Underwater operation robot

Abstract

The invention discloses an underwater operation robot. The underwater operation robot comprises a multi-direction posture self-stabilization structural frame and a rotary cleaning system; the structural frame comprises a buoyancy pipe, and a flowing medium is arranged in the buoyancy pipe; the rotary cleaning system comprises a plurality of rotary cleaning discs and a water inlet, and the water inlet communicates with external water supply equipment to supply water to the rotary cleaning discs; the rotary cleaning disc comprises a cavitation nozzle obliquely arranged relative to the rotary cleaning disc, and when the cavitation nozzle sprays liquid, the counter-acting force of the cavitation nozzle drives the rotary cleaning disc to rotate. According to the underwater operation robot, the structural frame with the multi-direction posture self-stabilizing function is adopted, the flowing medium is injected, autonomous keeping of the underwater posture of the robot is achieved, and the control difficulty is reduced. In addition, the rotary cleaning system adopts the cavitation jet technology, the cleaning effect is good, the rotary cleaning disc can spin when the cavitation nozzle sprays water, no extra energy or no driving mechanism is needed to drive the rotary cleaning disc to rotate, the structure is simple, and the reliability is high.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to an underwater operation robot. Background Art

[0002] my country has now become the world's largest country in marine aquaculture, and offshore or deep-sea cage aquaculture has become the main form of aquaculture. The existing aquaculture cage structure is mainly composed of flexible / rigid nets, structural frames, and fixed cables. Due to the combined influence of the porous and permeable structure of the nets and the feeding of feed in the cages, various aquatic organisms, such as shellfish and algae, are often attached to the nets during the aquaculture process. When these aquatic organisms gather in large numbers, they will seriously affect the water exchange efficiency of the nets and the living environment of the farmed fish. At the same time, the secretions of some shellfish and algae or the decayed materials after death can corrode the nets, which will cause the nets to break in the long run, leading to fish escape and causing serious economic losses. The traditional method of cleaning nets is manual cleaning, which involves removing the nets for cleaning on shore or divers going into the water to clean them directly. This is not only inefficient, but also has great safety risks in manual underwater operations. Therefore, in recent years, net cleaning has become a research hotspot in the underwater robot industry, replacing manual operations with robots to avoid risk accidents and increase operating efficiency. According to public information, most of the more mature products on the market come from abroad, and there are relatively few mature domestic products, which makes my country's net clothing cleaning robots rely heavily on imports. Not only are the costs high, but the maintenance work is also cumbersome and after-sales service is difficult to achieve.

[0003] At the technical level, the net cleaning methods used by existing robots at home and abroad are quite diverse, and the more common ones are friction cleaning methods and high-pressure water jet cleaning methods. When using friction cleaning, the robot carries a high-speed rotating cleaning brush to directly polish the net to remove surface attachments, but due to the characteristics of the flexible net material, this method is easy to cause the net to wear and thin, and the high-speed rotating brush head is easy to cause the flexible net to be entangled and pulled, thereby reducing the service life of the net. On the other hand, due to the complex underwater environment, it is difficult for the robot to ensure that the rotating brush head fits tightly with the net, resulting in missed sweeps and reduced work efficiency. At the same time, the brush head is easy to entangle with algae and other ribbon-like aquatic organisms, and manual removal is required, further reducing the work efficiency of the robot; when using high-pressure water jet cleaning, it is difficult to control the distance between the water outlet and the net. When the distance is too close, the high-pressure water jet is easy to produce a "water knife" effect, and the cleaning effect is unstable, which may aggravate the damage to the net.

[0004] In addition, existing problems at the technical level include: it is difficult to maintain the stability of the underwater robot's posture. For example, when the vertical surface of the net needs to be cleaned, the robot should be adjusted to a sideways posture underwater so that the robot's working plane is parallel to the vertical surface of the net. Then, under the thrust of the propeller, the robot's working plane is close to or fits the net to clean the vertical surface of the net. When the existing robot adjusts its posture underwater, it adopts the method of propeller thrust coordination, that is, the propellers symmetrical about the rotation axis apply thrust in opposite directions to generate rotational torque on the robot body to achieve underwater posture adjustment of the robot. However, this method is difficult to apply in actual work. First, in order to ensure that the robot has the flexibility to adjust its posture underwater, the designer often sets the metacentric height very small, so that the center of gravity and the center of buoyancy of the robot are close to or even coincide with each other. The disadvantage is that although the robot can complete the posture change action under the rotation torque given by the thruster, when the posture is adjusted to the predetermined posture, due to the small metacentric height, it is easy to be affected by the multiple influences of the inaccurate thrust of the thruster and the complexity of the underwater water flow, and it is difficult to maintain the predetermined posture (under the condition of small metacentric height or zero metacentric height, the predetermined posture is close to or belongs to the critical state, which is difficult to maintain), and even the posture is over-adjusted, resulting in the robot exceeding the predetermined posture and capsizing. Second, whether it is the adjustment of the robot's underwater posture or the approach to the net after the posture adjustment, it is completed only by the thruster, which puts extremely high requirements on the control of the thruster, especially under the influence of the variable underwater resistance and complex environment, the robot cannot stably maintain the predetermined posture, cannot approach the net after maintaining the posture, or cannot maintain the posture during the process of approaching the net, that is, the posture maintenance and the movement under the posture maintenance cannot be accurately controlled at the same time, so that the operation task cannot be completed as planned.

[0005] In summary, the problems existing in underwater operation robots can be roughly divided into the following four points:

[0006] Insufficient stability: Under complex underwater water flow, water pressure and other environmental conditions, some robots may have poor stability problems, such as shaking, deviation from the predetermined cleaning position, etc., affecting the cleaning effect and work efficiency.

[0007] Poor practicality: The design of some robots is not in line with the needs of actual breeding scenarios, and they are not adaptable to cages of different specifications and shapes, which limits their scope of application in practice.

[0008] Complex operation: Some robots are difficult to operate and require professionals to undergo long-term training to master their operation methods. This not only increases labor costs, but also is not conducive to their popularization among ordinary farmers.

