Self-adaptive submarine pipeline cleaning machine

Abstract

The invention discloses a self-adaptive submarine pipeline cleaning machine which comprises a flexible body, a cleaning mechanism, a propelling mechanism and an infrared detector, the cleaning mechanism is arranged on the outer side of the flexible body, the infrared detector is arranged at the front end of the flexible body, and the propelling mechanism is arranged at the rear end of the flexible body. The flexible body comprises a flexible air bag, a pneumatic actuator and a plurality of distributed sensing units, the cleaning mechanism comprises a circumferential driving assembly and a plurality of flexible cleaning brushes, and the propelling mechanism comprises an annular mounting seat and a plurality of crawler propelling units; the infrared detector arranged at the front end of the flexible body is used for acquiring the inner diameter data of the pipeline in real time, and the pneumatic actuator is used for filling or sucking the flexible air bag according to the measurement result, so that the flexible air bag is adjusted to be attached to the inner wall of the pipeline; and the contact stress distribution is monitored in real time through the distributed sensing unit arranged on the outer side of the flexible air bag, so that the pressure of the flexible cleaning brush on the pipe wall is dynamically adjusted, the cleaning effect is guaranteed, and damage caused by excessive extrusion is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of subsea pipeline cleaning, and particularly to an adaptive subsea pipeline cleaning machine. Background Art

[0002] As a key infrastructure for offshore oil and gas transportation, underwater communication, and resource development, subsea pipelines are prone to fouling of the pipe wall due to various reasons such as sediment accumulation or corrosion products during long-term operation, which may further lead to problems such as flux decline, increased flow resistance, and even pipeline blockage. Currently, the cleaning of subsea pipelines is usually accomplished by using a pig or high-pressure water jet. However, since the pig has a fixed size and cannot match pipelines with different diameters or variable diameters, its versatility is poor; while the cleaning coverage rate of high-pressure water jet for pipelines with complex structures is low and the energy consumption is high. In addition, using rigid cleaning tools is also likely to damage the inner layer of the pipeline due to uneven contact pressure. Summary of the Invention

[0003] The purpose of the present invention is to propose an adaptive subsea pipeline cleaning machine to solve one or more technical problems existing in the above background art.

[0004] To achieve this purpose, the present invention adopts the following technical solutions: An adaptive subsea pipeline cleaning machine includes a flexible body, a cleaning mechanism, a propulsion mechanism, and an infrared detector. The cleaning mechanism is arranged on the outer side of the flexible body, the infrared detector is arranged at the front end of the flexible body, and the propulsion mechanism is arranged at the rear end of the flexible body; The infrared detector is used to obtain the inner diameter of the pipeline to be cleaned in real time; The flexible body includes a flexible airbag, a pneumatic actuator, and a plurality of distributed sensing units. The plurality of distributed sensing units are evenly distributed on the outer side of the flexible airbag, the pneumatic actuator is arranged in the cavity of the flexible airbag, and the pneumatic actuator is used to perform positive-pressure filling or negative-pressure suction on the cavity of the flexible airbag according to the inner diameter of the pipeline obtained by the infrared detector, so that the flexible airbag undergoes expansion or contraction deformation, thereby enabling the flexible airbag to remain in contact with the inner wall of the pipeline. The distributed sensing units are used to monitor the contact stress between the flexible airbag and the inner wall of the pipeline; The cleaning mechanism includes a circumferential driving component and a plurality of flexible cleaning brushes. The plurality of flexible cleaning brushes are evenly arranged on the outer side of the circumferential driving component, and the circumferential driving component is used to drive the flexible cleaning brushes to rotate circumferentially; The propulsion mechanism includes an annular mounting seat and multiple groups of crawler propulsion units. The annular mounting seat is arranged at the rear end of the flexible airbag, and multiple groups of crawler propulsion units are arranged on the outer side of the annular mounting seat.

[0005] Preferably, the flexible body further includes an elastic grid structure, which is coated on the outer side of the flexible airbag. The distributed sensing unit is fixed on the elastic grid structure, and the distributed sensing unit is a piezoresistive sensor or a capacitive sensor.

[0006] Preferably, the circumferential driving assembly includes a first annular track and multiple groups of first circumferential movement units. Each first circumferential movement unit includes a first circumferential driving motor and a first movable seat. The first movable seat is slidably engaged with the first annular track. The first circumferential driving motor is connected to the first movable seat and drives the first movable seat to move along the first annular track. The flexible cleaning brush is arranged on the first movable seat.

