Ship hull surface cleaning system based on mobile positioning base station

Abstract

This application relates to a ship hull surface cleaning system based on a mobile positioning base station, comprising a beacon-carrying mobile robot, a mobile carrier, and a positioning base station; the beacon-carrying mobile robot is used to carry the beacon and perform underwater cleaning and inspection work; the mobile carrier is magnetically attached to the surface of the ship hull; the positioning base station communicates with the beacon via acoustic waves and can transmit information to a host computer; the positioning base station is located on the mobile carrier and can move with the mobile carrier. This application can accurately obtain the position of the underwater cleaning robot.

Description

Technical Field

[0001] This application belongs to the technical field of underwater cleaning equipment, and specifically relates to a ship hull surface cleaning system based on a mobile positioning base station. Background Technology

[0002] With the continuous advancement of science and technology, ship cleaning robot technology has entered a period of rapid development. Ship cleaning robots have demonstrated significant advantages in terms of safety and operational efficiency. A positioning system is a crucial foundation for the robot's intelligence. Ship cleaning robots need to perform cleaning operations on the complex surfaces of ship hulls, and to avoid repeated cleaning or missed areas, a positioning system must be installed on the robot. An underwater positioning system consists of two parts: a base station and a beacon. The beacon is installed on the cleaning robot, while the base station needs to be placed on the side or bottom of the ship.

[0003] However, current methods for deploying positioning base stations include divers, installation on buoys, or manual deployment using long poles. These methods are difficult to operate and have low accuracy, making it impossible to accurately determine the base station's location. Furthermore, deploying positioning base stations in outer anchorages is sometimes inconvenient, further complicating the technical challenge of inaccurate positioning during cleaning operations. Moreover, while the positions of existing positioning base stations remain unchanged during cleaning operations, for comprehensive cleaning of very large vessels, a significantly larger number of positioning base stations are required, increasing both the workload and cost. Utility Model Content

[0004] In view of the above analysis, the present invention aims to provide a ship hull surface cleaning system based on a mobile positioning base station to solve one or more of the above-mentioned problems in the prior art.

[0005] The purpose of this utility model is achieved as follows:

[0006] A ship hull surface cleaning system based on a mobile positioning base station includes:

[0007] A mobile robot carrying a beacon, used for moving beacons and performing underwater cleaning and inspection work;

[0008] The mobile carrier is magnetically adsorbed onto the surface of the ship's hull.

[0009] The positioning base station communicates with the beacon's acoustic waves and can transmit information to the host computer; the positioning base station is located on a mobile vehicle and can move with the mobile vehicle.

[0010] Furthermore, the mobile carrier includes a drive assembly, a caster wheel assembly, and an electrical compartment; wherein, there are two sets of drive assemblies, each of which is independently driven, and the two sets of drive assemblies and the caster wheel assembly are mounted on the electrical compartment. The two sets of drive assemblies are configured to provide movement power to the mobile carrier, and the caster wheel assembly is configured to steer the mobile carrier.

[0011] Furthermore, the mobile carrier also includes an adjustable support, through which the positioning base station is mounted on the electrical compartment.

[0012] Furthermore, the mobile carrier also includes a camera assembly for observing underwater conditions.

[0013] Furthermore, the drive assembly includes a drive motor, a drive wheel mounting base, a sealing ring, a bearing, a cover, and a drive magnetic wheel; wherein, the drive motor is fixed on the electrical compartment, the output shaft of the drive motor is fixed on the drive wheel mounting base through the sealing ring and the bearing, and the output shaft is provided with a drive magnetic wheel.

[0014] Furthermore, the omnidirectional wheel assembly includes an omnidirectional magnetic wheel, which is mounted on an omnidirectional wheel mounting base via bearings, and the omnidirectional wheel mounting base is located on the cabin body.

[0015] Furthermore, the universal wheel mounting base is provided with a lifting ring.

