An intelligent dynamic monitoring and maintenance comprehensive platform for ship bottom in water and a use method thereof

Abstract

The application discloses a kind of water ship bottom intelligent dynamic monitoring maintenance integrated platform and use method, belong to ship intelligent maintenance device technical field, solve the ship in prior art cannot carry out operation directly to ship bottom in water, need to drive into dry dock only can carry out ship bottom monitoring maintenance, cause traditional ship bottom maintenance mode cost high, long cycle, technical problem of high risk of manual operation.This platform, including power system, U-shaped platform includes U-shaped buoyancy platform and U-shaped dynamic adjustment operation platform arranged therein, symmetrically arranged vertical space operation module is installed at the position close to vertical support platform at both sides of middle horizontal support platform, horizontal slide rail is provided on middle horizontal support platform, horizontal slide rail is installed with horizontal working position sliding block that can slide along slide rail horizontally, and horizontal slide rail is driven on middle horizontal support platform by horizontal driving device at the bottom of vertical space operation module, and horizontal slide rail is slid horizontally by horizontal working position sliding block.

Description

Technical Field

[0001] This invention relates to the field of intelligent ship maintenance devices, specifically to an integrated platform for intelligent dynamic monitoring and maintenance of the ship's hull underwater and its usage method. Background Technology

[0002] In the daily operation of ships, critical operations such as the inspection, cleaning, maintenance, and repair of the hull structure, as well as the cleaning of the bottom of large hulls, are neither practical nor economically feasible for frequent shore-based repairs. Typically, ships must be sailed to relatively near-shore areas, where small auxiliary vessels carrying divers can conduct limited repairs. For a long time, maintenance and repair work has relied on small boats carrying personnel to near-shore waters, which is time-consuming, labor-intensive, and costly. In particular, routine ship washing generally takes more than a day, making the entire process lengthy and expensive. Furthermore, near-shore operations are highly susceptible to adverse weather, complex sea conditions, and visibility limitations. Divers must work in hazardous environments, resulting in low efficiency and difficulty in fully covering the curved surfaces of the hull. Especially for the complex geometric areas of the hull bottom, manual inspection has significant blind spots, leading to poor maintenance results. At the same time, the removal of hull attachments such as barnacles or algae often results in incomplete cleaning or accidental damage to the hull surface because the process cannot dynamically adapt to changes in the hull's curvature. This fails to meet the urgent needs of modern ships for efficient, safe, and continuous operations, severely restricting the reliability and economy of ocean voyages.

[0003] Furthermore, the main scenarios requiring rapid inspection of the ship's hull include: the expiration of annual / interim / renewal inspections, temporary restrictions on navigation, entry and exit of dangerous goods from ports, border inspection security checks at ports, and when abnormal attachments to the hull affect navigation safety. However, existing shipboard technology lacks the capability for rapid inspection of the hull in water. Summary of the Invention

[0004] In view of the shortcomings and deficiencies of the prior art, the present invention provides an integrated intelligent dynamic monitoring and maintenance platform for ship bottoms in water, which can complete ship bottom monitoring and maintenance operations in water without the need for the ship to enter a dry dock, and has strong structural adaptability, flexible and stable operation, as well as a method of using it.

[0005] To achieve the above objectives, the present invention provides the following technical solution: The intelligent dynamic monitoring and maintenance platform for the underwater hull provided by the present invention includes a U-shaped platform and a matching power system. The U-shaped platform includes a U-shaped buoyancy platform and a U-shaped dynamic adjustment operation platform located within it. The U-shaped buoyancy platform includes a central transverse support platform and vertical support platforms located on both sides thereof. Symmetrically arranged vertical space operation modules are installed on both sides of the middle horizontal support platform and near the vertical support platform. The first vertical working module is installed on the inner wall of the vertical space operation module. A transverse slide rail is provided on the middle transverse support platform. A transverse working position slider that can slide laterally along the slide rail is installed on the transverse slide rail. A second transverse working module is installed on the transverse working position slider. The bottom of the vertical space operation module is driven by a horizontal drive device to slide the horizontal working position slider along the horizontal slide rail on the middle horizontal support platform.

[0006] Preferably, there is one or more combinations of transverse slide rail and transverse working position slider located on the middle transverse support platform; Two sets of vertical space operation modules are positioned opposite each other on the left and right ends of the transverse slide rail on the same horizontal line. The control system controls the two sets of vertical space operation modules to work together to achieve omnidirectional adaptive fitting and dynamic attitude compensation of the ship bottom surface. The vertical space operation module can be either a vertical cornering motion module or an L-shaped horizontal motion module.

[0007] Preferably, the bottom of the vertical cornering motion module is equipped with a first lateral drive device that moves laterally along the lateral slide rail. The first lateral drive device is connected to the control system and drives the vertical cornering motion module to move laterally on the middle lateral support platform. The outer wall of the vertical cornering motion module is pushed by the first hydraulic device to make cornering motion to the left and right sides of its vertical middle transverse support platform; The first vertical working module is installed on the inner wall of the vertical rotation motion module; The first hydraulic device is a multi-section hydraulic cylinder mounted on the vertical rotation motion module, which can move laterally together with the vertical rotation motion module; With the vertical direction perpendicular to the middle horizontal support platform as a reference, the vertical rotation motion module drives the first vertical working module to rotate outward.

[0008] Preferably, the middle transverse support platform is also provided with an upper and lower lifting platform arranged parallel to it, and the vertical space operation module and the transverse working position slider are both installed on the upper and lower lifting platform; The upper and lower lifting platform is equipped with vertical rails on both the left and right side walls, and the inner side wall of the vertical support platform is equipped with vertical sliders that match the vertical rails. The outer side of the vertical support platform is also equipped with a vertical self-locking drive device that runs through the four corners of the upper and lower lifting platform. The vertical self-locking drive device drives the upper and lower lifting platform to move the first vertical working module and the second horizontal working module up and down in the vertical direction along the vertical rails.

[0009] Preferably, the first vertical working module is installed on the inner sidewalls of the two sets of L-shaped horizontal motion modules on the left and right sides of the middle horizontal support platform. The bottom sliders of the two sets of L-shaped lateral motion modules are located on the same set of lateral slide rails. A third fixed working module is also connected to the middle transverse support platform located between the two sets of L-shaped transverse motion modules. Guide wheel assemblies are symmetrically installed on both sides of the third fixed working module. The first vertical working module located on the L-shaped horizontal motion module includes a robotic arm and guide wheels.