[0009] Expensive: The high R&D and production costs result in high market prices, which make it unaffordable for some small farmers or breeding companies, limiting their market share and industrial development.

[0010] Difficult to achieve stable control: It places high demands on the control system, control accuracy, and component accuracy, further increasing the difficulty and cost of R&D. Summary of the invention

[0011] According to one aspect of the present invention, there is provided an underwater working robot, comprising:

[0012] A multi-directional posture self-stabilizing structural frame and a rotary cleaning system installed in the structural frame;

[0013] The structural frame includes a buoyancy tube, and a flow medium is arranged in the buoyancy tube;

[0014] The rotary cleaning system includes a plurality of rotary cleaning discs and a water inlet, wherein the water inlet is connected to an external water supply device to supply water to the rotary cleaning disc; the rotary cleaning disc includes a cavitation nozzle arranged obliquely relative to the rotary cleaning disc, and when the cavitation nozzle sprays liquid, the reaction force of the cavitation nozzle drives the rotary cleaning disc to rotate.

[0015] In some embodiments, the structural frame includes an external frame and an internal frame, the external frame includes the buoyancy tube; the internal frame is assembled and connected inside the external frame, and the rotary cleaning system is installed on the internal frame.

[0016] In some embodiments, a horizontal docking plate is provided on the buoyancy tube, and during assembly, the internal frame abuts against the top of the horizontal docking plate.

[0017] In some embodiments, a guard plate structure is further included, wherein the guard plate structure includes a top guard plate and a mesh guard plate, wherein the top guard plate is arranged above the external frame, and the mesh guard plate is arranged below the external frame, and the top guard plate and the mesh guard plate are assembled and connected to the horizontal docking plate.

[0018] In some embodiments, the guard plate structure further includes a circumferential guard plate, which is disposed around the external frame, and the buoyancy tube is provided with a vertical docking plate assembled and connected to the circumferential guard plate.

[0019] In some embodiments, the rotating cleaning disc includes a bottom shell and a nozzle joint, wherein the nozzle joint is located inside the bottom shell, and two symmetrically arranged connecting ports are provided on the nozzle joint, and the connecting ports are inclined relative to the bottom surface of the bottom shell. The cavitation nozzle is connected to the connecting port close to the bottom surface, and the other connecting port away from the bottom surface is closed by a screw plug.

[0020] In some embodiments, the nozzle joint is rotated 180° with the radial direction of the rotating cleaning disk as the axis, and the positions of the cavitation nozzle and the screw plug are swapped. When the cavitation nozzle sprays liquid, the reaction force of the cavitation nozzle drives the rotating cleaning disk to rotate in the opposite direction.

[0021] In some embodiments, the rotary cleaning system includes a plurality of sets of rotary cleaning disks, and the rotary cleaning disks symmetrically arranged about a middle longitudinal plane of the robot rotate in opposite directions.

[0022] In some embodiments, it further comprises a power system mounted on the internal frame, wherein the power system comprises a plurality of vertical thrusters and horizontal thrusters;

[0023] The plurality of vertical thrusters are arranged alternately with the plurality of groups of rotating cleaning discs.

[0024] Beneficial effects of the present invention: The underwater working robot of the present invention adopts a structural frame with multi-directional posture self-stabilization function. By injecting a flowing medium, the robot can maintain its underwater posture autonomously. The center of gravity of the robot in horizontal, horizontal upright, vertical upright and other postures is located below the center of buoyancy. The robot has good self-stabilization performance and can maintain a stable posture without additional operation, reducing the difficulty of robot posture maintenance and motion control. In addition, the rotating cleaning system adopts cavitation jet technology, which has a good cleaning effect, and the cavitation nozzle can also make the rotating cleaning disk spin when spraying water, without consuming additional energy or setting up a separate driving mechanism to drive it to rotate. It has a simple structure and strong reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a schematic diagram of the overall structure of the underwater working robot of the present invention from one angle;

[0026] Figure 2 This is a schematic diagram of the overall structure of the underwater working robot of the present invention from another angle;

[0027] Figure 3 A schematic structural diagram of a multi-directional posture self-stabilizing structural frame according to the present invention at one angle;

[0028] Figure 4 A schematic diagram of the structure of the multi-directional posture self-stabilizing structure frame of the present invention from another angle

[0029] Figure 5 It is a structural schematic diagram of the external frame of the present invention;

[0030] Figure 6 This is a structural schematic diagram of the multi-directional posture self-stabilizing structural frame of the present invention from another angle;

[0031] Figure 7It is a structural schematic diagram of the internal frame of the present invention;

[0032] Figure 8 It is a schematic diagram of the cooperation between the rotary cleaning system of the present invention and the internal frame;

[0033] Fig. 9 It is a structural schematic diagram of the rotary cleaning system of the present invention;

[0034] Fig.10 It is a schematic diagram of the internal structure of the rotary cleaning disc of the present invention;

[0035] Fig.11 It is a schematic diagram of the cooperation of the nozzle joint, the cavitation nozzle and the housing connector of the present invention;

[0036] Fig.12 It is a schematic structural diagram of the nozzle joint of the present invention;

[0037] Fig.13 It is a schematic diagram of the cooperation of the nozzle joint, the cavitation nozzle and the housing connector of the present invention to realize the rotation / reverse rotation of the rotary cleaning disk;

[0038] Fig.14 It is a schematic diagram of the cooperation between the power system and the structural frame of the present invention;

[0039] Fig.15 It is a schematic diagram of the coordination of the power system, the rotary cleaning system and the internal frame of the present invention;

[0040] Fig.16 It is a schematic diagram of the relative positions of the power system and the rotary cleaning system of the present invention;

[0041] Fig.17 It is a schematic diagram of the cooperation between the environment sensing system of the present invention and the structural frame at an angle;

[0042] Fig.18 A schematic diagram of the cooperation between the environment sensing system and the structural frame of the present invention from another angle;

[0043] Fig.19 It is a structural schematic diagram of the guard plate structure of the present invention;

[0044] Fig. 20 It is a schematic diagram of the structure of the top guard plate and the guard net plate of the present invention;

[0045] Fig.21 It is a schematic diagram of the connection between the structural frame and the internal threaded pipe of the present invention at an angle;

[0046] Fig. 22 It is a schematic diagram of the connection between the structural frame and the internal threaded pipe of the present invention from another angle. DETAILED DESCRIPTION

[0047] The present invention is further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0048] It should be noted that the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0049] In the present invention, unless otherwise clearly specified and limited, the terms "installation", "connection", "fixation" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0050] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0051] In the above description, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0052] like Figure 1 and Figure 2 As shown, this embodiment provides an underwater working robot 100, which can be used for cleaning aquaculture cages. The underwater working robot 100 (hereinafter referred to as the robot 100) includes a multi-directional posture self-stabilizing structural frame, a power system, a rotating cleaning system, an environmental perception system, a control system, and a guard plate structure.

