CN104176208A - Sea creature killing device for ship and sea creature stacking image recognition system based on MATLAB (matrix laboratory) - Google Patents
Sea creature killing device for ship and sea creature stacking image recognition system based on MATLAB (matrix laboratory) Download PDFInfo
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- CN104176208A CN104176208A CN201410339704.1A CN201410339704A CN104176208A CN 104176208 A CN104176208 A CN 104176208A CN 201410339704 A CN201410339704 A CN 201410339704A CN 104176208 A CN104176208 A CN 104176208A
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Abstract
The invention discloses a sea creature killing device for a ship and an image recognition system of the device. The device is characterized by comprising ultraviolet sterilization devices for treating a heat exchanger for the ship, wherein the heat exchanger is arranged on the outer side of a ship board, and the sea creature killing device can adopt a fixed type or a mobile type; the mobile type sea creature killing device comprises guide rails, pulley assemblies, driving assemblies, a hollow fixed rod, the ultraviolet sterilization devices and an overturning mechanism; when the sea creature killing device adopts the fixed type, the ultraviolet sterilization devices are arranged at four corners of the heat exchanger; and the image recognition system comprises a hardware equipment part, an image data transmission part and an image processing part. The ultraviolet sterilization devices are adopted to perform sea creature killing treatment on the ship regularly, and the problems of ship navigation resistance increase, ship speed reduction and fuel consumption increase due to the fact that sea creatures are attached to the bottom of the ship are solved.
Description
Technical field
The invention belongs to and prevent that saltwater system from polluting the device of boats and ships, be specifically related to a kind of boats and ships with killing marine life device, also relate to the image identification system of piling up based on MATLAB hull bottom germ.
Background technology
On the earth, the marine site of the length and breadth of land is the huge resource treasure-houses of the mankind.Yet, developing ocean, utilizing in the historical progress of ocean, the mankind face this problem of preventing and kill off marine attaching organism always.Marine fouling organism adheres at hull, can increase the roughness on hull bottom surface, increases the resistance of ship's navigation, and then reduces ship's speed and increase fuel oil consumption.According to statistics, ten thousand tons of above ocean liners, hull bottom stained 5%, fuel oil consumption will increase by 10%, annual economic loss surpasses 1,000,000 dollars, and marine life is attached to the bottom on naval vessel, can greatly reduce the speed of a ship or plane, the annual consumption of fuel in the whole world will increase more than 26%, even reach 40%, the whole world need spend a large amount of manpowers to remove marine life every year, carries out periodic maintenance frequently, costly, reach every year over ten billion dollar; Since ancient times, halobiontic stained compared with corrosion, be a problem for trouble more, fouling organism survivability tough and tensile, conquers of ocean and is difficult to exceed super obstacle making stained problem become the mankind.Biofouling links together with biocorrosion again, marine attaching organism reaches more than 2000 kinds, they are attached on matrix by secreting mucus, they are in metabolic activity, can produce various chemical substances, wherein, the acid producing has very large corrosive property to metal and cement concrete, causes reduce the service life of boats and ships and concrete structure.
The mankind go through complications in resisting the stained exploration of marine attaching organism, so far, have had significant progress in theory and practice.In numerous countermeasures and methods, people have reached common recognition: first, the method that discharges toxic substance poisoning attaching organism with coating is inadvisable, and this not only kills marine life, and pollutes, destroyed the marine eco-environment.At present, the mankind have developed some devices of preventing and kill off sea marine organism pollution, and its principle is mainly started with from Mechanical Method, Physical and chemical method three major types.Mechanical Method is regularly boats and ships and maritime facilities to be carried out to mechanical cleaning, comprises that submarine mechanical is removed and dockage cleaning is repaired.Physical normally adopts impressed current method; be electrolysis heavy metal as copper, aluminium, electrolytic seawater etc., its principle is that the ion producing by electrochemical method kills, suppresses marine life; or chemical ion is again in conjunction with forming certain gluey protective cover, slowing down corrosion speed.So-called chemical method, comprises such as chemical agent, on boats and ships and maritime facilities, applies and kill attaching organism with the methods such as protective coat of marine life toxic agent, and stop the growth of attaching organism.But, with upper type, all exist obvious deficiency, the suitable labor intensive material resources of mechanical means, and have little effect, be difficult for cleaning at any time; Electrolytic process is because limited its actual effect that causes of amount of ions producing is limited; Inject not only somewhat expensive of chemical agent, input cost is high, marine environment is also produced to pollution simultaneously; Poisonous anti-corrosion protection paint can lose efficacy very soon under the immersion of seawater and erosion.
