An underwater curved surface active adaptive adsorption cleaning robot

Abstract

This invention discloses an underwater curved surface active adaptive adsorption cleaning robot, including a frame, a control cabin, a sensor system, an underwater propulsion system, and four Bernoulli suction cups. Each Bernoulli suction cup includes a connecting shell, a suction cup surface, and a suction cup power source. The connecting shell is rotatably connected to the frame via a rotating flange bearing and a shaft. An active push rod connects the connecting shell and the frame. The active push rod enables the Bernoulli suction cups to actively adapt their angles. The control cabin reconstructs the working curved surface using an acoustic rangefinder and calculates the required rotation angle for each Bernoulli suction cup. By controlling the length of each active push rod, the corresponding Bernoulli suction cup rotates to the calculated angle. Finally, the suction cup power source is controlled to allow the robot to adhere to the working surface. This invention can adapt to most irregular curved surfaces, enabling wall-climbing cleaning on complex and varied curved surfaces, and it does not impose mandatory requirements on the surface material of the adsorption surface.

Description

Technical Field

[0001] This invention belongs to the field of underwater robot technology, and in particular relates to an underwater curved surface active adaptive adsorption cleaning robot. Background Technology

[0002] In recent years, the rapid development of marine nuclear power and offshore wind power has led to a surge in demand for underwater cleaning of structures such as ship facades, wind turbine blades, and underwater pipelines. While ROVs and other robots can assist in the work, fine cleaning of complex surfaces still relies on divers. However, divers face limitations at depth (they cannot operate above 350 meters), high risks, and low efficiency. Therefore, the adsorption technology of underwater cleaning robots has become crucial. Adsorption technologies mainly include three categories: (1) Negative pressure adsorption technology. In the traditional form, the suction cup needs to contact and seal with the wall surface, and the pressure difference is formed by the vacuum pump to achieve adsorption. It is suitable for cleaning smooth surfaces, but it is prone to air leakage due to surface protrusions or pores. Bernoulli adsorption, as a special form of negative pressure adsorption, is based on the principle of fluid mechanics. It uses high-speed fluid to form a low-pressure zone between the suction cup and the wall surface, and adsorption force can be generated without contacting the surface. It allows the existence of small gaps, can adapt to cleaning scenarios with coatings or slight unevenness (such as wind turbine blade coating protection), and reduces the risk of scratches.

[0003] (2) Magnetic adsorption technology uses permanent magnets or electromagnets to adsorb ferromagnetic walls (such as steel ship walls). The adsorption is stable and energy-saving. Combined with track movement, it can efficiently complete large-area cleaning. However, it is limited to magnetic materials. Thick rust or coatings will weaken the adsorption force and may damage the magnetic surface material.

[0004] (3) Propulsion adsorption achieves pressing by generating thrust towards the wall through the thruster. It is suitable for cleaning rough surfaces and has strong versatility, but it consumes a lot of energy and has poor stability. It is only suitable for short-term rough cleaning.

[0005] Existing underwater cleaning robot adsorption technology has the following shortcomings: (1) Insufficient adaptability to curved surfaces: Traditional suction cups are mostly rigid planar structures, which cannot actively adapt to curved surfaces with varying curvature (such as the bulbous bow of ships and the weld seams of wind turbine towers).

[0006] (2) Imbalance between energy consumption and stability: Wheeled wall-climbing robots require complex control algorithms to plan their paths in real time to suppress slippage, but these complex algorithms lead to response delays and insufficient stability in dynamic water flow environments. Traditional vacuum adsorption, on the other hand, requires continuous vacuuming to maintain negative pressure, resulting in high energy consumption.

[0007] (3) Poor synergy between cleaning and adsorption: The existing robot's adsorption structure and cleaning device (such as brushes and high-pressure water guns) are mostly rigidly connected. When working on curved surfaces, the cleaning tools are difficult to fit the surface, resulting in cleaning dead corners (such as the side corners of ships and the leading edge of wind turbine blades). Furthermore, the cleaning reaction force may damage the adsorption stability.

