CN118323356B - Unmanned ship for marine equipment decontamination and flaw detection and operation method thereof - Google Patents
Unmanned ship for marine equipment decontamination and flaw detection and operation method thereof Download PDFInfo
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- CN118323356B CN118323356B CN202410764178.7A CN202410764178A CN118323356B CN 118323356 B CN118323356 B CN 118323356B CN 202410764178 A CN202410764178 A CN 202410764178A CN 118323356 B CN118323356 B CN 118323356B
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- 238000001514 detection method Methods 0.000 title claims abstract description 62
- 238000000034 method Methods 0.000 title claims abstract description 15
- 238000005202 decontamination Methods 0.000 title description 18
- 230000003588 decontaminative effect Effects 0.000 title description 18
- 238000004140 cleaning Methods 0.000 claims abstract description 43
- 230000008439 repair process Effects 0.000 claims abstract description 30
- 238000001179 sorption measurement Methods 0.000 claims abstract description 22
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 28
- 238000007667 floating Methods 0.000 claims description 26
- 229920002595 Dielectric elastomer Polymers 0.000 claims description 23
- 238000011084 recovery Methods 0.000 claims description 19
- 229910052742 iron Inorganic materials 0.000 claims description 14
- 229910000831 Steel Inorganic materials 0.000 claims description 10
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- 238000010248 power generation Methods 0.000 claims description 9
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- 230000005484 gravity Effects 0.000 claims description 6
- 210000001015 abdomen Anatomy 0.000 claims description 4
- 230000008859 change Effects 0.000 claims description 3
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- 230000007246 mechanism Effects 0.000 claims description 2
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims 2
- 229910052782 aluminium Inorganic materials 0.000 claims 2
- 239000003832 thermite Substances 0.000 claims 1
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- XUIMIQQOPSSXEZ-UHFFFAOYSA-N Silicon Chemical compound [Si] XUIMIQQOPSSXEZ-UHFFFAOYSA-N 0.000 description 2
- 239000003990 capacitor Substances 0.000 description 2
- 230000007797 corrosion Effects 0.000 description 2
- 238000005260 corrosion Methods 0.000 description 2
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- 230000001788 irregular Effects 0.000 description 2
- 239000010865 sewage Substances 0.000 description 2
- 229910052710 silicon Inorganic materials 0.000 description 2
- 239000010703 silicon Substances 0.000 description 2
- 239000007921 spray Substances 0.000 description 2
- 238000006424 Flood reaction Methods 0.000 description 1
- 238000007792 addition Methods 0.000 description 1
- 230000009189 diving Effects 0.000 description 1
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- 230000005611 electricity Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B5/00—Cleaning by methods involving the use of air flow or gas flow
- B08B5/02—Cleaning by the force of jets, e.g. blowing-out cavities
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/20—Metals
- G01N33/204—Structure thereof, e.g. crystal structure
- G01N33/2045—Defects
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
- B63B2035/008—Unmanned surface vessels, e.g. remotely controlled remotely controlled
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- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Ocean & Marine Engineering (AREA)
- Mechanical Engineering (AREA)
- Combustion & Propulsion (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Analytical Chemistry (AREA)
- Physics & Mathematics (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Medicinal Chemistry (AREA)
- Food Science & Technology (AREA)
- Crystallography & Structural Chemistry (AREA)
- Investigating Or Analyzing Materials By The Use Of Magnetic Means (AREA)
Abstract
The invention discloses an unmanned ship for cleaning and detecting the dirt of marine equipment and an operation method thereof, wherein an electromagnetic adsorption assembly adsorbs a plurality of submarines to a target sea area and then cuts off the power to release the submarines, the submarines submerge to the surface of a marine equipment structure under the sea surface, a cavitation jet device is started to clean the surface of the structure, then a flaw detection device is started to scan and detect a dirt cleaning area, and a transmitting assembly is started to transmit a positioning device to the damaged part to position when the damaged part is found, so that the damaged part can be conveniently found when the following manual repair is performed; in the unmanned ship designed by the invention, the operation range can be enlarged and the operation efficiency can be obviously improved by simultaneously operating a plurality of submarines, the flaw detection precision can be improved by implementing the cleaning before flaw detection, the problems of high risk and high cost existing in manual flaw detection are avoided, and the positioning device can be used for positioning the damaged part so as to reduce the positioning difficulty of the damaged part in the subsequent manual repair process, so that the unmanned ship has the advantages of high efficiency, economy and safety.
Description
Technical Field
The invention belongs to the technical field of underwater decontamination and flaw detection of marine structures, and particularly relates to an unmanned ship for marine equipment decontamination and flaw detection and an operation method thereof.
