CN110341909A - Marine biological cleaning robot on underwater steel structure surface based on reflective panoramic imaging - Google Patents

Abstract

The present invention relates to a kind of underwater steel construction surface marine growth cleaning robot based on reflective panoramic imagery, belongs to deep ocean work robotic technology field.Cleaning robot includes running gear, reflective omnidirectional imaging system and operating system；Reflective omnidirectional imaging system includes the reflecting mirror and camera that rack is supported on by mounting bracket；Running gear includes propulsion system, and propulsion system includes the propeller for driving the pose of underwater steel construction surface marine growth cleaning robot to adjust, go up and down and retreat, and the bracket of taking down the exhibits for promoting position for driving propeller to be expanded to or being retracted to evacuation position；Mounting bracket is lifting type support.It can not only be walked using magnet-wheel in steel structure surface, and without borrowing steel pipe that can manage it to target at as place, and in the moving process such as dive and floating, reduction reflecting mirror is carried out using lifting type support, the effectively mobile stability of item can be widely applied to the fields such as the steel structure surfaces such as offshore oil pipeline cleaning.

Description

Marine biological cleaning robot on underwater steel structure surface based on reflective panoramic imaging

technical field

The invention relates to an underwater operation robot, in particular to a reflection-type panoramic imaging-based marine organism cleaning robot on the surface of an underwater steel structure.

Background technique

With the rise of the marine economy, the workload of underwater operations will become more and more complex and heavy. Underwater platforms such as the bottom of ships and offshore drilling platform pipelines are prone to marine organisms, which usually require regular cleaning by divers. Although humans can make independent judgments on the cleaning objects and cleaning effects, it is difficult to guarantee the personal safety of divers and the working hours are affected by sea conditions. problems such as large size and low work efficiency.

In view of the above problems, the patent document published by the applicant with the announcement number CN207510681U discloses an underwater steel structure surface operation robot, which includes a walking system that can be sucked and pasted on the surface of the steel structure, and is mounted on the walking system. The reflective panoramic imaging system used to obtain the surrounding environment of the robot, and the cleaning system mounted on the fuselage side of the walking system to clean the sea organisms on the surface of the steel structure. Among them, the reflective panoramic imaging system includes a reflector and a camera: the reflector is supported on the side of the frame away from the surface of the steel structure through a bracket, and the normal direction of the reflective surface points to the surface of the steel structure; the camera is fixed on the frame in a watertight manner , for receiving the image reflected by the mirror, the received image is the scene image of the side area surrounding the working robot on the surface of the steel structure, and the side area includes the current working area of the working robot.

In addition, since the walking system adopts a wheeled four-wheel drive method, it can move flexibly, and the rear wheel and the fuselage are connected by a rotating connection shaft, so that it has a certain ability to overcome obstacles; the cleaning system uses cavitation water jets to clean sea creatures , more efficient and energy-saving. The imaging system includes an underwater camera located at the front and rear of the robot, so that the operators on the water can observe the conditions of the front, rear and cleaning side of the robot in real time during the cleaning process, so as to better issue more accurate control instructions . For the walking system, the hoop structure surrounding the steel pipe can also be used instead of the magnetic wheel system to drive the cleaning robot to walk on the steel pipe.

By adding reflectors, it is easy to shake during the dive process. In addition, it needs to rely on steel pipes extending from the sea surface to the target work site to travel to the target site, which makes the entire control process more complicated.

Contents of the invention

The main purpose of the present invention is to provide a marine organism cleaning robot on the surface of underwater steel structure based on reflective panoramic imaging, which can not only travel to the target as a place without the use of steel pipes, but also reduce the number of mirrors on the reflective panoramic imaging. Influence on the movement action of the cleaning robot.