[0007] Preferably, the flexible cleaning brush includes a silica gel housing and a rotating motor. Multiple touch parts are arranged on the outer side of the silica gel housing to form a starfish shape. The silica gel housing is arranged at the output end of the rotating motor, and the rotating motor is fixed on the movable seat.

[0008] Preferably, the flexible cleaning brush further includes an atomizing nozzle, which is arranged in the middle of the silica gel housing.

[0009] Preferably, the flexible cleaning brush further includes a driving skeleton, which is embedded in the touch parts. The driving skeleton is provided with multiple joint units, and the joint units are used to adjust the posture of the driving skeleton, so as to drive the touch parts to keep in contact with the inner wall of the pipeline.

[0010] Preferably, the crawler propulsion unit further includes a multi-degree-of-freedom hinge structure, a mounting plate and a crawler module. The mounting plate is hinged to the annular mounting seat through the multi-degree-of-freedom hinge structure, and the crawler module is arranged on the mounting plate.

[0011] Preferably, the crawler propulsion unit further includes a rotation adjustment assembly, a telescopic rod and an elastic buffer element. The telescopic rod is arranged between the multi-degree-of-freedom hinge structure and the annular mounting seat. The elastic buffer element is arranged on the outer periphery of the telescopic rod. The rotation adjustment assembly is arranged on the mounting plate, and the crawler module is arranged at the movable end of the rotation adjustment assembly.

[0012] Preferably, the propulsion mechanism further includes a second annular track and multiple groups of second circumferential movement units. The second annular track is arranged on the annular mounting seat. Each second circumferential movement unit includes a second circumferential driving motor and a second movable seat. The second movable seat is slidably engaged with the second annular track. The second circumferential driving motor is connected to the second movable seat and drives the second movable seat to move along the second annular track. The telescopic rod is arranged on the second movable seat.

[0013] Preferably, the propulsion mechanism further includes a propeller thruster, which is arranged at the rear end of the annular mounting seat.

[0014] Compared with the prior art, the beneficial effects of the present invention are as follows: the infrared detector arranged at the front end of the flexible body can obtain the inner diameter data of the pipeline in real time, and the pneumatic actuator is used to inflate or suck the flexible airbag according to the measurement result, so that the flexible airbag is adjusted to fit the inner wall of the pipeline, and the distributed sensing unit arranged on the outer side of the flexible airbag is used to monitor the contact stress distribution in real time, so as to dynamically adjust the pressure of the flexible cleaning brush on the pipe wall, ensuring both the cleaning effect and avoiding damage caused by excessive extrusion; multiple sets of crawler propulsion units are used to provide uniform axial driving force to realize the stable movement of the equipment in the pipeline. Description of the Drawings

[0015] The drawings further illustrate the present invention, but the content in the drawings does not constitute any limitation to the present invention.

[0016] Figure 1 is the overall structural schematic diagram of one embodiment of the present invention; Figure 2 is the side view structural schematic diagram of one embodiment of the present invention; Figure 3 is the structural schematic diagram of the flexible body of one embodiment of the present invention; Figure 4 is the structural schematic diagram of the cleaning mechanism of one embodiment of the present invention; Figure 5 is the structural schematic diagram of the flexible cleaning brush of one embodiment of the present invention; Figure 6 is the structural schematic diagram of the crawler module of one embodiment of the present invention; Figure 7 is the structural schematic diagram of the propulsion mechanism of one embodiment of the present invention.

[0017] Wherein: flexible body 1, cleaning mechanism 2, propulsion mechanism 3, infrared detector 4, flexible airbag 11, pneumatic actuator 12, distributed sensing unit 13, circumferential drive assembly 21, flexible cleaning brush 22, annular mounting seat 31, crawler propulsion unit 32, elastic grid structure 14, first annular track 211, first circumferential movement unit 212, silicone outer shell 221, contact part 222, rotating motor 223, atomizing nozzle 224, driving skeleton 225, joint unit 226, multi-degree-of-freedom hinge structure 321, mounting plate 322, crawler module 323, rotation adjustment assembly 324, telescopic rod 325, elastic buffer element 326, second annular track 327, second circumferential movement unit 328, propeller thruster 329. Detailed Embodiments

[0018] The technical solution of the present invention will be further described below in conjunction with the accompanying drawings and through specific embodiments.

