A ship non-stop underwater cleaning operation robot

Abstract

This invention discloses an underwater cleaning robot for ships that can operate without stopping. The robot body is triangular pyramidal in shape, with its cone-shaped tip facing the direction of the incoming current. The side that contacts the hull is a horizontal working surface. Water flow channels are provided on the robot body, and waterproof rotors are connected to it. The adsorption mechanism includes a Venturi tube negative pressure unit, a magnetic track assembly, and a permanent magnet wheel. The cleaning mechanism includes an incoming current-coordinated cavitation jet cleaning unit, a motor-driven rotating cleaning brush, and a non-powered vortex guide auxiliary cleaning unit arranged sequentially along the working direction. Compared with existing technologies, this invention can complete non-destructive cleaning of the ship hull while the ship is in normal navigation, without requiring the ship to stop or berth. It also has the advantages of stable adsorption, low energy consumption, high cleaning coverage, and emergency autonomous recovery. It is suitable for underwater hull cleaning and maintenance scenarios for various types of operating vessels, including ocean-going vessels, inland waterway vessels, and government vessels.

Description

Technical Field

[0001] This invention relates to the field of underwater maintenance equipment technology, and in particular to an underwater cleaning robot that allows ships to operate without stopping. Background Technology

[0002] During navigation, marine organisms, floating rust, silt, and other deposits continuously adhere to the underwater parts of a ship's hull. These deposits significantly increase the ship's drag, leading to a 15%-25% increase in fuel consumption. They also accelerate the aging of the hull's anti-corrosion coating, increasing the ship's operating costs. Furthermore, these deposits can affect the ship's energy efficiency indicators, causing it to fail to meet the carbon emission and energy efficiency regulations issued by the IMO (International Maritime Organization) CII / EEXI, thus facing the risk of port state control penalties and ship detention.

[0003] Existing ship hull cleaning technologies are mainly divided into three categories: First, dry-dock sandblasting cleaning, which requires the ship to stop sailing and enter the dry dock for operation. A single operation cycle can last for 3-7 days, and a single stoppage of operation for a 10,000 TEU-class ocean-going vessel can result in a loss of more than 2 million yuan. The operating cost is extremely high and seriously affects the normal operation of the ship. Second, underwater ROV cleaning at port anchorages, which does not require entering the dry dock, but still requires the ship to stop sailing or anchor for operation. It is impossible to complete the cleaning while the ship is sailing, which will still cause a loss of ship operating time. Third, manual operation by divers, which has low operating efficiency, high safety risks, and is greatly restricted by sea conditions and water depth, and cannot be used in ocean-going navigation scenarios.

[0004] Meanwhile, the adsorption mechanisms of existing underwater cleaning robots mostly employ pure magnetic attraction or pure negative pressure structures: pure magnetic attraction structures can only be used on steel hulls and cannot be applied to ships made of non-metallic materials, resulting in poor adaptability; pure negative pressure structures rely on high-power vacuum pumps to operate continuously, leading to high energy consumption, and during ship navigation, incoming flow can disrupt the seal of the negative pressure chamber, easily causing adsorption failure and equipment detachment. Furthermore, existing cleaning robots mostly use high-power, high-pressure water jet cleaning, which can easily damage the anti-corrosion coating of the hull, and lacks a reliable emergency recovery mechanism. In ocean-going navigation scenarios, adsorption failure can directly lead to the equipment sinking and being lost, resulting in significant equipment losses.

[0005] In summary, existing ship cleaning technologies suffer from core defects such as the need for operations to be carried out at sea, poor ship compatibility, insufficient adsorption stability, high cleaning energy consumption, easy damage to ship coatings, and easy loss of equipment. These technologies cannot meet the shipping companies' needs for low-cost, high-efficiency, and compliant ship maintenance. Summary of the Invention

[0006] The purpose of this invention is to provide an underwater cleaning robot that can perform non-destructive cleaning of the ship's hull while the ship is in normal navigation, without the need for the ship to stop and berth. It also has the advantages of stable adsorption, low energy consumption, high cleaning coverage, and emergency autonomous recovery, so as to solve the problems mentioned in the background art.

