Intelligent cleaning equipment and cleaning method suitable for underwater area of ship

Abstract

The invention relates to the technical field of ship underwater cleaning, and discloses intelligent cleaning equipment suitable for a ship underwater area and a cleaning method.The intelligent cleaning equipment comprises an underwater robot, a fixing frame is fixed to the underwater robot, a cleaning assembly is arranged on the fixing frame, the cleaning assembly is composed of a swing structure and a cleaning structure, and the swing structure comprises a swing frame; the swing frame is rotationally installed on the fixing frame, the cleaning structure comprises a brush roller, the brush roller is rotationally installed on the swing frame, and bristles are arranged on the surface of the brush roller. The brush roller is driven by the swing frame to swing, so that the brush roller has a fan-shaped operation area, the area completely covers the moving path of the underwater robot and exceeds the two sides, the cleaning area is remarkably enlarged under the same moving path, the moving stroke of the robot on a ship body is shortened, and the cleaning effect and efficiency are improved.

Description

Technical Field

[0001] This invention relates to the field of underwater cleaning technology for ships, and more particularly to intelligent cleaning equipment and methods suitable for underwater areas of ships. Background Technology

[0002] Intelligent cleaning of underwater areas of ships utilizes intelligent robots or equipment, combined with advanced technologies such as cavitation jets, negative pressure adsorption, and high-precision sensors, to carry out efficient, safe, and environmentally friendly automated cleaning operations on the surface of the ship's hull below the waterline and its auxiliary equipment.

[0003] A search revealed that Chinese patent CN120697914A discloses an underwater robot for hull cleaning, comprising a chassis support frame, a walking assembly connected to the side of the chassis support frame, a buoyancy block connected to the top of the chassis support frame, a propulsion control assembly for controlling the movement of the underwater robot, a shoveling unit for removing impurities adhering to the hull surface, and a brushing unit for brushing and cleaning the hull surface. This design utilizes the walking assembly and propulsion control assembly to allow the underwater robot to be easily lowered into the water and move along the hull's outer surface. The shoveling power assembly drives an electric shovel to remove stubborn marine organisms and other impurities from the hull's outer surface, while the brushing power assembly drives the brushing assembly to further clean marine organisms and other impurities, improving the hull cleaning effect and achieving convenient, efficient, and environmentally friendly cleaning of ships. However, in practical use, the above design still has the following shortcomings:

[0004] In the above solution, a brushing unit is used to clean the hull. The brushing unit is located on the bottom of the machine. As the machine moves along the surface of the hull, the brushing unit brushes the hull. However, the working area of ​​the brushing unit is the same as the moving area of ​​the machine. That is, the brushing unit can only clean the area when the machine moves to a certain position on the hull. This requires the machine's movement to completely cover the surface of the hull in order to fully clean the hull. This type of cleaning machine is inefficient and has a long single operation time.

[0005] Therefore, it is necessary to design intelligent cleaning equipment and methods suitable for underwater areas of ships to solve the above problems. Summary of the Invention

[0006] The purpose of this invention is to address the shortcomings of existing technologies by proposing an intelligent cleaning device and cleaning method suitable for underwater areas of ships.

[0007] To achieve the above objectives, the present invention adopts the following technical solution:

[0008] Intelligent cleaning equipment suitable for underwater areas of ships includes an underwater robot with a fixed frame. A cleaning component is provided on the fixed frame. The cleaning component consists of a swing structure and a cleaning structure. The swing structure includes a swing frame that is rotatably mounted on the fixed frame. The cleaning structure includes a brush roller that is rotatably mounted on the swing frame. The surface of the brush roller is provided with bristles.

[0009] When the underwater robot is in operation, the swing frame drives the brush roller to swing, so that the brush roller forms a fan-shaped cleaning area. When the underwater robot moves, the fan-shaped cleaning area completely covers the movement path of the underwater robot, and both sides of the fan-shaped cleaning area extend beyond the movement path of the underwater robot.