[0016] Furthermore, the surfaces of both the drive magnetic wheel and the omnidirectional magnetic wheel are covered with a rubber layer.

[0017] Furthermore, the electrical compartment is provided with an end cover at the top, and two sets of sealing rings are provided between the end cover and the compartment body.

[0018] Furthermore, the end cap is also equipped with an air inflator valve, through which air is injected into the electrical compartment to increase the air pressure inside the electrical compartment, thereby preventing water from entering the compartment.

[0019] Compared with existing technologies, the ship surface cleaning system based on a mobile positioning base station provided by this utility model uses a mobile carrier to deploy the positioning base station to a suitable location. A mobile robot carrying a beacon can then communicate with the positioning base station via underwater acoustics. The mobile carrier is equipped with water depth and attitude sensors, and combined with algorithms, the location of the base station can be inferred, solving the technical problems of inconvenient deployment of positioning base stations and inaccurate positioning in anchorages. The use of a mobile positioning base station for acoustic communication with the beacon ensures high accuracy. Real-time observation of the beacon-carrying robot's position can be achieved on a host computer, solving the previous problem of inaccurate underwater robot location acquisition. This also provides technical support for robots during anchorage cleaning and inspection operations, enabling path planning and significantly improving cleaning and inspection efficiency. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this specification or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the embodiments of this specification. For those skilled in the art, other drawings can be obtained based on these drawings.

[0021] Figure 1 A schematic diagram of the overall structure of the ship hull surface cleaning system based on a mobile positioning base station provided by this utility model;

[0022] Figure 2 A schematic diagram of the structure of the mobile carrier provided by this utility model;

[0023] Figure 3 A schematic diagram of the structure of the drive component provided by this utility model;

[0024] Figure 4 for Figure 3 Schematic diagram of the cross-sectional structure of the middle AA section;

[0025] Figure 5 A structural schematic diagram of the electrical compartment provided by this utility model;

[0026] Figure 6 for Figure 5 Schematic diagram of the cross-sectional structure of the middle BB section;

[0027] Figure 7 A schematic diagram illustrating the operation mode of the ship hull surface cleaning system based on a mobile positioning base station provided by this utility model.

[0028] Figure label:

[0029] 100. Hull; 200. Cleaning Area 1; 300. Cleaning Area 2;

[0030] 1. A mobile robot carrying a beacon;

[0031] 2. Locating the base station;

[0032] 3. Mobile Carrier; 3.1 Drive Components; 3.1.1 Drive Motor; 3.1.2 Drive Wheel Mount; 3.1.3 Sealing Ring; 3.1.4 Bearing; 3.1.5 Cover; 3.1.6 Magnetic Wheel; 3.2 Caster Wheel Assembly; 3.3 Electrical Compartment; 3.3.1 Compartment Body; 3.3.2 Watertight Connector; 3.3.3 End Cap; 3.3.4 Caster Wheel Mount; 3.3.5 Sealing Ring; 3.4 Adjustable Bracket; 3.5 Camera Assembly; 3.6 Inflation Valve;

[0033] 4. Control cabinet;

[0034] 5. Remote control;

[0035] 6. Host computer. Detailed Implementation

[0036] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. It should be noted that, unless otherwise specified, the implementation methods and features in the implementation methods in this disclosure can be combined, separated, interchanged, and / or rearranged. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0037] In the accompanying drawings, the dimensions and relative dimensions of components may be exaggerated for clarity and / or descriptive purposes. When exemplary embodiments can be implemented differently, a specific process sequence may be performed in a different order than that described. For example, two consecutively described processes may be performed substantially simultaneously or in the reverse order of their description. Furthermore, the same reference numerals denote the same components.

