, combined with an intelligent water circulation system based on conductivity and temperature, autonomous path planning based on the A-StarAlgorithm algorithm and an electromagnet dynamic stabilization mechanism.

[0005] To solve the above-mentioned technical problems, the technical solution of the present invention is as follows:

[0006] A ship deck surface treatment device includes a transport vehicle and a high-pressure spray gun, and further includes:

[0007] A cleaning box is disposed within an opening on the surface of the transport vehicle;

[0008] A two-axis moving stage is installed inside the cleaning box, and the high-pressure spray gun is installed on the sliding surface of the two-axis moving stage;

[0009] The scraper is hinged to the bottom surface of the horizontal axis of the two-axis moving table;

[0010] A water tank assembly is installed on the surface of the transport vehicle. The water tank assembly includes a clean water tank, a low-salt tank, a high-salt tank, and a wastewater tank, which are used to supply water to the cleaning tank and recycle water.

[0011] A filter box, installed on the surface of the vehicle, is used to filter impurities in the water flowing into the filter box;

[0012] A water pump assembly is used to drive water to flow between the cleaning tank and the water tank assembly;

[0013] The diversion valve assembly is used to selectively direct the effluent from the filter box into the corresponding water tank under the control of the controller.

[0014] Several stabilizing blocks are provided and symmetrically distributed on both sides of the vehicle. Electromagnets are embedded inside the stabilizing blocks.

[0015] An apron board is fixed to the bottom of the cleaning box, and a flexible pad is fixedly connected to the bottom surface of the apron board to seal the gap between the deck and the cleaning box.

[0016] The sensor group is used to collect working data in real time during the cleaning process of the device. The sensor group includes at least a temperature sensor, an attitude sensor, a conductivity sensor, an oil concentration sensor, a Doppler radar, a two-dimensional laser scanner, a liquid level sensor, and image sensors installed on the surface of the transport vehicle and inside the cleaning box.

[0017] The controller is configured to: identify the deck surface condition based on image data of the deck surface collected by the image sensor using a preset image recognition model, construct an area map containing obstacles and the deck surface condition, and plan the travel path of the transport vehicle, wherein the deck surface condition is at least one of clean surface, oil stains, rust spots, and biological attachments;

[0018] The controller adaptively adjusts the water pressure and flow rate of the high-pressure spray gun, as well as the sliding trajectory and speed of the two-axis moving table, based on the identified deck surface condition type.

[0019] Furthermore, the controller is configured to:

[0020] The controller receives the real-time conductivity value and real-time oil concentration value collected by the sensor group;

[0021] The real-time conductivity threshold is compared with a preset first conductivity threshold and a critical conductivity threshold, and the real-time oil concentration value is compared with a preset oil concentration threshold, wherein the first conductivity threshold is less than the critical conductivity threshold;

[0022] The controller dynamically corrects the preset first conductivity threshold and critical conductivity threshold based on the real-time detection value of the temperature sensor, so as to ensure the best dissolution capacity of water for salt stains on the deck surface under different water temperature conditions.

[0023] When the real-time oil concentration value is greater than the oil concentration threshold, the current water flow is directed to the wastewater tank.

[0024] When the real-time oil concentration value is less than or equal to the oil concentration threshold:

[0025] If the real-time conductivity is less than or equal to a preset first conductivity threshold, the current water flow is directed to the low-salt tank.

[0026] If the real-time conductivity value is greater than the first conductivity threshold, the current water flow is directed to the high-salt tank.

[0027] When the conductivity value in the high-salt tank exceeds the critical conductivity threshold, all the water in the high-salt tank is transferred into the wastewater tank.

[0028] Furthermore, the controller is also configured to:

[0029] When the liquid level in the high-salt tank reaches the first preset height, a preset proportion of water in the high-salt tank is introduced into the wastewater tank.

[0030] When the water level in the wastewater tank reaches the second preset height, the control device stops operating and issues an alarm signal.

[0031] Furthermore, the controller is also configured to:

[0032] The system receives cleaning area signals and work tasks set by staff, receives and fuses image data from the image sensor, as well as 3D point cloud data from a 2D laser scanner used to detect the flatness of the deck surface and data from Doppler radar and displacement sensors used to measure the speed and displacement of the transport vehicle, to construct a 2D grid map containing obstacles and the state of the deck surface. The A-Star Algorithm is then used to plan a global travel path for the transport vehicle. The global travel path consists of a sequence of several drop boxes, each drop box corresponding to a cleaning step. The cleaning step includes controlling the cleaning box to drop, and the two-axis moving table driving the high-pressure spray gun to perform cleaning actions. After completion, the cleaning box is controlled to lift up and moved by the transport vehicle to the next drop box.

[0033] Furthermore, a fixed frame is fixedly connected to the surface of the transport vehicle, and a hydraulic rod is installed on the bottom surface of the fixed frame. The end of the output shaft of the hydraulic rod is connected to the cleaning box through a ball joint. Several limiting blocks are fixedly connected to the bottom surface of the horizontal axis of the two-axis moving platform. The limiting blocks abut against the scraper. A perforated pipe and a first wedge are fixedly connected to the upper surface of the skirt plate. The first wedge, the skirt plate, and the cleaning box form a front pool for recycling water and impurities. A second wedge is fixedly connected inside the front pool. A suction pipe is provided inside the cleaning box, and one end of the suction pipe is located inside the front pool.

[0034] Furthermore, the inner wall of the cleaning box is provided with a plurality of third wedges, which are symmetrically distributed on both sides of the scraper. The third wedges are slidably connected in the first groove opened on the inner wall of the cleaning box. A second spring rod is provided in each of the first grooves opened on the inner wall of the cleaning box. The two ends of the second spring rod are fixedly connected to the third wedge and the cleaning box, respectively. A second roller is installed on the surface of the third wedge.

[0035] Furthermore, the pump assembly includes a first pump body and a second pump body. A water collection tank is provided on the bottom surface of the filter box. A filter plate is fixedly connected inside the filter box, and the filter plate divides the interior of the filter box into an inlet side and an outlet side. The outlet of the first pump body is connected to the inlet side inside the filter box through a pipe. The inlet of the second pump body is connected to the outlet side inside the filter box through a pipe. The pipe connected to the inlet of the second pump body extends inside the filter box to the interior of the water collection tank. The inlet of the first pump body is connected to the interior of the suction pipe through a pipe.

[0036] The diversion valve assembly includes a first solenoid valve and a second solenoid valve. The outlet of the second pump body is connected to a four-way pipe via a pipeline. The first solenoid valve is installed at the other three ports of the four-way pipe. The outlet of the first solenoid valve is connected to the interior of the high-salt tank, the low-salt tank, and the wastewater tank via pipelines, respectively. The second solenoid valve is located between the high-salt tank and the wastewater tank. The inlet and outlet of the second solenoid valve are connected to the interior of the high-salt tank and the wastewater tank via pipelines, respectively.