In order to achieve the above object, the underwater steel structure surface marine biological cleaning robot provided by the present invention includes a walking system and a control system mounted on the frame of the walking system, a reflective panoramic imaging system and an operating system; the reflective panoramic imaging system includes The mounting bracket is supported on the side of the frame away from the surface of the steel structure and the reflective surface is normal to the reflector pointing to the surface of the steel structure, and the camera is watertightly fixed on the frame and used to receive the image reflected by the reflector; walking The system includes a propulsion system. The propulsion system includes propellers used to drive the posture adjustment, elevation and advance and retreat of the underwater steel structure surface marine biological cleaning robot, and a retractable propeller used to drive the propellers to deploy to the propulsion position or retract to the avoidance position. Bracket; the mounting bracket is an elevating bracket, which is used to drive the reflector down to its lower surface close to the frame after the retractable bracket drives the propeller to expand and is in the propelled position, and is used to drive the propeller when the retractable bracket drives the propeller Before retracting into the avoidance position, drive the mirror up to the imaging position.

Adding a retractable propulsion system to the structure of the existing underwater steel structure surface marine biological cleaning robot based on magnetic wheels can not only use the deployed propulsion system to drive the robot to dive or float in seawater without the need for extended steel pipes It can go to the target place and float back to the sea surface; and in the moving process of diving and floating, use the lifting bracket to reduce the distance between the reflector and the frame, effectively improving the stability of the moving process sex.

The specific solution is that the lifting bracket includes a scissor-type telescopic mechanism and a driving device for driving the scissor-type telescopic mechanism to move, and two sets of scissor-type telescopic mechanisms are symmetrically arranged on both sides of the reflector. The scissor-type telescopic mechanism can not only improve the support stability of the mounting bracket, but also facilitate manipulation.

The preferred solution is that the propulsion system includes propeller units symmetrically installed on both sides of the frame, and the propeller unit includes a retractable support and a first lift propeller, a second lift propeller, a second lift propeller, The first horizontal oblique thruster and the second horizontal oblique thruster, the propulsion directions of the two horizontal oblique thrusters form an angle greater than zero.

A more preferred solution is that the retractable support includes a fixed sleeve seat fixed on the frame, a drive shaft fitted in the fixed sleeve seat with a clearance fit, a rotary drive device, and a linear displacement output device; the first lifting propeller and the The first horizontal oblique pusher is fixedly connected to one end of the drive shaft through the connecting plate, and the second lifting propeller is fixedly connected to the other end of the drive shaft through the second horizontal oblique pusher through the connecting plate; The sleeve seat is provided with a notch for exposing the connecting plate, and the notch of the barrel wall is provided with a first bayonet and a second bayonet arranged side by side and arranged along the axial direction of the drive shaft; the linear displacement output device passes through the drive shaft Drive the connecting plate into the bayonet to limit the rotation of the drive shaft, or withdraw from the bayonet to make the drive shaft rotatable; Rotate up 90 degrees to the vertical position where it can be snapped into the second bayonet. The structure of the retractable bracket is simple.

A further solution is that the connecting plate includes a vertical root connecting plate portion and a bent connecting plate portion. It is fixed on the bent connecting plate part parallel to the plate surface.

A further solution is that the root connecting plate is provided with a through hole for installing the lifting propeller, and the root connecting plate is bent and extended on the side of the through hole to form a mounting plate perpendicular to the plate surface. The sleeve is fixed on the mounting plate portion.

Another preferred solution is that the propulsion direction of the first horizontal oblique thruster is perpendicular to the second horizontal oblique thruster; the propulsion direction of the horizontal oblique thruster forms an included angle of 45 degrees with the axial direction of the drive shaft.

Another preferred solution is that the drive shaft is a straight cylindrical structure; the cross-section of the fixed sleeve seat is rectangular, and the inner cylinder cavity is a cylindrical structure with a clearance fit with the straight cylindrical structure; on the adjacent two sides of the fixed sleeve seat There is an exposed opening connected to form a gap in the cylinder wall; the first bayonet is set on the outer vertical side wall, and the second bayonet is set on the upper lateral side wall; the rotating drive device is a steering gear, and the rotation of the steering gear The output shaft is connected to one end of the drive shaft through a gear transmission mechanism; the mover of the linear displacement output device is fixedly connected to the other end of the drive shaft; The straight cylindrical gear and the spline sleeve which can slide axially on the outside of the straight cylindrical gear, the spline sleeve meshes with the internal teeth of the straight cylindrical gear, and the spline sleeve is fixedly connected with one end of the drive shaft.

