Double-vision closed-loop self-adaptive cleaning brush disc system of underwater cleaning robot

Abstract

The double-vision closed-loop self-adaptive cleaning brush disc system of the underwater cleaning robot comprises a robot body, and a driving unit, a height adjusting mechanism, a joint swing mechanism, a replaceable brush disc module and a structure supporting piece are integrated below the robot body. The driving unit adopts a servo motor in a watertight shell as a power source, the joint swing mechanism is located between a driving brush disc adapter plate and a brush disc, the driving brush disc adapter plate is hinged to a swing joint through a pin shaft, and the replaceable brush disc module is of a flange type quick-change structure. A base plate of the brush plate is made of a waterproof wood material, the height adjusting mechanism adopts an electric push rod as an execution element, and overall lifting of the brush plate assembly is controlled through a linear propelling stroke. The technical bottlenecks of an existing underwater cleaning robot in the aspects of precision, safety and multi-scene adaptability are solved, and an efficient, environment-friendly and intelligent solution is provided for application scenes such as ship maintenance and ocean platform cleaning.

Description

Technical Field

[0001] This invention relates to the field of underwater robots, and more specifically to a dual-view closed-loop adaptive cleaning brush system for an underwater cleaning robot. Background Technology

[0002] With the rapid development of the marine economy and increasingly stringent environmental protection requirements, the demand for cleaning and maintenance of ships, offshore platforms, and other facilities has increased significantly. Ship surfaces that are constantly submerged in seawater are prone to marine organisms, leading to increased drag, higher fuel consumption, and accelerated coating corrosion. Traditional cleaning methods rely heavily on manual diving or high-pressure water jet equipment, which are inefficient, costly, and pose significant safety risks, and are ill-suited for complex curved surfaces and deep-water environments.

[0003] In recent years, underwater cleaning robot technology has gradually emerged, becoming an important alternative to traditional manual cleaning. In existing technologies, some robots use magnetic adsorption tracks or negative pressure adsorption mechanisms to attach to the hull, combined with mechanical brushes and other cleaning tools to complete the task. However, existing systems still suffer from the following core problems: insufficient cleaning efficiency and precision; most robots rely on fixed brushes or a single cleaning mode, lacking the ability to dynamically perceive dirt thickness and hull curvature, leading to uneven cleaning pressure distribution or excessive wear on the paint; limited adaptive adjustment capabilities; existing height adjustments mostly use mechanical springs, which have low precision and lack real-time feedback closed-loop control, making them unable to cope with complex variations in the thickness of attached materials; limited applicability to multiple scenarios; fixed brush material makes it difficult to adapt to different types of dirt (such as soft biofilms, hard barnacles, etc.), and replacement is complex, limiting the equipment's versatility; insufficient intelligence; most systems rely on remote manual operation, lacking autonomous decision-making capabilities based on environmental perception, resulting in low cleaning path planning efficiency and high energy consumption.

[0004] To address the aforementioned technical bottlenecks, this invention proposes an adaptive height brush assembly for an underwater cleaning robot based on dual visual feedback. Through innovative structural design and intelligent control strategies, it significantly improves cleaning efficiency, operational safety, and applicability to multiple scenarios. Summary of the Invention

[0005] This invention provides a dual-view closed-loop adaptive cleaning brush system for an underwater cleaning robot. Its purpose is to drive the brush to rotate through a servo motor-reducer-drive joint assembly and to adjust the contact pressure between the brush and the hull surface in real time using an electric push rod, thereby achieving effective peeling of different attachments.

[0006] This invention is achieved through the following technical solution: The underwater cleaning robot's dual-view closed-loop adaptive cleaning brush system includes the robot body, under which are integrated a drive unit, height adjustment mechanism, joint swing mechanism, replaceable brush module, and structural support components. This enables efficient removal of deposits from the bottom of vessels. The drive unit uses a servo motor within a watertight housing as its power source. The servo motor is connected to a 17-4PH stainless steel transmission output shaft via a key, and the other end of the output shaft is connected to the input end of a reducer via a key, ensuring reliable torque transmission. The joint swing mechanism is located between the drive brush adapter plate and the brush, and is connected to the drive brush adapter plate and the swing mechanism via a pin. The joint is hinged, and the swing joint is used to convert rotational motion into a composite motion that can swing freely in two orthogonal directions. The replaceable brush plate module is a flange-type quick-change structure. The base of the brush plate is made of water-resistant wood material, and the surface is planted with bristles or blades of different materials and hardness. It is fastened to the flange of the joint swing mechanism by screws and pressure plate flanges to achieve quick disassembly and replacement. The height adjustment mechanism uses an electric actuator as the actuating element. One end of the electric actuator is fixed to the brush plate mounting bracket on the robot main support, and the other end of the electric actuator is connected to the brush plate motor docking plate. The overall lifting and lowering of the brush plate assembly is controlled by the linear propulsion stroke.