[0053] like Figure 1 As shown, the robot 100 is roughly in the shape of a cuboid. The cuboid shape design is more stable and easier to control than a cube or a cylinder. Different shapes can also be set according to its specific application scenarios. The shape of the robot 100 is roughly determined by its structural frame. To better illustrate the various components of the robot 100, as shown in FIG. Figure 1 A three-dimensional rectangular coordinate system XYZ axis is established as shown. When the robot 100 is in a horizontal posture, the X-axis direction represents the longitudinal direction, which is also the width direction of the robot 100, the Y-axis direction represents the lateral direction, which is also the length direction of the robot 100, and the Z-axis direction represents the vertical direction, which is also the height direction of the robot 100; the XZ plane passing through the center of gravity of the robot 100 is called the mid-longitudinal plane D, the YZ plane passing through the center of gravity of the robot 100 is called the mid-transverse plane E, and the XY plane passing through the center of gravity of the robot 100 is called the mid-vertical plane F. The direction of the swing around the X-axis passing through the center of gravity of the robot 100 is the roll direction A, the direction of the swing around the Y-axis passing through the center of gravity of the robot 100 is the pitch direction B, and the direction of the swing around the Z-axis passing through the center of gravity of the robot 100 is the yaw direction C.

[0054] like Figures 3 to 5As shown, in this embodiment, the multi-directional posture self-stabilizing structural frame includes an external frame 1 and an internal frame 2. The external frame 1 is used to maintain the overall shape of the robot 100, and is used to provide buoyancy for the robot 100, and to protect the components arranged inside it. The external frame 1 includes a top buoyancy tube 11, a bottom buoyancy tube 12, a vertical buoyancy tube 13 and a lateral support plate 14. The top buoyancy tube 11 and the bottom buoyancy tube 12 are both enclosed by closed hollow tubes to form a roughly rectangular tubular frame, and the corner positions can be set as rounded corners to avoid scratching the net during use. Since the robot 100 needs to have the characteristics of flexible posture adjustment underwater to adapt to the surface of the net with different inclinations and realize the fit between the lower surface of the robot 100 and the surface of the net, the structural frame adopts a lightweight design concept, and most of the frame materials are selected from angle aluminum or groove aluminum or aluminum tubes to ensure strength while reducing the total weight of the structure. Preferably, the top buoyancy tube 11 and the bottom buoyancy tube 12 are closed aluminum tubes, which ensure structural strength while providing underwater buoyancy. The top buoyancy tube 11 and the bottom buoyancy tube 12 are arranged opposite to each other in the vertical direction (Z-axis direction), and there is a spacing between them. The top buoyancy tube 11 and the bottom buoyancy tube 12 are connected by a vertical buoyancy tube 13. The vertical buoyancy tube 13 is also a hollow aluminum tube. The vertical buoyancy tube 13 is connected to two long tubes of the top buoyancy tube 11 and the bottom buoyancy tube 12 in the length direction (Y-axis direction). Two vertical buoyancy tubes 13 are connected to one long tube. Both vertical buoyancy tubes 13 are inclined relative to the mid-vertical plane F (XY plane), and the inclination directions of the two vertical buoyancy tubes 13 are opposite, that is, the two vertical buoyancy tubes 13 are symmetrical about the mid-longitudinal plane D (XZ plane), and the two vertical buoyancy tubes 13 are arranged in an "eight" shape. The vertical buoyancy tube 13 can be welded to the top buoyancy tube 11 and the bottom buoyancy tube 12. The top buoyancy tube 11 and the two short tubes of the top buoyancy tube 11 in the width direction (X direction) are connected by a lateral support plate 14. Two parallel lateral support plates 14 are connected to one short tube. The lateral support plate 14 is a plate with a certain curvature. The arc top of the lateral support plate 14 is arranged toward the outside (i.e., the side away from the center of gravity of the robot 100). Arc-shaped grooves are provided at both ends of the lateral support plate 14. The curvature of the arc-shaped groove is adapted to the outer circumference curvature of the top buoyancy tube 11 and the bottom buoyancy tube 12. The lateral support plate 14 is respectively connected to the top buoyancy tube 11 and the bottom buoyancy tube 12 through the arc-shaped grooves at both ends. For better fixation, the position where the arc-shaped groove contacts the buoyancy tube can be welded and fixed.

[0055] Further, such as Figures 3 to 6As shown, the top buoyancy tube 11 and the bottom buoyancy tube 12 are provided with injection holes 15 for filling the top buoyancy tube 11 and the bottom buoyancy tube 12 with flowing medium. The injection holes 15 are also provided with sealing plugs 16 for closing the injection holes 15 to prevent the flowing medium in the buoyancy tube from flowing out. The flowing medium can be a medium that is easy to flow, such as water, oil, and steel balls. Injecting the flowing medium into the buoyancy tube can play a role in autonomously maintaining a stable posture. When the robot 100 adjusts its posture under the action of the power system (including the propeller), the free flow of the flowing medium causes the center of gravity of the robot 100 to move downward away from the buoyancy center, increasing the metacentric height. When the robot 100 is adjusted to the specified posture, it can reach a stable state autonomously without the assistance of the propeller. The use of a multi-directional posture self-stabilizing structural frame can autonomously maintain the stability of the robot 100 posture, reduce the requirements for high-precision control of the control system, and reduce the control difficulty.

