CN111098994A

CN111098994A - Hull outer wall cleaning device and underwater robot

Info

Publication number: CN111098994A
Application number: CN201911242460.4A
Authority: CN
Inventors: 付哲平; 宋大雷; 干文浩; 付长帅
Original assignee: Ocean University of China
Current assignee: Ocean University of China
Priority date: 2019-12-06
Filing date: 2019-12-06
Publication date: 2020-05-05
Anticipated expiration: 2039-12-06
Also published as: CN111098994B

Abstract

The application relates to the technical field of ship maintenance, and discloses a ship outer wall cleaning device which comprises a housing, a radiation assembly and a drainage assembly; the cover is arranged to cover the outer wall of the ship body so as to form a closed cleaning space with the outer wall of the ship body; the radiation assembly is arranged in the housing and is used for emitting electromagnetic waves for destroying the biological regulation film to the outer wall of the ship body; the water discharge assembly is configured to discharge water of the cleaning space to the outside of the housing. This hull outer wall cleaning device discharges the water in the housing to the housing outside through drainage component, makes housing and hull outer wall form inclosed clearance space, realizes that radiation component launches the electromagnetic wave of destroying biological regulation membrane to the hull outer wall can not receive the influence of water layer, effectively destroys the biological regulation membrane of hull outer wall. The application also discloses an underwater robot.

Description

Hull outer wall cleaning device and underwater robot

Technical Field

The application relates to the technical field of underwater ship maintenance, for example to a ship outer wall cleaning device and an underwater robot.

Background

As is well known, when a ship sails in water, the outer wall of a ship body can be contacted with water for a long time, and a large amount of bacteria in the water can be attached to the outer wall of the ship body to form a layer of biological regulation film; the layer of biological regulation membrane can be continuously propagated and accumulated, erodes the outer wall of the ship body, influences the normal navigation of the ship body, and can block water injection ports of some equipment installed on the ship body.

At present, the biological activity of a biological regulation film on the surface of the ship bottom is damaged by adopting an ultraviolet irradiation mode, so that the ship bottom is cleaned.

In the process of implementing the embodiments of the present disclosure, it is found that at least the following problems exist in the related art:

because the ultraviolet rays are only suitable for the static water layer with the thickness within 10 cm, the damage effect of the ultraviolet rays on the biological regulation film is greatly attenuated along with the increase of the thickness of the water layer, and therefore, under the condition that the water layer is thicker, the damage capability of the ultraviolet rays on the biological regulation film attached to the surface of the ship body is poorer, and the damage to the biological regulation film in the underwater environment cannot be effectively realized.

Disclosure of Invention

The following presents a simplified summary in order to provide a basic understanding of some aspects of the disclosed embodiments. This summary is not an extensive overview nor is intended to identify key/critical elements or to delineate the scope of such embodiments but rather as a prelude to the more detailed description that is presented later.

The embodiment of the disclosure provides a hull outer wall cleaning device and an underwater robot, and aims to solve the problem that a biological regulation film on the surface of an underwater hull cannot be effectively damaged.

In some embodiments, a hull outer wall cleaning apparatus comprises:

the cover shell is arranged to cover the outer wall of the ship body so as to form a closed cleaning space with the outer wall of the ship body;

the radiation assembly is arranged in the housing and is used for emitting electromagnetic waves for destroying the biological regulation film to the outer wall of the ship body;

and the water drainage component is arranged to drain the water in the cleaning space out of the housing.

In some embodiments, the underwater robot comprises the hull outer wall cleaning device described above.

The ship outer wall cleaning device and the underwater robot provided by the embodiment of the disclosure can realize the following technical effects:

the water in the housing is discharged out of the housing through the water discharging component, so that a closed cleaning space is formed between the housing and the outer wall of the ship body, the radiation component emits electromagnetic waves for destroying the biological regulation film to the outer wall of the ship body, the electromagnetic waves are not influenced by a water layer, and the biological regulation film on the outer wall of the ship body is effectively destroyed.

The foregoing general description and the following description are exemplary and explanatory only and are not restrictive of the application.

