Novel combined type underwater hull cleaning robot based on cavitation jet technology and mechanical cleaning technology

Abstract

The utility model provides a novel combined type underwater hull cleaning robot based on a cavitation jet technology and a mechanical cleaning technology. The novel combined type underwater hull cleaning robot specifically comprises a control module, a motion module, a rolling shaft type cleaning module, an observation module, a cavitation jet module and a driving module. The robot adopts a tracked vehicle body type structure, wherein a roller type cleaning module consists of a roller type cleaning device and a dry ice spraying device; the cavitation jet module is composed of a cavitation jet pipe and other components. The motion module is composed of a permanent magnet adsorption device, a rubber track and other components which are fixed to the supporting and driving component. The three modules are installed outside the robot and cooperate with each other to carry out cleaning work. The control module and the driving module are installed in the robot to provide power and energy. The observation module is installed on the top of the robot for auxiliary work. The robot integrates low damage, low maintenance cost, high environmental protection performance and multiple functions, the ship body cleaning efficiency is greatly improved, and a new thought is provided for ocean ship cleaning.

Description

Technical Field

[0001] The utility model belongs to the field of marine ships, and specifically relates to a novel composite underwater hull cleaning robot based on cavitation jet technology and mechanical cleaning technology. Background Art

[0002] After a long period of operation in the ocean, ships will face problems such as microorganisms (barnacles, algae, seaweed, etc.) attached to the hull and rust, which will cause material aging, increase navigation resistance and increase cost and energy consumption. Currently, the two main cleaning methods on the market are mechanical cleaning and high-pressure water flow cleaning. The mechanical cleaning method mainly uses hard metal tools to clean the attachments on the surface of the hull by cutting. In addition, due to the structural characteristics of the attachments themselves, some high-efficiency freezing devices (liquid nitrogen spraying) and ultrasonic vibration devices are also equipped to improve the cleaning efficiency; while the high-pressure water flow cleaning uses the high-energy water pressure generated by the high-pressure water gun to spray and clean the attachments on the surface of the hull. The above two cleaning methods have their own advantages, but their disadvantages are also very obvious. Whether it is mechanical cutting cleaning or high-pressure water flow spraying cleaning, while cleaning the attachments, it will cause irreversible damage or even destruction to the surface of the hull, and the cleaning efficiency of a single cleaning method is low. The use of high-efficiency freezing devices and ultrasonic vibration devices for auxiliary cleaning will also greatly increase the cost of cleaning. The relevant freezing technology may have problems such as environmental pollution and low freezing efficiency. The maintenance and repair costs of ultrasonic vibration equipment are increased, and the safety of personnel when using the equipment will also be compromised. In addition, the above cleaning methods are mostly suitable for land cleaning and have great limitations when cleaning underwater.

[0003] In view of the above problems, the utility model updates the mechanical cleaning method and the high-pressure water flow cleaning method, and proposes an underwater hull cleaning method that combines the roller cleaning method with the cavitation jet cleaning method. The roller cleaning method uses dry ice freezing technology, which is pollution-free and environmentally friendly; the cavitation jet cleaning method uses cavitation bubbles as the main body to replace high-pressure water flow, which can effectively clean while minimizing damage to the hull. The combination of the two ensures efficient, environmentally friendly and non-damaging cleaning. Summary of the invention

[0004] The utility model aims to provide a novel composite underwater hull cleaning robot based on cavitation jet technology and mechanical cleaning technology in order to solve the problems of low efficiency, low environmental protection and high damage of current hull cleaning methods.

[0005] A novel composite underwater hull cleaning robot based on cavitation jet technology and mechanical cleaning technology, comprising a control module, a drive module, a motion module, a roller cleaning module, a cavitation jet module, and an observation module, characterized in that:

