Boat bottom underwater cleaning robot

Abstract

The utility model relates to a ship bottom underwater cleaning robot, which belongs to the technical field of underwater operation robots, in particular to the technical field of attitude control of underwater robots, and comprises a rack, a sliding plate, an auxiliary driving wheel, a pitching frame, a main driving wheel, a cavitation jet cleaning disc, a front camera, a rear camera, a vertical propeller, a horizontal propeller, an electric control cabin and an umbilical cable, through the horizontal propeller, the vertical propeller, the sliding plate, the main driving wheel, the auxiliary driving wheel, the controller, the direction instrument and the attitude sensor, the robot can be attached to the bottom of a ship, walk on the complex surface of the bottom of the ship, and stably walk on a steep wall, an uneven surface or a curved surface; ship attachments cleaned by the cavitation jet cleaning disc fall down from the cleaning window, the sliding plate attached to the ship body prevents the cleaning objects from flying around, the cleaning objects are collected in the stock bin to avoid water pollution, and it is guaranteed that camera shooting is clear and not affected.

Description

Technical Field

[0001] The utility model belongs to the technical field of underwater operation robots. Background Art

[0002] After the ship is launched, during the period in the port, barnacles and shells attach and grow on the bottom of the ship, increasing the weight of the ship, slowing down the speed, consuming a lot of energy, and corrosive to the hull, which needs to be cleaned regularly. There are three main ways to clean it. The first is to go to the repair shop and clean it with a high-pressure water gun in the dock, which is costly and time-consuming. The second is for divers to go into the water and clean it with high-pressure jets, which is not efficient, has a high risk of operation, and has limited operating positions. The third is underwater robot cavitation jet cleaning, which is a new technology and a new method and is not widely used. The main reason is that there are many technical difficulties. First, the bottom of the ship is complex, with planes, curved surfaces, vertical surfaces, bow spherical surfaces, stern wavy concave surfaces, bilge keels on both sides, and concave and convex drain hole covers. Existing robots can only clean planes and curved surfaces with small curvature, and they mostly clean on the side of the ship. Second, the cleaning materials are scattered in the water during the cleaning process, making the water turbid, and the camera system cannot see the bottom of the ship clearly. At the same time, the diffused cleaning materials damage the propeller. Third, the cleaning materials cannot be collected, which pollutes the working environment. Utility Model Content

[0003] In order to solve the deficiencies of the prior art, the utility model provides an underwater ship bottom cleaning robot, the movement posture of which can adapt to the complex surface of the ship bottom.

[0004] The utility model comprises a ship bottom underwater cleaning robot comprising a frame, a slide plate, an auxiliary driving wheel, a pitching frame, a main driving wheel, a cavitation jet cleaning disc, a front camera, a rear camera, a vertical thruster, a horizontal thruster, an electric control cabin, and an umbilical cable. The slide plate is mounted on the top of the frame, a downwardly inclined slope is arranged around the slide plate, a cleaning window is opened in the middle of the slide plate, the auxiliary driving wheel is mounted on the front end of the frame, and its height position is lower than the top surface of the slide plate and higher than the bottom edge of the inclined surface at the front end of the slide plate. There are two pitching frames, and the two pitching frames are mounted on the left and right sides of the rear end of the frame in an up-and-down floating manner. There are two main driving wheels, which are respectively mounted on the two pitching frames. When the pitching frames float upward, the main driving wheels mounted on the pitching frames are higher than the top surface of the slide plate. When the pitching frames float downward, the main driving wheels mounted on the pitching frames can be lower than the top surface of the slide plate. The cavitation jet cleaning disc is mounted in the middle of the frame, and the upper part of the cavitation jet cleaning disc is directly opposite to the cleaning window of the slide plate. The front camera is mounted on the front end of the frame, and the rear camera is mounted on the rear end of the frame. There are at least four thrusters, all of which are installed vertically upward and are used to push the underwater cleaning robot for the bottom of the ship in the up and down directions. One thruster is installed on each of the two pitch frames, and the other two are installed at the front end of the frame. There are at least two horizontal thrusters, which are arranged in the horizontal direction and are used to push the underwater cleaning robot for the bottom of the ship in the front, back, left and right directions. A controller, a compass and a posture sensor are installed in the electric control cabin. The posture sensor is used to measure the pitch and roll posture of the underwater cleaning robot for the bottom of the ship. The compass is used to measure the movement direction of the underwater cleaning robot for the bottom of the ship. The controller is used to collect and record the images of the front camera and the rear camera, receive the data of the compass and the posture sensor and the operation instructions of the computer on the shore, and control the operation of the auxiliary drive wheel, the main drive wheel, the vertical thruster and the horizontal thruster. The umbilical cable includes a communication cable, a power supply cable and a high-pressure hose. The communication cable is connected between the computer on the shore and the controller. The power supply cable is used to power the underwater cleaning robot for the bottom of the ship. The high-pressure hose is connected between the cavitation jet cleaning disk and the high-pressure water source on the shore to provide high-pressure water flow to the cavitation jet cleaning disk.

