Underwater robot

Abstract

The invention discloses an underwater robot, and relates to the technical field of marine special instruments, and the underwater robot comprises a multi-directional attitude self-stabilization structure frame; the cavitation jet flow system is mounted in the structural framework; the gravity center adjusting device comprises a gravity center adjusting pipeline and a rolling medium, the gravity center adjusting device is connected with the structural frame, and the rolling medium is arranged in the gravity center adjusting pipeline; the gravity center adjusting pipeline at least has a component in one of the width direction, the length direction and the height direction of the underwater robot, and the rolling medium can move in the gravity center adjusting pipeline under the action of gravity, so that the gravity center position of the underwater robot is changed. According to the underwater robot, the gravity center position of the underwater robot can be adjusted according to needs, and the capability of automatically keeping a horizontal posture or a vertical posture is achieved.

Description

Technical Field

[0001] This invention relates to the field of marine-specific instruments technology, and in particular to an underwater robot. Background Technology

[0002] In recent years, with the rapid development of the marine economy, especially the marine ranching industry in coastal areas, marine aquaculture cages have achieved large-scale development. Common aquaculture cage structures are mainly divided into truss type and gravity type. Truss type aquaculture cages have complex underwater structures, consisting of a large number of underwater longitudinal beams, transverse beams, vertical beams, diagonal braces, and tie rods to form a structural frame. Aquaculture nets are then attached around the frame, dividing it into several independent aquaculture compartments for fish to move around. The characteristics of this structure are that there are many structural components and the area of ​​each net is small. There are many obstacles when cleaning the net, making it difficult to achieve continuous cleaning over a large area, requiring frequent obstacle crossing. However, because there are many structural components, the tension of the net is relatively high. When a robot attaches to the surface of the net, the support provided by the net is strong. Gravity type cages have relatively simple underwater structures, mainly composed of a few structural components, tie rods, and nets. The characteristics are that the area of ​​each net is large and there are fewer obstacles. However, the tension of the net is not as high as that of the truss type cage. When a robot attaches to the net, it is easy to get stuck in the net and it is difficult to move forward while staying close to the net. In terms of the mesh itself, common mesh materials are high molecular weight polyethylene, nylon, etc. When cleaning, care should be taken to avoid excessive washing of the mesh, which may cause wear or damage.

[0003] To address the aforementioned issues, a Chinese invention patent with publication number CN120228689A was consulted. This patent discloses a net cleaning robot for marine aquaculture cages. Specifically, it describes a robot that moves across the surface of the net using a tracked drive. During this movement, a camera is used to monitor the condition of the outer wall of the net in real time. The robot then uses a mechanical claw to remove foreign objects attached to the outside of the net, preventing them from clogging the mesh and ensuring smooth flow of seawater inside and outside the cage during the aquaculture process. This improves the water quality inside the cage.

[0004] However, the above technical solutions have the following problems: 1. Too many actuators, including robotic arms, drive devices, and active adjustment devices, will reduce the reliability of the robot, complicate operation and maintenance, increase manufacturing costs, and require additional system energy to adjust the robot's center of gravity. Second, removing the attached substances from the surface of the mesh using a robotic arm is inefficient and incurs high costs in terms of manpower, resources, and time. Third, when using tracked drive, it has poor obstacle crossing ability and is not flexible when facing truss-type cages, and it is easy to have blind spots for cleaning. Fourth, using friction to remove adhering substances from the mesh can easily damage the mesh itself. Summary of the Invention

[0005] To address the problems existing in the prior art, the present invention aims to provide an underwater robot, the specific technical solution of which is as follows: An underwater robot, comprising: A multi-directional attitude self-stabilizing structural framework; A cavitation jet system, wherein the cavitation jet system is installed within the structural frame; A center of gravity adjustment device includes a center of gravity adjustment pipe and a rolling medium. The center of gravity adjustment device is connected to the structural frame. The rolling medium is disposed inside the center of gravity adjustment pipe. The center of gravity adjustment pipe has a component in at least one of the width, length and height directions of the underwater robot. The rolling medium can move inside the center of gravity adjustment pipe under the action of gravity, thereby changing the center of gravity position of the underwater robot.

[0006] In some embodiments, the center of gravity adjustment conduit includes a first center of gravity adjustment conduit and a second center of gravity adjustment conduit, the first center of gravity adjustment conduit and the second center of gravity adjustment conduit having components in two directions respectively, and the included angle between the first center of gravity adjustment conduit and the second center of gravity adjustment conduit being 0°-180°.

[0007] In some embodiments, the first center of gravity adjustment pipe is disposed in the width direction of the underwater robot, and the second center of gravity adjustment pipe is disposed in the height direction of the underwater robot, with the first center of gravity adjustment pipe and the second center of gravity adjustment pipe being disposed perpendicularly.

[0008] In some embodiments, the second center-of-gravity adjustment conduit is located on the central axis of the structural frame in the height direction of the underwater robot.

[0009] In some embodiments, the cavitation jet system includes a rotating cleaning disc assembly, which includes a rotary joint connected to the structural frame via a joint support arm. The joint support arm has a first slot, and the rotary joint is capable of moving up and down along the height direction of the underwater robot within the first slot.

[0010] In some embodiments, the rotary joint is fitted with a first locking member and a second locking member, and the joint support arm is disposed between the first locking member and the second locking member.

[0011] In some embodiments, the rotary cleaning disc assembly is provided in at least three sets, and each set of the rotary cleaning disc assembly is provided with a shaped tube connector. Adjacent rotary cleaning disc assemblies are connected to the corresponding shaped tube connectors through hoses to obtain cleaning water.

[0012] In some embodiments, the tube fitting includes a connecting joint, a water inlet joint, and an installation joint. The water inlet joint is connected to a first set of rotating cleaning disc assemblies, the installation joint is connected to an end set of rotating cleaning disc assemblies, and other sets of rotating cleaning disc assemblies are connected to the connecting joint. Each of the connecting joints is connected to the other via a flexible hose. The water inlet joint is connected to the connecting joint via the flexible hose, and the connecting joint is connected to the installation joint via the flexible hose.

[0013] In some embodiments, a power system is also included, which comprises a plurality of horizontal thrusters, each of which is disposed on a horizontal plane near the center of gravity of the underwater robot, and the axial direction of each horizontal thruster is perpendicular to the line connecting the center of gravity of the underwater robot to the center of gravity of the horizontal thruster.

[0014] In some embodiments, the propulsion system includes a tilting thruster whose axial direction is perpendicular to the line connecting the center of gravity of the underwater robot to the center of gravity of the tilting thruster.