[0007] To achieve the above objectives, the present invention provides the following technical solution: A non-stop underwater cleaning robot for ships includes a robot body, an adsorption mechanism, a cleaning mechanism, and a multi-source sensing mechanism connected to the robot body, and the adsorption mechanism, cleaning mechanism, and multi-source sensing mechanism electrically connected to a control unit. The robot body is triangular pyramidal in shape, with its facing end being the cone tip, pointing towards the direction of the incoming flow of the ship. The side that is in contact with the hull is a horizontal working surface. A water flow channel is opened on the robot body, and a waterproof rotor is connected to the robot body. The adsorption mechanism includes a Venturi tube negative pressure unit, a magnetic track assembly, and a permanent magnet wheel, which work together to form a triple stable adsorption structure. The cleaning mechanism includes an incoming flow coordinated cavitation jet cleaning unit, a motor-driven rotating cleaning roller brush, and a non-powered vortex guide auxiliary cleaning unit arranged sequentially along the working direction.

[0008] A further improvement of this invention is that an emergency expansion platform with a triangular closed cavity structure is fixedly installed in the lower middle part of the robot body. A set of waterproof rotors is installed at each of the four corners of the emergency expansion platform, and the waterproof rotors are electrically connected to the control unit. The triangular closed cavity of the emergency expansion platform is a waterproof and sealed structure, providing reserve buoyancy to allow the robot body to float. The water flow channels on the robot body are symmetrically opened and run through the front and rear, with the two ends of the water flow channels located at the upstream and downstream ends of the robot body, respectively. The inlet flow area of ​​the water flow channel is larger than the outlet flow area. When the ship is sailing, the incoming current has a certain initial velocity. When the water flows through the water flow channel (wider at the front and narrower at the rear), the water flow velocity increases again. This reduces the power required for the water pump to form a cavitation jet; only a small-power booster pump is needed to form a cavitation cleaning jet, completing the pre-removal of the attached material.

[0009] A further improvement of the present invention is that the inlet of the Venturi tube negative pressure unit faces the direction of the incoming flow of the ship, and the negative pressure adsorption force is formed by the relative incoming flow generated by the ship's navigation through the Venturi tube; the working surface of the robot body has two symmetrically arranged rectangular grooves, each groove having three inclined water channel branches, which are connected to the water flow channel penetrating the robot body; the edge of the groove is provided with a sealing airbag, which is used to form a seal between the groove and the surface of the ship, thereby forming a closed negative pressure cavity between the working surface of the robot body and the ship; the groove and the water channel branches constitute the Venturi tube negative pressure unit, the groove being the side suction port of the Venturi tube negative pressure unit, and the water channel branches being the side suction pipes of the water channel branches.

[0010] A further improvement of the present invention is that the magnetic track assembly is connected to the working surface of the robot body. The magnetic track assembly includes two parallel permanent magnet tracks. Multiple sets of permanent magnets are embedded on the track surface and are evenly arranged along the track length direction. The track walking surface is flush with the working surface of the robot body. The magnetic track assembly is driven to walk by a first motor.

[0011] A further improvement of the present invention is that the permanent magnet wheel is located at the front of the working surface of the robot body, and the permanent magnet wheel has the functions of magnetic attraction and support for the front of the robot body; the permanent magnet wheel is symmetrically located on both sides of the front end of the working surface of the robot body, and annular permanent magnets are embedded on the surface of the wheel body, and the walking surface of the wheel body is flush with the walking surface of the magnetic track.

[0012] A further improvement of the present invention is that the incoming flow coordinated cavitation jet cleaning unit is located at the upstream end of the robot body's working surface, and the cavitation cleaning jet is formed by superimposing the incoming flow from the ship's navigation with a pressurizing pump. The incoming flow coordinated cavitation jet cleaning unit includes an incoming flow collection chamber, a pressurizing pump, and a cavitation jet nozzle assembly. The inlet of the incoming flow collection chamber faces the direction of the incoming flow from the ship's navigation, and the outlet of the incoming flow collection chamber is located at the tail end of the robot body. The inlet and outlet of the incoming flow collection chamber are wider at the front and narrower at the rear, and are connected to the inlet of the pressurizing pump through a pipeline. The outlet of the pressurizing pump is connected to the cavitation jet nozzle assembly through a high-pressure pipeline. The cavitation jet nozzle assembly includes three cavitation jet cleaning discs, and the spray direction is towards the ship's hull wall.