[0037] Furthermore, a fixed frame is fixedly connected to the surface of the transport vehicle, and a first spring rod is fixedly connected to each of the four vertical inner walls of the fixed frame. A first roller is installed at the end of each of the first spring rods, and the first rollers abut against the outer wall of the cleaning box.

[0038] Furthermore, the surface of the stabilizing block is hinged with a connecting rod, and a plurality of ball wheels are evenly arranged inside the stabilizing block. The ball wheels are slidably connected in the first circular groove opened on the bottom surface of the stabilizing block. A third spring rod is arranged in the first circular groove opened on the bottom surface of the stabilizing block. The two ends of the third spring rod are fixedly connected to the stabilizing block and the ball wheel, respectively. The electromagnet is installed in the second circular groove opened on the bottom surface of the stabilizing block.

[0039] The controller receives the ship's motion attitude signal. When it analyzes the motion attitude signal and determines that the transport vehicle has a tendency to deviate or capsize, it controls the electromagnet to be energized to generate magnetic attraction or enhance the attraction force on the deck to prevent the transport vehicle from deviating relative to the deck.

[0040] Furthermore, a plurality of first lead screws are evenly arranged on the bottom surface of the fixing frame. The first lead screws are rotatably connected to the fixing frame through first bearings. The upper surface of the cleaning box is fixedly connected with threaded sleeves corresponding to the first lead screws. The threaded sleeves are threadedly connected to the corresponding first lead screws.

[0041] The above-described solution of the present invention has at least the following beneficial effects:

[0042] The above-mentioned solution of the present invention achieves precise, efficient, and clear cleaning and improves water utilization by identifying the type of deck stains in real time and automatically matching the pressure and flow rate of the high-pressure spray gun and the sliding speed of the two-axis moving table.

[0043] By combining data from conductivity and oil concentration sensors with temperature sensors, the system intelligently adjusts the flow of rinsing water to low-salt tanks, high-salt tanks, or wastewater tanks to improve water utilization. Once the water in the high-salt tank is saturated, it is automatically discharged into the wastewater tank to avoid secondary pollution.

[0044] A two-dimensional grid map is constructed using a two-dimensional laser scanner, Doppler radar, and image data. The A-StarAlgorithm algorithm is used to automatically plan the path to the container drop point, automatically avoid obstacles and severely uneven areas on the deck, and achieve unmanned, regionalized cleaning to improve operational efficiency.

[0045] By using the electromagnets and buffer wheels built into the stabilizer block, combined with attitude sensor data to detect the ship's rolling in real time, the magnetic attraction force is enhanced in stages to effectively prevent the transport vehicle from slipping or overturning relative to the deck, ensuring operational safety in the event of sudden sea conditions.

[0046] By combining apron panels and flexible pads, the work area is sealed to improve water recovery rate and reduce secondary pollution of nearby cleaned deck areas caused by high salt water overflow. Attached Figure Description

[0047] Figure 1 This is a schematic diagram of the overall structure provided by the present invention.

[0048] Figure 2 This is a schematic diagram of the filter plate in this invention.

[0049] Figure 3 This is a schematic diagram of the fixed frame in this invention.

[0050] Figure 4 This is a schematic diagram of the scraper in this invention.

[0051] Figure 5 This is a schematic diagram of the flexible pad in this invention.

[0052] Figure 6 This is a schematic diagram of the first wedge block in this invention.

[0053] Figure 7 This is the present invention. Figure 2 Enlarged view of point A in the middle.

[0054] Figure 8 This is the present invention. Figure 5 Enlarged view of point B in the middle.

[0055] In the diagram: 101. Transport vehicle; 102. High-pressure spray gun; 201. Cleaning box; 202. Fixing frame; 203. Filter box; 204. First pump body; 205. Second pump body; 206. Water collection tank; 207. Filter plate; 208. Fixing frame; 209. First spring rod; 210. First roller; 211. Two-axis moving table; 212. Skirt board; 213. Flexible pad; 214. Scraper; 215. Limiting block; 216. Perforated pipe; 217. Bellows cover; 218. 8. First wedge; 219. Second wedge; 220. Suction pipe; 221. Magnetic sheet; 222. Flow equalization plate; 223. Third wedge; 224. Second roller; 225. Second spring rod; 226. Hydraulic rod; 301. High salt tank; 302. Low salt tank; 303. Clean water tank; 304. Waste water tank; 401. Connecting rod; 402. Stabilizing block; 403. Ball wheel; 404. Third spring rod; 405. Electromagnet; 501. First lead screw; 502. Threaded sleeve. Detailed Implementation

[0056] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[0057] like Figures 1 to 8 As shown, an embodiment of the present invention provides a ship deck surface treatment device, including a transport vehicle 101 and a high-pressure spray gun 102, comprising:

[0058] The cleaning box 201 is installed in an opening on the surface of the transport vehicle 101;

[0059] A two-axis moving table 211 is installed inside the cleaning box 201, and a high-pressure spray gun 102 is installed on the slide surface of the two-axis moving table 211.

[0060] The scraper 214 is hinged to the bottom surface of the horizontal axis of the two-axis moving table 211;

[0061] A water tank assembly is installed on the surface of the transport vehicle 101. The water tank assembly includes a clean water tank 303, a low-salt tank 302, a high-salt tank 301, and a wastewater tank 304, which are used to supply water to the interior of the cleaning tank 201 and to recycle water.

[0062] The filter box 203 is installed on the surface of the carrier vehicle 101 and is used to filter impurities in the water flowing into the filter box 203.

[0063] A water pump unit is used to drive the flow of water between the cleaning tank 201 and the water tank assembly;

[0064] The diversion valve assembly is used to selectively direct the effluent from the filter box 203 into the corresponding water tank under the control of the controller.

[0065] Several stabilizers 402 are provided and symmetrically distributed on both sides of the carrier 101. Electromagnets 405 are embedded inside the stabilizers 402.

[0066] The apron panel 212 is fixed to the bottom of the cleaning box 201. A flexible pad 213 is fixedly connected to the bottom surface of the apron panel 212 to seal the gap between the deck and the cleaning box 201.

[0067] The sensor group is used to collect working data in real time during the cleaning process of the device. The sensor group includes at least a temperature sensor, an attitude sensor, a conductivity sensor, an oil concentration sensor, a liquid level sensor, and an image sensor installed on the surface of the carrier 101 and inside the cleaning box 201.

[0068] The controller is electrically connected to the sensor group, water pump group, diversion valve group and high-pressure spray gun 102. The controller is configured to: receive image data of the deck surface collected by the image sensor through a preset image recognition model, identify the deck surface state based on the image data, construct an area map containing obstacles and deck surface state based on the image data, and plan a travel path for the transport vehicle 101. The deck surface state is at least one of clean surface, oil stains, rust spots and biological attachments.

[0069] The controller adaptively adjusts the water pressure and flow rate of the high-pressure spray gun 102, as well as the sliding trajectory and sliding speed of the two-axis moving table 211, based on the identified deck surface condition type.

