Traveling Ship Deicing Monitoring Device and System

Abstract

The present invention discloses a traveling ship deicing monitoring device including a vehicle body provided with a universal wheel. The vehicle body can be adsorbed to the hull by an electromagnet installed at its bottom and can travel on the hull. Optical probes capable of recognizing paint rails are provided at both the front and rear of the vehicle body. Inside the vehicle body, an automatic control chip is further provided that can control the traveling of the traveling deicing monitoring device along the paint rail on the hull surface. The automatic control chip simultaneously controls a microwave oscillator for vibrating and crushing ice and an infrared heating device for heating and defrosting. At the top of the vehicle body, an infrared monitoring device for monitoring the ice layer situation of the hull and a network upload module for transmitting ice layer information and device position information are provided. The beneficial effects of the present invention are as follows. The present invention can timely deice all positions around the hull and on the deck that require deicing, combines thermal defrosting with mechanical ice crushing, has a wide deicing action range, high deicing efficiency, can achieve self-propelled traveling and deicing, can also be remotely controlled, and saves labor and costs.

Description

Technical Field

[0001] The present invention relates to a ship deicing device, and particularly to a traveling ship deicing monitoring device and system.

Background Art

[0002] In the prior art, at most, deicing is performed on the deck of a ship, but the harm to the ship caused by icing around the hull is ignored. First, icing covers the hull surface with a thick ice layer, thereby increasing the weight of the ship and reducing the buoyancy of the hull, increasing the possibility that the ship will sink in water. Second, the ice layer can change the balance and stability of the ship. The distribution of ice changes the center of gravity of the ship, and such instability may lead to the inclination or overturning of the hull, increasing the risk of ship accidents. In addition, the movement and friction of ice may damage the hull structure, leading to damage and deformation of the hull. Icing smooths the hull surface, increases the resistance of the ship in water, and reduces the navigation speed and efficiency. Also, the ice layer may further affect the ship's maneuverability by hindering or clogging the movement of the ship's propeller and rudder. The methods for removing ice from the conventional deck platform area mainly include three types: thermal deicing method, mechanical ice crushing method, and chemical coating method. The thermal deicing method has defects such as large energy loss, high equipment investment cost, and relatively small use range. The mechanical ice crushing method has a high operating intensity and it is difficult to achieve timely removal of ice. The chemical coating method has a high cost, limited number of times, and has a great impact on the environment. Moreover, all the conventional deicing methods require manual operation, with relatively low efficiency, wasting time, labor, and cost.

Summary of the Invention

Problems to be Solved by the Invention

[0003] An object of the present invention is to provide a traveling ship deicing monitoring device and system that can autonomously deice the icing positions around the hull and on the deck.

Means for Solving the Problem

[0004] The traveling ship deicing monitoring device according to the present invention includes a vehicle body provided with universal wheels, and the vehicle body can be adsorbed on the hull by an electromagnet installed at its bottom and can travel on the hull. Optical probes capable of recognizing paint rails are provided at both the front and rear of the vehicle body, and an automatic control chip capable of controlling the traveling of the traveling deicing monitoring device along the paint rail on the hull surface is further provided inside the vehicle body. The automatic control chip simultaneously controls a microwave oscillator for vibrating and crushing ice and an infrared heating device for heating and defrosting. An infrared monitoring device for monitoring the ice layer condition of the hull and a network upload module for transmitting ice layer information and device position information are provided on the top of the vehicle body.

[0005] Preferably, the paint rail is painted with a light strip paint provided with a fixed element code inside so that the optical probe in the traveling ship deicing monitoring device can recognize the paint rail installed on the hull surface.

[0006] Preferably, the paint rail uniformly covers the positions on the hull surface that require deicing in a "w" shape so as to achieve all-round deicing of the hull.

[0007] Preferably, the optical probe utilizes the light reflectivity of the light strip paint to recognize and match the fixed element code inside.

[0008] Preferably, the infrared monitoring device includes an infrared monitoring camera and an infrared radiation head so as to achieve real-time monitoring of the ice layer on the hull surface.

[0009] Preferably, the infrared monitoring camera utilizes the intensity of the infrared reflection signal received on the hull surface to determine whether the front of the paint rail is submerged by seawater or frozen.

[0010] Preferably, the infrared heating device is installed above the microwave oscillator so that the ice can be first crushed and then further melted by infrared heating.