[0015] Compared with existing technologies, the underwater robot of this invention has the following advantages: By setting a multi-directional attitude self-stabilizing structural frame, the underwater robot can maintain a relatively stable attitude in multiple directions. By setting a cavitation jet system, high-energy micro-jet generated by cavitation effect is used to impact the attachments on the surface of aquaculture net cages, such as algae and shellfish. Compared with traditional cleaning methods, cavitation jets have stronger impact and penetrating power, can more effectively remove stubborn attachments, greatly improve cleaning efficiency, shorten cleaning time, and cause almost no damage to the net itself. By setting a center of gravity adjustment device, which includes a center of gravity adjustment pipe and a rolling medium, the rolling medium can be made to roll spontaneously in the pipe under the action of gravity, thereby changing the center of gravity position of the underwater robot. By reasonably adjusting the center of gravity and under the action of the power system, the underwater robot can move, turn, and hover more flexibly in the water, enabling the underwater robot to complete cleaning tasks more efficiently and avoiding dead zones or repetitive work caused by insufficient maneuverability. The center-of-gravity adjustment device enables the underwater robot to achieve a stable center-of-gravity height. When the underwater robot is subjected to external disturbances such as water flow impacts or collisions, the stable center-of-gravity height allows the underwater robot to quickly regain its balance, reducing the impact of disturbances on robot operations and improving the stability and reliability of the underwater robot in complex environments. The underwater robot of this invention can automatically adjust its center-of-gravity position as needed, enabling it to automatically maintain a horizontal or vertical posture without consuming additional system energy. Furthermore, its simple structure and low cost effectively save costs. Attached Figure Description

[0016] The invention can be further understood from the following description taken in conjunction with the accompanying drawings, in which the components are not necessarily drawn to scale, but rather the emphasis is on illustrating the principles of the embodiments. In different views, the same reference numerals designate corresponding parts.

[0017] Figure 1 This is a schematic diagram of the overall structure of the underwater robot according to one embodiment of the present invention from one angle; Figure 2 This is a schematic diagram of the overall structure of the underwater robot according to another embodiment of the present invention from another angle; Figure 3 This is a schematic diagram of the outer frame at one angle according to an embodiment of the present invention; Figure 4 This is a structural schematic diagram of the outer frame from another angle according to one embodiment of the present invention; Figure 5 This is a schematic diagram of the internal frame structure according to an embodiment of the present invention; Figure 6 for Figure 5 Enlarged structural diagram at point A in the middle; Figure 7 for Figure 5 Enlarged structural diagram at point B; Figure 8 This is a schematic diagram of the connection structure between each support arm and the structural frame in the power system according to an embodiment of the present invention. Figure 9 This is a schematic diagram of the connection structure between the power system and the structural frame according to one embodiment of the present invention; Figure 10 This is a schematic diagram of the cavitation jet system according to one embodiment of the present invention; Figure 11 This is a schematic diagram of the structure of the rotary cleaning disc assembly according to one embodiment of the present invention; Figure 12 This is a partially exploded structural diagram of the rotary cleaning disc assembly according to one embodiment of the present invention; Figure 13 This is a schematic diagram of the structure of a side-view camera assembly according to an embodiment of the present invention; Figure 14 This is a schematic diagram of the structure of a rear-view camera assembly according to an embodiment of the present invention; Figure 15 This is a schematic diagram of the power supply and communication system according to an embodiment of the present invention; Figure 16 This is a schematic diagram of the connection between the power supply and communication system and the inner frame according to an embodiment of the present invention; Figure 17 This is a schematic diagram of the center of gravity adjustment device according to an embodiment of the present invention; Figure 18 This is a schematic diagram of the connection structure between the center of gravity adjustment device and the structural frame according to an embodiment of the present invention; Figure 19 for Figure 18 Enlarged structural diagram at point C; Figure 20 for Figure 18 Enlarged structural diagram at point D; Figure 21 This is a schematic diagram of the protective netting system according to one embodiment of the present invention.

[0018] Explanation of reference numerals in the attached figures: 100. Underwater robot; 1. Structural frame; 11. Outer frame; 111. Top buoyancy tube; 112. Bottom buoyancy tube; 113. First vertical buoyancy tube; 114. Second vertical buoyancy tube; 1101. First mounting plate; 1102. Second mounting plate; 1103. Third mounting plate; 1104. Fourth mounting plate; 1105. Fifth mounting plate; 1106. Sixth mounting plate; 1107. Seventh mounting plate; 1108. Eighth mounting plate; 1109. Ninth mounting plate; 1110. Tenth mounting plate; 12. Inner frame; 121. Longitudinal... Beam; 1211, First mating through hole; 1212, Second mating through hole; 122, First mounting bracket; 123, First base; 124, Second mounting bracket; 1241, Second slot; 125, Second base; 126, Third mounting bracket; 127, Fourth mounting bracket; 1271, Third slot; 128, Fifth mounting bracket; 129, Pipe clamp; 2, Power system; 21, Horizontal thruster; 22, Vertical thruster; 23, Inclined thruster; 24, Horizontal thruster support arm; 25, Vertical thruster support arm; 26, Inclined thruster support arm 3. Cavitation jet system; 31. Rotary cleaning disc assembly; 311. Rotary joint; 312. Rigid pipe; 313. Nozzle base; 314. Nozzle; 315. Cleaning disc guard plate; 3151. Water nozzle; 316. Joint support arm; 3161. First slot; 317. First locking element; 318. Second locking element; 32. Hose; 33. Connecting joint; 34. Water inlet joint; 35. Mounting joint; 4. Environmental sensing system; 41. Hydraulic transmitter; 42. Forward-looking camera; 43. Side-looking camera assembly; 431. Side-looking camera; 432. 433. Side-view lights; 434. Support plate; 435. Corner bracket; 436. Side-view clamp; 447. Rear-view camera assembly; 448. Rear-view camera; 449. Rear-view lights; 440. Rear-view base; 5. Power supply and communication system; 51. Electronic compartment; 52. Optoelectronic separation box; 6. Center of gravity adjustment device; 61. First center of gravity adjustment pipe; 62. Second center of gravity adjustment pipe; 63. First docking seat; 64. Second docking seat; 65. Third docking seat; 7. Protective net system; 71. Protective net base plate; 711. Water permeable hole; 712. Receiving hole; 72. Protective net side plate. Detailed Implementation

[0019] The present invention will now be described in further detail with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0020] In the description of this invention, unless otherwise expressly specified and limited, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance; unless otherwise specified or stated, the term "multiple" refers to two or more; the terms "connected," "fixed," etc., should be interpreted broadly. For example, "connected" can be a fixed connection, a detachable connection, an integral connection, or a link; it can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0021] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "fixation," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between the components; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0022] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0023] like Figure 1 As shown, this embodiment provides an underwater robot that can be used to clean aquaculture cages. It includes a multi-directional attitude self-stabilizing structural frame 1, a power system 2, a cavitation jet system 3, an environmental sensing system 4, a power supply and communication system 5, a center of gravity adjustment device 6, and a protective net system 7. The underwater robot 100 is roughly rectangular in shape, which is more stable and easier to control than a cylinder. Different shapes can be designed according to specific application scenarios. The shape of the underwater robot 100 is roughly determined by its structural frame 1.