[0008] Therefore, in order to adapt to most irregular curved surfaces and perform wall-climbing cleaning work on complex and varied curved surfaces, it is urgent to design a new adaptive adsorption cleaning robot. Summary of the Invention

[0009] This invention provides an underwater curved surface active adaptive adsorption cleaning robot that can adapt to most irregular curved surfaces, perform wall-climbing cleaning work on complex and varied curved surfaces, and has no mandatory requirements on the surface material of the adsorption surface.

[0010] An underwater curved surface active adaptive adsorption cleaning robot includes a frame and a control cabin, sensor system, underwater propulsion system and four Bernoulli suction cups mounted on the frame. The frame includes four fuselage side panels and a fuselage top cover, a fuselage middle layer plate, and a fuselage bottom plate that are fixed to the fuselage side panels; The Bernoulli suction cup includes a connecting housing and a Bernoulli suction cup surface and a suction cup power source respectively fixed to the upper and lower ends of the connecting housing; the connecting housing is rotatably connected to the cover plate of the machine body through a rotating flange bearing and a rotating shaft, so that each Bernoulli suction cup has an active degree of freedom along the axial direction of the rotating flange bearing. An active push rod is connected between the connecting shell and the middle layer plate of the body; one end of the active push rod is hinged to the active push rod fixing block on the middle layer plate of the body, and the other end is ball-jointed with the ball joint of the connecting shell side wall; the active push rod enables the Bernoulli suction cup to actively adapt its angle. The sensor system includes 12 acoustic rangefinders mounted on the upper cover of the fuselage. The control process of the control cabin is as follows: by controlling the underwater propulsion system and the suction cup power source, the robot moves towards the working surface to be adsorbed; when approaching the working surface, the working surface is reconstructed by the acoustic rangefinder, and the angle that each Bernoulli suction cup needs to rotate is calculated; then, by controlling the length of each active push rod, the corresponding Bernoulli suction cup is rotated to the calculated angle; finally, the suction cup power source is controlled to make the robot attach to the working surface; after the robot is adsorbed to the working surface, it enters the wall-climbing adsorption state.

[0011] Furthermore, each Bernoulli suction cup has three rotating mechanisms on its surface to enable the function of a caster wheel.

[0012] Furthermore, a nozzle position adjustment plate is fixed on the middle layer plate of the machine body, and a cleaning nozzle system is fixed on the nozzle position adjustment plate through a nozzle connecting plate; The nozzle cleaning system includes a cleaning nozzle adapter pipe and a water pump adapter valve block. The water pump adapter valve block transfers the high-pressure water flow from an external water pump into the adapter pipe and sprays it out from the cleaning nozzle, thereby achieving a cleaning effect on the adsorption surface.

[0013] Furthermore, the sensor system also includes a cleaning detection camera, a motion detection camera, an underwater supplemental lighting, an underwater depth sensor, and a transponder for an ultra-short baseline underwater acoustic positioning system.

[0014] Furthermore, the working surface is reconstructed using an acoustic rangefinder. The specific process is as follows: Twelve sampling points on the working surface were measured using each acoustic rangefinder. The coordinates in the robot coordinate system are represented by a matrix as follows: ; Assuming the working surface is fitted with a quadratic surface, the working surface Z in the robot coordinate system is represented as: ; The coefficient matrix is ​​solved as follows: Once the coefficient matrix is ​​solved, the reconstruction of the working surface is complete.

[0015] Further calculate the angle that each Bernoulli chuck needs to rotate so that the adsorption plane of the Bernoulli chuck is as parallel as possible to the working surface tangent near the chuck.

[0016] Furthermore, the relationship between the length of each active push rod and the corresponding angle of rotation of the Bernoulli suction cup is as follows: ; in, Indicates the angle of rotation of the Bernoulli suction cup. The length of the actively pushing lever during robot operation is a variable parameter. This represents the perpendicular distance between the connection point of the active push rod and the Bernoulli suction cup and the axis of the Bernoulli suction cup; it is a constant. The distance between the Bernoulli suction cup pivot and the active push rod fixing block pivot is a constant. express and The angle formed between them.

