Hull surface cleaning robot

Abstract

The utility model discloses a hull surface cleaning robot which comprises a walking unit and at least one cleaning unit, and the walking unit is used for climbing and walking along the surface of a hull; each cleaning unit is arranged on the walking unit and comprises a spray-washing part and a detection part, the inlet end of each spray-washing part is communicated with a water source, the outlet end of each spray-washing part faces the surface of a ship body so as to spray cleaning liquid to the surface of the ship body, the outlet end of each spray-washing part can be opened or closed, and the detection end of each detection part faces the surface of the ship body so as to spray cleaning liquid to the surface of the ship body. The device is used for detecting dirt on the hull surface. The ship body cleaning device has the advantages that in the cleaning process, the surface of a ship body cannot be damaged, the dirt distribution condition can be distinguished, the positions, where dirt exists, of the surface of the ship body are washed, the positions, where no dirt exists, of the surface of the ship body are not washed, precise cleaning is achieved, cleaning liquid and energy are saved, and the cleaning time is shortened.

Description

Technical Field

[0001] The utility model relates to the technical field of ship cleaning, in particular to a ship hull surface cleaning robot. Background Art

[0002] When a ship is sailing in the ocean, dirt will inevitably adhere to its hull surface. Therefore, it is very necessary to clean the hull surface regularly.

[0003] With the development of science and technology, automated and intelligent cleaning equipment has begun to be used in the field of hull cleaning. Existing hull cleaning devices (such as a hull cleaning device disclosed in application number CN201811447167.7) use a brushing and full coverage cleaning method. During the cleaning process, the bristles are likely to damage the hull surface. In addition, full coverage cleaning does not distinguish the distribution of dirt, which is likely to cause waste of cleaning fluid and energy, and also leads to excessive cleaning time. Utility Model Content

[0004] The purpose of the utility model is to overcome the above-mentioned technical deficiencies and propose a hull surface cleaning robot to solve the technical problem that the prior art adopts a method of brushing and full coverage cleaning, the bristles of the brush are likely to cause damage to the hull surface, and the distribution of dirt is not distinguished, which is likely to cause waste of cleaning fluid and energy and also leads to excessively long cleaning time.

[0005] In order to achieve the above technical objectives, the technical solution of the utility model provides a hull surface cleaning robot, comprising:

[0006] A walking unit, used for climbing along the surface of the hull;

[0007] At least one cleaning unit is arranged on the walking unit, and includes a spraying component and a detecting component. The inlet end of the spraying component is connected to a water source, and the outlet end faces the surface of the hull so as to spray cleaning liquid onto the surface of the hull. The outlet end of the spraying component can be opened or closed, and the detecting end of the detecting component faces the surface of the hull so as to detect dirt on the surface of the hull.

[0008] Furthermore, the walking unit includes a mounting frame, two adsorption members, two walking tracks and a driving assembly. The two adsorption members are relatively fixed on both sides of the mounting frame for adsorption on the surface of the hull. The two walking tracks are closed belts and are relatively arranged on both sides of the mounting frame. The driving assembly is connected to the two walking tracks for driving the two walking tracks to synchronously perform circular reciprocating motion.

[0009] Furthermore, the adsorption element is a permanent magnet.

[0010] Furthermore, the cleaning unit also includes a frame, the spray cleaning component and the detection component are both arranged on the frame, and each of the frames is arranged on the mounting frame.

[0011] Furthermore, at least one installation station is provided on the installation frame, and each of the frames can be detachably fixed in the corresponding installation station.

[0012] Furthermore, the spray cleaning component is at least one spray head.

[0013] Furthermore, the detection component is at least one laser radar, and the number of the laser radars is equal to the number of the nozzles, so as to detect dirt on the hull surface at the corresponding nozzles.

[0014] Furthermore, each of the nozzles and each of the laser radars are arranged alternately and in a circular direction.

[0015] Furthermore, the cleaning units are distributed in a rectangular array structure.

[0016] Furthermore, the hull surface cleaning robot also includes a control unit, which is electrically connected to the walking unit, each of the detection components and each of the spraying components, and is used to control the start and stop of the walking unit, collect and process the detection data of each of the detection components, and control the opening or closing of each of the spraying components.

