CN202879769U - Large ship bottom underwater cleaning equipment - Google Patents

Abstract

The utility model provides a large-scale ship bottom underwater cleaning equipment, which includes an on-board monitoring and control unit, an underwater cleaning unit and a connecting cable. The on-board monitoring and control unit can display the working status of the underwater cleaning unit and the collected image, and complete the control of the underwater cleaning unit. The underwater cleaning unit can clean up the marine organisms and dirt attached to the bottom of the ship, and collect images of the bottom of the ship. The connecting cable can provide electrical energy for the underwater cleaning unit. The medium through which the monitoring and control unit communicates with the underwater cleaning unit.

Description

A large ship bottom underwater cleaning equipment

technical field

The utility model relates to an underwater cleaning device for the bottom of a large ship, which belongs to the technical field of navigation equipment.

Background technique

The harm that the bottom of the ship produces fouling (marine accretion) is great. Organisms in seawater, such as barnacles, oysters, limeworms, bryozoans, and algae, etc., attached to the ship will slow down the speed of the ship, and marine organisms attached to the bottom of the ship will easily produce batteries with poor oxygen concentration and cause pitting. At the same time, in addition to promoting corrosion, the excrement of marine organisms will also invade the coating film of the bottom of the ship as it accumulates, and accelerate the corrosion of the hull below the waterline, thereby destroying the coating film and causing serious consequences.

According to statistics, every 10um increase in the average roughness of a ship's hull due to fouling will lead to an increase of about 1% in fuel consumption and a decrease in ship performance. The bottom of the ship is attached by marine organisms, forming fouling and causing economic losses. In addition, marine life on the bottom of the ship poses a greater threat to the military. When organisms are attached to the bottom of the ship, the speed of the ship will be reduced, the fuel consumption will be increased, and even the fighter planes of the warship will be delayed. In addition, when the attached organism reaches a certain level, the sonar will be disabled.

In order to prevent this kind of phenomenon, the general treatment method is to apply antifouling paint on the hull and bottom of the ship below the waterline, so as to kill or disperse the attached marine organisms so that they no longer attach to the hull. However, this move is accompanied by marine pollution. As the environmental protection departments of various countries pay more attention to antifouling paints that cause marine pollution, antifouling paints are gradually being banned or restricted.

The traditional cleaning method is to hoist the ship after the ship enters the dock, clean it with chemicals or manually beat the corrosion scale with simple utensils. There are many shortcomings in this method: 1) only waiting for the ship to enter the dock The cleaning work can only be carried out after cleaning, because the cleaning is not timely, it may cause the consequence of reducing the service life of the ship; 2) Use chemical agents to clean, the residual liquid after cleaning will pollute the environment, and may also aggravate the corrosion of the ship, and the cleaning efficiency is low Low; 3) manual knocking is not only inefficient, but also damages the coating film of the ship, causing serious consequences; 4) it consumes a lot of manpower and material resources.

Contents of the invention

Aiming at the deficiencies of the existing methods, the utility model provides an underwater cleaning device for the bottom of a large ship.

Large ship bottom underwater cleaning equipment consists of on-board monitoring and control unit, underwater cleaning unit and connecting cables. The equipment will not cause marine pollution, will not cause damage to the hull and coating film, and the equipment is small in size and can be used when the ship is sailing or berthing without entering the dock, which greatly reduces the cost of cleaning the bottom of the ship. And by shortening the maintenance cycle, the economic performance of the ship can be improved.

The monitoring and control unit on the ship can realize the video inspection of the bottom of the ship through the video sent back by the underwater cleaning unit, display the working status and fault information of the underwater cleaning unit, and can control the working mode of the underwater cleaning unit through buttons at the same time. Make it work in automatic state or manual work state.

The underwater cleaning unit is the core of the equipment, which cleans the bottom of the ship through the ultrasonic vibrator, and can upload the image of the bottom of the ship to the monitoring and control unit on the ship. The unit has a fault self-diagnosis function, which can send status data and fault information to the monitoring and control unit on board.

The connecting cable is a multi-core cable, which can provide the electric energy required for the underwater cleaning unit, and is also a communication medium between the monitoring and control unit on the ship and the underwater cleaning unit.

Description of drawings

Fig. 1 is a schematic block diagram of the composition and structure of the underwater cleaning equipment for the bottom of a large ship according to the present invention.

In the figure: 1. Power input interface; 2. Onboard monitoring and control unit controller; 3. Display module; 4. Key input module; 5. Underwater cleaning unit controller; 6. Underwater camera; 7. Ultrasonic cleaning module ; 8. Mobile module; 9. Adsorption module; 10. Connecting cable.

Specific implementation method

The utility model adopts a brand-new design idea from the system design. The system adopts the idea of modular design, which divides the equipment into multiple modules, which greatly improves the reliability and easy maintenance of the system.