[0006] The control module includes a sealed pressure-resistant cabin, a drive module controller, a cavitation jet module controller, a central controller, a roller-type cleaning module controller, an observation module information processor, and a battery; the sealed pressure-resistant cabin is made of aluminum alloy and is divided into a top and a bottom to prevent electronic components from being corroded by seawater and damaged by water pressure, while reducing its mass and volume to reduce the burden on the robot body; the appearance is designed to be streamlined to reduce the resistance of the robot when it moves underwater; 30 M8 screw holes are set around the side for fixing; the central controller includes a terminal connection port, a control board, a serial port server of each module, a power transmission interface, an inertial navigation, a water leakage detection board, and a depth gauge control board, and the terminal connection The port is interconnected with the ground manual control terminal by connecting an external transmission cable, and the robot can be remotely controlled through the manual control terminal; the input ends of the drive module controller, the cavitation jet module controller, the roller cleaning module controller, and the observation module information processor are directly connected to the corresponding serial port server of the central controller and the corresponding power transmission interface through connecting lines, and the output port of each controller is directly connected to the input port of each module through a connecting line; the output port of the battery is provided with a connection interface, which is directly connected to the power transmission interface of the central controller through a power adapter line to realize the supply and transmission of power; each controller is fixed to the surface of the internal platform of the robot by screws M8.

[0007] The drive module adopts a dual-motor drive mode, including a permanent magnet synchronous motor, an inner shaft synchronous belt, a transmission shaft, a power output shaft, a dual synchronous pulley, a reduction gear box body and other components; the dual motors are arranged diagonally, that is, the permanent magnet synchronous motors are arranged on the upper left and lower right sides, and the permanent magnet synchronous motors are placed inside the reduction gear box body; the power output shaft is connected to the outside of the reduction gear box body, and the output port is directly designed to be a spline shape; the inner shaft synchronous belt is connected to the surface of the dual synchronous pulleys, and the dual synchronous pulleys are connected to the inner shaft and the transmission shaft of the reduction gear box body through keys, respectively, to achieve power transmission inside the four power output ends; the drive module is controlled by a drive module controller, and when it is necessary to drive in a straight line, the drive module controller controls the left and right permanent magnet synchronous motors to maintain the same speed; when it is necessary to turn, the left and right permanent magnet synchronous motors are controlled to produce different speeds to achieve in-situ differential turning of the robot; the power output shaft of the drive module is connected to the power input wheel of the motion module, thereby achieving power transmission to the motion module.

[0008] The motion module includes a sealed protective shell, a rubber track, a permanent magnet adsorption device, a permanent magnet support baffle, a power input wheel, and support and drive components of the track; the sealed protective shell is divided into an inner and outer shell, both of which are made of aluminum alloy material, and T-shaped grooves are arranged around to install the rubber track. At the same time, the inside of each track section of the rubber track is hollowed out to install the permanent magnet adsorption device; the permanent magnet adsorption device is made of neodymium iron boron material, and a roller is installed on the outside; the permanent magnet support baffle is fixed to the bottom of the sealed protective shell and above the permanent magnet adsorption device close to the bottom of the track; the power required by the motion module is input by the drive module, thereby realizing the movement of the robot.

[0009] The roller cleaning module includes a roller cleaning device, a dry ice blasting tube, a dry ice storage box, a dry ice transmission device and other connecting and fastening parts; the roller cleaning device is fixed to the front end of the robot by screws M20, and the dry ice transmission device is installed on the top of the robot by screws M8; the surface of the sealed pressure-resistant cabin is equipped with a dry ice storage box; the dry ice blasting device is composed of six dry ice blasting tubes, which are installed on the top of the roller cleaning device and connected to the dry ice transmission device, and the whole has an arc and is close to the surface of the roller cleaning device, each dry ice blasting tube is designed to be a flat trumpet-shaped spray, and the spray port exceeds the roller cleaning device and is close to the surface of the roller cleaning device; each dry ice blasting tube is connected, and the dry ice blasting device changes the working angle together with the roller cleaning device, and is kept within the range of 30° downward and 60° upward; when the roller cleaning module is working, the roller cleaning module controller controls the work of the roller cleaning device and the work of the dry ice blasting device.

