Ship decontamination robot with dirt detection function

Abstract

The invention relates to the technical field of ship decontamination robots, and discloses a ship decontamination robot with a dirt detection function, which comprises a machine body, a water quality detection component is mounted on the rear side of the machine body, a detection probe is arranged at the bottom end of the water quality detection component, a sleeve is sleeved outside the water quality detection component, and a protective cover is connected to the bottom end of the sleeve. The protective cover is located outside the detection probe, a plurality of notches are formed in the protective cover, protective plates are arranged on the outer sides of the notches, and connecting rods are connected to the inner sides of the protective plates. The multi-parameter water quality sensor is installed at the tail of the ship decontamination robot, so that the robot can sense surrounding water quality changes in real time while cleaning dirt on a ship body, collaborative operation of cleaning and monitoring is achieved, the robot can also recognize a cleaning area, path planning is facilitated, the working efficiency of the robot is improved, and the robot is suitable for popularization and application. Meanwhile, dirt can be detected, dirt analysis is facilitated, and convenience is provided for environmental governance and the like.

Description

Technical Field

[0001] This invention relates to the field of ship cleaning robot technology, specifically a ship cleaning robot with a dirt detection function. Background Technology

[0002] Ship cleaning is a process that removes coatings, rust, and marine organisms from the surface of a ship. It uses techniques such as high-pressure water jetting, sandblasting, neutral acid-free cleaning, and robotic underwater cleaning to ensure the ship's navigation performance and extend its service life.

[0003] Existing high-pressure water jet ship cleaning robots use vacuum suction generated by a negative pressure device to adhere to the ship's surface for cleaning operations. They also use a high-pressure pump to pressurize the water to extremely high pressure, generally exceeding 200 MPa, and use the nozzle to form a high-speed water jet to impact the dirt, achieving the effect of peeling and removal.

[0004] However, existing ship cleaning robots are generally only equipped with vision systems, which can only visually monitor the real-time cleaning effect. Some cleaning robots equipped with water quality sensors exist only to facilitate the robot's movement and cannot detect the dirt cleaned during the operation of the ship cleaning robot. Therefore, the cleaning quality of the ship cleaning robot cannot be fully guaranteed, and there is a tendency for the robot to fail to recognize the cleaned area and clean it repeatedly, which will reduce its work efficiency. Summary of the Invention

[0005] In view of the shortcomings of existing ship cleaning robots mentioned in the background art, the present invention provides a ship cleaning robot with a dirt detection function, which has the advantages of simultaneously detecting water quality during cleaning and good sensor protection, thus solving the technical problem of not being able to guarantee the cleaning quality of ship cleaning robots mentioned in the background art.

[0006] The present invention provides the following technical solution: a ship cleaning robot with a dirt detection function, comprising a body, a water quality detection component installed on the rear side of the body, a detection probe provided at the bottom end of the water quality detection component, a sleeve sleeved on the outside of the water quality detection component, a protective cover connected to the bottom end of the sleeve, and the protective cover located outside the detection probe, the protective cover having several slots, a protective plate disposed on the outside of the slots, and a connecting rod connected to the inside of the protective plate.

[0007] Preferably, the machine body consists of a drive system, a cleaning device, a navigation control system, an energy protection system, etc. The drive system includes track wheels and a negative pressure device. The cleaning device cleans the dirt on the outside of the hull through high-pressure water jets. The operator controls the operation of the machine body through a remote control terminal. A camera with visual image acquisition function is installed on the front side of the machine body in the direction of travel.

[0008] Preferably, the water quality detection component is installed at a 45-degree angle, with the bottom end of the water quality detection component tilted downwards towards the outside of the machine body. The main body of the water quality detection component is an AMT-W400 multi-parameter water quality sensor. The water quality detection component has a spiral groove on its exterior, which is a spiral structure. The detection probe at the bottom of the water quality detection component is provided with several probes according to the detection requirements.