[0013] A further improvement of the present invention is that the rotating cleaning roller brush is located behind the incoming flow cavitation jet cleaning unit and is driven by a second motor to rotate and fit against the surface of the hull; the brush body of the rotating cleaning roller brush is made of nylon wear-resistant soft bristles, and the ends of the bristles are in elastic contact with the hull wall; the second motor is fixed inside the robot body and is connected to the roller shaft of the rotating cleaning roller brush through a sealed transmission mechanism.

[0014] A further improvement of the present invention is that the unpowered vortex-guided cleaning unit is located at the tail end of the robot body, including a freely rotatable rotating base and guide vanes with a preset curvature evenly arranged along the circumference of the rotating base; the rotating base of the unpowered vortex-guided cleaning unit is rotatably connected to the tail end of the robot body through a waterproof sealed bearing, without an external power source; the blade surface of the guide vanes is provided with an inclined guide angle matching the direction of the incoming flow, and the blades with the preset curvature are driven to rotate autonomously by the incoming flow, directing the high-speed water flow to the hull wall.

[0015] A further improvement of the present invention is that the multi-source sensing mechanism includes a visual recognition sensor and a sonar scanning sensor; the visual recognition sensor is located at the upstream end of the robot's working surface and is used to identify objects attached to the hull surface; the sonar scanning sensor is used for three-dimensional modeling of the hull surface and verification of cleaning effect.

[0016] A further improvement of the present invention is that the controller has a built-in path planning module, an emergency recovery control module, and a cleaning effect verification module; the emergency recovery control module is used to monitor the adsorption state and attitude of the robot body, and when the adsorption force is lower than the safety threshold, the emergency recovery program of the emergency recovery control module is triggered, and the waterproof rotor is controlled to start and complete the autonomous recovery.

[0017] The beneficial effects of this invention are: This invention enables continuous ship cleaning, completely eliminating downtime losses. It allows for simultaneous cleaning of the entire hull surface while the ship is sailing normally at 0-12 knots, without requiring the ship to stop for berthing or docking. This completely eliminates downtime losses associated with ship cleaning, significantly reducing ship maintenance costs.

[0018] Employing a triple-layer composite adsorption structure, this invention boasts strong adaptability and stable adsorption. It utilizes a venturi tube negative pressure unit, a magnetic track unit, and a permanent magnet wheel to generate negative pressure through the venturi tube during ship navigation, achieving an "the higher the speed, the stronger the adsorption force" effect. Simultaneously, the composite magnetic adsorption structure is adaptable to both steel and non-metallic hulls, covering over 99% of operating vessels, and exhibits strong adsorption stability, allowing it to stably adhere to the hull surface during navigation.

[0019] Employing a three-stage, stepped cleaning structure, this invention boasts high cleaning efficiency, low energy consumption, non-destructive cleaning, and full coverage. The three-stage cleaning structure consists of "cavitation jet pre-stripping – roller brush fine cleaning – tail vortex guiding flushing to increase the cleaning area." The cavitation jet can remove hard deposits without damaging the ship's anti-corrosion coating. Simultaneously, it utilizes the initial velocity of the incoming water and Bernoulli's principle to increase the initial velocity of the water flow, reducing pump power.

[0020] Equipped with an emergency autonomous recovery structure, this invention reduces the risk of equipment loss. The robot features a triangular enclosed cavity emergency expansion platform with waterproof rotors in the lower part of the robot body. In emergency situations such as adsorption failure, it can automatically float up using the cavity's buoyancy and autonomously fly back to the ship's deck via the waterproof rotors for recovery. This completely solves the industry pain point of underwater cleaning equipment easily detaching and being lost during ocean voyages, providing extremely high safety redundancy. Attached Figure Description

[0021] Figure 1 This is a top view of the present invention.

[0022] Figure 2 This is a bottom view of the present invention.

[0023] Figure 3 This is a front view of the present invention.

[0024] Figure 4This is a rear view of the present invention.

[0025] Figure 5 This is a side view of the present invention.

[0026] Figure 6 This is a schematic diagram of the rotating cleaning roller brush structure of the present invention.

[0027] Figure 7 This is a schematic diagram of the high-pressure pipeline and booster pump structure of the present invention.

