Underwater decontamination operation device and operation method thereof

Abstract

A walking mechanism is provided with a road condition detection mechanism, a swing frame and a swing driving mechanism are arranged at the front end of the walking mechanism, the swing frame is provided with a roller brush and a rotary driving assembly, the walking mechanism is provided with a transverse moving seat and a transverse moving driving assembly, the transverse moving seat is provided with a mechanical arm, and the mechanical arm is provided with a mounting frame. The mounting frame is provided with a row brush, a pressure sensor and a conductivity sensor, the mounting frame is provided with a rotary round brush assembly and a suction assembly, the walking mechanism is provided with a control center and a sewage storage box, and the suction assembly is connected with the sewage storage box; the walking mechanism, the road condition detection mechanism, the swing driving mechanism, the rotation driving assembly, the transverse movement driving assembly, the mechanical arm, the pressure sensor, the conductivity sensor and the suction assembly are connected with a control center. The invention further discloses an operation method of the underwater decontamination operation device. The underwater sewage disposal operation device and the operation method thereof adapt to conversion from a plane to a slope and treat sludge in a crack between the plane and the slope, and the practicability, the sewage disposal efficiency and the sewage disposal effect are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of cleaning equipment, and in particular to an underwater pollution cleaning device and an operation method thereof. Background Art

[0002] The cooling pool of the UHV converter station plays an important role in the power system. The cooling pool helps the transformer or reactor and other equipment to dissipate heat through the water circulation system to ensure that it is within the appropriate operating temperature range and prevent overheating from causing equipment failure or damage. However, under long-term operation or improper maintenance, due to factors such as poor water quality, pool environment, water circulation and flow rate, and microbial reproduction, a silt layer will form at the bottom of the cooling pool, which will lead to adverse consequences such as deterioration of water quality, reduced cooling effect, and equipment damage.

[0003] In the past, professional cleaning personnel could go down to the bottom of the pool to directly remove the silt that had formed, but the cost of manual cleaning was high, especially when it was necessary to shut down for waterproofing and maintenance, which affected the operation of the UHV converter station. The use of cleaning robots can improve work efficiency and reduce operational risks, so cooling pool cleaning robots came into being.

[0004] The Chinese patent document with the existing application number 201810038013.6 discloses an underwater cleaning robot and its use method, and specifically discloses that the robot includes: a running mechanism arranged at the bottom for carrying and transporting, the running mechanism is connected to a control system arranged inside the robot, the control system is connected to a wireless receiving device, the robot is a filter chamber inside, the filter chamber upstream is connected to a sewage suction port arranged at the front bottom of the robot, a filter plate is arranged in the filter chamber, a transparent window for manual cleaning of dirt residues is arranged at the position above the filter plate covering the top of the filter chamber, a self-priming water pump is connected to the downstream of the filter plate, the outlet of the self-priming water pump is connected to a negative pressure outlet arranged at the upper rear part of the robot, and a video surveillance lens connected to the control system is arranged at the rear of the robot. The robot of the present invention can achieve real-time cleaning of the substrate of the aquaculture pond in a mechanical and automated manner, ensure the aquaculture water quality, improve the aquaculture environment and growth efficiency of aquatic products, and also improve the production efficiency of aquaculture and its economic benefits. However, the underwater cleaning robot has the following shortcomings: 1) The robot is driven by the driving mechanism to frequently move and change its posture, and the sludge in the area is cleaned through the suction port at the front bottom of the robot. On the one hand, due to the difference in terrain such as flat land or slope at the bottom of the pool, the underwater cleaning robot is difficult to adapt to the change of plane to slope angle and handle the sludge between the plane and the slope when working at the bottom of the pool; 2) Even if it is used to treat the sludge in the gap between the plane and the slope, on the one hand, due to the lifting effect of the plane and the slope, the suction port will be higher from the gap between the plane and the slope, and the cleaning effect is poor; on the other hand, during the cleaning process, the driving mechanism is required to drive the robot to move frequently and change its own posture to clean the sludge in the area, which greatly affects the cleaning efficiency and restricts the practical and efficient application of the robot. Summary of the invention

[0005] The technical problem to be solved by the present invention is to overcome the deficiencies of the prior art and provide an underwater cleaning device and an operating method thereof that can adapt to the transition from a plane to a slope and process sludge in the gap between the plane and the slope, thereby improving the practicability, cleaning efficiency and cleaning effect.