[0007] In a preferred embodiment, the drive unit is supported by rolling bearings inside the robot housing to withstand radial loads and part of the axial force during operation. The reducer output end is connected to the brush plate adapter. The brush plate adapter has a connecting structure at its end, which is hinged to the swing joint mechanism via a 316 stainless steel pin (10 mm in diameter) to realize the output and transmission of rotational torque. The entire drive system is enclosed in a watertight housing to adapt to the long-term underwater operating environment.

[0008] In a preferred embodiment, the joint swing mechanism is a core kinematic chain consisting of three stages connected in series: one-way joint 13 → block 14 → flange joint 15. The block is an intermediate component, achieving two degrees of freedom in space through two sets of orthogonally arranged pin-bearing pairs. The one-way joint and the block are hinged by a shaft pin I passing through the corresponding coaxial holes of the one-way joint and the block. A sliding bearing is set between the shaft pin I and the hole wall of the one-way joint. The block (and its connected subsequent components) can rotate around the axis of the output shaft with the one-way joint as a whole. The block can rotate around the axis of the shaft pin I to form a revolute joint R1. Two shaft pins II are inserted from both sides of the flange joint and pass through the corresponding coaxial holes on the flange joint and the block in sequence. Sliding bearings are set between the shaft pins II and the hole wall of the flange joint, allowing relative rotation.

[0009] In a preferred embodiment, a baffle is installed on each of the outer end faces of the flange joint. Its core function is to constrain the axial displacement of the shaft pin II. The bolt passes through the through hole on the baffle and is screwed into the threaded hole on the side of the flange joint, thereby fixing the baffle to the flange joint. The tightening of the bolt fixes the baffle, flange joint, and shaft pin II into a whole. The flange joint as a whole can rotate relative to the block body around the axis of shaft pin II, providing a second rotational degree of freedom. It is usually orthogonal to the axis of shaft pin I, forming a rotational pair R2 around axis X, which constitutes the swing core. This allows the brush plate to swing with two degrees of freedom (X and Y axes) within a range of ±6° to adapt to local curvature changes and uneven areas on the hull surface, significantly improving the contact fit between the brush plate and the hull, ensuring uniform distribution of cleaning pressure, and avoiding local missed cleaning or overload damage.

[0010] In a preferred embodiment, the replaceable brush module is configured with four specialized brushes based on the type of dirt: nylon brushes are suitable for removing lightweight deposits such as microalgae, planktonic biofilms, and soft biofilms; wire brushes are suitable for removing more stubborn dirt such as thick mud, tangled weeds, and medium-thickness algae; wire brushes are suitable for removing medium-strength deposits such as calcified layers and siliceous deposits with a certain degree of hardness; and blade brushes use a high-strength metal blade array specifically designed for removing hard, dense biological dirt, such as barnacles, tube worms, bryozoans, mussels, oysters, and spirochetes—all strongly attached marine organisms. As a preferred embodiment, the replaceable brush module can be replaced on-site at the robot according to actual operation needs without disassembling the drive system, which greatly improves the applicability of the equipment in multiple scenarios and the efficiency of operation.

[0011] As a preferred embodiment, the height adjustment mechanism has a rapid response and high positioning accuracy (up to ±0.1 mm). Combined with the control system, it realizes real-time adaptive adjustment of the brush height, ensuring that the optimal cleaning gap and contact force are maintained under different attachment thicknesses and hull shapes.

[0012] In a preferred embodiment, the robot body is equipped with a dual-camera closed-loop control system. The front-view camera is installed in the direction of travel of the robot body to collect images of the area to be cleaned in real time and identify the average height Ha of the attached objects. The rear-view camera is installed at the rear of the robot body to collect images of the cleaned area in real time and evaluate the cleanliness index C (0-100%). After the robot body is adsorbed onto the target area of ​​the ship, the vision system and brush assembly are activated and the system enters the working state. The front-view camera continuously calculates the height Ha of the attached objects in front, and the rear-view camera simultaneously evaluates the current cleanliness C. Ha, C and the preset target cleanliness threshold Ct are input into the central controller. Ct is set to 90% to 98% according to the ship cleaning standard, preferably 95%.