[0028] Figure 8 This is a schematic diagram of the magnetic track assembly structure of the present invention.

[0029] Figure 9 This is a schematic diagram of the structure of the non-powered vortex flow guiding auxiliary cleaning unit of the present invention.

[0030] In the diagram: 1-Robot body, 101-Emergency expansion platform, 102-Waterproof rotor, 2-Venturi tube negative pressure unit, 201-Water flow channel, 202-Groove, 203-Waterway branch channel, 204-Sealed airbag, 3-Magnetic track assembly, 301-Permanent magnet, 302-First motor, 4-Permanent magnet wheel, 5-Incoming flow coordinated cavitation jet cleaning unit, 501-Incoming flow collection cavity, 502-Pressure pump, 503-Cavitation jet nozzle, 504-High pressure pipeline, 6-Rotating cleaning roller brush, 601-Second motor, 7-Non-powered vortex guide auxiliary cleaning unit, 701-Rotating base, 702-Guide blade, 703-Waterproof sealed bearing, 8-Visual recognition sensor. Detailed Implementation

[0031] The present invention will be further explained below with reference to the accompanying drawings and specific embodiments.

[0032] Example 1: As Figures 1-9 As shown, a non-stop underwater cleaning robot for ships includes a robot body 1, an adsorption mechanism, a cleaning mechanism, and a multi-source sensing mechanism connected to the robot body 1, and the adsorption mechanism, cleaning mechanism, and multi-source sensing mechanism electrically connected to a control unit. The robot body 1 is triangular pyramidal in shape, with its front end being a cone-shaped tip facing the direction of the incoming flow of the ship. The side that is in contact with the hull is a horizontal working surface. A water flow channel 201 is provided on the robot body 1, and a waterproof rotor 102 is connected to the robot body 1. The adsorption mechanism includes a Venturi tube negative pressure unit 2, a magnetic track assembly 3, and a permanent magnet wheel 4, which work together to form a triple stable adsorption structure. The cleaning mechanism includes an incoming flow coordinated cavitation jet cleaning unit 5 and a motor-driven rotating cleaning brush 6 arranged sequentially along the working direction.

[0033] An emergency expansion platform 101 with a triangular closed cavity structure is fixedly installed in the lower middle part of the robot body 1. A set of waterproof rotors 102 are installed at each of the four corners of the emergency expansion platform 101, and the waterproof rotors 102 are electrically connected to the control unit. The triangular closed cavity of the emergency expansion platform 101 is a waterproof and sealed structure, providing reserve buoyancy for the robot body 1 to float. A water flow channel 201 on the robot body 1 is symmetrically opened and runs through the front and rear. The two ends of the water flow channel 201 are respectively located at the upstream end and the downstream end of the robot body 1, and the inlet flow area of ​​the water flow channel 201 is larger than the outlet flow area. When the ship is sailing, the incoming current has a certain initial velocity. When the water flows through the water flow channel 201 (wide at the front and narrow at the rear), the water flow velocity increases again. This reduces the power required for the water pump to form a cavitation jet; only a small-power booster pump 502 is needed to form a cavitation cleaning jet to complete the pre-removal of the attached material.

[0034] The inlet of the Venturi tube negative pressure unit 2 faces the direction of the incoming flow of the ship, and uses the relative incoming flow generated by the ship's navigation to form a negative pressure adsorption force through the Venturi tube; the working surface of the robot body 1 has two symmetrically arranged rectangular grooves 202, each groove 202 is provided with three inclined water channel branches 203, and the water channel branches 203 are connected to the water flow channel 201 that runs through the robot body 1; the edge of the groove 202 is provided with a sealing airbag 204, which is used to form a seal between the groove 202 and the surface of the ship, thereby forming a closed negative pressure cavity between the working surface of the robot body 1 and the ship; the groove 202 and the water channel branches 203 constitute the Venturi tube negative pressure unit 2, the groove 202 is the side suction port of the Venturi tube negative pressure unit 2, and the water channel branches 203 is the side suction pipe of the water channel branches 203.

[0035] The magnetic track assembly 3 is connected to the working surface of the robot body 1. The magnetic track assembly 3 includes two parallel permanent magnet tracks. Multiple sets of permanent magnets 301 are embedded on the track surface and are evenly arranged along the track length direction. The track surface is flush with the working surface of the robot body 1. The magnetic track assembly 3 is driven to move by the first motor 302.