[0010] Preferably, the power system is a multi-propeller coordinated operation power system, specifically including a main propeller array located at the bottom of the middle transverse support platform, and auxiliary steering propellers respectively installed on the outer sides of the two vertical support platforms; The main thruster array consists of at least four thrusters that control the lateral, horizontal, and forward / backward directions respectively, arranged in a rectangular shape, providing overall translational and rotational power for the platform; the auxiliary steering thrusters are vertically vector adjustable water jet thrusters, used to enhance the platform's maneuverability and attitude fine-tuning accuracy in the waters below the ship; all thrusters are connected to a unified power control unit to achieve adaptive and coordinated control based on real-time hydrological data and operational paths.

[0011] Preferably, the power system is a dual-load semi-submersible vessel power system, with semi-submersible vessels symmetrically mounted on the upper parts of both sides of the vertical support platform. At least four sets of thrusters are installed at the bottom of the semi-submersible vessels to control the lateral, horizontal, and forward / backward directions respectively, which are used to provide buoyancy support and platform stability for the U-shaped platform. The semi-submersible vessels maintain synchronization with the U-shaped buoyancy platform through the DP dynamic positioning system, and work with the U-shaped buoyancy platform to achieve dynamic adjustment of the underwater operation attitude. The upper platform of the semi-submersible vessel is rigidly connected to the top plane of the U-shaped buoyancy platform through a connecting structure. The top surface of the semi-submersible vessel is connected to the top surface of the vertical support platform to form an integrated planar structure. Furthermore, the side walls of the semi-submersible vessel and the side walls of the vertical support platform of the U-shaped buoyancy platform are tightly and sealed together to ensure the overall stability of the attitude of the two semi-submersible vessels and the U-shaped buoyancy platform and the uniform distribution of load during operation.

[0012] Preferably, a robotic arm module connected to a second drive device is installed on the first vertical working module or the second horizontal working module. The robotic arm module adopts a modular quick-change interface structure, and the control system controls the second drive device to drive the robotic arm's working movement.

[0013] Preferably, a cleaning device is installed on the first vertical working module or the second horizontal working module for cleaning the attachments on the bottom of the ship; the cleaning device is specifically a brush disc, a cavitation brush disc, or a cavitation nozzle, any one or more of which are used in combination.

[0014] Preferably, the first vertical working module or the second horizontal working module is equipped with guide wheels, which can adaptively follow the curved surface of the hull, control the working distance, protect the hull, assist the working platform in moving, and reduce frictional resistance.

[0015] Preferably, a detection module is installed on the first vertical working module or the second horizontal working module, specifically comprising a camera, sonar, and magnetometer, to achieve all-round scanning and detection of the ship's surface, with flexible movement capabilities, able to reach complex parts of the ship's hull, and achieve high-precision detection; The first vertical working module or the second horizontal working module is also equipped with a baffle frame to surround all the brush discs or the perimeter of the crushing pump on each working module. The baffle frame is used to prevent the cleaning waste from splashing and spreading outwards, and together with its internal recycling structure, it prevents the waste from falling into the water.

[0016] The above-mentioned integrated platform for intelligent dynamic monitoring and maintenance of ship hulls in underwater includes the following usage methods: Before the operation, the platform is moved directly under the vessel to be inspected. The DP dynamic positioning system is used to precisely hover and adjust the attitude of the U-shaped buoyancy platform so that the first vertical working module and the second horizontal working module are lowered synchronously. The guide wheel first contacts the curved surface of the bottom of the vessel and adjusts it to adaptively fit the bottom of the vessel through the vertical space operation module. During the operation, the entire process is carried out dynamically and continuously from the bow to the stern of the ship; the brush disc removes the plankton deposits, and the cavitation nozzles remove stubborn dirt; the detection module continuously tracks the operation trajectory, verifies the cleaning effect in real time, and dynamically corrects the operation parameters to ensure that each area meets the preset cleanliness standard. After the operation is completed, the robotic arm returns to its initial position, the guide wheels retract, and the power system adjusts to detach the platform from the bottom of the ship's hull, sailing to a safe area to complete the recovery. Among them, the robotic arm on the first vertical working module or the second horizontal working module is equipped with a drive device. With the camera and light module on the robotic arm, it can achieve full-curved adaptive fitting to the bottom of the ship and reach hard-to-reach areas for clear viewing without blind spots. Multiple camera and lighting modules on the first vertical working module or the second horizontal working module can transmit high-definition images of the hull in real time, quickly identify potential hazards on the hull, and accurately locate corrosion, damage, and marine fouling, providing accurate data for subsequent operations of robotic arms and cleaning devices.

[0017] This invention provides an integrated platform for intelligent dynamic monitoring and maintenance of ship hulls in water, along with its usage method. It offers the following advantages: (1) The intelligent dynamic monitoring and maintenance platform and its usage method for ship bottom in water of the present invention, by setting up an operation platform with a U-shaped structure and cooperating with a movable and adjustable work module, can carry out operations on the ship bottom directly in water, without the ship entering a dry dock to complete the ship bottom monitoring and maintenance, effectively solving the problems of high cost, long cycle and high risk of manual operation in traditional ship bottom maintenance methods. It has the advantages of being able to carry out ship bottom monitoring and maintenance operations in water without the ship entering a dry dock, strong structural adaptability, flexible and stable operation, and higher safety and economy.