[0056] like Figures 3 to 5 As shown, the external frame 1 also includes a docking plate for docking with other components. Specifically, a first horizontal docking plate 111 is provided on the inner side of the top buoyancy tube 11, and the first horizontal docking plate 111 is arranged on the inner side of the two long tubes and the two short tubes of the top buoyancy tube 11; a first vertical docking plate 112 is provided on the lower side of the top buoyancy tube 11, and the first vertical docking plate 112 is arranged on the lower side of the two short tubes and the corner position of the top buoyancy tube 11.

[0057] like Figures 3 to 5 As shown, a second horizontal docking plate 121 is provided on the inner side of the bottom buoyancy tube 12, and the second horizontal docking plate 121 is arranged on the inner side of the two long tubes and the two short tubes of the bottom buoyancy tube 12; a second vertical docking plate 122 is provided on the upper side of the bottom buoyancy tube 12, and the second vertical docking plate 122 is arranged on the upper side of the two short tubes and the corner position of the bottom buoyancy tube 12.

[0058] like Figure 3 As shown, the vertical buoyancy tube 13 is provided with third vertical docking plates 131 on both sides in the X-axis direction, and the third vertical docking plates 131 extend obliquely along the vertical buoyancy tube 13 .

[0059] In this embodiment, each of the above butt joint plates and pipe fittings can be connected by welding. Figure 3 and Figure 5 As shown, an arc-shaped positioning plate 113 may be provided on the first horizontal docking plate 111 and the second horizontal docking plate 121. The arc-shaped positioning plate 113 is arranged perpendicular to the horizontal docking plate. The outer side of the arc-shaped positioning plate 113 has an arc-shaped edge, and its curvature is adapted to the curvature of the inner side of the buoyancy tube. By coordinating the curvature of the arc-shaped positioning plate 113 with the buoyancy tube, it is easier to position the horizontal docking plate and the buoyancy tube. The arc-shaped positioning plate 113 and the buoyancy tube may also be welded and fixed.

[0060] like Figure 3 , Figure 4 and Figure 7 As shown, the internal frame 2 is connected to the external frame 1, and the internal frame 2 is used to improve the overall strength of the robot 100 and provide an installation position for other types of loads. The internal frame 2 includes a top crossbeam 21, a bottom crossbeam 22, a bottom longitudinal beam 23 and a support column 24. The lengths of the top crossbeam 21 and the bottom crossbeam 22 are adapted to the inner length of the external frame 1. The top crossbeam 21 and the bottom crossbeam 22 are arranged opposite to each other in the Z-axis direction and connected by a support column 24. There are three support columns 24, and the three support columns are arranged at intervals along the Y direction and the two ends are connected to the top crossbeam 21 and the bottom crossbeam 22 respectively. The support column 24 is fixed to the top crossbeam 21 and the bottom crossbeam 22 by welding. There can be a plurality of bottom longitudinal beams 23, which are arranged according to the number and position of the loads. The bottom longitudinal beam 23 is connected to the bottom crossbeam 22 and intersects with the bottom crossbeam 22 (they can be perpendicular to each other or inclined to each other). In this embodiment, four bottom longitudinal beams 23 are provided, two of which are arranged on one side of the bottom cross beam 22 in the X-axis direction, and the other two bottom longitudinal beams 23 are arranged on the other side of the bottom cross beam 22 in the X-axis direction. One end of the bottom longitudinal beam 23 is fixedly connected to the bottom cross beam 22, and the bottom longitudinal beam 23 extends along the X-axis direction. The top cross beam 21, the bottom cross beam 22, the bottom longitudinal beam 23 and the supporting column 24 can be made of channel aluminum, and some of the bottom longitudinal beams 23 can be selected to use angle aluminum according to needs.

[0061] like Figure 3 , Figure 4 and Figure 7 As shown, the internal frame 2 and the external frame 1 are assembled and connected, that is, the internal frame 2 can be disassembled as a whole relative to the external frame 1, and the internal frame 2 can be assembled into the external frame 1 from top to bottom. When assembled in place, the two ends of the bottom cross beam 22 abut against the top of the second horizontal docking plate 121, the other end of the bottom longitudinal beam 23 also abuts against the top of the second horizontal docking plate 121, and the two ends of the top cross beam 21 abut against the top of the first horizontal docking plate 111. The purpose of this design is that when the robot 100 is disassembled as a whole, the internal frame 2 can be completely removed upward from the external frame 1 (including the components connected to the internal frame 2), thereby improving the convenience of maintenance of the robot 100.

[0062] Further, such as Figure 4 and Figure 5As shown, a plurality of positioning seats 123 can be arranged above the second horizontal docking plates 121 on the two long tubes of the bottom buoyancy tube 12. The number and position of the positioning seats 123 are adapted to the number and position of the bottom longitudinal beams 23. When assembled in place, the other end of the bottom longitudinal beam 23 is engaged with the positioning seat 123. A positioning seat 123 is respectively arranged on the two short tubes of the bottom buoyancy tube 12 for positioning the two ends of the bottom cross beam 22. The positioning seat 123 can play a role in positioning the internal frame 2, making it easier to assemble and fix the internal frame 2.

[0063] like Figure 8 and Fig. 9 As shown, the rotary cleaning system includes a main hard pipe 31, various types of pipe joints 32, a rotary joint 33 and a rotary cleaning disc 34. A water inlet 311 is provided on the main hard pipe 31, and the water inlet 311 is located at the top position for communicating with an external water supply device. The external water supply device can be a high-pressure water pump on a working mother ship, and the high-pressure water pump is connected to the water inlet 311 through a water supply hose (not belonging to the structure of the robot 100, not drawn yet). The main hard pipe 31 is connected to the rotary cleaning disc 34 through various types of pipe joints 32, so that the high-pressure water on the working mother ship is supplied to the rotary cleaning disc 34. A plurality of hard pipe clamps 312 are provided on the main hard pipe 31, and the hard pipe clamps 312 are also connected to the internal frame 2 (can be snap-fit ​​connection), so that the main hard pipe 31 is assembled on the internal frame 2, and the hard pipe clamps 312 can be snap-fitted or screwed with the support column 24 and / or the top crossbeam 21. A rotary joint 33 is provided between the main hard pipe 31 and the rotary cleaning disc 34, so that the rotary cleaning disc 34 can rotate relative to the main hard pipe 31. The rotary joint 33 is assembled and connected to the internal frame 2 through a rotary joint base 331, which can be specifically snapped or screwed on the support column 24.