[0070] In this embodiment of the invention, in the desalination and rust removal maintenance of the deck of a 100,000-ton ocean-going bulk carrier, the deck area to be maintained is about 1,500-2,000 square meters. The deck material is mainly high-strength marine steel plate. During long-term voyages and ocean routes, it faces conditions such as high salt spray, sea splash, and cargo residue, which can easily form salt stains, oxide rust layers, and localized stubborn stains.

[0071] In this embodiment, the sensor group specifically refers to:

[0072] A temperature sensor (not shown in the figure) is installed on the inner side wall of the cleaning box 201 near the inlet of the suction pipe 220.

[0073] The attitude sensor (not shown in the figure) is a high-precision inclinometer and is installed at the center of the chassis of the 101 transport vehicle to detect the roll and pitch angles of the hull.

[0074] Two conductivity sensors (not shown in the figure) are installed, one on the inner wall of the water collection tank 206 and the other on the inner side wall of the high-salt tank 301.

[0075] An oil concentration sensor (not shown in the figure) is installed on the inner wall of the pipe connected to the inlet of the second pump body 205 (near the pipe opening of the water collection tank 206).

[0076] Four liquid level sensors (not shown in the figure) are installed on the inner sidewalls of the clean water tank 303, the low salt tank 302, the high salt tank 301, and the wastewater tank 304, respectively.

[0077] The image sensor (not shown in the figure) is provided in multiple ways, namely a wide-angle camera installed on the surface of the carrier 101, a high-definition camera on the bottom surface of the slide of the two-axis moving stage 211 inside the cleaning box 201, and a high-definition camera on the inner wall of the cleaning box 201 (a light source is embedded in the inner wall of the cleaning box 201 to cooperate with the use of the image sensor).

[0078] A pressure sensor (not shown in the figure) is installed at the water inlet of the high-pressure spray gun 102.

[0079] Two flow sensors (not shown in the figure) are installed, one at the outlet pipe of the clean water tank 303 and the other at the inlet pipe of the second pump body 205.

[0080] Displacement sensors (not shown in the figure) are respectively installed at the output shafts of the drive motors of the horizontal and vertical axes of the two-axis moving stage 211 and at the drive wheel axle of the transport vehicle 101.

[0081] A proximity sensor (not shown in the figure) is installed on the edge of the chassis of the transport vehicle 101;

[0082] The carrier vehicle 101 is designed as a compact structure with a length of 2.5m and a width of 1.8m, which can pass through narrow passages on the deck (such as a 1.9m wide corridor between cargo holds); the two-axis moving platform 211 has a transverse axis travel of 0.8m and a longitudinal axis travel of 1.2m, and the dimensions of the cleaning box 201 and the skirt panel 212 are suitable for the installation of the two-axis moving platform 211;

[0083] The upper surface of the filter box 203 is provided with air holes to allow for the adjustment of the internal air pressure of the filter box 203.

[0084] In this embodiment, the first pump body 204 is a pneumatic diaphragm pump, which is used to draw dirty water from the cleaning box 201 into the filter box 203 through the suction pipe 220.

[0085] The second pump body 205 is a corrosion-resistant centrifugal pump, used to transport water in the water collection tank 206 to the four-way pipe through a pipeline.

[0086] After the cleaning box 201 is lowered, the image sensor inside the cleaning box 201 takes an image of the deck surface every 2 seconds. The controller is equipped with a pre-trained image recognition model, specifically:

[0087] The convolutional neural network model is adopted, and its core architecture includes:

[0088] Input layer: Receives RGB images scaled to 224×224 pixels.

[0089] Feature extraction backbone: It contains 3 convolutional blocks. The first convolutional block contains 32 3×3 convolutional kernels, followed by a ReLU activation function and a 2×2 max pooling layer. The second convolutional block contains 64 3×3 convolutional kernels, followed by a ReLU activation function and a 2×2 max pooling layer. The third convolutional block contains 128 3×3 convolutional kernels, followed by a ReLU activation function.

[0090] The classifier consists of one global average pooling layer, two fully connected layers (the first fully connected layer contains 64 neurons with ReLU activation function; the second fully connected layer contains 32 neurons with ReLU activation function), and an output layer containing four neurons with Softmax activation function. It outputs the confidence rates for four states: clean surface, oil stains, rust spots, and biological adhesion.

[0091] The training data consisted of 50,000 sample images of the deck (the samples covered the decks of various ship types such as bulk carriers, tankers, and container ships, including scenes with different lighting, pollution and corrosion levels, and were labeled by professionals with pollution types such as clean surfaces, corrosion, oil stains, and biological adhesion), and were divided into training set, validation set and test set in a 7:2:1 ratio.

[0092] The Adam optimizer was used with cross-entropy as the loss function. The initial learning rate was set to 0.001, and a learning decay strategy was adopted. An early stopping mechanism (patience=10) was used during training. Training was stopped when the validation set loss no longer decreased for 10 consecutive rounds to prevent overfitting. The image recognition model was considered qualified if its accuracy on the test set exceeded 92%.

[0093] The trained image recognition model is converted to ONNX format and deployed to the embedded GPU module of the controller, where TensorRT accelerates inference.

[0094] The controller executes adaptive adjustment strategies including:

[0095] The controller reads the confidence rate output by the image recognition model and takes the type with the highest probability as the current recognition result.

[0096] When the identification result is a clean surface, control the high-pressure spray gun 102 to stop spraying, and control the two-axis moving stage 211 to move the high-pressure spray gun 102 to the next area to be cleaned;

[0097] When the identification result is oil stains, the high-pressure spray gun 102 is controlled to spray at a first preset pressure (e.g., 10MPa) and a first flow rate (10L / min). At the same time, the two-axis moving stage 211 is controlled to drive the high-pressure spray gun 102 to reciprocate along the horizontal axis at a first speed (e.g., 0.2m / s), and the horizontal axis is pushed forward into the pool at the first speed (0.2m / s).

[0098] When the identification result is rust spots, the high-pressure spray gun 102 is controlled to spray at a second preset pressure (e.g., 25MPa) and a second flow rate (e.g., 15L / min). The second preset pressure is greater than the first preset pressure. At the same time, the two-axis moving table 211 is controlled to drive the high-pressure spray gun 102 to move along the horizontal axis in a reciprocating trajectory at a second speed (e.g., 0.1m / s), and the horizontal axis is pushed forward into the pool at a second speed (0.1m / s). The second speed is less than the first speed.

[0099] When the identification result is biological attachment, the high-pressure spray gun 102 is controlled to spray at a third preset pressure (e.g., 100MPa) and a third flow rate (20L / min). The third preset pressure is greater than the second preset pressure. The two-axis moving stage 211 is controlled to make the high-pressure spray gun 102 first impact the target center area for 5 seconds. Then, the two-axis moving stage 211 is controlled to drive the high-pressure spray gun 102 to move along the horizontal axis at a third speed (e.g., 0.05m / s) in a reciprocating trajectory. The horizontal axis is also moved forward into the pool at a third speed (0.05m / s). The third speed is less than the second speed.