[0010] As a preferred embodiment of the present invention, the swing structure further includes a rotating rod and a second cylinder. The rotating rod is rotatably mounted on a fixed frame, and the swing frame is fixedly sleeved on the rotating rod. A first gear is fixedly sleeved on the rotating rod. The second cylinder is mounted on the fixed frame, and a first rack is fixed to the telescopic end of the second cylinder. The first rack meshes with the first gear.

[0011] As a preferred embodiment of the present invention, the cleaning structure further includes a motor and a drive rod. The motor is mounted on a swing frame, one end of the drive rod is connected to the output shaft of the motor, and the other end of the drive rod is connected to a brush roller.

[0012] As a preferred embodiment of the present invention, the output shaft and drive rod of the motor are arranged coaxially with the brush roller.

[0013] As a preferred embodiment of the present invention, a first cylinder is installed on the fixed frame, and a self-cleaning component is provided on the swing frame, the self-cleaning component being used to clean the brush bristles.

[0014] The self-cleaning component includes an installation ring, a movable ring, and several limiting structures. The installation ring and the movable ring are arranged opposite each other and are both sleeved on the swing frame. The installation ring and the movable ring are connected by several connecting rods. Several protrusions are fixed on both sides of the movable ring. The installation ring is connected to the swing frame by a tension spring. The installation ring is arranged opposite the telescopic end of the first cylinder.

[0015] Each of the limiting structures includes a fixed rod and a guide frame. The fixed rod is fixed on the swing frame, and the guide frame is fixed at the end of the fixed rod away from the swing frame. Several connecting rods are slidably arranged on several guide frames.

[0016] As a preferred embodiment of the present invention, the movable ring is positioned directly opposite the brush roller, and the movable ring and the brush roller are arranged on the same axis.

[0017] As a preferred embodiment of the present invention, an annular tube is fixed to the side of the mounting ring, and a plurality of openings are provided on the annular tube. A water pumping assembly is provided on the underwater robot. When the second cylinder is running, the water pumping assembly supplies water into the annular tube, so that the water flows out through the plurality of openings.

[0018] As a preferred embodiment of the present invention, the pumping assembly includes a fixed cylinder, a shaft, and a second rack. The fixed cylinder is fixed to an underwater robot. A rotating shaft is rotatably mounted inside the fixed cylinder. An impeller is fixedly sleeved on the rotating shaft. The shaft is rotatably mounted on the underwater robot. The shaft and the rotating shaft are connected by a meshing first bevel gear and a second bevel gear. A second gear is fixedly sleeved on the shaft. The second rack meshes with the second gear. The second rack is connected to a mounting ring via a mounting rod. A water guide pipe is connected to the fixed cylinder. The end of the water guide pipe away from the fixed cylinder is connected to an annular pipe.

[0019] As a preferred embodiment of the present invention, the water guide pipe is a retractable flexible hose.

[0020] A cleaning method for intelligent cleaning equipment suitable for underwater areas of ships includes the following steps:

[0021] Step 1: Submerge the waterproofed intelligent cleaning equipment in water, ensure that all electrical components of the equipment start normally, plan the large movement path according to the area to be cleaned on the hull, check the status of the self-cleaning components, and confirm that the first cylinder, mounting ring, moving ring, and impeller components are connected normally and that there is no jamming in the transmission structure, so as to prepare for subsequent cleaning and self-cleaning.

[0022] Step 2: Start the second cylinder. Its telescopic end periodically extends and retracts, driving the first rack to move back and forth, driving the first gear to rotate alternately in the forward and reverse directions, causing the rotating rod to drive the swing frame to swing in the forward and reverse directions. At the same time, start the motor to drive the drive rod to rotate, thereby causing the brush roller to rotate at high speed and follow the swing frame to swing. The brush roller, with its fan-shaped working area, efficiently brushes away the adhering substances on the surface of the ship along the moving path.