Drawings

One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the accompanying drawings and not in limitation thereof, in which elements having the same reference numeral designations are shown as like elements and not in limitation thereof, and wherein:

fig. 1 is a schematic structural diagram of a hull outer wall cleaning device provided by an embodiment of the disclosure;

FIG. 2 is a schematic structural diagram of another hull outer wall cleaning device provided by the embodiment of the disclosure;

FIG. 3 is a schematic structural diagram of another hull outer wall cleaning device provided by the embodiment of the disclosure;

FIG. 4 is a schematic structural diagram of another hull outer wall cleaning device provided by the embodiment of the disclosure;

fig. 5 is a schematic structural diagram of an underwater robot provided in an embodiment of the present disclosure.

Reference numerals:

10. a housing; 11. cleaning the space; 12. an air inlet; 13. a water outlet; 20. a drainage assembly; 22. a one-way valve; 23. an air duct; 30. a radiating component; 31. a groove; 40. a brush member; 50. a fastening member; 51. a telescopic rod; 52. a steering engine; 60. a moving member; 61. a slide rail; 62. a slider; 100. hull outer wall cleaning device.

Detailed Description

So that the manner in which the features and elements of the disclosed embodiments can be understood in detail, a more particular description of the disclosed embodiments, briefly summarized above, may be had by reference to the embodiments, some of which are illustrated in the appended drawings. In the following description of the technology, for purposes of explanation, numerous details are set forth in order to provide a thorough understanding of the disclosed embodiments. However, one or more embodiments may be practiced without these details. In other instances, well-known structures and devices may be shown in simplified form in order to simplify the drawing.

The terms "first," "second," and the like in the description and in the claims, and the above-described drawings of embodiments of the present disclosure, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the present disclosure described herein may be made. Furthermore, the terms "comprising" and "having," as well as any variations thereof, are intended to cover non-exclusive inclusions.

In the embodiments of the present disclosure, the terms "upper", "lower", "inner", "middle", "outer", "front", "rear", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings. These terms are used primarily to better describe the disclosed embodiments and their examples and are not intended to limit the indicated devices, elements or components to a particular orientation or to be constructed and operated in a particular orientation. Moreover, some of the above terms may be used to indicate other meanings besides the orientation or positional relationship, for example, the term "on" may also be used to indicate some kind of attachment or connection relationship in some cases. The specific meanings of these terms in the embodiments of the present disclosure can be understood by those of ordinary skill in the art as appropriate.

In addition, the terms "disposed," "connected," and "secured" are to be construed broadly. For example, "connected" may be a fixed connection, a detachable connection, or a unitary construction; can be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements or components. Specific meanings of the above terms in the embodiments of the present disclosure can be understood by those of ordinary skill in the art according to specific situations.

The term "plurality" means two or more unless otherwise specified.

It should be noted that, in the case of no conflict, the embodiments and features in the embodiments of the present disclosure may be combined with each other.

With reference to fig. 1-4, embodiments of the present disclosure provide a hull outer wall cleaning apparatus that may be used in an underwater environment; the hull outer wall cleaning device comprises a housing 10, a radiation assembly 30 and a drainage assembly 20; the housing 10 is arranged to cover the outer wall of the hull to form a closed cleaning space 11 with the outer wall of the hull; the radiation assembly 30 is arranged in the housing 10 and is configured to emit electromagnetic waves which destroy the biological regulation film to the outer wall of the ship body; the drain assembly 20 is provided to drain water of the cleaning space 11 out of the housing 10. In this way, the water in the housing 10 is discharged out of the housing 10 through the water discharging component 20, so that the housing 10 and the outer wall of the ship body form a closed cleaning space 11, the electromagnetic wave for destroying the biological regulation film is emitted to the outer wall of the ship body by the radiation component 30, the influence of a water layer is avoided, and the biological regulation film on the outer wall of the ship body is effectively destroyed.

Alternatively, the housing 10 may include a bottom surface and side surfaces, and the housing 10 may be a barrel-shaped structure surrounded by one bottom surface and one or more side surfaces; wherein, the shape of the bottom surface of the housing 10 is not specifically limited herein, and the bottom surface of the housing 10 may be circular, as shown in fig. 2, wherein, as the innovation point of the disclosed embodiment is not related, the components such as the check valve at the water outlet are not shown in fig. 2; the bottom surface of the casing 10 may also be rectangular in shape, as shown in fig. 1, 3 and 4.