[0100] It should be noted that the different pressure and flow parameters of the high-pressure spray gun 102, as well as the different moving speed parameters of the two-axis moving stage 211, are optimized values ​​determined based on extensive preliminary process experiments. For example, for common heavy oil stains, a pressure of 10 MPa and a flow rate of 10 L / min can save water to a large extent while ensuring cleaning effectiveness; for thick layers of rust and firmly attached biofilm, it is necessary to gradually increase the pressure to 25 MPa or even 100 MPa and the correspondingly higher flow rate to ensure cleaning efficiency. The moving speed is set to match the pressure and flow rate to ensure sufficient spray residence time and impact energy per unit area.

[0101] A fixed frame 202 is fixedly connected to the surface of the transport vehicle 101. A hydraulic rod 226 is installed on the bottom surface of the fixed frame 202. The end of the output shaft of the hydraulic rod 226 is connected to the cleaning box 201 through a ball joint. Several limiting blocks 215 are fixedly connected to the bottom surface of the horizontal axis of the two-axis moving table 211. The limiting blocks 215 abut against the scraper 214. A perforated pipe 216 and a first wedge 218 are fixedly connected to the upper surface of the skirt plate 212. The first wedge 218, the skirt plate 212 and the cleaning box 201 form a front pool for recycling water and impurities. A second wedge 219 is fixedly connected inside the front pool. A suction pipe 220 is provided inside the cleaning box 201. One end of the suction pipe 220 is located inside the front pool.

[0102] In this embodiment of the invention, during the cleaning process, the transport vehicle 101 controls the extension of the hydraulic rod 226 to move the cleaning box 201 towards the deck through the opening on the surface of the transport vehicle 101. After the flexible pad 213 on the bottom surface of the skirt board 212 comes into contact with the deck, it will squeeze the flexible pad 213 to reduce the gap between the deck and the cleaning box 201. The magnetic sheets 221 uniformly arranged inside the flexible pad 213 (in this embodiment, the magnetic sheets 221 are neodymium iron boron magnetic strips covered with salt spray resistant rubber, with a magnetic field strength ≤50mT, installed on the non-contact surface inside the flexible pad 213 to avoid direct adsorption of metal impurities) will make the flexible pad 213 fit more tightly against the deck. The hydraulic rod 226 continues to extend until the pressure applied by the hydraulic rod 226 to the cleaning box 201 reaches the set value. At this time, when the cleaning box 201 is using the high-pressure spray gun 102, the reaction force generated by the high-pressure spray of the high-pressure spray gun 102 can still maintain a stable fit with the deck.

[0103] During deck desalination and rust removal, water is pumped into the perforated pipe 216, causing it to spray water evenly into the deck area enclosed by the skirt board 212 inside the cleaning box 201. To further evenly distribute the water flow, a flow equalization plate 222 can be fixedly connected to the surface of the perforated pipe 216. This allows the water flowing from the perforated pipe 216 to flow more evenly through the gap between the flow equalization plate 222 and the skirt board 212, thus uniformly rinsing the deck. On the surface of the plate, the horizontal axis of the two-axis moving stage 211 moves the scraper 214 from the side of the porous pipe 216 toward the first wedge 218 and scrapes the deck area. At the same time, the scraper 214 pushes the water on the side of the first wedge 218 toward the forepool so that the water carrying impurities enters the interior of the forepool along the inclined surface of the first wedge 218 and gathers at the opening of the suction pipe 220 under the action of the second wedge 219 inside the forepool so that it can be sucked up by the suction pipe 220 and recycled to the filter box 203.

[0104] During the process of scraper 214 moving from the porous pipe 216 side to the first wedge 218 side, the scraper 214 is kept perpendicular to the deck by the abutment of the limiting block 215. During this process, water continues to flow out of the porous pipe 216, and the water accumulates on the side of scraper 214 close to the porous pipe 216. When scraper 214 moves from the first wedge 218 side to the porous pipe 216 side, it can rotate, causing the water on the deck surface to move towards the first wedge 218 side, so as to facilitate the next scraping action of scraper 214.

[0105] The inner wall of the cleaning box 201 is provided with a number of third wedges 223. The third wedges 223 are symmetrically distributed on both sides of the scraper 214. The third wedges 223 are slidably connected in the first groove opened on the inner wall of the cleaning box 201. A second spring rod 225 is provided in the first groove opened on the inner wall of the cleaning box 201. The two ends of the second spring rod 225 are fixedly connected to the third wedges 223 and the cleaning box 201 respectively. A second roller 224 is installed on the surface of the third wedges 223.

[0106] In this embodiment of the invention, when the scraper 214 moves from the porous tube 216 side to the first wedge 218 side, the scraper 214 squeezes the third wedge 223 into the first groove through the inclined surface of the scraper 214. During this process, the second spring rod 225 is compressed. After the scraper 214 slides past the third wedge 223, the third wedge 223 resets under the elastic potential energy of the second spring rod 225. When the scraper 214 moves from the first wedge 218 side to the porous tube 216... During lateral movement, the scraper 214 slides over the surface of the second roller 224. During this process, the third wedge 223 does not compress the second spring rod 225. As the scraper 214 and the second roller 224 roll relative to each other, the contact between the scraper 214 and the second roller 224 causes the scraper 214 to rotate around the transverse axis of the two-axis moving platform 211 by a certain angle, so that the water sprayed from the porous pipe 216 can flow evenly to the side of the first wedge 218, thereby facilitating the next scraping motion of the scraper 214.

[0107] The pump set includes a first pump body 204 and a second pump body 205. A water collection tank 206 is provided on the bottom surface of the filter box 203. A filter plate 207 is fixedly connected inside the filter box 203. The filter plate 207 divides the inside of the filter box 203 into an inlet side and an outlet side. The outlet of the first pump body 204 is connected to the inlet side inside the filter box 203 through a pipe. The inlet of the second pump body 205 is connected to the outlet side inside the filter box 203 through a pipe. The pipe connected to the inlet of the second pump body 205 extends inside the filter box 203 to the inside of the water collection tank 206. The inlet of the first pump body 204 is connected to the inside of the suction pipe 220 through a pipe.

[0108] The diversion valve assembly includes a first solenoid valve and a second solenoid valve. The outlet of the second pump body 205 is connected to a four-way pipe through a pipeline. The other three ports of the four-way pipe are each equipped with a first solenoid valve. The outlet of the first solenoid valve is connected to the interior of the high-salt tank 301, the low-salt tank 302 and the wastewater tank 304 through pipelines, respectively. The second solenoid valve is located between the high-salt tank 301 and the wastewater tank 304. The inlet and outlet of the second solenoid valve are connected to the interior of the high-salt tank 301 and the wastewater tank 304 through pipelines, respectively.