[0024] To better explain the various components of the underwater robot 100, such as Figure 1A three-dimensional Cartesian coordinate system with XYZ axes is established as shown. When the underwater robot 100 is in a horizontal posture, the X-axis represents the longitudinal direction, which is also the width direction (front-to-back direction) of the underwater robot 100. The positive X-axis direction is the front of the underwater robot 100, and the negative X-axis direction is the rear of the underwater robot 100. The Y-axis represents the transverse direction, which is also the length direction (left-to-right direction) of the underwater robot 100. The positive Y-axis direction is the right side of the underwater robot 100, and the negative Y-axis direction is the left side of the underwater robot 100. The Z-axis represents the vertical direction, which is also the height direction (up-down direction) of the underwater robot 100. The positive Z-axis direction is the top of the underwater robot 100, and the negative Z-axis direction is the bottom of the underwater robot 100. The direction of the swing about the X-axis passing through the center of gravity of the underwater robot 100 is the roll direction A, the direction of the swing about the Y-axis passing through the center of gravity of the underwater robot 100 is the pitch direction B, and the direction of the swing about the Z-axis passing through the center of gravity of the underwater robot 100 is the yaw direction C. The XZ plane passing through the center of gravity of the underwater robot 100 is called the mid-vertical plane D, the YZ plane passing through the center of gravity of the underwater robot 100 is called the mid-lateral plane E, and the XY plane passing through the center of gravity of the underwater robot 100 is called the mid-vertical plane F.

[0025] like Figures 1-2As shown, the multi-directional attitude self-stabilizing structural frame 1 includes an outer frame 11 and an inner frame 12. The outer frame 11 is used to maintain the overall shape of the underwater robot 100, provide buoyancy for the underwater robot 100, and protect the internal components. The outer frame 11 includes a top buoyancy tube 111, a bottom buoyancy tube 112, a first vertical buoyancy tube 113, and a second vertical buoyancy tube 114. The top buoyancy tube 111, bottom buoyancy tube 112, first vertical buoyancy tube 113, and second vertical buoyancy tube 114 are watertight structures. When the underwater robot 100 is placed in water, the air inside the tubes provides buoyancy for the underwater robot 100, providing it with self-buoyancy without energy consumption. When the underwater robot 100 loses power in the water due to an occasional malfunction or when the underwater robot 100 finishes its work and is powered off, the underwater robot 100 can automatically float to the surface for easy detection and recovery. In this embodiment, both the top buoyancy tube 111 and the bottom buoyancy tube 112 are enclosed hollow tubes forming a roughly rectangular tubular frame. Their corners can be rounded to prevent damage to the netting during use. Since the underwater robot 100 needs to be able to flexibly adjust its posture underwater to adapt to the different inclinations of the netting surface and achieve proper contact between the lower surface of the underwater robot 100 and the surface of the netting, the structural frame 1 adopts a lightweight design approach, selecting stainless steel tubes for most of the frame material to ensure strength while reducing the overall structural weight. Preferably, the top buoyancy tube 111 and the bottom buoyancy tube 112 are made of enclosed aluminum tubes, which ensure structural strength while providing underwater buoyancy. The top buoyancy tube 111 and the bottom buoyancy tube 112 are arranged opposite each other in the vertical direction (Z-axis direction) and are spaced apart. The top buoyancy tube 111 and the bottom buoyancy tube 112 are connected by a first vertical buoyancy tube 113 and a second vertical buoyancy tube 114. The top buoyancy tube 111 and the bottom buoyancy tube 112 are respectively arranged perpendicular to the first vertical buoyancy tube 113 and the second vertical buoyancy tube 114. The first vertical buoyancy tube 113 and the second vertical buoyancy tube 114 are also hollow aluminum tubes. The first vertical buoyancy tube 113 is connected to two tubes in the length direction (Y-axis direction) of the top buoyancy tube 111 and the bottom buoyancy tube 112. Two first vertical buoyancy tubes 113 are connected to one tube. Both first vertical buoyancy tubes 113 are parallel to the central vertical plane E (YZ plane). The second vertical buoyancy tube 114 is connected to the top buoyancy tube 111 and the bottom buoyancy tube 112 on two pipes in the width direction (X-axis direction). Two second vertical buoyancy tubes 114 are connected to one pipe, and both second vertical buoyancy tubes 114 are parallel to the mid-vertical plane D (XZ plane). The first vertical buoyancy tube 113 and the second vertical buoyancy tube 114 can be welded to the top buoyancy tube 111 and the bottom buoyancy tube 112.

[0026] like Figure 2 , Figure 3 , Figure 4As shown, the outer frame 11 also includes mounting plates for docking with other components. Specifically, a first mounting plate 1101 is provided at the inner center of the top buoyancy tube 111. The first mounting plate 1101 is disposed on one of the tubes of the top buoyancy tube 111 in the width direction (X-axis direction) and is parallel to the vertical plane D (XZ plane). A second mounting plate 1102 is provided on the inner side of the top buoyancy tube 111. The second mounting plate 1102 is disposed on another tube of the top buoyancy tube 111 in the width direction (X-axis direction) (i.e., the second mounting plate 1102 is disposed opposite to the first mounting plate 1101). There are two second mounting plates 1102, and both second mounting plates 1102 are parallel to the vertical plane D (XZ plane).

[0027] like Figure 3 , Figure 4 As shown, a third mounting plate 1103 is provided on the inner side of the bottom buoyancy tube 112. Four third mounting plates 1103 are provided on the inner side of the bottom buoyancy tube 112. The four third mounting plates 1103 are respectively located at the midpoint of the two tubes in the width direction (X-axis direction) and the two tubes in the length direction (Y-axis direction) of the bottom buoyancy tube 112. The two third mounting plates 1103 located in the width direction (X-axis direction) are parallel to the perpendicular plane D (XZ plane), and the two third mounting plates 1103 located in the length direction (Y-axis direction) are parallel to the perpendicular plane E (YZ plane). A fourth mounting plate 1104 is provided on the inner side of the bottom buoyancy tube 112. The fourth mounting plate 1104 is located on the two tubes in the width direction (X-axis direction) and the two tubes in the length direction (Y-axis direction) of the bottom buoyancy tube 112. Two fourth mounting plates 1104 are connected to one tube. A fifth mounting plate 1105 is provided on the outer side of the bottom buoyancy tube 112. The fifth mounting plate 1105 is provided on two tubes in the width direction (X-axis direction) and two tubes in the length direction (Y-axis direction) of the bottom buoyancy tube 112, and two fifth mounting plates 1105 are connected on one tube.

[0028] like Figure 3 , Figure 4 As shown, a sixth mounting plate 1106 is provided on the inner side of each of the first vertical buoyancy tubes 113, and the sixth mounting plate 1106 is parallel to the central vertical plane F (XY plane); a seventh mounting plate 1107 is provided on each of the first vertical buoyancy tubes 113 above the sixth mounting plate 1106 (i.e., in the direction close to the top buoyancy tube 111), and the seventh mounting plate 1107 is parallel to the central vertical plane F (XY plane); an eighth mounting plate 1108 is provided on each of the two first vertical buoyancy tubes 113 located below the second mounting plate 1102, and the two eighth mounting plates 1108 are respectively provided on the opposite side of the two first vertical buoyancy tubes 113, and both eighth mounting plates 1108 are parallel to the central vertical plane E (YZ plane).