[0005] Furthermore, a silo is provided in the frame, the cleaning window on the slide plate is the silo feed port, and an electric unloading door is provided at the bottom of the silo, thereby realizing the collection of the cleaning objects and avoiding operation pollution.

[0006] Furthermore, the pitch frame realizes the upper limit and lower limit of the pitch height through the upper limit block and the lower limit block installed on the frame.

[0007] Furthermore, a plurality of universal balls are installed on the skateboard, and the ball tops of the plurality of universal balls constitute the top surface of the skateboard.

[0008] Furthermore, rollers are installed at the bottom of the frame for the robot to move on the ground.

[0009] Before the underwater cleaning robot can start cleaning, it needs to sail from the water surface to the side of the ship and attach itself to the ship's wall.

[0010] The utility model provides a posture control method for the underwater cleaning robot for the bottom of a ship to be attached to the ship wall from the water surface: the horizontal propeller is controlled to thrust forward, and the vertical propeller installed at the front end of the frame thrusts downward to realize the underwater cleaning robot for the bottom of the ship to sail with its head down, a posture sensor detects the angle of the head down, adjusts the thrust of the vertical propeller, controls the head down angle of the underwater cleaning robot for the bottom of the ship to be between 15° and 30°, and after sailing to contact with the ship wall, controls the auxiliary driving wheel to move downward, and the underwater cleaning robot for the bottom of the ship dives along the ship wall with its head down under the push of the horizontal propeller and the auxiliary driving wheel, and when the posture sensor detects that the head down angle is greater than 60°, all the vertical propeller thrusts are upward to push the underwater cleaning robot for the bottom of the ship to be attached to the ship wall, and at this time, the underwater cleaning robot for the bottom of the ship is supported on the ship wall by the top surface of the slide plate and the main driving wheel.

[0011] The underwater cleaning robot for the bottom of the ship is attached to the ship wall, keeping the thrust of the vertical propeller upward. The high-pressure pump on the shore supplies water to the high-pressure hose, and the high-pressure water is transported to the cavitation jet cleaning disk to clean the bottom of the ship. When the robot moves forward, the horizontal propeller thrusts forward, and the two main drive wheels push the underwater cleaning robot for the bottom of the ship forward along the bottom of the ship. The direction indicator sends direction data to the controller in real time. When the direction of movement deviates, the two main drive wheels are controlled to move differentially to correct the direction of movement. When the speed of the right main drive wheel is greater than that of the left main drive wheel, the robot turns left, otherwise it turns right. When encountering a steep downward slope When the robot is approaching a steep wall, the auxiliary driving wheel is controlled to move downward, driving the robot to move downward along the steep wall; when the robot moves backward, the horizontal propeller thrusts backward, and the two main driving wheels push the ship bottom underwater cleaning robot backward along the ship bottom. The direction indicator sends direction data to the controller in real time. When the movement direction deviates, the two main driving wheels are controlled to move differentially to correct the movement direction. When the speed of the right main driving wheel is greater than that of the left main driving wheel, the robot turns left, and vice versa. When the robot walks on uneven or large curved surfaces, the main driving wheels compensate for the height difference of the curved surface through the pitch frame, and the fit between the skateboard and the hull is not affected by the height difference.