Background
With the continuous development of the economic society, people have an increasing trend in energy demand. In recent years, various countries have been devoted to the development of offshore energy industries, including offshore wind energy, wave energy and the like, for which a series of efficient energy harvesting devices, such as offshore wind generators, oil drilling platforms, wave energy power generation devices and the like, are designed and built.
However, these devices are operated in marine environments for a long period of time, and are susceptible to damage problems such as corrosion, surface cracks and the like due to the influence of environmental factors such as underwater organism adhesion, stormy waves and currents. If these attachments and damages cannot be cleaned and repaired in time, the working efficiency and the service life of the offshore structure are seriously affected. In order to ensure the normal operation of the energy collection devices, it is important to periodically perform the cleaning and flaw detection work.
At present, the existing periodic maintenance, decontamination and flaw detection method mainly depends on manual operation, but is limited by the quality of the marine environment, and when the marine environment is in a severe state, the decontamination and flaw detection operation cannot be performed in time. In addition, the staff himself has to carry heavy cleaning and flaw detection equipment, and the cleaning device is used for cleaning attachments on the surface of the underwater structure before flaw detection operation, so that flaw detection precision is ensured. Then, the heavy flaw detection equipment is required to carry out flaw detection work. The X-ray flaw detector is extremely dangerous and time-consuming operation, has high economic cost and low working efficiency, and has radiation hazard to human bodies, so that the health of staff is seriously damaged.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides an unmanned ship for cleaning and detecting the defects of marine equipment and an operation method thereof, wherein the unmanned ship is autonomously navigated to the marine equipment by a submarine to remove attachments on the surface of the structure of the unmanned ship, and the defect detection work is carried out after the marine equipment is cleaned; after the flaw detection position is found, the positioning device is utilized to accurately position the damage point so as to facilitate the development of subsequent manual repair work; when encountering abominable marine environment and can't carry out manual repair, can adopt the inside aluminothermic device of positioner to carry out preliminary rush-repair to the damage structure, solved a series of problems such as the risk factor that artifical decontaminating and detecting a flaw bring is big, with high costs, work efficiency are low, play good platform or the restoration effect of boats and ships corrosion, have high factor of safety, low economic cost and high work efficiency's advantage.
The invention is realized by adopting the following technical scheme:
the unmanned ship for the marine equipment decontamination and flaw detection comprises an unmanned ship body; a power supply and a driving mechanism are arranged in the unmanned ship body; further comprises:
The electromagnetic adsorption assembly consists of a guide rod, an electromagnetic chuck and a first electromagnetic coil; the guide rod is connected to the unmanned ship body, the electromagnetic chuck is assembled at the tail end of the guide rod, and the first electromagnetic coil is arranged inside the electromagnetic chuck and supplies power to the first electromagnetic coil through a power supply of the unmanned ship body;
The submarine consists of a submarine body, a cavitation jet device, a flaw detection device, a positioning device assembly, a transmitting assembly and a magnetic chuck; the first electromagnetic coil is electrified to enable the electromagnetic chuck to adsorb the magnetic chuck, and the submarine is adsorbed at the tail end of the guide rod; the release of the submarine is realized when the first electromagnetic coil is powered off; the cavitation jet device is used for cleaning the surface of marine equipment and is arranged at the front part of the submarine body; the flaw detection device is used for carrying out flaw detection on the marine equipment after the decontamination and is arranged at the upper end of the submarine vehicle body; the positioning device assembly consists of positioning devices and an electric wheel disc, the electric wheel disc is arranged at the center of the front part of the submarine vehicle main body, a plurality of storage boxes are arranged in the electric wheel disc, and a plurality of positioning devices are arranged in each storage box; the transmitting assembly is arranged at the rear end of the electric wheel disc and used for transmitting out the positioning device in the storage box to position the damaged part.