[0006] In order to solve the above technical problems, the present invention adopts the following technical solutions: A device for cleaning underwater dirt, comprising a walking mechanism, wherein the walking mechanism is provided with a road condition detection mechanism, a front end of the walking mechanism is provided with a swing frame and a swing drive mechanism for driving the swing frame to swing up and down, a roller brush and a rotation drive assembly for driving the roller brush to rotate are provided on the swing frame, a transverse shift seat and a transverse shift drive assembly for driving the transverse shift seat to move laterally are provided on the walking mechanism, a mechanical arm is provided on the transverse shift seat, an execution end of the mechanical arm is provided with a mounting frame, a row brush, a pressure sensor and a conductivity sensor are provided on the mounting frame, the mounting frame is provided with a rotating circular brush assembly and a suction assembly at both ends of the row brush, the pressure sensor is used to detect the squeezed height of the row brush and the rotating circular brush assembly, the conductivity sensor is used to detect the conductivity of water quality, a control center and a sewage receiving box are also provided on the walking mechanism, the suction assembly is connected to the sewage receiving box, and the walking mechanism, the road condition detection mechanism, the swing drive mechanism, the rotation drive assembly, the transverse shift drive assembly, the mechanical arm, the pressure sensor, the conductivity sensor and the suction assembly are all electrically connected to the control center.

[0007] As a further improvement of the above technical solution: The rotating circular brush assembly comprises a rotating circular brush and a scrubbing driving member both of which are arranged on a mounting frame. The scrubbing driving member is connected to the rotating circular brush and is used to drive the rotating circular brush to rotate. The scrubbing driving member is electrically connected to a control center.

[0008] The suction assembly includes a suction cup, a suction pipe and a suction pump. The suction cup is arranged at the center of the rotating circular brush. A tap is provided on the mounting frame. The suction cup is connected to the tap through the suction pipe. The tap is connected to the sewage collection box through the suction pump. The suction pump is electrically connected to the control center.

[0009] The mounting frame is provided with a solenoid valve on the suction pipe, and the solenoid valve is electrically connected to the control center.

[0010] The transverse driving assembly includes a screw and a rotating motor. The screw is rotatably arranged on the walking mechanism. The rotating motor is arranged on the walking mechanism and is used to drive the screw to rotate. The transverse seat is threadedly connected to the screw, and the rotating motor is electrically connected to the control center.

[0011] The walking mechanism is provided with a transverse guide rail, and the transverse shift seat is slidably arranged on the transverse guide rail.

[0012] The walking mechanism includes a walking frame and walking components arranged on both sides of the walking frame, the swing frame and the swing driving mechanism are arranged on the end surface of the front end of the walking frame, the transverse seat and the transverse driving component are arranged on the top surface of the front end of the walking frame, the road condition detection mechanism, the control center and the sewage collection box are all arranged on the walking frame, and the walking component is electrically connected to the control center.

[0013] The traveling assembly is a track wheel assembly.

[0014] The walking frame is provided with a lighting lamp.

[0015] An operation method using the underwater cleaning operation device is applied to a cooling water pool of a UHV converter station, comprising the following steps: S1, the walking mechanism is located on the bottom surface of the cooling water pool; S2. When the road condition detection mechanism detects that there is a slope ahead, the distance between the walking mechanism and the slope is detected, and the control center makes the walking mechanism move to a specified position away from the slope according to the distance between the walking mechanism and the slope; S3, the control center controls the movement of the robot arm so that the row brush and the rotating circular brush assembly are in vertical contact with the bottom surface and close to the intersection line of the bottom surface and the slope; S4, the control center controls the transverse driving assembly to move the row brush and the rotating round brush assembly along the extension direction of the intersection line for brushing. At the same time, the control center adjusts the suction force of the suction assembly according to the detection result of the conductivity sensor on the water conductivity, and adjusts the pressing depth of the row brush and the rotating round brush assembly according to the detection result of the pressure sensor; S5. After the intersection line is brushed on one side of the bottom surface, the control center controls the robot arm to move so that the row brush and the rotating circular brush assembly are in vertical contact with the slope and close to the intersection line; S6, the control center controls the transverse driving assembly to move the row brush and the rotating round brush assembly along the extension direction of the intersection line for scrubbing. At the same time, the control center adjusts the suction force of the suction assembly according to the detection result of the conductivity sensor on the water conductivity, and adjusts the pressing depth of the row brush and the rotating round brush assembly according to the detection result of the pressure sensor; S7. After the intersection line is brushed on one side of the slope, the control center controls the robot arm to move so that the suction assembly is aligned with the intersection line; S8, the control center controls the lateral driving assembly to move the suction assembly along the extension direction of the intersection line for suction; S9. After the intersection line suction is completed, the control center makes the walking mechanism walk toward the slope, and controls the swing drive mechanism to adjust the inclination angle of the roller brush, so that the roller brush brushes again at the intersection line; at the same time, the control center controls the movement of the mechanical arm, so that the row brush and the rotating circular brush assembly brush the slope.

