Ship cleaning system

Abstract

The present invention provides a hull cleaning system including a cleaning robot that cleans the exterior of a ship's hull and introduces contaminants removed from the exterior of the hull during the cleaning process into the interior, and a purification device that is connected to the cleaning robot via a hose member and filters and purifies seawater that flows in together with the contaminants from the cleaning robot via the hose member.

Description

Technical Field

[0001] The present invention relates to a hull cleaning system, and more particularly to a hull cleaning system that cleans the outer surface of a hull via a cleaning robot and collects and purifies contaminants generated during the cleaning process.

Background Art

[0002] Generally, since a ship is operated with the lower part of the hull immersed in seawater, foreign substances such as various contaminants and various underwater organisms such as sea moss and barnacles can adhere to the bottom surface and side surfaces located underwater.

[0003] Thus, various foreign substances and underwater organisms adhering to the hull not only damage the appearance of the ship, but also act as resistance when the ship is in operation, causing a decrease in the ship's speed, which significantly increases the fuel consumption of the ship. Therefore, it is very important to periodically clean various foreign substances and underwater organisms adhering to the hull.

[0004] Conventionally, the cleaning work of the outer surface of the hull was usually carried out by a diver directly entering to clean the foreign substances and underwater organisms attached to the outer surface of the hull. However, the working environment is poor, physical exertion is intense, it is difficult to clean the outer surface of the hull cleanly, it takes a lot of time, and there is a problem that cleaning is impossible in places with strong tidal currents.

[0005] Particularly, in the case of large ships, due to the increase in the amount of cleaning work, the time spent underwater becomes longer, posing many risks to the diver. By performing the cleaning work depending on the diver's vision, there is a problem that the cleaning quality of the deep bottom surface of the ship is significantly reduced.

[0006] Therefore, recently, there is a tendency for bottom cleaning robots that travel while attached to the outer surface of the hull and perform cleaning work with a brush or the like to be widely used.

[0007] However, when using conventional hull cleaning robots, various foreign objects and aquatic organisms that fall off the hull during the cleaning process flow directly into the water, causing marine pollution. In particular, in the case of ships that have traveled overseas, they may bring invasive aquatic organisms attached to their hulls, and these invasive organisms entering the water during the cleaning process can disrupt the surrounding marine ecosystem. [Overview of the project] [Problems that the invention aims to solve]

[0008] The present invention aims to provide a ship hull cleaning system, specifically one that can easily clean the exterior of a ship's hull via a cleaning robot, and that can effectively prevent marine environmental pollution by collecting foreign matter and aquatic organisms that fall off the exterior of the hull during the cleaning process, filtering and purifying them, and then discharging purified seawater.

[0009] The technical problems that this invention aims to solve are not limited to those mentioned above, and any other technical problems not mentioned can be clearly understood by a person with ordinary skill in the art to which this invention pertains from the description below. [Means for solving the problem]

[0010] To solve the problems described above, the present invention includes a cleaning robot that cleans the outer surface of a ship's hull and allows contaminants removed from the outer surface of the hull during the cleaning process to flow into the interior; a purification device connected to the cleaning robot via a hose member and filtering and purifying seawater that flows in from the cleaning robot through the hose member along with the contaminants; and a management server that controls the operation of the cleaning robot and the purification device in conjunction with the cleaning robot and the purification device, wherein the cleaning robot is A robot body, a running member provided at the lower part of the robot body that moves while attached to the outer surface of the hull via magnetic force, a cleaning member that cleans the outer surface of the hull and allows contaminants removed from the outer surface of the hull to flow into the robot body, and via the cleaning member An internal filter unit that removes and recovers contaminants from seawater sucked into the robot body of the cleaning robot, and a bypass line that directs the seawater sucked into the robot to flow into the hose member, bypassing the internal filter unit. It includes a camera unit that photographs the external condition of the hull, and transmits the video captured via the camera unit to the management server. The aforementioned management server Transmitted from the cleaning robotThe present invention provides a ship cleaning system that analyzes video footage of the external condition of the ship's hull, and if the degree of contamination of the external hull is below a pre-set standard value, operates the cleaning robot to filter the inhaled seawater through its internal filter; and if the degree of contamination of the external hull is above a pre-set standard value, operates the cleaning robot to allow the inhaled seawater to flow into the purification device via the bypass line and the hose member, and to filter and purify the seawater through the purification device.

