Suspension type underwater desilting robot based on ROV system and desilting method

Abstract

The invention discloses a suspended underwater desilting robot based on an ROV system and a desilting method. The robot comprises an ROV system structure, a walking device and a desilting device. The ROV system structure comprises a propelling mechanism, a power source, a control mechanism, an overall frame and a buoyancy block arranged on the overall frame. The walking device comprises a crawler system and a Z-shaped chassis supporting frame. The desilting device comprises an auger, a suction hopper, a water jet nozzle, a pumping pipeline, a slurry pump and a temporary silt storage tank. The ROV system and the crawler chassis are adopted to construct a novel main body frame, the buoyancy block on the top of the novel main body frame can partially counteract power needed by floating of the robot, and the lifting vector propellers which are vertically and symmetrically arranged can also provide certain thrust, so that it is guaranteed that the dredging robot does not sink into the area to cause movement blocking when working in the area with thick silt, and the service life of the dredging robot is prolonged. The dredging robot can continuously work in various complex working condition scenes, and continuity and high efficiency of the dredging process are guaranteed.

Description

Technical Field

[0001] The invention discloses a suspended underwater dredging robot based on an ROV system and a dredging method, belonging to the technical field of dredging equipment. Background Art

[0002] Sewage pond desilting operations belong to confined space operations. Such operations are highly risky due to their narrow and humid environment and frequent accidents. The challenges faced by desilting operations include narrow working space, which limits the flexibility of operations and the establishment of safe exits, as well as slips and electrical equipment failures caused by the humid environment, making sewage pond desilting operations extremely risky. With the continuous innovation of technology, mechanization has replaced manual desilting operations for sewage ponds, which has become an obvious trend. The introduction of robots has effectively protected the lives and property of workers. Compared with manual operations, robots have higher work efficiency and can continue to perform high-intensity operations for a long time, thereby reducing the difficulty of safety management and greatly reducing safety risks.

[0003] However, underwater dredging robots are usually large and heavy, which increases the difficulty of manipulating the robots, especially in narrow sewage pools. Their large size and weight may limit the movement and maneuverability of the robots in narrow spaces, increase the complexity of the operation, and may also limit the robots' adaptability in complex environments. Summary of the invention

[0004] In order to overcome the above-mentioned shortcomings, the present invention proposes a suspended underwater dredging robot structure and a dredging system based on an ROV system, which are dedicated to solving the above-mentioned problems.

[0005] The technical solution of the present invention is as follows: A suspended underwater dredging robot based on an ROV system, characterized in that the robot comprises an ROV system structure, a walking device and a dredging device; the ROV system is arranged above the walking device by means of bolt connection, and the dredging device is installed in front of the walking device by means of a hinged connecting rod connection.

[0006] Preferably, the above-mentioned ROV system structure includes a propulsion mechanism, a control system, a power source, an overall frame and a buoyancy block arranged on the overall frame; wherein, the overall frame includes a main frame and an extended outer frame, the main frame includes a right side plate, a left side plate, an upper equipment mounting plate and a bottom equipment mounting plate, the upper equipment mounting plate is arranged in the middle and upper part of the main frame, the middle part of which is a hollow design and is symmetrical on the left and right, the control system is installed in the middle hollow, the buoyancy block is arranged on the left and right sides of the upper equipment mounting plate, the bottom equipment mounting plate is arranged at the bottom of the main frame, the middle part is still a hollow design and is symmetrical on the left and right, the power source is installed in the middle hollow, and a accommodating space is formed between the upper equipment mounting plate and the bottom equipment mounting plate for placing part of the structure of the dredging device, the upper equipment mounting plate and the bottom equipment mounting plate are both connected to the left and right plates on both sides; the extended outer frame includes an upper right extension plate and an upper left extension plate, the installation height of which is higher than the upper equipment mounting plate, and is also connected to the left and right plates, and the propulsion mechanism is installed in the mounting holes of the upper right extension plate and the upper left extension plate.

[0007] Preferably, the above-mentioned propulsion mechanism is a lifting vector thruster, and four lifting vector thrusters are symmetrically distributed in the mounting holes of the upper right extension plate and the upper left extension plate, and the propulsion directions are all vertically downward; the vector thruster includes an annular shield and a propeller arranged in the annular shield, and the circumferential side surface of the annular shield is installed on the surface of the main side plate through a mounting bracket, and the installation height is flush with the upper right extension plate and the upper left extension plate.