Alternatively, the radiation members 30 may be uniformly disposed on the inner side and the bottom of the housing 10, so as to increase the radiation area and the radiation intensity of the radiation members 30. Alternatively, the radiation assembly 30 may be disposed on any surface within the enclosure 10; for example, the radiation member 30 is provided only in the bottom surface of the housing 10.

Alternatively, the radiation assembly 30 may be spaced from the edge of the opening of the enclosure 10 by a distance of 5 to 25 cm; in particular, the radiation assembly 30 may be at a distance of 5 cm, 9 cm, 13 cm, 17 cm, 21 cm, or 25 cm from the cleaning location.

Alternatively, the radiation assembly 30 may be disposed on the inner wall of the bottom surface of the housing 10, where the height of the side surface may be a perpendicular distance from a line of coincidence between the side surface and the bottom surface along a plane where the side surface is located, and in this case, the height of the side surface of the housing 10 may be 5 to 25 cm.

Alternatively, the radiation members 30 may be uniformly arranged along the peripheral side at positions equidistant from the opening edge of the housing 10 on the side inner wall of the housing 10. As shown in fig. 2, a circumferential groove 31 may be provided on the inner wall of the side surface of the housing 10 at an equal distance from the opening of the housing 10, and the radiation assembly 30 may be disposed in the groove 31; wherein, the specific arrangement of the radiation assembly in the groove is not shown in fig. 2, as it does not relate to the innovation of the disclosed embodiment.

Alternatively, the radiation member 30 may be an ultraviolet lamp configured to emit ultraviolet light toward the outer wall of the hull, where the ultraviolet light is an electromagnetic wave having a wavelength of between 10 and 400 nanometers. The electromagnetic wave in the wavelength range has a sterilization effect, so that the biological regulation film attached to the surface of the outer wall of the ship body can be damaged by emitting the electromagnetic wave to the outer wall of the ship body in a short time, and the subsequent cleaning can be conveniently carried out; and because of ultraviolet irradiation, the biological regulation film which originally has biological activity also avoids that the underwater organisms are quickly attached to the outer wall of the ship body again because of the residual organisms with activity.

Because the ship bottom is placed in a seawater environment for a long time, a layer of biological regulation film is formed on the surface of the ship bottom. The biological regulation membrane comprises: bacteria, mold spores, algae, paramecium, chlorella, etc.

Alternatively, the biological regulation membrane may be simulated by placing one or more of the biological species comprising the biological regulation membrane in a culture medium.

The radiation assembly 30 provided by the embodiments of the present disclosure may be a short wavelength ultraviolet light emitting diode (UV-LED); alternatively, the radiation module 30 may be of a type SMD3535, and 80% of the ultraviolet rays emitted from the ultraviolet light emitting diode are ultraviolet rays having a light wavelength of 265 to 285 nm.

Alternatively, using the short wavelength ultraviolet light emitting diode described above, individual light emitting diodes with an input voltage of 12 v and a power of 80mW are connected in series, and a ballast with the same total power as the individual light emitting diodes is provided. The radiation member 30 destroys the biological activity of most of the bacteria and algae within 10 seconds from the biological regulation membrane at a distance of 10 cm, and thus, in the embodiment of the present disclosure, the radiation member 30 capable of emitting ultraviolet rays having a wavelength of 265 to 285 nm is used. Specifically, the radiation member 30 may emit electromagnetic waves at a wavelength of 265 nm, 269 nm, 273 nm, 277 nm, 281 nm, or 285 nm.

Optionally, the ultraviolet light emitting diodes are uniformly arranged on the bottom surface of the housing 10, so that ultraviolet rays can be uniformly irradiated to the outer wall of the ship body, the condition that the biological regulation membrane on the outer wall of the ship body is damaged is balanced, and the phenomenon that a certain part is completely inactivated but organisms on other positions are not damaged is not easy to occur, so that longer irradiation time is needed, and energy is wasted.

Alternatively, the radiation member 30 may be an infrared lamp configured to emit infrared light toward the outer wall of the hull, where the infrared light is an electromagnetic wave having a wavelength of 760 nm to 1 mm.

Alternatively, the radiation assembly 30 may be a microwave emitter arranged to emit microwaves towards the outer wall of the hull; here, the microwave is an electromagnetic wave having a frequency of 300MHz to 300 GHz.