[0016] Compared with the prior art, the advantages of the present invention are: The underwater cleaning device of the present invention, in the first aspect, realizes automatic control through the control center, the road condition detection mechanism, the pressure sensor and the conductivity sensor, controls the movement of the mechanical arm and the transverse displacement seat so that the row brush and the rotating round brush assembly successively scrub along the intersection line at one side of the bottom surface, along the intersection line at one side of the slope, and along the intersection line, adapts to the transition from the plane (bottom surface) to the slope and processes the sludge in the gap between the plane and the slope, and during the cleaning process, the walking mechanism does not need to frequently move and change its own posture, only the mechanical arm and the transverse displacement seat need to move, thereby improving practicality and efficiency. In the second aspect, the cleaning effect is improved by the roller brush scrubbing again at the intersection line. In the third aspect, while the roller brush scrubs again at the intersection line, the row brush and the rotating round brush assembly scrub the slope, further improving the cleaning efficiency.

[0017] The operation method of the present invention is carried out by using an underwater cleaning operation device, and has all the advantages of the underwater cleaning operation device. That is, on the one hand, automatic control is realized through a control center, a road condition detection mechanism, a pressure sensor, and a conductivity sensor, and the mechanical arm and the transverse displacement seat are controlled to move so that the row brush and the rotating round brush successively scrub along the intersection line on one side of the bottom surface, along the intersection line on one side of the slope, and along the intersection line, so as to adapt to the transition from the plane (bottom surface) to the slope and to process the sludge in the gap between the plane and the slope, and during the cleaning process, the walking mechanism does not need to frequently move and change its own posture, and only the mechanical arm and the transverse displacement seat need to move, thereby improving practicality and efficiency. On the other hand, the cleaning effect is improved by brushing again at the intersection line with the roller brush. On the other hand, while the roller brush is brushing again at the intersection line, the row brush and the rotating round brush scrub the slope, further improving the cleaning efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a three-dimensional structural schematic diagram of the underwater pollution cleaning operation device of the present invention.

[0019] Figure 2 It is a schematic diagram of the main structure of the underwater pollution cleaning operation device of the present invention.

[0020] Figure 3 It is a schematic diagram of the top view of the underwater pollution cleaning operation device of the present invention.

[0021] Figure 4 It is a structural schematic diagram of the transverse driving assembly of the underwater pollution cleaning operation device of the present invention.

[0022] Figure 5 It is a schematic diagram of the main cross-sectional structure of the rotating circular brush of the underwater pollution cleaning operation device of the present invention.

[0023] Figure 6 The underwater cleaning device of the present invention is in a state where the rotating circular brush scrubs the intersection line on one side of the bottom surface.

[0024] Figure 7 It is a state diagram of the underwater cleaning device of the present invention when the rotating circular brush scrubs the intersection line on one side of the slope.

[0025] Figure 8 It is a state diagram of the underwater cleaning operation device of the present invention at the intersection of the rotating circular brush.

[0026] Fig. 9 It is a state diagram of the underwater cleaning operation device of the present invention at the intersection of the roller brush.