[0008] Preferably, a control system is provided on the upper equipment mounting plate, and the control system comprises a hemispherical cover, a cabin body, a front cabin cover, a rear cabin cover and a watertight joint which are connected in sequence, the hemispherical cover, the front cabin cover and the rear cabin cover together form a cavity for placing a controller, and the watertight joint is arranged at the tail end of the rear cabin cover; the hemispherical cover is a transparent structure, and an underwater camera is also provided at its front end, and the underwater camera is installed in the internal cavity of the sealed cabin through an anti-shake gimbal to ensure that the underwater camera stably obtains image data underwater.

[0009] Preferably, the walking device comprises a track system and a Z-type chassis support frame; the track system comprises a track, a driving wheel, an idler wheel, a driving gear, a driven gear, a chain, an upper roller and a lower roller, the track motor and the motor steering gear are installed in the track power box, and the track is located on the outside of the track power box, the driving wheel is located at the front of the track system, and the power provided by the track motor drives the track chain to move, so as to realize the forward or backward movement of the robot, and the idler wheel, the upper roller and the lower roller are used to support and guide the track, keep it moving on the correct track, and ensure the effective transmission of traction; one end of the Z-type chassis support frame is welded to the center of the side of the track system, and the protruding height of the step is consistent with the height difference between the left and right side plates of the ROV system frame and the bottom equipment mounting plate, so that the Z-type chassis support frame is tightly connected to the ROV system frame by bolt connection.

[0010] Preferably, the above-mentioned dredging device includes an auger, a suction hopper, a high-pressure water jet nozzle, a pump suction pipeline, a mud centrifugal pump, a silt conveying pipe and a silt temporary storage tank; wherein, the left and right ends of the auger are connected with a bearing seat with an embedded bearing, and the inner side thereof is connected through the left and right shafts of a three-axis commutator, and the bearing seat and the suction hopper are fixed by a threaded connection, and the auger drive motor is connected to the third shaft of the three-axis commutator through a rigid flange coupling, thereby driving the auger to rotate; the suction hopper is in an envelope shape as a whole and cooperates with the auger, so that the silt can be gathered and discharged through the pump suction pipeline in the middle; the high-pressure water jet nozzle is installed on the nozzle platform in front of the suction hopper to impact the silt and complete the auxiliary dredging work; the mud centrifugal pump and the silt temporary storage tank are located between the upper equipment mounting plate and the bottom equipment In the accommodating space formed between the mounting plates, the pump suction pipeline is connected to the inlet of the mud centrifugal pump through a thread, and the pump outlet of the mud centrifugal pump is then connected to the silt temporary storage tank through a pipe; the dredging device is generally installed in front of the main frame, and the suction hopper is connected to the mounting hole at the front end of the upper equipment mounting plate of the main frame through two waterproof electric push rods, and is connected to the rotating bracket installed at the front end of the Z-shaped chassis support frame by two forearm connecting rods, both of which are symmetrical with respect to the suction hopper. The suction hopper needs to adjust its posture during the dredging work, which is achieved by adjusting the telescopic length of the two waterproof electric push rods. When the waterproof electric push rods are contracted together, the suction hopper is lifted together with the auger, and when the waterproof electric push rods are extended together, the suction hopper is lowered together with the auger.

[0011] A dredging method using a suspended underwater dredging robot based on an ROV system, using the underwater dredging robot, comprises the following steps: Step 1: Place the dredging robot at the starting point in the water, start the electric push rod, adjust the position and posture of the auger and the suction hopper, and complete the preparation work before dredging; Step 2: By adjusting the speed of the lifting vector thruster, provide the dredging robot with an appropriate upward thrust to prevent its crawler chassis from sinking into the mud, start the electric push rod, adjust the auger to a suitable height according to the thickness of the sludge accumulated at the bottom, and then start the auger drive motor and the high-pressure water jet nozzle for joint dredging. At the same time, start the mud pump. When the pump suction pipe has silt sucked in, the robot starts working; Step 3: After the silt accumulated on the upper layer of the pool bottom is cleaned, the auger continues to clean the silt accumulated on the bottom by continuously adjusting the telescopic length of the waterproof electric push rod. After the area is cleaned, the auger is lifted to the highest position again by the electric push rod. At this point, a dredging action is completed, and the built-in drive crawler chassis continues to move forward a specified distance for the next dredging action. Repeat this step until the dredging process is completed; Step 4: After the dredging process is completed, the auger will be lifted to the highest point through the electric push rod, the lifting vector thruster will be turned off, the built-in drive crawler chassis will be started to return to the starting working point along the original route, and then the auxiliary equipment will be used to recover the robot.