[0017] Compared with the prior art, the beneficial effects of the utility model include: when in use, the robot is adsorbed on the surface of the hull, and the walking unit is controlled so that the walking unit can bring the robot to any position on the surface of the hull, and each detection component detects dirt on the surface of the hull. When the detection component detects dirt on the surface of the hull, the spray component is turned on and the cleaning fluid is sprayed to flush the dirt. When the dirt is cleared, the spray component is turned off. As the robot continues to move, the detection component can detect dirt at any position on the surface of the hull, and the dirt at any position on the surface of the hull is cleaned by the spray component. During the cleaning process, the surface of the hull will not be damaged, and the distribution of dirt can be distinguished. The places on the surface of the hull where there is dirt are flushed, and the places where there is no dirt are not flushed, thereby achieving precise cleaning, saving cleaning fluid and energy, and reducing cleaning time. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a front view of a hull surface cleaning robot provided by the utility model;

[0019] Figure 2 yes Figure 1 A side view of a hull surface cleaning robot;

[0020] Figure 3 yes Figure 1A schematic structural diagram of a cleaning unit of a hull surface cleaning robot;

[0021] Figure 4 This is a schematic diagram of the working process of a hull surface cleaning robot provided by the utility model;

[0022] In the figure: 100 - walking unit, 110 - mounting frame, 111 - mounting station, 120 - adsorption component, 130 - walking track, 200 - cleaning unit, 210 - spray cleaning component, 220 - detection component, 230 - frame. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solution and advantages of the utility model more clear, the utility model is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the utility model and are not used to limit the utility model.

[0024] The utility model provides a hull surface cleaning robot, the structure of which is as follows Figure 1 As shown, it includes a walking unit 100 and at least one cleaning unit 200, and the walking unit 100 is used to climb the wall along the surface of the hull; each of the cleaning units 200 is arranged on the walking unit 100, and includes a spraying component 210 and a detection component 220, the inlet end of the spraying component 210 is connected to the water source, and the outlet end faces the hull surface to spray cleaning liquid onto the hull surface, the outlet end of the spraying component 210 can be opened or closed, and the detection end of the detection component 220 faces the hull surface to detect dirt on the hull surface.

[0025] When in use, the robot is adsorbed on the surface of the hull, and the walking unit 100 is controlled so that the walking unit 100 can bring the robot to any position on the surface of the hull. Each of the detection components 220 detects dirt on the surface of the hull. When the detection component 220 detects dirt on the surface of the hull, the spray component 210 is turned on to spray cleaning fluid to wash away the dirt. When the dirt is removed, the spray component 210 is turned off. As the robot continues to move, the detection component 220 can detect dirt at any position on the surface of the hull, and the dirt at any position on the surface of the hull can be cleaned by the spray component 210. During the cleaning process, the surface of the hull will not be damaged, and the distribution of dirt can be distinguished. The places on the surface of the hull where there is dirt are washed, and the places where there is no dirt are not washed, thereby achieving precise cleaning, saving cleaning fluid and energy, and reducing cleaning time.

[0026] As a preferred embodiment, please refer to Figure 1 and Figure 2The walking unit 100 includes a mounting frame 110, two adsorption members 120, two walking tracks 130 and a driving assembly. The two adsorption members 120 are relatively fixed on both sides of the mounting frame 110 for adsorption on the surface of the hull. The two walking tracks 130 are closed belts and are relatively arranged on both sides of the mounting frame 110. The driving assembly is connected to the two walking tracks 130 for driving the two walking tracks 130 to synchronously perform circular reciprocating motion. Through the two adsorption members 120, the robot can be adsorbed on the surface of the hull to prevent the robot from falling. By manipulating the driving assembly, the driving assembly can drive the two walking tracks 130 to synchronously perform circular reciprocating motion, thereby driving the robot to move.

[0027] As a preferred embodiment, the adsorption member 120 is a permanent magnet. Since the hull is made of iron, the permanent magnet can generate magnetic attraction with the hull to achieve adsorption.

[0028] As a preferred embodiment, please refer to Figure 1 and Figure 3 The cleaning unit 200 also includes a frame 230, and the spray cleaning component 210 and the detection component 220 are both arranged on the frame 230. Each of the frames 230 is arranged on the mounting frame 110. The spray cleaning component 210 and the detection component 220 can be supported by the frame 230 to achieve modularization, so that the robot can adapt to hulls of different types and sizes, thereby improving the applicability of the robot.

[0029] As a preferred embodiment, please refer to Figure 1 At least one installation station 111 is provided on the installation frame 110, and each of the frames 230 is detachably fixed in the corresponding installation station 111. When the spraying component 210 and the detecting component 220 in one of the cleaning units 200 are damaged, the use of the spraying components 210 and the detecting components 220 in other cleaning units 200 is not affected, and the spraying components 210 and the detecting components 220 in each of the installation stations 111 can be easily replaced.