Optionally, the casing 10 is provided with an air inlet 12 and an water outlet 13; the drain assembly 20 includes an air pump in communication with the air inlet 12; the air pump is arranged to inflate the interior of the housing 10 so that water in the cleaning space 11 is expelled under the influence of the air pressure. Therefore, the air pump is used for filling air into the housing 10, so that water in the housing 10 is discharged out of the housing 10 from the water outlet 13, the housing 10 and the outer wall of the ship body form a closed cleaning space 11, the radiation assembly 30 emits electromagnetic waves for destroying the biological regulation film to the outer wall of the ship body without being influenced by a water layer, and the biological regulation film on the outer wall of the ship body is effectively destroyed.

Alternatively, the air pump may communicate with the air inlet 12 of the housing 10 through an air duct 23. The air pump may be used to inject gas into the housing 10, squeeze water in the cleaning space 11, and discharge it from the water outlet 13.

Here, the kind of gas is not particularly limited, and may be air, nitrogen, or an inert gas.

Alternatively, the air inlet 12 may be provided on any surface of the housing 10, which is not particularly limited herein; for example, on the bottom surface of the housing 10. Alternatively, the intake port 12 may be provided at the bottom surface of the housing 10. A through hole is arranged at the edge of the bottom surface of the housing 10 and is used as an air inlet 12, and the air inlet 12 is communicated with one side of the air duct 23; the gas inlet 12 may communicate with the other side of the housing 10 where the hydrogen gas space is connected to the gas guide tube 23.

Alternatively, the cleaning device may be connected to other devices having an inflation function, the devices having an inflation function may be connected to the other side of the air duct 23, and the air duct 23 communicating with the air inlet 12 may communicate with the air outlet of the other devices having an inflation function.

Alternatively, the number of the air inlets 12 may be plural, and the plural air inlets 12 may be uniformly distributed on the bottom surface of the housing 10; in this case, the air duct 23 may include a main duct connected to the device having the function of inflating and branch ducts each connected to the same main duct may communicate with the plurality of air inlets 12 provided on the same housing 10. Thus, the effect of filling air into the housing 10 is better, and the condition that the biological regulation film on the outer wall of the ship body is damaged is more balanced.

Optionally, in the case that the main pipeline of the air duct 23 is connected to a device having an inflation function, each branch pipeline thereof may be connected to the air inlet 12 of a different hull outer wall cleaning device. Like this, can make a plurality of hull outer wall cleaning device carry out the hull clearance simultaneously, improve cleaning efficiency.

Optionally, the main pipeline end of the air duct 23 may be communicated with the air outlet end of the air pump, and the air duct 23 may further be provided with a plurality of branch pipelines, each branch pipeline being communicated with each air inlet 12, respectively. Alternatively, the air pump may be provided on the underwater robot.

Optionally, the air pump may comprise an air inlet end and an air outlet end, the air inlet end being in communication with the air on the water surface through the underwater robot; the air outlet end is communicated with an air inlet main pipeline of the air guide pipe 23; the air pump may generate air pressure by compressed air to inflate the air duct 23 to effect inflation of the housing 10.

Alternatively, the water outlet 13 may be disposed on any surface of the housing 10, which is not particularly limited herein; for example, on the side of the housing 10. Alternatively, the water outlet 13 may be provided at a position of the side wall of the housing 10 near the hull.

Optionally, the drain assembly 20 further comprises a one-way valve 22, the one-way valve 22 being disposed at the water outlet 13, the one-way valve 22 being disposed to make water in the cleaning space 11 pass through the water outlet 13 in one way to be discharged out of the housing 10. Therefore, water can be prevented from flowing backwards into the cleaning space 11 from the water outlet 13, and the water drainage effect of the water drainage component 20 and the damage effect of the radiation component 30 on the biological regulation membrane can be influenced.

Optionally, the number of the water outlets 13 may be plural, the arrangement mode is not specifically limited herein, and the water outlets may be uniformly distributed along positions equidistant from the opening of the housing 10, or may be distributed along the opening of the side wall of the housing 10 toward the ground.

Optionally, the drainage assembly 20 may include a water outlet 13 of the heart valve structure, which may allow water inside the housing 10 to pass through the water outlet 13 in one direction to exit the housing 10, preventing water outside the housing 10 from flowing backward into the housing 10 through the water outlet 13.