[0010] The cavitation jet module includes a cavitation jet tube, a water pipe, a water tank, a water pump, other conventional functional components and connecting and fastening components; the water pipe and the water tank are made of aluminum alloy, and the two water tanks are connected by 4 water pipes; the water pump is installed at the tail of the robot and is provided with three water suction ports; 38 interfaces are provided on the outer surface of the water tank for installing the cavitation jet tube; the cavitation jet tubes in the middle and on both sides of the water tank are arranged in an equilateral triangle, and the spacing between the three adjacent nozzles is equal. At the same time, the injection port of a single cavitation jet tube adopts a cross-shaped Venturi tube design; a pressure valve is installed inside the water tank, and a pressure pump is installed between the inside of the water tank and the inside of the robot, Conventional functional components such as water pressure detection gauges and water level monitoring gauges are uniformly controlled by the cavitation jet module controller; when starting work, the cavitation jet module controller controls the water pump to work, and uses the water level detection gauge to detect the water volume in the water tank so that the water tank is filled with sufficient seawater; according to the attachment status of the remaining attachments on the hull surface, the cavitation jet module controller controls the pressure pump and the water pressure detection gauge to adjust the water pressure in the water tank, and finally controls the pressure valve switch to make the cavitation jet tube spray to clean the remaining attachments on the hull surface; when there is insufficient seawater in the water tank, the cavitation jet module controller controls the water pump to work to extract seawater and continue to work.

[0011] The observation module includes a medium-sized omnidirectional motion camera and multiple micro cameras; the medium-sized omnidirectional motion camera includes an aluminum alloy shell and an internal 360° rotating camera, the camera can rotate freely, and can ensure that the underwater working environment at various angles and multiple directions can be observed; the medium-sized omnidirectional motion camera is fixed to the surface of the sealed pressure-resistant cabin by 16 M12 screws; the micro camera is placed on the bottom surface of the robot to observe the surface morphology of the ship; the observation module information processor includes a visual sensor and an image information transmission controller, after the visual sensor collects the underwater working situation, the image information transmission controller transmits it to the central controller in real time, and then transmits it to the ground manual control terminal by the transmission cable outside the robot, so as to realize manual real-time monitoring.

[0012] The working sequence of the novel composite underwater hull cleaning robot based on cavitation jet technology and mechanical cleaning technology specifically includes the following steps:

[0013] A. The robot's control module is manually controlled through the ground manual control terminal, and the drive module and the observation module are started, so that the robot obtains power and moves to the surface of the hull to be cleaned. The robot is adsorbed to the surface of the hull through the rubber tracks and permanent magnet adsorption device in the motion module.

[0014] B. When the robot encounters shellfish attachments such as barnacles, the controller controls the roller cleaning device, and the controller controls the spray pressure of the dry ice spray device to spray dry ice powder so that the dry ice powder covers the entire cleaning area. At the same time, the observation module cooperates and transmits images in real time to ensure rapid freezing;

[0015] C. The controller controls the roller-type cleaning device to adjust the angle up and down, and starts the motor at the same time, so that the roller-type cleaning device cleans up and down barnacles and other shellfish, breaks the shells to the greatest extent and removes the frozen colloid substances inside, and finally roughly cleans off large pieces of large-area attachments;

[0016] D. The robot is controlled to move forward slowly by a ground-based manual control terminal, and the cavitation jet module is activated. The image is collected through the micro camera at the bottom of the robot to determine the difficulty of cleaning the attachments. The water pressure of the cavitation jet module is then controlled to completely clean all barnacles and other shellfish attachments.

[0017] E. Repeat steps B, C, and D above.

[0018] Compared with the existing underwater hull cleaning technology, the utility model has the following advantages: (a) the mechanical cleaning method is combined with the cavitation jet cleaning method, which makes up for the shortcomings of the single cleaning method in cleaning efficiency, and minimizes the damage to the hull surface while ensuring efficient cleaning; (b) compared with traditional auxiliary cleaning methods, such as ultrasonic assisted cleaning and liquid nitrogen jet freezing technology, it is proposed to use dry ice quick freezing technology to quickly freeze a small underwater cleaning area, which improves the cleaning efficiency while reducing pollution to the environment, reducing the complexity of the equipment, and reducing the cost of equipment maintenance and replacement; (c) the use of manual remote control robot cleaning can reduce manual workload and the risk of accidents, and improve cleaning efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is an overall schematic diagram of the utility model;

[0020] Figure 2 It is the front view of the utility model;

[0021] Figure 3 It is a side view of the utility model;

[0022] Figure 4 It is a bottom view of the utility model;

[0023] Figure 5 It is the overall schematic diagram of the control module;

[0024] Figure 6 It is the overall schematic diagram of the drive module;

[0025] Figure 7 It is the overall schematic diagram of the motion module;

[0026] Figure 8 This is the internal schematic diagram of the motion module;

[0027] Fig. 9 It is an overall schematic diagram of the roller type cleaning module;

[0028] Fig.10 It is an overall schematic diagram of the dry ice blasting device;

[0029] Fig.11 It is the overall schematic diagram of the cavitation jet module;

[0030] Fig.12 It is the overall schematic diagram of a single cavitation jet tube; DETAILED DESCRIPTION

[0031] The technical solutions in the embodiments of the present invention are described clearly and completely below in conjunction with the accompanying drawings in the present invention.