[0018] (2) The intelligent dynamic monitoring and maintenance platform and its usage method for the ship bottom in the water of the present invention realizes the method of cleaning and inspection and maintenance of the ship bottom from the bow to the stern without the need for a work vessel to carry out actual operations. This significantly speeds up the inspection and cleaning of the bottom and side walls of large ships. The ship washing operation that usually takes 24 hours can be completed in 1 hour, saving time and effort, significantly reducing the cost of ship maintenance, and meeting actual needs. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the structure of Embodiment 1 of the present invention; Figure 2 for Figure 1 A schematic diagram of the structure of a 3D model; Figure 3 for Figure 1 A schematic diagram of the underwater intelligent dynamic monitoring and maintenance platform for the ship's hull before it performs operational positioning. Figure 4 This is a schematic diagram of an integrated intelligent dynamic monitoring and maintenance platform for the underwater hull, which includes the vertical lifting platform in Example 2 and the dual-load semi-submersible power system in Example 3. Figure 5 For use Figure 4 A schematic diagram of the underwater intelligent dynamic monitoring and maintenance platform for the ship's hull before it performs operational positioning. Figure 6 For use Figure 4 A schematic diagram of the underwater intelligent dynamic monitoring and maintenance platform for the ship's hull during operation. Figure 7 For use Figure 4 A schematic diagram of the split structure of the intelligent dynamic monitoring and maintenance platform for the ship's hull in the water before operation. Figure 8 For use Figure 4 A schematic diagram of the integrated intelligent dynamic monitoring and maintenance platform for the hull in underwater operation combined with the vessel. Figure 9This is a schematic diagram of the integrated platform for intelligent dynamic monitoring and maintenance of the ship's bottom underwater, as described in Example 7.

[0020] In the diagram: 1. U-shaped buoyancy platform, 101. Intermediate transverse support platform, 102. Vertical support platform, 2. U-shaped dynamic adjustment work platform, 3. Vertical space work module, 301. Vertical cornering motion module, 302. L-shaped transverse motion module, 4. First vertical working module, 5. Transverse slide rail, 6. Transverse working position slider, 7. Second transverse working module, 8. First hydraulic device, 9. Vertical track, 10. Power system, 1001. Main thruster array, 1002. Auxiliary steering thruster, 1003. Semi-submersible vessel, 11. Guide wheel, 12. Detection module, 13. Robotic arm module, 14. Vertical slider, 15. Vertical self-locking drive device, 16. Third fixed working module, 17. Transverse drive device, 17. First transverse drive device, 18. Upper and lower lifting platform, 19. Enclosure frame, 20. Crushing pump. Detailed Implementation

[0021] 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.

[0022] In this invention, unless otherwise explicitly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0023] Example 1 like Figures 1-3As shown, the intelligent dynamic monitoring and maintenance integrated platform for the underwater hull provided by the present invention includes a U-shaped platform and a matching power system 10. The U-shaped platform includes a U-shaped buoyancy platform 1 and a U-shaped dynamic adjustment operation platform 2 disposed therein. The U-shaped buoyancy platform 1 includes a central transverse support platform 101 and vertical support platforms 102 disposed on both sides thereof. Symmetrically arranged vertical space operation modules 3 are installed on both sides of the central transverse support platform 101, near the vertical support platforms 102. A first vertical working module 4 is installed on the inner wall of the vertical space operation module 3. A transverse slide rail 5 is provided on the central transverse support platform 101. A transverse working position slider 6 that can slide laterally along the slide rail is installed on the transverse slide rail 5. A second transverse working module 7 is installed on the transverse working position slider 6. The bottom of the vertical space operation module 3 is driven by a transverse drive device 17 to slide laterally along the transverse slide rail 5 on the central transverse support platform 101. The power system 10 is a collection of devices that provide the U-shaped platform with the energy required for navigation, positioning, attitude adjustment, and operation, ensuring the stability and maneuverability of the platform during underwater operations.

[0024] The U-shaped platform of this invention is a U-shaped work platform designed to cover the bottom of a vessel, facilitating underwater monitoring and maintenance of the hull. Specifically, the U-shaped buoyancy platform 1 provides the main buoyancy support for the U-shaped platform, working in conjunction with the power system 10 to support the weight of the entire platform and keep it afloat in the water, enabling hull maintenance and repair work on vessels navigating underwater. The U-shaped dynamic adjustment work platform 2, located inside the U-shaped buoyancy platform 1, is a platform for supporting and adjusting the positions of various work modules. It can be dynamically adjusted according to operational needs to meet the diverse underwater hull operation requirements of different vessels.

[0025] Located on the intermediate transverse support platform 101, there is one or more sets of transverse slide rails 5 and transverse working position sliders 6, providing flexibility and scalability for the lateral operation capability of the work platform. The intermediate transverse support platform 101, as the main load-bearing surface, is used to install components such as transverse slide rails 5, transverse working position sliders 6, and vertical space operation modules 3. The transverse working position sliders 6 are installed and matched according to the actual number of operation modules required, supporting the second transverse working module 7 and adjusting its transverse working position, for monitoring, cleaning, or maintenance of the transverse plane of the ship's bottom, meeting the needs of multiple modules working together.

[0026] Two sets of vertical space operation modules 3 are positioned opposite each other on the left and right ends of the transverse slide rail 5 on the same horizontal line. The control system controls the two sets of vertical space operation modules 3 to work together, so as to achieve omnidirectional adaptive fitting and dynamic attitude compensation of the bottom curved surface. The accuracy and adaptability of the operation are improved through collaborative control.

[0027] The vertical space operation module 3 is a vertical angular motion module 301, which adjusts the contact angle between the working tool and the curved surface of the hull bottom, so that the first vertical working module 4 of the mounted working tool can fit against the hull bottom at the optimal angle, which is especially suitable for areas where the hull bottom has a large curvature change. A first horizontal drive device 17 is installed at the bottom of the vertical angular motion module 301, which moves laterally along the horizontal slide rail 5. The first horizontal drive device 17 is connected to the control system and drives the vertical angular motion module 301 to move laterally on the intermediate horizontal support platform 101. The outer wall of the vertical angular motion module 301 is pushed by a first hydraulic device 8 to rotate to the left and right sides of the vertical intermediate horizontal support platform 101. The first vertical working module 4 is installed on the inner wall of the vertical angular motion module 301. By driving the first vertical working module 4 through the vertical angular motion module 301, the contact angle between the two sides of the hull can be adaptively adjusted, enabling flexible operation on both sides of the hull bottom, and monitoring, cleaning, or maintenance of the vertical curved surface of the hull bottom.

[0028] The first hydraulic device 8 is a multi-section hydraulic cylinder mounted on the vertical angle motion module 301, which can move laterally together with the vertical angle motion module 301. With the vertical direction relative to the intermediate transverse support platform 101 as a reference, the vertical angle motion module 301 drives the first vertical working module 4 to rotate outward. The first vertical working module 4 is mounted on the inner wall of the vertical angle motion module 301, enabling it to synchronously move laterally and adjust its angle. This ensures that the first vertical working module 4 always fits the ship's bottom surface at the optimal angle and position, significantly improving the accuracy and efficiency of ship bottom monitoring and maintenance operations, and meeting the operational requirements of intelligent dynamic monitoring and maintenance of the ship bottom.