The invention also provides an unmanned ship operation method for the marine equipment cleaning and flaw detection, which is applied to the unmanned ship for the marine equipment cleaning and flaw detection, and comprises the following steps:
S1: remotely controlling the unmanned ship to reach a target sea area;
S2: controlling the electromagnetic adsorption assembly to be powered off, so that the submersible vehicle adsorbed on the electromagnetic chuck is separated from and is submerged below the sea level;
S3: the underwater vehicle automatically navigates to reach a designated operation area, and the cavitation jet device is used for carrying out the sewage cleaning operation on the surface of the underwater structure of the marine equipment;
s4: after the cleaning operation is finished, detecting the surface of the underwater structure on the cleaning part through the flaw detection device;
S5: when the damaged position is detected, the submarine sails to the set range of the damaged position, and the launching assembly ejects a positioning device; the positioning device is electrified at the same time in ejection, so that the positioning device has magnetism and is adsorbed on a damaged part, and meanwhile, the floating ball pushes up the hollow baffle plate and floats upwards based on buoyancy, so that the damaged part is positioned;
S6: positioning the position of the damaged part based on the position of the floating ball during manual repair, and performing rush repair operation on the damaged part through an aluminothermic device at the front end of the positioning device when manual repair operation cannot be performed;
s7: after the dirt-removing and flaw-detecting operation is completed, the submersible vehicle automatically floats to the sea surface, the electromagnetic adsorption assembly is electrified, and the magnetic chuck at the upper part of the submersible vehicle is adsorbed by the electromagnetic chuck to realize the recovery of the submersible vehicle.
Compared with the prior art, the invention has the advantages and positive effects that: according to the unmanned ship for the marine equipment decontamination and flaw detection and the operation method thereof, disclosed by the invention, the electromagnetic adsorption component adsorbs a plurality of submarines to navigate to a target sea area, and the electromagnetic adsorption component is controlled to be powered off so as to release the submarines; the submarine is used for diving to the surface of the marine equipment structure under the sea surface based on autonomous navigation, and a cavitation jet device is started to implement the cleaning operation on the surface of the structure; after the cleaning operation is finished, starting the flaw detection device to scan and detect the cleaning area, and starting the transmitting assembly to transmit a positioning device to the damaged part when the damaged part is found, wherein the positioning device is used for positioning the damaged part, and positioning data can be used for subsequent manual repair; the unmanned ship designed by the invention can adsorb a plurality of submarines through the electromagnetic adsorption component, and the plurality of submarines can work simultaneously to expand the working range and obviously improve the working efficiency; the structure surface is cleaned by the cavitation jet device before flaw detection, so that flaw detection precision can be improved, and the problems of high risk and high cost of manual flaw detection can be avoided; the positioning device can position the damaged part to reduce the positioning difficulty of the damaged part in the subsequent manual repair, and has the characteristics of high efficiency, economy and safety.
In some embodiments of the invention, a plurality of the electromagnetic adsorption assemblies are mounted on opposite sides of the unmanned ship body; the guide rod comprises a first guide rod and a second guide rod; the first guide rod is connected with the second guide rod through a rotating shaft, so that the second guide rod can change the relative position relation between the first guide rod and the second guide rod relative to the first guide rod; the electromagnetic chuck is assembled at the tail end of the second guide rod.
The first guide rod and the second guide rod are connected through the rotating shaft, so that the second guide rod can change the position relation relative to the first guide rod, when the underwater vehicle is released, the rotating shaft rotates, the second guide rod is relatively far away from the first guide rod, and therefore the unmanned ship body is far away from the unmanned ship body, collision of the underwater vehicle when the underwater vehicle is released is avoided, the underwater vehicle can be close to the sea level, and the release of the underwater vehicle is more stable; similarly, when the underwater vehicle is recovered, the position of the second guide rod is adjusted through rotation of the rotating shaft, so that the electromagnetic chuck is close to the underwater vehicle, and the recovery difficulty of the underwater vehicle is reduced; after the submarine is recovered, the rotating shaft rotates to enable the second guide rod to be close to the first guide rod, and the submarine is recovered to the front of the unmanned ship body.
In some embodiments of the invention, the cavitation jet device consists of a long-conduit nozzle, a solenoid valve and a first storage tank; the long guide pipe spray head is communicated with the first storage box; the electromagnetic valve is assembled on the long-conduit nozzle and is controlled by a control system of the submarine vehicle body; the first storage box is connected with the submarine body through a spherical hinge structure, a base of the spherical hinge is hollowed and communicated, an elongated rod is arranged behind the ball head, the elongated rod is connected with a mechanical arm in the submarine body, the mechanical arm is controlled by a control system of the submarine body, and free angle movement of the cavitation jet device is achieved through controlling the mechanical arm.
After the submarine is submerged to the surface of a structure in a designated area under the sea surface of the marine equipment, the cavitation jet device sprays the decontaminating material in the first storage box onto the surface of the structure through the long guide pipe nozzle, the operation angle of the cavitation jet device is changed through the mechanical arm, cleaning is carried out on the surface of the structure from different angles, the decontaminating efficiency is high, attachments on the surface of the structure can be effectively removed, and the defect detection precision is improved.