[0029] like Figure 3 , Figure 4 As shown, a ninth mounting plate 1109 is provided on the inner side of the two second vertical buoyancy tubes 114 near the eighth mounting plate 1108. In the Y-axis direction, the end of the ninth mounting plate 1109 away from the second vertical buoyancy tubes 114 is inclined towards the eighth mounting plate 1108. A tenth mounting plate 1110 is provided on the inner side of the two second vertical buoyancy tubes 114 near the eighth mounting plate 1108. The tenth mounting plate 1110 is located below the ninth mounting plate 1109 (i.e., near the bottom buoyancy tube 112). The tenth mounting plate 1110 has an arc-shaped groove.

[0030] In this embodiment, the mounting plates and pipes can be connected by welding to form the outer frame 11. The cross-section of each pipe can be circular, elliptical, square or other irregular shapes.

[0031] like Figure 5 , Figure 6 , Figure 7 As shown, the inner frame 12 is connected within the outer frame 11. The inner frame 12 enhances the overall strength of the underwater robot 100 and provides mounting positions for various other loads. The inner frame 12 includes two longitudinal beams 121, which are arranged parallel to each other in the width direction (X-axis direction). The two longitudinal beams 121 are connected to the sixth mounting plate 1106 by welding, screwing, or snap-fitting. A first mounting bracket 122 is provided at one end of the two longitudinal beams 121 near the first mounting plate 1101. The first mounting bracket 122 is located between the two longitudinal beams 121 and is arranged along the length direction (Y-axis direction). The first mounting bracket 122 is provided with... Each of the two longitudinal beams 121 has a second mounting bracket 124 on one opposite side. The second mounting bracket 124 is positioned along the height direction (Z-axis direction). In the X-axis direction, the second mounting bracket 124 is located on the side of the first mounting bracket 122 away from the first mounting plate 1101. A second base 125 is mounted on the second mounting bracket 124, and the second base 125 is arc-shaped. Each of the two longitudinal beams 121 has a third mounting bracket 126 on one opposite side. The third mounting bracket 126 is parallel to the vertical plane F (XY plane). In the X-axis direction, the third mounting bracket 126 is located on the side of the second mounting bracket 124 away from the first mounting bracket 122. Each of the two longitudinal beams 121 has a fourth mounting bracket 127, which is located on the side of the third mounting bracket 126 away from the second mounting bracket 124. A fifth mounting bracket 128 is provided at one end of the two longitudinal beams 121 away from the first mounting bracket 122. The fifth mounting bracket 128 is located between the two longitudinal beams 121 and is arranged along the length direction (Y-axis direction). A pipe clamp 129 is provided on the fifth mounting bracket 128.

[0032] The inner frame 12 and the outer frame 11 are connected by assembly, meaning the inner frame 12 can be disassembled as a whole relative to the outer frame 11. The inner frame 12 can be assembled into the outer frame 11 from top to bottom. When assembled, the two ends of the longitudinal beam 121 abut against the top of the sixth mounting plate 1106. The purpose of this design is that when the underwater robot 100 is disassembled as a whole, the inner frame 12 can be completely removed from the outer frame 11 upwards (including the components connected to the inner frame 12), improving the convenience of maintenance of the underwater robot 100. Most of the components of the inner frame 12 are processed from national standard profiles, reducing the manufacturing cost of the underwater robot 100, improving its economic efficiency, and facilitating industrialization.

[0033] like Figure 8 , Figure 9As shown, the power system 2 includes seven thrusters: four horizontal thrusters 21 arranged in a vector configuration, two vertical thrusters 22, and one tilting thruster 23. The four horizontal thrusters 21 are positioned on a horizontal plane near the center of gravity of the underwater robot 100, with each thruster 21 at a certain angle to the others, forming a vector arrangement. The axis of each horizontal thruster 21 is perpendicular to the line connecting the center of gravity of the underwater robot 100 to the center of gravity of the thruster, maximizing the thrust torque provided by each thruster to the underwater robot 100. This increases the flexibility of the underwater robot 100 in its three degrees of freedom of movement in the horizontal direction (forward and backward along the Y-axis (length direction), left and right along the X-axis (width direction), and pitching direction C) and enhances its stability under environmental disturbances. This makes the underwater robot 100 flexible and controllable. Four horizontal thrusters 21 are mounted on the horizontal thruster support arms 24 via hose clamps, or by snap-fit ​​connection. The horizontal thruster support arms 24 are connected to the seventh mounting plate 1107, which can be achieved by welding, screwing, or snap-fit ​​connection. The four horizontal thrusters 21 are symmetrical about each other along the Y-axis (length direction), along the X-axis (width direction), and about the plane center of the horizontal plane where the horizontal thrusters 21 are located. Two vertical thrusters 22 are symmetrically arranged on the left and right sides (positive and negative X-axis directions) behind the underwater robot 100 (negative Y-axis direction), providing the underwater robot 100 with buoyancy, descent potential, and downward pressure from the cavitation jet system 3 on the net when performing cleaning operations. The two vertical thrusters 22 are far from the center of gravity of the underwater robot 100, so that the torque provided by each vertical thruster 22 reaches its maximum value, enabling the underwater robot 100 to have flexible vertical (Z-axis direction) and yaw (A) movement capabilities, and the ability to resist external interference in the vertical (Z-axis direction) and yaw (A) directions. Two vertical thrusters 22 are respectively mounted on the vertical thruster support arms 25 via hose clamps, or they can be connected by snap-fit. The two vertical thruster support arms 25 are connected to the ninth mounting plate 1109 by welding, screwing, or snap-fit. A tilt thruster 23 is tilted and positioned on the upper side of the front (positive Y-axis direction) of the underwater robot 100, providing the underwater robot 100 with pitch capability and the ability to resist external interference in the pitch direction B. Its axis is perpendicular to the line connecting the center of gravity of the underwater robot 100 to the center of gravity of the tilt thruster 23, so that the thrust torque provided by the tilt thruster 23 to the underwater robot 100 reaches the maximum value, increasing the flexibility of the underwater robot 100 in pitch movement and its ability to resist external interference in the pitch direction B. In the X-axis direction, through calculation and measurement, the pitching moment generated by the vertical component of the tilt thruster 23 is kept in balance with the pitching moment generated by the two vertical thrusters 22, so that when the tilt thruster 23 and the two vertical thrusters 22 work simultaneously, the underwater robot 100 can maintain the balance of pitching moment, preventing the underwater robot 100 from exhibiting incorrect postures such as nose-down or nose-up during the ascent and descent process or when performing cleaning operations.The tilting thruster 23 is mounted on the tilting thruster support arm 26 via a hose clamp, or it can be connected by a snap-fit ​​connection. The tilting thruster support arm 26 is connected to the first mounting plate 1101, which can be done by welding, screwing, or snap-fit ​​connection.

[0034] In this embodiment, the power system 2, consisting of seven thrusters, enables the underwater robot 100 to achieve 360° omnidirectional movement and 360° omnidirectional anti-interference capability, ensuring the underwater robot 100's movement flexibility and attitude stability. Through reasonable thruster placement, the thruster effect is maximized, reducing costs and increasing efficiency. Each thruster provides maximum torque to the underwater robot 100, ensuring its movement flexibility and attitude stability, and improving its anti-interference capability. Furthermore, in other embodiments, the number and position of the thrusters can be configured differently according to different needs.