[0029] The power system 10 is a multi-propeller coordinated operation power system, consisting of multiple propeller propellers. The propellers are connected to a control unit on the platform via cables, allowing operators to remotely and manually control their speed and direction to achieve platform movement and positioning. Specifically, it includes a main propeller array 1001 located at the bottom of the central transverse support platform 101, and auxiliary steering propellers 1002 installed on the outer sides of the two vertical support platforms 102. The main propeller array 1001 includes at least four propellers controlling the transverse, horizontal, and forward / backward directions respectively, arranged in a rectangular shape, providing overall translational and rotational power for the platform. The auxiliary steering propellers 1002 are vertically vector-adjustable waterjet propellers used to enhance the platform's maneuverability and attitude fine-tuning accuracy in the water under the ship. All propellers are connected to a unified power control unit, enabling adaptive coordinated control based on real-time hydrological data and the operational path. That is, based on real-time environmental data such as water flow and depth acquired by sensors, and a preset or dynamically planned operational trajectory, the thrust output and direction of each propeller are automatically adjusted.

[0030] The U-shaped platform is welded from a steel structure, and its height and width are preset according to the working dimensions of the bottom of the ship.

[0031] The intelligent dynamic monitoring and maintenance platform for ship hulls proposed in this invention, through its U-shaped platform structure and matching power system 10, enables comprehensive monitoring and maintenance of the hull bottom of large ships without towing them out of the water. This effectively ensures the stability and reliability of monitoring and maintenance operations, thereby improving operational efficiency and quality. It eliminates the need for personnel on a work vessel and manual labor, allowing for comprehensive cleaning and inspection of the hull bottom from bow to stern through the platform. This significantly accelerates the inspection and cleaning of the bottom and sides of large ships, completing a washing operation that typically takes 24 hours in just one hour. This saves time and labor, significantly reduces ship maintenance costs, and meets practical needs.

[0032] The platform provides stable support and partial buoyancy through a U-shaped buoyancy platform 1, while a U-shaped dynamic adjustment work platform 2 carries the work modules. The vertical space work module 3 and the first vertical work module 4 cover the hull sidewall area, while the transverse slide rail 5, transverse work position slider 6, and the second transverse work module 7 handle transverse operations in the mid-hull area. A transverse drive device 17 ensures flexible positioning of the work modules. This solves the problems of traditional hull operations requiring ashore access, being time-consuming, labor-intensive, costly, and unable to respond promptly to underwater malfunctions, thus improving the vessel's continuous operational capability.

[0033] A robotic arm module 13, connected to a second drive device, is installed on either the first vertical working module 4 or the second horizontal working module 7. The robotic arm module 13 employs a modular quick-change interface structure, and the control system controls the second drive device to drive the robotic arm's operational movements. The robotic arm module 13 is a programmable, multi-degree-of-freedom automated operating device capable of simulating the functions of a human hand, performing various tasks such as grasping, manipulating, inspecting, and cleaning. It can be a multi-jointed electric robotic arm with replaceable end caps (suction cups, grippers, or nozzles); or it can be a hydraulically driven telescopic arm with high load capacity. The robotic arm's function is to perform precision operations on complex curved surfaces and in confined spaces, achieving high-precision, high-flexibility inspection and maintenance.

[0034] Guide wheels 11 are installed on either the first vertical working module 4 or the second horizontal working module 7. These guide wheels can adaptively follow the curved surface of the hull, control the working distance, protect the hull, assist the working platform in movement, and reduce frictional resistance. The guide wheels 11 are integrated into the first vertical working module 4, allowing it to directly contact the hull bottom, providing localized adaptive fit and distance control. Through the guide wheels 11, the first vertical working module 4 can better follow the curved surface of the hull, ensuring that the robot maintains the optimal distance from the hull bottom during operation, avoiding damage to the hull, and improving operational stability.

[0035] The robotic arm and guide wheels 11 are integrated into the first vertical working module 4, enabling the module to both adaptively conform to the hull and perform diverse inspection and maintenance tasks. The guide wheels 11 maintain the working distance and posture, while the robotic arm handles the specific operations. Their collaborative work improves efficiency and quality. This not only significantly enhances the efficiency and cleanliness of hull maintenance, avoiding the high costs and time associated with frequent shore maintenance of large vessels, but also seamlessly integrates the cleaning process into the intelligent dynamic monitoring and maintenance platform. This achieves an integrated workflow of monitoring, cleaning, and maintenance, greatly meeting the continuous operational needs of large vessels undergoing hull maintenance directly in the water.

[0036] A cleaning device is installed on either the first vertical working module 4 or the second horizontal working module 7 to remove deposits from the hull. This cleaning device specifically includes a brush disc, a cavitation brush disc, and a cavitation nozzle, or any one or a combination thereof. The cleaning device can effectively remove deposits from the hull, such as marine biofouling, rust, and old paint layers. It can be implemented in various ways, including but not limited to mechanical scraping devices and cavitation jet devices. Combining two or more of these cleaning devices provides a more flexible and efficient cleaning solution. This combination strategy can be dynamically adjusted according to actual conditions, enabling phased and refined cleaning operations, ensuring cleaning effectiveness while improving operational efficiency.

[0037] The first vertical working module 4 or the second horizontal working module 7 is equipped with a detection module 12, which specifically includes a camera, sonar, and magnetometer. It can perform all-round scanning and detection of the ship's surface, has flexible movement capabilities, can reach complex parts of the ship's hull, and achieve high-precision detection.

[0038] Based on the actual operational needs, individual or multi-component collaborative operation is implemented in this integrated platform for intelligent dynamic monitoring and maintenance of ship hulls in water. This allows for direct monitoring and maintenance of the ship hull in the water, eliminating the need for personnel on board. This method fully leverages the functions of each module of the integrated platform, achieving orderly and efficient management of the entire process from positioning, detection, operation to recovery. It significantly improves the overall efficiency, accuracy, and safety of underwater ship hull monitoring and maintenance operations, and significantly accelerates the inspection and cleaning speed of the bottom and sides of large ships. A ship washing operation that normally takes 24 hours can be completed in one hour, saving time and labor, significantly reducing ship maintenance costs, and effectively meeting the actual needs of efficient and precise underwater ship hull operations.