[0027] The symbols in the figure represent: 1. Traveling mechanism; 10. Cooling water pool; 101. Bottom surface; 102. Slope; 103. Intersection line; 11. Traveling frame; 12. Traveling assembly; 13. Lighting lamp; 2. Road condition detection mechanism; 3. Swinging frame; 4. Swinging drive mechanism; 5. Roller brush; 6. Rotating drive assembly; 7. Transverse seat; 71. Robotic arm; 8. Transverse drive assembly; 81. Screw; 82. Rotating motor; 83. Transverse guide rail; 9. Mounting frame; 91. Brush; 92. Pressure sensor; 93. Conductivity sensor; 94. Rotating round brush assembly; 941. Rotating round brush; 942. Brushing drive member; 95. Suction assembly; 951. Suction cup; 952. Suction tube; 96. Tap; 97. Solenoid valve. DETAILED DESCRIPTION

[0028] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0029] In the description of the present invention, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0030] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0031] In the present invention, unless otherwise clearly specified and limited, the terms "assemble", "connect", "connect", "fix" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; 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. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0032] Embodiment 1: Figures 1 to 9 An embodiment of the underwater cleaning device of the present invention is shown. The underwater cleaning device of this embodiment includes a walking mechanism 1, on which a road condition detection mechanism 2 is provided, a swing frame 3 and a swing driving mechanism 4 for driving the swing frame 3 to swing up and down are provided at the front end of the walking mechanism 1, a roller brush 5 and a rotation driving assembly 6 for driving the roller brush 5 to rotate are provided on the swing frame 3, a transverse seat 7 and a transverse driving assembly 8 for driving the transverse seat 7 to move transversely are provided on the walking mechanism 1, a mechanical arm 71 is provided on the transverse seat 7, an execution end of the mechanical arm 71 is provided with a mounting frame 9, and a row brush 91 and a pressure sensor are provided on the mounting frame 9. A rotating round brush assembly 94 and a suction assembly 95 are respectively provided at both ends of the exhaust brush 91 of the mounting frame 9. The pressure sensor 92 is used to detect the squeezed height of the exhaust brush 91 and the rotating round brush assembly 94. The conductivity sensor 93 is used to detect the conductivity of the water quality. A control center and a sewage receiving box are also provided on the walking mechanism 1. The suction assembly 95 is connected to the sewage receiving box. The walking mechanism 1, the road condition detection mechanism 2, the swing drive mechanism 4, the rotation drive assembly 6, the lateral drive assembly 8, the mechanical arm 71, the pressure sensor 92, the conductivity sensor 93 and the suction assembly 95 are all electrically connected to the control center.

[0033] The underwater cleaning operation device is applied to the operation process of the cooling water pool 10 of the ultra-high voltage converter station: the first step is that the walking mechanism 1 is located on the bottom surface 101 of the cooling water pool 10; the second step is that when the road condition detection mechanism 2 detects that there is a slope 102 in front, the distance between the walking mechanism 1 and the slope 102 is detected, and the control center makes the walking mechanism 1 walk to a specified position from the slope 102 according to the distance between the walking mechanism 1 and the slope 102; the third step is that the control center controls the action of the mechanical arm 71 to make the row brush 91 and the rotating circular brush assembly 94 vertically contact the bottom surface 101 and approach the intersection 103 of the bottom surface 101 and the slope 102, such as Figure 6 As shown; in the fourth step, the control center controls the lateral drive assembly 8 to move the row brush 91 and the rotating round brush assembly 94 along the extension direction of the intersection line 103 for brushing. At the same time, the control center adjusts the suction force of the suction assembly 95 according to the detection result of the conductivity sensor 93 on the water conductivity, and adjusts the pressing depth of the row brush 91 and the rotating round brush assembly 94 according to the detection result of the pressure sensor 92; in the fifth step, after the intersection line 103 is brushed on one side of the bottom surface 101, the control center controls the robot arm 71 to move so that the row brush 91 and the rotating round brush assembly 94 are in vertical contact with the slope 102 and close to the intersection line 103, as shown Figure 7 As shown; in the sixth step, the control center controls the lateral drive assembly 8 to move the row brush 91 and the rotating round brush assembly 94 along the extension direction of the intersection line 103 for brushing. At the same time, the control center adjusts the suction force of the suction assembly 95 according to the detection result of the conductivity sensor 93 on the water conductivity, and adjusts the pressing depth of the row brush 91 and the rotating round brush assembly 94 according to the detection result of the pressure sensor 92; in the seventh step, after the intersection line 103 is brushed on one side of the slope 102, the control center controls the robot arm 71 to move so that the suction assembly 95 is aligned with the intersection line 103, as shown Figure 8 As shown; in the eighth step, the control center controls the lateral drive assembly 8 to move the suction assembly 95 along the extension direction of the intersection line 103 for suction; in the ninth step, after the intersection line 103 is sucked, the control center causes the walking mechanism 1 to walk toward the slope 102, and controls the swing drive mechanism 4 to adjust the inclination angle of the roller brush 5, so that the roller brush 5 brushes again at the intersection line 103; at the same time, the control center controls the mechanical arm 71 to move, so that the row brush 91 and the rotating circular brush assembly 94 brush the slope 102, as shown Fig. 9 shown.