Another preferred solution is that the walking system includes a magnetic wheel system, and the magnetic wheel system includes a magnetic wheel that can be magnetically attracted to the surface of the steel structure; a lifting and pushing away mechanism is installed on the frame, and the lifting and pushing away mechanism includes a The cushion block on the surface and the linear displacement output device that drives the cushion block to rise and fall relative to the magnetic wheel, and the linear displacement output device is used to drive the magnetic wheel to separate from the surface of the steel structure.

Another preferred solution is that the control system includes a processor and a memory, the memory stores a computer program, and when the computer program is executed by the processor, the following steps can be achieved:

In the step of diving, control the retractable support to drive the propeller to expand to the propulsion position, then control the lifting support to drive the reflector down to the lower surface close to the frame, and then control the propeller to drive the marine organisms on the surface of the underwater steel structure The cleaning robot dives to the target location;

In the cleaning step, control the lifting bracket to drive the mirror up to the imaging position, then control the retractable bracket to drive the thruster back to the avoidance position, and then control the cavitation jet module on the operating system to perform cleaning operations;

In the step of floating, control the retractable support to drive the propeller to expand to the propulsion position, then control the lifting support to drive the reflector down to the lower surface close to the frame, and then control the propeller to drive the marine organisms cleaning on the surface of the underwater steel structure The robot floats to the surface of the sea.

Description of drawings

Fig. 1 is a perspective view of the embodiment of the present invention when the propulsion system is in the unfolded state and the connecting plate is not snapped into the bayonet, and the mirror is in the retracted position;

Fig. 2 is a side view of the embodiment of the present invention when the propulsion system is in the deployed state and the mirror is in the retracted position;

3 is a perspective view of the reflector and the mounting bracket when the mounting bracket is in a contracted state in an embodiment of the present invention;

4 is a perspective view of the reflector and the mounting bracket when the mounting bracket is in an extended state in an embodiment of the present invention;

Fig. 5 is a perspective view of the embodiment of the present invention when the propulsion system is retracted and the connecting plate is not snapped into the bayonet, and the mirror is at the imaging position;

Fig. 6 is a perspective view of the propulsion system in the unfolded state and the connecting plate is not locked into the bayonet in the embodiment of the present invention;

Fig. 7 is a perspective view of the propulsion system in the unfolded state and the connecting plate snapped into the bayonet in the embodiment of the present invention;

Fig. 8 is a partial enlarged view of A in Fig. 6;

Fig. 9 is a perspective view of the propulsion system in the retracted state and the connecting plate is not locked into the bayonet in the embodiment of the present invention;

Fig. 10 is a partial enlarged view of C in Fig. 5;

Fig. 11 is a partial enlarged view of D in Fig. 5;

Fig. 12 is an exploded view of the structure of the connection mechanism between the rotation drive device and the drive shaft on the retractable bracket in the embodiment of the present invention.

The present invention will be further described below in conjunction with embodiment and accompanying drawing.

Detailed ways

The present invention mainly improves the structure of the walking system in the underwater steel structure surface operation robot and improves the installation bracket structure of the panoramic imaging system during reflection, mainly by adding a retractable propulsion system to use the propulsion system to autonomously descend While diving to the target workplace or rising back to the sea from the workplace, the flexibility and efficiency of the robot’s posture adjustment or replacement of the target workplace during underwater operations are improved, and the adjustable mirror and The distance between the racks can be improved to improve the stability in the process of floating, diving and turning; the magnetic wheel and its driving device in the imaging system, operating system and walking system of the working robot can be designed with the existing product structure, and It is not limited to the structures in the following examples.

Example

Referring to Fig. 1 to Fig. 12, the underwater steel-structure sea organism cleaning robot 1 of the present invention includes a control system, a walking system, an operating system, a reflective panoramic imaging system and a lift-off mechanism. The walking system includes a propulsion system and a magnetic wheel system.