[0036] The permanent magnet wheel 4 is located at the front of the working surface of the robot body 1. The permanent magnet wheel 4 has both magnetic attraction and front support functions of the robot body 1. The permanent magnet wheel 4 is symmetrically located on both sides of the front end of the working surface of the robot body 1. The wheel body surface of the permanent magnet wheel 4 is embedded with annular neodymium iron boron permanent magnets 301. The walking surface of the wheel body is flush with the walking surface of the magnetic track.

[0037] The incoming flow coordinated cavitation jet cleaning unit 5 is located at the upstream end of the robot body 1's working surface. It utilizes the incoming flow from the ship's navigation, superimposed by the pressurization pump 502, to form a cavitation cleaning jet. The incoming flow coordinated cavitation jet cleaning unit 5 includes an incoming flow collecting chamber 501, a pressurization pump 502, and a cavitation jet nozzle group 503. The inlet of the incoming flow collecting chamber 501 faces the direction of the ship's navigation flow, and the outlet of the incoming flow collecting chamber 501 is located at the tail end of the robot body 1. The inlet and outlet of the incoming flow collecting chamber 501 are wider at the front and narrower at the rear, and are connected to the inlet of the pressurization pump 502 through a pipeline. The outlet of the pressurization pump 502 is connected to the cavitation jet nozzle group 503 through a high-pressure pipeline 504. The cavitation jet nozzle group 503 includes three cavitation jet cleaning discs, with the spray direction facing the ship's hull wall. The spray ranges of adjacent cleaning discs overlap, eliminating cleaning blind spots.

[0038] The rotating cleaning roller brush 6 is located behind the incoming flow cavitation jet cleaning unit 5 and is driven by the second motor 601 to rotate and adhere to the surface of the hull. The brush body of the rotating cleaning roller brush 6 is made of nylon wear-resistant soft bristles, and the ends of the bristles make elastic contact with the hull wall without damaging the anti-corrosion coating of the hull. The second motor 601 is fixed inside the robot body 1 and is connected to the roller shaft of the rotating cleaning roller brush 6 through a sealed transmission mechanism, driving the roller brush to complete fine brushing.

[0039] The multi-source sensing mechanism includes a visual recognition sensor 8 and a sonar scanning sensor; the visual recognition sensor 8 is located at the upstream end of the working surface of the robot body 1 and is used to identify the attachments on the hull surface; the sonar scanning sensor is used for 3D modeling of the hull surface and verification of cleaning effect.

[0040] The control unit incorporates a path planning module, an adaptive adsorption force adjustment module, an emergency recovery control module, and a cleaning effect verification module. The path planning module generates a full-coverage cleaning path based on the 3D model of the ship's curved surface. The adaptive adsorption force adjustment module adjusts the adhesion of the magnetic tracks based on the ship's speed and real-time adsorption force values. The cleaning effect verification module generates a cleaning report and a ship energy efficiency optimization report based on data collected by the visual recognition sensor 8 and the sonar scanning sensor. The emergency recovery control module monitors the adsorption status and attitude of the robot body 1 in real time, and automatically triggers the emergency recovery program when the adsorption force falls below a preset safety threshold or the device shows signs of instability.

[0041] In addition, the robot body 1 has a built-in rechargeable lithium battery module to provide power for the entire device.

[0042] Example 2: This example is a further improvement on Example 1. The main improvement is that the cleaning effect of Example 1 needs to be improved during use; while in this example, the above-mentioned defects can be avoided. Specifically: The cleaning mechanism also includes a non-powered vortex-guided auxiliary cleaning unit 7, which is located at the tail end of the robot body 1. It includes a freely rotatable rotating base 701 and guide vanes 702 with a preset curvature evenly arranged around the circumference of the rotating base 701. The rotating base 701 of the non-powered vortex-guided auxiliary cleaning unit 7 is rotatably connected to the tail end of the robot body 1 through a waterproof sealed bearing 703, without an external power source. The blade surface of the guide vanes 702 is provided with an inclined guide angle that matches the direction of the incoming flow. Through the blades with the preset curvature, the incoming flow drives the autonomous rotation, directing the high-speed water flow to the hull wall and increasing the cleaning area.