Summary of the invention
The object of the invention is to for deficiency of the prior art, provide a kind of boats and ships with killing marine life device, effectively suppress marine life and adhere to.
For solving the problems of the technologies described above, the technical solution used in the present invention is: a kind of boats and ships are with killing marine life device, and this device comprises the ultraviolet sterilization apparatus that heat exchanger peculiar to vessel is processed; Described heat exchanger is arranged at ship side outside.
Further, described boats and ships are portable with killing marine life device, comprise guide rail, pulley assembly, driven unit, hollow fixed link, ultraviolet sterilization device and switching mechanism;
Described guide rail, along the edge setting of boats and ships, is comprised of some unit rail joints; In described guide rail, be provided with two groups of tracks along guide rail and distribute, and with the pulley assembly of guide rail bearing fit; Described driven unit drive pulley assembly moves along guiderail track; Described hollow fixed link is connected with pulley assembly, and its bottom is provided with ultraviolet sterilization device, and ultraviolet sterilization device is flexibly connected with hollow fixed link by switching mechanism.
Further, described unit rail joint for outline be the aluminium alloy extrusions of rectangle, the dovetail furrow with an opening upwards, at the aluminium alloy extrusions upper surface center at dovetail furrow top, be provided with the upper T-shaped slot of a perforation, the aluminium alloy extrusions lower surface in dovetail furrow opening both sides is symmetrically arranged with the lower T-shaped slot of perforation; Each adjacent unit rail joint is inserted key by configuration in corresponding upper and lower T-shaped slot and is pegged graft into T-shaped guide rail.
Further, described slide assemblies comprises that a bottom has the turning rolls of vertical axis body, and the road wheel that a pair of axis is horizontal direction is installed in both sides, turning rolls top, and described road wheel drops on the step surface of dovetail furrow; Turning rolls top front and back ends is installed upper track adjusting wheel and the lower track adjusting wheel that axis is vertical direction; Described upper track adjusting wheel is positioned at the large end slot body of dovetail furrow of unit rail joint, and leads by the large distolateral wall of dovetail furrow; Described lower track adjusting wheel is positioned at the dovetail furrow small end cell body of unit rail joint, and leads by the small end sidewall of dovetail furrow.
Further, described driver train comprises chain band and friction driving roller; Described chain band is comprised of some attaching partss; Described chaining part is comprised of the first chain junctor and the second chain junctor, and the inner of the first chain junctor has the monaural of a built-in multi-directional ball, perforate centered by multi-directional ball; The inner of the second chain junctor has the ears of a center drilling; The monaural of first chain junctor the inner embeds between the inner ears of the second chain junctor, and multi-directional ball is connected with the vertical axis body of ears by turning rolls lower end; Described friction driving roller is arranged at chain band inner side, by motor, is driven.
Further, described ultraviolet sterilization device comprises quartz glass panel, ultraviolet low frequency fluorescent tube, magnetic core hoop, nylon cleading, lamp housing, electric ballast, sealed wiring mouth, electric appliance box, lampshade case and lampshade, electric appliance box and lampshade case are set in lampshade, and use face glass, bottom that lamp housing top arranges sealing arrange sealed wiring mouth.
Further, the structure of described ultraviolet sterilization device arranges reeded rectangular configuration for one side, and its length is beam of hull 1/2nd.
Further, described switching mechanism comprises upset motor, chain, driving gear, driven gear and brake equipment; Described upset motor is arranged at hollow fixed link top, be connected with driving gear, described upset motor is provided with PLC control setup, is provided with the first approach switch and the second approach switch on driving gear, and the first approach switch is connected with PLC control setup with the second approach switch; Described driving gear connects brake equipment, and this brake equipment comprises brake application magnet valve and brake wheel, and brake wheel connects driving gear by transmission shaft, and brake application magnet valve is connected with PLC control setup; Driven gear is arranged at hollow fixed link top and is connected with ultraviolet sterilization device; It is inner that described chain is arranged at hollow fixed link, connects driving gear and driven gear.