In some embodiments of the present invention, the wheel body of the electric wheel comprises a cavity structure formed by two annular wheel discs, an outer circumferential surface and an inner circumferential surface; the annular wheel disc is rotationally connected with the inner circumferential surface through a pulley; the storage box is fixed on the inner wall of the annular wheel disc, and an opening clamping groove is formed in the inner circumferential surface of the storage box; when the annular wheel disc is rotated to enable the storage box to be located above the opening clamping groove, a cabin door at the bottom of the storage box is opened, and a positioning device stored in the storage box falls into the opening clamping groove under the action of gravity.
In the positioning device assembly, a plurality of storage boxes are hung on the inner side of the annular wheel disc, at least one positioning device is stored in each storage box, one storage box is located above the open clamping groove along with the rotation of the annular wheel disc, so that one positioning device in the storage box falls into the open clamping groove under the action of gravity, and when a flaw detection device detects a damaged part, the transmitting assembly acts on the open clamping groove to transmit the positioning device in the flaw detection device to the damaged part; the sensor can be arranged in the storage box, whether a positioning device is arranged in the storage box is judged according to the detection signal of the sensor, and when the positioning device in one storage box is used up, the annular wheel disc is controlled to rotate, so that the other storage box is positioned above the opening clamping groove.
In some embodiments of the present invention, the positioning device is composed of a floating ball chamber, a first winding device, a general switch, a storage battery, an aluminothermic device, a second electromagnetic coil and a hollowed baffle; the first hoisting device is arranged in the floating ball cavity, and a floating ball is connected with the first hoisting device through a cable; the hollow baffle is arranged at the top of the floating ball chamber; the storage battery is connected with the second electromagnetic coil and the universal switch through leads; the universal switch is triggered to form a current loop, so that the second electromagnetic coil generates magnetism, and the positioning device can be adsorbed on a damaged part; after the positioning device is launched out, seawater enters the floating ball cavity through the hollow baffle, and the floating ball pushes up the hollow baffle under the action of the seawater and floats up to the sea surface; the aluminothermic device is arranged at the front part of the positioning device, consists of a repairing disc, a guide pipe and a second storage box, is provided with an electromagnetic valve, and is communicated by the instruction sent by the unmanned ship body when the emergency repair operation is required to be executed, and performs the emergency repair operation.
When positioner is launched by the transmission subassembly, general switch is started, and the battery is the second solenoid power supply for positioner produces magnetism and adsorbs at the damage position, simultaneously, and the sea water gets into the floater cavity through the fretwork baffle, makes the floater jack-up fretwork baffle under buoyancy effect, and the come-up is to the sea, and when artifical restoration, can implement the location to the damage position through the floater of floating at the sea, has reduced the degree of difficulty that repair personnel found the damage position. When the damaged part is positioned based on the position of the floating ball, the positioning device can be pulled back to the sea surface (the floating ball buoyancy is greater than the weight of the positioning device) under the action of the first winch device so as to facilitate subsequent continuous utilization. If the manual repair cannot be performed due to extreme weather, the thermit device at the front end of the positioning device can perform primary first-aid repair operation.
In some embodiments of the present invention, the launching assembly comprises a mass, a spring fixedly connected with the mass, a connecting rod, a cable and a second hoisting device; the spring is wound on the connecting rod, and the mass block is connected with the connecting rod in a sliding manner; the mass is connected to the cable, which is connected to the second hoisting device, which compresses or releases the spring by stretching the cable.
The transmitting assembly is arranged behind the opening clamping groove, when the positioning device is required to be transmitted, the second winding device is started, the mooring rope is released to enable the compressed spring to be unfolded, the mass block pushes the positioning device to transmit the positioning device, and meanwhile, the mass block touches the universal switch of the positioning device, so that the second electromagnetic coil of the positioning device is electrified and is magnetic, and the positioning device can be adsorbed at a damaged part; the second hoisting device then stretches the cable in the opposite direction and compresses the spring waiting for the next firing operation.
In some embodiments of the invention, a dielectric elastomer power generation device is fixed at the lower part of the deck of the unmanned ship body; the dielectric elastomer power generation device consists of a cylinder, a bearing, a dielectric elastomer film and a hollowed-out rotating piece; the hollow rotating piece is radially fixed on the cylinder, and the bearing is fixed at the center of the cylinder along the axial direction of the cylinder; one side of the dielectric elastomer film is fixedly connected with the bearing, and the other side of the dielectric elastomer film is fixedly connected with the upper end of the hollowed-out rotary piece.
In the execution process, the wave drives the hollow rotary piece to rotate, the hollow rotary piece drives the cylinder to do irregular reciprocating motion along the bearing, the dielectric elastomer films positioned on two sides of the cylinder do reciprocating stretching motion along with the left-right motion of the cylinder to generate mechanical energy, and then the mechanical energy is converted into electric energy which can be used as a standby power supply of the unmanned ship, so that the electricity consumption requirement under the extreme environment is ensured.