[0017] Furthermore, the control cabin includes two parallel cylindrical sealed cabins. One sealed cabin contains the robot host, control motherboard, inertial measurement unit, and motor control board, while the other sealed cabin contains a lithium battery, voltage conversion module, and power line carrier module. The robot host is used to collect and analyze data from the robot's sensor system, calculate the angle that each Bernoulli suction cup needs to rotate, and derive the length of each active push rod according to the formula. The inertial measurement unit is used to provide the robot's acceleration and angular velocity information. The control board is used to send action sequences to the motor control board and control the length of each active push rod. The motor control board is directly connected to the underwater propulsion system and the suction cup power source, and sends control commands to the motor to control the motor speed. The lithium battery powers the robot, and the voltage conversion module converts one voltage level to another to meet the power supply needs of different electronic devices and circuits in the robot. The power line carrier module uses circuit signals as a communication medium to realize the transmission of data signals.

[0018] Compared with the prior art, the present invention has the following beneficial effects: 1. Flexible movement: The overall cleaning process is divided into swimming mode and wall-climbing mode, which is not limited to a single cleaning application scenario and can cope with complex robot cleaning scenarios.

[0019] 2. The robot adopts the Bernoulli adsorption principle, which has no material requirements for the adsorption surface. During operation, the robot only contacts the adsorption surface through the rotating mechanism on the suction cup, reducing damage to the cleaning surface during the cleaning process.

[0020] 3. This invention enhances the robot's adaptability to curved surfaces through the design of an active push rod suction cup linkage, theoretically enabling it to work normally on curved surfaces with a curvature radius of 0.509m or higher. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a schematic diagram of the overall structure of an underwater curved surface active adaptive adsorption cleaning robot according to an embodiment of the present invention.

[0023] Figure 2 This is a schematic diagram of the Bernoulli suction cup in an embodiment of the present invention.

[0024] Figure 3This is a cross-sectional view of the Bernoulli suction cup in an embodiment of the present invention.

[0025] Figure 4 This is a schematic diagram of the installation of the underwater propulsion system in an embodiment of the present invention.

[0026] Figure 5 This is a schematic diagram of the robot coordinate system established in an embodiment of the present invention.

[0027] Figure 6 This diagram illustrates the principle of controlling the rotation angle of a Bernoulli suction cup by controlling the length of the active push rod.

[0028] Figure 7 A schematic diagram showing the angle of rotation required to calculate each Bernoulli suction cup. Detailed Implementation

[0029] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0030] It should be noted that, unless otherwise specified, the features in the following embodiments and implementation methods can be combined with each other.

[0031] like Figures 1-3 As shown, an underwater curved surface active adaptive adsorption cleaning robot includes a frame, a control cabin 12, a Bernoulli suction cup 22, a sensor system, a cleaning nozzle system, and an underwater thruster system 13.

[0032] The frame includes four upper fuselage top plates 1, four fuselage side plates 2, one fuselage middle plate 4, one fuselage bottom plate 14, and four lower irregular buoyancy blocks 17 and four upper irregular buoyancy blocks 18 filled between the fuselage middle plate 4 and the upper fuselage top plates 1.

[0033] There are four Bernoulli suction cups 22. Each Bernoulli suction cup consists of ten parts: a ball joint 23 connecting the active push rod, a Bernoulli suction cup surface 24, an outer flange bearing 25, a gap-maintaining gasket 26, a suction cup power source 27, a connecting housing 28, a rotating flange bearing 29, an inner flange bearing 30, a gap-maintaining bearing bracket 31, and a rolling bearing 32. Each Bernoulli suction cup surface 24 has three rotating mechanisms. These three mechanisms, through mechanical limiting, ensure the stability of the gap between the Bernoulli suction cup and the adsorption surface, thereby maintaining stable suction force for each Bernoulli suction cup and preventing control failure due to vacuum adsorption of the surface. The three rotating mechanisms also function as casters, allowing the Bernoulli suction cup to move freely in all directions on curved surfaces.