[0032] Specific implementation method 1: A new type of composite underwater hull cleaning robot based on cavitation jet technology and mechanical cleaning technology, including a control module, a drive module, a motion module, a roller cleaning module, a cavitation jet module, and an observation module.

[0033] In this embodiment, the control module includes a sealed pressure-resistant cabin, a drive module controller, a cavitation jet module controller, a central controller, a roller-type cleaning module controller, an observation module information processor, and a battery; the sealed pressure-resistant cabin is made of aluminum alloy and is divided into a top and a bottom to prevent electronic components from being corroded by seawater and damaged by water pressure, while reducing its mass and volume to reduce the burden on the robot body; the appearance is designed to be streamlined to reduce the resistance of the robot when it moves underwater; 30 M8 screw holes are set around the side for fixing; the central controller includes a terminal connection port, a control board, a serial port server of each module, a power transmission interface, an inertial navigation, a water leakage detection board, and a depth gauge control board, a terminal The connection port is interconnected with the ground manual control terminal by connecting an external transmission cable, and the robot can be remotely controlled through the manual control terminal; the input ends of the drive module controller, the cavitation jet module controller, the roller cleaning module controller, and the observation module information processor are directly connected to the corresponding serial port server of the central controller and the corresponding power transmission interface through connecting lines, and the output port of each controller is directly connected to the input port of each module through a connecting line; the output port of the battery is provided with a connection interface, which is directly connected to the power transmission interface of the central controller through a power adapter line to realize the supply and transmission of power; each controller is fixed to the surface of the internal platform of the robot by screws M8.

[0034] In this embodiment, the driving module adopts a dual-motor driving mode, including permanent magnet synchronous motors, inner shaft synchronous belts, transmission shafts, power output shafts, dual synchronous pulleys, reduction box bodies and other components; the dual motors are arranged diagonally, that is, permanent magnet synchronous motors are arranged on the upper left and lower right sides, so that the center of gravity of the robot chassis is approximately located at the center of the chassis, which is more stable and not easy to fall during operation, and the permanent magnet synchronous motor is placed inside the reduction box body; the power output shaft is connected to the outside of the reduction box body, and the output port is directly designed as a spline shape; the inner shaft synchronous belt is connected to the surface of the dual synchronous pulleys, and the dual synchronous pulleys are connected to the inner shaft and the transmission shaft of the reduction box body through keys, respectively, to achieve power transmission inside the four power output ends; the driving module is controlled by the driving module controller, when it is necessary to drive in a straight line, the driving module controller controls the left and right permanent magnet synchronous motors to maintain the same speed; when it is necessary to turn, the left and right permanent magnet synchronous motors are controlled to generate different speeds to achieve the robot's in-situ differential turning; the power output shaft of the driving module is connected to the power input wheel of the motion module, thereby achieving power transmission to the motion module.

[0035] In this embodiment, the motion module includes a sealed protective shell, a rubber track, a permanent magnet adsorption device, a permanent magnet support baffle, a power input wheel, and support and drive components of the track; the sealed protective shell is divided into an inner and outer shell, both of which are made of aluminum alloy material to isolate the inside of the track from the external marine environment, while reducing its mass to reduce the burden on the robot body; T-shaped grooves are arranged around the sealed protective shell to install the rubber track, so as to improve the ability of the underwater cleaning robot to adapt to the uneven conditions of the hull wall, and at the same time, the inside of each track section of the rubber track is hollowed out to install the permanent magnet adsorption device; the permanent magnet adsorption device is made of neodymium iron boron material to improve the wall attachment ability of the underwater cleaning robot, and a roller is installed on the outside; the permanent magnet support baffle is fixed to the bottom of the sealed protective shell and on the permanent magnet adsorption device close to the bottom of the track to ensure the flatness and stability of the track on the uneven surface, and prevent the track from failing to adsorb due to excessive deformation; the power required by the motion module is input by the drive module, thereby realizing the movement of the robot.