[0023] Step 3: When it is necessary to clean the brush bristles, use the first cylinder to control the swing frame to be parallel with the machine body, start the first cylinder and the motor, the motor drives the brush roller to rotate, the extension end of the first cylinder extends to push the mounting ring, and drives the moving ring to move through the connecting rod. The protrusion on the side of the moving ring rubs against the rotating brush bristles to scrape off the debris.

[0024] Step 4: When the mounting ring moves, the mounting rod drives the second rack to move, which in turn drives the second gear to rotate. Through the shaft and bevel gear transmission, the impeller rotates at high speed. The impeller draws water into the fixed cylinder, which then enters the annular pipe through the water guide pipe and sprays out from the opening facing the brush roller. The water flow carries away the adhering substances generated by the self-cleaning of the brush bristles, avoiding secondary pollution.

[0025] The present invention has the following beneficial effects:

[0026] 1. The brush roller is driven to swing by the swing frame, so that the brush roller has a fan-shaped working area. This area not only completely covers the underwater robot's movement path, but also extends to both sides, significantly increasing the cleaning area under the same movement path, shortening the robot's movement distance on the hull, and improving the cleaning effect and efficiency.

[0027] 2. The self-cleaning component is designed. The position of the swing frame is controlled by the first cylinder. The motor is started to drive the brush roller to rotate. At the same time, the extension end of the first cylinder pushes the mounting ring, which drives the moving ring to move through the connecting rod. The convex strip on the side of the moving ring rubs against the rotating brush bristles to scrape off debris, realizing automatic cleaning of the brush bristles. The brush bristles can also be cleaned when the moving ring is reset, improving the cleaning effect and ensuring the quality of subsequent cleaning.

[0028] 3. When the installation ring moves, it drives the second rack to drive the second gear to rotate. Through a series of transmissions, the impeller rotates at high speed, drawing water into the fixed cylinder. After entering the annular pipe through the water guide pipe, the water is sprayed out from the opening facing the brush roller, carrying away the adhering substances generated by the self-cleaning of the bristles and avoiding secondary pollution to the bristles and brush roller.

[0029] 4. The impeller's rotation is powered by the first cylinder, eliminating the need for a separate power source, thus achieving energy savings and reducing equipment energy consumption and operating costs. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the structure of the intelligent cleaning equipment for underwater areas of ships proposed in this invention. Figure 1 ;

[0031] Figure 2 This is a schematic diagram of the structure of the intelligent cleaning equipment for underwater areas of ships proposed in this invention. Figure 2 ;

[0032] Figure 3 This is a diagram of the working area of ​​the brush roller;

[0033] Figure 4 This is a schematic diagram of the swing structure;

[0034] Figure 5 A schematic diagram of the planar structure of the cleaning component and the pumping component;

[0035] Figure 6 Schematic diagram of the self-cleaning component Figure 1 ;

[0036] Figure 7 Schematic diagram of the self-cleaning component Figure 2 ;

[0037] Figure 8This is a schematic diagram of the pumping assembly.

[0038] Figure 9 for Figure 2 Enlarged view of the structure at point A;

[0039] Figure 10 for Figure 1 Enlarged view of the structure at point B.

[0040] In the diagram: 1. Underwater robot; 2. Mounting frame; 21. First cylinder; 31. Rotating rod; 32. Swinging frame; 33. First gear; 34. Second cylinder; 35. First rack; 41. Motor; 42. Drive rod; 43. Brush roller; 44. Brush bristles; 51. Mounting ring; 511. Annular tube; 512. Opening; 52. Moving ring; 521. Protrusion; 53. Connecting rod; 54. Tension spring; 55. Mounting rod; 56. Guide frame; 61. Mounting cylinder; 62. Rotating shaft; 63. Impeller; 64. Shaft; 65. First bevel gear; 66. Second bevel gear; 67. Second gear; 68. Second rack; 69. Mounting rod. Detailed Implementation