In some embodiments of the invention, a solar photovoltaic panel is arranged on the upper part of the deck of the unmanned ship body.
The solar photovoltaic panel is made of silicon crystal materials and is fixed on the deck of the unmanned ship. Based on the photoelectric effect, the light energy is converted into electric energy, and the electric energy is stored in a battery and used as a backup energy source of the unmanned ship.
In some embodiments of the invention, the belly of the submarine is provided with a recovery device for recovering the positioning device; the recovery device consists of a third hoisting device, an iron block and a steel cable; the iron block is connected to one end of the steel cable, and the other end of the steel cable is connected with the third hoisting device; when the positioning device fails to emit and sinks into the sea floor, positioning data of the positioning device are sent to the submarine, the submarine navigates to the upper side of the positioning device based on the positioning data, an iron block of the recovery device is released, and after the iron block adsorbs the positioning device, the third winch device pulls and receives the positioning device.
The positioning device also has the condition of failed transmission, if the transmission fails, the positioning device can drop to the sea floor, and in order to cope with the condition, a recovery device is arranged on the belly of the submarine; when the positioning device is launched, the positioning device is electrified instantly and has magnetism, so that after the submarine sails above the submarine according to positioning data, the iron blocks of the recovery device are released, the iron blocks sink near the positioning device and are adsorbed by the positioning device, and then the steel cable is recovered through the third winch device, so that the recovery function of the positioning device is realized.
Other features and advantages of the present invention will become more apparent from the following detailed description of embodiments of the present invention, which is to be read in connection with the accompanying drawings.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic perspective view of an unmanned ship for cleaning and detecting marine equipment;
Fig. 2 is a schematic structural diagram of an electromagnetic adsorption assembly in an unmanned ship for decontamination and flaw detection of marine equipment.
FIG. 3 is a schematic diagram of a submersible vehicle in an unmanned ship for decontamination and flaw detection of marine equipment;
Fig. 4 is a schematic structural diagram of an electric wheel disc in an unmanned ship for cleaning and detecting marine equipment;
FIG. 5 is a schematic diagram of the unmanned ship re-launching assembly for decontamination and flaw detection of marine equipment according to the present invention;
FIG. 6 is a schematic diagram of the structure of the unmanned in-ship positioning device for the decontamination and flaw detection of marine equipment according to the present invention;
fig. 7 is a schematic structural diagram of an unmanned ship heavy cavitation jet device for marine equipment decontamination and flaw detection;
FIG. 8 is a schematic diagram of a dielectric elastomer power generation device in an unmanned ship for marine equipment decontamination and inspection;
FIG. 9 is a schematic illustration of the steps of the unmanned ship operation method for marine equipment decontamination and inspection;
Reference numerals: 1. an unmanned ship body; 2. an electromagnetic adsorption assembly; 21. a first guide bar; 22. a second guide bar; 23. an electromagnetic chuck; 24. a first electromagnetic coil; 25. a rotating shaft; 3. a submarine; 31. a submarine body; 32. a cavitation jet device; 321. a long conduit nozzle; 322. an electromagnetic valve; 323. a first storage bin; 324. a spherical hinge structure; 33. a flaw detector; 34. an electric wheel disc; 341. a storage box; 342. a positioning device; 3421. a floating ball; 3422. a first winding device; 3423. a universal switch; 3424. a storage battery; 3425. an aluminothermic device; 34251. repairing the disc; 34252. a conduit; 34253. a second storage bin; 3426. a second electromagnetic coil; 3427. hollow baffle plates; 343. an opening clamping groove; 344. a pulley; 345. an annular wheel disc; 35. a transmitting assembly; 351. a mass block; 352. a spring; 353. a cable; 354. a connecting rod; 355. a second winding device; 36. a magnetic chuck; 4. a solar photovoltaic panel; 5. a dielectric elastomer power generation device; 51. a cylinder; 52. a bearing; 53. a dielectric elastomer film; 54. hollow rotary piece.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1 to 8, the unmanned ship for the decontamination and flaw detection of marine equipment in the embodiment of the invention is composed of an unmanned ship body 1, an electromagnetic adsorption assembly 2, a submarine 3, a solar photovoltaic panel 4 and a dielectric elastomer power generation device 5.
The unmanned ship body 1 is existing double-body unmanned ship equipment, and a high-power storage battery, a driving device and the like are arranged in the unmanned ship body; the underwater vehicle 3 is a conventional autonomous underwater vehicle, and a high-power storage battery, a driving device and the like are arranged in the underwater vehicle.