[0011] Also, The aforementioned The internal filter unit is detachably mounted on the robot body, providing a hull cleaning system.

[0012] Furthermore, the purification device provides a hull cleaning system that includes a seawater suction pump for drawing in seawater flowing in from a cleaning robot via a hose component, a primary filter unit for removing, collecting, separating, and discharging pollutants contained in the incoming seawater, and a secondary filter unit for purifying the seawater filtered by the primary filter unit through secondary filtration.

[0013] The present invention also provides a hull cleaning system that further includes a seawater supply tank for temporarily storing seawater filtered by a primary filter and supplying the filtered seawater to a secondary filter; a filter material supply tank for selectively supplying filter material to the secondary filter; a contaminated water storage tank for recovering and storing contaminated water generated during the seawater filtration and purification process by the secondary filter; and a purified water storage tank for storing purified water treated by the secondary filter and selectively discharging the purified water into the sea.

[0014] The present invention also provides a hull cleaning system that further includes a pump component detachably mounted on a hose component, which sucks in seawater flowing into the hose component from a cleaning robot and transfers it to a purification device.

[0015] The present invention also provides a hull cleaning system that further includes an external filter unit, which is detachably mounted on the hose member and removes and recovers contaminants from seawater flowing into the hose member from a cleaning robot.

[0016]

[0017]

Advantages of the Invention

[0018] The hull cleaning system according to an embodiment of the present invention sucks contaminants such as foreign substances and aquatic organisms that fall from the outer surface of the hull during the process of cleaning the outer surface of the hull via a cleaning robot, and quickly filters and purifies the contaminants via a purification device. At the same time, the purified seawater is discharged to the outside, so that marine environmental pollution can be effectively prevented.

[0019] In addition, the video of the outer surface state of the hull taken by the cleaning robot is analyzed, and depending on the degree of contamination of the outer surface of the hull, selectively using only the internal filter part of the cleaning robot or using an external purification device, the contaminants sucked together with seawater by the cleaning robot can be filtered to purify the seawater, and the working efficiency of hull cleaning can be increased.

[0020] The effects obtained by the present invention are not limited to the effects mentioned above, and other effects not mentioned will be clearly understood by those with ordinary knowledge in the technical field to which the present invention belongs from the following description.

Brief Description of the Drawings

[0021] [Figure 1] It shows the configuration of the hull cleaning system according to the first embodiment of the present invention. [Figure 2] It shows the configuration of the cleaning robot according to the first embodiment of the present invention. [Figure 3] It shows the configuration of the purification device according to the first embodiment of the present invention. [Figure 4] It shows the configuration of the hull cleaning system according to the second embodiment of the present invention. [Figure 5] It shows the configuration of the hull cleaning system according to the third embodiment of the present invention.

Modes for Carrying Out the Invention

[0022] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

[0023] Together with the accompanying drawings, the detailed description disclosed below is intended to explain exemplary embodiments of the present invention and is not intended to show the only embodiments in which the present invention can be implemented.

[0024] In the drawings, in order to clearly explain the present invention, parts not related to the explanation can be omitted, and the same reference numerals can be used for the same or similar components throughout the specification.

[0025] In the embodiments of the present invention, expressions such as "or" and "at least one" can indicate one of the words listed together or a combination of two or more.

[0026] FIG. 1 shows the configuration of a hull cleaning system 100 according to a first embodiment of the present invention, FIG. 2 shows the configuration of a cleaning robot 110 according to the first embodiment of the present invention, and FIG. 3 shows the configuration of a purification device 120 according to the first embodiment of the present invention.

[0027] Referring to FIGS. 1 to 3, a hull cleaning system 100 according to an embodiment of the present invention may include a cleaning robot 110 and a purification device 120.

[0028] The cleaning robot 110 can travel while attached to the outer surface of the hull of a ship and clean contaminants such as foreign substances and aquatic organisms attached to the outer surface of the hull.

[0029] Such a cleaning robot 110 can move to the outer surface of the hull of a ship to be cleaned via an intake recovery device (not shown) at a ship, a port, a quay, etc.

[0030] Furthermore, the cleaning robot 110 can move while attached to the outer surface of the hull submerged in water via the magnetic travel member 112, and clean the outer surface of the hull using cleaning members 113 such as brushes.