[0038] The terminology used herein is for the purpose of describing particular embodiments and is not intended to be limiting. As used herein, unless the context clearly indicates otherwise, the singular forms “a” and “the” are intended to include the plural forms as well. Furthermore, when the terms “comprising” and / or “including” and variations thereof are used in this specification, it indicates the presence of the stated features, integrals, steps, operations, parts, components, and / or groups thereof, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, parts, components, and / or groups thereof. It should also be noted that, as used herein, the terms “substantially,” “about,” and other similar terms are used as approximate terms rather than as terms of degree, thus explaining the inherent biases in measurements, calculated values, and / or provided values ​​that would be recognized by one of ordinary skill in the art.

[0039] Example 1

[0040] A specific embodiment of this utility model is as follows: Figures 1 to 7As shown, a ship hull surface cleaning system based on a mobile positioning base station is disclosed, including a beacon-carrying mobile robot 1, a positioning base station 2, a mobile carrier 3, a control cabinet 4, a remote controller 5, and a host computer 6. The beacon-carrying mobile robot 1 is used to carry the beacon for underwater cleaning and inspection. The positioning base station 2 is fixed on the mobile carrier 3 and connected to the host computer 6. The positioning base station 2 communicates with the beacon via acoustic waves and can transmit information to the host computer 6. The mobile carrier 3 is connected to the control cabinet 4 and is responsible for carrying the positioning base station 2 to a suitable position and stopping. Based on the water depth and position information obtained by the attitude sensors on the mobile carrier 3, the position of the mobile carrier 3 is finely adjusted to make the position of the positioning base station 2 more accurate. The control cabinet 4 is used to provide power and communication to the mobile carrier 3 and the host computer 6. The remote controller 5 is used to control the movement of the mobile carrier 3. The host computer 6 is used to display the position information of the beacon and the positioning base station 2 so that the beacon-carrying mobile robot 1 can perform path planning and other autonomous movements.

[0041] In this embodiment, the beacon-carrying mobile robot 1 can be either an ROV or an AUV. Any robot that needs to perform cleaning or inspection tasks on the side of the ship's wall or bottom can carry a beacon for path planning.

[0042] The positioning base station 2 is fixed on the mobile carrier 3. The positioning base station 2 is connected to the host computer 6. The host computer 6 can supply power to the positioning base station 2 and display the position, attitude and other information of the positioning base station. The positioning base station can communicate with the beacon via acoustic waves. The host computer 6 can display the position of the positioning base station 2 and the beacon, and thus can perform path planning for the mobile robot 1 carrying the beacon.

[0043] To achieve more accurate positioning, the accuracy of positioning base station 2 needs to be ensured. Mobile carrier 3 is responsible for carrying positioning base station 2 to a suitable and fixed position. In other words, mobile carrier 3, as the carrier of positioning base station 2, can carry positioning base station 2 to the required location and stop it, facilitating accurate communication between positioning base station 2 and the beacon. Based on the position information obtained by the water depth positioning and attitude sensors on mobile carrier 3, the position of mobile carrier 3 can be finely adjusted to make the position of positioning base station 2 more accurate.

[0044] In one alternative embodiment, the mobile carrier 3 is movably mounted on the hull 100 by magnetic adsorption and can move along the surface of the hull 100. The magnetic adsorption method can give the mobile carrier 3 a better fit with the hull 100.

[0045] Specifically, the mobile carrier 3 includes a drive assembly 3.1, a caster wheel assembly 3.2, an electrical compartment 3.3, and an adjustable bracket 3.4. The drive assembly 3.1 consists of two sets, each independently driven. The two sets of drive assemblies 3.1 and the caster wheel assembly 3.2 are mounted on the electrical compartment 3.3. The two sets of drive assemblies 3.1 provide the mobility for the mobile carrier 3, while the caster wheel assembly 3.2 enables the mobile carrier to have good steering capabilities. The positioning base station 2 is mounted on the electrical compartment 3.3 via the adjustable bracket 3.4.

[0046] Furthermore, the mobile carrier 3 also includes a camera assembly 3.5, which is used to observe underwater conditions.