[0041] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0042] Reference Figure 1-10 The intelligent cleaning equipment applicable to underwater areas of ships includes an underwater robot 1, a fixed frame 2 fixed on the underwater robot 1, and a cleaning component on the fixed frame 2. The cleaning component consists of a swing structure and a cleaning structure. The swing structure includes a swing frame 32, which is rotatably mounted on the fixed frame 2. The swing structure also includes a rotating rod 31 and a second cylinder 34. The rotating rod 31 is rotatably mounted on the fixed frame 2, and the swing frame 32 is fixedly sleeved on the rotating rod 31. A first gear 33 is fixedly sleeved on the rotating rod 31. The second cylinder 34 is mounted on the fixed frame 2, and a first rack 35 is fixed to the telescopic end of the second cylinder 34. The first rack 35 meshes with the first gear 33.

[0043] The cleaning structure includes a brush roller 43, which is rotatably mounted on a swing frame 32. The surface of the brush roller 43 is provided with bristles 44. The cleaning structure also includes a motor 41 and a drive rod 42. The motor 41 is mounted on the swing frame 32. One end of the drive rod 42 is connected to the output shaft of the motor 41, and the other end of the drive rod 42 is connected to the brush roller 43. The output shaft of the motor 41, the drive rod 42, and the brush roller 43 are arranged on the same axis.

[0044] When the underwater robot 1 is running, the swing frame 32 drives the brush roller 43 to swing, so that the brush roller 43 forms a fan-shaped cleaning area. When the underwater robot 1 moves, the fan-shaped cleaning area completely covers the movement path of the underwater robot 1, and both sides of the fan-shaped cleaning area extend beyond the movement path of the underwater robot 1.

[0045] When using the hull cleaning equipment proposed in this invention, the underwater robot 1 is deployed into the water. The underwater robot 1 automatically adheres to the hull surface. During hull cleaning, the second cylinder 34 operates, its telescopic end periodically extending and retracting, driving the first rack 35 to reciprocate. The reciprocating movement of the first rack 35 drives the first gear 33 to rotate alternately in both directions, ultimately causing the rotating rod 31 to drive the swing frame 32 to rotate in both directions, causing the swing frame 32 to continuously swing. Simultaneously, the motor 41 starts, driving the drive rod 42 to rotate. The rotation of the drive rod 42 drives the brush roller 43 to rotate. Therefore, the brush roller 43, while rotating at high speed, can follow the swing frame 32 in its swinging motion. During this process, the bristles 44 on the surface of the high-speed rotating brush roller 43 can remove the adhering substances from the hull surface, thus cleaning the hull. Figure 3 As shown, Figure 3 The working area of ​​the brush roller 43 is shown. Through the swinging motion of the swing frame 32, the brush roller 43 has a fan-shaped working area. This working area can not only completely cover the movement path of the underwater robot 1, but also extend beyond the movement path of the underwater robot 1 on both sides. Under the same movement path, this design can significantly increase the cleaning area of ​​the underwater robot 1, shorten the movement distance of the underwater robot 1 on the hull, and improve the cleaning effect. It is worth noting that the movement method of the underwater robot 1 on the hull is existing technology and is not shown in the figure. It will not be described in detail here. In addition, the electrical components in the device are all waterproofed so that they can operate normally underwater, such as the cylinder and motor 41.