[0109] In this embodiment of the invention, the suction pipe 220 continuously draws water and impurities from the forepool through the first pump body 204. The outlet of the first pump body 204 extends to the inlet side of the filter box 203 through a pipe and is located above the filter plate 207. The water collected from the suction pipe 220 to the inlet side is filtered by the filter plate 207 and enters the outlet side, and gathers in the water collection tank 206. The water gathered in the water collection tank 206 is absorbed by the pipe connected to the inlet of the second pump body 205 (the pipe connected to the inlet of the second pump body 205 extends into the water collection tank 206).

[0110] The water absorbed by the second pump body 205 from the inside of the water collection tank 206 flows into the four-way pipe through the outlet. By controlling one of the three first solenoid valves to open and the other two first solenoid valves to close, the water is pumped into the high salt tank 301, the low salt tank 302, or the wastewater tank 304.

[0111] When installing the high-salt tank 301, ensure that the lowest point inside the high-salt tank 301 is higher than the highest point inside the wastewater tank 304. When the water in the high-salt tank 301 needs to be discharged into the wastewater tank 304, open the second solenoid valve to allow the water inside the high-salt tank 301 to flow into the wastewater tank 304 through the pipe under the action of gravity.

[0112] The high-pressure water tank, in conjunction with the clean water pump and the pressure relief valve, is used to complete the spraying operation of the high-pressure spray gun 102. In this embodiment, the clean water pump is a variable frequency plunger pump, whose drive motor is electrically connected to the frequency converter. The frequency converter receives the signal from the controller and adjusts the output pressure and flow rate of the water pump by adjusting the speed of the drive motor. In the water supply pipeline connecting the clean water pump and the high-pressure spray gun 102, an electrically controlled proportional overflow valve controlled by the controller is installed to adjust the working pressure of the pipeline.

[0113] A fixed frame 208 is fixedly connected to the surface of the transport vehicle 101. A first spring rod 209 is fixedly connected to each of the four vertical inner walls of the fixed frame 208. A first roller 210 is installed at the end of each first spring rod 209. The first roller 210 abuts against the outer wall of the cleaning box 201.

[0114] In this embodiment of the invention, when the transport vehicle 101 moves, in order to reduce the rigid collision between the cleaning box 201 and the inner wall of the surface opening of the transport vehicle 101 due to the shaking of the cleaning box 201, the elastic deformation of the first spring rod 209 and the relative rolling of the first roller 210 and the cleaning box 201 are used to suppress the shaking amplitude of the cleaning box 201 at the end of the hydraulic rod 226, thereby reducing the rigid collision between the cleaning box 201 and the transport vehicle 101.

[0115] A connecting rod 401 is hinged to the surface of the stabilizer block 402. Several ball wheels 403 are evenly arranged inside the stabilizer block 402. The ball wheels 403 are slidably connected in the first circular groove opened on the bottom surface of the stabilizer block 402. A third spring rod 404 is arranged in the first circular groove opened on the bottom surface of the stabilizer block 402. The two ends of the third spring rod 404 are fixedly connected to the stabilizer block 402 and the ball wheels 403 respectively. An electromagnet 405 is installed in the second circular groove opened on the bottom surface of the stabilizer block 402.

[0116] The controller receives the ship's motion attitude signal. When it analyzes the motion attitude signal and determines that the carrier 101 has a tendency to deviate or capsize, it controls the electromagnet 405 to be energized to generate magnetic attraction or enhance the attraction force on the deck, so as to prevent the carrier 101 from deviating relative to the deck.

[0117] In this embodiment of the invention, in order to prevent the stability of the transport vehicle 101 on the deck from being affected by the undulation of the ship caused by the waves, when the ship is stable, the electromagnet 405 is not energized or the magnetic attraction force generated by the electromagnet on the deck is insufficient to make the stabilizing block 402 overcome the elastic potential energy of the third spring rod 404 and stick to the deck surface. When the transport vehicle 101 moves, the stabilizing block 402 moves on the deck surface through the ball wheel 403 to reduce the moving resistance of the transport vehicle 101.

[0118] When the cleaning box 201 is placed on the deck surface to carry out cleaning work, in order to ensure the stability of the cleaning work, the magnetic attraction force of the electromagnet 405 on the deck can be increased so that the device can resist the sudden rise and fall of the ship and keep the carrier 101 stable and stationary relative to the deck.

[0119] When the deck is uneven, the arrangement of multiple stabilizing blocks 402 can maintain a large contact area between the stabilizing blocks 402 and the deck. Consequently, when the electromagnet 405 generates a magnetic attraction force on the deck, the stabilizing blocks 402 and the deck also maintain a large static friction force to resist the force parallel to the deck.

[0120] In this embodiment, when the transport vehicle 101 is on the surface of the ship's deck or performing a cleaning task (the cleaning box 201 is lowered), the ship's hull may experience rolling and pitching movements due to factors such as waves and wind, which may cause the transport vehicle 101 to slip or even capsize, potentially leading to safety risks.

[0121] To prevent deviation, the attitude sensor collects three-axis attitude data (roll angle, pitch angle and corresponding angular velocity) of the 101 chassis of the transport vehicle in real time at a frequency of 100Hz.

[0122] The controller's internal program is configured to continuously parse the received motion attitude signals, and the determination logic is as follows:

[0123] Trend determination: While monitoring the current static tilt angle, the controller also calculates the real-time rate of change of the tilt angle (angular velocity). For example, when the roll angular velocity is detected to be continuously increasing and exceeding the first safety threshold (e.g., 5° / s), it is determined that the transport vehicle 101 is accelerating its tilt and has a tendency to overturn.

[0124] Comprehensive judgment: The controller performs vector synthesis analysis on the motion in the roll and pitch directions. When the direction of the synthesized motion vector is consistent with the direction of the center of gravity offset of the vehicle 101, and the offset exceeds the second safety threshold, it is determined that there is a risk of overall slippage of the vehicle 101.

[0125] The first safety threshold and the second safety threshold are pre-calculated and set based on the rigid body mechanics model and static friction constant force. The first safety threshold is determined by calculating the critical angular velocity when the center projection of the carrier 101 in the current attitude is about to exceed the boundary of the stable support polygon. The second safety threshold is calculated based on the maximum static friction force between the deck and the stabilizing block 402, and is the acceleration threshold corresponding to the maximum allowable inertial force before the carrier 101 slips.

[0126] The controller immediately triggers response control based on the trend determination result:

[0127] Level 1 response: When the angular velocity exceeds the first safety threshold but does not exceed the second safety threshold, the controller controls the electromagnet 405 in the stabilizer block 402 to increase its power from the shutdown state or low-power standby state (in which the stabilizer block 402 has a small frictional force with the deck surface, and only the stabilizer block 402 is in contact with the deck) to 60% of the rated power, thereby enhancing the magnetic attraction to the deck to resist the tilting torque.