[0012] The beneficial effects of the present invention are: The present invention adopts the ROV system and the crawler chassis structure to establish a new main frame. The top buoyancy block itself can generate a certain amount of buoyancy, which can offset part of the power required for the robot to float or suspend, and the vertically symmetrically arranged vector thrusters can also provide a certain buoyancy, ensuring that when the dredging robot is operating in an area with thick mud and sand, the crawler chassis will not sink into it, resulting in obstruction of movement and inability to operate, so that the dredging robot can continue to operate in a variety of complex working conditions, ensuring the continuity and efficiency of the dredging process. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a schematic diagram of the structure of the ROV system of the present invention; Figure 3 It is a schematic diagram of the structure of the control system of the present invention; Figure 4 It is a schematic diagram of the structure of the walking device of the present invention; Figure 5 It is a schematic diagram of the structure of the dredging device of the present invention; In the figure: 1: ROV system structure, 1-1: lifting vector thruster, 1-2: buoyancy block, 1-3: control system, 1-4: right side plate, 1-5: upper left extension plate, 1-6: left side plate, 1-7: silt temporary storage tank, 1-8: bottom equipment installation plate, 1-9: power source, 1-10: sludge suction centrifugal pump, 1-11: upper equipment installation plate, 1-12: upper right extension plate, 1-13: annular shield, 1-14: propeller, 1-15: hemispherical cover, 1-16: front cover, 1-17: underwater camera, 1-18: cabin, 1-19: rear hatch, 1-20: watertight joint; 2, walking device, 2 -1: crawler track, 2-2: upper roller, 2-3: Z-type chassis support frame, 2-4: driven gear, 2-5: chain, 2-6: driving wheel, 2-7: lower roller, 2-8: driving gear, 2-9: motor commutator, 2-10: crawler motor, 2-11: idler wheel; 3, dredging device, 3-1: auger drive motor, 3-2: pump suction pipeline, 3-3: suction hopper, 3-4: waterproof electric push rod, 3-5: forearm connecting rod, 3-6: rotating bracket, 3-7: nozzle mounting table, 3-8: high-pressure water jet nozzle, 3-9: bearing seat, 3-10: auger, 3-11: rigid flange coupling, 3-12: three-axis commutator. DETAILED DESCRIPTION

[0014] The present invention will be further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and cannot be used to limit the protection scope of the present invention.

[0015] like Figure 1 As shown, a suspended underwater dredging robot based on an ROV system includes an ROV system structure 1, a walking device 2, and a dredging device 3.

[0016] like Figure 2As shown, the ROV system structure 1 includes a propulsion mechanism 1-1, a control system 1-3, a power source 1-9, an overall frame and a buoyancy block 1-2 arranged on the overall frame; wherein, the overall frame includes a main frame and an extended outer frame, the main frame includes a right side plate 1-4, a left side plate 1-6, an upper equipment mounting plate 1-11 and a bottom equipment mounting plate 1-8, the upper equipment mounting plate 1-11 is arranged in the middle and upper part of the main frame, the middle part of which is a hollow design and is symmetrical on the left and right, the control system 1-3 is installed in the middle hollow part, the buoyancy block 1-2 is arranged on the left and right sides of the upper equipment mounting plate 1-11, the bottom equipment mounting plate 1-8 is arranged at the bottom of the main frame, the middle part of which is still a hollow design and is symmetrical on the left and right Symmetrically, the power source 1-9 is installed in the middle hollow part, and an accommodating space is formed between the upper equipment mounting plate 1-11 and the bottom equipment mounting plate 1-8. The sludge suction centrifugal pump 1-10 and the silt temporary storage tank 1-7 of the dredging device 3 are both arranged in the accommodating space. The upper equipment mounting plate 1-11 and the bottom equipment mounting plate 1-8 are both connected to the right side plate 1-4 and the left side plate 1-6 on both sides; the extended outer frame includes an upper right extension plate 1-12 and an upper left extension plate 1-5, and its installation height is slightly higher than that of the upper equipment mounting plate 1-11, and it is also connected to the right side plate 1-4 and the left side plate 1-6 on both sides, and the propulsion mechanism 1-1 is installed in the mounting holes of the upper right extension plate 1-12 and the upper left extension plate 1-5.