[0031] Specifically, the cleaning robot 110 of this embodiment may include a robot body 111, a traveling member 112, a cleaning member 113, and an internal filter 114.

[0032] Here, the robot body 111 constitutes the external appearance of the cleaning robot 110, and during the cleaning process using the cleaning member 113, it is possible to allow seawater containing foreign objects and aquatic organisms that fall from the outside of the hull to flow into the interior.

[0033] Furthermore, the running member 112 is provided at the lower part of the robot body 111 and is formed of wheels or tracks containing magnets, allowing it to move while attached to the outer surface of the hull via magnetic force.

[0034] Furthermore, the cleaning member 113 may include a brush that rotates to clean the exterior of the hull, or a water jet type high-pressure spray nozzle that sprays high-temperature or room-temperature water at high pressure to clean the exterior of the hull.

[0035] In other words, various foreign objects such as pollutants and various aquatic organisms such as moss and barnacles may adhere to the bottom and sides of the hull that are submerged in water, but these can be easily removed using cleaning components such as brushes or water jets.

[0036] At this time, foreign objects and aquatic organisms that fall from the outside of the hull by the cleaning member 113 can be sucked into the robot body 111 by the pump P provided in the internal filter section 114.

[0037] Furthermore, the internal filter unit 114 is located inside the robot body unit 111 and can remove and recover foreign matter and aquatic organisms contained in the seawater flowing into the robot body unit 111.

[0038] Here, the internal filter section 114 may have its entire outer surface formed of a filter mesh, and a collection space may be formed inside for collecting foreign matter and aquatic organisms.

[0039] Furthermore, the internal filter section 114 may be integrally equipped with a pump P for drawing seawater flowing into the robot body section 111 into the recovery space.

[0040] This internal filter unit 114 is detachable from the robot body unit 111, and can be replaced if foreign matter and contaminants such as aquatic organisms accumulate in the internal filter unit 114.

[0041] On the other hand, the cleaning robot 110 may be connected to the purification device 120 via a hose member 130, thereby allowing seawater filtered by the internal filter unit 114 of the cleaning robot 110 to flow into the purification device 120 via the hose member 130.

[0042] The purification device 120 can purify seawater that flows in from the cleaning robot 110 via the hose member 130.

[0043] Such a purification device 120 may be formed from a container module and installed on a ship or on land, and if installed on land, it may be movable.

[0044] For example, the purification device 120 may be configured to be mounted on a vehicle, or it may be installed in a container with wheels attached to the bottom so that it can be moved on land.

[0045] As another example, the purification device 120 may be configured to float on the sea, but in this case, it may be equipped with a propulsion device (not shown) to enable it to self-propel on the sea.

[0046] Referring to Figures 1 and 3, the purification device 120 of this embodiment may include a seawater intake pump 121, a primary filter section 122, storage tank sections 125, 126, 127, 128, a secondary filter section 123, and a controller 124.

[0047] Here, the seawater intake pump 121 is connected to the cleaning robot 110 via a hose member 130, and can suck up seawater discharged from the cleaning robot 110 via the hose member 130 and transfer it to the purification device 120.

[0048] At this time, the seawater drawn in by the seawater intake pump 121 can flow into the primary filter section 122, which can collect residual foreign matter and aquatic organisms contained in the seawater and separate and discharge them.

[0049] In other words, the internal filter section 114 of the cleaning robot 110 can collect large foreign particles, as well as aquatic organisms such as seaweed and barnacles, while small foreign particles and microscopic aquatic organisms that pass through the internal filter section 114 of the cleaning robot 110 and flow in with seawater via the hose member 130 can be filtered and separated by the primary filter section 122 of the purification device 120 and discharged.

[0050] For example, the primary filter section 122 can remove and collect foreign matter and aquatic organisms larger than 500 μm through a fine filter mesh, and the collected foreign matter and aquatic organisms can be separated and discharged.

[0051] Furthermore, the seawater filtered by the primary filter section 122 is stored in the seawater storage tank 125 of the storage tank sections 125, 126, 127, and 128, and the seawater stored in the seawater storage tank 125 flows into the secondary filter section 123 for secondary filtration and purification treatment.

[0052] The storage tank sections 125, 126, 127, and 128 may include a seawater storage tank 125, a filter material supply tank 126, a contaminated water storage tank 127, and a purified water storage tank 128.