[0128] Secondary response: When the angular velocity exceeds the second safety threshold, the controller immediately outputs a signal to make the electromagnet 405 immediately reach 100% of the maximum rated magnetic attraction force, and at the same time controls the two-axis moving table 211 to drive the spray gun to immediately stop the operation.

[0129] During the ship's continuous rolling, the controller dynamically adjusts the magnetic force of electromagnet 405 based on real-time feedback of attitude signals to ensure stability while avoiding energy waste.

[0130] A plurality of first lead screws 501 are evenly arranged on the bottom surface of the fixed frame 202. The first lead screws 501 are rotatably connected to the fixed frame 202 through the first bearing. The upper surface of the cleaning box 201 is fixedly connected with threaded sleeves 502 corresponding to the first lead screws 501. The threaded sleeves 502 are threadedly connected to the corresponding first lead screws 501.

[0131] In this embodiment of the invention, when the device is not in operation, the cleaning box 201 can be raised to a set height by the hydraulic rod 226, and then the first lead screw 501 can be rotated by the handle on the surface of the first lead screw 501, so that the first lead screw 501 is threaded into the corresponding threaded sleeve 502, thereby suspending the cleaning box 201 on the surface of the fixed frame 202 by the cooperation of the first lead screw 501 and the threaded sleeve 502, so as to reduce the load on the hydraulic rod 226 when it is de-energized.

[0132] The controller is configured as follows:

[0133] The controller receives real-time conductivity and oil concentration values ​​collected by the sensor array.

[0134] The real-time conductivity threshold is compared with the preset first conductivity threshold and critical conductivity threshold, and the real-time oil concentration value is compared with the preset oil concentration threshold, wherein the first conductivity threshold is less than the critical conductivity threshold;

[0135] The controller dynamically corrects the preset first conductivity threshold and critical conductivity threshold based on the real-time detection value of the temperature sensor to ensure the best dissolution capacity of water for salt stains on the deck surface under different water temperature conditions.

[0136] When the real-time oil concentration value is greater than the oil concentration threshold, the current water flow will be directed to wastewater tank 304;

[0137] When the real-time oil concentration value is less than or equal to the oil concentration threshold:

[0138] If the real-time conductivity is less than or equal to the preset first conductivity threshold, the current water flow will be directed to the low-salt tank 302.

[0139] If the real-time conductivity value is greater than the first conductivity threshold, the current water flow will be directed to the high-salt tank 301.

[0140] When the conductivity value in the high-salt tank 301 exceeds the critical conductivity threshold, all the water in the high-salt tank 301 is transferred into the wastewater tank 304.

[0141] In this embodiment of the invention, the controller uses a first conductivity threshold, a critical conductivity threshold, and an oil concentration threshold at a preset standard temperature as the basis for decision-making:

[0142] Oil concentration threshold: set to 15 ppm (parts per million).

[0143] First conductivity threshold: initially set to 2000 μS / cm;

[0144] Critical conductivity threshold: initially set to 80000 μS / cm.

[0145] Dynamic Temperature Correction of Threshold: During ship navigation, the ambient temperature varies at different geographical locations. Furthermore, as the ship moves across the deck, the temperature difference between decks near and away from the engines is significant. The conductivity of the electrolyte is also significantly affected by temperature (increased temperature leads to faster ion migration and higher conductivity). To ensure consistent judgment of deck salt dissolution capacity at different water temperatures, the controller dynamically compensates and corrects the conductivity threshold based on real-time temperature sensor readings. Specifically:

[0146] When the water temperature is low (e.g., 5℃), the comparison benchmark between the first conductivity threshold and the critical conductivity threshold is appropriately lowered to avoid misjudging high-salinity water with poor actual dissolving capacity as reusable low-salinity water; when the water temperature is high (e.g., 30℃), the comparison benchmark is correspondingly raised. This correction is achieved by using a lookup table of temperature-conductivity compensation coefficients stored in the controller.

[0147] The temperature-conductivity compensation coefficient table was obtained from previous calibration experiments. This involved measuring the conductivity of a standard sodium chloride solution at multiple different temperature points (e.g., at each integer temperature point between 3℃ and 40℃), calculating the ratio of the actual conductivity at each temperature point to the conductivity at the standard temperature (e.g., 25℃), and thus obtaining the compensation coefficient corresponding to the temperature value. The corrected first conductivity threshold and critical conductivity threshold are then the product of the initial setting value and the corresponding coefficient.

[0148] The controller's logic for guiding and executing water flow includes:

[0149] The conductivity value at the water collection tank 206, the oil concentration value at the pump outlet pipe, and the water temperature value are read in real time. Based on the current water temperature, the corrected first conductivity threshold and critical conductivity threshold applicable to the current conditions are dynamically calculated.

[0150] Regardless of the conductivity, as long as the real-time oil concentration is detected to be greater than 15 ppm, the controller will immediately control the diversion valve group to direct the current water flow to the wastewater tank 304, preventing oil pollution of the water in the low-salt tank 302 and the high-salt tank 301.

[0151] When the real-time oil concentration is less than or equal to 15 ppm, if the real-time conductivity is less than or equal to the first conductivity threshold (corrected), the current water flow is determined to be relatively clean low-salt water. The diversion valve group is then controlled to direct the water into the low-salt tank 302 for subsequent primary flushing.

[0152] If the real-time conductivity is greater than the first conductivity threshold (after correction), the current water flow is determined to be high salinity, and the diversion valve group is controlled to guide it into the high salinity tank 301 for centralized storage.

[0153] The controller continuously monitors the conductivity within the high-salt tank 301. When the conductivity value exceeds the critical conductivity threshold (corrected), it indicates that the tank is nearing saturation and is no longer suitable for further storage. The controller then activates the second solenoid valve, allowing all the water in the high-salt tank 301 to flow into the wastewater tank 304 under gravity, and triggers an alarm to alert staff to promptly handle the wastewater tank 304.

[0154] The controller is also configured as follows:

[0155] When the liquid level in the high-salt tank 301 reaches the first preset height, the water in the high-salt tank 301 in a preset proportion is introduced into the wastewater tank 304.

[0156] When the liquid level in wastewater tank 304 reaches the second preset height, the control device stops operating and issues an alarm signal.

[0157] In this embodiment of the invention, when the controller detects that the liquid level of the high-salt tank 301 reaches a first preset height (e.g., set to 90% of the effective volume of the high-salt tank 301), a preset proportion (e.g., 25% of the internal volume of the high-salt tank 301, which can be adjusted according to the actual total volume of the high-salt tank 301 and the total volume of the wastewater tank 304) of high-salt water is introduced into the wastewater tank 304.

[0158] Wastewater tank 304 is the final container for collecting various waste liquids (including oily wastewater and saturated brine). Its liquid level must be strictly monitored to prevent overflow and secondary pollution of the deck.