[0017] like Figure 2 As shown, the propulsion mechanism 1-1 is a lifting vector thruster, and more than four of the lifting vector thrusters are symmetrically distributed in the mounting holes of the upper right extension plate 1-12 and the upper left extension plate 1-5, and the propulsion directions are all vertically downward; the vector thruster includes an annular shield 1-13 and a propeller 1-14 arranged in the annular shield, and the circumferential side surface of the annular shield is installed on the surface of the main side plates 1-6, 1-12 through a mounting bracket, and the mounting height is flush with the upper right extension plate 1-12 and the upper left extension plate 1-5.

[0018] like Figure 3 As shown, a control system 1-3 is arranged on the upper equipment mounting plate 1-11, and the control system 1-3 includes a hemispherical cover 1-15, a front hatch 1-16, a cabin 1-18, a rear hatch 1-19 and a watertight joint 1-20 which are connected in sequence, and the hemispherical cover 1-15, the cabin 1-18, the front hatch 1-16 and the rear hatch 1-19 together form a cavity for placing a controller, and the watertight joint 1-20 is arranged at the tail end of the rear hatch 1-19; the hemispherical cover 1-15 is a transparent structure, and an underwater camera 1-17 is also arranged at its front end, and the underwater camera is installed in the internal cavity of the cabin 1-18 through an anti-shake gimbal to ensure that the underwater camera 1-17 can stably obtain image data underwater.

[0019] like Figure 4 As shown, the walking device 2 includes a crawler system and a Z-type chassis support frame 2-3; the crawler system includes a crawler 2-1, a driving wheel 2-6, an idler wheel 2-11, a driving gear 2-8, a driven gear 2-4, a chain 2-5, an upper roller 2-2 and a lower roller 2-7, a crawler motor 2-10 and a motor steering gear 2-9 are installed in a crawler power box, and the crawler 2-1 is located on the outside of the box, and the driving wheel 2-6 is located at the front of the crawler system. The power provided by the crawler motor 2-10 drives the crawler chain 2-5 to move, so that the machine can be driven. When a person moves forward or backward, the idler wheel 2-11, the upper roller 2-2 and the lower roller 2-7 are used to support and guide the crawler 2-1, keep it moving on the correct track, and ensure the effective transmission of traction; one end of the Z-shaped chassis support frame 2-3 is welded at the center of the side of the crawler system, and the protruding height of the step is consistent with the height difference between the left and right side panels 1-4, 1-6 of the ROV system frame and the bottom equipment mounting plate 1-2, so that the chassis support frame 2-3 is tightly connected to the ROV system frame by bolt connection.

[0020] like Figure 5As shown, the dredging device 3 includes an auger 3-10, a suction hopper 3-3, a high-pressure water jet nozzle 3-8, a pump suction pipeline 3-2, a mud centrifugal pump 1-10 and a silt temporary storage tank 1-7; wherein, the left and right ends of the auger 3-10 are connected with a bearing seat 3-9 with an embedded bearing, and its inner side is connected through the left and right axes of a three-axis commutator 3-12, and the bearing seat 3-9 and the suction hopper 3-3 are fixed by a threaded connection, and the auger drive motor 3-1 is connected to the third axis of the three-axis commutator 3-12 by a rigid flange coupling 3-11, thereby driving the auger 3-10 to rotate; the suction hopper 3-3 is in an envelope shape as a whole and cooperates with the auger 3-10, so that the silt can be gathered and discharged through the middle pump suction pipeline 3-2; the high-pressure water jet nozzle 3-8 is installed on the nozzle mounting platform 3-7 in front of the suction hopper, which is used to impact the silt and complete the auxiliary dredging work; the pump suction pipeline 3-2 is connected to the equipment by a threaded connection. The inlet of the mud centrifugal pump 1-10 on the bottom mounting plate 1-8 and the pump outlet of the mud centrifugal pump 1-10 are then transported to the silt temporary storage tank 1-7 through a pipeline, and finally discharged out of the tank; the dredging device 3 is generally installed in front of the main frame, and the suction hopper 3-3 is connected to the mounting hole at the front end of the upper equipment mounting plate 1-11 of the main frame through two waterproof electric push rods 3-4, and is connected to the rotating bracket 3-6 installed at the front end of the Z-shaped chassis support frame 2-3 by two forearm connecting rods 3-5, and are both symmetrical with respect to the suction hopper 3-3. The suction hopper 3-3 needs to adjust its posture during the dredging work, which can be achieved by adjusting the telescopic length of the two waterproof electric push rods 3-4. When the waterproof electric push rods 3-4 are contracted together, the suction hopper 3-3 is lifted together with the auger 3-10, and when the waterproof electric push rods 3-4 are extended together, the suction hopper 3-3 is lowered together with the auger 3-10.