[0009] Preferably, the sleeve is movably fitted onto the outside of the water quality detection component. Two limiting blocks are connected to the inner side of the sleeve. The limiting blocks are distributed at both ends of the inner wall of the sleeve and are movably engaged in the spiral groove. A limiting groove is provided at the top of the sleeve. The limiting groove is a perfect circular annular structure. Brush bristles are connected to the inner wall of the sleeve. The brush bristles are evenly distributed on the inner wall of the sleeve. The brush bristles are made of a material that can be bent under stress, and the bottom end of the brush bristles overlaps and contacts the detection probe.

[0010] Preferably, the water quality testing component is symmetrically provided with electric telescopic rods mounted on the machine body on its outer side. The bottom end of the electric telescopic rod is movably inserted into the limiting groove, and the midpoint between the two electric telescopic rods is collinear with the axis of the sleeve. The electric telescopic rods are controlled and driven by the machine body, and the outside of the electric telescopic rods is waterproofed to adapt to seawater operations.

[0011] Preferably, the slots are evenly distributed on the protective cover, and there are eight slots. The slots are located outside the detection probe, and the width of the slots is smaller than the outer diameter of the common solid waste outside the hull.

[0012] Preferably, the protective plate is connected to the protective cover via a connecting rod, and the protective plate is located on the outside of the groove. The outer dimensions of the protective plate are the same as those of the inner dimensions of the groove. The connecting rod consists of a spring and a freely telescopic rod. In its natural state, the protective plate is away from the groove. When the protective plate is affected by external water pressure, it moves closer to the groove and relatively seals the groove. The connecting rod is waterproofed and is made of a corrosion-resistant hard material that can withstand seawater. A protective rod is connected to the inside of the protective plate. The protective rod blocks the outside of the detection probe as the protective plate moves. The different protective rods are staggered vertically, and the distance between them will not interfere with each other.

[0013] Preferably, the water quality detection component is provided with a baffle on its exterior. The baffle is connected to the rear side of the machine body in the direction of travel, and the baffle has an arc-shaped structure. Multiple slots are opened on the baffle, and the baffle partially covers the outer side above the water quality detection component.

[0014] The present invention has the following beneficial effects: 1. This invention, by installing a multi-parameter water quality sensor at the tail of a ship cleaning robot, enables the robot to perceive changes in the surrounding water quality in real time while cleaning the ship's hull, achieving coordinated cleaning and monitoring operations. It also enables the robot to identify cleaning areas, facilitate path planning, improve the robot's work efficiency, and detect and analyze pollutants, providing convenience for environmental governance.

[0015] 2. By connecting a baffle to the tail of the ship's cleaning robot, this invention can protect the multi-parameter water quality sensor, thereby extending its service life and ensuring the daily operation of the ship's cleaning robot. At the same time, by setting an electrically telescopic rod-controlled movable sleeve on the outside of the robot's water quality sensor, the sensor detection head can be protected, and the high-pressure water flow during the robot's operation can be used to clean the detection head, ensuring its daily detection function and contributing to the stable operation of the ship's cleaning robot.

[0016] 3. By installing a protective plate on the protective cover, the present invention can move the protective rod closer to the center of the protective cover when the external water pressure is high, thereby enhancing the protective effect of the protective cover on the detection head and greatly reducing the risk of damage to the sensor caused by the large kinetic energy of solid dirt in the water due to high water pressure. Attached Figure Description

[0017] Figure 1 A schematic diagram of the overall structure of the invention; Figure 2 This is a partial structural schematic diagram of the present invention; Figure 3 This is a partial cross-sectional structural diagram of the present invention; Figure 4 For the present invention Figure 3 Enlarged structural diagram at point A; Figure 5 This is a schematic diagram of a half-section of the sleeve in this invention; Figure 6 For the present invention Figure 5 A magnified structural diagram at point B in the middle.