[0030] As a preferred embodiment, the spray cleaning component 210 is at least one nozzle for spraying cleaning liquid. The nozzle is a high-pressure nozzle or a steam nozzle, and a suitable cleaning medium is selected according to different cleaning requirements.

[0031] As a preferred embodiment, please refer to Figure 3The detection element 220 is at least one laser radar, and the number of the laser radars is equal to the number of the nozzles, so as to detect dirt on the surface of the hull at the corresponding nozzles. The laser radar technology is gradually applied to various detection and measurement fields due to its high precision and high resolution. The laser radar can accurately measure the distance and shape of the surface of an object by emitting a laser beam and receiving its reflected signal, thereby generating a high-precision three-dimensional image.

[0032] As a preferred embodiment, please refer to Figure 3 The nozzles and laser radars are arranged alternately and circumferentially to increase the radiation range of dirt on the surface of the hull.

[0033] As a preferred embodiment, please refer to Figure 1 The cleaning units 200 are distributed in a rectangular array structure, which reduces the size of the robot and increases the detection and flushing radiation range of the robot.

[0034] As a preferred embodiment, please refer to Figure 4 The hull surface cleaning robot also includes a control unit, which is electrically connected to the walking unit 100, each of the detection components 220 and each of the spraying components 210, and is used to control the start and stop of the walking unit 100, collect and process the detection data of each of the detection components 220, and control the opening or closing of each of the spraying components 210 to realize intelligent cleaning of dirt on the hull surface.

[0035] As a preferred embodiment, please refer to Figure 4The control unit includes a console, a data processing module and a control module. The console is electrically connected to the drive assembly to control the start and stop of the drive assembly. The data processing module is electrically connected to each of the laser radars to collect and process the detection data of each of the laser radars and issue instructions. The control module is electrically connected to each of the nozzles to receive instructions from the data processing module and control the opening or closing of each of the nozzles. The robot is adsorbed on the surface of the hull through the adsorption member 120. By manipulating the console, the drive assembly is turned on. The drive assembly can drive the two walking tracks 130 to perform circular reciprocating motion synchronously to bring the robot to any position on the surface of the hull. Each of the laser radars is electrically connected to the surface of the hull. The dirt on the surface of the hull is detected, and the irregular protrusions on the surface of the hull are detected. The data processing module collects and processes the detection data of each laser radar, determines where the dirt exists according to the algorithm, and sends instructions to the control module. The control module receives the opening instruction and controls the opening of the corresponding nozzle to spray cleaning fluid to flush the dirt. When the dirt is displayed to be cleared, the control module receives the closing instruction and controls the closing of the corresponding nozzle. As the robot continues to move, the laser radar can detect dirt at any position on the surface of the hull, and clean the dirt at any position on the surface of the hull through the nozzle. When the dirt on the entire hull is cleaned, the console controls the robot to return to the starting point, removes the robot, and ends the cleaning work.

[0036] As a preferred embodiment, the control unit further includes an image processing module, which is electrically connected to each of the laser radars and is used to display the detection images of each of the laser radars.

[0037] As a preferred embodiment, the detection element 220 may also be at least one ultrasonic sensor, through which dirt on the surface of the hull can be detected, and the data processing and control process of the laser radar is applicable to the ultrasonic sensor.

[0038] As a preferred embodiment, in actual use scenarios, the robot can be installed in a dry dock, a floating dock or the ship itself, which not only greatly reduces manual intervention and operation time, but also can efficiently clean the hull in the dock, reduce cleaning time, save cleaning fluid, and thus improve the utilization rate of the dock and the operating efficiency of the ship, and realize an efficient and environmentally friendly cleaning process. Since the cleaning of the underwater part of the ship is usually carried out in the dock, it is called dry dock cleaning. A dry dock is a specially designed facility for the maintenance and repair of ships. The ship is guided into the dry dock, and then the water in the dry dock is drained to expose the entire hull so that the hull can be inspected, repaired and cleaned. The whole process can not only remove the dirt on the hull, but also maintain other key parts of the hull, such as propellers, rudders and ballast tanks. However, the use of dry docks has time and economic costs. Each use of dry dock takes up a lot of time and resources, including arranging ship docking, drainage, cleaning, overhaul and re-launching. In addition, while the dock is occupied, other ships that need maintenance must wait, resulting in tight dock resources and complex scheduling. Therefore, improving dry dock cleaning efficiency, reducing cleaning time and reducing cleaning costs are important needs of the ship maintenance industry.