[0019] An adaptive subsea pipeline cleaning machine in this embodiment, referring to the attached Figures 1-3 drawings, includes a flexible body 1, a cleaning mechanism 2, a propulsion mechanism 3, and an infrared detector 4. The cleaning mechanism 2 is arranged on the outside of the flexible body 1, the infrared detector 4 is arranged at the front end of the flexible body 1, and the propulsion mechanism 3 is arranged at the rear end of the flexible body 1; The infrared detector 4 is used to obtain the inner diameter of the pipeline to be cleaned in real time; The flexible body 1 includes a flexible airbag 11, a pneumatic actuator 12, and a plurality of distributed sensing units 13. The plurality of distributed sensing units 13 are evenly distributed on the outside of the flexible airbag 11. The pneumatic actuator 12 is arranged in the cavity of the flexible airbag 11. The pneumatic actuator 12 is used to perform positive pressure filling or negative pressure suction on the cavity of the flexible airbag 11 according to the inner diameter of the pipeline obtained by the infrared detector 4, so that the flexible airbag 11 undergoes expansion or contraction deformation, so that the flexible airbag 11 remains in contact with the inner wall of the pipeline. The distributed sensing unit 13 is used to monitor the contact stress between the flexible airbag 11 and the inner wall of the pipeline; The cleaning mechanism 2 includes a circumferential driving component 21 and a plurality of flexible cleaning brushes 22. The plurality of flexible cleaning brushes 22 are evenly arranged on the outside of the circumferential driving component 21. The circumferential driving component 21 is used to drive the flexible cleaning brushes 22 to rotate circumferentially; The propulsion mechanism 3 includes an annular mounting seat 31 and multiple groups of crawler propulsion units 32. The annular mounting seat 31 is arranged at the rear end of the flexible airbag 11, and multiple groups of crawler propulsion units 32 are arranged on the outside of the annular mounting seat 31.

[0020] By providing a flexible body 1 including a flexible airbag 11, a pneumatic actuator 12, and a plurality of distributed sensing units 13, pressure adjustment is achieved through positive pressure filling or negative pressure suction of the cavity of the flexible airbag 11 by the pneumatic actuator 12, driving the flexible airbag 11 to generate controllable deformation; axial support structures are also provided at both ends of the pneumatic actuator 12, and the state of the axial support structure can be dynamically adjusted based on the contact stress feedback, so as to maintain the support for the end of the flexible airbag 11 during the expansion and contraction of the airbag, ensuring the structural stability of the flexible airbag 11.

[0021] By providing an infrared detector 4 at the front end of the flexible body 1, the inner contour parameters of the pipeline can be obtained in real time by the infrared detector 4 during the cleaning process, and the pneumatic actuator 12 is driven by the control system to achieve dynamic matching of the volume of the flexible airbag 11 and the inner diameter of the pipeline.

[0022] By arranging a plurality of distributed sensing units 13 on the outer side of the flexible airbag 11, when the flexible airbag 11 contacts the pipeline, the distributed sensing units 13 convert the local deformation generated by the contact into an electrical signal, and generate a high-precision pressure distribution map in real time, so that the pressure of the flexible cleaning brush 22 on the inner wall of the pipeline can be adjusted through the dynamic feedback of the contact pressure (such as increasing pressure in case of rust layer and reducing pressure in fragile areas), ensuring the cleaning effect and avoiding damage to the fragile areas of the pipeline.

[0023] The cleaning mechanism 2 includes a circumferential driving component 21 and a plurality of flexible cleaning brushes 22. The circumferential driving component 21 drives the plurality of flexible cleaning brushes 22 to perform circumferential movement, so that the flexible cleaning brushes 22 complete the full circumferential cleaning of the inner wall of the pipeline.

[0024] By arranging multiple groups of crawler propulsion units 32 to provide a uniform axial driving force, the stable advancement of the device in the pipeline is realized.

[0025] Preferably, the flexible body 1 further includes an elastic grid structure 14. The elastic grid structure 14 is coated on the outer side of the flexible airbag 11, and the distributed sensing units 13 are fixed on the elastic grid structure 14. The distributed sensing units 13 are piezoresistive sensors or capacitive sensors. By arranging the elastic grid structure 14 and fixing the distributed sensing units 13 on the elastic grid structure 14, the distributed sensing units 13 can adaptively fit the complex curved surface of the inner wall of the pipeline and can also maintain the overall function when a single point is damaged.