[0011] The traveling ship deicing monitoring system according to the present invention includes the above-mentioned traveling ship deicing monitoring device.

[0012] Preferably, the traveling ship deicing monitoring system is provided with a programmable logic controller capable of transmitting deicing / travel commands to the automatic control chip so as to realize remote control of the traveling ship deicing monitoring device of the traveling ship deicing monitoring system.

[0013] Preferably, the traveling ship deicing monitoring system uses the GPRS network to transmit data information to the Internet network and further upload it to the ship deicing monitoring center so that the collected data information can be uploaded to the ship deicing monitoring center.

Advantages of the Invention

[0014] Compared with the prior art, the present invention has the following remarkable advantages. (1) The traveling ship deicing monitoring device can timely deice all positions around the hull and on the deck that require deicing. (2) The traveling ship deicing monitoring device can combine thermal deicing with mechanical ice crushing, has a wide deicing action range and high deicing efficiency. (3) It can realize automatic deicing by autonomous traveling, can also perform remote control, and can save labor and costs.

Brief Description of the Drawings

[0015]

Figure 1

Figure 2

Figure 3

Figure 4

Embodiments for Carrying Out the Invention

[0016] Hereinafter, the technical solution of the present invention will be further described with reference to the drawings.

[0017] As shown in Fig. 1, a universal wheel 10 that can rotate freely 360 degrees is provided at the bottom of the vehicle body 1 of the traveling ship de-icing monitoring device according to the present invention. Optical probes 2 capable of recognizing element codes in optical paint are installed in the front and rear of the vehicle body 1. Since the hull of the traveling ship de-icing monitoring device of the present invention is mostly made of steel structure, it adopts the principle of "electromagnetic attraction" to be connected to the hull, and an electromagnet 9 is installed between the universal wheels 10 at the bottom of the vehicle body 1, and after being energized, the electromagnet 9 at the bottom can be firmly adsorbed to the hull. Inside the vehicle body 1, an infrared heating device 7 capable of performing infrared de-icing and ice layer detection and a microwave oscillator 8 capable of performing de-icing by physical vibration are further provided. The infrared rays of the infrared heating device 7 have strong penetration power, are easily absorbed by the ice layer, and the infrared rays are generated by the complete combustion of natural gas or propane. Therefore, de-icing by infrared rays is fast in heating and has little pollution. In contrast, the microwave oscillator 8 changes the natural resonance frequency of an object due to icing and judges the thickness change of the ice layer by measuring the resonance frequency of its surface. A pulse actuator is installed inside the intelligent device for de-icing, and the pulse actuator quickly generates a large vibration of energy on the skin to vibrate and drop the ice accumulation. At the same time, another type of microwave oscillator 8 embeds a special liquid chamber below the inside of the intelligent device for de-icing. This liquid chamber generates vibration under the action of an electric pulse to achieve a de-icing effect. Both types of microwave oscillators can achieve the effect of vibration de-icing and are within the protection scope of the present invention. An infrared monitoring device capable of performing ice layer scanning detection and temperature and humidity monitoring is further provided on the top of the vehicle body 1. The infrared monitoring device includes an infrared monitoring camera 5 and an infrared radiation head 6, and a probe-type infrared sensor is installed in the device by the infrared blocking method using a high-precision infrared imaging device and an image processing algorithm.The basic principle of the infrared blocking method is that when the ice layer does not appear on the probe of the icing sensor, the probe of the icing sensor can receive the infrared rays generated by the infrared generator. When the ice layer appears on the probe of the icing sensor, the sensor probe receives less infrared rays due to the blocking of the ice layer, and the number of infrared rays received by the sensor probe and the thickness of the ice layer are in an inverse proportional relationship. The thicker the ice layer, the less infrared rays can penetrate, and the greater the voltage output by the probe. Since the presence of icing affects the intensity of the infrared signal received by the infrared receiver, by judging the change of the infrared signal received by the receiver, the change of the surface icing thickness can be judged, which is used for ice layer scanning detection and temperature and humidity monitoring. On the top of the hull 1, a network upload module 4 for connecting to the traveling ship de-icing monitoring system is further provided, which transmits information such as the monitoring results of the device, the de-icing situation, the temperature and humidity of the hull, the shooting situation of the infrared camera, and the position of the traveling device to the traveling ship de-icing monitoring system in real time.

