An underwater steel structure surface cleaning device and method

Abstract

This invention discloses an underwater steel structure surface cleaning device and method, belonging to the technical field of underwater cleaning equipment. It includes an underwater robot body, a moving mechanism, a mounting shell, cleaning cutter discs, and a vision device. The moving mechanism is slidably mounted on the underwater robot body, and the underwater robot body is equipped with a propulsion mechanism for moving the moving mechanism. Two cleaning cutter discs are symmetrically arranged and rotatably mounted on the underwater robot body. The mounting shell is mounted on the underwater robot body and is equipped with a drive device for driving the cleaning cutter discs to rotate. The vision device is mounted on the mounting shell. This invention uses buoyancy and the moving mechanism to allow the underwater robot body to rest against the lower surface of the steel structure for cleaning operations.

Description

Technical Field

[0001] This invention belongs to the technical field of underwater cleaning equipment, specifically relating to an underwater steel structure surface cleaning device and method. Background Technology

[0002] With the rise of the marine economy, underwater operations will become increasingly complex and demanding. Marine organisms easily accumulate on the hulls of ships and pipelines of offshore drilling platforms, typically requiring regular cleaning by divers. The cleaning process is prone to the following problems: the personal safety of divers is not guaranteed, working hours are significantly affected by sea conditions, and work efficiency is low.

[0003] Chinese Patent Publication No. CN107472479B discloses an underwater steel structure surface marine organism cleaning robot, including: a steering bearing seat, a steering shaft, a support frame, a steering drive mechanism, a first drive wheel set, a first bracket, a cavitation water jet cleaning module, a connecting shaft, a bushing, a second bracket, a second drive wheel set, a first underwater camera, and a second underwater camera. This invention adopts a wheeled four-wheel drive system, making movement more flexible. The connecting shaft can rotate freely relative to the bushing, ensuring that all four magnetic wheels of the underwater steel structure surface marine organism cleaning robot are in contact with the steel structure surface when moving on uneven surfaces, guaranteeing relatively stable adsorption force and a certain obstacle-crossing ability. The cavitation water jet cleaning method has higher cleaning efficiency than traditional mechanical cleaning and is more energy-efficient than high-pressure water jet cleaning. The first and second underwater cameras can obtain real-time images of the robot's front, rear, and the side being cleaned, and the control method is simple and intuitive.

[0004] However, the above technical solution can only clean the upper surface of the steel structure, but cannot clean the bottom surface. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of the prior art and provide an underwater steel structure surface cleaning device and method to solve the problem that underwater steel structure robots are difficult to clean the bottom surface of steel structures in the prior art.

[0006] To achieve the above objectives, the present invention employs the following technical solution:

[0007] An underwater steel structure surface cleaning device includes an underwater robot body, on which a thruster and a mounting shell are provided. Two symmetrically arranged cleaning cutter discs are installed at the upper end of the mounting shell, and a driving device for driving the cleaning cutter discs to rotate is installed inside the mounting shell.

[0008] The underwater robot body is connected to a lifting frame via an abutment mechanism, and the lifting frame is located on the side of the mounting shell; a track moving mechanism is provided on both sides of the lifting frame, and magnets are evenly distributed along the length of the outer surface of the track moving mechanism.

[0009] The underwater robot body has an internal cavity for storing water; a vision device is installed on the underwater robot body.

[0010] A further improvement of the present invention is that:

[0011] Preferably, the underwater robot body is divided into two shell structures, each with a cavity, which are connected by a connector, and a mounting shell is disposed between the two shell structures.

[0012] Preferably, the abutment mechanism includes a plurality of sliding columns, the upper end of which is connected to the lifting frame, and the other end of which is provided with a limit plate; all the sliding columns pass through a support plate, which is mounted on the underwater robot body.

[0013] Preferably, the sliding column is fitted with an elastic element, the two ends of which abut against the support plate and the lifting frame, respectively.

[0014] Preferably, the underwater robot body is equipped with a number of pulleys.

[0015] Preferably, the driving device includes a driving mechanism and a transmission mechanism, the power output end of the driving mechanism is connected to the transmission mechanism, and the power output end of the transmission mechanism is connected to the cleaning cutter head.