[0035] like Figure 10As shown, the cavitation jet system 3 is located in the center below the underwater robot 100 (in the negative direction of the Z-axis). It is the core system when the underwater robot 100 performs underwater cleaning operations. The cavitation jet system 3 includes at least three sets of rotating cleaning disc assemblies 31, a type of pipe joint and a hose 32. The hose 32 is connected through the type of pipe joint, thereby supplying high-pressure water to the rotating cleaning disc assembly 31. In this embodiment, four sets of rotating cleaning disc assemblies 31 are provided, and the four sets of rotating cleaning disc assemblies 31 are arranged in a diamond shape. That is, in the X-axis direction, two sets of rotating cleaning disc assemblies 31 are arranged on the X-axis centerline of the outer frame 11, and in the Y-axis direction, two sets of rotating cleaning disc assemblies 31 are arranged on the Y-axis centerline of the outer frame 11. Optionally, the number and positional relationship of the rotating cleaning disc assemblies 31 can be set differently according to different needs. The pipe fitting includes a connecting connector 33, a water inlet connector 34, and an installation connector 35. The connecting connector 33 is used to connect adjacent rotating cleaning disc assemblies 31 in series. The water inlet connector 34 is used to connect to an external high-pressure water source. The installation connector 35 is connected to the hydraulic transmitter 41. The water inlet connector 34 is first connected to the first set of rotating cleaning disc assemblies 31, and then the second and third sets of rotating cleaning disc assemblies 31 are respectively connected to the connecting connector 33. The installation connector 35 is connected to the fourth set of rotating cleaning disc assemblies 31. In other words, except for the first group which is directly connected to the inlet connector 34, the second and third groups are connected in series in the high-pressure water supply path via connectors 33, while the fourth group, as the end, is connected to the overall system via mounting connector 35, which also facilitates the installation of the hydraulic transmitter 41 to monitor and control relevant parameters. In this embodiment, the first and third groups of rotary cleaning disc assemblies 31 are located in the X-axis direction, and the second and fourth groups of rotary cleaning disc assemblies 31 are located in the Y-axis direction. The inlet connector 34 on the first group of rotary cleaning disc assemblies 31 is connected to the connector 33 on the second group of rotary cleaning disc assemblies 31 via a hose 32, the connector 33 on the second group of rotary cleaning disc assemblies 31 is connected to the connector 33 on the third group of rotary cleaning disc assemblies 31 via another hose 32, and the connector 33 on the third group of rotary cleaning disc assemblies 31 is connected to the mounting connector 35 on the fourth group of rotary cleaning disc assemblies 31 via yet another hose 32. During operation, high-pressure water enters through the inlet connector 34 and sequentially passes through each hose 32 to provide high-pressure water to each rotating cleaning disc assembly 31. Finally, the high-pressure water provides pressure to the hydraulic transmitter 41 through the mounting connector 35, allowing it to measure the high-pressure water pressure during operation to help determine the working status of the cavitation jet system 3. The cavitation jet system 3 uses an asymmetrical number of hoses 32 to achieve a design where the center of gravity and center of buoyancy are not centered in the left-right (X-axis direction) and front-back (Y-axis direction) directions. After the underwater robot 100 is fully assembled, if the center of gravity and center of buoyancy are not in the designated positions as required by the design, the position or number of hoses 32 within the cavitation jet system 3 can be adjusted to achieve fine-tuning of the overall center of buoyancy and center of gravity of the underwater robot 100.For example, the mounting connector 35 can be replaced with a three-dimensional four-way connector, which has four interfaces. In this case, the three-dimensional four-way connector is connected to the water inlet connector 34 through the hose 32. One of the remaining interfaces is connected to the connecting connector 33 on the third set of rotating cleaning disc assembly, and the other is connected to the fourth set of rotating cleaning disc assembly 31. The remaining interfaces of the three-dimensional four-way connector are connected to the external high-pressure water source. At this time, there are four hoses 32, which can realize the fine adjustment of the overall buoyancy center and center of gravity of the underwater robot 100.

[0036] like Figures 11-12As shown, the rotating cleaning disc assembly 31 includes a rotary joint 311, a rigid tube 312, a nozzle base 313, a nozzle 314, and a cleaning disc guard plate 315. The outer surface of the cleaning disc guard plate 315 can be flattened to reduce friction damage to the mesh during rotation. The rotary joint 311 is located at the center of the cleaning disc guard plate 315. Three interfaces branch off from one end of the rotary joint 311 near the cleaning disc guard plate 315. Each interface is connected to a rigid tube 312. Each rigid tube 312 extends along the radius of the cleaning disc guard plate 315 to a position near the outer circumferential wall of the cleaning disc guard plate 315. The end of each rigid tube 312 away from the interface is connected to the nozzle base 313. The nozzle base 313 is fixedly connected to the cleaning disc guard plate 315. The nozzle 314 is mounted on the nozzle base 313. A water nozzle 3151 is provided on the bottom surface of the cleaning disc guard plate 315. The nozzle 314 is aligned with the water nozzle 3151, and the high-pressure liquid ejected from the nozzle 314 is sprayed out from the water nozzle 3151 to clean the mesh. The nozzle 314 and the bottom surface of the cleaning disc guard plate 315 have a certain tilt angle, which can be greater than 0° and less than 90°, for example, 30°, 45°, 60°, etc. The rotating cleaning disc assembly 31 obtains high-pressure water from the hose 32 in the cavitation jet system 3. The high-pressure water passes sequentially through the rotary joint 311, the rigid pipe 312, and the nozzle base 313, and is then sprayed out from the nozzle 314. Because the nozzle 314 is installed at an angle, the horizontal component of the reaction force generated when it sprays high-pressure water drives the rotary joint 311 to rotate, which in turn drives the rotary cleaning disc assembly 31 to rotate, resulting in a larger cleaning range. The cleaning surface sprayed by the nozzle 314 is annular, and combined with the movement of the underwater robot 100, the cleaning operation coverage of the underwater robot 100 is a continuous plane without gaps. In this embodiment, the nozzles 314 are set in the same tilt direction, that is, the horizontal component of the reaction force of the three nozzles 314 all cause the rotary cleaning disc assembly 31 to rotate in the same direction. The rotary joint 311 is connected to the third mounting plate 1103 through the joint support arm 316, which can be screwed or snap-fit ​​connected. The rotary joint 311 extends in the positive Z-axis direction and is fitted with a first locking member 317 and a second locking member 318. The first locking member 317 and the second locking member 318 are movably connected to the rotary joint 311. Preferably, the first locking member 317 and the second locking member 318 are connected to the rotary joint 311 by threads.The connector support arm 316 is provided with a first slot 3161 that passes through the connector support arm 316 along the Z-axis direction. The rotary connector 311 passes through the first slot 3161 and slides with the connector support arm 316 in the Z-axis direction. The connector support arm 316 is located between the first locking member 317 and the second locking member 318. By adjusting the position of the first locking member 317 and the second locking member 318, the connector support arm 316 can be adjusted vertically (in the Z-axis direction), thereby driving the cavitation jet system 3 to adjust vertically, thereby adjusting the distance (cleaning target distance) between the nozzle 314 and the net, so as to adapt to the cleaning operation of nets with different degrees of dirt and different materials, improve the applicability of the underwater robot 100, and can clean most nets, and can also be extended to the cleaning of the underwater surface of the hull.