The magnetic wheel system is a four-wheel drive structure, including a frame 10 and a front-drive adsorption module 11 installed on the frame 10, a steering module, a rear-drive adsorption module 13, and a rotary joint. The front-drive adsorption module 11 and the rear-drive adsorption module 13 are used for Provide the robot with sufficient adsorption force to the surface of the steel structure conduit, forward power and backward power. For the front-drive adsorption module 11 and the rear-drive adsorption module 13, both are structurally provided with magnetic wheels for adsorbing the entire module on the steel pipe surface, and include a driving magnetic wheel set composed of more than two magnetic wheels, and each The magnetic wheel set is driven by an independent servo motor to provide greater driving force, and when the front or rear wheel slips and fails, the other magnetic wheel set can still work normally, providing more stable and reliable underwater robots. movement dynamics. For the specific structure, reference may be made to the patent documents with publication number CN108082415A and publication number CN206476068U that the applicant has applied for and published, and will not be repeated here.

As shown in Figure 1 and Figure 2, the operating system is a cleaning system for cleaning marine organisms on the surface of the pipeline. In this embodiment, the cleaning system includes a cavitation water jet cleaning module 2 and a cavitation water jet cleaning module 2. The module 2 is used for the umbilical cable of water supply, and the cavitation water jet cleaning module 2 is fixed on the frame 10 and is located on one side of the frame 10, so as to clean the underwater steel with the cavitation water jet generated by the cavitation water jet cleaning module 2. The surface of the structure is positioned to remove marine organisms within a predetermined width range on one side of the cleaning robot.

As shown in Figures 1 to 5, the reflective panoramic imaging system includes a reflector 30, a camera 31, a supplementary light device and a reflector mounting bracket 33 for fixing the reflector 30 on the frame 10; for the reflector 30 , the camera 31 and the supplementary light device, their specific structures can refer to the patent document with publication number CN108082415A that the applicant has applied for and published, and will not be repeated here. The mirror 30 is used to reflect the scene of the side area within the predetermined width range around the robot to be received by the camera 31 to form a scene image, and the predetermined width range makes the side area just cover the current working area of the robot or slightly exceed the current working area. The operating area to ensure that the operating conditions can be observed in real time.

Wherein, the mounting bracket 33 is a lift-type support, including a scissor-type telescopic mechanism 331 and a driving device for driving the scissor-type telescopic mechanism 331 to move. In this embodiment, two sets of scissor-type telescopic mechanisms 331 are symmetrically arranged on Both sides of the reflector 30, specifically, on the telescopic end of the scissors type telescopic mechanism 331, the end of one fork arm 333 is hinged on the lower end side of the reflector 30 through the hinge shaft 334, and the end of the other fork arm 335 The end is hinged on the slide block 3370 of the linear guide mechanism 337 by the hinge shaft 336, and the linear guide rail of the linear guide mechanism 337 is fixed on the lower side of the reflector 30, and its length direction is arranged in parallel along the side of the reflector 30; On the fixed end of the fork telescoping mechanism 331, the end of one yoke 90 is hinged on the upper end side of the reflector frame 10 by the hinge 91, and the end of the other yoke 92 is hinged on the linear displacement by the hinge 93. On the mover 940 of the output device 94 , the stator of the linear displacement output device 94 is fixed on the upper end surface of the frame 10 , and its length direction is arranged along the length direction of the guide rail of the linear guide rail mechanism 337 . During the working process, the end of the fork arm 92 is driven to move back and forth by the linear displacement output device 94 , so as to realize the telescopic action of driving the scissor-type telescopic mechanism 331 . The specific structure of the lifting bracket is not limited to the aforementioned scissor-type telescopic structure, and can also be constructed by using a telescopic rod structure.