[0021] A dredging method using a suspended underwater dredging robot based on an ROV system, using the dredging robot described above, comprises the following steps: Step 1: Put the dredging robot into the working starting point in the water through auxiliary equipment, start the waterproof electric push rod 3-4, adjust the position and posture of the auger 3-10 and the suction hopper 3-3, and complete the preparation work before dredging; Step 2: By adjusting the rotation speed of the lifting vector thruster 1-1, the dredging robot is provided with an appropriate upward thrust to prevent its walking device 2 from sinking into the silt, and the waterproof electric push rod 3-4 is started. According to the thickness of the silt accumulated at the bottom, the auger 3-10 is adjusted to a suitable height, and then the auger drive motor 3-1 and the high-pressure water jet nozzle 3-8 are started for joint dredging, and the sludge suction centrifugal pump 1-10 is started at the same time. When the pump suction pipeline 3-2 has silt sucked in, the robot officially starts working; Step 3: After the silt accumulated on the upper layer is cleaned, the auger 3-10 continues to clean the silt accumulated on the bottom by continuously adjusting the telescopic length of the waterproof electric push rod 3-4. After the area is cleaned, the auger 3-10 is lifted to the highest position again by the waterproof electric push rod 3-4. Thus, one dredging action is completed. The built-in drive crawler chassis 2 continues to move forward a specified distance to perform the next dredging action. This step is repeated until the dredging process is completed. Step 4: After the dredging process is completed, the auger 3-10 will be lifted to the highest point through the waterproof electric push rod 3-4, the built-in drive crawler chassis 2 will be started to return to the starting working point along the original route, the lifting vector thruster 1-1 will be turned off, and the robot will be recovered with the help of auxiliary equipment.

[0022] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A suspended underwater dredging robot based on an ROV system, characterized in that: The robot comprises an ROV system structure, a walking device and a dredging device; the ROV system is arranged above the walking device by means of bolt connection, and the dredging device is installed in front of the walking device by means of a hinged connecting rod connection.

2. The suspended underwater dredging robot based on the ROV system according to claim 1 is characterized in that: The ROV system structure includes a propulsion mechanism, a control system, a power source, an overall frame and a buoyancy block arranged on the overall frame; wherein the overall frame includes a main frame and an extended outer frame, the main frame includes a right side plate, a left side plate, an upper equipment mounting plate and a bottom equipment mounting plate, the upper equipment mounting plate is arranged in the middle and upper part of the main frame, the middle part of which is a hollow design and is symmetrical on both sides, the control system is installed in the middle hollow, the buoyancy block is arranged on the left and right sides of the upper equipment mounting plate, the bottom equipment mounting plate is arranged at the bottom of the main frame, the middle part is still a hollow design and is symmetrical on both sides, the power source is installed in the middle hollow, a holding space is formed between the upper equipment mounting plate and the bottom equipment mounting plate, which is used to place part of the structure of the dredging device, and the upper equipment mounting plate and the bottom equipment mounting plate are both connected to the left and right plates on both sides; the extended outer frame includes an upper right extension plate and an upper left extension plate, the installation height of which is higher than the upper equipment mounting plate, and is also connected to the left and right plates, and the propulsion mechanism is installed in the mounting holes of the upper right extension plate and the upper left extension plate.

3. The suspended underwater dredging robot based on the ROV system according to claim 2 is characterized in that: The propulsion mechanism is a lifting vector thruster, and four lifting vector thrusters are symmetrically distributed in the mounting holes of the upper right extension plate and the upper left extension plate, and the propulsion directions are all vertically downward; the vector thruster includes an annular shield and a propeller arranged in the annular shield, and the circumferential side surface of the annular shield is installed on the surface of the main side plate through a mounting bracket, and the installation height is flush with the upper right extension plate and the upper left extension plate.

4. The suspended underwater dredging robot based on the ROV system according to claim 2 is characterized in that: A control system is provided on the upper equipment mounting plate, and the control system includes a hemispherical cover, a cabin, a front cabin cover, a rear cabin cover and a watertight joint which are connected in sequence. The hemispherical cover, the front cabin cover and the rear cabin cover together form a cavity for placing a controller, and the watertight joint is arranged at the rear end of the rear cabin cover. The hemispherical cover is a transparent structure, and an underwater camera is also provided at its front end. The underwater camera is installed in the internal cavity of the sealed cabin through an anti-shake gimbal to ensure that the underwater camera can stably obtain image data underwater.