[0046] A first cylinder 21 is installed on the fixed frame 2, and a self-cleaning component is provided on the swing frame 32. The self-cleaning component is used to clean the brush bristles 44. The self-cleaning component includes a mounting ring 51, a moving ring 52, and several limiting structures. The mounting ring 51 and the moving ring 52 are arranged opposite each other and are both sleeved on the swing frame 32. The mounting ring 51 and the moving ring 52 are connected by several connecting rods 53. The moving ring 52 is arranged opposite the brush roller 43 and is coaxial with the brush roller 43. Several protrusions 521 are fixed on both sides of the moving ring 52. The mounting ring 51 is connected to the swing frame 32 by a tension spring 54 and is arranged opposite the telescopic end of the first cylinder 21. Each limiting structure includes a fixed rod 55 and a guide frame 56. The fixed rod 55 is fixed on the swing frame 32, and the guide frame 56 is fixed on the end of the fixed rod 55 away from the swing frame 32. Several connecting rods 53 are slidably arranged on several guide frames 56.

[0047] After prolonged use, the surface of the brush bristles 44 of the underwater robot 1 proposed in this invention will accumulate deposits from the hull, causing the bristles 44 to harden and become rough, reducing their adhesion to the hull surface, resulting in uneven brushing pressure distribution, weakening the cleaning effect, increasing machine operating resistance, forcing the motor 41 to increase load and energy consumption, and potentially causing microbial growth due to deposit residue, accelerating the aging and breakage of the bristles 44, and shortening the equipment's lifespan. Therefore, regular cleaning of the bristles 44 is necessary. In existing technologies, the bristles 44 are usually cleaned manually by operators. However, this invention designs a self-cleaning component for cleaning the bristles 44. Specifically, when cleaning the bristles 44, the operator first controls the position of the swing frame 32 through the first cylinder 21, so that the swing frame 32 is parallel to the body of the underwater robot 1, i.e. Figure 1 In the state shown, the first cylinder 21 and motor 41 are then started. When motor 41 runs, it drives brush roller 43 to rotate. When the telescopic end of the first cylinder 21 extends, it can push the mounting ring 51, causing the mounting ring 51 to move. When the mounting ring 51 moves, it drives the moving ring 52 to move through several connecting rods 53. During the movement, the moving ring 52 will pass over the brush roller 43. During this process, the brush bristles 44, which are in a rotating state, will come into contact with and rub against the side of the moving ring 52. The side of the moving ring 52 is provided with several protrusions 521. The protrusions 521 increase the friction area between the moving ring 52 and the bristles 44. Under friction, the debris attached to the bristles 44 will be scraped off, achieving automatic cleaning of the bristles 44. When the extension end of the first cylinder 21 retracts, the mounting ring 51 is reset under the action of the tension spring 54, and the moving ring 52 is reset accordingly. Since there are several protrusions 521 on both sides of the moving ring 52, the moving ring 52 can also clean the bristles 44 during the reset process, thereby improving the cleaning effect of the bristles 44.

[0048] An annular tube 511 is fixed to the side of the mounting ring 51. Several openings 512 are provided on the annular tube 511. A water-pumping assembly is installed on the underwater robot 1. When the second cylinder 34 operates, the water-pumping assembly supplies water into the annular tube 511, causing the water to flow out through the openings 512. The water-pumping assembly includes a fixed cylinder 61, a shaft 64, and a second rack 68. The fixed cylinder 61 is fixed to the underwater robot 1. A rotating shaft 62 is rotatably mounted inside the fixed cylinder 61, and an impeller 6 is fixedly sleeved on the rotating shaft 62. 3. The shaft 64 is rotatably mounted on the underwater robot 1. The shaft 64 and the rotating shaft 62 are connected by a first bevel gear 65 and a second bevel gear 66 that mesh with each other. A second gear 67 is fixedly sleeved on the shaft 64. A second rack 68 meshes with the second gear 67. The second rack 68 is connected to the mounting ring 51 through the mounting rod 69. A water guide pipe is connected to the fixed cylinder 61. The end of the water guide pipe away from the fixed cylinder 61 is connected to the annular pipe 511. The water guide pipe is a retractable hose.

