Review of Underwater Ship Hull Cleaning Technologies
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RESEARCH ARTICLE
Review of Underwater Ship Hull Cleaning Technologies Changhui Song 1 & Weicheng Cui 1,2 Received: 11 November 2019 / Accepted: 12 May 2020 # The Author(s) 2020
Abstract This paper presents a comprehensive review and analysis of ship hull cleaning technologies. Various cleaning methods and devices applied to dry-dock cleaning and underwater cleaning are introduced in detail, including rotary brushes, high-pressure and cavitation water jet technology, ultrasonic technology, and laser cleaning technology. The application of underwater robot technology in ship cleaning not only frees divers from engaging in heavy work but also creates safe and efficient industrial products. Damage to the underlying coating of the ship caused by the underwater cleaning operation can be minimized by optimizing the working process of the underwater cleaning robot. With regard to the adhesion technology mainly used in underwater robots, an overview of recent developments in permanent magnet and electromagnetic adhesion, negative pressure force adhesion, thrust force adhesion, and biologically inspired adhesion is provided. Through the analysis and comparison of current underwater robot products, this paper predicts that major changes in the application of artificial intelligence and multirobot cooperation, as well as optimization and combination of various technologies in underwater cleaning robots, could be expected to further lead to breakthroughs in developing next-generation robots for underwater cleaning. Keywords Biofouling . Dry-dock cleaning . Underwater ship cleaning . Adhesion technology . Cleaning robot
1 Introduction Vessels or structures that partially reside below the surface of seawater or freshwater are subjected to various levels of fouling by marine (saltwater) or aquatic (fresh water from lakes and rivers) organisms, respectively (Cioanta and McGhin 2017). At the base of the fouling mechanism for vessels and structures residing in sea or freshwater are biofilms formed on such structures, which constitute the glue between marine or aquatic organisms and the actual structure (Hua et al. 2018). The biofilms form and the fouling organisms attach to all subsurface structures, such as propellers, rudders, inlet and
Highlights • The development status of underwater cleaning robot is introduced. • The development trend of underwater cleaning robot technology is summarized. * Weicheng Cui [email protected] 1
Deep Sea Technology Research Center, School of Engineering, Westlake University, Hangzhou 310024, China
2
Shanghai Engineering Research Center of Hadal Science and Technology, Shanghai Ocean University, Shanghai 201306, China
outlet ports, sonar housings, and protective grills, as shown in Figure 1. The more diverse or intricate a structure is, the more difficult and costly it is to remove the biofilms and the organisms. Hull and propeller performance may deteriorate over time because of biofouling and mechanical damage; thus, poor hull conditions may decrease the energy efficiency. Moreover
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