[0018] In the diagram: 1. Body; 2. Water quality testing component; 21. Spiral groove; 22. Testing probe; 3. Sleeve; 31. Limiting block; 32. Limiting groove; 33. Brush bristles; 4. Protective cover; 41. Groove opening; 42. Protective plate; 421. Connecting rod; 422. Protective rod; 5. Electric telescopic rod; 6. Baffle. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] Please see Figure 2 A ship cleaning robot with dirt detection function includes a body 1, which consists of a drive system, a cleaning device, a navigation control system, and an energy protection system. The drive system includes tracked wheels and a negative pressure device, enabling the body 1 to adhere to the ship's hull surface via vacuum. The cleaning device uses high-pressure water jets to clean dirt from the ship's exterior. Operators control the operation of the body 1 via a remote control terminal. A camera is installed on the front of the body 1 in its direction of travel to collect real-time data and achieve visual image acquisition. A water quality detection component 2 is installed on the rear of the body 1 in its direction of travel. The main body of the water quality detection component 2 is an AMT-W400 multi-parameter water quality sensor, which supports online monitoring of multiple water quality parameters simultaneously, including dissolved oxygen, pH, ORP, conductivity, turbidity, and chlorophyll content. Key indicators such as elements, ions, and residual chlorine can be configured with specific parameters according to requirements. It adopts RS485 bus and Modbus / RTU protocol, ensuring good compatibility with the robot's internal control system, facilitating data acquisition and integration. This allows the robot body 1 to wirelessly transmit water quality testing data to the cloud or control center in real time. Furthermore, the water quality monitor generally has low power consumption, and the robot body 1's own power supply system can meet its power needs. By installing a water quality testing component 2 on the rear of the ship's cleaning robot, integrated detection and cleaning can be achieved, enabling real-time monitoring of contaminants and avoiding repeated cleaning of the same area. It can also detect pollutants, enabling leakage and pollution investigation functions, and provides timely water quality images, greatly improving the efficiency of synchronous operations. Please see Figure 1 The water quality detection component 2 is equipped with a baffle 6 connected to the body 1, which can protect the water quality detection component 2 and prevent solid waste in the seawater from impacting the water quality detection component 2 along the water flow when the ship's cleaning robot is operating, thus ensuring its service life and the stability of normal operation.

[0021] Please see Figure 3-4The water quality testing component 2 is installed at a 45-degree angle, with the testing probe 22 connected to its bottom facing outwards for easy detection. A sleeve 3 is provided on the outside of the water quality testing component 2, and a protective cover 4 is connected to the bottom of the sleeve 3. The protective cover 4 covers the outside of the testing probe 22, and has several evenly distributed slots 41 on it. This protects the testing probe 22 without affecting its detection, greatly reducing the damage to the testing probe 22 caused by impurities in the seawater. (See also...) Figure 6 The outer side of the slot 41 is equipped with a protective plate 42 connected to the protective cover 4. The inner side of the protective plate 42 is connected to the protective cover 4 via a connecting rod 421. The connecting rod 421 is a telescopic rod with a built-in spring. The connecting rod 421 is made of corrosion-resistant hard material and has a sealed exterior to meet the needs of seawater operations. In its natural state, the connecting rod 421 keeps the protective plate 42 away from the slot 41. When the external water pressure caused by the operation of the machine body 1 is too high, the protective plate 42 is compressed, causing the connecting rod 421 to retract. The protective plate 42 is shorter and moves closer to the slot 41, narrowing the channel of the slot 41. This greatly reduces the entry of external impurities into the protective cover 4 and reduces the wear of the detection probe 22 by solid impurities in the water flow. At the same time, a protective rod 422 is connected to the inner side of the protective plate 42. When the protective plate 42 moves closer to the slot 41 under external water pressure, the protective rod 422 also moves to the outer end of the detection probe 22, which can further protect the detection probe 22 and make the water quality detection component 2 adaptable to the working environment of the ship's cleaning robot.