[0043] Apart from the above, this embodiment is exactly the same as Embodiment 1, and will not be described again here.

[0044] The specific working principle of this invention is as follows: I. Normal Operating Conditions Each target vessel is equipped with two underwater cleaning robots of this invention that do not stop sailing. The two robots are respectively responsible for cleaning the underwater walls of the hull on the port and starboard sides of the vessel. At the stern of the port and starboard sides of the vessel, there is an underwater waterproof and sealed robot resting compartment. The resting compartment is equipped with a sealed door that can be opened and closed automatically. It is linked to the ship's central control system and is used for parking, charging, waterproof and corrosion protection and daily maintenance of the robot when it is not working.

[0045] The entire process of dual-machine collaborative operation in this embodiment is completed while the ship is under normal navigation, without the need for the ship to stop or berth. The specific steps are as follows: 1. Non-working standby mode When not in operation, the robot is parked in the rest compartment at the stern of the corresponding ship. The sealed door of the rest compartment is closed, and the robot is in standby charging mode. The control unit maintains real-time communication with the ship's central control system to synchronously obtain the ship's real-time speed, heading, draft, and route information.

[0046] Preparation before the assignment Once the ship's central control system issues a cleaning operation command, the sealed hatch of the rest cabin on the corresponding side of the ship automatically opens. The robot's control unit plans a layered cleaning path for the underwater wall of the hull based on the ship's real-time draft. The underwater wall of the hull between the empty waterline and the full waterline is divided into several horizontal cleaning layers according to the robot's working width. The cleaning range of adjacent cleaning layers is set with a 10%-15% overlap area to avoid cleaning blind spots.

[0047] 3. Layered, reciprocating cleaning operation The robot completes the cleaning of the entire ship's walls using a "single-trip cleaning, layer-by-layer covering" mode. Its position is adjusted throughout the process using the magnetic track assembly 3. The specific process is as follows: ① Departure: Driven by the magnetic track assembly 3, the robot smoothly departs from the rest compartment, moves along the ship's wall to the initial cleaning position at the stern, corresponding to the starting point of the lowest cleaning layer; the adsorption mechanism is activated, and the Venturi tube negative pressure unit 2 uses the ship's navigation flow to generate negative pressure, which, together with the magnetic track assembly 3 and the permanent magnet wheel 4, forms a triple stable adsorption to ensure the robot's stable contact with the ship's wall.

[0048] ② Single-pass forward cleaning: The robot is driven by tracks and moves at a constant speed from the stern to the bow along the horizontal path of the current cleaning layer. During the movement, the composite cleaning mechanism is activated throughout: the incoming flow coordinated cavitation jet cleaning unit 5 completes the pre-removal of the ship's attachments, the rotating cleaning roller brush 6 completes fine brushing, and the non-powered vortex guide auxiliary cleaning unit 7 completes rinsing. The three-level cleaning mechanism works synchronously to complete the full coverage cleaning of the current path.

[0049] ③ Return to position: When the robot walks to the preset end position at the bow and completes a single cleaning of the current cleaning layer, the control unit controls the robot to automatically return to the initial position at the stern along the original path at a constant speed. During the return trip, the robot can perform supplementary cleaning on areas that are not thoroughly cleaned based on the cleaning effect verification results.

[0050] ④ Layer-by-layer switching: After the robot returns to the stern, it moves vertically along the hull wall to the starting position of the next cleaning layer by using the magnetic track assembly 3. It repeats the above process of "forward cleaning - return to position - layer-by-layer switching" until it completes the full coverage cleaning operation of all cleaning layers from the bottom full-load waterline to the top empty waterline.

[0051] During the operation, the two robots responsible for the port and starboard sides work synchronously and independently without interfering with each other. The control unit synchronizes the ship's navigation data in real time and dynamically adjusts the adsorption force and walking speed to ensure the stability of the operation during the ship's navigation.

[0052] 4. Retrieve items upon completion of the task. After the robot completes the cleaning of the entire hull wall of the corresponding ship, it automatically walks along the hull wall back to the rest cabin at the stern. The sealed door of the rest cabin closes automatically, and the robot returns to standby charging mode. The control unit generates a complete report of this cleaning operation, cleaning effect verification data, and ship energy efficiency optimization report, and uploads them to the ship's central control system simultaneously.