[0049] When the mounting ring 51 moves under the action of the first cylinder 21, the mounting ring 51 simultaneously drives the second rack 68 to move via the mounting rod 69, such as... Figure 8 As shown, when the second rack 68 moves, it drives the second gear 67 to rotate, which in turn drives the shaft 64 to rotate. When the shaft 64 rotates, it drives the rotating shaft 62 to rotate through the meshing first bevel gear 65 and second bevel gear 66, ultimately causing the impeller 63 to rotate at high speed. Since the underwater robot 1 operates in water, the impeller 63 can draw water into the fixed cylinder 61 when it rotates at high speed. Furthermore, under the action of the impeller 63, the water flows into the annular pipe 511 through the water guide pipe and is finally sprayed out through several openings 512. Each opening 512 is set towards the brush roller 43. Therefore, the water flow sprayed from the several openings 512 can remove the adhering objects generated during the self-cleaning process of the bristles 44 from the brush roller 43. This design uses the flow of water to remove debris around the brush roller 43, avoiding secondary pollution of the bristles 44 and the brush roller 43 by the debris. In addition, the rotation power of the impeller 63 comes from the first cylinder 21, so there is no need to set up a separate power source to drive the impeller 63 to rotate, thus achieving energy saving.

[0050] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. An intelligent cleaning device suitable for underwater areas of ships, characterized in that, The system includes an underwater robot (1), on which a fixed frame (2) is fixed. A cleaning component is provided on the fixed frame (2). The cleaning component consists of a swing structure and a cleaning structure. The swing structure includes a swing frame (32), which is rotatably mounted on the fixed frame (2). The cleaning structure includes a brush roller (43), which is rotatably mounted on the swing frame (32). The surface of the brush roller (43) is provided with bristles (44). When the underwater robot (1) is running, the swing frame (32) drives the brush roller (43) to swing, so that the brush roller (43) forms a fan-shaped cleaning area. When the underwater robot (1) moves, the fan-shaped cleaning area completely covers the movement path of the underwater robot (1), and both sides of the fan-shaped cleaning area extend beyond the movement path of the underwater robot (1).

2. The intelligent cleaning equipment for underwater areas of ships according to claim 1, characterized in that, The swing structure also includes a rotating rod (31) and a second cylinder (34). The rotating rod (31) is rotatably mounted on the fixed frame (2). The swing frame (32) is fixedly sleeved on the rotating rod (31). A first gear (33) is fixedly sleeved on the rotating rod (31). The second cylinder (34) is mounted on the fixed frame (2), and a first rack (35) is fixed to the telescopic end of the second cylinder (34). The first rack (35) meshes with the first gear (33).

3. The intelligent cleaning equipment for underwater areas of ships according to claim 2, characterized in that, The cleaning structure also includes a motor (41) and a drive rod (42). The motor (41) is mounted on the swing frame (32). One end of the drive rod (42) is connected to the output shaft of the motor (41), and the other end of the drive rod (42) is connected to the brush roller (43).

4. The intelligent cleaning equipment for underwater areas of ships according to claim 3, characterized in that, The output shaft of the motor (41), the drive rod (42), and the brush roller (43) are arranged coaxially.

5. The intelligent cleaning equipment for underwater areas of ships according to claim 1, characterized in that, The fixed frame (2) is equipped with a first cylinder (21), and the swing frame (32) is provided with a self-cleaning component, which is used to clean the brush bristles (44). The self-cleaning component includes a mounting ring (51), a movable ring (52), and several limiting structures. The mounting ring (51) and the movable ring (52) are arranged facing each other, and both the mounting ring (51) and the movable ring (52) are sleeved on the swing frame (32). The mounting ring (51) and the movable ring (52) are connected by several connecting rods (53). Several protrusions (521) are fixed on both sides of the movable ring (52). The mounting ring (51) is connected to the swing frame (32) by a tension spring (54). The mounting ring (51) is arranged facing the telescopic end of the first cylinder (21). Each of the limiting structures includes a fixed rod (55) and a guide frame (56). The fixed rod (55) is fixed on the swing frame (32), and the guide frame (56) is fixed at the end of the fixed rod (55) away from the swing frame (32). Several connecting rods (53) are slidably arranged on several guide frames (56).