[0034] In the first aspect, the underwater cleaning operation device realizes automatic control through the control center, the road condition detection mechanism 2, the pressure sensor 92 and the conductivity sensor 93, controls the mechanical arm 71 and the transverse displacement seat 7 to make the row brush 91 and the rotating round brush assembly 94 successively scrub along the intersection line 103 on one side of the bottom surface 101, along the intersection line 103 on one side of the slope 102, and along the intersection line 103, adapting to the transition from the plane (bottom surface 101) to the slope 102 and processing the sludge in the gap between the plane and the slope 102, and during the cleaning process, the walking mechanism 1 does not need to frequently move and change its own posture, as long as the mechanical arm 71 and the transverse displacement seat 7 move, which improves practicality and efficiency. In the second aspect, the roller brush 5 scrubs again at the intersection line 103, thereby improving the cleaning effect. In the third aspect, while the roller brush 5 scrubs again at the intersection line 103, the row brush 91 and the rotating round brush assembly 94 scrub the slope 102, further improving the cleaning efficiency.

[0035] Furthermore, if Figure 2 and Figure 3 As shown, in this embodiment, the rotating round brush assembly 94 includes a rotating round brush 941 and a scrubbing drive 942, both of which are arranged on the mounting frame 9. The scrubbing drive 942 is connected to the rotating round brush 941 and is used to drive the rotating round brush 941 to rotate. The scrubbing drive 942 is electrically connected to the control center. The scrubbing drive 942 drives the rotating round brush 941 to rotate, thereby improving the scrubbing effect. Preferably, the rotating round brush 941 and the side of the exhaust brush 91 away from the mounting frame 9 are flush, and the mounting frame 9 is in a flat plate shape. The control center adjusts the suction force of the suction assembly 95 according to the detection result of the conductivity sensor 93 on the water conductivity, and adjusts the pressing depth of the exhaust brush 91 and the rotating round brush assembly 94 according to the detection result of the pressure sensor 92.

[0036] Furthermore, if Figure 3 and Figure 5 As shown, in this embodiment, the suction assembly 95 includes a suction cup 951, a suction pipe 952 and a suction pump (not shown in the drawings). The suction cup 951 is arranged at the center of the rotating round brush 941. A tap 96 is arranged on the mounting frame 9. The suction cup 951 is connected to the tap 96 through the suction pipe 952. The tap 96 is connected to the sewage storage box (not shown in the drawings) through the suction pump. The suction pump is electrically connected to the control center. The suction pump is turned on to make each suction cup 951 have suction force. The control center adjusts the suction pump power according to the detection result of the conductivity sensor 93 on the water conductivity, thereby adjusting the suction force of the suction cup 951.

[0037] Furthermore, in this embodiment, the mounting frame 9 is provided with a solenoid valve 97 on the suction pipe 952, and the solenoid valve 97 is electrically connected to the control center.

[0038] When the rotating round brush 941 moves in space with the mounting frame 9 and performs self-spinning motion to disperse the sludge, the suction cup 951 sucks the dispersed sludge to be cleaned into the suction tube 952 through the valve size of the solenoid valve 97 and the suction force allocated by the suction pump, and sends it to the sewage collection box.

[0039] Furthermore, if Figure 4 As shown, in this embodiment, the lateral drive assembly 8 includes a screw rod 81 and a rotary motor 82. The screw rod 81 is rotatably arranged on the walking mechanism 1. The rotary motor 82 is arranged on the walking mechanism 1 and is used to drive the screw rod 81 to rotate. The lateral shift seat 7 is threadedly connected to the screw rod 81. The rotary motor 82 is electrically connected to the control center. The rotary motor 82 drives the screw rod 81 to rotate, and the screw rod 81 drives the lateral shift seat 7 to move horizontally through the threaded cooperation.