[0036] In this embodiment, the roller cleaning module includes a roller cleaning device, a dry ice blasting tube, a dry ice storage box, a dry ice transmission device and other connecting and fastening parts; the roller cleaning device is fixed to the front end of the robot by screws M20, and the dry ice transmission device is installed on the top of the robot by screws M8; the surface of the sealed pressure-resistant cabin is equipped with a dry ice storage box; the dry ice blasting device is composed of six dry ice blasting tubes, which are installed on the top of the roller cleaning device and connected to the dry ice transmission device. The whole has an arc and is closely attached to the surface of the roller cleaning device. Each dry ice blasting tube is designed to be a flat trumpet-shaped spray, and the spray port exceeds the roller cleaning device and is close to the surface of the roller cleaning device; each dry ice The spray pipes are connected, and the dry ice blasting device changes the working angle together with the roller cleaning device, maintaining it within the range of 30° downward and 60° upward (advantages: 1. The dry ice powder reacts at the previous point of spraying, which is conducive to scraping; 2. It avoids the accumulation of dirt in the gap below the roller cleaning device, which may damage the structure or jam the roller cleaning device; 3. It can ensure the concentration and sufficiency of powder spraying, improve the coverage efficiency and freezing efficiency of the powder; 4. It simplifies the complexity of the mechanism, reduces the equipment processing cost and maintenance difficulty); when the roller cleaning module is working, the roller cleaning module controller controls the operation of the roller cleaning device and the dry ice blasting device.

[0037] In this embodiment, the cavitation jet module includes a cavitation jet tube, a water pipe, a water tank, a water pump, other conventional functional components and connecting and fastening components; the water pipe and the water tank are made of aluminum alloy, and the two water tanks are connected by 4 water pipes; the water pump is installed at the tail of the robot and is provided with three water extraction ports to ensure sufficient water in the water tank; 38 interfaces are provided on the outer surface of the water tank for installing the cavitation jet tube; the cavitation jet tubes in the middle and on both sides of the water tank are arranged in an equilateral triangle, and the spacing between the three adjacent nozzles is equal, which is mainly used to clean irregular areas on the surface, so that the cavitation water flow covers the most uniform average degree; at the same time, the injection port of a single cavitation jet tube adopts a cross-shaped Venturi tube design, which improves the erosion and striking effect of the jet and greatly improves Operation efficiency: a pressure valve is installed inside the water tank, and conventional functional components such as a pressure pump, a water pressure detector and a water level monitor are installed between the inside of the water tank and the inside of the robot, which are uniformly controlled by the cavitation jet module controller; when starting work, the cavitation jet module controller controls the water pump to work, and the water level detector detects the water volume in the water tank to ensure that the water tank is filled with sufficient seawater; according to the attachment of remaining attachments on the hull surface, the cavitation jet module controller controls the pressure pump and the water pressure detector to adjust the water pressure in the water tank, and finally controls the pressure valve switch to make the cavitation jet tube spray to clean the remaining attachments on the hull surface; when there is insufficient seawater in the water tank, the cavitation jet module controller controls the water pump to work to extract seawater and continue to work.

[0038] In this embodiment, the observation module includes a medium-sized omnidirectional motion camera and multiple micro cameras; the medium-sized omnidirectional motion camera includes an aluminum alloy shell and an internal 360° rotating camera, the camera can rotate freely, and can ensure that the underwater working environment at various angles and multiple directions can be observed; the medium-sized omnidirectional motion camera is fixed to the surface of the sealed pressure-resistant cabin by 16 M12 screws; the micro camera is placed on the bottom surface of the robot to observe the surface morphology of the ship; the observation module information processor includes a visual sensor and an image information transmission controller, after the visual sensor collects the underwater working conditions, the image information transmission controller transmits them to the central controller in real time, and then transmits them to the ground manual control terminal by the transmission cable outside the robot, so as to realize manual real-time monitoring.