6. The intelligent cleaning equipment for underwater areas of ships according to claim 5, characterized in that, The movable ring (52) is positioned opposite the brush roller (43), and the movable ring (52) and the brush roller (43) are arranged on the same axis.

7. The intelligent cleaning equipment for underwater areas of ships according to claim 5, characterized in that, The mounting ring (51) has an annular tube (511) fixed to its side. The annular tube (511) has several openings (512). The underwater robot (1) is equipped with a water pumping assembly. When the second cylinder (34) is running, the water pumping assembly supplies water into the annular tube (511) so that the water flows out through the several openings (512).

8. The intelligent cleaning equipment for underwater areas of ships according to claim 7, characterized in that, The pumping assembly includes a fixed cylinder (61), a shaft (64), and a second rack (68). The fixed cylinder (61) is fixed on the underwater robot (1). A rotating shaft (62) is rotatably installed inside the fixed cylinder (61). An impeller (63) is fixedly sleeved on the rotating shaft (62). The shaft (64) is rotatably installed on the underwater robot (1). The shaft (64) and the rotating shaft (62) are connected by a first bevel gear (65) and a second bevel gear (66) that mesh with each other. A second gear (67) is fixedly sleeved on the shaft (64). The second rack (68) meshes with the second gear (67). The second rack (68) is connected to the mounting ring (51) through a mounting rod (69). A water guide pipe is connected to the fixed cylinder (61). The end of the water guide pipe away from the fixed cylinder (61) is connected to an annular pipe (511).

9. The intelligent cleaning equipment for underwater areas of ships according to claim 8, characterized in that, The water pipe is a retractable flexible hose.

10. A cleaning method for an intelligent cleaning device suitable for underwater areas of ships, based on the intelligent cleaning device for underwater areas of ships as described in any one of claims 1-9, characterized in that, Includes the following steps: Step 1: Put the waterproofed intelligent cleaning equipment into the water, ensure that all electrical components of the equipment start normally, plan the large movement path according to the area to be cleaned on the hull, check the status of the self-cleaning components, and confirm that the first cylinder (21), mounting ring (51), moving ring (52), and impeller (63) are connected normally and that there is no jamming in each transmission structure, so as to prepare for subsequent cleaning and self-cleaning. Step 2: Start the second cylinder (34), its telescopic end periodically extends and retracts, driving the first rack (35) to move back and forth, driving the first gear (33) to rotate alternately in the forward and reverse directions, causing the rotating rod (31) to drive the swing frame (32) to swing in the forward and reverse directions. At the same time, start the motor (41) to drive the drive rod (42) to rotate, thereby causing the brush roller (43) to rotate at high speed and swing with the swing frame (32). The brush roller (43) efficiently brushes away the adhering substances on the surface of the ship along the moving path by means of the fan-shaped working area. Step 3: When it is necessary to clean the brush bristles (44), use the first cylinder (21) to control the swing frame (32) to be parallel with the machine body, start the first cylinder (21) and the motor (41), the motor (41) drives the brush roller (43) to rotate, the extension end of the first cylinder (21) extends to push the mounting ring (51), and through the connecting rod (53) drives the moving ring (52) to move. The side protrusion (521) of the moving ring (52) rubs against the rotating brush bristles (44) to scrape off the debris; Step 4: When the mounting ring (51) moves, the second rack (68) moves through the mounting rod (69), driving the second gear (67) to rotate. Through the shaft (64) and bevel gear transmission, the impeller (63) rotates at high speed. The impeller (63) draws water into the fixed cylinder (61), which enters the annular pipe (511) through the water guide pipe and sprays out from the opening (512) facing the brush roller (43). The water flow carries away the adhering substances generated by the self-cleaning of the brush bristles (44) and avoids secondary pollution.

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