[0037] like Figure 1 , Figure 10 , Figure 13 , Figure 14As shown, the environmental perception system 4 has pressure sensing and underwater visual sensing functions, including a hydraulic transmitter 41, a forward-looking camera 42, a side-looking camera assembly 43, and a rear-looking camera assembly 44. The hydraulic transmitter 41 is installed on the mounting connector 35 in the cavitation jet system 3. When the underwater robot 100 is operating, the high-pressure water in the hose 32 transmits pressure to the hydraulic transmitter 41. The hydraulic transmitter 41 feeds back the measured real-time pressure value of the high-pressure water to the operator to determine the operating status of the cavitation jet system 3. The forward-looking camera 42 is installed on the first base 123 to observe the area in front of the underwater robot 100, enabling the operator to observe the underwater environment and the quality of the operation. The side-view camera assembly 43 includes a side-view camera 431, a side-view light 432, a support plate 433, a corner bracket 434, and a side-view clamp 435. The support plate 433 is connected to the tenth mounting plate 1110 by welding, screwing, or snap-fit. The corner bracket 434 is connected to the support plate 433, and the side-view clamp 435 is connected to the corner bracket 434. The side-view camera 431 and the side-view light 432 are respectively mounted on the side-view clamp 435 and are detachably connected to the side-view clamp 435 by cable ties / straps or snap-fit. By adjusting the mounting angles of the side-view clamp 435, the corner bracket 434, and the support plate 433, the side-view camera 431 and the side-view light 432 can be adjusted to six degrees of freedom (X-axis, Y-axis, Z-axis, roll A, pitch B, and yaw C). The rear-view camera assembly 44 includes a rear-view camera 441, a rear-view light 442, and a rear-view base 443. The rear-view base 443 is connected to the second mounting plate 1102, which can be achieved by welding, screwing, or snap-fitting. The rear-view camera 441 and the rear-view light 442 are respectively mounted on the rear-view base 443, which can be connected by cable ties / straps or snap-fitting. By adjusting the mounting angle of the rear-view base 443, the rear-view camera 441 and the rear-view light 442 can be adjusted in three degrees of freedom (Y-axis direction, X-axis direction, and pitch C). In this embodiment, the environmental perception system 4 can be flexibly adjusted according to the needs of the work site to obtain the optimal viewing angle.

[0038] like Figures 15-16As shown, the power supply and communication system 5 includes an electronic compartment 51 and an optoelectronic separation box 52. Both the electronic compartment 51 and the optoelectronic separation box 52 are watertight structures. Optoelectronic composite cables (not shown) and watertight cables (not shown) are connected via cable connectors installed on them, fulfilling the power supply, communication, control, and monitoring requirements of the underwater robot 100. The electronic compartment 51 is mounted on the second base 125 and can be connected by cable ties / straps or by snap-fit. The second mounting frame 124 has a second slot 1241 extending through it along the Y-axis. The longitudinal beam 121 has multiple first mating through holes 1211 corresponding to the second slot 1241. Locking devices (such as bolts) are inserted into the second slot 1241 and the corresponding first mating through holes 1211 to adjust the position of the electronic compartment 51 in both the forward / backward (X-axis) and up / down (Y-axis) directions. On-site adjustments can be made as needed, increasing the adaptability of the underwater robot 100. The photoelectric separation box 52 is mounted on the fourth mounting bracket 127 and can be connected by welding, screwing, or snap-fit. The fourth mounting bracket 127 is provided with a third slot 1271 that runs through the fourth mounting bracket 127 along the Y-axis. The longitudinal beam 121 is provided with a plurality of second mating through holes 1212 corresponding to the third slot 1271. The locking parts (such as bolts) enter the second slot 1241 and the corresponding first mating through holes 1211 to realize the position adjustment of the photoelectric separation box 52 in two degrees of freedom: front-back (X-axis direction) and up-down (Y-axis direction).