[0047] Furthermore, the drive assembly 3.1 includes a drive motor 3.1.1, a drive wheel mounting base 3.1.2, a sealing ring 3.1.3, a bearing 3.1.4, a cover 3.1.5, and a drive magnetic wheel 3.1.6. The drive motor 3.1.1 is fixed to the electrical compartment 3.3, and its output shaft is fixed to the drive wheel mounting base 3.1.2 via the sealing ring 3.1.3 and the bearing 3.1.4. The drive magnetic wheel 3.1.6 is mounted on the output shaft. The bearing is used to fix the shaft, which improves its rotational accuracy and strength due to its length. The sealing ring prevents seawater from entering the electrical compartment 3.3, acting as a seal. The cover 3.1.5 also provides a seal, further isolating the seawater and also securing the bearing. Finally, the drive magnetic wheel 3.1.6 is fixed to the end of the output shaft, providing suction for the robot to adhere effectively to the hull 100.

[0048] In this embodiment, the electrical compartment 3.3 is a component for installing electrical parts, and the drive motor 3.1.1 is also installed in the electrical compartment 3.3, eliminating the need for additional machining of the compartment for the drive motor 3.1.1.

[0049] Specifically, the electrical compartment 3.3 includes a compartment body 3.3.1, a watertight connector 3.3.2 mounted on the compartment body 3.3.1, an end cap 3.3.3, a caster wheel mounting base 3.3.4, and a sealing ring 3.3.5. Electrical components are housed within the electrical compartment 3.3. The compartment body 3.3.1 serves as the mounting component for the electrical components, providing a suitable environment for their stable operation. The compartment body 3.3.1 has two watertight connectors 3.3.2, with both the power cord and the camera connection cable connected to one watertight connector 3.3.2.

[0050] The electrical compartment 3.3 is equipped with an end cap 3.3.3 at its top. Two sets of sealing rings 3.3.5 are provided between the end cap 3.3.3 and the compartment 3.3.1. The end cap 3.3.3 can be better integrated with the compartment 3.3.1 to achieve a better sealing effect.

[0051] An air inflator 3.6 is also provided on the end cap 3.3.3. Two sets of sealing rings 3.3.5 are provided at the top of the end cap 3.3.3 and the compartment 3.3.1 to ensure a sealing effect. Furthermore, air is injected into the electrical compartment 3.3 through the air inflator 3.6 to increase the air pressure inside the electrical compartment 3.3, which can prevent water from entering the compartment.

[0052] In this embodiment, the wheel body of the caster wheel assembly 2 is also a magnetic wheel; specifically, the caster wheel assembly 3.2 includes a magnetic omnidirectional wheel. The caster wheel structure allows the mobile carrier 3 to steer more effectively, and the magnetic omnidirectional wheel also provides suction for the mobile carrier 3. The caster wheel mounting base 3.3.4 is used to fix the caster wheel assembly 2, and the magnetic omnidirectional wheel is mounted on the caster wheel mounting base 3.3.4 via bearings. The caster wheel mounting base 3.3.4 is also equipped with a lifting ring, which serves to lift the mobile carrier.

[0053] In one alternative embodiment, the surfaces of the driving magnetic chuck 3.1.6 and the omnidirectional magnetic chuck are both covered with a rubber layer, which can increase the driving force of the moving carrier 3 and allow it to pass through better even if there are many protrusions or smooth surfaces on the hull to be cleaned.

[0054] In this embodiment, the adjusting bracket 3.4 is used to fix the positioning base station 2 to the electrical compartment 3.3. The position of the positioning base station 2 can be adjusted by adjusting the bracket 3.4 to better communicate with the beacon via acoustic waves. Specifically, the adjusting bracket 3.4 is fixed to the end cover 3.3.3 of the electrical compartment 3.3 by an adjusting seat. The adjusting bracket 3.4 and the adjusting seat are connected by bolts. Both the adjusting bracket 3.4 and the adjusting seat are provided with multiple bolt holes. During use, the fixing angle of the bracket 3.4 and the adjusting seat can be adjusted by the bolts and the bolt holes at different positions, thereby adjusting the installation position of the positioning base station 2 and facilitating better communication between the positioning base station 2 and the beacon.