Further, during the described each sterilization of ultraviolet sterilization device, adopt three phases to carry out sterilization, first stage irradiation intensity is 213um, and sterilizing time is 5-8 minute; Subordinate phase irradiation intensity is 252um, and sterilizing time is 5-8 minute; Subordinate phase irradiation intensity is 274um, and sterilizing time is 8-10 minute.
Further, described boats and ships are fixed with killing marine life device, comprise the ultraviolet sterilization device being arranged on four angles of heat exchanger.
The image identification system that the marine life based on MATLAB that the present invention also provides ultraviolet ray to kill the use of marine life matched with devices is piled up, comprises hardware device part, image data transmission part and image processing section;
Described hardware device partly comprises at least one high-resolution camera, and high-resolution camera is arranged on hull side string by hollow fixed link, also comprises a PC;
Described image data transmission is located at the signal emission module of high-resolution camera in partly comprising, and the signal receiving module on PC, and this signal emission module and signal receiving module are D/A converter;
Described image processing section adopts MATLAB software to process, and successively through gradation conversion, figure image intensifying, medium filtering and image, cuts apart and processes.
Beneficial effect of the present invention:
1, the present invention adopts UV-device regularly hull to be killed to marine life processing, avoids adhering to due to hull bottom marine life the shortcoming that resistance increases, ship's speed reduces and fuel oil consumption increases of the ship's navigation bringing;
2, guide rail of the present invention is comprised of some unit rail joints, and guide rail can be matched with the radian of hull, along hull edge, arranges; Slide assemblies one guide rail bearing fit, drives the expansion link being connected with slide assemblies along hull circumferential movement, can make ultraviolet germicidal operate at hull different parts;
3, ultraviolet germicidal free end is installed an approach switch, when ultraviolet germicidal is when expansion link turns to hull bottom, switching mechanism stops upset, when ultraviolet germicidal is taken in, when ultraviolet germicidal is received to expansion link fixed position, by approach switch, control switching mechanism and stop upset.
4, sterilizing unit of the present invention is murdered biological operation by three sterilization stage, can effectively remove the marine life on heat exchanger.
Accompanying drawing explanation
Fig. 1 is that the present invention is with the birds-eye view of the hull of ultraviolet sterilization apparatus.
Fig. 2 is that the present invention is with the lateral plan of the hull of ultraviolet sterilization apparatus.
Fig. 3 is adjacent cells rail joint connection diagram.
Fig. 4 is along A-A line cutaway view in Fig. 3.
Fig. 5 is the structural representation of unit rail joint.
Fig. 6 is upper T-shaped slot connection diagram.
Fig. 7 is lower T-shaped slot connection diagram.
Fig. 8 is the structural representation of slide assemblies.
Fig. 9 is the structural representation of driver train.
Figure 10 is the structural representation of chain junctor.
Figure 11 is the section of structure of chain junctor.
Figure 12 is slide assemblies and chaining part connection diagram in the present invention.
Figure 13 is that the present invention leads slide assemblies and unit rail saves, chaining part connection diagram.
Figure 14 is the structural representation of ultraviolet sterilization device.
Figure 15 is the structural representation of hollow fixed link and ultraviolet sterilization device.
The specific embodiment
Below in conjunction with specific embodiment, technical scheme of the present invention is elaborated.
A kind of boats and ships of the present invention are with killing marine life device, and this device comprises the ultraviolet sterilization apparatus that heat exchanger peculiar to vessel is processed, and described heat exchanger is arranged at ship side outside.
Embodiment 1
Boats and ships are portable with killing marine life device, as shown in Figure 1-2, comprise guide rail 10, pulley assembly 20, driven unit 30, hollow fixed link 40, ultraviolet sterilization device 50 and switching mechanism 60.
Guide rail 10 is along the edge setting of boats and ships, and as shown in Figure 3, guide rail 10 is comprised of some unit rail joints 11; In guide rail 10, be provided with two groups of tracks along guide rail 10 and distribute, and with the pulley assembly 20 of guide rail 10 bearing fits; Driven unit 30 drive pulley assemblies 20 are along guide rail 10 orbiting motions; Hollow fixed link 40 is connected with pulley assembly 20, and its bottom is provided with ultraviolet sterilization device 50, and ultraviolet sterilization device 50 is flexibly connected with hollow fixed link 40 by switching mechanism 60.