[0039] like Figures 17-20As shown, in the width (X-axis), length (Y-axis), and height (Z-axis) directions of the underwater robot 100, the center of gravity adjustment device 6 has a component in at least one of these directions. The center of gravity adjustment devices 6 in the two directions can be perpendicular to each other or at any tilt angle. For this embodiment, it should be explained that, for example, a pipe tilting from the negative X-axis and negative Z-axis directions towards the positive X-axis and positive Z-axis directions means it has a component in both the X-axis and Z-axis directions. Conversely, a pipe extending only from the negative Z-axis direction towards the positive Z-axis direction has zero components in the X-axis and Y-axis directions, and only a component in the Z-axis direction. The center of gravity adjustment device 6 in this embodiment includes a first center of gravity adjustment pipe 61, a second center of gravity adjustment pipe 62, and a rolling medium (not shown in the figure). The included angle between the first center of gravity adjustment pipe 61 and the second center of gravity adjustment pipe 62 is 0°-180°. In this embodiment, both the first center of gravity adjustment pipe 61 and the second center of gravity adjustment pipe 62 are enclosed by a closed hollow tube to form a roughly L-shaped tubular structure. The corners can be rounded. Alternatively, the first center of gravity adjustment pipe 61 and the second center of gravity adjustment pipe 62 can be enclosed to form a roughly V-shaped tubular structure. The definition of V-shape can be understood by giving a few examples. For example, a pipe that slopes from the negative X-axis and negative Z-axis directions to the positive X-axis and positive Z-axis directions can be called V-shaped. A pipe that slopes from the negative Y-axis and negative Z-axis directions to the positive Y-axis and positive Z-axis directions can also be called V-shaped. A pipe that slopes from the negative X-axis and negative Y-axis directions to the positive X-axis and positive Y-axis directions can also be called V-shaped. The rolling medium is located inside the first center of gravity regulating pipe 61 and the second center of gravity regulating pipe 62. The rolling medium can be water, oil, steel balls, lead balls, stone balls, copper balls, or other solid-liquid mixtures. In this embodiment, copper balls are preferred.In a preferred embodiment, the center of gravity adjustment device 6 is arranged in the X-axis and Z-axis directions. In the X-axis direction, the first center of gravity adjustment pipe 61 extends behind the underwater robot 100 (in the negative X-axis direction), meaning that the entire component of the first center of gravity adjustment pipe 61 is in the X-axis direction. In the Z-axis direction, the second center of gravity adjustment pipe 62 is arranged perpendicularly to the top buoyancy pipe 111 and extends below the underwater robot 100 (in the negative Z-axis direction), meaning that the entire component of the second center of gravity adjustment pipe 62 is in the Z-axis direction. The first center of gravity adjustment pipe 61 and the second center of gravity adjustment pipe 62 are perpendicular to each other. The setup is as follows: When all the copper beads are located in the second center of gravity adjustment pipe 62, the underwater robot 100 floats horizontally, and the cavitation jet system 3 is located in the negative Z-axis direction to clean the aquaculture cages located in the negative Z-axis direction. When all the copper beads are located in the first center of gravity adjustment pipe 61, the underwater robot 100 flips its bottom 90° to become the side of the underwater robot 100 (i.e., flips in the pitch direction B so that the top buoyancy pipe 111 and the bottom buoyancy pipe 112 become the side of the underwater robot 100), and the cavitation jet system 3 is located in the positive X-axis direction to clean the aquaculture cages located in the positive X-axis direction. A first docking seat 63 is provided at the end of the first center of gravity adjustment pipe 61 away from the second center of gravity adjustment pipe 62. The first docking seat 63 is connected to the eighth mounting plate 1108, which can be connected by welding, screwing, or snap-fit. A second docking seat 64 is provided at the end of the second center of gravity adjustment pipe 62 away from the first center of gravity adjustment pipe 61. The second docking seat 64 is connected to the center of the protective net system 7 by welding, screwing, or snap-fit ​​connection. In this embodiment, the protective net system 7 serves as the bottom of the structural frame 1. In the Z-axis direction, the central axis of the protective net system 7 coincides with the central axis of the structural frame 1. That is, the second center of gravity adjustment pipe 62 is located on the central axis of the structural frame 1 in the Z-axis direction. The rigidity of the center of gravity adjustment device 6 is used to fix the middle position of the protective net base plate 71, preventing deformation and damage to the middle position of the protective net base plate 71 due to impacts, etc., and increasing the environmental adaptability and reliability of the underwater robot 100. It should be noted that the setting position of the center of gravity adjustment device 6 is not limited to the vicinity of the central axis of the entire underwater robot 100. In practical applications, the setting position of the center of gravity adjustment device 6 can be flexibly determined according to various factors such as the specific structure of the underwater robot 100, operational requirements, and the center of gravity adjustment effect. A third docking seat 65 is provided on the side wall of the second center of gravity adjustment pipe 62. The third docking seat 65 is connected to the third mounting bracket 126 by welding, screwing, or snap-fit ​​connection. When the center of gravity adjustment device 6 is not installed, the center of gravity and the center of buoyancy of the underwater robot 100 coincide, and it can perform stable hovering at any angle without power in 360° omnidirectional direction.After installing the center of gravity adjustment device 6, the copper balls inside it roll spontaneously under gravity, and the torque generated becomes an additional supplement to the power system 2. When the underwater robot 100 adjusts its attitude to the target attitude, the power system 2 is turned off. Under the action of the copper balls, the center of gravity position of the underwater robot 100 changes, increasing the vertical (Z-axis) or longitudinal (X-axis) center of gravity height of the underwater robot 100. The underwater robot 100 can achieve horizontal buoyancy or rotate its bottom 90° to become its side without power, adapting to horizontal or vertical nets, which is beneficial for maintaining the stability of the underwater robot 100's working attitude. Alternatively, the existing center of gravity adjustment device 6 can be replaced with a cavity structure welded from multiple tubes in different directions. This cavity structure can also accommodate the rolling medium, and the center of gravity of the underwater robot 100 is adjusted by the rolling of the medium within it, thus achieving a similar function to the original center of gravity adjustment device 6 and meeting the needs of the underwater robot 100 for center of gravity adjustment in different working scenarios.

[0040] This embodiment, by setting up a first center of gravity adjustment pipe 61, a second center of gravity adjustment pipe 62, and a rolling medium, enables the rolling medium to spontaneously roll within the pipes under the action of gravity, thereby changing the center of gravity position of the underwater robot 100. By reasonably adjusting the center of gravity, the underwater robot 100 can move, turn, and hover more flexibly in the water, enabling it to complete cleaning tasks more efficiently and avoiding dead zones or repetitive work caused by insufficient maneuverability. The center of gravity adjustment device 6 provides the underwater robot 100 with a stable center of gravity height. When the underwater robot 100 is subjected to external disturbances such as water flow impact or collision, the stable center of gravity height allows the underwater robot 100 to quickly return to a balanced state, reducing the impact of disturbances on the underwater robot 100's operation and improving the stability and reliability of the underwater robot 100 in complex environments.

[0041] like Figure 21As shown, the protective net system 7 includes a protective net base plate 71 and protective net side plates 72. The protective net side plates 72 are arranged around the outer periphery of the protective net base plate 71 and are tightly connected to the protective net base plate 71. During cleaning operations, the protective net base plate 71 can protect the net from being entangled by the rotating cleaning disc assembly 31, and the protective net side plates 72 can protect the underwater robot 100 from structural damage in the event of accidental collisions during operation. The protective net base plate 71 is connected to the fourth mounting plate 1104 by welding, screwing, or snap-fitting. The protective net side plates 72 are connected to the fifth mounting plate 1105 by welding, screwing, or snap-fitting. The protective net base plate 71 has multiple water-permeable holes 711, which, together with the open frame structure of the underwater robot 100, reduces water resistance during the movement of the underwater robot 100, reduces obstruction to the water discharged by the vertical thruster 22, and increases the movement flexibility of the underwater robot 100. The protective mesh base plate 71 is also provided with a receiving hole 712 for accommodating the rotating cleaning disc assembly 31. The shape of the receiving hole 712 can be set differently according to different needs.

[0042] The process of the underwater robot 100 performing cleaning operations in this embodiment includes: underwater robot 100 entering the water - initial attitude adjustment - diving - approaching the net - adjusting the attitude of underwater robot 100 according to the attitude of the net - activating the cavitation jet system 3 to perform the cleaning process - environmental perception and monitoring - cleaning ends - stopping the cavitation jet system 3 - operating the underwater robot 100 to return to the working mother ship or aquaculture platform - underwater robot 100 maintenance.