[0159] When the liquid level inside the wastewater tank 304 reaches the second preset height (e.g., set to 95% of the effective volume of the wastewater tank 304), the controller sends a shutdown command to the device, including: immediately stopping the spraying of the high-pressure spray gun 102, stopping the movement of the two-axis moving table 211, stopping the operation of the first pump body 204 and the second pump body 205, and issuing an alarm signal through the audible and visual alarm device equipped on the transport vehicle 101.

[0160] The controller is also configured as follows:

[0161] The system receives cleaning area signals and work tasks set by staff, receives and fuses image data from image sensors, as well as 3D point cloud data from a 2D laser scanner used to detect the flatness of the deck surface and data from Doppler radar and displacement sensors used to measure the moving speed and displacement of the transport vehicle 101, to construct a 2D grid map containing obstacles and the state of the deck surface. The A-Star Algorithm is used to plan a global travel path for the transport vehicle 101. The global travel path consists of a sequence of several drop boxes, each drop box corresponding to a cleaning step. The cleaning step includes controlling the cleaning box 201 to drop, and the two-axis moving table 211 driving the high-pressure spray gun 102 to perform cleaning actions. After completion, the cleaning box 201 is controlled to lift up and move to the next drop box point via the transport vehicle 101.

[0162] In this embodiment of the invention, before the operation, the operator sets the boundary of the deck area to be cleaned through the human-machine interface (such as a touch screen) or remote control terminal mounted on the transport vehicle 101 and issues the operation task. After the controller receives the cleaning area signal and the operation task (such as selecting one or more of desalination, derusting, degreasing and removal of biological deposits), it starts the autonomous operation mode.

[0163] First, the controller controls the transport vehicle 101 to slowly move around the edge of the designated area, while continuously receiving environmental data collected by a wide-angle camera mounted on the surface of the transport vehicle 101. In this embodiment, the transport vehicle 101 is equipped with a Doppler radar to directly and continuously measure the two-dimensional planar movement speed of the transport vehicle 101 relative to the deck surface. The controller directly obtains high-precision relative displacement data by integrating the speed signal. A two-dimensional laser scanner is installed on the bottom of the transport vehicle 101, with its scanning surface perpendicular to the deck surface, to acquire three-dimensional contour point cloud data of the deck surface in front of and to the sides of the vehicle body in real time, so as to directly measure the unevenness of the deck surface.

[0164] The Visual Odometry (VO) SLAM algorithm running inside the controller processes the above images, identifies feature points in the images, and calculates the position of the transport vehicle 101 in the global environment in real time by combining its own displacement. At the same time, it constructs a two-dimensional grid map that includes obstacles (such as mooring bollards, ventilation ducts, hatch coamings, etc., as well as temporary obstacles, such as container corner pieces, cargo residue, etc.), deck surface condition (clean, oil stains, rust spots, biological attachments), and deck flatness (flat, slightly uneven, severely uneven; in this embodiment, flat corresponds to a deck slope change of less than 2°, slightly uneven corresponds to a slope change of 2°-10°, and severely uneven corresponds to a deck slope change of more than 10°). The stain areas identified by the image sensor are projected onto the corresponding coordinates of the two-dimensional grid map through camera calibration parameters and the current pose of the transport vehicle 101, and the surface condition attributes of the grid are updated.

[0165] Based on the constructed regional map, the controller's path planning module begins calculating the optimal global travel path. It employs the A-Star Algorithm for global path search, combined with a grid-based approach for environment representation. During bin selection and path planning, the algorithm first sets severely uneven areas as prohibited from bin placement and assigns lower bin placement priorities to grids in slightly uneven areas. The planning principles include:

[0166] Obstacle avoidance: The planned path will absolutely avoid all identified obstacles and maintain a safe distance (e.g., 15cm) from them to ensure that the transport vehicle 101 can pass unimpeded;

[0167] When planning the route, first eliminate severely uneven areas (to prevent high salt water overflow and contamination during cleaning) and do not use them as landing points for the cleaning box. Mark these areas for manual handling. When working, the goal is to minimize the total movement path.

[0168] The controller directs the transport vehicle 101 to move to each drop-off point according to the planned path. Upon arrival, a cleaning step is performed.

[0169] The cleaning box 201 is lowered, and the pollution type and the work tasks set by the staff are checked in the map surface status layer of the current landing point. The corresponding cleaning actions are performed (water is released through the porous pipe 216 to rinse during desalination; water is released through the porous pipe 216 and high-pressure spray gun 102 is used to rinse during rust removal, oil removal and removal of biological deposits). After the task is completed, the cleaning box 201 is lifted and transported to the next landing point by the transport vehicle 101.

[0170] It should be noted that: as attached Figure 4 As shown, the lead screws used for the horizontal and vertical axes of the two-axis moving stage 211 are all covered with bellows covers 217 to prevent the influence of high salt, high humidity and impurities generated during the cleaning process on the two-axis moving stage 211. This is known in the prior art and will not be described in detail here.

[0171] The material of scraper 214 has a certain degree of elasticity. When it comes into contact with stubborn biological attachments or other solid impurities, it will bend and deform to prevent scraper 214 from being rigidly squeezed and damaged.

[0172] In this embodiment, the pipe is connected by a structure with threaded grooves or by fixing it in a preset opening. The pipe is long enough to accommodate the high-pressure spray gun 102 moving with the slide. When laying the pipe, it is inserted through a reserved opening in the corresponding component or box. This is known in the prior art and will not be described in detail here.

[0173] To prevent the first pump body 204 from continuously sucking dry (caused by no water or only a small amount of water in the front pool of the cleaning box 201, resulting in a continuous decrease in the internal air pressure of the cleaning box 201), a breather valve (not shown in the figure) can be installed on the surface of the cleaning box 201 to balance the internal air pressure of the cleaning box 201.