[0012] The utility model realizes that the underwater cleaning robot for ship bottom is attached to the ship bottom through horizontal thrusters, vertical thrusters, slide plates, main driving wheels, auxiliary driving wheels, controllers, direction indicators and attitude sensors, and can stably walk on the complex surface of the ship bottom, such as steep walls, uneven surfaces or curved surfaces; the ship attachments cleaned by the cavitation jet cleaning disc fall from the cleaning window, and the slide plates fitted with the ship body block the flying of the cleaning objects, and the cleaning objects are collected in the silo to avoid water pollution, thereby ensuring that the camera is clear and not affected. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1It is a structural diagram of an embodiment of the utility model of the underwater ship bottom cleaning robot.

[0014] Figure 2 yes Figure 1 Left view of .

[0015] Figure 3 yes Figure 1 Right view of .

[0016] Figure 4 yes Figure 1 Top view of the .

[0017] Figure 5 yes Figure 1 Bottom view of .

[0018] Figure 6 yes Figure 5 View after the discharge door is opened.

[0019] Figure 7 yes Figure 5 Sectional view along line AA.

[0020] Figure 8 yes Figure 5 Sectional view along line BB.

[0021] Fig. 9 yes Figure 1 Structural diagram of the middle skateboard.

[0022] Fig.10 yes Fig. 9 Cross-sectional view along line CC.

[0023] Fig.11 It is a view of the underwater cleaning robot climbing a vertical plane in the forward direction of the ship bottom.

[0024] Fig.12 This is a view of the ship bottom underwater cleaning robot climbing a vertical surface in the backward direction.

[0025] Fig.13 This is a view of a ship bottom underwater cleaning robot walking on a curved surface.

[0026] Figure numerals: 1. frame; 2. skateboard; 3. vertical thruster; 4. auxiliary drive wheel; 5. front wall switch; 6. horizontal thruster; 7. roller; 8. umbilical cable; 9. pitch frame; 10. main drive wheel; 13. rear camera; 14. front camera; 15. cavitation jet cleaning disc; 16. unloading door; 17. motor; 18. electric control cabin; 19. buoyancy cabin; 20. silo; 21. high-pressure hose; 23. cleaning window; 25. lower limit block; 26. upper limit block; 27. universal ball. Implementation