[0040] Furthermore, in this embodiment, a transverse guide rail 83 is provided on the traveling mechanism 1, and the transverse shift seat 7 is slidably arranged on the transverse guide rail 83. The transverse guide rail 83 guides the transverse shift seat 7 to move, thereby improving the stability of the movement of the transverse shift seat 7.

[0041] Furthermore, in this embodiment, the walking mechanism 1 includes a walking frame 11 and a walking assembly 12 arranged on both sides of the walking frame 11, the swing frame 3 and the swing drive mechanism 4 are arranged on the end surface of the front end of the walking frame 11, the transverse seat 7 and the transverse drive assembly 8 are arranged on the top surface of the front end of the walking frame 11, the road condition detection mechanism 2, the control center and the sewage collection box are all arranged on the walking frame 11, and the walking assembly 12 is electrically connected to the control center.

[0042] Further, in the present embodiment, the traveling assembly 12 is a track wheel assembly. Of course, in other embodiments, the traveling assembly 12 may also be a traveling wheel assembly.

[0043] Furthermore, in this embodiment, a lighting lamp 13 is provided on the traveling frame 11. The lighting lamp 13 can improve the illumination in a dark underwater environment and improve the detection effect of the road condition detection mechanism 2.

[0044] Furthermore, in this embodiment, the robot arm 71 is equipped with a camera, which can sense the working environment around the execution end of the robot arm 71 so that the robot arm 71 can respond in time and make posture adjustments.

[0045] The road condition detection mechanism 2 includes a detection radar, which can provide navigation and positioning, detect surrounding obstacles, terrain changes, etc., and help find and avoid potential obstacles by detecting reflected signals to prevent collisions and damage.

[0046] Embodiment 2: The operation method of the underwater cleaning operation device according to the first embodiment is applied to the cooling water pool 10 of the UHV converter station, and includes the following steps: S1, the walking mechanism 1 is located on the bottom surface 101 of the cooling water pool 10; S2, when the road condition detection mechanism 2 detects that there is a slope 102 ahead, the distance between the walking mechanism 1 and the slope 102 is detected, and the control center makes the walking mechanism 1 move to a specified position away from the slope 102 according to the distance between the walking mechanism 1 and the slope 102; S3, the control center controls the robot arm 71 to move so that the row brush 91 and the rotating round brush assembly 94 (rotating round brush 941) are in vertical contact with the bottom surface 101 and close to the intersection line 103 of the bottom surface 101 and the slope 102, such as Figure 6 As shown; S4, the control center controls the transverse driving assembly 8 to move the row brush 91 and the rotating round brush assembly 94 (rotating round brush 941) along the extension direction of the intersection line 103 for brushing. At the same time, the control center adjusts the suction force of the suction assembly 95 according to the detection result of the conductivity sensor 93 on the water conductivity, and adjusts the pressing depth of the row brush 91 and the rotating round brush assembly 94 (rotating round brush 941) according to the detection result of the pressure sensor 92; S5. After the intersection line 103 is brushed on one side of the bottom surface 101, the control center controls the robot arm 71 to move so that the row brush 91 and the rotating round brush assembly 94 (rotating round brush 941) are in vertical contact with the slope 102 and close to the intersection line 103. Figure 7 As shown; S6, the control center controls the transverse driving assembly 8 to move the row brush 91 and the rotating round brush assembly 94 (rotating round brush 941) along the extension direction of the intersection line 103 for brushing. At the same time, the control center adjusts the suction force of the suction assembly 95 according to the detection result of the conductivity sensor 93 on the water conductivity, and adjusts the pressing depth of the row brush 91 and the rotating round brush assembly 94 (rotating round brush 941) according to the detection result of the pressure sensor 92; S7, after the intersection line 103 is brushed on one side of the slope 102, the control center controls the robot arm 71 to move so that the suction assembly 95 is aligned with the intersection line 103, such as Figure 8 As shown; S8, the control center controls the lateral driving assembly 8 to move the suction assembly 95 along the extension direction of the intersection line 103 to perform suction; S9, after the intersection line 103 is sucked, the control center makes the walking mechanism 1 walk toward the slope 102, and controls the swing drive mechanism 4 to adjust the inclination angle of the roller brush 5, so that the roller brush 5 brushes again at the intersection line 103; at the same time, the control center controls the robot arm 71 to move, so that the row brush 91 and the rotating round brush assembly 94 (rotating round brush 941) brush the slope 102, as shown in FIG. Fig. 9 shown.