5. The suspended underwater dredging robot based on the ROV system according to claim 2, characterized in that: The walking device includes a track system and a Z-type chassis support frame; the track system includes a track, a driving wheel, an idler wheel, a driving gear, a driven gear, a chain, an upper roller and a lower roller, the track motor and the motor steering gear are installed in the track power box, and the track is located on the outside of the track power box, the driving wheel is located at the front of the track system, and the power provided by the track motor drives the track chain to move, so as to realize the forward or backward movement of the robot, and the idler wheel, the upper roller and the lower roller are used to support and guide the track, keep it moving on the correct track, and ensure the effective transmission of traction; one end of the Z-type chassis support frame is welded to the center of the side of the track system, and the protruding height of the step is consistent with the height difference between the left and right side plates of the ROV system frame and the bottom equipment mounting plate, so that the Z-type chassis support frame is tightly connected to the ROV system frame by bolt connection.

6. The suspended underwater dredging robot based on the ROV system according to claim 5 is characterized in that: The dredging device comprises an auger, a suction hopper, a high-pressure water jet nozzle, a pump suction pipeline, a mud centrifugal pump, a silt conveying pipe and a silt temporary storage tank; wherein, the left and right ends of the auger are connected with a bearing seat with an embedded bearing, and the inner side thereof is connected through the left and right shafts of a three-axis commutator, and the bearing seat and the suction hopper are fixed by a threaded connection, and the auger drive motor is connected to the third shaft of the three-axis commutator through a rigid flange coupling, thereby driving the auger to rotate; the suction hopper is in an envelope shape as a whole and cooperates with the auger, so that the silt can be gathered and discharged through the pump suction pipeline in the middle; the high-pressure water jet nozzle is installed on the nozzle platform in front of the suction hopper to impact the silt and complete the auxiliary dredging work; the mud centrifugal pump and the silt temporary storage tank are located between the upper equipment mounting plate and the bottom equipment mounting plate In the accommodating space formed between the plates, the pump suction pipeline is connected to the inlet of the mud centrifugal pump through a thread, and the pump outlet of the mud centrifugal pump is then connected to the silt temporary storage tank through a pipe; the dredging device is generally installed in front of the main frame, and the suction hopper is connected to the mounting hole at the front end of the upper equipment mounting plate of the main frame through two waterproof electric push rods, and is connected to the rotating bracket installed at the front end of the Z-shaped chassis support frame by two forearm connecting rods, both of which are symmetrical with respect to the suction hopper. The suction hopper needs to adjust its posture during the dredging work, which is achieved by adjusting the telescopic length of the two waterproof electric push rods. When the waterproof electric push rods are contracted together, the suction hopper is lifted together with the auger, and when the waterproof electric push rods are extended together, the suction hopper is lowered together with the auger.

7. A dredging method using a suspended underwater dredging robot based on an ROV system, characterized in that: Using the underwater dredging robot according to any one of claims 1 to 6 comprises the following steps: Step 1: Place the dredging robot at the starting point in the water, start the electric push rod, adjust the position and posture of the auger and the suction hopper, and complete the preparation work before dredging; Step 2: By adjusting the speed of the lifting vector thruster, provide the dredging robot with an appropriate upward thrust to prevent its crawler chassis from sinking into the mud, start the electric push rod, adjust the auger to a suitable height according to the thickness of the sludge accumulated at the bottom, and then start the auger drive motor and the high-pressure water jet nozzle for joint dredging. At the same time, start the mud pump. When the pump suction pipe has silt sucked in, the robot starts working; Step 3: After the silt accumulated on the upper layer of the pool bottom is cleaned, the auger continues to clean the silt accumulated on the bottom by continuously adjusting the telescopic length of the waterproof electric push rod. After the area is cleaned, the auger is lifted to the highest position again by the electric push rod. At this point, a dredging action is completed, and the built-in drive crawler chassis continues to move forward a specified distance for the next dredging action. Repeat this step until the dredging process is completed; Step 4: After the dredging process is completed, the auger will be lifted to the highest point through the electric push rod, the lifting vector thruster will be turned off, the built-in drive crawler chassis will be started to return to the starting working point along the original route, and then the auxiliary equipment will be used to recover the robot.

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