[0013] In a preferred embodiment, the central controller makes a judgment based on a set multi-parameter collaborative closed-loop control strategy: when C < Ct, it indicates that the cleaning is insufficient, and the brush height is reduced (ΔH < 0) to increase the contact pressure between the brush and the hull; when C ≥ Ct and Ha is significantly higher than the current brush height, the brush is raised in advance (ΔH > 0) to avoid collision and ensure that the brush can effectively fit the high protrusion area that is about to be reached; when C ≥ Ct and Ha matches the current height (within the allowable fluctuation range), the current brush height is maintained (ΔH ≈ 0); when Ha is low and C ≥ Ct, the brush can be slightly raised (ΔH > 0) to reduce unnecessary wear and energy consumption.

[0014] In a preferred embodiment, the central controller calculates the brush height adjustment amount ΔH according to the above logic and generates control commands to drive the electric actuator to perform height adjustment. The brush continues cleaning at the new height. The system continuously cycles through the process of visual data acquisition, processing, decision-making and execution to achieve closed-loop control until the cleaning end condition is met: the robot completes the predetermined cleaning trajectory.

[0015] The technical principle of this invention: This invention relates to a rotating brush assembly for an underwater hull cleaning robot. As the end effector of the underwater cleaning robot, it drives the brush to rotate via a servo motor-reducer-joint mechanism, and uses an electric actuator to adjust the contact pressure between the brush and the hull surface in real time, achieving effective removal of different deposits. This brush assembly adopts an innovative dual-vision feedback system, combined with a high-precision electric actuator height adjustment mechanism, multi-directional swing joints, and a modular brush design. It solves the technical bottlenecks of existing underwater cleaning robots in terms of adaptive adjustment accuracy, cleaning effect evaluation, curved surface contact capability, and multi-scenario applicability, providing an intelligent, precise, and efficient solution for underwater hull cleaning.

[0016] Beneficial Effects: This invention, through structural innovation (multi-directional swing joint, modular brush plate) and control innovation (dual-view + dynamic adjustment logic), solves the technical bottlenecks of existing underwater cleaning robots in terms of accuracy, safety, and multi-scenario adaptability, providing an efficient, environmentally friendly, and intelligent solution for applications such as ship maintenance and offshore platform cleaning. The brush plate assembly of this invention adopts an innovative dual-vision feedback system, combined with a high-precision electric actuator height adjustment mechanism, multi-directional swing joint, and modular brush plate design, solving the technical bottlenecks of existing underwater cleaning robots in terms of adaptive adjustment accuracy, cleaning effect evaluation, curved surface fitting capability, and multi-scenario applicability, providing an intelligent, precise, and efficient solution for underwater hull cleaning. This invention solves the technical bottlenecks of existing underwater cleaning robots in terms of accuracy, safety, and multi-scenario adaptability, providing an efficient, environmentally friendly, and intelligent solution for applications such as ship maintenance and offshore platform cleaning. Specifically, it also includes the following four aspects: (1) Dual-view closed-loop control and high-precision electric actuator linkage adjustment This invention is the first to combine a dual-camera system (front-facing to identify dirt height Ha, rear-facing to assess cleanliness C) with a high-precision electric actuator adjustment mechanism, forming a real-time closed-loop control of "environmental data acquisition → processing → decision-making → execution." Existing patents mostly rely on mechanical springs or hydraulic systems to adjust height, resulting in low precision and a lack of visual feedback linkage. This invention dynamically calculates ΔH through a central controller (using an electric actuator with a positioning accuracy of ±0.1 mm), achieving adaptive adjustment of the brush height to adapt to different deposit thicknesses and variations in hull shape, reducing collision risks and wear. Dynamically adjusting the brush height (ΔH) ensures that the cleaning effect consistently reaches the preset cleanliness threshold (C≥95%). (2) Multi-directional swing joints enhance surface fitting ability The articulated swing mechanism of this invention allows the brush disc to swing with two degrees of freedom within a range of ±6°, actively adapting to local curvature changes and uneven areas on the hull surface. Compared with the prior art, this invention can significantly enhance the contact fit between the brush disc and the hull, ensuring uniform distribution of cleaning pressure and avoiding local missed cleaning or overload damage; (3) Modular brush disk design enables rapid adaptation to multiple scenarios This invention employs a flange-type quick-change structure and is equipped with four types of dedicated brush discs (nylon, steel wire, wire, and blade), which can be flexibly replaced according to the type of dirt (microalgae, thick mud, hard barnacles, etc.). Existing patents mostly use fixed brush discs or single-material designs, which are complex to replace and have limited applicability. The wooden chassis + screw pressure plate flange connection method of this invention reduces maintenance costs and improves replacement efficiency, meeting the needs of multiple scenarios such as ships and offshore platforms. (4) Optimize the cleaning effect based on the joint decision control logic of Ha and C; This invention achieves intelligent optimization of the cleaning process through a joint decision-making logic of Ha (dirt height) and C (cleanliness index) (e.g., when C < Ct, ΔH < 0 to increase pressure; when Ha is significantly higher than the current height, ΔH > 0 to avoid collision). Compared with the prior art, the dynamic adjustment strategy of this invention significantly reduces energy consumption and improves cleaning efficiency. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of the dual-view closed-loop adaptive cleaning brush system of the underwater cleaning robot of the present invention.

