Underwater hull cleaning robot

Abstract

The utility model discloses an underwater hull cleaning robot and belongs to the technical field of underwater cleaning equipment. The device comprises a sealing box at the front end and a sealing cabin at the rear end, the sealing box and the sealing cabin are mutually connected and fixed, a waterproof illuminating lamp is arranged at the front end of the sealing box, binocular cameras are arranged on the two sides of the waterproof illuminating lamp, and sawtooth discs are arranged on the two sides of the lower portion of the outer portion of the sealing box. The two sawtooth discs are controlled to rotate through a first driving motor and a second driving motor which are arranged in the sealing box correspondingly, a transparent arc-shaped cover is arranged above the sealing box and is in pin joint with the sealing cabin, and permanent magnet driving wheels are arranged on the two sides of the sealing cabin correspondingly. The permanent magnet driving wheels are controlled to rotate through third driving motors arranged on the side wall of the sealed cabin, and an airflow ejector is further arranged below the sealed cabin. The ship body cleaning device can quickly clean a ship body, is high in completion rate and response speed, has relatively low requirements on sea conditions, and can complete cleaning tasks under most sea conditions.

Description

Technical Field

[0001] The utility model belongs to the technical field of underwater cleaning equipment, and in particular relates to an underwater hull cleaning robot. Background Art

[0002] Hull fouling refers to the accumulation of various biofouling and pollutants on the surface of ships after prolonged operation or mooring at sea. These substances can have multiple impacts on the hull and the marine ecosystem. The most common biofouling is seaweed and barnacles: these can form thick layers on the hull surface, increasing friction and fuel consumption. These fouling can also be inadvertently transferred to new geographical areas, introducing invasive species and impacting local ecosystems. Shellfish and other marine organisms also attach to ship hulls, forming a permanent biofilm that increases weight and weather resistance, while also potentially adversely affecting the hull surface during cleaning. Pollutants generated during hull maintenance can also seriously impact the marine environment, posing significant safety risks and cost pressures to underwater cleaning operations. Traditional hull cleaning methods have significant limitations in many areas, impacting not only cleaning efficiency and cost control but also potentially causing serious impacts on the marine ecosystem. Utility Model Content

[0003] The present invention aims to solve the above-mentioned problems, make up for the deficiencies of the existing technology, and provide an underwater hull cleaning robot; the present invention can quickly clean the hull, has a high completion rate, a fast response speed, and has relatively loose requirements on sea conditions, and can complete the cleaning task in most sea conditions.

[0004] In order to achieve the above-mentioned purpose, the present utility model adopts the following technical solutions.

[0005] The utility model provides an underwater hull cleaning robot, characterized in that it comprises a sealed box at the front end and a sealed cabin at the rear end, the sealed box and the sealed cabin are connected and fixed to each other, a waterproof lighting lamp is provided at the front end of the sealed box and binocular cameras are provided on both sides of the waterproof lighting lamp, sawtooth disks are provided on both sides of the lower outside of the sealed box, the two sawtooth disks are respectively controlled to rotate by a first drive motor and a second drive motor provided in the sealed box, the waterproof lighting lamp, the binocular camera, the first drive motor and the second drive motor are all connected to the front control panel provided in the sealed box Electrically connected, a transparent arc-shaped cover is provided above the sealed box, and the transparent arc-shaped cover is pinned to the sealed cabin, and permanent magnetic drive wheels are respectively provided on both sides of the sealed cabin, and the permanent magnetic drive wheels are respectively controlled to rotate by a third drive motor provided on the side wall of the sealed cabin, and the third drive motor and the permanent magnetic drive wheel are respectively controlled one by one, and an air flow ejector is further provided below the sealed cabin, and the third drive motor and the air flow ejector are both electrically connected to a rear control panel group provided on a mounting base in the sealed cabin, and a support frame is provided on the sealed cabin, and an upper top plate is provided on the support frame.