[0016] Preferably, the mounting housing is provided with two mounting plates and one clamping plate, and the two mounting plates and the clamping plate are connected perpendicularly to each other;

[0017] The drive mechanism includes a dual-axis motor. The two output ends of the dual-axis motor are respectively connected to a set of meshing driving bevel gears and driven bevel gears. The dual-axis motor is set between two mounting plates, and each set of driving bevel gears and driven bevel gears is set between the mounting plate and the side wall of the mounting shell.

[0018] A drive shaft is engaged with the center of the driven bevel gear. The drive shaft and the driven bevel gear are slidably connected and engaged. One end of the drive shaft is connected to the transmission mechanism.

[0019] Preferably, the transmission mechanism includes a rotating shaft that passes through the clamping plate and the upper end face of the mounting shell, one end of the rotating shaft is connected to the cleaning cutter disc, and the other end of the rotating shaft is connected to the transmission shaft;

[0020] The mounting plate has a sliding notch through which a push plate passes. The two ends of the push plate are rotatably connected to and engaged with two rotating shafts, and a pushing device is connected to the lower end of the push plate.

[0021] Preferably, the pushing device is fixedly mounted on the clamping plate.

[0022] A cleaning method for the above-mentioned underwater steel structure surface cleaning equipment includes the following steps:

[0023] S1, using thrusters, moves the underwater robot body to the underside of the steel structure to be cleaned;

[0024] S2, some water is expelled from the underwater robot's body cavity, causing the underwater robot to float upwards and rest against the lower part of the steel structure to be cleaned.

[0025] S3, through the abutment mechanism, the lifting frame and the underwater robot body are brought into contact, and the magnet is attracted to the lower surface of the underwater robot body;

[0026] S4, the vision device observes the debris on the bottom of the underwater robot body, and the cleaning disc rotates to clean the debris adhering to the steel structure.

[0027] Compared with the prior art, the present invention has the following beneficial effects:

[0028] This invention relates to an underwater steel structure surface cleaning device, comprising an underwater robot body, a moving mechanism, a mounting shell, a cleaning disc, and a vision device. The moving mechanism is slidably mounted on the underwater robot body, and the underwater robot body is equipped with a pushing mechanism for moving the moving mechanism. Two cleaning discs are symmetrically arranged and rotatably mounted on the underwater robot body. The mounting shell is mounted on the underwater robot body and is equipped with a driving device for rotating the cleaning discs. The vision device is mounted on the mounting shell. This invention adjusts the depth of the underwater robot body by regulating the water content within the robot body. When the underwater robot body moves to the bottom of the steel structure, the water is discharged, causing the underwater robot body to float and rest against the lower part of the steel structure to perform cleaning operations on the lower surface of the steel structure. The underwater robot is "adsorbed" to the lower surface of the underwater robot body by a contact mechanism and magnets, and the cleaning discs effectively clean the underwater robot. This device reduces the precision and difficulty of operation.

[0029] Furthermore, the underwater robot body is divided into two parts, each of which includes a shell structure with cavities. The two shell structures are symmetrically arranged to enhance the stability of the underwater robot.

[0030] Furthermore, the abutment mechanism, through the sliding column and elastic setting, can push the lifting frame and track movement mechanism to firmly fit against the bottom of the underwater robot body.

[0031] Furthermore, the underwater robot is equipped with pulleys to facilitate its movement at the bottom of the steel structure to be inspected.

[0032] Furthermore, the drive device, through a gear structure, can drive the cleaning cutter disc to rotate, and the push plate, through the rotating shaft, can also push the cleaning cutter disc to move along the axial direction of the rotating shaft. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the structure of an embodiment of the present invention;

[0034] Figure 2 This is a structural cross-sectional view of an embodiment of the present invention;

[0035] Figure 3 for Figure 1 A magnified schematic diagram of the structure at point A in the middle.