[0018] Figure 2 This is a schematic diagram of the brush disk structure in one embodiment of the present invention.

[0019] Figure 3 This is a schematic cross-sectional view of the overall structure of the brush disk in one embodiment of the present invention.

[0020] Figure 4This is a cross-sectional view of the swing joint in one embodiment of the present invention.

[0021] Figure 5 This is a cross-sectional view of the swing joint in one embodiment of the present invention. Figure 6 This is a schematic diagram of the swinging joint in one embodiment of the present invention.

[0022] Figure 7 This is a schematic diagram of the disassembly of the brush disk in one embodiment of the present invention.

[0023] Figure 8 This is a schematic diagram of the process control of the present invention.

[0024] Figure labeling: 1. Brush disk; 2. Servo motor; 3. Output shaft; 4. Reducer; 5. Brush disk adapter plate; 6. Swing joint; 7. Pressure plate flange; 8. Watertight housing; 9. Electric actuator; 10. Mounting bracket; 11. Brush disk motor docking plate; 12. Rolling bearing; 13. One-way joint; 14. Block body; 15. Flange joint; 16. Shaft pin I; 17. Shaft pin II; 18. Sliding bearing; 19. Baffle plate; 20. Bolt; A. Robot body; B. Height adjustment mechanism; D. Joint swing mechanism; E. Replaceable brush disk module; F. Drive unit; M. Front-view camera; N. Rear-view camera. Detailed Implementation

[0025] The embodiments of the present invention will be described in detail below with reference to the accompanying drawings: These embodiments are implemented based on the technical solution of the present invention, and provide detailed implementation methods and specific operation processes, but the protection scope of the present invention is not limited to the following embodiments.

[0026] like Figure 1 , 2 As shown, the dual-view closed-loop adaptive cleaning brush system of the underwater cleaning robot serves as the end effector of the underwater cleaning robot. It drives the brush to rotate through a servo motor-reducer-drive joint assembly and uses an electric actuator to adjust the contact pressure between the brush and the hull surface in real time, thereby achieving effective removal of different attachments. It mainly consists of a drive unit F, a height adjustment mechanism B, a joint swing mechanism D, and a replaceable brush module E, which are integrated under the robot body to achieve efficient removal of attachments on the bottom of the ship.

[0027] like Figure 3As shown, the drive unit F uses a servo motor 2 inside the watertight housing 8 as its power source. The servo motor 2 is connected to the 17-4PH stainless steel transmission output shaft 3 via a key. The other end of the output shaft 3 is also connected to the input end of the reducer 4 via a key to ensure reliable torque transmission. The entire unit is supported inside the housing by rolling bearings 12 to withstand radial loads and some axial forces during operation. The output end of the reducer 4 is connected to the brush plate adapter 5. The end of the brush plate adapter 5 is provided with a connecting structure, which is hinged to the swing joint 6 mechanism via a 316 stainless steel pin (10 mm in diameter) to realize the output and transmission of rotational torque. The entire drive system is enclosed in the watertight housing 8 to adapt to the long-term underwater operating environment.