[0006] Furthermore, a roller brush holder is provided at the rear of the sealed cabin, on which a roller brush is provided and a fourth drive motor and a fifth drive motor for simultaneously controlling the rotation of the roller brush are provided, and the fourth drive motor and the fifth drive motor are electrically connected to the rear control panel group at the same time.

[0007] Furthermore, a signal receiver is also provided on the rear control panel assembly.

[0008] Furthermore, batteries for providing power to various electrical components are provided in the sealed box and the sealed cabin.

[0009] Furthermore, the material of the permanent magnet drive wheel is permanent magnet, and the rolling surface of the permanent magnet drive wheel is provided with knurling patterns.

[0010] Furthermore, the sealed cabin and the transparent arc-shaped cover are both streamlined structures.

[0011] Furthermore, the sealing box is provided with a sealing gasket at the location where the serrated disk is provided.

[0012] The beneficial effects of the utility model.

[0013] This utility model significantly improves hull cleaning efficiency, reduces labor costs, avoids potential safety hazards associated with manual cleaning, and is adaptable to complex and changing underwater environments. It also improves fuel efficiency and extends the life of the hull, saving ship operators long-term maintenance costs, meeting environmental protection requirements, and promoting the development of green shipping. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to make the technical problems, technical solutions and beneficial effects solved by the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0015] Figure 1 It is a schematic diagram of the external three-dimensional structure of the utility model.

[0016] Figure 2 It is a side structural schematic diagram of the utility model.

[0017] Figure 3 It is a schematic diagram of the top structure of the utility model.

[0018] Figure 4 It is a front view structural schematic diagram of the present utility model.

[0019] Figure 5 It is a schematic diagram of the internal structure of the present utility model.

[0020] Figure 6 It is a structural schematic diagram of the sawtooth disk of the present utility model.

[0021] Figure 7 It is a structural diagram of the internal hob brush installation location of the utility model.

[0022] Figure 8 It is a structural schematic diagram of the hob brush of the present utility model.

[0023] Figure 9 It is a structural schematic diagram of the permanent magnetic drive wheel of the present utility model.

[0024] Markings in the figure: 1 is a sealed box, 2 is a sealed cabin, 3 is a waterproof lighting lamp, 4 is a binocular camera, 5 is a serrated disk, 6 is a first drive motor, 7 is a second drive motor, 8 is a front control panel, 9 is a transparent arc cover, 10 is a permanent magnet drive wheel, 11 is a third drive motor, 12 is an air flow ejector, 13 is a rear control panel assembly, 14 is a mounting base, 15 is a support frame, 16 is an upper top plate, 17 is a hob brush holder, 18 is a hob brush, 19 is a fourth drive motor, 20 is a fifth drive motor, 21 is a battery, 22 is a knurled pattern, and 23 is a sealing gasket. DETAILED DESCRIPTION

[0025] As shown in the accompanying drawings, this embodiment provides an underwater hull cleaning robot, including a sealed box 1 at the front end and a sealed cabin 2 at the rear end. Lightweight, corrosion-resistant and waterproof materials are selected. The overall structure is composed of acrylic panels, 3D forming materials, standard parts and external power parts. It has a flexible and certain strength structure, while ensuring good buoyancy and being able to adapt to environments with different water quality, including seawater, fresh water and waters with more sediment.

[0026] Sealed box 1 and sealed cabin 2 are fixedly connected. A waterproof light 3 is installed at the front of sealed box 1, and binocular cameras 4 are placed on either side of waterproof light 3. Binocular cameras 4 use Intel RealSense D435i stereo depth binocular cameras. Computer hardware and software process captured images to mimic the visual effects of an animal's eyes. This camera can operate in both light- and dark environments, providing complex real-time depth-of-field calculations. This not only transmits real-time underwater information to the ground control console, but also enables the robot to adjust to underwater conditions at any time, preventing the robot from being damaged or lost. Waterproof light 3 improves the robot's visibility underwater.