[0053] Here, the seawater storage tank 125 stores seawater filtered by the primary filter unit 122 and simultaneously supplies filtered seawater to the secondary filter unit 123, while the filter material supply tank 126 can supply filter material to the secondary filter unit 123.

[0054] Furthermore, the contaminated water storage tank 127 can store the contaminated water discharged from the secondary filter unit 123, and the purified water storage tank 128 can store the purified water that has been purified by the secondary filter unit 123.

[0055] At this time, the purified water stored in the purified water storage tank 128 may be discharged into the sea, and may also be used to clean the secondary filter section 123.

[0056] Furthermore, the secondary filter section 123 can selectively apply a 10 μm to 90 μm filter to purify the seawater filtered by the primary filter section 122 through secondary filtration.

[0057] At this time, the secondary filter unit 123 can perform secondary filtration of seawater using only the filter, or it can perform secondary filtration and purification treatment of seawater using filter material selectively supplied from the filter material supply tank 126.

[0058] For example, the filter material may include diatomaceous earth, activated carbon, and cellulose. When using a filter material, the filtration speed is slower compared to filtering seawater with a filter alone, but the filtration performance can be increased.

[0059] Furthermore, the controller 124 can control the operation of the seawater intake pump 121, the primary filter unit 122, the storage tank units 125, 126, 127, 128, and the secondary filter unit 123 so as to suck in and purify the seawater flowing in from the cleaning robot 110.

[0060] Specifically, the controller 124 may be formed as a control box so that it can be operated by a user, and can perform seawater purification treatment in response to control commands that have already been input.

[0061] For example, the controller 124 can operate the seawater intake pump 121 to allow seawater discharged from the cleaning robot 110 along with foreign matter and aquatic organisms to flow into the primary filter section 122 via the hose member 130. As a result, the primary filter section 122 removes foreign matter and aquatic organisms from the incoming seawater, separates and discharges them, and allows the filtered seawater to flow into the seawater storage tank 125.

[0062] Next, the controller 124 operates an internal pump (not shown) to cause the seawater stored in the seawater storage tank 125 to flow into the secondary filter section 123, thereby performing secondary filtration and purification treatment via the secondary filter section 123. The purified seawater is stored in the purified water storage tank 128, and the contaminated water generated during the purification process can be stored in the contaminated water storage tank 127.

[0063] Furthermore, while the secondary filter section 123 can be automatically cleaned by operating the controller 124, the multiple filters installed in the secondary filter section 123 can also be cleaned using a backwashing method with purified water stored in the purified water storage tank 128.

[0064] Thus, in this embodiment, the hull cleaning system 100, during the process of cleaning the outer surface of the hull via the cleaning robot 110, can suck up foreign matter and aquatic organisms that fall from the outer surface of the hull into the cleaning robot 110 and collect them through the internal filter unit 114. The fine foreign matter and fine aquatic organisms that pass through the internal filter unit 114 and are discharged together with the seawater are then fed into the external purification device 120 via the hose member 130, where the fine foreign matter and fine aquatic organisms in the seawater are filtered through the primary and secondary filter units 122 and 123 to purify the seawater, and the purified seawater can then be discharged.

[0065] This not only allows for easy cleaning of the ship's exterior, but also enables the rapid filtration and collection of foreign matter and aquatic organisms discharged during the cleaning process, while simultaneously purifying and discharging seawater, thereby effectively preventing marine environmental pollution.

[0066] On the other hand, Figure 4 shows the configuration of the hull cleaning system 200 according to the second embodiment of the present invention.

[0067] Referring to Figure 4, the hull cleaning system 200 according to the second embodiment of the present invention can detect the external surface condition of the hull and selectively use the internal filter unit 214 of the cleaning robot 210 and the external purification device 220 according to the detected external surface condition of the hull.

[0068] Specifically, the cleaning robot 210 of this embodiment can capture images of the exterior surface of the ship's hull using a camera unit 212 provided on the robot body unit 211, and can transmit the captured images to the management server 240.

[0069] In this embodiment, the management server 240 is linked with the cleaning robot 210 and the purification device 220 via wireless communication and can control the operation of the cleaning robot 210 and the purification device 220.

[0070] The management server 240 analyzes the video of the ship's exterior transmitted from the cleaning robot 210, and, depending on the degree of contamination of the ship's exterior, selects a purification mode to process the contaminants adhering to the ship's exterior when cleaning the ship's exterior using the cleaning robot 210, thereby selectively using the internal filter unit 214 of the cleaning robot 210 and the external purification device 220.