The electromagnetic adsorption assembly 2 is fixedly arranged on two opposite sides of the unmanned ship body 1, six electromagnetic adsorption assemblies 2 are symmetrically arranged, each electromagnetic adsorption assembly 2 comprises a first guide rod 21, a second guide rod 22, an electromagnetic chuck 23, a first electromagnetic coil 24 and a rotating shaft 25, the first guide rods 21 are connected with the second guide rods 22 through the rotating shafts 25, the relative positions of the second guide rods 22 and the first guide rods 21 can be changed, the electromagnetic chucks 23 are fixedly connected to the lower ends of the first guide rods 21, the first electromagnetic coils 24 are arranged in the electromagnetic chucks 23, and power is supplied to the first electromagnetic coils 24 through a storage battery in the unmanned ship body 1, so that the electromagnetic chucks 23 generate suction force which is used for adsorbing the submarines 3. When the submarine 3 is released, the submarine 3 is far away from the unmanned ship body 1 through the rotation of the rotating shaft 25, so that collision is avoided, and meanwhile, the submarine 3 is closer to the sea surface to enable the release to be more stable; when the underwater vehicle 3 is recovered, the first guide rod 21 is driven to adjust the position to be close to the underwater vehicle 3 through the rotation of the rotating shaft 25, so that the recovery difficulty of the underwater vehicle 3 is reduced.
The submersible vehicle 3 comprises a submersible vehicle body 31, a cavitation jet device 32, a flaw detector 33 (such as an X-ray flaw detector), an electric wheel disc 34, a transmitting assembly 35 and a magnetic chuck 36, wherein the submersible vehicle 3 is adsorbed below the electromagnetic chuck 23 through the magnetic chuck 36, when the electromagnetic chuck 23 is powered off, the release of the submersible vehicle 3 is realized, and when the electromagnetic chuck 23 is powered on, the recovery and the fixation of the submersible vehicle 3 are realized.
Cavitation jet devices 32 are installed on the left and right sides of the front portion of the unmanned ship body 1, and consist of a long-conduit nozzle 321, an electromagnetic valve 322 and a first storage box 323. The long guide pipe nozzle 321 is directly fixedly communicated with the first storage box 323, the electromagnetic valve 322 is installed on the long guide pipe nozzle 321, the electromagnetic valve 322 is in signal connection with the submarine vehicle body 31, the first storage box 323 is connected with the submarine vehicle body 31 through the spherical hinge structure 324, the base of the spherical hinge is hollowed and communicated, an elongated rod is arranged behind the spherical head and is connected with a mechanical arm in the submarine vehicle body 31, the mechanical arm is in signal connection with the submarine vehicle body 31, and the cavitation jet device 32 achieves multi-degree-of-freedom operation by controlling the movement of the mechanical arm in the XYZ direction.
The flaw detector 33 is mounted on the upper end of the front part of the submarine body 31, an electric wheel 34 is arranged below the flaw detector, and the electric wheel 34 is mounted in the center of the front part of the submarine body 31 and is communicated with the emission assembly 35. The electric wheel disc 34 comprises a wheel disc body and a cavity structure, wherein the wheel disc body of the electric wheel disc 34 is formed by two annular wheel discs 345, an outer circumferential surface and an inner circumferential surface, the annular wheel discs 345 are rotationally connected with the inner circumferential surface through pulleys 344, a storage box 341 is fixed on the inner wall of each annular wheel disc 345, at least one positioning device 342 is placed in each storage box 341, an opening clamping groove 343 is formed in the inner circumferential surface, a sensor is arranged in each electric wheel disc 34, when the sensor senses that each storage box 341 is positioned right above each opening clamping groove 343, a cabin door at the bottom of each storage box 341 is opened, and one positioning device 342 falls into each opening clamping groove 343 under the action of gravity; when the sensor senses that the upper storage box 341 has no positioning device 342, the annular wheel 345 rotates through the pulley 344, so as to drive the storage box 341 to automatically rotate, and a new storage box 341 with the positioning device 342 is located right above the open clamping groove 343.