As shown in Fig. 4-7, unit rail joint 11 for outline be the aluminium alloy extrusions of rectangle, the dovetail furrow 111 with an opening upwards, at the aluminium alloy extrusions upper surface center at dovetail furrow 111 tops, be provided with the upper T-shaped slot 112 of a perforation, the aluminium alloy extrusions lower surface in dovetail furrow 111 opening both sides is symmetrically arranged with the lower T-shaped slot 113 of perforation; The upper T-shaped slot 112 of each adjacent cells rail joint 11, the corresponding setting of lower T-shaped slot 13, between adjacent T-shaped slot 112, key A 114 is inserted in configuration, and the two ends of inserting key A 114 are fixed in the upper T-shaped slot 112 of unit rail joint 11 by bolt 115; Between adjacent lower T-shaped slot 113, key B 116 is inserted in configuration, and the two ends of inserting key B 116 are fixed in the lower T-shaped slot 113 of unit rail joint 11 by bolt 117, on the adjacent cells rail joint 11 in slotting key A 114 outsides, configure backing plate 118.
As shown in Figure 8, slide assemblies 20, comprises that a bottom has the turning rolls 21 of vertical axis body, and the road wheel 22 that a pair of axis is horizontal direction is installed in turning rolls 21 both sides, top, and road wheel 22 drops on the step surface of dovetail furrow 111; Turning rolls 21 top front and back ends are installed upper track adjusting wheel 23 and the lower track adjusting wheel 24 that axis is vertical direction; Upper track adjusting wheel 23 is positioned at the large end slot body of dovetail furrow 111 of unit rail joint 11, and leads by the large distolateral wall of dovetail furrow 111; Lower track adjusting wheel 24 is positioned at the dovetail furrow 111 small end cell bodies of unit rail joint 11, and leads by the small end sidewall of dovetail furrow 111.
As shown in Fig. 9-13, driver train 30, comprises chain band 31 and friction driving roller 32 and motor 33; Chain band 31 is comprised of some attaching partss; Chaining part is comprised of the first chain junctor 33 and the second chain junctor 34, and the inner of the first chain junctor 33 has the monaural 36 of a built-in multi-directional ball 35, perforate centered by multi-directional ball 35; The inner of the second chain junctor 34 has the ears 37 of a center drilling; The monaural 36 of first chain junctor 33 the inners embeds between the inner ears 37 of the second chain junctor 34, and multi-directional ball 35 is connected with the vertical axis body 38 of ears 37 by turning rolls 21 lower ends; The vertical axis body 38 of turning rolls 21 lower ends is threaded with jam nut 38 with after multi-directional ball 35 through ears 37, makes the first chain junctor 31 and the second chain junctor 32 hinged.The first chain junctor 31 and the second chain junctor 32 between the madial wall of ears 37 and monaural 36, leave certain gap, so that can relatively rotate in horizontal and vertical direction within the scope of certain angle; Friction driving roller 32 is provided with chain band 31 inner sides, by motor 33, is driven.
As shown in figure 14, ultraviolet sterilization device 50, for one side arranges reeded rectangular configuration, its length is 1/2nd of beam of hull, comprise quartz glass panel 501, ultraviolet low frequency fluorescent tube 502, magnetic core hoop 503, nylon cleading 504, lamp housing 505, electric ballast 506, sealed wiring mouth 507, electric appliance box 508, lampshade case 509 and lampshade 510, interior electric appliance box 508 and the lampshade case 509 of arranging of lampshade 510, quartz glass panel 501, bottom that lamp housing 505 tops arrange sealing arrange sealed wiring mouth 507.
As shown in figure 15, switching mechanism 60, comprises upset motor 61, chain 62, driving gear 63, driven gear 64 and brake equipment; Upset motor 61 is arranged at hollow fixed link 40 tops, be connected with driving gear 63, upset motor 61 is provided with PLC control setup, on driving gear 63, be provided with the first approach switch and the second approach switch (not shown in FIG.), the first approach switch is connected with PLC control setup with the second approach switch; Described driving gear 63 connects brake equipment, and this brake equipment comprises brake application magnet valve 65 and brake wheel 66, and brake wheel 66 connects driving gear 63 by transmission shaft, and brake application magnet valve 65 is connected with PLC control setup; Driven gear 64 is arranged at hollow fixed link 40 tops and is connected with ultraviolet sterilization device 50; Chain 62 is arranged at hollow fixed link 40 inside, connects driving gear 63 and driven gear 64.