[0064] In this embodiment, the rotating cleaning disks 34 are provided in three groups, and the three groups of rotating cleaning disks 34 are arranged in a triangular shape. While reducing the total weight of the robot 100 and ensuring the operation quality, the problem of gaps between the common two groups of cleaning disks arranged in a straight line or four groups of cleaning disks arranged in a rectangular shape, which may cause missed sweeping during operation, is solved.

[0065] like Fig. 9 and Fig.10 As shown, the rotating cleaning disc 34 includes a water diversion joint 341, a joint positioning block 342, an internal pipe joint 343, a nozzle joint 344, a cavitation nozzle 345, a shell connector 346, a cover plate 347, and a bottom shell 348. The bottom shell 348 is a cylindrical box with an upper opening, and its outer surface can be flattened to reduce friction damage to the net during rotation. The cover plate 347 is matched with the bottom shell 348 and is used to close the upper opening of the bottom shell 348.

[0066] like Figures 10 to 12As shown, a joint positioning block 342 is provided at the center of the bottom shell 348. The joint positioning block 342 is used to assemble the water diversion joint 341 to ensure the concentric assembly of the water diversion joint 341 and the bottom shell 348. This method is simple and reliable, and is easy to process and assemble, which improves the maintainability of the rotary cleaning system. The water diversion joint 341 is connected to the rotary joint 33 through the pipe joint 32. The water diversion joint 341 is divided into three branches. Each branch extends along the radial direction to a position close to the circumferential wall of the bottom shell 348 through the internal pipe joint 343. Each branch is connected to a nozzle joint 344 on the internal pipe joint 343 away from the water diversion joint 341, and the nozzle joint 344 is connected to the cavitation nozzle 345. A water spray port 3481 is provided on the bottom surface of the bottom shell 348. The cavitation nozzle 345 is aligned with the water spray port 3481. The high-pressure liquid sprayed by the cavitation nozzle 345 is ejected from the water spray port 3481 to clean the net. The cavitation nozzle 345 and the bottom surface of the bottom shell 348 have a certain inclination angle, which can be greater than 0° and less than 90°, such as 30°, 45°, 60°, etc. This allows the rotating cleaning disc 34 to rotate by itself using the horizontal component of the reaction force of the cavitation nozzle 345 when the cavitation nozzle 345 sprays high-pressure liquid, without consuming additional energy to drive the rotating cleaning disc 34 to rotate, thereby reducing the power consumption of the robot 100 and improving reliability.

[0067] like Fig.12 As shown, the inclination angle of the cavitation nozzle 345 can be determined by the connection port 3441 provided on the nozzle joint 344 and docking with the cavitation nozzle 345. The cavitation nozzle 345 has a portion that is roughly in the shape of a trapezoidal body. Two connection ports 3441 are provided, which are respectively provided on two inclined side surfaces 3443 of the trapezoidal body. The extension direction of the connection port 3441 is perpendicular to the inclined side surface 3443, and the two connection ports 3441 are symmetrically designed. When the cavitation nozzle 345 is assembled in the bottom shell 348, the connection port 3441 is inclined relative to the bottom surface of the bottom shell 348, and the cavitation nozzle 345 connected to the connection port 3441 is also inclined relative to the bottom shell 348. The cavitation nozzle 345 is connected to the connection port 3441 of the nozzle joint 344 that is inclined downward, and the other connection port 3441 that is inclined upward is closed by a screw plug 3442.

[0068] like Figures 10 to 13As shown, since the two connection ports 3441 on the nozzle joint 344 are symmetrical, it is only necessary to swap the positions of the screw plug 3442 and the cavitation nozzle 345, and rotate the nozzle joint 344 180° with the branch where it is located as the axis (i.e., the radial direction of the rotating cleaning disk 34), to achieve the reversal of the rotating cleaning disk 34. Specifically, when the nozzle joint 344 rotates 180°, the connection port 3441 (connecting the cavitation nozzle 345) originally tilted downward becomes tilted upward, and the connection port 3441 (connecting the screw plug 3442) originally tilted upward becomes tilted downward. Therefore, after the connection port 3441 of the cavitation nozzle 345 and the screw plug 3442 are swapped, the cavitation nozzle 345 also becomes tilted downward but the tilting direction is opposite to that before the swap (the tilting angle remains unchanged). Therefore, when it sprays high-pressure liquid, the horizontal component of the reaction force is opposite to that before the swap, and the rotating cleaning disk 34 will be reversed. Since the cavitation nozzle 345 is not aligned with the original water spray port 3481 after the nozzle joint 344 rotates 180°, another water spray port 3481 needs to be opened on the bottom surface of the bottom shell 348 for high-pressure liquid to spray out. The design of the symmetrical connection port 3441 can realize forward and reverse rotation using the same nozzle joint 344, and there is no need to replace the joint when reversal is required, saving materials and processing costs.

[0069] The nozzle joints 344 of the three branches on the water diversion joint 341 are arranged in the same inclined direction, that is, the horizontal components of the reaction forces of the three nozzle joints 344 are all used to make the rotating cleaning disc 34 rotate in the same direction.

[0070] The rotary cleaning system includes three groups of rotary cleaning discs 34, two of which are symmetrical about the longitudinal plane D of the robot 100, and the rotation directions of the two rotary cleaning discs 34 are opposite, so that the torque generated by the rotary cleaning discs 34 on the robot 100 during operation is balanced, which can improve the posture stability of the robot 100. The main hard pipes 31, pipe joints 32, etc. connected to the two symmetrically arranged rotary cleaning discs 34 are also arranged symmetrically. The other group of rotary cleaning discs 34 without a symmetrical relationship among the three groups of rotary cleaning discs 34 and the main hard pipes 31, pipe joints 32, etc. connected thereto are arranged as close to the center of gravity of the robot 100 as possible to reduce the interference of the pipeline reaction force on the stability of the robot 100 when water enters.