As shown in Figure 1, the underwater cleaning equipment for the bottom of a large ship is composed of three parts: the on-board monitoring and control unit, the underwater cleaning unit and the connecting cable. The on-board monitoring and control unit is operated by the on-board staff. It is mainly composed of a display 3, a controller 2 and a key input module 4. It has image monitoring, underwater cleaning unit status monitoring and underwater cleaning unit control functions. The on-board monitoring and control unit controller 2 adopts the Cortex-M3 controller STM32F107RBT6 produced by ST Company, which has an Ethernet interface and can transmit data through Ethernet. Display 3 adopts TFT color liquid crystal screen, and the working state of underwater cleaning unit and the bottom image information that the underwater camera 6 on the underwater cleaning unit collects can be displayed on the display 3 in real time, and can be sent to the underwater cleaning unit through the link cable. Send control commands to control the working status and mode of the underwater cleaning unit.

The underwater cleaning unit is an intelligent underwater system that can move autonomously, which is the core of the cleaning equipment. The main components of the cleaning unit include an underwater cleaning unit controller 5 , an underwater camera 6 , an ultrasonic cleaning module 7 , a moving module 8 and an adsorption module 9 . The ultrasonic cleaning module 7 is the core component of the cleaning unit and consists of a series of ultrasonic oscillator transducers. Applying a voltage of a certain frequency to the ultrasonic vibrator transducer can convert the voltage signal into high-frequency ultrasonic vibration. When the ultrasonic waves pass through the seawater between the ultrasonic vibrator transducer and the bottom of the ship, the microbubbles (called cavitation nuclei) in the liquid vibrate under the action of the ultrasonic waves. When the sound pressure or sound intensity reaches a certain value, the bubbles grow rapidly , and then breaks (closes) suddenly. Shock waves are generated when the bubbles are closed, and a pressure of tens of MPa to hundreds of MPa and local high temperature are generated around the bubbles. The huge impact force generated by cavitation can peel off the dirt on the surface of the hull or make gaps in the cracks of the dirt, and then other cavitation bubble groups penetrate into the cracks to vibrate, continue to impact, and finally make the dirt peel off quickly, so as to achieve the goal of cleaning and purifying the hull. Purpose. Due to the large length of the large ship, a mobile module 8 and an adsorption module 9 are designed. Three motors are used as power devices inside the mobile module 8 to drive three micro-propellers at 120 degrees to each other to rotate to realize the movement of the underwater cleaning unit. The adsorption module 9 can adsorb the underwater cleaning unit on a certain part of the hull to prevent the position movement during the cleaning process from causing adverse effects on the cleaning. In order to reduce the resistance when the underwater cleaning unit moves, when the moving module 8 is working, the adsorption force generated by the adsorption module 9 will decrease. The underwater camera 6 can collect the image of the bottom of the ship, and transmit it to the monitoring and control unit on the ship through the connecting cable 10 for real-time display. In addition, the underwater cleaning unit is equipped with a state monitoring program, which can realize its own fault detection, and transmit its own working state to the on-board monitoring and control unit for display through the connecting cable 10 .

The connecting cable 10 provides the energy needed for the underwater cleaning unit to work, and is also the communication medium between the on-board monitoring and control unit and the underwater cleaning unit, and plays a very important role in the equipment.

Claims (7)

1. A large-scale ship bottom underwater cleaning equipment, characterized in that: it includes a monitoring and control unit on board and an underwater cleaning unit, the two are connected by cables, and the monitoring and control unit on board can display the underwater cleaning The working status of the unit and the returned image are completed, and the control of the underwater unit is completed. The underwater cleaning unit can clean up the organisms attached to the bottom of the ship and return the underwater image. 2. The underwater cleaning equipment for large ship bottom according to claim 1, characterized in that: the monitoring and control unit on the ship is connected with the underwater cleaning unit through a cable, and the two are connected through Ethernet, Display the image returned by the underwater cleaning unit in real time. 3. The underwater cleaning equipment for large ship bottom according to claim 2, characterized in that: the monitoring and control unit on the ship can issue control commands to the underwater cleaning unit through Ethernet, thereby controlling the movement of the underwater cleaning unit and cleaning work. 4. The underwater cleaning equipment for large ship bottom according to claim 1, characterized in that: the underwater cleaning unit is an autonomous unit that can walk against the bottom of the ship, its energy is supplied by cables, and can be completed automatically or manually The bottom of the ship is cleaned, and the image of the bottom of the ship can be transmitted to the monitoring and control unit on the ship in real time. 5. The underwater cleaning equipment for large ship bottom according to claim 4, characterized in that: the underwater cleaning unit can remove marine organisms and dirt attached to the bottom of the ship through the ultrasonic cavitation phenomenon generated by the ultrasonic vibrator. 6. The underwater cleaning equipment for the bottom of a large ship according to claim 4, characterized in that: the underwater cleaning unit can move against the bottom or the side wall of the ship, and its moving direction can be controlled by the monitoring and control unit on the ship. Certain algorithms can be installed in automatic mode to move autonomously. 7. The underwater cleaning equipment for large ship bottom according to claim 4, characterized in that: the underwater cleaning unit can transmit the image of the bottom of the ship to the monitoring and control unit on the ship in real time through the built-in underwater camera.

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