[0034] The rotating mechanism consists of an outer flange bearing 25 of the suction cup, a clearance retaining device gasket 26, an inner flange bearing 30 of the suction cup, a clearance retaining bearing bracket 31, and two suction cup rolling bearings 32. Each rotating mechanism is fixed to the opening in the surface of the Bernoulli suction cup 24 by a pin. Each rotating mechanism has two degrees of freedom: axial and radial rotation of the suction cup rolling bearing 32.

[0035] The ball joint 23 is connected to the active push rod 21 on the robot, so that the Bernoulli suction cup as a whole can actively rotate at a certain angle along the axial degree of freedom of the rotating flange bearing 29, thereby realizing the adaptive adsorption function of a single Bernoulli suction cup 22. The Bernoulli suction cup surface 24 is a detachable part with a tapered surface with an inclined angle. In this embodiment of the invention, the inclination angle of the tapered surface is 10°. The tapered surface is designed to better fit the shape of the curved surface. In actual work, the appropriate taper of the suction cup surface can be selected according to the curvature of the robot's working environment.

[0036] The suction cup power source 27 uses a T200 underwater thruster. The rotation of the thruster increases the fluid velocity in the gap between the suction cup and the adsorption wall, thereby generating the Bernoulli adsorption effect of the suction cup. The connecting housing 28, the Bernoulli suction cup surface 24, and the suction cup power source 27 are connected by screws to form the Bernoulli suction cup as a whole. The connecting housing 28 is also connected to the robot's frame through a rotating flange bearing 29 and a rotating shaft.

[0037] The control cabin 12 comprises two parallel cylindrical sealed chambers. One chamber contains the robot host, control motherboard, IMU (Inertial Measurement Unit), and motor control board. The other chamber contains a lithium battery, a voltage conversion module, and a power line carrier module. The robot host is used to collect and analyze data from the robot's sensor system, calculating the required rotation angle of each Bernoulli suction cup and the length of each active push rod. The inertial measurement unit provides the robot's acceleration and angular velocity information. The control motherboard sends motion sequences to the motor control board and controls the length of each active push rod. The motor control board is directly connected to the underwater propulsion system 13 and the suction cup power source 27, sending control commands to the motors to control their rotation speed. The lithium battery powers the robot, the voltage conversion module converts one voltage level to another to meet the power supply requirements of different electronic devices and circuits in the robot, and the power line carrier module uses circuit signals as a communication medium to transmit data signals.

[0038] The sensor system includes a cleaning detection camera 9, a motion detection camera 15, and corresponding underwater supplemental lighting 7, a USBL (Ultra-Short Baseline Underwater Acoustic Positioning) transponder, and an underwater depth sensor. The cleaning detection camera 9 is a monocular industrial camera housed within an underwater sealed enclosure, used to detect the cleaning effect of the cleaning nozzles and respond accordingly. The motion detection camera 15 consists of a ZED mini binocular camera and an acrylic camera underwater sealed chamber, fixed to the robot frame's mid-section plate 4 via a height adjustment block 16. The underwater curved surface active adaptive adsorption robot can achieve positioning and navigation through the motion detection camera and related algorithms. The USBL (Ultra-Short Baseline Underwater Acoustic Positioning) system comprises a transmitting transducer, a transponder, and a receiving matrix. The underwater curved surface active adaptive adsorption robot relies on the USBL to obtain its position relative to the object being cleaned and adsorbed. The underwater depth sensor measures the water depth in which the robot is located. Kalman filtering data fusion can be used to cross-validate the robot's positioning data, thereby reducing the impact of noise and errors.

[0039] The cleaning nozzle system includes cleaning nozzles 5, a transfer pipe 11, and a water pump transfer valve block 10. The cleaning nozzle system is fixed to the nozzle position adjustment plate 6 via nozzle connecting blocks 8. The nozzle position adjustment plate 6 has multiple holes for installing the cleaning nozzle system. The cleaning nozzles 5, through their nozzle design, can achieve cavitation of the sprayed water, enhancing the robot's cleaning effect. The water pump transfer valve block 10 transfers the high-pressure water flow from an external water pump into the transfer pipe 11, whereby the high-pressure jet is ejected from the cleaning nozzles 5, thereby achieving a cleaning effect on the adsorption surface.