[0036] Reference numerals: 1. Underwater robot body; 2. Thruster; 3. Moving mechanism; 301. Lifting frame; 302. Tracked moving mechanism; 303. Magnet; 4. Support plate; 5. Abutting mechanism; 501. Sliding column; 502. Elastic element; 6. Mounting shell; 7. Cleaning cutter head; 8. Drive mechanism; 801. Dual-axis motor; 802. Driving bevel gear; 803. Driven bevel gear; 9. Transmission mechanism; 901. Rotating shaft; 902. Push plate; 903. Transmission shaft; 904. Pushing device; 10. Mounting plate; 11. Connector; 12. Pulley; 13. Sliding notch; 14. Clamping plate. Detailed Implementation

[0037] The present invention will now be described in further detail with reference to the accompanying drawings:

[0038] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention.

[0039] It should be noted that the illustrations provided in this invention are only schematic representations of the basic concept of the invention. Although the illustrations only show components related to the invention and are not drawn according to the actual number, shape and size of the components in the actual implementation, the form, quantity and proportion of each component in the actual implementation can be arbitrarily changed, and the layout of the components may also be more complex.

[0040] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. The terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Furthermore, unless otherwise explicitly specified and limited, the terms "installed," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection or a detachable connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal connection of two elements. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0041] Example 1

[0042] like Figures 1-3 As shown, the present invention proposes an underwater steel structure surface cleaning device, including an underwater robot body 1, a moving mechanism 3, a mounting shell 6, a cleaning cutter head 7, and a vision device.

[0043] The underwater robot body 1 has a hollow cavity structure filled with water. The amount of water stored inside the underwater robot body 1 can be adjusted according to the underwater robot's height at the bottom of the water, thereby determining the underwater robot's height.

[0044] The moving mechanism 3 is slidably mounted on the upper surface of the underwater robot body 1, and is used to drive the underwater robot body 1 to move under the steel structure to be measured; one end of the underwater robot body 1 is provided with a pushing mechanism for pushing the moving mechanism 3 to move; the mounting shell 6 is located on the end of the underwater robot body 1 away from the thruster 2, and the mounting shell 6 is provided with a driving device for driving the cleaning cutter disc 7 to rotate. There are two cleaning cutter discs 7 symmetrically arranged, and they are rotatably mounted on the mounting shell 6 respectively. The power output end of the driving device is connected to the rotating shaft of the cleaning cutter disc 7.

[0045] The moving mechanism 3 includes a lifting frame 301 arranged along the length of the underwater robot body 1, two tracked moving mechanisms 302 arranged on both sides of the lifting frame 301, and multiple magnets 303 evenly arranged on the two tracked moving mechanisms 302. The tracked moving mechanisms 302 are parallel to the length of the underwater robot body 1.

[0046] A support plate 4 is provided in the middle of the underwater robot body 1. The abutment mechanism 5 includes several sliding columns 501, elastic elements 502 and limiting plates. One end of the sliding column 501 is connected to the lower end of the lifting frame 301, and the other end passes through the support plate 4 and is provided with a limiting plate. The limiting plate is located at the end away from the lifting frame 301. All the sliding columns 501 and the support plate 4 are slidably connected.

[0047] Each sliding post 501 is fitted with an elastic element 502. All sliding posts 501 pass through the support plate 4 and are slidably connected to the support plate 4. The two ends of the elastic element 502 abut against the support plate 4 and the lifting frame 301, respectively. When the underwater robot body 1 is not performing cleaning work, the elastic element 502 pushes the lifting frame 301 to move away from the support plate 4. When the underwater robot body 1 is working, the lifting frame 301 moves towards the support plate 4 due to the thrust. The elastic element 502 is compressed to provide thrust, allowing the tracks to press against the steel structure, enabling effective transmission. For example, the elastic element 502 can be a spring.

[0048] Preferably, in order to provide uniform thrust to the underwater robot, the elastic element 502 is evenly distributed on the bottom of the underwater robot body 1.

[0049] Preferably, the magnets 303 are arranged in an array along the length of the track in the tracked mobile machine 302, so that the entire underwater robot body 1 can be evenly adsorbed onto the bottom of the object to be tested.

[0050] Preferably, the vision device is mounted on the mounting housing 6 to facilitate observation of the part to be inspected and cleaned. The vision device includes a camera sensor and a searchlight, capable of detecting underwater conditions.