[0039] Specific implementation method 2: A new type of composite underwater hull cleaning robot based on cavitation jet technology and mechanical cleaning technology, the working sequence of which specifically includes the following steps:

[0040] A. The robot's control module is manually controlled through the ground manual control terminal, and the drive module and the observation module are started, so that the robot obtains power and moves to the surface of the hull to be cleaned. The robot is adsorbed to the surface of the hull through the rubber tracks and permanent magnet adsorption device in the motion module.

[0041] B. When the robot encounters shellfish attachments such as barnacles, the controller controls the roller cleaning device, and the controller controls the spray pressure of the dry ice spray device to spray dry ice powder so that the dry ice powder covers the entire cleaning area. At the same time, the observation module cooperates and transmits images in real time to ensure rapid freezing;

[0042] C. The controller controls the roller-type cleaning device to adjust the angle up and down, and starts the motor at the same time, so that the roller-type cleaning device cleans up and down barnacles and other shellfish, breaks the shells to the greatest extent and removes the frozen colloid substances inside, and finally roughly cleans off large pieces of large-area attachments;

[0043] D. The robot is controlled to move forward slowly by a ground-based manual control terminal, and the cavitation jet module is activated. The image is collected through the micro camera at the bottom of the robot to determine the difficulty of cleaning the attachments. The water pressure of the cavitation jet module is then controlled to completely clean all barnacles and other shellfish attachments.

[0044] E. Repeat steps B, C, and D above.