[0027] Figures 1 to 10The utility model shows an embodiment of the underwater cleaning robot for the bottom of a ship, comprising a frame 1, a slide plate 2, an auxiliary driving wheel 4, a pitch frame 9, a main driving wheel 10, a cavitation jet cleaning disc 15, a front camera 14, a rear camera 13, a vertical thruster 3, a horizontal thruster 6, an electric control cabin 18, and an umbilical cable 8. The slide plate 2 is mounted on the top of the frame 1, and a downward inclined surface is arranged around the slide plate 2, and the angle between the inclined surface and the top surface of the slide plate is less than 60 degrees. A cleaning window 23 is provided in the middle of the slide plate 2, and the auxiliary driving wheel 4 is mounted on the front end of the frame 1, and the height position of the auxiliary driving wheel 4 is lower than the top surface of the slide plate and higher than the bottom edge of the inclined surface at the front end of the slide plate. There are two pitch frames 9, and the two pitch frames 9 are mounted on the left and right sides of the rear end of the frame 1 in an up-and-down floating manner. An upper limit block 26 is installed on the frame 1. And the lower limit block 25, the upper limit block 26 is used for the limit of the upward floating of the pitch frame 9, the lower limit block 25 is used for the limit of the downward floating of the pitch frame 9, there are two main drive wheels 10, which are respectively installed on the two pitch frames 9, when the pitch frame 9 floats upward to the limit, the main drive wheel installed on the pitch frame is 60mm higher than the top surface of the skateboard 2, when the pitch frame floats downward to the limit, the main drive wheel installed on the pitch frame is 60mm lower than the top surface of the skateboard, the cavitation jet cleaning disc 15 can be purchased directly on the market, and 2 to 3 jet nozzles are eccentrically installed on the rotary joint, and the injection reaction force generates a rotational torque to realize the rotary jet cleaning operation. In the embodiment, there are two cavitation jet cleaning discs 15, which are installed in the middle of the frame 1, and the upper part of the cavitation jet cleaning disc 15 The cleaning window 23 of the slide 2 is directly opposite to the cleaning window 23 of the slide 2. During installation, the jet nozzle port of the cavitation jet cleaning disk is 25 mm away from the top surface of the slide. The front camera 14 is installed at the front end of the frame 1, and the rear camera 13 is installed at the rear end of the frame. There are four vertical thrusters 3, all of which are installed vertically upward. A vertical thruster 3 is installed on each of the two pitch frames 9, and the other two vertical thrusters 3 are installed on the left and right sides of the front of the frame 1 respectively. The horizontal thrusters 6 are arranged in the horizontal direction, and the number is 2, which are installed at the front end of the frame 1. The vertical thrusters 3 and the horizontal thrusters 6 are both ROV forward and reverse thrusters with built-in drives. An electric control cabin 18 is installed in the frame 1, and a controller and an inertial navigation module are installed in the electric control cabin 18. The inertial navigation module has the functions of a compass and an attitude sensor. It is used to measure the direction, pitch and roll posture of the ship bottom underwater cleaning robot. The controller is used to collect and record the images of the front camera 14 and the rear camera 13, receive the data of the inertial navigation module and the operation instructions of the shore computer, and control the operation of the auxiliary drive wheel 4, the main drive wheel 10, the vertical thruster 3, and the horizontal thruster 6, so as to realize the movement of the ship bottom underwater cleaning robot along the bottom of the ship according to the set cleaning path. The umbilical cable 8 includes a communication cable, a power supply cable and a high-pressure hose 21. The communication cable is connected between the shore computer and the controller in the electric control cabin 18 to realize the shore control of the robot. The power supply cable is used to power the ship bottom underwater cleaning robot. The high-pressure hose 21 is connected between the cavitation jet cleaning disk 15 and the shore high-pressure water source to provide high-pressure water flow to the cavitation jet cleaning disk.

[0028] The pitch frame 9, the vertical thruster 3 and the main drive wheel 10 installed thereon are formed as a component, which has weak positive buoyancy, and the positive buoyancy is preferably between 5N and 15N. A buoyancy chamber 19 is installed in the frame 1, and the buoyancy chamber 19 can be multiple for increasing buoyancy. The bottom underwater cleaning robot has weak positive buoyancy as a whole, and the positive buoyancy is preferably between 15N and 30N.

[0029] A silo 20 is provided in the frame 1, a cleaning window 23 on the slide plate 2 is a silo feed port, a discharge door 16 is provided at the bottom of the silo 20, and the discharge door 16 is opened and closed by a motor 17, thereby collecting the cleaning objects and avoiding operation pollution.

[0030] A plurality of universal balls 27 are mounted on the slide plate 2, and the ball tops of the plurality of universal balls 27 constitute the top surface of the slide plate.

[0031] The roller 7 is installed at the bottom of the frame and is used for the robot to move on the ground or go into water along the slide.

[0032] Fig.11 It shows the state of the ship bottom underwater cleaning robot climbing a vertical surface in the forward direction. When the main driving wheel 10 and the horizontal propeller 6 push forward, the auxiliary driving wheel 4 is pressed against the vertical surface, and the auxiliary driving wheel 4 rotates to climb along the vertical surface.

[0033] Fig.12 The figure shows the state of the ship bottom underwater cleaning robot climbing a vertical surface in the backward direction. When the horizontal propeller 6 pushes backward, the main driving wheel 10 is pressed against the vertical surface, and the main driving wheel 10 rotates to climb along the vertical surface.

[0034] Fig.13 The figure shows the state of the ship bottom underwater cleaning robot walking on the curved surface. The pitch of the pitch frame 9 realizes the height adjustment of the main driving wheel 10 to compensate for the height difference of the curved surface. The slide plate 2 is stably supported on the cleaning part of the curved surface. The slide plate 2 does not tilt due to the unevenness of the curved surface, ensuring the height of the cavitation jet cleaning disc 15 from the cleaning surface. At the same time, it can prevent the robot from tilting and yawing due to the curved surface.