The positioning device 342 is composed of a floating ball 3421, a first winding device 3422, a general switch 3423, a storage battery 3424, an aluminothermic device 3425, a second electromagnetic coil 3426 and a hollowed-out baffle 3427. The storage battery 3424 is connected with the second electromagnetic coil 3426 and the universal switch 3423 through leads, the universal switch 3423 is triggered by the mass block 351, a current loop is formed after the triggering, and the second electromagnetic coil 3426 generates magnetism so that the positioning device 342 can be adsorbed at a damaged position; after the positioning device 342 is launched, seawater enters the floating ball chamber where the floating ball 3421 is located through the hollow baffle 3427, and the floating ball 3421 pushes the hollow baffle 3427 away and floats to the water surface under the action of the seawater buoyancy; the floating ball 3421 is connected with the first winch 3422 through a cable, the first winch 3422 is fixedly connected with the positioning device 342, the floating ball 3421 is designed to have a buoyancy greater than the gravity of the positioning device 342, and when the positioning is finished, the positioning device 342 can be pulled back to the sea surface through the first winch 3422.
The front part of the positioning device 342 is provided with a thermit device 3425, the thermit device 3425 consists of a repair disc 34251, a guide pipe 34252 and a second storage box 34253, and is provided with an electromagnetic valve which is connected with the unmanned ship body 1 in a signal manner, when the repair operation is needed, the unmanned ship body 1 sends out an instruction, the electromagnetic valve is opened, and the thermit device 3425 performs the repair operation.
The launching assembly 35 comprises a spring 352 fixedly connected with a mass block 351, the spring 352 is wound on a connecting rod 354 clockwise, the mass block 351 is connected with the connecting rod 354 in a sliding manner, two ends of the mass block 351 are fixedly connected with a cable 353, and the cable 353 is connected with a second hoisting device 355; the second winding device 355 compresses the spring 352 by stretching the cables 353 at both ends of the mass 351, releases the spring 352 by releasing the cables 353 at both ends of the mass 351, pushes the mass 351 during the release of the spring 352, and the mass 351 triggers the universal switch 3423 of the positioning device 342 in the opening slot 343, so that the positioning device 342 is ejected out by the pushing force, and at the same time, the universal switch 3423 causes the second electromagnetic coil 3426 to generate magnetism due to the triggering.
The solar photovoltaic panel 4 is fixedly arranged at the upper part of the deck of the unmanned ship body 1, is made of silicon crystal materials, converts absorbed light energy into electric energy, stores the converted electric energy in a battery in the deck through a wire, and provides backup energy for the unmanned ship.
The dielectric elastomer generating device 5 is fixed at the lower part of the deck of the unmanned ship body 1 and consists of a cylinder 51, a bearing 52, a dielectric elastomer film 53 and a hollowed rotary piece 54; the hollow rotary plate 54 is radially fixed on the cylinder 51, and the bearing 52 is fixed at the center of the cylinder 51 along the axial direction of the cylinder 51; one side of the dielectric elastomer film 53 is fixedly connected with the bearing 52, and the other side is fixedly connected with the upper end of the hollowed-out rotary piece 54; in the execution process, the hollow rotary piece 54 is driven by waves to rotate, the hollow rotary piece 54 drives the cylinder 51 to do irregular reciprocating motion along the bearing 52, and the dielectric elastomer films 53 positioned on two sides of the cylinder 51 do reciprocating stretching motion along with the left-right motion of the cylinder 51, so that electric energy is generated. The dielectric elastomer is a super-elastic insulating material, electrodes are coated on the upper surface and the lower surface of the film, the electric energy output process of the dielectric elastomer is equivalent to a variable capacitor, and the energy collection process can be divided into four stages: (1) Inputting mechanical energy to deform the dielectric elastomer, so that the area of the film is increased, the thickness is reduced, and the equivalent capacitance is increased; (2) polarization: charging the dielectric elastomer film in a stretched state under the action of bias voltage, and increasing the surface charge of the flexible electrode; (3) After the external force is removed, the film is recovered, the mechanical energy is converted into electric energy, the energy storage of the capacitor is increased, the thickness of the film is increased, the area of the polar plate is reduced, the equivalent capacitance value is reduced, and the voltage is increased; (4) Collecting the electric energy, and returning the dielectric elastomer film to the initial state before deformation to start the next cycle.
Based on the operation method of the unmanned ship for the decontamination and flaw detection of marine equipment (such as a wave energy power generation device), as shown in fig. 9, the operation method comprises the following steps:
S1: remotely controlling the unmanned ship to reach the target sea area.
The unmanned ship reaches the target sea area through remote control and is ready for carrying out the dirt cleaning and flaw detection tasks. The unmanned ship is mainly used for marine survey, cleaning operation, structural detection and the like. By using remote control technology, the marine environment can be monitored and operated in a safe location, ready for subsequent tasks.
S2: the electromagnetic adsorption component is powered off, so that the submersible vehicle adsorbed on the electromagnetic chuck is separated and is submerged below the sea level.
The electromagnetic adsorption assembly 2 on the unmanned ship is powered off, and the submersible vehicle 3 freely descends below the ocean surface to reach the vicinity of a structure for operation.