The propulsion system includes two groups of propeller units 18 symmetrically installed on both sides of the frame, and the plane of symmetry of the two is a vertical plane arranged along the wheel axis of the front drive adsorption module 11 and the rear drive adsorption module 13 . The thruster unit 18 includes a retractable support 4 located above the magnetic wheels of the front-drive adsorption module 11 and the rear-drive adsorption module 13, and a first lifting propeller 51, a second lifting propeller 52, and a first transverse propeller installed on the retractable support. The propulsion direction of the oblique thruster 53 and the second horizontal oblique thruster 54, the first horizontal oblique thruster 53 and the second horizontal oblique thruster 54 form an angle greater than zero degree, in this In the embodiment, the included angle is 90 degrees. Specifically, the propulsion directions of the first horizontal oblique thruster 53 and the second horizontal oblique thruster 54 form an included angle of 45 degrees with the aforementioned plane of symmetry, but the two are directed toward different.

The retractable bracket 4 includes a fixed sleeve base 6 fixed on the frame 10 , a drive shaft 40 fitted in the fixed sleeve base 6 with a clearance fit, a rotary drive device 41 , and a linear displacement output device 42 . In this embodiment, the rotary drive device 41 is constructed by using a steering gear, so that the angular position of the output shaft can be monitored by using an angle sensor on it; the linear displacement output device 42 is constructed by a linear motor, or a rotary motor and a wire Rod-nut mechanism or rack-and-pinion mechanism for construction.

Along the direction that the rear drive adsorption module 13 points to the front drive adsorption module 11, the first lift propeller 51 is fixedly connected with the first horizontal oblique propeller 53 through the connecting plate 7 and the front end of the drive shaft 40; the second lift propeller 52 is fixedly connected to the rear end of the drive shaft 40 through the connecting plate 8 and the second transverse oblique pusher 54; for the connecting structure between the connecting plate 7 and the connecting plate 8 and the driving shaft 40, welding can be used. , bolt fixing, etc., or a sleeve structure set on the drive shaft 40 is provided on the end of the connecting plate, and then fixed connection is performed based on fixing bolts, welding or keyway. In this embodiment, welding is used. Fixed connection.

The axial direction of the fixed sleeve seat 6 is arranged along the direction that the rear drive adsorption module 13 points to the front drive adsorption module 11, and is parallel to the aforementioned symmetry plane; in this embodiment, the drive shaft 40 is a straight cylindrical structure, and the fixed sleeve seat The cross-section of 6 is rectangular, and its inner cylinder cavity is a cylindrical structure with a clearance fit with the straight cylindrical drive shaft 40, so that the drive shaft 40 can not only move axially relative to the fixed sleeve seat 6, but also rotate on the central axis .

The fixed sleeve base 6 is provided with a cylinder wall notch 60 for exposing the connecting plate 7 and a cylinder wall notch 61 for exposing the connecting plate 8; The axially arranged first bayonet socket 601 and the second bayonet socket 602 are provided with a first bayonet socket 611 and a second bayonet socket 612 arranged side by side along the axial direction of the drive shaft 40 on the notch 61 of the cylinder wall. Specifically, on the two sides adjacent to the fixed sleeve seat 6, there are exposed openings communicating to form the notches 60, 61 of the cylinder wall; The bayonets 602 , 612 are disposed on the upper lateral sidewall 63 .

As shown in Figure 10, the connecting plate 7 includes a perpendicular root connecting plate portion 70 and a bent connecting plate portion 71, and the advancing direction of the first lift propeller 51 is fixed on the root connecting plate portion 70 perpendicular to the plate surface. Specifically, a through hole 700 for installing the first lifting thruster 51 is provided on the root connecting plate portion 70, and the root connecting plate portion 70 is bent and extended on the side of the through hole 700 to form a mounting plate perpendicular to its plate surface. Plate portion 72, the sleeve of the first lifting propeller 51 is fixed on the mounting plate portion 72; the propulsion direction of the first horizontal oblique pusher 53 is fixed on the bending connecting plate portion 71 parallel to the plate surface, that is, in When the propulsion system is unfolded, the plate surface of the root connecting plate portion 70 is arranged along the transverse direction perpendicular to the aforementioned symmetry plane, the plate surface normal direction of the installation plate portion 72 is arranged parallel to the normal direction of the aforementioned symmetry plane, and the bending connecting plate portion 71 The normal direction of the plate surface and the normal direction of the aforementioned symmetrical plane form an included angle of 45 degrees.