[0027] Serrated disks 5 are provided on both sides of the lower outside of the sealing box 1. The two serrated disks 5 are respectively controlled to rotate by a first drive motor 6 and a second drive motor 7 provided in the sealing box 1, and are driven to rotate inward in the same direction to offset the forces acting on each other to maintain the overall stability of the vehicle body. The serrated disks 5 are used to perform preliminary cleaning of attachments on the surface of the hull.

[0028] The sealing box 1 is provided with a sealing gasket 23 at the location where the serrated disk 5 is provided, so as to achieve a better waterproof effect.

[0029] The waterproof lighting 3, binocular camera 4, first drive motor 6 and second drive motor 7 are all electrically connected to the front control panel 8 arranged in the sealed box 1. The front control panel 8 has an image recognition module for detecting the type and attachment position of dirt on the hull and intelligently adjusting the cleaning strategy and working parameters.

[0030] A transparent arc cover 9 is provided above the sealed box 1, and the transparent arc cover 9 is pinned to the sealed cabin 2. The sealed cabin 2 and the transparent arc cover 9 are both streamlined structures, which reduce the resistance in water, have uniform pressure resistance and better pressure resistance, and improve movement efficiency.

[0031] Permanent magnetic drive wheels 10 are respectively provided on both sides of the sealed cabin 2. The permanent magnetic drive wheels 10 are respectively controlled to rotate by a third drive motor 11 provided on the side wall of the sealed cabin 2. The third drive motor 11 and the permanent magnetic drive wheel 10 are respectively controlled one by one. The material of the permanent magnetic drive wheel 10 is permanent magnet, so that the robot can be firmly adsorbed on the surface of the hull. The rolling surface of the permanent magnetic drive wheel 10 is provided with a knurled pattern 22 to increase friction and reduce adsorption force, so that the robot can better move stably on the hull.

[0032] Since a gap needs to be left in the middle position when the serrated disk 5 is installed, the robot will leave uncleaned attachments in the middle position during the forward cleaning process. Therefore, a roller brush holder 17 is provided at the rear of the sealed cabin 2, and a roller brush 18 is provided on the roller brush holder 17. A fourth drive motor 19 and a fifth drive motor 20 are provided for simultaneously controlling the rotation of the roller brush 18. The fourth drive motor 19 and the fifth drive motor 20 drive the rear end roller brush 18 to rotate at high speed to complete the further cleaning of the hull attachments.

[0033] An airflow ejector 12 is also provided under the sealed cabin 2, which works similarly to a high-pressure water gun and completes further cleaning work by ejecting high-pressure gas. For areas that are not cleaned properly, the airflow ejector 12 at the bottom of the robot finally completes the final cleaning of attachments on the hull surface by ejecting high-pressure gas.

[0034] The third drive motor 11, the fourth drive motor 19, the fifth drive motor 20 and the airflow ejector 12 are all electrically connected to the rear control panel group 13 arranged on the mounting base 14 in the sealed cabin 2. The rear control panel group 13 is also provided with a signal receiver. The rear control panel group 13 adopts an integrated and effective power and automation control system to ensure simple operation and convenient maintenance, and minimize disturbance to the environment.

[0035] A support frame 15 is provided on the sealed cabin 2 to play a supporting role and provide safety protection for the robot's operation. The overall size of the robot can be adjusted as needed. An upper top plate 16 is provided on the support frame 15 for sealing.

[0036] The sealed box 1 and the sealed cabin 2 are both provided with batteries 21 for providing electricity to various electrical components, providing power for the robot so that it can work underwater for a long time.

[0037] In terms of data communication, the control board supports wireless network transmission, enabling remote connection to external control terminals via WiFi, Bluetooth, or satellite communications. The control board also features an inertial navigation system (INS) and ultrasonic sensors for precise underwater positioning and path planning.