[0018] Light strip paints are pre-installed around the hull and on the deck. The traveling ship de-icing monitoring device according to the present invention travels along the pre-painted light strip paint. When the seawater submerges the light strip paint, the traveling ship de-icing monitoring device moves along other light strip paints exposed to the air until it reaches the icing area. The light strip paint is a corrosion-resistant paint and is applicable to extreme weather such as erosion by seawater and changeable marine conditions. According to the optical principle, a fixed element code is installed in the paint. When the optical probe 2 located at the bottom of the hull 1 can recognize and match the fixed element code of the light strip paint, it only tracks the light strip paint. If the light strip paint is submerged by seawater, the optical probe 2 at the bottom of the hull 1 continues to travel along other paths.

[0019] The present invention utilizes the light reflection principle of light strip paint and installs the light strip paint on the travel track of a traveling ship deicing monitoring device. The light strip paint is based on acrylic resin and is produced and processed by 30 - 45 parts of iron(III) oxide, 40 - 50 parts of manganese dioxide, 4 - 6 parts of cobalt(III) oxide, 6 - 7 parts of copper oxide, 9 - 11 parts of JUST reflective spinel, 145 - 155 parts of dust-free distilled water, 30 - 45 parts of water-soluble silicone moisturizing emulsion, 4 - 6 parts of titanium dioxide, 6 - 7 parts of JUST hollow glass reflective microbeads, etc. The light strip paint is a new type of light reflection paint and has good light reflection performance. On the top of the vehicle body 1, an infrared radiation head 6 that radiates infrared signals outward is provided, and the upper infrared monitoring camera 5 monitors whether the seawater submerges the paint and whether there is an ice mass on the hull. When it is captured that the reflection signal of the paint is 0, it is submerged in seawater. At this time, the traveling ship deicing monitoring device converts the travel route. When it is captured that the reflection signal of the paint is greater than 0 and lower than the set reflection signal index, there is an ice mass ahead. At this time, as shown in Figure 2, the traveling ship deicing monitoring device stops moving forward, activates the microwave oscillator 8 and the infrared heating device 7 to perform deicing. When the ice blocks melt, the traveling ship deicing monitoring device continues to move and perform detection work.

[0020] As shown in Figure 3, the light strip paint is distributed in a "W" or "rice" shape around the hull and on the deck of the ship exposed to the outdoor air. The traveling ship de-icing monitoring device travels in a "W" or "rice" shape along the light strip paint rail. With this setting, the de-icing monitoring range can be made larger, and the positions that require de-icing can be accurately positioned to achieve accurate de-icing. When the probe detects total reflection, that is, the reflection signal is 100, the traveling ship de-icing monitoring device continues to move forward. If the reflection signal is 0, the traveling ship de-icing monitoring device travels along the route it came from in the reverse direction, moves to the focus of the "W" or "rice" route, and switches to another rail. When it exceeds the focus, since the marine ship cannot navigate normally, the focus is set at the position of the maximum draft of the ship. If the focus is submerged in seawater, the traveling ship de-icing monitoring device returns to the initial starting position.

[0021] As shown in Figure 4, the traveling ship de-icing monitoring system covers the overall navigation situation of the ship in a low-temperature navigation environment, monitors in real time the orientations where the hull is prone to icing, ensures the safety of the crew during navigation, reduces the navigation resistance of the ship, and reduces the energy consumption of the ship. When the traveling ship de-icing monitoring system discovers an icing phenomenon, it issues a warning and switches to the de-icing mode automatically / manually. At this time, the traveling ship de-icing monitoring device of the present invention receives a traveling command, moves to the icing area to perform de-icing. When the data collected by the infrared sensor indicates that the temperature is rising and the ice and snow are melting, the server sends a de-icing stop command, and the crew can observe the de-icing situation of the part of the hull where icing has occurred in real time.

[0022] The traveling ship de-icing monitoring system consists of two parts: a monitoring terminal and upper computer software. The monitoring terminal mainly collects data on the icing situation on the hull surface, and the collected data should include the temperature, relative humidity of the hull surface environment, and the thickness of the ice accretion. The upper computer software mainly reads real-time monitoring data from the terminal, determines whether anti-icing or de-icing is required on the hull surface, transmits the data to the wireless DTU via the RS485 serial port line, and further transmits the data to the server in a transparent transmission mode from the wireless DTU. The server analyzes the received data to determine whether the road surface is frozen. When it is confirmed that the ship surface is frozen, the server sends a de-icing command, and the infrared heating device 7 and the microwave oscillator 8 operate to perform de-icing. When the data collected by the infrared sensor indicates that the temperature rises and the snow ice melts, the server sends a de-icing stop command.