[0039] Example 2 To meet the overall vertical height adjustment of the operation module and adapt to vessels with different drafts, the operation position can be adjusted as the height of the hull surface changes, thereby improving operational flexibility and meeting the hull monitoring and maintenance needs of vessels of different tonnages and drafts.

[0040] like Figures 4-6 As shown, the intelligent dynamic monitoring and maintenance platform for the hull of a ship in water according to the present invention is provided with a vertical lifting platform 18 arranged parallel to the middle horizontal support platform 101. The vertical space operation module 3 and the horizontal working position slider 6 are both installed on the vertical lifting platform 18.

[0041] Vertical rails 9 are provided on both the left and right side walls of the lifting platform 18. Vertical sliders 14, matching the vertical rails 9, are provided on the inner wall of the vertical support platform 102. Vertical self-locking drive devices 15, penetrating the four corners of the lifting platform 18, are also provided on the outer side of the vertical support platform 102. These devices drive the lifting platform 18, causing the first vertical working module 4 and the second horizontal working module 7 to move vertically along the vertical rails 9. This allows the entire working platform to make precise and real-time adjustments to its overall vertical height according to the different drafts and hull curvatures of the vessel under inspection. This four-corner arrangement ensures uniform force distribution on the platform during lifting, effectively preventing tilting and jamming. Simultaneously, its self-locking function ensures the platform reliably maintains its position after reaching the preset height, preventing accidental displacement due to external disturbances during operation.

[0042] The above structure serves the following functions: the vertical space operation module 3, in conjunction with the first vertical working module 4 and the second horizontal working module 7, enables omnidirectional adaptive operation on the ship's hull surface, meeting the operational requirements of different horizontal positions on the ship's hull. The adoption of an integrated structure of the vertical lifting platform 18 and existing working modules ensures that all key operational components can move synchronously in the vertical direction while maintaining their original relative positions and collaborative operational relationships. This significantly improves the platform's adaptability to vessels of different sizes and drafts, enhances operational flexibility and efficiency, and ensures continuous fit and high-precision operation on complex ship hull surfaces.

[0043] Example 3 like Figures 3-8As shown, the underwater intelligent dynamic monitoring and maintenance integrated platform of the present invention has a power system 10 that is a dual-load semi-submersible vessel power system 10, which combines the structure of a semi-submersible vessel with the function of propulsion. Its core lies in utilizing the unique buoyancy characteristics and stability of the semi-submersible vessel 1003 to provide strong buoyancy support and a stable operating environment for the U-shaped platform. It consists of two independent semi-submersible vessel units, which are connected to the main working platform through a specific connection method to form a stable waterborne working unit. Specifically, semi-submersible vessels 1003 are symmetrically mounted on the upper parts of both sides of the vertical support platform 102. At least four sets of thrusters are installed at the bottom of the semi-submersible vessel 1003, which control the lateral, horizontal, and forward / backward directions respectively. These thrusters are key components that provide power for the platform's movement and attitude adjustment, and can provide multi-dimensional thrust to provide buoyancy support and platform stability for the U-shaped platform.

[0044] The semi-submersible vessel 1003 maintains synchronization with the U-shaped buoyancy platform 1 via a dynamic positioning (DP) system. This system, working in conjunction with the U-shaped buoyancy platform 1, enables dynamic adjustment of the platform's underwater operating attitude. The DP system is an automated system that uses thruster force to counteract the effects of external environmental forces on the platform, maintaining it in a predetermined position and attitude. This ensures balanced force distribution on the entire U-shaped platform in the water, effectively counteracting capsizing moments caused by external currents, waves, and other factors, thereby maintaining the platform's horizontal attitude. This mounting method can involve welding, bolting, or connection via other mechanical structures to ensure sufficient structural strength and stability.

[0045] The upper platform of the semi-submersible vessel 1003 is rigidly connected to the top plane of the U-shaped buoyancy platform 1 through a connecting structure. The top surface of the semi-submersible vessel 1003 is connected to the top surface of the vertical support platform 102 to form an integral planar structure. Furthermore, the side wall of the semi-submersible vessel 1003 is tightly and sealed to the side wall of the vertical support platform 102 of the U-shaped buoyancy platform 1, ensuring that the overall attitude of the two semi-submersible vessels 1003 and the U-shaped buoyancy platform 1 is stable and the load is evenly distributed during operation.

[0046] The DP system can precisely control the thrusters on the semi-submersible vessel 1003, keeping them synchronized with the U-shaped buoyancy platform 1, ensuring that the platform can hover precisely or move along a predetermined trajectory during underwater operations. Dynamic adjustment of underwater operating attitude refers to the platform's ability to adjust its tilt, pitch, and roll in real time according to operational needs and environmental changes.

[0047] The semi-submersible vessel 1003 is symmetrically mounted on both sides of the upper part of the vertical support platform 102, providing sufficient buoyancy for the U-shaped platform, significantly reducing the load pressure on the platform body, and ensuring the platform's force balance in the water, effectively avoiding tilting and displacement caused by unilateral force. At the same time, the semi-submersible vessel's low waterline and large underwater moment of inertia also endow the platform with excellent wind and wave resistance, thereby achieving stability in complex waters and enabling it to conduct underwater hull monitoring and maintenance operations for extended periods with high efficiency.

[0048] Example 4 like Figures 3-6 As shown, the vertical space operation module 3 of the present invention is an L-shaped horizontal motion module 302, which provides more flexible horizontal extension and obstacle avoidance capabilities. The first vertical working module 4 is installed on the inner sidewalls of the two sets of L-shaped horizontal motion modules 302 on the left and right sides of the middle horizontal support platform 101, and the bottom sliders of the two sets of L-shaped horizontal motion modules 302 are located on the same set of horizontal slide rails.

[0049] A third fixed working module 16 is also connected to the intermediate transverse support platform 101 located between the two sets of L-shaped transverse motion modules 302. Guide wheels 11 are symmetrically installed on both sides of the third fixed working module 16. The third fixed working module 16, the first vertical working module 4, and the second transverse working module 7 work together to further meet the individualized customization requirements for operations in key areas of the hull bottom. This is suitable for situations with complex hull structures and numerous obstacles, effectively expanding the operational range and improving operational efficiency.