[0071] For example, the management server 240 has a set standard value for the degree of contamination on the exterior of the hull. By analyzing the video of the exterior condition of the hull transmitted from the cleaning robot 210, if the degree of contamination on the exterior of the hull is below the already set standard value, the cleaning robot 210 can filter and recover contaminants generated during the hull cleaning process using only its internal filter unit 214.

[0072] In this case, the cleaning robot 210 of this embodiment may be fitted with an internal filter unit 214 capable of removing fine foreign matter and fine aquatic organisms.

[0073] Furthermore, if the degree of contamination on the exterior of the hull exceeds a previously established standard value, the contaminants sucked in by the cleaning robot 210 during the hull exterior cleaning process can be transferred to an external purification device 220 for treatment.

[0074] For example, if the fouling on the outer surface of the hull is severe, it may be difficult to process the contaminants using only the internal filter unit 214 of the cleaning robot 210. In such cases, the external purification device 220 can be used.

[0075] In other words, the cleaning robot 210 may be connected to a hose member 230 that can transfer contaminants to an external purification device 220, and the cleaning robot 210 may be equipped with a bypass line 213 that allows contaminants sucked into the cleaning robot 210 during the hull cleaning process to bypass the internal filter section 214 and flow into the hose member 230.

[0076] Here, the bypass line 213 is equipped with a control valve 215. When using the internal filter section 214 of the cleaning robot 210, the bypass line 213 is closed via the control valve 215. The bypass line 213 can be opened via the control valve 215 only when contaminated material is to flow into the hose member 230 via the bypass line 213.

[0077] As a result, contaminants such as foreign objects and aquatic organisms that flow into the hose member 230 via the bypass line 213 of the cleaning robot 210 can be transferred to the purification device 220 along with the seawater. In the purification device 220, the contaminants in the seawater are filtered using primary and secondary filter sections 222 and 223 to purify the seawater, and the purified seawater can then be discharged.

[0078] Furthermore, a pump member 250 may be detachably mounted on a hose member 230 that connects the cleaning robot 210 and the purification device 220.

[0079] In other words, since using only the seawater intake pump 221 provided in the purification device 220 to suck up seawater and pollutants discharged from the cleaning robot 210 into the hose member 230 for a long period of time may create a load, in this embodiment an additional pump member (not shown) can be attached to the hose member 230.

[0080] As described above, the hull cleaning system 200 according to this embodiment analyzes images of the external condition of the hull captured by the cleaning robot 210. If the degree of contamination of the external hull is below a pre-set standard value, the system can filter and recover contaminants generated during the hull cleaning process using only the internal filter unit 214 of the cleaning robot 210. If the degree of contamination of the external hull is above a pre-set standard value, the contaminants sucked in by the cleaning robot 210 can be transferred to an external purification device 220 for processing.

[0081] Furthermore, as an example, in the process of cleaning the outer surface of a ship using the ship cleaning system 200 of this embodiment, after analyzing the degree of contamination of the outer surface of the ship in advance, if the degree of contamination is below a pre-set standard value, the cleaning robot 210 alone can be used independently to filter and recover contaminants via the internal filter unit 214. Only when the degree of contamination is above a pre-set standard value can the cleaning robot 210 be used in conjunction with the purification device 220.

[0082] On the other hand, Figure 5 shows the configuration of a hull cleaning system 300 according to a third embodiment of the present invention.

[0083] Referring to Figure 5(a), the hull cleaning system 300 of this embodiment can use only the external purification device 320 without providing an internal filter unit in the cleaning robot 310.

[0084] Specifically, in this embodiment, contaminants sucked in during the cleaning process of the exterior of the hull using the cleaning robot 310 can be transferred to the purification device 320 via the hose member 330.

[0085] At this time, a pump member 350 may be provided on the hose member 330, and the pump member 350 can be used to introduce contaminated material sucked into the cleaning robot 310 into the hose member 330, while simultaneously transferring it to the purification device 320 via the hose member 330.

[0086] Furthermore, referring to Figure 5(b), in this embodiment, an external filter unit 360 is detachably provided on the hose member 330, so that contaminants in the seawater flowing in from the cleaning robot 310 via the hose member 330 are removed via the external filter unit 360, and small particles of contaminants that pass through the external filter unit 360 can be flowed into the purification device 320 via the hose member 330.