[0053] II. Emergency Recovery Operation Conditions 1. Triggering conditions: The emergency recovery control module of the control unit monitors the adsorption force and attitude data of the device in real time. When an emergency occurs, such as the adsorption force falling below the safety threshold, device instability, communication interruption, or equipment failure, the emergency recovery program is automatically triggered.

[0054] 2. Autonomous Ascent: After the emergency recovery procedure is triggered, the control unit immediately shuts down the cleaning mechanism and the walking mechanism, releases the magnetic adsorption, and the device automatically detaches from the hull wall and rises to the sea surface by relying on the reserve buoyancy provided by the closed cavity of the emergency expansion platform 101.

[0055] 3. Autonomous Recovery: After the device floats to the water surface, the control unit activates four sets of waterproof rotors 102. The rotors adjust the attitude of the device to maintain water surface stability. At the same time, based on the preset ship GPS position and route information, the rotors are driven to generate lift and propulsion, which drives the device to take off from the water surface and fly back to the recovery position on the ship deck along the preset safe route, completing the entire emergency recovery process.

[0056] The above embodiments are only for illustrating the technical concept and features of the present invention, and are intended to enable those skilled in the art to understand the content of the present invention and implement it accordingly. They should not be construed as limiting the scope of protection of the present invention. All equivalent transformations or modifications made in accordance with the spirit and essence of the present invention should be covered within the scope of protection of the present invention.

Claims

1. A ship-based underwater cleaning robot that operates without stopping, characterized in that, include: The robot body (1), the adsorption mechanism, the cleaning mechanism, and the multi-source sensing mechanism are connected to the robot body (1), and the adsorption mechanism, the cleaning mechanism, and the multi-source sensing mechanism are electrically connected to the control unit. The robot body (1) is triangular pyramidal in shape, with the cone tip at the front end facing the direction of the incoming flow of the ship. The side that is in contact with the ship is a horizontal working surface. A water flow channel (201) is provided on the robot body (1), and a waterproof rotor (102) is connected to the robot body (1). The adsorption mechanism includes a Venturi tube negative pressure unit (2), a magnetic track assembly (3), and a permanent magnet wheel (4), which together form a triple stable adsorption structure. The cleaning mechanism includes an incoming flow coordinated cavitation jet cleaning unit (5), a motor-driven rotating cleaning roller brush (6), and a non-powered vortex guide auxiliary cleaning unit (7) arranged sequentially along the working direction.

2. The underwater cleaning robot for non-stop ship operation as described in claim 1, characterized in that: The robot body (1) is fixedly provided with an emergency expansion platform (101) with a triangular closed cavity structure in the lower middle part. A set of waterproof rotors (102) are provided at the four corners of the emergency expansion platform (101). The waterproof rotors (102) are electrically connected to the control unit. The triangular closed cavity of the emergency expansion platform (101) is a waterproof and sealed structure, which can provide reserve buoyancy for the robot body (1) to float. The water flow channel (201) on the robot body (1) is symmetrically opened and runs through the front and back. The two ends of the water flow channel (201) are respectively located at the front end and the rear end of the robot body (1), and the inlet flow area of ​​the water flow channel (201) is larger than the outlet flow area.

3. The underwater cleaning robot for non-stop ship operation as described in claim 1, characterized in that: The inlet of the Venturi tube negative pressure unit (2) faces the direction of the incoming flow of the ship, and uses the relative incoming flow generated by the ship's navigation to form a negative pressure adsorption force through the Venturi tube; the working surface of the robot body (1) has two symmetrically arranged rectangular grooves (202), and each groove (202) is provided with three inclined waterway branch channels (203), which are connected to the water flow channel (201) that runs through the robot body (1); the grooves (202) The edge ring of the robot body (1) is provided with a sealing airbag (204). The sealing airbag (204) is used to form a seal between the groove (202) and the surface of the hull, thereby forming a closed negative pressure cavity between the working surface of the robot body (1) and the hull. The groove (202) and the water branch channel (203) constitute the Venturi tube negative pressure unit (2). The groove (202) is the side suction port of the Venturi tube negative pressure unit (2), and the water branch channel (203) is the side suction pipe of the water branch channel (203).