[0050] The third fixed working module 16 can be a visual inspection unit integrating multiple wide-angle cameras and LED fill lights, or a defect detection unit equipped with multiple fixed ultrasonic sensor arrays, used to cover the central area of ​​the hull bottom that is difficult for the L-shaped lateral movement module 302 to reach.

[0051] The first vertical working module 4, located on the L-shaped lateral motion module 302, includes a robotic arm and guide wheels 11. The guide wheels 11 are a set of wheeled structures designed to contact the hull surface, providing support, guidance, and distance control. Made of wear-resistant, low-friction elastic material, the guide wheels 11 integrate springs or hydraulic buffer mechanisms to adapt to changes in the curvature of the hull. Their function is to ensure a constant working distance between the working module and the hull, preventing scratches and reducing frictional resistance during underwater movement. The guide wheels 11 are symmetrically mounted on both sides of the third fixed working module 16, providing stable contact support and precise working distance control for this central module. This symmetrical layout helps maintain the module's posture balance and good contact with the hull when working in the central area of ​​the hull, further improving operational stability and safety.

[0052] The first vertical working module 4 on the L-shaped lateral motion module 302 is configured to include a robotic arm and guide wheels 11. This allows the module to adaptively conform to the curved surface of the ship's bottom using the guide wheels 11, control the working distance, protect the hull, and reduce movement resistance. Simultaneously, the robotic arm can perform diverse inspection and maintenance tasks. This integrated design not only improves operational flexibility and efficiency but also ensures the quality of work on complex curved surfaces. Through the above technical solution, the structural design of this invention eliminates blind spots in the middle of the ship's bottom, improves the overall coverage and stability of ship bottom operations, and better meets the needs of underwater ship bottom inspection and maintenance.

[0053] The transverse slide rail 5 is a guide structure that provides a precise movement path for the L-shaped transverse motion module 302. The two sets of L-shaped transverse motion modules 302 are arranged on the left and right sides of the middle transverse support platform 101, and the first vertical working module 4 is installed on their opposite inner sidewalls. This allows the two modules to move closer to the center area of ​​the platform, thereby covering a wider area of ​​the ship's bottom, especially the middle part. This ensures that the two sets of modules have a high degree of synchronicity and positional consistency when moving laterally, avoiding relative position deviations or asynchronous movements that may occur due to the use of different slide rails, thereby improving the accuracy and stability of collaborative operations.

[0054] Example 5 like Figure 2 As shown, the transverse slide rail 5 and transverse working position slider 6 are combined in more than one group on the middle transverse support platform 101. Specifically, there are 3 groups of transverse slide rails 5, and multiple groups of transverse working position slider 6 are installed on the three groups of transverse slide rails 5 according to the work needs, so as to cover a wider bottom area of ​​the ship or to carry out multi-point operations at the same time.

[0055] Through the above technical solution, this invention effectively solves the limitations of existing platforms in terms of adaptability, coverage, and operational accuracy. Firstly, by setting at least one combination of transverse slide rails 5 and transverse working position sliders 6, the platform can flexibly adjust its operational coverage according to different hull sizes, significantly improving its adaptability to vessels of different specifications. Through modular design, the number of slide rail and slider combinations can be increased or decreased as needed, allowing the platform to adapt to hulls of different sizes and avoiding the limitations of a single fixed combination in terms of operational range.

[0056] Example 6 The method of using the intelligent dynamic monitoring and maintenance platform for the underwater hull of the present invention includes the following: Before operation, the platform is moved directly beneath the vessel to be inspected, precisely positioning the entire monitoring and maintenance platform in the bottom working area of ​​the target vessel. Driven by the platform's own power system 10, through the coordinated action of the main thruster array 1001 and the auxiliary steering thruster 1002, the DP dynamic positioning system precisely hovers and adjusts the attitude of the U-shaped buoyancy platform 1. This data is input to the central control unit, which calculates the required thrust vector and then controls the individual thrusters in the power system 10 to precisely output thrust, achieving precise hovering and attitude adjustment of the platform. This ensures the platform is in a stable and accurate initial position before operation begins.

[0057] Based on this, the first vertical working module 4 and the second horizontal working module 7 are lowered synchronously, with the guide wheel 11 making contact with the curved surface of the hull first. The first vertical working module 4 and the second horizontal working module 7 are the core components on the platform used to perform specific monitoring and maintenance tasks. Their synchronous lowering can be achieved by the control system uniformly scheduling their respective drive mechanisms. For example, when the vertical self-locking drive device 15 drives the vertical lifting platform 18 to lift the entire working module, or when the first horizontal drive device 17 drives the vertical cornering motion module 301 to move laterally, the working module inside it also moves accordingly. The guide wheel 11, as a buffer and positioning component between the working module and the hull, makes contact with the curved surface of the hull first, which can effectively prevent the working module from directly colliding with the hull and protect the hull surface. The guide wheel 11 is usually made of wear-resistant, low-friction materials and has a certain degree of elasticity or extensibility to adapt to the curvature of the hull.

[0058] Subsequently, the vertical space operation module 3 is adjusted to adaptively fit the bottom of the ship. Based on the contact information fed back by the guide wheel 11, it can be finely adjusted through its own drive mechanism, so that the working module can fit tightly and evenly against the curved surface of the ship bottom, ensuring the stability and accuracy of subsequent operations.

[0059] Furthermore, the detection module 12 starts scanning. The detection module 12 starts scanning, which means that the control system drives the detection module 12 to move in the bottom area of ​​the ship and uses its onboard sensors (such as lidar, structured light sensors or multi-view stereo vision system) to collect geometric data of the bottom surface of the ship.

[0060] The robotic arm module 13, as a multi-functional tool, can be equipped with various cleaning devices, such as brush discs, bristle brushes, steel brushes, and cavitation nozzles. The bristle discs remove weakly attached plankton and silt through physical friction, effectively removing the plankton layer. The cavitation nozzles effectively peel off stubborn dirt with strong adhesion, such as shellfish and algae.