[0051] The underwater steel structure surface cleaning method in this embodiment includes the following steps:

[0052] S1. Move the underwater robot body 1 under the steel structure to be cleaned;

[0053] S2. Discharge the water from the underwater robot body 1, causing the underwater robot body 1 to float upwards and rest against the lower part of the steel structure;

[0054] S3, compress the moving mechanism 3 so that the moving mechanism 3 is attached to the steel structure, and control the movement of the underwater robot body 1 through the moving mechanism 3;

[0055] S4. Use a visual device to view the surrounding environment and the areas that need to be cleaned;

[0056] S5. The underwater robot body 1 moves the mounting shell 6, and the mounting shell 6 moves the cleaning disc 7, so that the cleaning disc 7 moves to the part that needs to be cleaned.

[0057] S6. Drive the cleaning cutter head 7 to rotate via the drive device, so that the cleaning cutter head 7 can clean the material adhering to the steel structure when it rotates.

[0058] In this embodiment, the depth of the underwater robot body 1 can be adjusted by regulating the water content inside the underwater robot body 1. More water makes it heavier, causing the underwater robot body 1 to submerge, while less water causes it to rise due to buoyancy. This allows for adjustment of the position of the underwater robot body 1. When the underwater robot body 1 moves to the bottom of the steel structure, the water is discharged, causing the underwater robot body 1 to float and press against the bottom of the steel structure. During this pressing process, the underwater robot body 1 is tightly bonded to the test object by the magnetic force of the magnet. At the same time, the lifting frame 301 is pushed and moves towards the support plate 4. The elastic element 502 is compressed to provide thrust, allowing the track to press against the steel structure. Then, the moving mechanism 3 drives the underwater robot body 1 to move, allowing the underwater robot body 1 to move while adhering to the steel structure. The underwater robot body 1 moves the mounting shell 6, observes the surrounding environment through a vision device, adjusts the position of the cleaning disc 7 and drives the cleaning disc 7 to rotate through a drive device, and moves the cleaning disc 7 to the position that needs to be cleaned. The cleaning disc 7 is then used to clean the surface of the steel structure. The buoyancy of the underwater robot body 1 and the moving mechanism 3 ensure the cleaning effect, and the reduced precision of operation makes it easier to operate and learn.

[0059] Example 2

[0060] like Figures 1-3 As shown, the underwater steel structure surface cleaning device proposed in this invention, compared with the first embodiment, the underwater robot body 1 of this embodiment consists of two shell structures with internal cavities. The length direction of the shell structure is the length direction of the underwater robot body 1. The two shell structures are connected by a connector 11. The interior of the two cavities can store water and release water. A thruster 2 is provided on the upper part of one end of the connector 11.

[0061] The support plate 4 is positioned between the two shell structures.

[0062] In some embodiments, a plurality of pulleys 12 are provided on the upper end faces of the two shell structures of the underwater robot body 1 to prevent the underwater robot body 1 from directly contacting the steel structure surface, thereby protecting the underwater robot body 1. Preferably, the plurality of pulleys 12 are respectively provided on the upper end faces of the two shell structures with cavities, and the pulleys 12 on each shell structure are evenly distributed along the length direction of the shell structure.

[0063] The propulsion mechanism also includes a thruster 2, which is mounted on the underwater robot body 1. The thruster 2 is used to propel the underwater robot body 1 in the water, thereby adjusting its horizontal position in the water. When the pulley is attached to the steel structure, the elastic element 502 pushes the lifting frame 301 to move, causing the lifting frame 301 to drive the tracked movement mechanism 302 to press against the steel structure. The steel structure is then held in place by the magnet 303, ensuring the stability of its movement. Combined with the buoyancy generated by the underwater robot body 1, it allows the underwater robot body 1 to adhere to the steel structure, facilitating cleaning operations. The simultaneous movement of the two tracked movement mechanisms 302 in the same direction and at the same speed can control the underwater robot body 1 to move forward or backward, while differential movement can control the underwater robot body 1 to turn, making the operation more sensitive.