Claims

1. Underwater cleaning robot for ship bottom, characterized by: The invention comprises a frame, a skateboard, an auxiliary driving wheel, a pitch frame, a main driving wheel, a cavitation jet cleaning disk, a front camera, a rear camera, a vertical thruster, a horizontal thruster, an electric control cabin and an umbilical cable. The skateboard is mounted on the top of the frame, a downward inclined surface is arranged around the skateboard, a cleaning window is opened in the middle of the skateboard, the auxiliary driving wheel is mounted on the front end of the frame, and its height position is lower than the top surface of the skateboard and higher than the bottom edge of the inclined surface at the front end of the skateboard. There are two pitch frames, and the two pitch frames are mounted on the left and right sides of the rear end of the frame in an up-and-down floating manner. There are two main driving wheels, which are respectively mounted on the two pitch frames. When the pitch frames float upward, the main driving wheels mounted on the pitch frames are higher than the top surface of the skateboard. When the pitch frames float downward, the main driving wheels mounted on the pitch frames can be lower than the top surface of the skateboard. The cavitation jet cleaning disk is mounted in the middle of the frame, and the upper part of the cavitation jet cleaning disk is directly opposite to the cleaning window of the skateboard. The front camera is mounted on the front end of the frame, and the rear camera is mounted on the rear end of the frame. There are at least four vertical thrusters, all of which are It is installed vertically upward and is used to push the underwater cleaning machine for the bottom of the ship in the up and down directions. One is installed on each of the two pitch frames, and the other two are installed at the front end of the frame. There are at least two horizontal thrusters, which are arranged in the horizontal direction and are used to push the underwater cleaning robot for the bottom of the ship in the front, back, left and right directions. The electric control cabin is equipped with a controller, a compass and a posture sensor. The posture sensor is used to measure the pitch and roll posture of the underwater cleaning robot for the bottom of the ship. The compass is used to measure the movement direction of the underwater cleaning robot for the bottom of the ship. The controller is used to collect and record the images of the front camera and the rear camera, receive the data of the compass and the posture sensor and the operation instructions of the computer on the shore, and control the operation of the auxiliary drive wheel, the main drive wheel, the vertical thruster and the horizontal thruster. The umbilical cable includes a communication cable, a power supply cable and a high-pressure hose. The communication cable is connected between the computer on the shore and the controller. The power supply cable is used to power the underwater cleaning robot for the bottom of the ship. The high-pressure hose is connected between the cavitation jet cleaning disk and the high-pressure water source on the shore to provide high-pressure water flow to the cavitation jet cleaning disk.

2. The underwater cleaning robot for ship bottom according to claim 1, characterized in that: A silo is arranged in the frame, the cleaning window on the slide plate is the silo feed port, and an electric unloading door is arranged at the bottom of the silo.

3. The underwater ship bottom cleaning robot according to claim 1 or 2, characterized in that: The pitch frame realizes the upper limit and lower limit of the pitch height through the upper limit block and the lower limit block installed on the frame.

4. The underwater ship bottom cleaning robot according to claim 1 or 2, characterized in that: A plurality of universal balls are installed on the slide board, and the ball tops of the plurality of universal balls constitute the top surface of the slide board.

5. The underwater ship bottom cleaning robot according to claim 4, characterized in that: Rollers are installed at the bottom of the frame for the robot to move on the ground.

6. The underwater ship bottom cleaning robot according to claim 4, characterized in that: The pitch frame, the vertical propeller and the main driving wheel installed thereon are formed as a component, and the component has a positive buoyancy of 5N to 15N. The overall positive buoyancy of the ship bottom underwater cleaning robot is 15N to 30N.

7. The underwater ship bottom cleaning robot according to claim 5, characterized in that: The pitch frame, the vertical propeller and the main driving wheel installed thereon are formed as a component, and the component has a positive buoyancy of 5N to 15N. The overall positive buoyancy of the ship bottom underwater cleaning robot is 15N to 30N.

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