[0061] During synchronization, the detection module 12 continuously tracks the work trajectory, verifies the cleaning effect in real time, and dynamically adjusts the operation parameters to ensure that each area meets the preset cleanliness standard. While the cleaning operation is underway, the detection module 12 continues to work, monitoring the cleanliness of the cleaned area in real time and transmitting feedback data to the control system. Based on this real-time data, the control system dynamically adjusts the operation parameters of the cleaning device, such as the robotic arm's movement speed, cleaning force, and nozzle pressure, to ensure that each area meets the preset cleanliness standard, forming a closed-loop intelligent operation process.

[0062] After the operation is completed, the robotic arm returns to its initial position, and the guide wheels 11 retract. After completing all tasks, the robotic arm module 13, controlled by the drive unit, returns to its preset initial docking position, and the guide wheels 11 also retract via their telescopic mechanism to prevent scraping when the platform detaches from the hull. The power system 10 adjusts to detach the platform from the bottom of the ship's hull and navigates to a safe area for recovery. The power system 10 restarts, precisely controlling the propellers to smoothly remove the platform from under the ship, avoiding any contact with the hull. Subsequently, driven by the power system 10, the platform navigates to a preset safe area, completing the entire recovery process.

[0063] Among them, the robotic arm on the first vertical working module 4 or the second horizontal working module 7 is equipped with a drive device. Together with the camera and light module on the robotic arm, it can achieve full-curved adaptive fitting to the bottom of the ship and reach hard-to-reach areas for clear viewing without blind spots.

[0064] Multiple camera and illumination modules on the first vertical working module 4 or the second horizontal working module 7 can transmit high-definition images of the hull in real time, quickly identify potential hazards, and accurately locate corrosion, damage, and marine fouling, providing accurate data for subsequent operations by robotic arms and cleaning devices. These multiple camera and illumination modules work together to provide comprehensive, high-resolution images and video streams of the hull. Through real-time analysis of these high-definition images, operators or intelligent systems can quickly detect various hazards on the hull, such as corrosion spots, structural damage, and marine fouling. The precise positioning function, combining visual recognition algorithms and the platform's own positioning system, can accurately pinpoint the specific location and size of defects, providing precise navigation and operational data for subsequent inspection, cleaning, or repair operations performed by the robotic arm module 13, greatly improving operational efficiency and accuracy.

[0065] Example 7 like Figure 9As shown, the intelligent dynamic monitoring and maintenance platform for the bottom of a ship in water according to the present invention is further provided with a baffle frame 19 on the first vertical working module 4 or the second horizontal working module 7 for surrounding all the brush discs or the periphery of the crushing pump 20 on each working module. The baffle frame 19 can prevent the cleaning dirt from splashing and spreading outward. In conjunction with the internal recycling structure, it can prevent dirt from falling into the water and ensure the cleanliness of the aquatic environment.

[0066] During operation, large pieces of debris crushed by the breaker pump 20 are transported to waste collection bins on both sides of the platform via a suction device on the breaker pump 20. The waste collection bins are used to temporarily store the cleaning waste sucked up by the breaker pump, collect the impurities cleaned from the hull, prevent the waste from being directly discharged into the water and causing pollution, and facilitate subsequent unified transfer and disposal.

[0067] In summary, the intelligent dynamic monitoring and maintenance platform and method for ship hulls in water, as described in this invention, utilizes a U-shaped working platform and movable, adjustable working modules to directly monitor and maintain the ship's hull in the water. This eliminates the need for personnel on board, effectively solving the problems of high cost, long cycle time, and high risk of manual labor associated with traditional ship hull maintenance methods. The entire device boasts strong adaptability, flexible and stable operation, and enhanced safety and economy. Furthermore, it provides a complete, standardized, and automated workflow, fully leveraging the functions of each module of the integrated platform to achieve orderly and efficient management of the entire process from positioning, detection, operation to recovery. This significantly improves the overall efficiency, accuracy, and safety of underwater ship hull monitoring and maintenance operations, effectively meeting the practical needs of efficient and precise underwater ship hull operations.

[0068] 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. A comprehensive intelligent dynamic monitoring and maintenance platform for the hull of a ship in water, characterized in that, It includes a U-shaped platform and its matching power system (10). The U-shaped platform includes a U-shaped buoyancy platform (1) and a U-shaped dynamic adjustment operation platform (2) disposed therein. The U-shaped buoyancy platform (1) includes a middle transverse support platform (101) and vertical support platforms (102) disposed on both sides thereon. A vertical space operation module (3) is symmetrically arranged on both sides of the middle horizontal support platform (101) and near the vertical support platform (102). A first vertical working module (4) is installed on the inner wall of the vertical space operation module (3). The intermediate transverse support platform (101) is provided with a transverse slide rail (5), and a transverse working position slider (6) that can slide laterally along the slide rail is installed on the transverse slide rail (5). A second transverse working module (7) is installed on the transverse working position slider (6). The bottom of the vertical space operation module (3) is driven by the horizontal drive device (17) to make the horizontal working position slider (6) slide horizontally along the horizontal slide rail (5) on the intermediate horizontal support platform (101).

2. The integrated intelligent dynamic monitoring and maintenance platform for the hull of a ship in water according to claim 1, characterized in that, The transverse slide rail (5) and the transverse working position slider (6) located on the intermediate transverse support platform (101) are combined in one or more groups; The two sets of vertical space operation modules (3) are located at the left and right ends of the transverse slide rail (5) on the same horizontal line. The two sets of vertical space operation modules (3) are controlled by the control system to work together to achieve omnidirectional adaptive fitting and dynamic attitude compensation of the bottom surface of the ship. The vertical space operation module (3) is either a vertical cornering motion module (301) or an L-shaped horizontal motion module (302).

3. The integrated intelligent dynamic monitoring and maintenance platform for the hull of a ship in water according to claim 2, characterized in that, The bottom of the vertical corner motion module (301) is equipped with a first horizontal drive device (17) that moves laterally along the horizontal slide rail (5). The first horizontal drive device (17) is connected to the control system and drives the vertical corner motion module (301) to move laterally on the intermediate horizontal support platform (101). The outer wall of the vertical cornering motion module (301) is pushed by the first hydraulic device (8) to make cornering motion to the left and right sides of its vertical middle transverse support platform (101); The first vertical working module (4) is installed on the inner wall of the vertical rotation motion module (301); The first hydraulic device (8) is a multi-section hydraulic cylinder mounted on the vertical rotation motion module (301), which can move laterally together with the vertical rotation motion module (301); With the vertical direction perpendicular to the intermediate horizontal support platform (101) as a reference, the vertical rotation motion module (301) drives the first vertical working module (4) to rotate outward.