[0047] This operation method adopts an underwater cleaning operation device and has all the advantages of an underwater cleaning operation device. That is, on the one hand, automatic control is realized through the control center, the road condition detection mechanism 2, the pressure sensor 92 and the conductivity sensor 93, and the mechanical arm 71 and the transverse displacement seat 7 are controlled to make the row brush 91 and the rotating circular brush 941 successively brush along the intersection line 103 on one side of the bottom surface 101, along the intersection line 103 on one side of the slope 102, and along the intersection line 103, so as to adapt to the transition from the plane (bottom surface 101) to the slope 102 and to deal with the sludge in the gap between the plane and the slope 102, and during the cleaning process, the walking mechanism 1 does not need to frequently move and change its own posture, as long as the mechanical arm 71 and the transverse displacement seat 7 are moved, which improves practicality and efficiency. On the other hand, the roller brush 5 is used to brush again at the intersection line 103, which improves the cleaning effect. Thirdly, while the roller brush 5 is brushing again at the intersection line 103, the row brush 91 and the rotating circular brush 941 are brushing the slope 102, further improving the cleaning efficiency.

[0048] Although the present invention has been disclosed as above with preferred embodiments, it is not intended to limit the present invention. Any technician familiar with the art can make many possible changes and modifications to the technical solution of the present invention by using the technical content disclosed above without departing from the scope of the technical solution of the present invention, or modify it into an equivalent embodiment of equivalent changes. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention without departing from the content of the technical solution of the present invention should fall within the scope of protection of the technical solution of the present invention.

Claims

1. An underwater pollution cleaning device, comprising a walking mechanism (1), characterized in that: The walking mechanism (1) is provided with a road condition detection mechanism (2); the front end of the walking mechanism (1) is provided with a swing frame (3) and a swing driving mechanism (4) for driving the swing frame (3) to swing up and down; the swing frame (3) is provided with a roller brush (5) and a rotation driving assembly (6) for driving the roller brush (5) to rotate; the walking mechanism (1) is also provided with a transverse seat (7) and a transverse driving assembly (8) for driving the transverse seat (7) to move transversely; the transverse seat (7) is provided with a mechanical arm (71); the execution end of the mechanical arm (71) is provided with a mounting frame (9); the mounting frame (9) is provided with a row of brushes (91), a pressure sensor (92) and a conductivity sensor (93); the mounting frame (9) A rotating round brush assembly (94) and a suction assembly (95) are respectively provided at both ends of the exhaust brush (91); the pressure sensor (92) is used to detect the squeezed height of the exhaust brush (91) and the rotating round brush assembly (94); the conductivity sensor (93) is used to detect the conductivity of water quality; a control center and a sewage receiving box are also provided on the walking mechanism (1); the suction assembly (95) is connected to the sewage receiving box; the walking mechanism (1), the road condition detection mechanism (2), the swing drive mechanism (4), the rotating drive assembly (6), the lateral drive assembly (8), the mechanical arm (71), the pressure sensor (92), the conductivity sensor (93) and the suction assembly (95) are all electrically connected to the control center.

2. The underwater cleaning device according to claim 1, characterized in that: The rotating circular brush assembly (94) comprises a rotating circular brush (941) and a brush driving member (942) both of which are arranged on a mounting frame (9); the brush driving member (942) is connected to the rotating circular brush (941) and is used to drive the rotating circular brush (941) to rotate; and the brush driving member (942) is electrically connected to a control center.

3. The underwater cleaning device according to claim 2, characterized in that: The suction assembly (95) comprises a suction cup (951), a suction pipe (952) and a suction pump; the suction cup (951) is arranged at the center of the rotating circular brush (941); a tap (96) is arranged on the mounting frame (9); the suction cup (951) is connected to the tap (96) via the suction pipe (952); the tap (96) is connected to a sewage storage box via the suction pump; and the suction pump is electrically connected to a control center.