As shown in Figure 11, the connecting plate 8 includes a vertical root connecting plate portion 80 and a bent connecting plate portion 81, and the advancing direction of the second lift propeller 52 is fixed on the root connecting plate portion 80 perpendicular to the plate surface. Specifically, a through hole 800 for installing the second lifting thruster 52 is provided on the root connecting plate portion 80, and the root connecting plate portion 80 is bent and extended on the side of the through hole 800 to form a mounting plate perpendicular to its plate surface. Plate portion 82, the sleeve of the second lifting propeller 52 is fixed on the mounting plate portion 82; the propulsion direction of the second horizontal oblique propeller 83 is fixed on the bending connecting plate portion 81 parallel to the plate surface, that is, in When the propulsion system is unfolded, the plate surface of the root connecting plate portion 80 is arranged along the transverse direction perpendicular to the aforementioned symmetry plane, the plate surface normal direction of the installation plate portion 82 is arranged parallel to the normal direction of the aforementioned symmetry plane, and the bending connecting plate portion 81 The normal direction of the plate surface and the normal direction of the aforementioned symmetrical plane form an included angle of 45 degrees.

As shown in Figure 12, in order to facilitate the linear displacement output device 42 in the process of driving the drive shaft 40 to move axially, the position of the rotary drive device 41 does not need to move accordingly. One end of the drive shaft 40 is connected in transmission; and the mover of the linear displacement output device 42 is fixedly connected with the other end of the drive shaft 40 . The gear transmission mechanism includes a straight cylindrical gear 171 fitted outside the rotating output shaft 410 through a keyway structure composed of a flat key 161 and a keyway on the rotating output shaft 410 of the steering gear, and a straight cylindrical gear 171 that can slide axially. The spline sleeve 172 outside the gear 171; the spline sleeve 172 is fixedly connected to one end of the drive shaft 40, so that the meshing between the straight cylindrical gear 171 and the spline sleeve 172 is always maintained during the axial relative movement And transmission rotational power.

During the working process: (1) The linear displacement output device 42 drives the drive shaft 40 to move forward in the axial direction, so that the connecting plates 7 and 8 originally engaged in the second bayonet sockets 602 and 612 move forward synchronously To disengage from the engagement with the bayonet, the position at this time is shown in Figure 9, the pushing system is still in the retracted state, but not locked; (2) the rotary drive device 41 drives the drive shaft 40 to rotate, so that the connecting plate 7 , 8 Rotate 90 degrees outward with the drive shaft 40, and rotate 90 degrees outward from the vertical position that can be inserted into the first bayonet to the horizontal position that can be inserted into the first bayonet. The position at this time is shown in Figure 6 , the propulsion system is in the unfolded but unlocked state; (3) The linear displacement output device 42 drives the drive shaft 40 to move backward in the axial direction, so that the connecting plates 7, 8 move backward synchronously and snap into the second bayonet In 602 and 612, the position at this time is shown in Figure 7, the pushing system is in the unfolded and locked state, and the axial displacement is not moved by using the locked state between the mover and the stator of the linear displacement output device 42, or Add a locking mechanism for locking, such as setting a positioning hole perpendicular to the direction of its plate surface on the connecting plate, and setting a through positioning through hole docked with it at the bottom side wall of the fixed sleeve seat 6, and using an electromagnet to drive the positioning After the pin passes through the positioning through hole, it is deeply arranged in the positioning hole on the connecting plate, so that the position of the connecting plate engaged in the second bayonet relative to the fixed sleeve seat 6 is fixed in the axial direction; The system is switched from the stowed state to the unfolded state so that propulsion work can be performed.