[0040] like Figure 4As shown, the underwater horizontal thruster system 13 employs four T200 thrusters. The motion vector synthesis of the four thrusters enables the robot to move horizontally parallel to the chassis base 14. The horizontal thrusters are distributed in the order of P1, P2, P3, and P4. The coordinated control vector synthesis of the four thrusters synthesizes the longitudinal and lateral force components of the robot. Through the thrust combination of different thrusters, the robot achieves three degrees of freedom of movement on the horizontal plane: forward and backward translation, left and right translation, and turning, laying the foundation for subsequent complex attitude changes. The vertical thrusters are distributed in the order of P5, P6, P7, and P8 in an alternating "reverse propeller-forward propeller" manner. Combined with the characteristics of Bernoulli suction cups, they provide vertical suction force or lift to meet the needs of swimming and climbing. Through the thrust combination of the thrusters, the robot achieves two additional degrees of freedom of tumbling and one degree of freedom of lifting. At the same time, the alternating layout of reverse and forward propellers allows the reaction torque of adjacent thrusters to cancel each other out, avoiding the accumulation of overall torque and affecting attitude stability.

[0041] like Figure 1 As shown, the vertical angle bracket 3 fixes the middle layer plate 4 of the body and the Bernoulli suction cup support plate 20. Each Bernoulli suction cup 22 is connected to the hole on the two Bernoulli suction cup support plates 20 through a shaft hole, thereby realizing the rotational freedom in the axial direction of the hole.

[0042] In addition, the suction cup adaptive angle adjustment method requires measuring the parameters of the working surface. This invention uses 12 small acoustic rangefinders to reconstruct the working surface. These small acoustic rangefinders are nested between the upper cover plate 1 and the upper irregularly shaped buoyancy block 18, and can be fixed to the inner side of the upper cover plate 1. The acoustic probes detect the distance to the working surface through the hollowed-out circular holes in the upper cover plate 1. The small acoustic rangefinders can operate underwater, measuring the coordinates of twelve sampling points on the working plane in the robot coordinate system using each rangefinder. The twelve detected sampling points... Represented in matrix form: ; Assuming the working surface is fitted with a quadratic surface, the working surface in the robot coordinate system... Represented as: ; It can be written as: ; In the formula, This is the coefficient matrix of the working surface; for a quadratic surface, twelve sampling points are considered. , ; Therefore, the coefficient matrix of the working plane Left can be used Solve using the inverse method: ; Establishing the robot coordinate system, as follows Figure 5 As shown.

[0043] This invention achieves adaptive adsorption to the working surface by actively adjusting the Bernoulli suction cups. Each Bernoulli suction cup has one degree of freedom in a rotational joint, and the rotation axis of each Bernoulli suction cup is perpendicular to... or The Bernoulli suction cups are connected to the frame via an active push rod 21. The rotation angles of the four Bernoulli suction cups are defined as follows: .like Figure 6 and Figure 7 As shown, the underwater curved surface active adaptive adsorption cleaning robot By analyzing the geometric relationships through cross-section, the rotation angle of the suction cup can be determined. and the length of the active push rod 21 Relationship: ; The size of the robot can indicate... , , , Controlling the length of the active push rod within This allows control over the angle of the Bernoulli suction cup. .

[0044] exist In a plane, the expression for the working surface Expressed as: ; The purpose of adjusting the Bernoulli chuck angle is to make the suction plane of the Bernoulli chuck as parallel as possible to the working surface section near the chuck, thus simplifying the cross-section. The calculation method for each Bernoulli suction cup can be listed, but here we only use the angle of one Bernoulli suction cup. For example.

[0045] ; ; ; Similarly, the rotation angles of the four Bernoulli suction cups are defined as follows: Both can be solved using similar calculation methods. The robot controls the rotation angle of the four Bernoulli suction cups by controlling the length of the four active push rods, thereby enabling the robot to actively adjust and adapt to the working surface.