4. The underwater cleaning device according to claim 3 is characterized in that: The mounting frame (9) is provided with a solenoid valve (97) on the suction pipe (952), and the solenoid valve (97) is electrically connected to the control center.

5. The underwater cleaning device according to claim 1, characterized in that: The transverse drive assembly (8) comprises a screw rod (81) and a rotary motor (82); the screw rod (81) is rotatably arranged on the walking mechanism (1); the rotary motor (82) is arranged on the walking mechanism (1) and is used to drive the screw rod (81) to rotate; the transverse seat (7) is threadedly connected to the screw rod (81); and the rotary motor (82) is electrically connected to a control center.

6. The underwater cleaning device according to claim 5, characterized in that: The walking mechanism (1) is provided with a transverse guide rail (83), and the transverse shift seat (7) is slidably arranged on the transverse guide rail (83).

7. The underwater cleaning device according to any one of claims 1 to 6, characterized in that: The walking mechanism (1) comprises a walking frame (11) and walking components (12) arranged on both sides of the walking frame (11); the swing frame (3) and the swing drive mechanism (4) are arranged on the end surface of the front end of the walking frame (11); the transverse seat (7) and the transverse drive component (8) are arranged on the top surface of the front end of the walking frame (11); the road condition detection mechanism (2), the control center and the sewage collection box are all arranged on the walking frame (11); and the walking component (12) is electrically connected to the control center.

8. The underwater cleaning device according to claim 7, characterized in that: The traveling assembly (12) is a track wheel assembly.

9. The underwater cleaning device according to claim 7, characterized in that: The walking frame (11) is provided with an illumination lamp (13).

10. An operation method using the underwater cleaning operation device according to any one of claims 1 to 9, applied to a cooling water pool of a UHV converter station, characterized in that: The steps include: S1, the walking mechanism (1) is located on the bottom surface (101) of the cooling water pool (10); S2, when the road condition detection mechanism (2) detects that there is a slope (102) ahead, the distance between the walking mechanism (1) and the slope (102) is detected, and the control center causes the walking mechanism (1) to move to a specified position at a distance from the slope (102) according to the distance between the walking mechanism (1) and the slope (102); S3, the control center controls the mechanical arm (71) to move so that the row brush (91) and the rotating circular brush assembly (94) are in vertical contact with the bottom surface (101) and close to the intersection line (103) of the bottom surface (101) and the slope (102); S4, the control center controls the transverse drive assembly (8) to move the row brush (91) and the rotating round brush assembly (94) along the extension direction of the intersection line (103) for brushing. At the same time, the control center adjusts the suction force of the suction assembly (95) according to the detection result of the conductivity sensor (93) on the water conductivity, and adjusts the downward pressure depth of the row brush (91) and the rotating round brush assembly (94) according to the detection result of the pressure sensor (92); S5, after the intersection line (103) is brushed on one side of the bottom surface (101), the control center controls the mechanical arm (71) to move so that the row brush (91) and the rotating circular brush assembly (94) are in vertical contact with the slope (102) and close to the intersection line (103); S6, the control center controls the transverse drive assembly (8) to move the row brush (91) and the rotating round brush assembly (94) along the extension direction of the intersection line (103) for brushing. At the same time, the control center adjusts the suction force of the suction assembly (95) according to the detection result of the conductivity sensor (93) on the water conductivity, and adjusts the downward pressure depth of the row brush (91) and the rotating round brush assembly (94) according to the detection result of the pressure sensor (92); S7, after the intersection line (103) is brushed on one side of the slope (102), the control center controls the robot arm (71) to move so that the suction assembly (95) is aligned with the intersection line (103); S8, the control center controls the transverse driving assembly (8) to move the suction assembly (95) along the extension direction of the intersection line (103) to perform suction; S9. After the intersection line (103) is sucked, the control center causes the walking mechanism (1) to walk toward the slope (102), and controls the swing drive mechanism (4) to adjust the inclination angle of the roller brush (5), so that the roller brush (5) brushes again at the intersection line (103); at the same time, the control center controls the mechanical arm (71) to move, so that the row brush (91) and the rotating circular brush assembly (94) brush the slope (102).

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