4. A non-stop underwater cleaning robot for ships as described in claim 1 or 3, characterized in that: The magnetic track assembly (3) is connected to the working surface of the robot body (1). The magnetic track assembly (3) includes two parallel permanent magnet tracks. Multiple sets of permanent magnets (301) are embedded on the track surface and are evenly arranged along the track length direction. The track walking surface is flush with the working surface of the robot body (1). The magnetic track assembly (3) is driven to walk by the first motor (302).

5. A non-stop underwater cleaning robot for ships as described in claim 1 or 3, characterized in that: The permanent magnet wheel (4) is located at the front of the working surface of the robot body (1). The permanent magnet wheel (4) has both magnetic attraction and front support functions of the robot body (1). The permanent magnet wheel (4) is symmetrically located on both sides of the front end of the working surface of the robot body (1). The wheel body surface of the permanent magnet wheel (4) is embedded with an annular permanent magnet (301). The walking surface of the wheel body is flush with the walking surface of the magnetic track.

6. The underwater cleaning robot for ships that does not stop sailing as described in claim 1, characterized in that: The incoming flow coordinated cavitation jet cleaning unit (5) is located at the upstream end of the working surface of the robot body (1), and uses the incoming flow of the ship navigation superimposed with the pressurizing pump (502) to form a cavitation cleaning jet; the incoming flow coordinated cavitation jet cleaning unit (5) includes an incoming flow collection chamber (501), a pressurizing pump (502), and a cavitation jet nozzle (503) group. The inlet of the incoming flow collection chamber (501) faces the direction of the incoming flow of the ship navigation, and the outlet of the incoming flow collection chamber (501) is located at the tail end of the robot body (1). The inlet and outlet of the incoming flow collection chamber (501) are wider at the front and narrower at the back. They are connected to the inlet end of the pressurizing pump (502) through a pipeline. The outlet end of the pressurizing pump (502) is connected to the cavitation jet nozzle (503) group through a high-pressure pipeline (504). The cavitation jet nozzle (503) group includes three cavitation jet cleaning discs, and the spray direction is towards the hull wall.

7. A non-stop underwater cleaning robot for ships as described in claim 1 or 6, characterized in that: The rotating cleaning roller brush (6) is located behind the incoming flow cavitation jet cleaning unit (5) and is driven by the second motor (601) to rotate and fit against the surface of the ship. The brush body of the rotating cleaning roller brush (6) is made of nylon wear-resistant soft bristles, and the ends of the bristles are in elastic contact with the ship wall. The second motor (601) is fixed inside the robot body (1) and is connected to the roller shaft of the rotating cleaning roller brush (6) through a sealed transmission mechanism.

8. A non-stop underwater cleaning robot for ships as described in claim 1 or 6, characterized in that: The non-powered vortex-guided auxiliary cleaning unit (7) is located at the tail end of the robot body (1), including a freely rotatable rotating base (701) and guide vanes (702) with a preset arc evenly arranged around the circumference of the rotating base (701); the rotating base (701) of the non-powered vortex-guided auxiliary cleaning unit (7) is rotatably connected to the tail end of the robot body (1) through a waterproof sealed bearing (703), without an external power source; the blade surface of the guide vane (702) is provided with an inclined guide angle that matches the direction of the incoming flow, and through the blade with the preset arc, it is driven to rotate autonomously by the incoming flow, and directs the high-speed water flow to the hull wall.

9. The underwater cleaning robot for ships that does not stop sailing as described in claim 1, characterized in that: The multi-source sensing mechanism includes a visual recognition sensor (8) and a sonar scanning sensor; the visual recognition sensor (8) is located at the upstream end of the working surface of the robot body (1) and is used to identify the attachments on the hull surface; the sonar scanning sensor is used for three-dimensional modeling of the hull surface and verification of cleaning effect.

10. A non-stop underwater cleaning robot for ships as described in claim 1 or 9, characterized in that: The controller has a built-in path planning module, an emergency recovery control module, and a cleaning effect verification module. The emergency recovery control module is used to monitor the adsorption state and attitude of the robot body (1). When the adsorption force is lower than the safety threshold, the emergency recovery program of the emergency recovery control module is triggered, and the waterproof rotor (102) is controlled to start and complete the autonomous recovery.

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