An underwater robot

The underwater robot, with its box-shaped structure and six-propeller layout, combined with image recognition and the PPO-clip algorithm, has achieved autonomous inspection and cleaning, solving the problems of poor stability and insufficient flexibility in existing technologies, and improving the efficiency and safety of underwater pipeline inspection and cleaning.

CN224448125UActive Publication Date: 2026-07-03NORTHEASTERN UNIV CHINA
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Utility models(China)
Current Assignee / Owner
NORTHEASTERN UNIV CHINA
Filing Date
2025-09-23
Publication Date
2026-07-03

AI Technical Summary

Technical Problem

Existing underwater robots suffer from poor stability and insufficient flexibility in deep water or deep sea environments. They are unable to autonomously inspect and clean the outer walls of pipes and rely on manual operation, posing safety hazards.

Method used

An underwater robot was designed, which adopts a box-shaped structure and a six-thruster layout. Combining image recognition and PPO-clip algorithm, it can achieve autonomous detection and cleaning. Through precise control of the six thrusters, it is equipped with a motor-driven double four-bar linkage mechanism and a cleaning brush assembly to adapt to different pipe diameters and debris conditions.

Benefits of technology

It achieves stable movement in complex underwater environments, autonomously identifies pipelines and cleans them thoroughly, improving detection and cleaning efficiency, reducing reliance on manual labor, and enhancing safety and equipment versatility.

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Abstract

This utility model discloses an underwater robot, belonging to the field of underwater robot technology. The robot includes a stable box-shaped structure composed of upright plate a, upright plate b, flat plate a, flat plate b, a V-shaped base plate, and a semi-circular support. The control cabin is a cylindrical structure, housing a controller, sensors, wiring harnesses, and a camera. It includes six thrusters positioned in different locations for precise, fully free-degree-of-freedom movement; four replaceable movable floats for buoyancy adjustment; and a cleaning system driven by a motor-driven double four-bar linkage mechanism that powers a cleaning brush, capable of adaptively cleaning debris from the outer walls of pipes. This utility model features a stable structure and strong resistance to water flow impact. Combined with an intelligent control system based on image recognition and the PPO-clip algorithm, it can autonomously identify pipes and complete the detection and cleaning of the outer walls, effectively improving the efficiency and safety of underwater pipe maintenance.
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