[0026] Preferably, refer to the appendix Figure 4 The circumferential driving component 21 includes a first annular track 211 and multiple groups of first circumferential movement units 212. The first circumferential movement units 212 include a first circumferential driving motor and a first movable seat. The first movable seat is slidably matched with the first annular track 211. The first circumferential driving motor is connected to the first movable seat and drives the first movable seat to move along the first annular track 211. The flexible cleaning brush 22 is arranged on the first movable seat. By driving the first movable seat to perform circumferential movement on the first annular track 211 by the first circumferential driving motor, the circumferential cleaning of the inner wall of the pipeline is driven by the flexible cleaning brush 22.

[0027] Preferably, the food outlet appendix Figure 5, the flexible cleaning brush 22 includes a silicone housing 221 and a rotating motor 223. A plurality of contact parts 222 are provided on the outer side of the silicone housing 221 to form a starfish-like structure. The silicone housing 221 is provided at the output end of the rotating motor 223, and the rotating motor 223 is fixed on the movable seat. By providing a plurality of contact parts 222 on the outer side of the silicone housing 221, during cleaning, the plurality of contact parts 222 simultaneously contact the inner wall of the pipeline from different directions, and adaptively fit with the inner wall of the pipeline through elastic deformation, ensuring that each contact part 222 participates in cleaning, forming a redundant cleaning effect, avoiding cleaning blind spots, and is particularly suitable for processing irregular areas such as weld seams, pits, and local corrosion inside the pipeline.

[0028] Preferably, the flexible cleaning brush 22 further includes an atomizing nozzle 224, and the atomizing nozzle 224 is provided in the middle of the silicone housing 221. The atomizing nozzle 224 is provided in the middle of the silicone housing 221. During cleaning, after the cleaning medium is released onto the inner wall of the pipeline through the atomizing nozzle 224 first, the rotating motor 223 drives the rotation of the silicone housing 221 to perform the cleaning operation, effectively improving the surface cleaning efficiency.

[0029] Preferably, the flexible cleaning brush 22 further includes a driving skeleton 225. The driving skeleton 225 is embedded in the contact part 222, and the driving skeleton 225 is provided with a plurality of joint units 226. The joint units 226 are used to adjust the posture of the driving skeleton 225, thereby driving the contact part 222 to keep in contact with the inner wall of the pipeline. By providing the driving skeleton 225 and a plurality of joint units 226, the deformation ability provided for the contact part 222 can buffer the impact on the fragile pipe wall and reduce the risk of scratching; by providing the driving skeleton 225, the angles of each contact part 222 can be adjusted independently or cooperatively, and the overall posture control can be realized through the cooperative deformation of the contact part 222. For example, when a certain contact part 222 encounters a pipeline depression, the other contact parts 222 can compensate for the cleaning pressure through the elongation or bending of the corresponding driving skeleton 225 to maintain the overall stability of the flexible cleaning brush 22. The posture adjustment of the driving skeleton 225 can be realized through a telescopic driving mechanism or a shape memory alloy driving mechanism.

[0030] Preferably, referring to Appendix Figure 6 and 7 , the crawler propulsion unit 32 further includes a multi-degree-of-freedom hinge structure 321, a mounting plate 322, and a crawler module 323. The mounting plate 322 is hinged to the annular mounting seat 31 through the multi-degree-of-freedom hinge structure 321, and the crawler module 323 is provided on the mounting plate 322. By providing the multi-degree-of-freedom hinge structure 321, when the cleaning machine operates inside the submarine pipeline, the flexible deformation of the crawler propulsion unit 32 can be realized through the multi-degree-of-freedom hinge structure 321, and the posture of the crawler module 323 can be adaptively adjusted according to the pipeline curvature, and combined with the high-friction surface of the crawler module 323, to ensure stable contact with the inner wall of the pipeline.

[0031] Preferably, the crawler propulsion unit 32 further includes a rotation adjustment assembly 324, a telescopic rod 325, and an elastic buffer element 326. The telescopic rod 325 is disposed between the multi-degree-of-freedom hinge structure 321 and the annular mounting seat 31. The elastic buffer element 326 is disposed on the outer periphery of the telescopic rod 325. The rotation adjustment assembly 324 is disposed on the mounting plate 322, and the crawler module 323 is disposed at the movable end of the rotation adjustment assembly 324. By providing the rotation adjustment assembly 324, the angle between the crawler module 323 and the mounting plate 322 can be adjusted; by providing the telescopic rod 325, it is used to drive the crawler module 323 to extend during travel to ensure that the crawler module 323 remains in contact with the inner wall of the pipeline. By providing the elastic buffer element 326, the driving force can be evenly transmitted and adapted to the surface state of the pipe wall (such as rust or sediment). While ensuring continuous propulsion, the contact pressure is dispersed by the elastic buffer element 326 to avoid local overload damage to the pipe wall.