[0071] Further, such as Fig.10 and Fig.11As shown, the nozzle joint 344 is assembled and connected with the bottom shell 348 and the cover plate 347 through the shell connector 346. The shell connector 346 includes a first horizontal plate 3461, a vertical plate 3463 and a second horizontal plate 3462 connected in sequence, so that the shell connector 346 is a central symmetrical structure of a "Z" shape. Among them, the vertical plate 3463 is used to be fixedly connected (connected by bolts) with a side surface (the side away from the connection port 3441) of the nozzle joint 344, and the first horizontal plate 3461 and the second horizontal plate 3462 are respectively used to connect with the bottom shell 348 and the cover plate 347, such as the first horizontal plate 3461 is attached to the bottom surface of the bottom shell 348 and then fixed by bolts, and the second horizontal plate 3462 is attached to the cover plate 347 and is also fixed by bolts. When the rotating cleaning disk 34 needs to be reversed, the nozzle joint 344 rotates 180°, and the shell connector 346 also rotates 180° with the nozzle joint 344, the first horizontal plate 3461 becomes attached to the cover plate 347, and the second horizontal plate 3462 becomes attached to the bottom surface of the bottom shell 348, that is, two sets of holes need to be opened on the bottom surface of the bottom shell 348 and the cover plate 347 to connect with the shell connector 346 at different positions. When it is necessary to maintain the components inside the rotating cleaning disk 34, there is no need to disassemble the robot 100 as a whole. Only the bottom shell 348 of the rotating cleaning disk 34 at the bottom of the robot 100 is removed (the bolts between the bottom shell 348 and the shell connector 346 are removed), and the components inside the rotating cleaning disk 34 can be maintained.

[0072] Various types of pipe joints 32, rotary joints 33, rotary cleaning disc 34, and water diversion joints 341, internal pipe joints 343, nozzle joints 344, cavitation nozzles 345, etc. in the rotary cleaning system are all connected through pipe threads or tapered threads.

[0073] like Figures 14 to 16As shown, the power system includes five thrusters, three of which are vertical thrusters 41 and two are horizontal thrusters 42. The vertical thrusters 41 are used to realize the vertical direction movement, pitch direction B movement and roll direction A movement of the robot 100. When the robot 100 performs the net cage cleaning operation, it is necessary to fit the lower surface of the robot 100 with the net. At this time, it is necessary to turn on the three vertical thrusters 41 to provide downward thrust for the robot 100. When the vertical thrusters 41 are arranged, the thrust balance and thrust torque balance are considered, that is, when the three vertical thrusters 41 are turned on at rated power, the robot 100 does not produce unplanned pitching motion, ensuring the controllability of the robot 100. At the same time, through reasonable layout, the three vertical thrusters 41 are kept away from the mid-horizontal plane E where the vertical center of the robot 100 is located, so that when adjusting the pitch posture of the robot 100, a larger thrust torque can be generated, so that the robot 100 can be quickly pitched and adjusted, and the posture change flexibility of the robot 100 can be improved. The two vertical thrusters 41 symmetrically distributed about the mid-longitudinal plane D rotate in opposite directions, offsetting the interference of their reaction forces on the bow pitch posture maintenance of the robot 100.

[0074] The two horizontal thrusters 42 are symmetrically arranged about the middle longitudinal plane D to realize the longitudinal movement of the robot 100 and the bow rolling direction C movement. The two horizontal thrusters 42 are placed away from the middle longitudinal plane D where the center of gravity is located to maximize the horizontal thrust torque and improve the flexibility of the posture change of the robot 100. The two thrusters rotate in opposite directions to offset the interference of their reaction forces on the maintenance of the rolling posture of the robot 100.

[0075] The vertical thruster 41 and the horizontal thruster 42 are connected to the thruster base 43 by a cable tie / binding strap, or by a snap connection; the thruster base 43 is assembled and connected to the internal frame 2 of the robot 100, and can be connected by welding, screwing or snap connection. Fig.16 As shown, the three vertical propellers 41 are arranged alternately with the three rotating cleaning disks 34 below. When viewed from the vertical direction, the periphery of any vertical propeller 41 is the rotating cleaning disk 34 , and the periphery of any rotating cleaning disk 34 is also the vertical propeller 41 .

[0076] The power system of this embodiment does not have the function of making the robot 100 move laterally, because the utilization rate of lateral movement is not high during the net cleaning process. Cancelling the lateral movement function can reduce the use of at least one propeller, achieving the goal of reducing the total weight and rotational inertia. Rational spatial layout is one of the keys to ensure the flexibility of the robot 100. The five propellers are arranged symmetrically and away from the center of gravity of the robot 100 to increase the thrust torque, improve the flexibility of the robot 100, facilitate user operation, provide stability, reduce the number of propellers, and save costs.

[0077] The subsystems of the robot 100 of this embodiment are reasonably arranged, and after calculation, the center of gravity, center of buoyancy, and thrust centers in all directions of the robot 100 are made to coincide, achieving the characteristics of flexibility, compactness, stability, and easy control, directly ensuring the practicality and convenience during underwater operations.

[0078] like Fig.17 and Fig.18 As shown, the environment perception system includes an underwater camera 51, an underwater light 52, an inertial navigation module 53, a depth gauge 54, a water quality analysis system 55 and a plurality of connection seats 56. The underwater camera 51 and the underwater light 52 enable the operator to observe the underwater environment and the quality of the operation. The underwater camera 51 and the underwater light 52 are both assembled and connected to the first horizontal docking plate 111 on the top buoyancy tube 11 through the connection seat 56, which can be welded or bolted. The depth gauge 54 is used to measure the real-time depth of the robot 100 when it is working. The depth gauge 54 is assembled and connected to the support column 24 through the connection seat 56. The inertial navigation module 53 is used to provide the underwater posture information of the robot 100, which is directly assembled and connected to the support column 24, for example, bolted. The water quality analysis system 55 provides the water temperature environment of the operation location, such as salinity, pH, microbial content, etc. The water quality analysis system 55 is assembled and connected to the support column 24 through the connection seat 56. The connection between each of the above connection seats 56 and the internal frame 2 can be assembled by welding, screw connection, snap connection, etc. The above devices and the connection seat 56 can be connected by a cable tie / binding strap, or snap connection.