Alternatively, the water outlet 13 is provided on one directional side of the housing 10, and the side on which the water outlet 13 is provided is always maintained while the hull outer wall cleaning apparatus is operated, and the outer side of the housing 10 is directed toward deep water to prevent water from flowing backward into the housing 10.

In some embodiments, the hull outer wall cleaning apparatus further comprises a brush member 40, the brush member 40 being disposed within the enclosure 10, the brush member 40 being arranged to clean the hull outer wall. In this way, the outer wall of the ship body is further cleaned by the brush component 40, and the attachment with the bioactivity destroyed by the radiation assembly 30 is separated from the outer wall of the ship body in a physical mode, so that the biological regulation film of the outer wall of the ship body can be effectively destroyed without being influenced by a water layer.

Alternatively, before the radiation assembly 30 irradiates the outer wall of the ship hull, the brush component 40 is started to clean the biological regulation membrane on the outer wall of the ship hull, the biological regulation membrane is physically damaged to increase the contact area between the part with biological activity and the air, and then the radiation assembly 30 irradiates the outer wall of the ship hull to damage the activity of the biological regulation membrane. Here, the brush member 40 may be provided with a driving motor.

Optionally, the connection between the brush member 40 and the housing 10 may be provided with a telescopic member, which can be used to drive the brush member 40 to approach or move away from the outer wall of the hull, in which direction the action distance of the brush can be adjusted. If only the brush member 40 is used to physically remove the bio-control film on the bottom surface of the ship, new bio-control film will be quickly attached to the surface of the ship again, and the bio-control film will be formed again. Therefore, the brush component 40 is combined with the radiation component 30 to clean the outer wall of the ship body, water in the housing 10 is discharged out of the housing 10 through the water discharge component 20, the housing 10 and the outer wall of the ship body form a closed cleaning space 11, electromagnetic waves which damage the biological regulation film are emitted to the outer wall of the ship body by the radiation component 30, the electromagnetic waves are not influenced by a water layer, and the biological regulation film on the outer wall of the ship body is effectively damaged.

Alternatively, the number of the radiation members 30 is plural, the radiation members 30 are spaced apart from each other on the bottom surface of the housing 10, and the brush member 40 is disposed at a gap between the adjacent radiation members 30. Thus, the electromagnetic wave blocking of the brush head of the brush member 40 to the radiation assembly 30 can be reduced, the influence of the brush member 40 on the radiation assembly 30 can be reduced, and the situation that the brush member 40 obstructs the radiation assembly 30 to irradiate to the cleaning position can be reduced.

Alternatively, the radiation assembly 30 includes a plurality of radiation portions, and the radiation portions may be sequentially arranged on the inner wall of the bottom surface of the housing 10, in this case, the brush member 40 may include a plurality of brush heads, and as shown in fig. 2, the radiation portions and the brush heads may be arranged at intervals. The arrangement mode can ensure that the electric brush heads are uniformly distributed, and the electric brush heads have more uniform effect on cleaning positions when cleaning attachments on the outer wall of the ship body; in addition, the radiation part is arranged at the gap between two adjacent brush heads, so that the point brush heads can avoid the transmission path of electromagnetic waves generated at the radiation part to the outer wall of the ship body from being blocked as much as possible, the influence of the brush part 40 on the function of the radiation assembly 30 is reduced, and the condition that the brush part 40 blocks the radiation assembly 30 from irradiating to a cleaning position is reduced.

Herein, when the hull outer wall cleaning device is used for cleaning the hull outer wall, a certain position of the hull outer wall to which the hull outer wall cleaning device moves may be referred to as a cleaning position, wherein the first cleaning position and the second cleaning position may represent any two different cleaning positions, and only for convenience, a dynamic process that the hull outer wall cleaning device is used for cleaning a certain position and then moves to another position for a next cleaning cycle is described below, and the cleaning position is not specifically limited.

Optionally, sealing means are provided at the junction of the housing 10 and the outer wall of the hull. For example, the periphery of the opening at the joint of the housing 10 and the outer wall of the ship body is provided with an elastically deformable sealing strip, so that the housing 10 is in close contact with the outer wall of the ship body, water outside the housing 10 cannot flow back into the housing 10 from the joint of the housing 10 and the outer wall of the ship body, water is prevented from entering the cleaning space 11 from the joint of the housing 10 and the outer wall of the ship body, a closed space formed by the housing 10 under the action of the drainage component 20 is not damaged, and the damage effect of the radiation component 30 on the biological regulation film on the outer wall of the ship bottom is ensured.