[0174] The above description represents the preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A deck surface treatment device for a ship comprising a carrier vehicle and a high pressure lance, characterized in that Also comprising: a cleaning box arranged in the through opening opened on the surface of the carrier vehicle; a two-axis moving table installed in the interior of the cleaning box, and a high-pressure spray gun installed on the sliding table surface of the two-axis moving table; a scraper hinged to the bottom surface of the transverse shaft of the two-axis moving table; a water tank group arranged on the surface of the carrier vehicle, including a fresh water tank, a low-salt tank, a high-salt tank, and a waste water tank, for supplying water to the interior of the cleaning box and recycling water; a filter tank arranged on the surface of the carrier vehicle, for filtering impurities in the recycled water; a water pump group for driving the flow of water between the cleaning box and the water tank group; a flow distribution valve group for selectively guiding the outlet water of the filter tank into the corresponding water tank under the control of the controller; a plurality of stabilizing blocks symmetrically distributed on both sides of the carrier vehicle, and an electromagnet embedded in the interior of each stabilizing block; a skirt plate fixed to the bottom of the cleaning box, and a flexible pad fixedly connected to the bottom surface of the skirt plate, for sealing the gap between the deck and the cleaning box; a sensor group for collecting working data in real time during the cleaning process of the device, the sensor group at least including a temperature sensor, an attitude sensor, an electrical conductivity sensor, an oil concentration sensor, a Doppler radar, a two-dimensional laser scanner, a liquid level sensor, and an image sensor arranged on the surface of the carrier vehicle and in the interior of the cleaning box; a controller for identifying the deck surface state based on the image data of the deck surface collected by the image sensor through a pre-set image recognition model, and constructing a regional map containing obstacles and deck surface states, and planning a carrier vehicle travel path, the deck surface state being at least one of a clean surface, oil stains, rust stains, and biological attachment; the controller adaptively adjusts the water pressure and flow of the high-pressure spray gun and the sliding table moving track and speed of the two-axis moving table according to the identified deck surface state type; the controller receives the real-time electrical conductivity threshold value and the real-time oil concentration value collected by the sensor group; the real-time electrical conductivity threshold value is compared with a pre-set first electrical conductivity threshold value and a critical electrical conductivity threshold value, and the real-time oil concentration value is compared with a pre-set oil concentration threshold value, wherein the first electrical conductivity threshold value is less than the critical electrical conductivity threshold value; the controller dynamically corrects the pre-set first electrical conductivity threshold value and the critical electrical conductivity threshold value according to the real-time detection value of the temperature sensor, to ensure the better dissolution ability of water to the deck surface salt under different water temperature conditions; when the real-time oil concentration value is greater than the oil concentration threshold value, the current water flow is guided to the waste water tank; when the real-time oil concentration value is less than or equal to the oil concentration threshold value: if the real-time electrical conductivity is less than or equal to the pre-set first electrical conductivity threshold value, the current water flow is guided to the low-salt tank; if the real-time electrical conductivity value is greater than the first electrical conductivity threshold value, the current water flow is guided to the high-salt tank; when the electrical conductivity value in the high-salt tank exceeds the critical electrical conductivity threshold value, all the water in the high-salt tank is guided into the waste water tank; the controller is further configured to: when the liquid level of the high-salt tank reaches a first pre-set height, guide a pre-set proportion of water in the high-salt tank into the waste water tank; when the liquid level of the waste water tank reaches a second pre-set height, the control device stops working and sends out an alarm signal; the controller is further configured to: The receiving staff sets the cleaning area signal and the work task, receives and fuses the image data of the image sensor, and the three-dimensional point cloud data from the two-dimensional laser scanner for detecting the deck surface flatness and the data of the Doppler radar and displacement sensor for measuring the moving speed and displacement of the carrying vehicle, to construct a two-dimensional grid map containing obstacles and deck surface state, and adopt A-Star Algorithm algorithm to plan a global travel path for the carrying vehicle, the global travel path is composed of a plurality of box dropping points, each box dropping point corresponds to a cleaning step; the cleaning step includes controlling the cleaning box to drop down, and executing the cleaning action by the high-pressure spray gun driven by the two-axis moving table, after completion, controlling the cleaning box to lift up and moving to the next box dropping point by the carrying vehicle; The surface of the carrying vehicle is fixedly connected with a fixing frame, the bottom surface of the fixing frame is provided with a hydraulic rod, the end of the output shaft of the hydraulic rod is connected with the cleaning box through a ball hinge, the bottom surface of the transverse shaft of the two-axis moving table is fixedly connected with a plurality of limiting blocks, the limiting blocks abut against the scraper, the upper surface of the apron plate is fixedly connected with a perforated pipe and a first wedge block respectively, the first wedge block and the apron plate and the cleaning box form a front pool for recycling water and impurities, the inside of the front pool is fixedly connected with a second wedge block, the inside of the cleaning box is provided with a water suction pipe, one end of the water suction pipe is located in the inside of the front pool.

2. The deck surface treatment device for a ship according to claim 1, wherein The inner wall of the cleaning box is provided with a plurality of third wedge blocks, the third wedge blocks are symmetrically distributed on the two sides of the scraper, the third wedge blocks are slidingly connected in the first sliding grooves formed in the inner wall of the cleaning box, the first sliding grooves formed in the inner wall of the cleaning box are each provided with a second spring rod, the two ends of the second spring rod are fixedly connected with the third wedge block and the cleaning box respectively, the surface of the third wedge block is provided with a second roller.

3. The deck surface treatment device for a ship according to claim 2, characterized by The water pump set includes a first pump body and a second pump body, the inside bottom surface of the filter box is provided with a water collecting tank, the inside of the filter box is fixedly connected with a filter plate, the filter plate divides the inside of the filter box into a water inlet side and a water outlet side, the water outlet of the first pump body is connected with the water inlet side in the inside of the filter box through a pipeline, the water inlet of the second pump body is connected with the water outlet side in the inside of the filter box through a pipeline, the pipeline connected with the water inlet of the second pump body extends to the inside of the water collecting tank in the inside of the filter box, the water inlet of the first pump body is connected with the inside of the water suction pipe through a pipeline; The shunt valve set includes a first electromagnetic valve and a second electromagnetic valve, the water outlet of the second pump body is connected with a four-way pipe through a pipeline, the other three pipe openings of the four-way pipe are each provided with the first electromagnetic valve, the water outlets of the first electromagnetic valves are respectively connected with the inside of the high-salt tank, the low-salt tank and the waste water tank through pipelines, the second electromagnetic valve is arranged between the high-salt tank and the waste water tank, the water inlets and outlets of the second electromagnetic valve are respectively connected with the inside of the high-salt tank and the waste water tank through pipelines.

4. The deck surface treatment device for a watercraft according to claim 1, characterized by The surface of the carrier is fixedly connected with a fixed frame, four vertical inner walls of the fixed frame are fixedly connected with first spring rods, ends of the first spring rods are provided with first rollers, and the first rollers are in contact with the outer wall of the cleaning box.

5. The deck surface treatment device for a watercraft according to claim 1, wherein The surface of the stabilizing block is hingedly connected with a connecting rod, the interior of the stabilizing block is uniformly provided with a plurality of ball wheels, the ball wheels are slidingly connected in first circular grooves formed in the bottom surface of the stabilizing block, the first circular grooves are provided with third spring rods, and the third spring rods are fixedly connected with the stabilizing block and the ball wheels at two ends thereof. The controller receives a ship motion posture signal, and when it is determined that the carrier has a deviation or overturning trend by analyzing the motion posture signal, the electromagnet is powered to generate a magnetic attraction force or enhance the adsorption force on the deck to prevent the carrier from deviating relative to the deck.

6. The deck surface treatment device for a watercraft according to claim 3, wherein The bottom surface of the fixed frame is uniformly provided with a plurality of first lead screws, the first lead screws are rotatably connected with the fixed frame through first bearings, the upper surface of the cleaning box is fixedly connected with threaded sleeves corresponding to the first lead screws, and the threaded sleeves are threadedly connected with the corresponding first lead screws.

Images