[0022] Please see Figure 4 The water quality testing component 2 is externally equipped with an electric telescopic rod 5 mounted on the body 1. The electric telescopic rod 5 is controlled by the control system of the body 1, and its exterior is waterproofed to allow it to operate in seawater. A sleeve 3 is movably fitted onto the exterior of the water quality testing component 2. The top of the sleeve 3 is provided with a limit groove 32, which is annular. The top of the electric telescopic rod 5 is movably inserted into the limit groove 32. Two limit blocks 31 are connected to the inner side of the sleeve 3. A spiral groove 21 with a spiral structure is opened on the outer side of the water quality testing component 2. The limit blocks 31 are movably engaged in the spiral groove 21. The electric telescopic rods 5 are symmetrically installed, and the midpoint between the two electric telescopic rods 5 is collinear with the axis of the sleeve 3, so that the sleeve 3 can rotate and move along the water quality testing component 2 when the electric telescopic rods 5 extend or retract. (See reference...) Figure 5 The inner wall of the sleeve 3 is connected with bristles 33. When the sleeve 3 moves under the action of the electric telescopic rod 5, the bristles 33 can clean the detection probe 22. At the same time, with the cooperation of external water flow, the external of the detection probe 22 can be cleaned, avoiding the problem of dirt in seawater affecting the detection of the detection probe 22. It can also facilitate the daily maintenance and cleaning of the ship's cleaning robot and reduce the workload of the staff.

[0023] Please see Figure 5-6 There are eight sets of slots 41 and guard plates 42, and the movement of the connecting rods 421 will not interfere with each other, so that they can work together to block external solid impurities.

[0024] The working principle of this invention is as follows: The ship cleaning robot is moved to the area where it needs to work. After activation, its thruster angle and working direction are set via a remote control terminal, causing the drive system to operate. The robot body 1 adheres to the ship's surface under the vacuum suction force generated by the negative pressure device. Simultaneously, the tracked wheels propel it forward. The high-pressure water jet system sprays high-pressure water to clean the ship's surface. The water quality detection component 2 at the rear of the robot body 1 simultaneously detects the external water quality, and the detection results are directly transmitted to the data acquisition platform. At the same time, the vision system at the front of the robot body 1 acquires corresponding image information, realizing the acquisition of information about the external environment when the ship cleaning robot is working. The operator controls the movement direction of the robot body 1 based on the seawater detection results. When the robot body 1 is working, if the external water pressure of the water quality detection component 2 becomes too high... The protective plate 42 moves closer to the center of the protective cover 4 due to the water pressure, while the protective rod 422 also blocks the outside of the detection probe 22. This prevents solid debris that moves rapidly under high water pressure from being blocked outside the protective cover 4. The external water flow enters through the slot 41 or the bottom of the protective cover 4 and is detected by the detection probe 22. When cleaning the detection probe 22 periodically, the electric telescopic rod 5 is extended by the control system, and the sleeve 3 moves downward along the water quality detection component 2. At the same time, the limiting block 31 moves along the spiral groove 21, and the sleeve 3 rotates. The bottom of the electric telescopic rod 5 moves relative to the limiting groove 32. The bristles 33 inside the sleeve 3 work with the external water flow to clean the outside of the detection probe 22. Then the electric telescopic rod 5 shortens, causing the sleeve 3 to retract, and the bristles 33 are retracted inside the sleeve 3.

[0025] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0026] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A ship dirt removing robot having a dirt detection function, comprising a body (1), characterized in that: The rear side of the body (1) is provided with a water quality detection component (2), the bottom end of the water quality detection component (2) is provided with a detection probe (22), the outside of the water quality detection component (2) is sleeved with a sleeve (3), the bottom end of the sleeve (3) is connected with a protective cover (4), the protective cover (4) is located outside the detection probe (22), a plurality of notches (41) are formed in the protective cover (4), the outside of the notches (41) is provided with a guard plate (42), and the inside of the guard plate (42) is connected with a connecting rod (421).