S3: and the submarine autonomous navigation reaches a designated operation area, and the cavitation jet device is used for carrying out the sewage cleaning operation on the surface of the underwater structure of the marine equipment.
The submarine 3 is provided with the cavitation jet device 32, so that the cleaning operation of the surface of the structure can be performed underwater, the high-efficiency cleaning technology can effectively remove attachments on the surface of the structure, the surface of the structure is kept clean and smooth, and good conditions are created for subsequent detection and repair work.
S4: after the cleaning operation is completed, the flaw detection device is used for detecting the surface of the underwater structure on the cleaning part.
After the cleaning operation is completed, the surface of the underwater structure is subjected to rust damage detection by the submarine 3 through the mounted X-ray flaw detector 33, and the detection work can timely find out the problem of the surface of the structure, so that an important reference basis is provided for the subsequent repair work.
S5: when the damaged part is detected, the submarine sails to the set range of the damaged part, and the launching assembly ejects a positioning device; the positioning device is electrified to be magnetic and adsorbed on the damaged part at the same time, and meanwhile, the floating ball pushes the hollow baffle plate open based on buoyancy and floats upwards, so that the damaged part is positioned.
When the damaged portion is found by the vehicle 3, the vehicle will navigate to the vicinity of the structure and the positioning device 342 will be ejected to the damaged position by the firing assembly 35 within the vehicle 3. The positioning device 342 is electrified at the moment of ejection (the mass block 351 touches the general switch 3423 at the tail of the positioning device 342) so as to enable the positioning device 342 to have magnetism, thereby being capable of being firmly fixed at the damaged position; meanwhile, after the positioning device 342 contacts seawater, the seawater floods into the floating ball chamber provided with the floating ball 3421, and the floating ball 3421 pushes up the hollow baffle 3427 at the upper part due to self buoyancy and floats upwards rapidly, so that accurate positioning is provided for subsequent repair operation.
If the firing fails, the positioning device 342 may drop to the sea floor, and in order to cope with this, the belly of the submarine 3 is fitted with a recovery device consisting of a third winch, iron blocks and thin steel cables. The iron block is fixedly connected with one end of the thin steel cable. The positioning device 342 is powered on instantaneously to generate magnetism when being launched, so that when the iron block is sunk near the positioning device 342, the iron block can be adsorbed by the positioning device 342, and then the thin steel cable is recovered through the third winch, thereby realizing the function of the recovery device.
S6: during manual repair, determining the position of the damaged part based on the position of the floating ball; when manual repair operation cannot be implemented, the repair operation is implemented on the damaged part through the aluminothermic device at the front end of the positioning device.
According to the position of the floating ball 3421, a worker can position a specific damage point, and convenience is provided for subsequent repair work. When the underwater flaw detection operation is carried out, the general switch 3423 at the tail part of the positioning device 342 is pressed, the second electromagnetic coil 3426 is powered off, and the positioning device 342 is separated from the damaged part; the buoyancy of the floating ball 3421 is designed to be greater than the gravity of the positioning device 342, so that the positioning device 342 is pulled to float up to the sea surface under the action of the first hoisting device 3422, thereby facilitating the subsequent recycling.
If the repair is unable to be performed in time in extreme weather, the aluminothermic device 3425 is installed at the front end of the positioning device 342, so that the repair operation can be performed. The repair disc 34251 is connected to the second storage tank 34253 by a conduit 34252 and the thermit device 3425 is controlled by a solenoid valve.
S7: after the dirt-removing and flaw-detecting operation is completed, the submersible vehicle automatically floats to the sea surface, the electromagnetic adsorption assembly is electrified, and the magnetic chuck at the upper part of the submersible vehicle is adsorbed by the electromagnetic chuck to realize the recovery of the submersible vehicle.
After the dirt-removing and flaw-detecting task is finished, the submersible vehicle 3 automatically floats to the sea surface, the electromagnetic adsorption assemblies 2 on the two sides of the unmanned ship are electrified, and the recovery of the submersible vehicle 3 is realized by adsorbing the magnetic chuck 36 on the upper part of the submersible vehicle 3; after the recovery is completed, the unmanned ship drives away from the target sea area.
It should be noted that the above description is not intended to limit the invention, but rather the invention is not limited to the above examples, and that variations, modifications, additions or substitutions within the spirit and scope of the invention will be within the scope of the invention.
Claims (9)
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| CN117208153A (en) * | 2023-08-14 | 2023-12-12 | 深海智人(广州)技术有限公司 | Multifunctional intelligent detection cleaning robot on outer side of ship body |
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