[0064] It should be understood that the thruster 2 of the underwater robot of the present invention is a common thruster used in underwater robots, and can be a direct drive thruster, a slip ring thruster or a hydraulic thruster, etc.

[0065] Example 3

[0066] like Figures 1-3 As shown, the underwater steel structure surface cleaning equipment proposed in this invention, compared with Embodiment 1 or Embodiment 2, has two mounting plates 10 arranged inside the mounting shell 6. The two mounting plates are perpendicular to the bottom plate of the mounting shell 6, and the two mounting plates 10 divide the interior of the mounting shell 6 into three parts: a middle part and two side parts. The driving device includes a driving mechanism 8 disposed inside the mounting shell 6, and a transmission mechanism 9 for transmitting the power of the driving mechanism 8 to the cleaning cutter disc 7 and for adjusting the position of the cleaning cutter disc 7. A transverse clamping plate 14 is also provided inside the mounting shell 6, and the clamping plate 14 intersects the two mounting plates 10 perpendicularly.

[0067] Each cleaning cutter disc 7 is connected to its own transmission mechanism 9. Each transmission mechanism 9 includes a rotating shaft 901, a push plate 902, a transmission shaft 903, and a pushing device 904. The rotating shaft 901 passes through the mounting housing 6 and the clamping plate 10, and is slidably connected to the mounting housing 6. The rotating shaft 901 and the clamping plate 10 are rotatably connected and engaged. The upper end of the rotating shaft 901 is connected to the center of the cleaning cutter disc 7, and the lower end of the rotating shaft 901 is connected to one end of the transmission shaft 903. The transmission shaft 903 has a polygonal structure.

[0068] Two rotating shafts 901 pass through a push plate 902. The push plate 902 is located between the upper surface of the clamping plate 10 and the mounting shell 6. The mounting plate 10 has a sliding notch 13. The push plate 902 passes through the two sliding notches 13. Both ends of the push plate 902 are rotatably connected to and engaged with a rotating shaft 901, so that the rotating shaft 901 can rotate relative to the push plate 902.

[0069] A pushing device 904 is mounted on the clamping plate 14. The power output end of the pushing device 904 passes through the clamping plate 14 and is connected to the push plate 902, which can drive the push plate 902 to move along the sliding notch 13, while simultaneously pushing the rotating shaft 901 to move up and down. For example, the pushing device 904 is any combination of one or more of an electric push rod or a telescopic cylinder.

[0070] The drive mechanism 8 includes a dual-axis motor 801 installed in the mounting housing 6, two active bevel gears 802 installed at the two output ends of the dual-axis motor 801, and a driven bevel gear 803 rotatably installed on the clamping plate 14 and slidably connected and engaged with the transmission shaft 903. The active bevel gear 802 and the driven bevel gear 803 are meshed together.

[0071] In this embodiment, the pushing device 904 pushes the push plate 902 to move along the length of the mounting plate 10. The push plate 902 drives the rotating shaft 901 to move up and down, and the rotating shaft 901 drives the upper and lower transmission shaft 903 to move. This causes the transmission shaft 903 to slide up and down on the driven bevel gear 803, thereby enabling the rotating shaft 901 to drive the cleaning disc 7 to move. Adjusting the position of the cleaning disc 7 allows it to be closer to the steel structure and facilitates cleaning of materials on the surface of the steel structure. Furthermore, the dual-axis motor 801 drives the active bevel gear 802 to rotate, which in turn drives the driven bevel gear 803 to rotate. The driven bevel gear 803 drives the transmission shaft 903 to rotate, thereby causing the rotating shaft 901 and the cleaning disc 7 to rotate, enabling the cleaning disc 7 to clean materials on the steel structure.

[0072] In this invention, the telescopic cylinder, electric push rod, and motor are all controlled by a controller. The controller controls the telescopic cylinder and motor using conventional techniques in the field, and the specific electrical connection structure will not be described in detail.

[0073] Specifically, a telescopic cylinder usually refers to a pneumatic or hydraulic cylinder, a device that converts the pressure energy of a gas or liquid into mechanical energy. An electric linear actuator is an electric device that converts the rotational motion of an electric motor into the linear reciprocating motion of a linear actuator. An electric motor is a device that converts electrical energy into mechanical energy; it achieves this conversion or transmission based on the law of electromagnetic induction.