2. The ship dirt removing robot having a dirt detection function according to claim 1, characterized in that: The body (1) is composed of a driving system, a cleaning device, a navigation control system, an energy protection system and the like, the driving system comprises a track wheel and a negative pressure device, the cleaning device realizes the cleaning of the external dirt of the ship body through high-pressure water jet, the staff controls the work of the body (1) through a remote control terminal, and the front side of the advancing direction of the body (1) is provided with a camera realizing the function of visual image acquisition.

3. The ship dirt removing robot having a dirt detection function according to claim 1, characterized in that: The water quality detection component (2) is installed at an angle of 45 degrees, the bottom end of the water quality detection component (2) is inclined downward outside the body (1), the main body of the water quality detection component (2) is an AMT-W400 multi-parameter water quality sensor, a spiral groove (21) is formed in the outside of the water quality detection component (2), the spiral groove (21) has a spiral structure, and the detection probe (22) at the bottom of the water quality detection component (2) is provided with a plurality of detection probes according to detection requirements.

4. The ship dirt removing robot having a dirt detection function according to claim 3, characterized in that: The sleeve (3) is movably sleeved outside the water quality detection component (2), two limiting blocks (31) are connected to the inside of the sleeve (3), the limiting blocks (31) are distributed at both ends of the inner wall of the sleeve (3) and movably clamped in the spiral groove (21), a limiting groove (32) is arranged at the top of the sleeve (3), the limiting groove (32) has a circular ring structure, brush hairs (33) are connected to the inner wall of the sleeve (3), the brush hairs (33) are uniformly distributed on the inner wall of the sleeve (3), the brush hairs (33) are made of a material capable of being bent under stress, and the bottom end of the brush hairs (33) coincides with and contacts the detection probe (22).

5. The ship decontamination robot having a dirt detection function according to claim 4, characterized in that: The outside of the water quality detection component (2) is symmetrically provided with electric telescopic rods (5) mounted on the body (1), the bottom end of the electric telescopic rod (5) is movably inserted into the limiting groove (32), and the midpoints of the two electric telescopic rods (5) are collinear with the axis of the sleeve (3), the electric telescopic rod (5) is controlled and driven by the body (1), and the outside of the electric telescopic rod (5) is waterproofed to adapt to seawater operation.

6. The ship dirt removing robot having a dirt detection function according to claim 1, characterized in that: The notches (41) are uniformly arranged on the protective cover (4), there are eight notches (41), the notches (41) are located outside the detection probe (22), and the width of the notches (41) is smaller than the outer diameter of the general solid waste outside the ship body.

7. The ship decontamination robot having a dirt detection function according to claim 6, characterized by: The shield (42) is connected to the protective cover (4) through a connecting rod (421), and the shield (42) is located outside the slot (41), the outside specification of the shield (42) is the same as the inside specification of the slot (41), the connecting rod (421) is composed of a spring and a free telescopic rod body, the shield (42) is in a state of being away from the slot (41) in a natural state, the shield (42) is close to the slot (41) and relatively closes the slot (41) when affected by external water pressure, the connecting rod (421) is subjected to corresponding waterproof treatment outside, the connecting rod (421) is a corrosion-resistant hard material that can adapt to seawater, the inside of the shield (42) is connected with a protective rod (422), the protective rod (422) is blocked outside the detection probe (22) along with the movement of the shield (42), and different protective rods (422) are distributed in an upper and lower staggered manner, and the distance therebetween does not interfere with each other.

8. The ship dirt removing robot having a dirt detection function according to claim 1, characterized in that: The water quality detection component (2) is externally provided with a baffle (6), the baffle (6) is connected to the rear side of the machine body (1) in the advancing direction, and the baffle (6) is of an arc-shaped structure, a plurality of slots are formed in the baffle (6), and the baffle (6) is semi-wrapped on the outside of the water quality detection component (2).

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