Claims

1. A novel composite underwater hull cleaning robot based on cavitation jet technology and mechanical cleaning technology, comprising a control module (1), a drive module (2), a motion module (3), a roller cleaning module (4), a cavitation jet module (5), and an observation module (6), characterized in that: The control module (1) comprises a sealed pressure-resistant cabin (101), a drive module controller (102), a cavitation jet module controller (103), a central controller (104), a roller-type cleaning module controller (105, 106), an observation module information processor (107), and a battery (108); the sealed pressure-resistant cabin (101) is made of aluminum alloy, is divided into a top and a bottom, has a streamlined shape, and has 30 M8 screw holes arranged around the sides for fixing; the central controller (104) comprises a terminal connection port, a control panel, a serial port server of each module, a power transmission interface, an inertial navigation, a water leakage detection panel, and a depth gauge control panel; the terminal connection port is connected to an external transmission cable to communicate with a ground manual control terminal The robot can be remotely controlled to work through a manual control terminal; the input ends of the drive module controller (102), the cavitation jet module controller (103), the roller cleaning module controller (105, 106), and the observation module information processor (107) are directly connected to the corresponding serial port server and the corresponding power transmission interface of the central controller (104) through a connecting line, and the output port of each controller is directly connected to the input port of each module through a connecting line; the output port of the storage battery (108) is provided with a connection interface, which is directly connected to the power transmission interface of the central controller (104) through a power adapter line to realize the supply and transmission of power; each controller is fixed to the surface of the internal platform of the robot by screws M8; The driving module (2) adopts a dual-motor driving mode, comprising a permanent magnet synchronous motor (201), an inner shaft synchronous belt (202), a transmission shaft (203), a power output shaft (204), a dual synchronous pulley (205), and a reduction box body (206); the dual motors are arranged in a diagonal manner, that is, the permanent magnet synchronous motors (201) are arranged on the upper left side and the lower right side, and the permanent magnet synchronous motors (201) are placed inside the reduction box body (206); the power output shaft (204) is connected to the outside of the reduction box body (206), and the output port is directly designed to be a spline shape; the inner shaft synchronous belt (202) is connected to the surface of the dual synchronous pulleys (205), and the dual synchronous pulleys (205 ) are respectively connected to the inner shaft of the reduction box housing (206) and the transmission shaft (203) through keys to realize power transmission inside the four power output ends; the drive module (2) is controlled by the drive module controller (102). When it is necessary to travel in a straight line, the drive module controller (102) controls the left and right permanent magnet synchronous motors (201) to maintain the same speed of operation; when it is necessary to turn, the left and right permanent magnet synchronous motors (201) are controlled to generate different speeds to realize the robot's in-situ differential turning; the power output shaft (204) of the drive module (2) is connected to the power input wheel (305) of the motion module (3), thereby realizing the transmission of power to the motion module (3); The motion module (3) comprises a sealed protective shell (301), a rubber crawler (302), a permanent magnet adsorption device (303), a permanent magnet support baffle (304), a power input wheel (305), and crawler support and drive components; the sealed protective shell (301) is divided into an inner shell and an outer shell, both of which are made of aluminum alloy material, and T-shaped grooves are arranged around the shell to install the rubber crawler (302), and at the same time, the inside of each crawler section of the rubber crawler (302) is hollowed out to install the permanent magnet adsorption device (303); the permanent magnet adsorption device (303) is made of neodymium iron boron material, and a roller is installed on the outside; the permanent magnet support baffle (304) is fixed to the bottom of the sealed protective shell (301) and on the permanent magnet adsorption device (303) close to the bottom surface of the crawler; the power required by the motion module (3) is input by the drive module (2), thereby realizing the movement of the robot; The roller cleaning module (4) comprises a roller cleaning device (401), a dry ice blasting tube (402), a dry ice storage box (403), a dry ice transmission device (404) and other connecting and fastening components; the roller cleaning device (401) is fixed to the front end of the robot by screws M20, and the dry ice transmission device (404) is installed on the top of the robot by screws M8; the dry ice storage box (403) is installed on the surface of the sealed pressure-resistant cabin (101); the dry ice blasting device is composed of six dry ice blasting tubes (402), which are installed on the top of the roller cleaning device (401) and connected to the dry ice transmission device (404); 04), the whole has an arc and is closely attached to the surface of the roller-type cleaning device (401), each dry ice blasting tube is designed to be a flat bell-shaped spray, and the spray port exceeds the roller-type cleaning device (401) and is close to the surface of the roller-type cleaning device (401); each dry ice blasting tube is connected to each other, and the dry ice blasting device changes the working angle together with the roller-type cleaning device (401), and is maintained within the range of 30° downward and 60° upward; when the roller-type cleaning module (4) is working, the roller-type cleaning module controller (105) controls the operation of the roller-type cleaning device (401) and the operation of the dry ice blasting device; The cavitation jet module (5) comprises a cavitation jet tube (501), a water pipe (502), a water tank (503), a water pump (504), conventional functional components and connecting and fastening components; the water pipe (502) and the water tank (503) are both made of aluminum alloy material, and the two water tanks (503) are connected by four water pipes (502); the water pump (504) is installed at the tail of the robot and is provided with three water suction ports; the outer surface of the water tank is provided with 38 interfaces for installing the cavitation jet tube (501); the cavitation jet tubes in the middle and on both sides of the water tank are arranged in an equilateral triangle, and the spacing between the three adjacent nozzles is equal. At the same time, the injection port of a single cavitation jet tube adopts a cross-shaped Venturi tube design; a pressure valve is installed inside the water tank, and the inner side of the water tank is connected to the robot. A pressure pump, a water pressure detector and a water level monitor are installed inside the robot, and are uniformly controlled by a cavitation jet module controller (103); when starting to work, the cavitation jet module controller (103) controls the water pump (504) to work, and detects the water volume in the water tank (503) through the water level detector to ensure that the water tank (503) is filled with sufficient seawater; according to the attachment of residual attachments on the surface of the hull, the cavitation jet module controller (103) controls the pressure pump and the water pressure detector to adjust the water pressure in the water tank, and finally controls the pressure valve switch to make the cavitation jet tube spray to clean the residual attachments on the surface of the hull; when there is insufficient seawater in the water tank, the cavitation jet module controller (103) controls the water pump to work to extract seawater and continue to work; The observation module (6) comprises a medium-sized omnidirectional motion camera (601) and a plurality of micro cameras; the medium-sized omnidirectional motion camera (601) comprises an aluminum alloy shell and an internal 360° rotating camera, the camera can rotate freely, and can ensure that the underwater working environment at various angles and multiple directions can be observed; the medium-sized omnidirectional motion camera (601) is fixed to the surface of the sealed pressure-resistant cabin (101) by 16 M12 screws; the micro cameras are placed on the bottom surface of the robot to observe the surface morphology of the ship; the observation module information processor (107) comprises a visual sensor and an image information transmission controller, after the visual sensor collects the underwater working situation, the image information transmission controller transmits it to the central controller (104) in real time, and then transmits it to the ground manual control terminal by the transmission cable outside the robot, so as to realize manual real-time monitoring.

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