By operating in the direction from the aforementioned step (1) to step (3), the propulsion system is switched from the unfolded state to the retracted state, thereby reducing interference to cleaning work and imaging. And when locking the connecting plate that is stuck in the first bayonet, not only the lock between the mover and the stator of the linear displacement output device can be used for locking, but also a locking mechanism can be added for locking, for example, a set on the connecting plate The positioning hole perpendicular to the direction of the board surface, and the positioning through hole that is docked with it at the inner side wall of the fixed sleeve seat 6, and the positioning pin is driven by the electromagnet to pass through the positioning through hole and deeply set on the connecting plate The position of the connecting plate engaged in the second bayonet relative to the fixed sleeve seat 6 in the axial direction is fixed.

The lifting push-off mechanism is fixed on the frame, specifically located at the axial inner side of the magnetic wheel, including pads and linear displacement output devices used to drive the pads up and down relative to the magnetic wheel. During the working process, the linear displacement output The device drives the block to support on the surface of the steel structure, so as to apply a thrust to the frame 10 away from the surface of the steel structure, thereby overcoming the magnetic attraction between the magnetic wheel and the surface of the steel structure, and separating the magnetic wheel from the surface of the steel structure ; Specifically, in this embodiment, a lift and push-off mechanism is installed at the axial inner side of the magnetic wheel without the car.

The control system includes a processor, a memory, and a signal receiver for receiving control commands sent by operators on the water in a wired or wireless manner, and a liquid level sensor arranged on the frame 10; in this embodiment, the liquid level sensor is a liquid level sensor. The transmitter is used to measure the water pressure at the depth of the robot to obtain the current water depth position information. The processor executes the corresponding computer program stored in the memory according to the control instruction received by the instruction receiver, and can realize the following steps:

In the submerging step, control the unfolding of the retractable support and engage the connecting plates 7 and 8 into the first bayonets 601 and 611, and use the propulsion system to drive the cleaning robot to dive to the target workplace. In this process, use four lifting propellers to provide the entire cleaning robot with lift against gravity, thereby controlling the dive speed of the entire cleaning robot, and use the propulsive force and direction of the four horizontal oblique propellers to cooperate, while To drive the cleaning robot to turn, move forward or backward, the position and posture of the cleaning robot can also be adjusted by using the eight propellers to advance the size of the rotating speed and the steering.

In this step of diving, first control the retractable support to drive the eight propellers to expand to the propulsion position shown in 7, and then control the lifting support to drive the reflector 30 down to its lower surface close to the frame 10, Then control the eight propellers to work together to drive the marine biological cleaning robot on the surface of the underwater steel structure to dive to the target position.

In the cleaning step, when the cleaning robot dives to the target site, use the propulsion system to adjust the posture of the cleaning robot to the target position where the magnetic wheel is magnetically attracted to the steel structure surface, and then control the retractable bracket to retract and make the connecting plate 7 , 8 snap into the second bayonet 602, 612, and open the cavitation jet cleaning module on the operating system to clean the marine organisms. During the cleaning process, the walking path, imaging operation and cleaning method of the cleaning robot can refer to the applicant's The technical scheme disclosed in the patent document whose publication number is CN108082415A is applied for and published.

In this cleaning step, control the elevating support to drive the reflector 30 to the imaging position, then control the retractable support to drive the eight thrusters back to the avoidance position as shown in Figure 9, and then control the cavitation on the operating system The jet module 2 performs cleaning operations.

In the transposition step, according to the prior art, when it is not convenient for the robot to turn or change the workplace, control the deployment of the retractable bracket and make the connecting plates 7, 8 snap into the first bayonet 601, 611, and start the push The system outputs the propulsion force of the suspension, and then controls the lift-off mechanism to push the magnetic wheel away from the surface of the steel structure, so as to use the propulsion system to adjust the pose of the robot relative to the current workplace and move to the target position.

Same as the step of diving, the reflector 30 needs to be lowered until its lower surface is close to the upper end surface of the frame 10 .

In the step of floating, control the expansion of the retractable support and make the connecting plates 7 and 8 snap into the first bayonets 601 and 611, and start the propulsion system to output the propulsion force of the levitation, and then control the lifting and pushing mechanism to push the magnetic wheel away from the steel structure surface, to use the propulsion system to adjust the posture and posture of the marine organism cleaning robot on the surface of the underwater steel structure, and raise it to the sea surface.