Alternatively, when the hull outer wall cleaning apparatus is in use in the cleaning position, water is prevented from entering the housing 10 from the junction of the housing 10 and the hull outer wall; in addition, at the in-process that hull outer wall cleaning device removed the second clearance position by first clearance position, in the break away from and the fastening process of housing 10 and hull outer wall, sealing component can also play the cushioning effect to being connected between housing 10 and the hull outer wall, makes sealing component when breaking away from the hull outer wall, perhaps the process of fastening hull outer wall can not cause the damage of colliding with to hull or housing 10 because of the impact of housing 10 and hull outer wall. For example, the sealing member may be a rubber strip uniformly disposed around the periphery of the opening where the housing 10 is joined to the body outer wall.

Thus, the cleaning device can create a waterless environment in the housing 10, so that the radiation assembly 30 has a better effect. The cover shell 10 can be tightly attached to the part to be cleaned of the outer wall of the ship body, so that when the ship body outer wall cleaning device is used for cleaning, water cannot enter the cover shell 10 from the outside of the cover shell 10 through the joint of the cover shell 10 and the outer wall of the ship body, the air inflation burden of the air pump is increased, and the effect of the radiation component 30 in the cover shell 10 is influenced.

Referring to fig. 5, an embodiment of the present disclosure provides an underwater robot including the hull outer wall cleaning device 100. Thus, the hull outer wall cleaning device 100 can be carried on a power structure of the underwater robot, and moves to a position where the hull outer wall needs to be cleaned to clean the hull outer wall; and the water in the housing 10 is discharged out of the housing 10 through the water discharging component 20, so that the housing 10 and the outer wall of the ship body form a closed cleaning space 11, the electromagnetic wave which damages the biological regulation film is emitted to the outer wall of the ship body by the radiation component 30 without being influenced by a water layer, and the biological regulation film on the outer wall of the ship body is effectively damaged.

In some embodiments, the underwater robot further comprises a fastening member 50, the fastening member 50 is connected to the housing 10, and the fastening member 50 is configured to drive the hull outer wall cleaning device 100 to fasten or detach from the hull outer wall.

Optionally, the fastening component 50 includes an expansion link 51 and a steering engine 52, and the expansion link 51 has two or more expansion sections sleeved together; the steering gear 52 is configured to drive the extension and contraction of the telescopic rod 51 so as to move the hull outer wall cleaning device 100 in a direction approaching or departing from the hull outer wall.

Thus, the hull outer wall cleaning device 100 can be mounted on a power structure part of the underwater robot, and the hull outer wall cleaning device 100 can move in a direction close to or far away from the hull outer wall under the action of the fastening part 50; and the water in the housing 10 is discharged out of the housing 10 through the water discharging component 20, so that the housing 10 and the outer wall of the ship body form a closed cleaning space 11, the electromagnetic wave which damages the biological regulation film is emitted to the outer wall of the ship body by the radiation component 30 without being influenced by a water layer, and the biological regulation film on the outer wall of the ship body is effectively damaged.

In some embodiments, the underwater robot further comprises a moving member 60, and the moving member 60 is connected to the housing 10 to change the cleaning position of the hull outer wall cleaning device 100.

Optionally, the moving part 60 includes a slide rail 61, a slide block 62 and a driving motor, and the slide rail 61 is fixedly connected with the underwater robot main body; the sliding block 62 is arranged on the housing 10 and is in sliding fit with the sliding rail 61; the driving motor is configured to drive the slide block 62 to move along the direction in which the slide rail 61 is configured, so that the hull outer wall cleaning device 100 moves in a direction parallel to the hull outer wall.

Thus, the hull outer wall cleaning device 100 can be mounted on a power structure part of the underwater robot, and the hull outer wall cleaning device 100 can move from one cleaning position to another cleaning position under the action of the moving part 60; and the water in the housing 10 is discharged out of the housing 10 through the water discharging component 20, so that the housing 10 and the outer wall of the ship body form a closed cleaning space 11, the electromagnetic wave which damages the biological regulation film is emitted to the outer wall of the ship body by the radiation component 30 without being influenced by a water layer, and the biological regulation film on the outer wall of the ship body is effectively damaged.