[0087] Here, the external filter unit 360 is equipped with a collection space made of a filter mesh inside to collect large foreign particles, as well as aquatic organisms such as seaweed and barnacles, and the filtered seawater can be flowed into the hose member 330.

[0088] On the other hand, the purification device 320 can purify seawater by filtering out contaminants such as foreign matter and aquatic organisms that flow in with the seawater through the hose member 330 using the primary and secondary filter sections 322 and 323, thereby discharging purified seawater.

[0089] As described above, the hull cleaning systems 100, 200, and 300 according to the embodiments of the present invention effectively prevent marine environmental pollution by sucking up foreign matter and aquatic organisms and other contaminants that fall from the outside of the hull during the cleaning process via the cleaning robots 110, 210, and 310, rapidly filtering and purifying them via the purification devices 120, 220, and 320, and simultaneously discharging the purified seawater to the outside.

[0090] Furthermore, by analyzing the images of the ship's exterior taken by the cleaning robot 210, and depending on the degree of contamination of the ship's exterior, it is possible to selectively use only the internal filter unit 214 of the cleaning robot 210 or the external purification device 220 to filter out contaminants sucked in with the seawater by the cleaning robot 210 and purify the seawater, thereby increasing the efficiency of ship cleaning.

[0091] The embodiments of the present invention disclosed herein and in the drawings are merely examples provided to facilitate understanding of the technical content of the invention and are not intended to limit the scope of the invention.

[0092] Therefore, the scope of the present invention should be interpreted as including all modifications or alterations derived from the technical idea of ​​the present invention, in addition to the embodiments disclosed herein.

Claims

1. A cleaning robot that cleans the exterior surface of a ship's hull and allows contaminants removed from the exterior surface during the cleaning process to flow into the interior, A purification device connected to the cleaning robot via a hose member, which filters and purifies seawater that flows in from the cleaning robot through the hose member along with contaminants, Includes a management server that controls the operation of the cleaning robot and the purification device in conjunction with the cleaning robot and the purification device, The aforementioned cleaning robot, The robot body and A running member is provided at the lower part of the robot body and moves while attached to the outer surface of the hull via magnetic force, A cleaning member that cleans the outer surface of the hull and flows the contaminants removed from the outer surface of the hull into the robot body, An internal filter unit that removes and recovers contaminants from seawater sucked into the robot body of the cleaning robot via a cleaning component, A bypass line that causes seawater drawn into the interior to flow into the hose member, bypassing the internal filter section, It includes a camera unit that photographs the exterior condition of the hull, The video captured via the camera unit is transmitted to the management server. The aforementioned management server The cleaning robot analyzes the video of the exterior condition of the hull transmitted from the cleaning robot, and if the degree of contamination of the hull's exterior is below a pre-set standard value, it operates to filter the inhaled seawater through the cleaning robot's internal filter. A hull cleaning system that, when the degree of contamination of the outer surface of the hull exceeds a pre-established standard value, causes the intake seawater to flow into the purification device via the bypass line and the hose member, and operates the system to filter and purify the seawater through the purification device.

2. The hull cleaning system according to claim 1, wherein the internal filter section is detachably provided on the robot body section.

3. The aforementioned purification device is A seawater suction pump for sucking up seawater flowing in from the cleaning robot via the hose member, The primary filter unit removes, collects, separates, and discharges pollutants contained in the incoming seawater. The hull cleaning system according to claim 1, further comprising a secondary filter unit that secondarily filters and purifies seawater filtered by the primary filter unit.

4. A seawater supply tank for temporarily storing the seawater filtered by the primary filter section and supplying the filtered seawater to the secondary filter section, A filter material supply tank that selectively supplies filter material to the secondary filter section, A contaminated water storage tank for recovering and storing contaminated water generated during the seawater filtration and purification process by the secondary filter section, The hull cleaning system according to claim 3, further comprising a purified water storage tank for storing purified water treated by the secondary filter unit and selectively discharging the purified water into the sea.

5. The hull cleaning system according to claim 1, further comprising a pump member detachably provided on the hose member for sucking in seawater flowing into the hose member from the cleaning robot and transferring it to the purification device.

6. The hull cleaning system according to claim 5, further comprising an external filter unit detachably provided on the hose member for removing and recovering contaminants in seawater flowing into the hose member from the cleaning robot.

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