[0043] During initial attitude adjustment, after the underwater robot 100 reaches the working position, it adjusts its initial attitude according to the operational requirements. By controlling the seven thrusters of the power system 2, the underwater robot 100 achieves a suitable attitude in the horizontal direction (forward and backward along the Y-axis, left and right along the X-axis, and yaw direction C), the vertical direction (Z-axis), and the roll direction A and pitch direction B, ensuring that the lower surface of the underwater robot 100 is in contact with the surface of the net. During the process of adjusting the attitude of the underwater robot 100 according to the attitude of the net, the center of gravity adjustment device 6 plays a role. After the center of gravity adjustment device 6 is installed, the copper balls inside roll spontaneously under the action of gravity. For example, when it is necessary to increase the vertical (Z-axis) or forward and backward (X-axis) center of gravity height of the underwater robot 100, the center of gravity position of the underwater robot 100 is changed by rolling the copper balls in the first center of gravity adjustment pipe 61 and the second center of gravity adjustment pipe 62. When the underwater robot 100 adjusts to the target posture, the power system 2 is turned off. With the help of the copper beads, the underwater robot 100 can maintain a stable posture even without power, which is beneficial for subsequent cleaning operations. During the cleaning process, the cavitation jet system 3 is activated, and high-pressure water enters through the inlet connector 34, sequentially supplying high-pressure water to each rotating cleaning disc assembly 31 through each hose 32. The high-pressure water is sprayed from the nozzle 314 through the rotary connector 311, rigid pipe 312, and nozzle base 313. Because the nozzle 314 is installed at an angle, the horizontal component of the reaction force generated when it sprays high-pressure water drives the rotary connector 311 to rotate, thereby rotating the rotating cleaning disc assembly 31, resulting in a larger cleaning range. The cleaning surface sprayed by the nozzle 314 is annular. Driven by the power system 2, the underwater robot 100 moves along the preset work path on the netting surface. Combined with the rotation of the rotating cleaning disc assembly 31, the cleaning operation covers a continuous, gapless plane, thoroughly cleaning the netting. During the cleaning process, based on the degree of soiling and material of the netting, the vertical position of the connector support arm 316 in the first slot 3161 of the third mounting plate 1103 is adjusted, thereby driving the cavitation jet system 3 to adjust its vertical position, and thus adjusting the distance between the nozzle 314 and the netting (cleaning target distance) to achieve the best cleaning effect. During environmental perception and monitoring, the hydraulic transmitter 41 measures the high-pressure water pressure in the hose 32 in real time and feeds the pressure value back to the operator. The operator judges the working status of the cavitation jet system 3 based on the pressure value, such as whether the pressure is normal or whether there are any blockages. The front-view camera 42, the side-view camera assembly 43, and the rear-view camera assembly 44 capture underwater environmental images and operation quality images in real time and transmit the images to the operator. By observing the images, the operator understands the surrounding environment of the underwater robot 100, such as the damage to the netting and whether there are any obstacles, while simultaneously monitoring the quality of the cleaning operation, such as whether the netting is clean.Based on environmental perception information, the underwater robot 100's operating parameters and attitude are adjusted in a timely manner to ensure the smooth progress of the cleaning operation. During underwater operations, it may be affected by external factors such as water flow and waves. When affected by external interference, the propeller of the power system 2 and the center of gravity adjustment device 6 work together. The center of gravity adjustment device 6 promptly changes the center of gravity position of the underwater robot 100 by rolling copper balls. When all the copper balls are located in the second center of gravity adjustment pipe 62, the underwater robot 100 floats horizontally. When all the copper balls are located in the first center of gravity adjustment pipe 61, the underwater robot 100 flips its bottom 90° to become its side (i.e., flips in the pitch direction B so that the top buoyancy pipe 111 and the bottom buoyancy pipe 112 become the side of the underwater robot 100).

[0044] The underwater robot 100 of this embodiment can float and overcome obstacles when cleaning truss-type net cages, making it convenient and flexible. When cleaning gravity-type net cages, the dynamic positioning system can control the net-attaching pressure to prevent the underwater robot 100 from getting stuck in the depressions formed by insufficiently tensioned nets. With a separately provided center of gravity adjustment device 6, the center of gravity position of the underwater robot 100 can be adjusted as needed, enabling it to automatically maintain a horizontal or vertical posture without consuming additional system energy. Furthermore, the underwater robot 100 of this embodiment has a reasonable assembly sequence, is easy to maintain, and adopts a structural frame 1 with multi-directional attitude self-stabilization function, achieving an integrated structure and buoyancy solution that is lightweight and miniaturized. The structural frame 1 has strong scalability; the inner frame 12 can support more functional subsystems, such as ultrasonic fish-repelling devices that can be installed later to avoid fish interference during operation.

[0045] The underwater robot 100 in the above embodiment has a reasonable structural design and is easy to use. It can be used in different scenarios (such as cleaning ship hulls), and this structure can also be used in other application areas with similar usage requirements.

[0046] In the above description, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0047] The above descriptions are merely some embodiments of the present invention. Those skilled in the art can make various modifications and improvements without departing from the inventive concept of the present invention, and these all fall within the scope of protection of the present invention.

Claims

1. An underwater robot, characterized in that, include: A multi-directional attitude self-stabilizing structural framework; A cavitation jet system, wherein the cavitation jet system is installed within the structural frame; A center of gravity adjustment device includes a center of gravity adjustment pipe and a rolling medium. The center of gravity adjustment device is connected to the structural frame. The rolling medium is disposed inside the center of gravity adjustment pipe. The center of gravity adjustment pipe has a component in at least one of the width, length and height directions of the underwater robot. The rolling medium can move inside the center of gravity adjustment pipe under the action of gravity, thereby changing the center of gravity position of the underwater robot.

2. The underwater robot according to claim 1, characterized in that, The center of gravity adjustment pipe includes a first center of gravity adjustment pipe and a second center of gravity adjustment pipe. The first center of gravity adjustment pipe and the second center of gravity adjustment pipe have components in two directions respectively, and the included angle between the first center of gravity adjustment pipe and the second center of gravity adjustment pipe is 0°-180°.

3. The underwater robot according to claim 2, characterized in that, The first center of gravity adjustment pipe is located in the width direction of the underwater robot, and the second center of gravity adjustment pipe is located in the height direction of the underwater robot. The first center of gravity adjustment pipe and the second center of gravity adjustment pipe are arranged perpendicularly.

4. The underwater robot according to claim 3, characterized in that, The second center of gravity adjustment pipe is located on the central axis of the structural frame in the height direction of the underwater robot.

5. The underwater robot according to claim 1, characterized in that, The cavitation jet system includes a rotating cleaning disc assembly, which includes a rotating joint. The rotating joint is connected to the structural frame via a joint support arm. The joint support arm has a first slot, and the rotating joint can move up and down along the height direction of the underwater robot within the first slot.

6. The underwater robot according to claim 5, characterized in that, The rotary joint is fitted with a first locking element and a second locking element, and the joint support arm is disposed between the first locking element and the second locking element.

7. The underwater robot according to claim 5, characterized in that, The rotating cleaning disc assembly is provided in at least three sets, and each set of the rotating cleaning disc assembly is provided with a shaped tube connector. Adjacent rotating cleaning disc assemblies are connected to the corresponding shaped tube connector through a hose to obtain cleaning water.

8. The underwater robot according to claim 7, characterized in that, The type of pipe fitting includes a connecting joint, a water inlet joint, and an installation joint. The water inlet joint is connected to the first set of rotating cleaning disc assemblies, the installation joint is connected to the end set of rotating cleaning disc assemblies, and the other sets of rotating cleaning disc assemblies are connected to the connecting joint. Each of the connecting joints is connected to the other by a flexible hose. The water inlet joint is connected to the connecting joint by the flexible hose, and the connecting joint is connected to the installation joint by the flexible hose.

9. The underwater robot according to claim 1, characterized in that, It also includes a power system, which comprises a plurality of horizontal thrusters, each of which is disposed on a horizontal plane close to the center of gravity of the underwater robot, and the axial direction of a single horizontal thruster is perpendicular to the line connecting the center of gravity of the underwater robot to the center of gravity of the horizontal thruster.

10. The underwater robot according to claim 9, characterized in that, The power system includes a tilting thruster, the axis of which is perpendicular to the line connecting the center of gravity of the underwater robot to the center of gravity of the tilting thruster.

Images