[0032] Preferably, the propulsion mechanism 3 further includes a second annular track 327 and multiple groups of second circumferential motion units 328. The second annular track 327 is disposed on the annular mounting seat 31. The second circumferential motion unit 328 includes a second circumferential drive motor and a second movable seat. The second movable seat is slidably engaged with the second annular track 327. The second circumferential drive motor is connected to the second movable seat and drives the second movable seat to move along the second annular track 327. The telescopic rod 325 is disposed on the second movable seat. By providing the second circumferential drive motor, the second movable seat can be driven to move along the second annular track 327, so as to adjust the attitude of each crawler module 323, ensure that each crawler module 323 is in contact with the inner wall of the pipeline, thereby providing a stable driving force and ensuring the stable travel of the cleaning machine in the pipeline.

[0033] Preferably, the propulsion mechanism 3 further includes a propeller 329, and the propeller 329 is disposed at the rear end of the annular mounting seat 31. By providing the propeller 329 at the rear end of the annular mounting seat 31, while outputting an axial propulsion force, the forced air flow generated by the rotation of the propeller can provide a heat dissipation effect, enabling better heat dissipation when key components are working.

[0034] The operation of the adaptive subsea pipeline cleaning machine in this embodiment can be divided into three stages: adaptive adjustment, dynamic cleaning, and stable propulsion. First, the inner diameter parameters of the pipeline are obtained in real time through the infrared detector 4, and the pneumatic actuator 12 is driven to adjust the pressure of the flexible airbag 11, so that the flexible airbag 11 deforms and forms a dynamic matching seal with the inner wall of the pipeline; the synchronous axial support structure dynamically adjusts based on the contact stress feedback of the distributed sensing unit 13 to maintain the optimal support state for the end of the flexible airbag 11, ensuring that the airbag always maintains stable contact with the pipe wall during the expansion or contraction process.

[0035] During the cleaning stage, the circumferential drive assembly 21 drives the flexible cleaning brush 22 to perform circumferential motion along the first circular track 211. The flexible cleaning brush 22 drives the silicone shell 221 and the tentacle 222 to deform and adaptively fit the inner wall of the pipe through the driving skeleton 225. After the atomizing nozzle 224 releases the cleaning medium first, the rotating motor 223 drives the silicone shell 221 and the tentacle 222 to rotate to implement all-round cleaning. At the same time, the distributed sensing unit 13 continuously monitors the contact stress and surface morphology, automatically avoids vulnerable areas through material property identification, marks severely corroded areas and starts key cleaning procedures to achieve intelligent graded cleaning.

[0036] During the propulsion process, the track module 323 adapts to the changes in the pipe curvature through the multi-degree-of-freedom hinged structure 321, and cooperates with the radial spacing adjustment function of the telescopic rod 325 to ensure that the contact force direction of the track module 323 is always orthogonal to the pipe curvature; the cleaning machine of this embodiment is also equipped with a high-energy density battery pack to supply energy to each module through a power management system, and while providing axial thrust through the propeller thruster 329, it uses forced airflow to actively dissipate heat for key components, thereby ensuring the continuous operation capability of the cleaning machine in a complex submarine pipeline environment.

[0037] The technical principle of the present invention is described above in conjunction with specific embodiments. These descriptions are only for explaining the principle of the present invention and cannot be interpreted as limiting the scope of protection of the present invention in any way. Based on the explanations herein, those skilled in the art can associate other specific implementations of the present invention without paying creative labor, and these methods will fall within the scope of protection of the present invention.