[0046] One end of the active push rod 21 is hinged to the active push rod fixing block 19, which is fixed to the middle plate 4 of the body. The other end is ball-jointed to the ball joint 23 connected to the active push rod 21. An underwater curved surface active adaptation robot is equipped with four active adaptation Bernoulli suction cups. Each pair of Bernoulli suction cups connected to two opposing active push rods is called a pair of Bernoulli suction cups. The analysis of the curved surface adhesion is from the perspective of each pair of Bernoulli suction cups. Assuming the adhesion surface is large enough, the cross-section of the adhesion surface of each pair of Bernoulli suction cups is an arc. The actual contact point between the Bernoulli suction cups and the adhesion surface is through three rotating mechanisms. The Bernoulli suction cups rotate around the Bernoulli suction cup rotation axis on the robot frame. The distance between the rotation axes of each pair of Bernoulli suction cups is 460mm horizontally. Let the radius of curvature of the arc of the adhesion surface be... The figure shows the adhesion of a pair of Bernoulli suction cups on a curved surface. The radius of curvature of the adhesion surface can be calculated based on geometric relationships. When Bernoulli's suction cup turns When the adsorption surface has the smallest radius of curvature. Therefore, the range of the radius of curvature of the adsorption surface of each pair of active adaptive Bernoulli chucks can be derived. Therefore, it can be concluded that underwater curved surface active adaptive adsorption robots can theoretically achieve adsorption at curvature radii of radius. The surface above it functions normally.

[0047] Before the robot adheres to the cleaning surface, it is in an underwater motion state. This underwater curved surface active adaptive adsorption robot can move freely underwater like a regular ROV. The underwater propulsion system provides a horizontal motion vector by controlling the rotation speed of the four propellers, enabling the robot to move horizontally. Before the robot adheres to the cleaning surface, the active push rod 21 is in a fully extended state, and the Bernoulli suction cup 22 is in a flat state. The suction cup power source 27 in the four suction cups can provide a motion vector perpendicular to the bottom plate 14 of the body. Through motion vector synthesis, the robot can achieve six-degree-of-freedom omnidirectional underwater motion without adsorption.

[0048] After the robot is adsorbed onto the working surface, it enters the wall-climbing adsorption state. The four Bernoulli suction cups 22 begin to exert Bernoulli adsorption. At this time, for the changing curved surface, each of the four suction cup modules has an active degree of freedom along the axis of the rotating flange bearing 29. Therefore, active angle adaptation can be achieved through the active push rod 21. Theoretically, it can adapt to most slowly changing curved surfaces. At this time, the propulsion system can realize the movement of the robot on the working plane through motion vector synthesis. The cleaning nozzle cooperates with it to achieve the cleaning task.