[0028] like Figure 4-6 As shown, the joint swing mechanism D is located between the drive brush plate adapter 5 and the brush plate 1. The drive brush plate adapter 5 and the swing joint 6 are hinged together via a pin. This swing joint 6 converts rotational motion into a composite motion that can swing freely in two orthogonal directions. The core kinematic chain consists of three stages connected in series: one-way joint 13 → block 14 → flange joint 15. Block 14 serves as an intermediate component, achieving two degrees of freedom in space through two sets of orthogonally arranged pin-bearing pairs. One-way joint 13 and block 14 are hinged together by a shaft pin I 16 passing through corresponding coaxial holes in one-way joint 13 and block 14. A sliding bearing is located between shaft pin I 16 and the hole wall of one-way joint 13. Block 14 (and its connected subsequent components) can rotate as a whole around the axis of the output shaft 3 with one-way joint 13. The rotating joint R1 formed by the rotation of block 14 around the axis of shaft pin I 16... Two pins II 17 connect flange section 15 and block body 14, inserted from both sides of flange section 15 and passing through corresponding coaxial holes on flange section 15 and block body 14 respectively. Sliding bearings 18 are respectively installed on the holes of pins II 17 and flange section 15, allowing relative rotation. A baffle 19 is installed on each of the outer end faces of flange section 15, its core function being to constrain the axial displacement of pins II 17. Bolts 20 pass through the through holes on the baffles 19 and screw into the threaded holes on the side of flange section 15, thereby fixing the baffles 19 to flange section 15. The tightening of bolts 20 fixes the baffles 19, flange section 15, and pins II 17 into a single unit. Flange section 15 as a whole can rotate relative to block body 14 about the axis of pins II 17, providing a second rotational degree of freedom, usually orthogonal to the axis of pin I 16, forming a revolute joint R2 about axis X, constituting the swing core. The brush plate 1 is allowed to swing in two degrees of freedom (X and Y axes) within a range of ±6° to adapt to local curvature changes and uneven areas on the hull surface, significantly improving the contact fit between the brush plate 1 and the hull, ensuring uniform distribution of cleaning pressure, and avoiding local missed cleaning or overload damage.

[0029] like Figure 7As shown, brush plate module 1 features a flange-type quick-change structure. The base of brush plate 1 is made of water-resistant wood, with bristles or blades of different materials and hardness embedded on its surface. It is fastened to the flange of the swing joint mechanism 6 via screws and pressure plate flange 7, enabling quick disassembly and replacement. Four specialized brush plates are configured according to the type of dirt: nylon brush plates are suitable for removing light attachments such as microalgae, planktonic biofilms, and soft biofilms; wire brush plates are suitable for removing more stubborn dirt such as thick mud, entangled weeds, and medium-thickness algae; wire brush plates are suitable for removing medium-strength attachments such as calcified layers and siliceous deposits with a certain degree of hardness; and blade brush plates use a high-strength metal blade array specifically designed for removing hard, dense biological dirt, such as barnacles, tube worms, bryozoans, mussels, oysters, and spirochetes. Each brush plate module 1 can be replaced on-site at the robot site according to actual operational needs without disassembling the drive system, significantly improving the equipment's applicability to various scenarios and operational efficiency.

[0030] like Figure 2 As shown, the height adjustment mechanism B uses an electric actuator 9 as the actuating element. One end of the electric actuator 9 is fixed to the brush plate mounting bracket 10 on the robot's main support, and the other end is connected to the brush plate motor docking plate 11. The overall lifting and lowering of the brush plate assembly is controlled by the linear propulsion stroke. This mechanism has a rapid response and high positioning accuracy (up to ±0.1 mm). Combined with the control system, it realizes real-time adaptive adjustment of the brush plate 1 height, ensuring that the optimal cleaning gap and contact force are maintained under different deposit thicknesses and hull shapes.