During the each sterilization of ultraviolet sterilization device of the present invention, adopt three phases to carry out sterilization, first stage irradiation intensity is 213um, and sterilizing time is 5-8 minute; Subordinate phase irradiation intensity is 252um, and sterilizing time is 5-8 minute; Subordinate phase irradiation intensity is 274um, and sterilizing time is 8-10 minute.
As boats and ships of the present invention, with killing marine life device, can also, for fixed, comprise the ultraviolet sterilization device being arranged on four angles of heat exchanger.
With the image identification system of piling up based on MATLAB hull bottom germ with killing the use of marine life matched with devices of the present invention, comprise hardware device part, image data transmission part and image processing section;
Hardware device partly comprises at least one high-resolution camera, and high-resolution camera is arranged on hull side string by hollow fixed link, also comprises a PC;
Image data transmission is located at the signal emission module of high-resolution camera in partly comprising, and the signal receiving module on PC, and this signal emission module and signal receiving module are D/A converter;
Image processing section adopts MATLAB software to process, and successively through gradation conversion, figure image intensifying, medium filtering and image, cuts apart and processes.
Claims (10)
1. boats and ships, with killing a marine life device, is characterized in that: this device comprises the ultraviolet sterilization apparatus that heat exchanger peculiar to vessel is processed; Described heat exchanger is arranged at ship side outside.
2. a kind of boats and ships according to claim 1, with killing marine life device, is characterized in that: described boats and ships are portable with killing marine life device, comprise guide rail, pulley assembly, driven unit, hollow fixed link, ultraviolet sterilization device and switching mechanism;
Described guide rail, along the edge setting of boats and ships, is comprised of some unit rail joints; In described guide rail, be provided with two groups of tracks along guide rail and distribute, and with the pulley assembly of guide rail bearing fit; Described driven unit drive pulley assembly moves along guiderail track; Described hollow fixed link is connected with pulley assembly, and its bottom is provided with ultraviolet sterilization device, and ultraviolet sterilization device is flexibly connected with hollow fixed link by switching mechanism.
3. a kind of boats and ships according to claim 2 are with killing marine life device, it is characterized in that: described unit rail joint for outline be the aluminium alloy extrusions of rectangle, the dovetail furrow with an opening upwards, at the aluminium alloy extrusions upper surface center at dovetail furrow top, be provided with the upper T-shaped slot of a perforation, the aluminium alloy extrusions lower surface in dovetail furrow opening both sides is symmetrically arranged with the lower T-shaped slot of perforation; Each adjacent unit rail joint is inserted key by configuration in corresponding upper and lower T-shaped slot and is pegged graft into T-shaped guide rail.
According to a kind of boats and ships described in claim 2 or 3 with killing marine life device, it is characterized in that: described slide assemblies comprises that a bottom has the turning rolls of vertical axis body, the road wheel that a pair of axis is horizontal direction is installed in both sides, turning rolls top, and described road wheel drops on the step surface of dovetail furrow; Turning rolls top front and back ends is installed upper track adjusting wheel and the lower track adjusting wheel that axis is vertical direction; Described upper track adjusting wheel is positioned at the large end slot body of dovetail furrow of unit rail joint, and leads by the large distolateral wall of dovetail furrow; Described lower track adjusting wheel is positioned at the dovetail furrow small end cell body of unit rail joint, and leads by the small end sidewall of dovetail furrow.
5. a kind of boats and ships according to claim 2, with killing marine life device, is characterized in that: described driver train comprises chain band and friction driving roller; Described chain band is comprised of some attaching partss; Described chaining part is comprised of the first chain junctor and the second chain junctor, and the inner of the first chain junctor has the monaural of a built-in multi-directional ball, perforate centered by multi-directional ball; The inner of the second chain junctor has the ears of a center drilling; The monaural of first chain junctor the inner embeds between the inner ears of the second chain junctor, and multi-directional ball is connected with the vertical axis body of ears by turning rolls lower end; Described friction driving roller is arranged at chain band inner side, by motor, is driven.