4. The integrated intelligent dynamic monitoring and maintenance platform for the hull of a ship in water according to claim 2, characterized in that, The intermediate transverse support platform (101) is also provided with a vertical lifting platform (18) arranged parallel to it. The vertical space operation module (3) and the transverse working position slider (6) are both installed on the vertical lifting platform (18). The vertical lifting platform (18) has vertical rails (9) on its left and right side walls, and the vertical support platform (102) has vertical sliders (14) on its inner side wall that match the vertical rails (9); the vertical support platform (102) also has vertical self-locking drive devices (15) that pass through the four corners of the vertical lifting platform (18) on its outer side. The vertical self-locking drive devices (15) drive the vertical lifting platform (18) to move the first vertical working module (4) and the second horizontal working module (7) up and down along the vertical rails (9) in the vertical direction.

5. The integrated intelligent dynamic monitoring and maintenance platform for the hull of a ship in water according to claim 4, characterized in that, The first vertical working module (4) is installed on the inner sidewalls of the two sets of L-shaped horizontal motion modules (302) on the left and right sides of the intermediate horizontal support platform (101). The bottom sliders of the two sets of L-shaped lateral motion modules (302) are located on the same set of lateral slide rails. A third fixed working module (16) is also connected to the intermediate transverse support platform (101) located between the two sets of L-shaped transverse motion modules (302), and guide wheels (11) are symmetrically installed on both sides of the third fixed working module (16). The first vertical working module (4) located on the L-shaped lateral motion module (302) includes a robot arm and a guide wheel (11).

6. The integrated intelligent dynamic monitoring and maintenance platform for the hull of a ship in water according to claim 1, characterized in that, The power system (10) is a multi-set propeller cooperative power system (10), specifically including a main propeller array (1001) located at the bottom of the middle transverse support platform (101), and auxiliary steering propellers (1002) respectively installed on the outside of the vertical support platforms (102) on both sides. The main thruster array (1001) includes at least four thrusters that control the lateral, horizontal, and forward / backward directions respectively, arranged in a rectangular shape, providing overall translational and rotational power for the platform; the auxiliary steering thruster (1002) is a vertically vector-adjustable waterjet thruster, used to enhance the platform's maneuverability and attitude fine-tuning accuracy in the water under the ship; all thrusters are connected to a unified power control unit to achieve adaptive and coordinated control based on real-time hydrological data and operational paths.

7. The integrated intelligent dynamic monitoring and maintenance platform for the hull of a ship in water according to claim 1, characterized in that, The power system (10) is a dual-load semi-submersible vessel power system (10). The upper parts of the vertical support platform (102) are symmetrically equipped with semi-submersible vessels (1003). At least four sets of thrusters that control the lateral, horizontal and forward and backward directions are installed at the bottom of the semi-submersible vessels (1003) to provide buoyancy support and platform stability to the U-shaped platform. The semi-submersible vessels (1003) are kept in sync with the U-shaped buoyancy platform (1) through the DP dynamic positioning system, and work with the U-shaped buoyancy platform (1) to achieve dynamic adjustment of underwater operation posture. The upper platform of the semi-submersible vessel (1003) is rigidly connected to the top plane of the U-shaped buoyancy platform (1) through a connecting structure. The top surface of the semi-submersible vessel (1003) is connected to the top surface of the vertical support platform (102) to form an integral planar structure. The side wall of the semi-submersible vessel (1003) is tightly and sealed to the side wall of the vertical support platform (102) of the U-shaped buoyancy platform (1) to ensure that the overall attitude of the semi-submersible vessel (1003) and the U-shaped buoyancy platform (1) is stable and the load is evenly distributed during operation.

8. The integrated intelligent dynamic monitoring and maintenance platform for the hull of a ship in water according to claim 1, characterized in that, A robotic arm module (13) connected to a second drive device is installed on the first vertical working module (4) or the second horizontal working module (7). The robotic arm module (13) adopts a modular quick-change interface structure. The control system controls the second drive device to drive the robotic arm to work. Alternatively, a cleaning device may be installed on the first vertical working module (4) or the second horizontal working module (7) for cleaning the attachments on the bottom of the ship; the cleaning device may be a brush disc, a cavitation brush disc, or a cavitation nozzle, any one or more of which may be used in combination. Alternatively, guide wheels (11) may be installed on the first vertical working module (4) or the second horizontal working module (7), which can adaptively follow the curved surface of the hull, control the working distance, protect the hull, assist the working platform in walking, and reduce frictional resistance.

9. The integrated intelligent dynamic monitoring and maintenance platform for the hull of a ship in water according to claim 1, characterized in that, The first vertical working module (4) or the second horizontal working module (7) is equipped with a detection module (12), which specifically includes a camera, a sonar and a magnetic detector, to realize all-round scanning detection of the ship's surface, has flexible movement capability, can reach complex parts of the ship's hull, and realize high-precision detection. The first vertical working module (4) or the second horizontal working module (7) is also provided with a enclosure frame (19) for surrounding all the brush discs or the crushing pump (20) on each working module. The enclosure frame (19) is used to block the cleaning dirt from splashing outward and, together with its internal recycling structure, prevents the dirt from falling into the water.

10. A method for using an intelligent dynamic monitoring and maintenance integrated platform for the hull of a ship in water according to any one of claims 1-9, characterized in that, Including the following: Before the operation, the platform is moved directly below the ship to be inspected. The U-shaped buoyancy platform (1) is precisely hovered and its attitude is adjusted by the DP dynamic positioning system so that the first vertical working module (4) and the second horizontal working module (7) are lowered synchronously. The guide wheel (11) first contacts the curved surface of the ship bottom and adjusts its adaptive fit with the bottom of the ship through the vertical space operation module (3). During the operation, the operation module performs dynamic and continuous operations from the bow to the stern of the ship's bottom. After the operation is completed, the robotic arm returns to its initial position, the guide wheel (11) retracts, and the power system (10) adjusts to make the platform detach from the bottom of the ship's hull and sail to a safe area to complete the recovery.

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