[0039] In order to better understand the present invention, the following Figure 1 - Figure 4 The working principle of the technical solution of the utility model is described in detail:

[0040] When in use, the robot is adsorbed on the surface of the hull, and the driving component is turned on by manipulating the console. The driving component can drive the two walking tracks 130 to synchronously perform circular reciprocating motion to bring the robot to any position on the surface of the hull. Each of the laser radars detects dirt on the surface of the hull and detects irregular protrusions on the surface of the hull. The data processing module collects and processes the detection data of each of the laser radars, determines where the dirt exists according to the algorithm, and sends instructions to the control module. The control module receives the start-up instruction and controls the opening of the corresponding nozzle to spray cleaning fluid to flush the dirt. When the dirt is shown to be cleared, When the control module receives the closing command, it will control the closing of the corresponding nozzle. As the robot continues to move, the laser radar can detect dirt at any position on the surface of the hull and clean the dirt at any position on the surface of the hull through the nozzle. When the dirt on the entire hull is cleaned, the console controls the robot to return to the starting point, removes the robot, and ends the cleaning work. During the cleaning process, the hull surface will not be damaged, and the distribution of dirt can be distinguished. The places where there is dirt on the hull surface are rinsed, and the places where there is no dirt are not rinsed, thereby achieving precise cleaning, saving cleaning fluid and energy, and reducing cleaning time.

[0041] The hull surface cleaning robot provided by the utility model has the following beneficial effects:

[0042] (1) It realizes intelligent cleaning of dirt on the hull surface with a high degree of automation, reduces dependence on manual operation, and reduces labor costs and operational difficulty;

[0043] (2) The laser radar is used for detecting dirt on the hull surface, which can accurately detect small changes on the hull surface, identify the location of dirt and biological attachment, and transmit the data to the data processing module for analysis and processing. Combined with the intelligent algorithm, it can achieve precise control of the nozzle and perform spot cleaning only on the area that needs to be cleaned, thereby greatly improving the cleaning efficiency and the effect of removing attachments on the hull surface;

[0044] (3) During the cleaning process, the hull surface will not be damaged, and the distribution of dirt can be distinguished. The places where there is dirt on the hull surface are flushed, and the places where there is no dirt are not flushed, thus achieving precise cleaning and saving cleaning fluid and energy.

[0045] The specific implementation methods of the utility model described above do not constitute a limitation on the protection scope of the utility model. Any other corresponding changes and modifications made according to the technical concept of the utility model should be included in the protection scope of the claims of the utility model.

Claims

1. A hull surface cleaning robot, characterized in that: include: A walking unit, used for climbing along the surface of the hull; At least one cleaning unit is arranged on the walking unit, and includes a spraying component and a detecting component. The inlet end of the spraying component is connected to a water source, and the outlet end faces the surface of the hull so as to spray cleaning liquid onto the surface of the hull. The outlet end of the spraying component can be opened or closed, and the detecting end of the detecting component faces the surface of the hull so as to detect dirt on the surface of the hull.

2. The hull surface cleaning robot according to claim 1, characterized in that: The walking unit includes a mounting frame, two adsorption members, two walking tracks and a driving assembly. The two adsorption members are relatively fixed on both sides of the mounting frame for adsorption on the surface of the hull. The two walking tracks are closed belts and are relatively arranged on both sides of the mounting frame. The driving assembly is connected to the two walking tracks for driving the two walking tracks to synchronously perform circular reciprocating motion.

3. The hull surface cleaning robot according to claim 2, characterized in that: The adsorption element is a permanent magnet.

4. The hull surface cleaning robot according to claim 2, characterized in that: The cleaning unit further comprises a frame, the spray cleaning component and the detection component are both arranged on the frame, and each of the frames is arranged on the mounting frame.

5. The hull surface cleaning robot according to claim 4, characterized in that: At least one installation station is provided on the installation frame, and each of the frames can be detachably fixed in the corresponding installation station.

6. The ship surface cleaning robot according to claim 1, characterized in that: The spray cleaning component is at least one spray head.

7. The ship surface cleaning robot according to claim 6, characterized in that: The detection component is at least one laser radar, and the number of the laser radars is equal to the number of the nozzles, so as to detect dirt on the hull surface at the corresponding nozzles.

8. The ship surface cleaning robot according to claim 7, characterized in that: The nozzles and laser radars are arranged alternately and in a circular direction.

9. The ship surface cleaning robot according to claim 1, characterized in that: The cleaning units are distributed in a rectangular array structure.

10. The ship surface cleaning robot according to claim 1, characterized in that: It also includes a control unit, which is electrically connected to the walking unit, each of the detection components and each of the spraying components, and is used to control the start and stop of the walking unit, collect and process the detection data of each of the detection components, and control the opening or closing of each of the spraying components.

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