[0079] like Fig.17 and Fig.18 As shown, the control system is mainly an electronic cabin 6, which is used for communication and control of various underwater equipment. The electronic cabin 6 is connected to the electronic cabin base 61 through a strap, and the electronic cabin base 61 is assembled and connected to the bottom longitudinal beam 23. The electronic cabin 6 is connected to various equipment through a watertight cable (not shown).

[0080] like Figure 1 , Figure 2 , Figures 19 to 22As shown, the guard plate structure includes a fish guard plate and a net guard plate 73. The fish guard plate includes a top guard plate 71 and a circumferential guard plate 72, which are used to prevent farmed fish from entering the robot 100 when the robot 100 is operating, causing damage to the fish and damage to the sensors of the robot 100. The top guard plate 71 is arranged on the top of the robot 100. A plurality of first internally threaded tubes 114 are arranged at intervals above the first horizontal docking plate 111 of the top buoyancy tube 11. The first internally threaded tubes 114 can be welded and fixed on the first horizontal docking plate 111. The first internally threaded tubes 114 can also be arranged on the top crossbeam 21. The top guard plate 71 is adaptively provided with a first connection hole 711. When assembling, the top guard plate 71 is placed on the top of the robot 100 and the first connection hole 711 is aligned with the first internally threaded tube 114, and then the top guard plate 71 is fixed by bolts. The circumferential guard plate 72 is arranged on the circumference of the robot 100 to enclose the part between the top buoyancy tube 11 and the bottom buoyancy tube 12. The first vertical docking plate 112 on the top buoyancy tube 11, the second vertical docking plate 122 on the bottom buoyancy tube 12, and the third vertical docking plate 131 on the vertical buoyancy tube 13 are all provided with second internally threaded tubes 124 at intervals, and the circumferential guard plate 72 is correspondingly provided with second connection holes 721. During assembly, the circumferential guard plate 72 is placed around the robot 100, and then the circumferential guard plate 72 is fixed by bolts. The circumferential guard plate 72 can be divided into multiple pieces according to the positions of the vertical buoyancy tube 13 and the lateral support plate 14, and each circumferential guard plate 72 is individually disassembled and assembled. The split guard plate design is simple to replace and convenient to process, which reduces the phenomenon of net entanglement and prevents fish damage.

[0081] like Figure 2 , Figures 19 to 22 As shown, the net guard plate 73 is arranged at the bottom of the robot 100 to prevent the rotating cleaning disk 34 from entangled or pulled on the net when rotating, and to protect the net while cleaning the net. A plurality of third internally threaded tubes 125 are arranged at intervals below the second horizontal docking plate 121 of the bottom buoyancy tube 12. The third internally threaded tubes 125 can also be arranged on the bottom longitudinal beam 23. The net guard plate 73 is correspondingly provided with a third connecting hole 731. The net guard plate 73 is also provided with a first through hole 732 for avoiding the rotating cleaning disk 34. When assembling, the net guard plate 73 is placed at the bottom of the robot 100, and the third connecting hole 731 is aligned with the third internally threaded tube 125, and then the net guard plate 73 is fixed by bolts. like Fig. 20 As shown, the fish guard plate and the net guard plate 73 are both provided with water inlets and outlets 74, and the positions of the water inlets and outlets 74 are aligned with the two ends of the propeller, so as to reduce the interference of the guard plate structure on the water inlet and outlet process of the propeller and improve the working efficiency of the propeller. Fig.19As shown, a water-passing protective net 75 is provided at the water inlet and outlet 74, and the propeller water-passing protective net 75 is assembled and connected with the fish protection plate and the net protection plate 73. The water-passing protective net 75 plays a protective role while not affecting the water inlet and outlet.

[0082] like Fig. 20 As shown, the fish guard plate and the net guard plate 73 are both provided with water inlets and outlets 74, and the positions of the water inlets and outlets 74 are aligned with the two ends of the propeller, so as to reduce the interference of the guard plate structure on the water inlet and outlet process of the propeller and improve the working efficiency of the propeller. Fig.19 As shown, a water-passing protective net 75 is provided at the water inlet and outlet 74, and the propeller water-passing protective net 75 is assembled and connected with the fish protection plate and the net protection plate 73. The water-passing protective net 75 plays a protective role while not affecting the water inlet and outlet.

[0083] Lightening holes are opened on the fish guard plate and the net guard plate 73, and the positions and sizes of the lightening holes are reasonably set, so as to reduce the weight of the structure while achieving the protective effect, thereby achieving lightweight, reducing the movement resistance of the robot 100, and reducing the power consumption of the robot 100.

[0084] When the robot 100 performs the cleaning operation, it is necessary to adjust the vertical distance between the cavitation nozzle 345 and the net according to the material and characteristics of the net. At this time, the third internal threaded tube 125 connected to the net plate 73 on the second horizontal docking plate 121 of the bottom buoyancy tube 12 can be replaced to increase or decrease the height of the third internal threaded tube 125, and the assembly position of the rotary joint base 331, the hard pipe clamp 312 and the support column 24 can be adjusted synchronously to achieve the vertical position of the net plate 73 and the cavitation nozzle 345 relative to the bottom buoyancy tube 12 of the robot 100, thereby adjusting the vertical distance between the cavitation nozzle 345 and the net. The net plate 73 can be tangent to the lower section of the bottom buoyancy tube 12, or it can be located higher or lower than the lower section of the bottom buoyancy tube 12, thereby achieving surface cleaning of flexible nets or rigid net boxes, and the vertical distance from the net can be adjusted to achieve adaptive cleaning of nets of different strengths and adjust the cavitation generation position.