Optionally, the slide rail 61 has an i-shaped structure, the slide block 62 has a concave structure with a C-shaped cross section, and the slide block 62 is slidably sleeved on the slide rail 61. Therefore, not only can the sliding fit between the sliding block 62 and the sliding rail 61 be realized, but also the sliding block 62 and the sliding rail 61 are not easy to separate.

In the embodiment of the disclosure, the underwater robot can perform cleaning transfer underwater, the cleaning mode is started, the underwater robot stops moving, the moving mechanism is configured to adjust the position of the housing 10 in the transverse direction and the longitudinal direction until the opening of the housing 10 contacts and fits with the hull to be cleaned, the housing 10 is inflated, water in the housing 10 can be discharged from the water outlet 13, the radiation assembly 30 in the housing 10 is started, after 10 seconds, the radiation assembly 30 is closed, the inflation is stopped, and the housing 10 is moved to the next position to be cleaned through the moving mechanism.

In some embodiments, the underwater robot further comprises a cleaning accessory arranged below the cleaning device and configured to ensure that the relative position of the underwater robot and the ship hull is stable when the cleaning device cleans the ship hull, so that the cleaning efficiency is improved.

Optionally, the cleaning accessory can be an electromagnet, the cleaning accessory is attached to an iron ship body, and the relative position of the underwater robot and the ship body is stable under the attraction effect of the electromagnet and the iron.

In this way, the water in the housing 10 is discharged out of the housing 10 through the water discharging component 20, so that the housing 10 and the outer wall of the ship body form a closed cleaning space 11, the electromagnetic wave for destroying the biological regulation film is emitted to the outer wall of the ship body by the radiation component 30, the influence of a water layer is avoided, and the biological regulation film on the outer wall of the ship body is effectively destroyed.

The above description and drawings sufficiently illustrate embodiments of the disclosure to enable those skilled in the art to practice them. Other embodiments may include structural and other changes. The examples merely typify possible variations. Individual components and functions are optional unless explicitly required, and the sequence of operations may vary. Portions and features of some embodiments may be included in or substituted for those of others. The embodiments of the present disclosure are not limited to the structures that have been described above and shown in the drawings, and various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A hull outer wall cleaning device, comprising:

a water discharge assembly configured to discharge water of the cleaning space to an outside of the housing.

2. The hull outer wall cleaning apparatus according to claim 1,

the housing is provided with an air inlet and a water outlet;

the drainage assembly includes:

and the air pump is communicated with the air inlet and is used for inflating the cover shell so as to discharge the water in the cleaning space under the action of air pressure.

3. The hull outer wall cleaning apparatus of claim 2, wherein said drainage assembly further comprises:

the one-way valve is arranged at the water outlet and is used for enabling water in the cleaning space to pass through the water outlet in a one-way mode so as to be discharged out of the housing.

4. The hull outer wall cleaning apparatus according to claim 1, further comprising:

and a brush member provided in the housing and configured to clean an outer wall of the hull.

5. The hull outer wall cleaning apparatus according to claim 4,

the number of the radiation assemblies is two or more, the radiation assemblies are arranged on the bottom surface of the housing at intervals, and the electric brush component is arranged at the gap of the adjacent radiation assemblies.

6. An underwater robot comprising the hull outer wall cleaning apparatus of any one of claims 1 to 5.

7. The underwater robot of claim 6, further comprising:

and the fastening component is connected with the housing and is used for driving the hull outer wall cleaning device to fasten or separate from the hull outer wall.

8. An underwater robot as recited in claim 7, wherein the fastening member comprises:

the telescopic rod is provided with two or more telescopic sections which are sleeved;

and the steering engine is arranged to drive the telescopic rod to extend or shorten so that the hull outer wall cleaning device moves along the direction close to or far away from the hull outer wall.

9. The underwater robot of claim 6, further comprising:

and the moving component is connected with the housing to change the cleaning position of the hull outer wall cleaning device.

10. An underwater robot as recited in claim 9, wherein the moving member comprises:

the slide rail is fixedly connected with the underwater robot main body;

the sliding block is arranged on the housing and is in sliding fit with the sliding rail;

and the driving motor is arranged to drive the sliding block to move along the arrangement direction of the sliding rail, so that the ship outer wall cleaning device moves along the direction parallel to the ship outer wall.