Claims

1. An adaptive submarine pipeline cleaning machine, characterized in that, It includes a flexible body, a cleaning mechanism, a propulsion mechanism, and an infrared detector. The cleaning mechanism is arranged on the outer side of the flexible body, the infrared detector is arranged at the front end of the flexible body, and the propulsion mechanism is arranged at the rear end of the flexible body; The infrared detector is used to obtain the inner diameter of the pipeline to be cleaned in real time; The flexible body includes a flexible airbag, a pneumatic actuator, and a plurality of distributed sensing units. The plurality of distributed sensing units are evenly distributed on the outer side of the flexible airbag. The pneumatic actuator is arranged in the cavity of the flexible airbag. The pneumatic actuator is used to perform positive pressure filling or negative pressure suction on the cavity of the flexible airbag according to the inner diameter of the pipeline obtained by the infrared detector, so that the flexible airbag undergoes expansion or contraction deformation, so that the flexible airbag keeps in contact with the inner wall of the pipeline. The distributed sensing unit is used to monitor the contact stress between the flexible airbag and the inner wall of the pipeline; The cleaning mechanism includes a circumferential driving component and a plurality of flexible cleaning brushes. The plurality of flexible cleaning brushes are evenly arranged on the outer side of the circumferential driving component. The circumferential driving component is used to drive the flexible cleaning brushes to rotate circumferentially; The propulsion mechanism includes an annular mounting seat and multiple sets of crawler propulsion units. The annular mounting seat is arranged at the rear end of the flexible airbag, and multiple sets of crawler propulsion units are arranged on the outer side of the annular mounting seat.

2. The self - adaptive subsea pipeline cleaning machine according to claim 1, characterized in that, The flexible body further includes an elastic grid structure. The elastic grid structure is coated on the outer side of the flexible airbag. The distributed sensing unit is fixed on the elastic grid structure. The distributed sensing unit is a piezoresistive sensor or a capacitive sensor.

3. The self-adaptive subsea pipeline cleaning machine according to claim 1, wherein The circumferential driving component includes a first annular track and multiple sets of first circumferential motion units. The first circumferential motion unit includes a first circumferential driving motor and a first movable seat. The first movable seat is slidably matched with the first annular track. The first circumferential driving motor is connected to the first movable seat and drives the first movable seat to move along the first annular track. The flexible cleaning brush is arranged on the first movable seat.

4. An adaptive subsea pipeline cleaning machine according to claim 3, characterized in that, The flexible cleaning brush includes a silica gel shell and a rotating motor. A plurality of contact parts are arranged on the outer side of the silica gel shell to form a starfish shape. The silica gel shell is arranged at the output end of the rotating motor. The rotating motor is fixed on the movable seat.

5. An adaptive subsea pipeline cleaning machine according to claim 4, characterized in that, The flexible cleaning brush further includes an atomizing nozzle. The atomizing nozzle is arranged in the middle of the silica gel shell.

6. An adaptive subsea pipeline cleaning machine according to claim 4, characterized in that, The flexible cleaning brush further includes a driving skeleton. The driving skeleton is embedded in the contact parts. The driving skeleton is provided with a plurality of joint units. The joint units are used to adjust the posture of the driving skeleton, so as to drive the contact parts to keep in contact with the inner wall of the pipeline.

7. An adaptive subsea pipeline cleaning machine according to claim 1, wherein The crawler propulsion unit further includes a multi-degree-of-freedom hinged structure, a mounting plate, and a crawler module. The mounting plate is hinged to the annular mounting seat through the multi-degree-of-freedom hinged structure, and the crawler module is arranged on the mounting plate.

8. An adaptive subsea pipeline cleaning machine according to claim 7, wherein, The crawler propulsion unit further includes a rotation adjustment assembly, a telescopic rod, and an elastic buffer element. The telescopic rod is disposed between the multi-degree-of-freedom hinge structure and the annular mounting seat. The elastic buffer element is disposed on the outer periphery of the telescopic rod. The rotation adjustment assembly is disposed on the mounting plate, and the crawler module is disposed at the movable end of the rotation adjustment assembly.

9. An adaptive subsea pipeline cleaning machine according to claim 8, wherein, The propulsion mechanism further includes a second annular track and multiple groups of second circumferential motion units. The second annular track is disposed on the annular mounting seat. The second circumferential motion unit includes a second circumferential drive motor and a second movable seat. The second movable seat is slidably engaged with the second annular track. The second circumferential drive motor is connected to the second movable seat and drives the second movable seat to move along the second annular track. The telescopic rod is disposed on the second movable seat.

10. The self-adaptive subsea pipeline cleaning machine according to claim 1, characterized in that, The propulsion mechanism further includes a propeller thruster, and the propeller thruster is disposed at the rear end of the annular mounting seat.

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