[0055] Considering that the surface of the ship may be uneven, the angle adjustment of the bracket 3.4 alone during the installation stage is insufficient to meet the actual needs. Therefore, in order to achieve more accurate positioning or when the positioning angle is insufficient, two sets of independently driven drive components 3.1 are used to realize the swing angle of the mobile carrier 3 on the surface of the ship. In other words, the mobile carrier 3 can move at different speeds through two drive motors 3.1.1 to change the orientation of the mobile carrier 3 on the surface of the ship, thereby realizing the angle of the positioning base station 2.

[0056] The camera assembly 3.5 is located on the end cover 3.3.3 of the electrical compartment 3.3, and its angle is adjustable. During operation, by adjusting the camera angle, better observation of the water area can be achieved, making it easier for operators to control the movement of the mobile carrier 3.

[0057] Furthermore, the inflation valve 3.6 is fixed to the end cap 3.3.3 of the electrical compartment 3.3, which can inject a certain pressure of air into the electrical compartment 3.3, thereby achieving a better sealing effect on the compartment.

[0058] The control cabinet 4 is fixed on the ship deck or shore base. The control cabinet 4 contains electrical components such as power supply, control switch, and power adapter, which are used to supply power to the mobile carrier 3 and the host computer 6.

[0059] The control box of remote controller 5 is connected to the host computer 6 and can communicate with remote controller 5 in real time. Remote controller 5 can control the movement of the mobile carrier 3.

[0060] The hull surface cleaning system based on a mobile positioning base station of this embodiment is used to clean the hull surface, including the following steps:

[0061] Based on the shape and size of the surface to be cleaned on the hull 100, multiple cleaning areas are pre-divided, and the cleaning area division results are stored in the host computer 6.

[0062] The mobile carrier 3 first arrives at the temporary parking area of ​​the base station in the cleaning area 200. The temporary parking area is located outside the boundary of the cleaning area or near the edge of the cleaning area. The parking of the mobile carrier does not affect the cleaning operation in the cleaning area. The position information obtained by the water depth and attitude sensors on the mobile carrier 3 is transmitted to the host computer 6. The host computer 6 adjusts the position of the mobile carrier 3 based on the position information of the mobile carrier 3 so that the positioning base station 2 reaches the appropriate position to complete the pre-cleaning positioning of the positioning base station 2. The mobile robot 1 carrying the beacon performs the cleaning operation in the cleaning area 200 according to the pre-cleaning positioning base station 2 position information and the set path.

[0063] After completing the cleaning operation in cleaning area 200, the beacon-carrying mobile robot 1 moves to cleaning area 300 along a pre-set path. Correspondingly, the mobile carrier 3 also arrives at the temporary parking area for the base station in cleaning area 300, where it re-positions the base station 2 before cleaning. Then, based on the pre-cleaning positioning information of the base station 2, the beacon-carrying mobile robot 1 performs the cleaning operation in cleaning area 300 along the pre-set path. This process is repeated to complete the cleaning operation in all cleaning areas.

[0064] When encountering uneven surfaces on the hull, the two independently driven drive components 3.1 are used to adjust the swing angle of the moving carrier 3 on the hull surface, thereby adjusting the angle of the positioning base station 2 and facilitating better communication between the positioning base station 2 and the beacon.