[0049] The embodiments described above provide a detailed explanation of the technical solutions and beneficial effects of the present invention. It should be understood that the above descriptions are merely specific embodiments of the present invention and are not intended to limit the present invention. Any modifications, additions, and equivalent substitutions made within the scope of the principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An underwater curved surface active adaptive adsorption cleaning robot, characterized in that, Includes a frame and a control cabin (12) mounted on the frame, a sensor system, an underwater propulsion system, and four Bernoulli suction cups (22). The frame includes four fuselage side plates (2) and fuselage top cover plate (1), fuselage middle layer plate (4) and fuselage bottom plate (14) fixed to the fuselage side plates (2); The Bernoulli suction cup (22) includes a connecting housing (28) and a Bernoulli suction cup surface (24) and a suction cup power source (27) respectively fixed to the upper and lower ends of the connecting housing (28); the connecting housing (28) is rotatably connected to the machine body cover plate (1) through a rotating flange bearing (29) and a rotating shaft, so that each Bernoulli suction cup (22) has an active degree of freedom along the axial direction of the rotating flange bearing (29); An active push rod (21) is connected between the connecting housing (28) and the middle layer plate (4) of the body; one end of the active push rod (21) is hinged to the active push rod fixing block (19) on the middle layer plate (4) of the body, and the other end is ball-jointed with the ball joint (23) on the side wall of the connecting housing (28); the active push rod (21) enables the active angle adaptation of the Bernoulli suction cup (22); The sensor system includes 12 acoustic rangefinders mounted on the cover plate (1) of the fuselage. The control process of the control cabin (12) is as follows: the robot moves toward the working surface to be adsorbed by controlling the underwater propulsion system (13) and the suction cup power source (27); when it gets close to the working surface, the working surface is reconstructed by the acoustic rangefinder, and the angle that each Bernoulli suction cup (22) needs to rotate is calculated so that the adsorption plane of the Bernoulli suction cup is parallel to the tangent of the working surface near the suction cup; then the length of each active push rod (21) is controlled to make the corresponding Bernoulli suction cup (22) rotate to the calculated angle; finally, the suction cup power source (27) is controlled to make the robot attach to the working surface; after the robot is adsorbed to the working surface, it enters the wall-climbing adsorption state. The reconstruction of the working surface is accomplished using an acoustic rangefinder. The specific process is as follows: Twelve sampling points on the working surface were measured using each acoustic rangefinder. The coordinates in the robot coordinate system are represented by a matrix as follows: ; Assuming the working surface is fitted with a quadratic surface, the working surface Z in the robot coordinate system is represented as: ； The coefficient matrix is ​​solved as follows: Once the coefficient matrix is ​​solved, the reconstruction of the working surface is complete.

2. The underwater curved surface active adaptive adsorption cleaning robot according to claim 1, characterized in that, The Bernoulli suction cup (24) has three rotating mechanisms to realize the function of a universal wheel.

3. The underwater curved surface active adaptive adsorption cleaning robot according to claim 1, characterized in that, A nozzle position adjustment plate (6) is fixed on the middle layer plate (4) of the machine body, and a cleaning nozzle system is fixed on the nozzle position adjustment plate (6) through a nozzle connecting plate (8); The cleaning nozzle system includes a cleaning nozzle (5), a transfer pipe (11) and a water pump transfer valve block (10). The water pump transfer valve block (10) transfers the high-pressure water flow from the external water pump into the transfer pipe (11) and sprays it out from the cleaning nozzle (5), thereby achieving a cleaning effect on the adsorption surface.

4. The underwater curved surface active adaptive adsorption cleaning robot according to claim 1, characterized in that, The sensor system also includes a cleaning detection camera (9), a motion detection camera (15), an underwater supplemental light (7), an underwater depth sensor, and a transponder for an ultra-short baseline underwater acoustic positioning system.

5. The underwater curved surface active adaptive adsorption cleaning robot according to claim 1, characterized in that, The relationship between the length of each active actuator and the corresponding angle of rotation of the Bernoulli suction cup is as follows: ； in, Indicates the angle of rotation of the Bernoulli suction cup. The length of the actively pushing lever during robot operation is a variable parameter. The perpendicular distance between the connection point of the active push rod (21) and the Bernoulli suction cup and the axis of the Bernoulli suction cup is a constant. The distance between the Bernoulli suction cup pivot and the pivot of the active push rod fixing block (19) is a constant. express and The angle formed between them.

6. The underwater curved surface active adaptive adsorption cleaning robot according to claim 1, characterized in that, The control cabin (12) includes two parallel cylindrical sealed cabins. One sealed cabin contains the robot host, control motherboard, inertial measurement unit, and motor control board. The other sealed cabin contains lithium battery, voltage conversion module and power line carrier module. Among them, the robot host is used to collect and analyze data from the robot's sensor system, calculate the angle that each Bernoulli suction cup needs to rotate and the length of each active push rod; the inertial measurement unit is used to provide the robot's acceleration and angular velocity information; the control board is used to send action sequences to the motor control board and control the length of each active push rod; the motor control board is directly connected to the underwater propulsion system (13) and the suction cup power source (27) to send control commands to the motor to control the motor speed; The lithium battery powers the robot, and the voltage conversion module converts one voltage level to another to meet the power supply needs of different electronic devices and circuits in the robot. The power line carrier module uses circuit signals as a communication medium to realize the transmission of data signals.

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