[0038] The working process of this utility model:

[0039] The underwater cleaning robot is manually controlled by people on the ground or cruises autonomously. The binocular camera 4 collects images of the attachments, and the software's deep learning module analyzes the images to determine the type and growth of the attachments. After determining the type and growth of the attachments, the attachment's location information and other parameters are transmitted to each control board, and then the appropriate working state is selected for operation. The serrated disk 5 first performs a preliminary cleaning of the attachments on the surface of the passing ship. Due to the gap between the symmetrically installed serrated disks 5, the hob brush 18 at the rear end performs a secondary cleaning of the attachments. Finally, the airflow ejector 12 cleans the remaining attachments by ejecting high-pressure gas. The cleaning robot will repeat the above cleaning steps while working.

[0040] It can be understood that the above specific description of the present invention is only used to illustrate the present invention and is not limited to the technical solutions described in the implementation methods of the present invention. Ordinary technicians in this field should understand that the present invention can still be modified or replaced by equivalents to achieve the same technical effects; as long as the use requirements are met, they are within the scope of protection of the present invention.

Claims

1. An underwater hull cleaning robot, characterized in that: The invention comprises a sealed box (1) at the front end and a sealed cabin (2) at the rear end, wherein the sealed box (1) and the sealed cabin (2) are connected and fixed to each other, a waterproof lighting lamp (3) is provided at the front end of the sealed box (1) and binocular cameras (4) are provided on both sides of the waterproof lighting lamp (3), sawtooth disks (5) are provided on both sides of the lower part of the outside of the sealed box (1), and the two sawtooth disks (5) are respectively controlled to rotate by a first drive motor (6) and a second drive motor (7) provided in the sealed box (1), the waterproof lighting lamp (3), the binocular camera (4), the first drive motor (6) and the second drive motor (7) are all electrically connected to a front control panel (8) provided in the sealed box (1), and a transparent arc-shaped A cover (9) is provided, wherein the transparent arc-shaped cover (9) is pin-connected to the sealed cabin (2), and permanent magnetic drive wheels (10) are respectively provided on both sides of the sealed cabin (2), and the permanent magnetic drive wheels (10) are respectively controlled to rotate by a third drive motor (11) provided on the side wall of the sealed cabin (2), and the third drive motor (11) and the permanent magnetic drive wheel (10) are respectively controlled in a one-to-one correspondence, and an airflow ejector (12) is further provided below the sealed cabin (2), and the third drive motor (11) and the airflow ejector (12) are both electrically connected to a rear control panel group (13) provided on a mounting base (14) in the sealed cabin (2), and a support frame (15) is provided on the sealed cabin (2), and an upper top plate (16) is provided on the support frame (15).

2. The underwater hull cleaning robot according to claim 1, characterized in that: A roller brush holder (17) is provided at the rear of the sealed cabin (2), a roller brush (18) is provided on the roller brush holder (17), and a fourth drive motor (19) and a fifth drive motor (20) for simultaneously controlling the rotation of the roller brush (18) are provided, and the fourth drive motor (19) and the fifth drive motor (20) are electrically connected to the rear control panel group (13) at the same time.

3. The underwater hull cleaning robot according to claim 1, characterized in that: A signal receiver is also provided on the rear control panel group (13).

4. The underwater hull cleaning robot according to claim 1, characterized in that: The sealed box (1) and the sealed cabin (2) are both provided with batteries (21) for providing power to various electrical components.

5. The underwater hull cleaning robot according to claim 1, characterized in that: The material of the permanent magnet drive wheel (10) is a permanent magnet, and the rolling surface of the permanent magnet drive wheel (10) is provided with a knurled pattern (22).

6. The underwater hull cleaning robot according to claim 1, characterized in that: The sealed cabin (2) and the transparent arc-shaped cover (9) both have streamlined structures.

7. The underwater hull cleaning robot according to claim 1, characterized in that: The sealing box (1) is provided with a sealing gasket (23) at the location where the sawtooth disk (5) is provided.

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