[0074] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An underwater steel structure surface cleaning apparatus, characterized by, The utility model provides an underwater robot, which comprises an underwater robot body (1), a propeller (2) and a mounting shell (6) arranged on the underwater robot body (1), two symmetrical cleaning cutters (7) mounted on the upper end of the mounting shell (6), and a driving device for driving the cleaning cutters (7) to rotate and installed in the mounting shell (6). The underwater robot body (1) is connected with a lifting frame (301) through an abutting mechanism (5), and the lifting frame (301) is arranged beside the mounting shell (6); the lifting frame (301) is provided with a crawler belt moving mechanism (302) on each side thereof, and the outer surface of the crawler belt moving mechanism (302) is uniformly provided with magnets (303) along the length direction. The underwater robot body (1) is internally provided with a cavity for storing water; and the underwater robot body (1) is provided with a visual device. The abutting mechanism (5) comprises a plurality of sliding columns (501), the upper end of each sliding column (501) is connected with the lifting frame (301), and the other end of each sliding column (501) is provided with a limiting plate; all the sliding columns (501) pass through a supporting plate (4) arranged on the underwater robot body (1). Each sliding column (501) is sleeved with an elastic member (502), and the two ends of the elastic member (502) abut against the supporting plate (4) and the lifting frame (301) respectively; the driving device comprises a driving mechanism (8) and a transmission mechanism (9), the power output end of the driving mechanism (8) is connected with the transmission mechanism (9), and the power output end of the transmission mechanism (9) is connected with the cleaning cutter (7). The mounting shell (6) is provided with two mounting plates (10) and a clamping plate (14), and the two mounting plates (10) and the clamping plate (14) are connected in perpendicular intersection. The driving mechanism (8) comprises a double-shaft motor (801), each output end of the double-shaft motor (801) is connected with a set of meshing driving bevel gears (802) and driven bevel gears (803), the double-shaft motor (801) is arranged between the two mounting plates (10), and each set of driving bevel gears (802) and driven bevel gears (803) is arranged between the mounting plate (10) and the side wall of the mounting shell (6). The center of each driven bevel gear (803) is clamped with a transmission shaft (903), the transmission shaft (903) is in sliding connection and clamped with the driven bevel gear (803), and one end of the transmission shaft (903) is connected with the transmission mechanism (9). The transmission mechanism (9) comprises a rotating shaft (901), the rotating shaft (901) passes through the clamping plate (14) and the upper end surface of the mounting shell (6), one end of the rotating shaft (901) is connected with the cleaning cutter (7), and the other end of the rotating shaft (901) is connected with the transmission shaft (903). The mounting plate (10) is provided with a sliding gap (13), the sliding gap (13) passes through a push plate (902), the two ends of the push plate (902) are rotationally connected with and clamped with the two rotating shafts (901), and the lower end surface of the push plate (902) is connected with a pushing device (904). The pushing device (904) is fixedly arranged on the clamping plate (14).

2. An underwater steel structure surface cleaning apparatus according to claim 1, wherein The underwater robot body (1) is divided into two shell structures each having a cavity, the two shell structures are connected through a connecting piece (11), and a mounting shell (6) is arranged between the two shell structures.

3. An underwater steel structure surface cleaning apparatus as claimed in claim 1, wherein The underwater robot body (1) is provided with a plurality of pulleys (12).

4. A method of cleaning the underwater steel structure surface cleaning apparatus according to claim 1, characterized by, The method comprises the following steps: S1, moving the underwater robot body (1) to below the steel structure to be cleaned through the propeller (2); S2, discharging part of the water in the cavity of the underwater robot body (1) to make the underwater robot body (1) float upwards and abut against the lower part of the steel structure to be cleaned S4, abutting the lifting frame (301) and the underwater robot body (1) through the abutting mechanism (5), and magnetically attracting the magnet (303) to the lower surface of the underwater robot body (1); S4, observing the sundries at the bottom of the underwater robot body (1) through the visual device, rotating the cleaning cutter head (7), and cleaning the sundries adhered to the steel structure.

Images