[0031] like Figure 1 , 8As shown, the underwater cleaning robot is equipped with a dual-camera closed-loop control system. The forward-facing camera M is mounted in the robot's direction of travel to capture real-time images of the area to be cleaned and identify the average height Ha of any attached material. The rear-facing camera N is mounted at the rear of the robot to capture real-time images of the cleaned area and assess the cleanliness index C (0-100%). After the robot body A adheres to the target area on the hull, the vision system and brush assembly are activated, and the system enters its working state. The forward-facing camera continuously calculates the height Ha of the attached material, while the rear-facing camera simultaneously assesses the current cleanliness level C. Ha, C, and a preset target cleanliness threshold Ct are then input into the central controller. Ct is set to 90%–98% according to ship cleaning standards, preferably 95%. The central controller makes judgments based on the set multi-parameter collaborative closed-loop control strategy: when C < Ct, it indicates insufficient cleaning, and the brush height is reduced (ΔH < 0) to increase the contact pressure between the brush and the hull; when C ≥ Ct and Ha is significantly higher than the current brush height, the brush is raised in advance (ΔH > 0) to avoid collisions and ensure that the brush can effectively fit the high protrusion area to be reached; when C ≥ Ct and Ha matches the current height (within the allowable fluctuation range), the current brush height is maintained (ΔH ≈ 0); when Ha is low and C ≥ Ct, the brush can be slightly raised (ΔH > 0) to reduce unnecessary wear and energy consumption. The central controller calculates the brush height adjustment amount ΔH based on the above logic and generates control commands to drive the electric actuator 9 to perform height adjustment. The brush 1 continues cleaning operations at the new height. The system continuously cycles through visual data acquisition, processing, decision-making, and execution processes to achieve closed-loop control until the cleaning end condition is met: the robot completes the predetermined cleaning trajectory.

[0032] This invention solves the technical bottlenecks of existing underwater cleaning robots in terms of accuracy, safety, and adaptability to multiple scenarios, and provides an efficient, environmentally friendly, and intelligent solution for applications such as ship maintenance and marine platform cleaning.

[0033] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of this invention is defined by the appended claims and their equivalents.

Claims

1. A dual-view closed-loop adaptive cleaning brush system for an underwater cleaning robot, characterized in that, The robot body includes a drive unit, height adjustment mechanism, joint swing mechanism, replaceable brush plate module, and structural support components integrated below it. This enables efficient removal of debris from the bottom of ships. The drive unit uses a servo motor within a watertight housing as its power source. The servo motor is connected to a 17-4PH stainless steel transmission output shaft via a key, and the other end of the output shaft is connected to the input end of a reducer via a key, ensuring reliable torque transmission. The joint swing mechanism is located between the drive brush plate adapter plate and the brush plate, and is hinged to the swing joint via a pin. The joint is used to convert rotational motion into a composite motion that can swing freely in two orthogonal directions. The replaceable brush plate module is a flange-type quick-change structure. The base of the brush plate is made of water-resistant wood material, and the surface is planted with bristles or blades of different materials and hardness. It is fastened to the flange of the joint swing mechanism by screws and pressure plate flanges to achieve quick disassembly and replacement. The height adjustment mechanism uses an electric actuator as the actuating element. One end of the electric actuator is fixed to the brush plate mounting bracket on the robot main support, and the other end of the electric actuator is connected to the brush plate motor docking plate. The overall lifting and lowering of the brush plate assembly is controlled by the linear propulsion stroke.

2. The dual-view closed-loop adaptive cleaning brush system for underwater cleaning robots according to claim 1, characterized in that, The drive unit is supported inside the robot housing by rolling bearings to withstand radial loads and part of the axial force during operation. The output end of the reducer is connected to the brush plate adapter. The end of the brush plate adapter has a connecting structure that is hinged to the swing joint mechanism through a 316 stainless steel pin with a diameter of 10 mm to realize the output and transmission of rotational torque. The entire drive system is enclosed in a watertight housing to adapt to the long-term underwater operating environment.

3. The dual-view closed-loop adaptive cleaning brush system for underwater cleaning robots according to claim 1, characterized in that, The joint swing mechanism is a core kinematic chain consisting of three stages connected in series: one-way joint 13 → block 14 → flange joint 15. The block is an intermediate component, achieving two degrees of freedom in space through two sets of orthogonally arranged pin-bearing pairs. The one-way joint and the block are hinged by a shaft pin I passing through the corresponding coaxial holes of the one-way joint and the block. A sliding bearing is set between the shaft pin I and the hole wall of the one-way joint. The block and its connected subsequent components can rotate around the axis of the output shaft with the one-way joint as a whole. The block can rotate around the axis of the shaft pin I to form a revolute joint R1. The flange joint and the block are connected by two shaft pins II, which are inserted from both sides of the flange joint and pass through the corresponding coaxial holes of the flange joint and the block in sequence. Sliding bearings are set between the shaft pins II and the hole wall of the flange joint, allowing relative rotation.