According to a kind of boats and ships described in claim 2 or 5 with killing marine life device, it is characterized in that: described ultraviolet sterilization device comprises quartz glass panel, ultraviolet low frequency fluorescent tube, magnetic core hoop, nylon cleading, lamp housing, electric ballast, sealed wiring mouth, electric appliance box, lampshade case and lampshade, electric appliance box and lampshade case are set in lampshade, and use face glass, bottom that lamp housing top arranges sealing arrange sealed wiring mouth; The structure of described ultraviolet sterilization device arranges reeded rectangular configuration for one side, and its length is beam of hull 1/2nd.
According to a kind of boats and ships described in claim 1 or 4 with killing marine life device, it is characterized in that: described switching mechanism comprises upset motor, chain, driving gear, driven gear and brake equipment; Described upset motor is arranged at hollow fixed link top, be connected with driving gear, described upset motor is provided with PLC control setup, is provided with the first approach switch and the second approach switch on driving gear, and the first approach switch is connected with PLC control setup with the second approach switch; Described driving gear connects brake equipment, and this brake equipment comprises brake application magnet valve and brake wheel, and brake wheel connects driving gear by transmission shaft, and brake application magnet valve is connected with PLC control setup; Driven gear is arranged at hollow fixed link top and is connected with ultraviolet sterilization device; It is inner that described chain is arranged at hollow fixed link, connects driving gear and driven gear.
8. a kind of boats and ships according to claim 1, with killing marine life device, is characterized in that: during the each sterilization of ultraviolet sterilization device, adopt three phases to carry out sterilization, first stage irradiation intensity is 213um, and sterilizing time is 5-8 minute; Subordinate phase irradiation intensity is 252um, and sterilizing time is 5-8 minute; Subordinate phase irradiation intensity is 274um, and sterilizing time is 8-10 minute.
9. a kind of boats and ships according to claim 1, with killing marine life device, is characterized in that: described boats and ships are fixed with killing marine life device, comprise the ultraviolet sterilization device being arranged on four angles of heat exchanger.
10. with the marine life based on MATLAB that kills the use of marine life matched with devices, pile up an image identification system with boats and ships claimed in claim 1, it is characterized in that: this system comprises hardware device part, image data transmission part and image processing section;
Described hardware device partly comprises at least one high-resolution camera, and high-resolution camera is arranged on hull side string by hollow fixed link, also comprises a PC;
Described image data transmission is located at the signal emission module of high-resolution camera in partly comprising, and the signal receiving module on PC, and this signal emission module and signal receiving module are D/A converter;
Described image processing section adopts MATLAB software to process, and successively through gradation conversion, figure image intensifying, medium filtering and image, cuts apart and processes.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410339704.1A CN104176208B (en) | 2014-07-17 | 2014-07-17 | Boats and ships are with killing marine growth device and marine growth based on MATLAB accumulation image identification system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410339704.1A CN104176208B (en) | 2014-07-17 | 2014-07-17 | Boats and ships are with killing marine growth device and marine growth based on MATLAB accumulation image identification system |
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| CN104176208A true CN104176208A (en) | 2014-12-03 |
| CN104176208B CN104176208B (en) | 2016-08-24 |
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Cited By (5)
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| CN108516063A (en) * | 2018-03-29 | 2018-09-11 | 中国科学院长春应用化学研究所 | Remove the device and method of marine ship biological pollution in a kind of scene |
| CN111098994A (en) * | 2019-12-06 | 2020-05-05 | 中国海洋大学 | Hull outer wall cleaning device and underwater robot |
| TWI714710B (en) * | 2016-01-20 | 2021-01-01 | 荷蘭商皇家飛利浦有限公司 | A device having surfaces and an anti-biofouling system |
| CN114162279A (en) * | 2021-10-28 | 2022-03-11 | 福建省微柏工业机器人有限公司 | Ship cleaning method and device based on machine vision |
| CN114313137A (en) * | 2021-12-31 | 2022-04-12 | 国信中船(青岛)海洋科技有限公司 | Ship body surface marine organism cleaning system and cleaning method thereof |
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| CN114313137A (en) * | 2021-12-31 | 2022-04-12 | 国信中船(青岛)海洋科技有限公司 | Ship body surface marine organism cleaning system and cleaning method thereof |
| CN114313137B (en) * | 2021-12-31 | 2023-07-28 | 国信中船(青岛)海洋科技有限公司 | Marine organism cleaning system for hull surface and cleaning method thereof |
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| CN104176208B (en) | 2016-08-24 |
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