[0065] Compared with existing technologies, the ship hull surface cleaning system based on a mobile positioning base station provided in this embodiment can achieve at least one of the following beneficial effects:

[0066] 1. By deploying a positioning base station to a suitable location using a mobile carrier, a mobile robot carrying a beacon can communicate with the positioning base station via underwater acoustics. The mobile carrier is equipped with water depth and attitude sensors, and combined with algorithms, the location of the base station can be predicted, thus solving the technical problems of inconvenient deployment of positioning base stations and inaccurate positioning in external anchorages.

[0067] 2. The use of mobile positioning base stations and beacons for acoustic communication ensures high accuracy. The position of the beacon-carrying robot can be observed in real time on the host computer, solving the previous problem of not being able to accurately obtain the position of the cleaning robot underwater. It also provides technical support for the robot to perform cleaning and inspection operations in anchorages, and makes it possible for the robot to perform path planning operations, thus greatly improving the cleaning and inspection efficiency.

[0068] 3. The mobile carrier is magnetically attached and can be moved onto the hull. The mobile carrier has sufficient attraction and driving force, which can solve the technical difficulties of inconvenient deployment and inaccurate positioning of positioning base stations, even when used in outer anchorages.

[0069] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of this application. It should be understood that the above description is only a specific embodiment of this application and is not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A ship hull surface cleaning system based on a mobile positioning base station, characterized in that, include: A mobile robot carrying a beacon, used for moving beacons and performing underwater cleaning and inspection work; The mobile carrier is magnetically adsorbed onto the surface of the ship's hull. The positioning base station communicates with the beacon's acoustic waves and can transmit information to the host computer; the positioning base station is located on a mobile vehicle and can move with the mobile vehicle.

2. The ship hull surface cleaning system based on a mobile positioning base station according to claim 1, characterized in that, The mobile carrier includes a drive assembly, a caster wheel assembly, and an electrical compartment; wherein, there are two sets of drive assemblies, each of which is independently driven, and the two sets of drive assemblies and the caster wheel assembly are mounted on the electrical compartment. The two sets of drive assemblies are configured to provide movement power to the mobile carrier, and the caster wheel assembly is configured to steer the mobile carrier.

3. The ship hull surface cleaning system based on a mobile positioning base station according to claim 2, characterized in that, The mobile carrier also includes an adjustable support frame, through which the positioning base station is mounted on the electrical compartment.

4. The ship hull surface cleaning system based on a mobile positioning base station according to claim 3, characterized in that, The mobile carrier also includes a camera assembly for observing underwater conditions.

5. The ship hull surface cleaning system based on a mobile positioning base station according to claim 4, characterized in that, The drive assembly includes a drive motor, a drive wheel mounting base, a sealing ring, a bearing, a cover, and a drive magnetic wheel; wherein, the drive motor is fixed on the electrical compartment, the output shaft of the drive motor is fixed on the drive wheel mounting base by the sealing ring and the bearing, and the output shaft is provided with a drive magnetic wheel.

6. The ship hull surface cleaning system based on a mobile positioning base station according to claim 5, characterized in that, The omnidirectional wheel assembly includes an omnidirectional magnetic wheel, which is mounted on an omnidirectional wheel mounting base via bearings. The omnidirectional wheel mounting base is located on the cabin body.

7. The ship hull surface cleaning system based on a mobile positioning base station according to claim 6, characterized in that, The universal wheel mounting base is equipped with a lifting ring.

8. The ship hull surface cleaning system based on a mobile positioning base station according to claim 6, characterized in that, The surfaces of both the drive magnetic wheel and the omnidirectional magnetic wheel are covered with a rubber layer.

9. The ship hull surface cleaning system based on a mobile positioning base station according to claim 2, characterized in that, The electrical compartment is equipped with an end cap at the top, and two sets of sealing rings are provided between the end cap and the compartment body.

10. The ship hull surface cleaning system based on a mobile positioning base station according to claim 9, characterized in that, The end cap is also equipped with an air inflator valve, which injects air into the electrical compartment to increase the air pressure inside the electrical compartment and prevent water from entering the compartment.

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