4. The dual-view closed-loop adaptive cleaning brush system for an underwater cleaning robot according to claim 1, characterized in that, A baffle is installed on each of the outer end faces of the flange. Its core function is to constrain the axial displacement of the shaft pin II. The bolt passes through the through hole on the baffle and is screwed into the threaded hole on the side of the flange, thereby fixing the baffle to the flange. The tightening of the bolt fixes the baffle, flange, and shaft pin II into a whole. The flange as a whole can rotate relative to the block about the axis of shaft pin II, providing a second rotational degree of freedom. It is usually orthogonal to the axis of shaft pin I, forming a rotational pair R2 about axis X, which constitutes the swing core. It allows the brush plate to swing with two degrees of freedom within ±6° on the X and Y axes to adapt to local curvature changes and uneven areas on the hull surface, significantly improving the contact fit between the brush plate and the hull, ensuring uniform distribution of cleaning pressure, and avoiding local missed cleaning or overload damage.

5. The dual-view closed-loop adaptive cleaning brush system for an underwater cleaning robot according to claim 1, characterized in that, The replaceable brush plate module is equipped with four types of specialized brush plates according to the type of dirt: nylon brush plates are suitable for removing light attachments such as microalgae, planktonic mucus, and soft biofilms; wire brush plates are suitable for removing more stubborn dirt such as thick mud, tangled weeds, and medium-thickness algae; wire brush plates are suitable for removing medium-strength attachments such as calcified layers and siliceous deposits with a certain degree of hardness; and blade brush plates use a high-strength metal blade array, which is specially designed to remove hard and dense biological dirt, such as barnacles, tube worms, bryozoans, mussels, oysters, and spirochetes.

6. The dual-view closed-loop adaptive cleaning brush system for an underwater cleaning robot according to claim 1, characterized in that, The replaceable brush module can be replaced on-site according to actual operation needs without disassembling the drive system, which greatly improves the applicability of the equipment in multiple scenarios and the efficiency of operation.

7. The dual-view closed-loop adaptive cleaning brush system for an underwater cleaning robot according to claim 1, characterized in that, The height adjustment mechanism is responsive and highly accurate, with a positioning accuracy of ±0.1 mm. Combined with the control system, it enables real-time adaptive adjustment of the brush height, ensuring optimal cleaning gap and contact force under different deposit thicknesses and hull shapes.

8. The dual-view closed-loop adaptive cleaning brush system for an underwater cleaning robot according to claim 1, characterized in that, The robot is equipped with a dual-camera closed-loop control system. The front-view camera is installed in the direction of the robot's movement to collect images of the area to be cleaned in real time and identify the average height Ha of the attached material. The rear-view camera is installed at the rear of the robot to collect images of the cleaned area in real time and evaluate the cleanliness index C: 0-100%. After the robot adheres to the target area on the hull, the vision system and brush assembly are activated, and the system enters the working state. The front-view camera continuously calculates the height Ha of the attached material in front, while the rear-view camera simultaneously evaluates the current cleanliness C. Ha, C, and the preset target cleanliness threshold Ct are input into the central controller. Ct is set to 90% to 98% according to ship cleaning standards.

9. The dual-view closed-loop adaptive cleaning brush system for an underwater cleaning robot according to claim 1, characterized in that, The central controller makes judgments based on the set multi-parameter collaborative closed-loop control strategy: when C < Ct, it indicates insufficient cleaning, so the brush height is reduced, ΔH < 0, to increase the contact pressure between the brush and the hull; when C ≥ Ct and Ha is significantly higher than the current brush height, the brush is raised in advance, ΔH > 0, to avoid collisions and ensure that the brush can effectively fit the high protrusion area that is about to be reached; when C ≥ Ct and Ha matches the current height, within the allowable fluctuation range, the current brush height is maintained, ΔH ≈ 0; when Ha is low and C ≥ Ct, the brush can be slightly raised, ΔH > 0, to reduce unnecessary wear and energy consumption.

10. The dual-view closed-loop adaptive cleaning brush system for an underwater cleaning robot according to claim 1, characterized in that, The central controller calculates the brush height adjustment amount ΔH based on the above logic and generates control commands to drive the electric actuator to perform height adjustment. The brush continues cleaning at the new height. The system continuously cycles through visual data acquisition, processing, decision-making and execution to achieve closed-loop control until the cleaning end condition is met: the robot completes the predetermined cleaning trajectory.

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