[0085] The process of the underwater working robot 100 of this embodiment performing the cleaning operation includes: adding flowing medium into the top buoyancy tube 11 and the bottom buoyancy tube 12 - the robot 100 enters the water - posture adjustment - diving - approaching the net - adjusting the posture of the robot 100 according to the posture of the net - turning on the vertical thruster 41 to make the bottom buoyancy tube 12 of the robot 100 stick to the net - keeping the vertical thruster 41 working, so that the bottom buoyancy tube 12 presses the net downward, so that the net located inside the bottom buoyancy tube 12 generates tension and keeps the flexible net taut and flat - turning on the rotating cleaning system to execute the cleaning process - turning on the horizontal thruster 42 to move the robot 100 on the net - cleaning is completed - stopping the rotating cleaning system - operating the robot 100 to swim back to the working mother ship - robot 100 maintenance.

[0086] The underwater working robot 100 of this embodiment adopts a structural frame with multi-directional posture self-stabilization function. By injecting a flowing medium into the buoyancy tube, the robot 100 can maintain its underwater posture autonomously, reducing the difficulty of control. The structural frame is used to replace the traditional buoyancy material, which has high strength, realizes the integration of structure and buoyancy, and is lightweight and miniaturized. The structural frame has strong scalability, and the internal frame 2 can carry more functional subsystems. For example, an ultrasonic fish repelling device can be set up in the later stage to avoid fish interference during work.

[0087] The underwater working robot 100 of this embodiment has a reasonable assembly sequence and is easy to maintain. When maintaining the rotating cleaning system, the bottom shell 348 of the rotating cleaning disk 34 can be directly disassembled from the bottom of the robot 100 to maintain or replace the joints without disassembling the structural frame of the robot 100; when maintaining the internal environment perception system, it is only necessary to disassemble the fish guard plate to achieve direct maintenance of the internal environment perception system; when maintaining the internal frame 2, it is only necessary to disassemble the top guard plate 71 to remove the internal frame 2 upward from the external frame 1 as a whole. The assembly sequence of the overall structure of the robot 100 is reasonable, and rapid and simple maintenance can be achieved in environments that are not conducive to assembly operations, such as high sea conditions.

[0088] The rotary cleaning system of this embodiment adopts three groups of large-sized rotary cleaning discs 34 to improve work efficiency, arrange the cleaning discs reasonably, and avoid the phenomenon of missed sweeping. The rotary cleaning discs 34 adopt cavitation jet technology, and the pressure size and the size of the cavitation nozzle 345 are reasonable, and the cleaning effect is better than physical friction and high-pressure water jet technology. And by deflecting the angle of the cavitation nozzle 345, the rotary cleaning disc 34 can spin, reducing the use of complex mechanisms (such as drive motors, etc.) when the rotary cleaning disc 34 rotates, reducing the work failure rate, and having a simple structure and strong reliability.

[0089] The underwater working robot 100 of this embodiment retains necessary functions and realizes lightweight design by reducing unnecessary functions, such as the lateral translational freedom of the robot 100, reducing the number of thrusters and reducing the total weight; the structural frame is made of aluminum profiles to ensure strength while achieving light structure weight; lightening holes are opened on the fish guard plate and the net guard plate 73; and the lightweight design of the robot 100 is realized by a variety of methods.

[0090] The above are only some embodiments of the present invention. For those skilled in the art, several modifications and improvements can be made without departing from the creative concept of the present invention, which all belong to the protection scope of the present invention.

Claims

1. An underwater working robot, characterized in that: include: A multi-directional posture self-stabilizing structural frame and a rotary cleaning system installed in the structural frame; The structural frame includes a buoyancy tube, and a flow medium is arranged in the buoyancy tube; The rotary cleaning system includes a plurality of rotary cleaning discs and a water inlet, wherein the water inlet is connected to an external water supply device to supply water to the rotary cleaning disc; the rotary cleaning disc includes a cavitation nozzle arranged obliquely relative to the rotary cleaning disc, and when the cavitation nozzle sprays liquid, the reaction force of the cavitation nozzle drives the rotary cleaning disc to rotate.

2. The underwater working robot according to claim 1, characterized in that: The buoyancy tube is provided with an injection hole, through which the flow medium is filled into the tube.

3. The underwater working robot according to claim 1, characterized in that: The structural frame comprises an external frame and an internal frame, wherein the external frame comprises the buoyancy tube; the internal frame is assembled and connected inside the external frame, and the rotary cleaning system is installed on the internal frame.

4. The underwater working robot according to claim 3, characterized in that: The buoyancy tube is provided with a horizontal butt joint plate, and during assembly, the internal frame abuts against the upper part of the horizontal butt joint plate.

5. The underwater working robot according to claim 4, characterized in that: It also includes a guard plate structure, which includes a top guard plate and a mesh guard plate. The top guard plate is arranged above the external frame, and the mesh guard plate is arranged below the external frame. The top guard plate and the mesh guard plate are assembled and connected to the horizontal docking plate.

6. The underwater working robot according to claim 5, characterized in that: The guard plate structure also includes a circumferential guard plate, which is arranged around the external frame. The buoyancy tube is provided with a vertical docking plate assembled and connected with the circumferential guard plate.

7. The underwater working robot according to any one of claims 3 to 6, characterized in that: The rotating cleaning disc includes a bottom shell and a nozzle joint, wherein the nozzle joint is located inside the bottom shell and is provided with two symmetrically arranged connecting ports, which are inclined relative to the bottom surface of the bottom shell. The cavitation nozzle is connected to the connecting port close to the bottom surface, and the other connecting port away from the bottom surface is closed by a screw plug.

8. The underwater working robot according to claim 7, characterized in that: The nozzle joint rotates 180° with the radial direction of the rotating cleaning disk as the axis, and the positions of the cavitation nozzle and the screw plug are swapped. When the cavitation nozzle sprays liquid, the reaction force of the cavitation nozzle drives the rotating cleaning disk to rotate in the opposite direction.

9. The underwater working robot according to claim 8, characterized in that: The rotary cleaning system comprises a plurality of groups of rotary cleaning discs, and the rotary cleaning discs symmetrically arranged about the middle longitudinal plane of the robot rotate in opposite directions.

10. The underwater working robot according to claim 9, characterized in that: Also included is a power system mounted on the internal frame, the power system comprising a plurality of vertical thrusters and horizontal thrusters; The plurality of vertical thrusters and the plurality of groups of rotating cleaning discs are arranged alternately.

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