[0023] The on-site data monitoring of the traveling ship de-icing monitoring system uses an FP-X series PLC to complete the collection of the state of the de-icing fluid heating process parameters. The communication plug-in of the PLC is directly connected to the GPRS DTU, and the collected data is regularly transmitted to the GPRS network in the format of a protocol data frame by RS485. At the same time, the data information is transmitted to the Internet network through the GPRS network. The remote monitoring center transmits the Internet network data to the database of the remote monitoring center in a transparent manner by the address access method. At the same time, the PLC responds to the control commands sent from the remote monitoring center to complete the on-site control of the traveling ship de-icing monitoring device of the present invention. The PLC communicates with and issues commands to the automatic control chip 3 inside the vehicle body 1 of the traveling ship de-icing monitoring device. The PLC and the automatic control chip 3 are connected by digital input / output pins and communicate by the high and low levels of the signals. The PLC transmits commands or control signals to the automatic control chip 3 by setting the states of the pins, and realizes functions such as monitoring, data transmission, and command transmission for the automatic control chip 3. This system mainly relates to a square wave generator, a drive circuit, a light-emitting diode, a preamplifier, a band-pass filter, a synchronous integrator, and an icing detector. The initial signal collected by the infrared sensor finally transmits the de-icing command signal to the traveling ship de-icing monitoring device of the present invention through the photodiode → preamplifier → band-pass filter → synchronous integrator → icing detector → RS485 serial port line → wireless DTU → ship de-icing monitoring center, and completes the whole process of full-automatic de-icing. In this process, the de-icing command signal can also be manually sent to the traveling ship de-icing monitoring device of the present invention by the platform monitoring camera.

Claims

1. A traveling ship de-icing monitoring device comprising a hull (1) provided with a universal wheel (10), wherein the hull (1) can be adsorbed to the hull by an electromagnet (9) installed at its bottom and can travel on the hull. Optical probes (2) capable of recognizing paint rails are provided at both the front and rear of the hull (1). The paint rail is painted with a light strip paint provided with a fixed element code inside. The optical probe (2) utilizes the light reflectivity of the light strip paint to recognize and match the fixed element code inside. Inside the hull (1), an automatic control chip (3) capable of controlling the traveling ship de-icing monitoring device to travel along the paint rail on the hull surface is further provided. The automatic control chip (3) simultaneously controls a microwave oscillator (8) for vibrating and crushing ice and an infrared heating device (7) for heating and de-icing. On the top of the hull (1), an infrared monitoring device for monitoring the ice layer condition of the hull and a network upload module (4) for transmitting ice layer information and device position information are provided. A traveling ship de-icing monitoring device characterized by the above.

2. The paint rail uniformly covers the positions on the hull surface that require de-icing in a "w" shape. The traveling ship de-icing monitoring device according to Claim 1, characterized by this.

3. The infrared monitoring device includes an infrared monitoring camera (5) and an infrared radiation head (6). The traveling ship de-icing monitoring device according to Claim 1, characterized by this.

4. The infrared monitoring camera (5) discriminates whether the front of the paint rail is submerged by seawater or frozen by utilizing the intensity of the infrared reflection signal received from the hull surface. The traveling ship de-icing monitoring device according to Claim 3, characterized by this.

5. The infrared heating device (7) is installed above the microwave oscillator (8). The traveling ship de-icing monitoring device according to Claim 1, characterized by this.

6. A traveling ship de-icing monitoring system characterized by including the traveling ship de-icing monitoring device according to any one of Claims 1 to 5.

7. The traveling ship de-icing monitoring system is provided with a programmable logic controller capable of transmitting de-icing / travel commands to the automatic control chip (3). The traveling ship de-icing monitoring system according to Claim 6, characterized by this.

8. The traveling ship de-icing monitoring system according to claim 6, characterized in that it uses a GPRS network to transmit data information to the Internet network and further upload it to a ship de-icing monitoring center.

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