In this floating step, first control the retractable support to drive the eight propellers to expand and be in the propulsion position as shown in Figure 7, and then control the lifting support to drive the reflector 30 down until its lower surface is close to the frame 10 , and then control the cooperation of eight propellers to drive the underwater steel structure surface marine biological cleaning robot to float to the sea surface.

To sum up, in the above steps, the elevating support is used to drive the reflector 30 down to its lower surface to be close to the frame after the eight propellers are deployed to the propulsion position as shown in Figure 7 after the retracting support. 10, and is used to drive the reflector 30 up to the imaging position before the extended support drives the eight propellers back to the avoidance position as shown in FIG. 9 .

During the working process, the magnetic wheel is first pushed away from the surface of the steel structure to a position where its magnetic attraction force is small, so as to effectively avoid completely using the thrust of the propulsion system to push the magnetic wheel away from the surface of the steel structure when the output force is too large and increases the battery Energy consumption and reduced movement.

In the present invention, "horizontal" is configured as a horizontal direction when the four gears of the cleaning robot are placed on a horizontal plane, and "vertical" is configured as a vertical direction at this time.

Claims (10)

1. An underwater steel structure surface marine biological cleaning robot based on reflective panoramic imaging, comprising a walking system and a control system mounted on the frame of the walking system, a reflective panoramic imaging system and an operating system; the reflective The panoramic imaging system includes a reflector supported on the side of the frame away from the steel structure surface by a mounting bracket and the reflective surface is normal to the steel structure surface, and is fixed on the frame in a watertight manner And a camera for receiving the image reflected by the mirror; characterized in that: The walking system includes a propulsion system, and the propulsion system includes propellers for driving the posture adjustment, lifting and retreating of the marine organism cleaning robot on the surface of the underwater steel structure, and for driving the propellers to deploy to propel position or the retractable stand retracted to the avoidance position; The installation bracket is a lifting bracket, which is used to drive the reflector down to its lower surface to be close to the frame after the retractable bracket drives the propeller to expand and is in the advancing position, And it is used for driving the reflector to rise to the imaging position before the retracting support drives the propeller back to the avoidance position. 2. The marine organism cleaning robot on the surface of underwater steel structure according to claim 1, characterized in that: The lifting bracket includes a scissor-type telescopic mechanism and a driving device for driving the scissor-type telescopic mechanism to move, and two sets of the scissor-type telescopic mechanism are arranged symmetrically on both sides of the reflector. 3. The underwater steel structure surface sea organism cleaning robot according to claim 1 or 2, characterized in that: The propulsion system includes propeller units symmetrically installed on both sides of the frame, the propeller unit includes the retractable support and the first lifting propeller installed on the retractable support, The second lifting propeller, the first horizontal oblique thruster and the second horizontal oblique thruster, the propulsion directions of the two horizontal oblique thrusters form an angle greater than zero degree. 4. The marine organism cleaning robot on the surface of underwater steel structure according to claim 3, characterized in that: The retractable support includes a fixed sleeve seat fixed on the frame, a drive shaft fitted in the fixed sleeve seat with a clearance fit, a rotary drive device, and a linear displacement output device; the first lift The propeller is fixedly connected to one end of the drive shaft through a connecting plate with the first horizontal oblique thruster, and the second lifting propeller is connected with the second horizontal oblique thruster through a connecting plate It is fixedly connected with the other end of the drive shaft; the fixed sleeve seat is provided with a cylinder wall notch for exposing the connecting plate, and the cylinder wall notch is provided with side-by-side and along the drive shaft. The first bayonet and the second bayonet arranged in the axial direction; the linear displacement output device drives the connecting plate into the bayonet through the drive shaft so that the rotation of the drive shaft is limited, or withdraws from the bayonet The drive shaft is rotatable; the rotary drive device is used to drive the connecting plate to rotate upwards by 90 degrees from the lateral position where it can be snapped into the first bayonet until it can be snapped into the second bayonet. The vertical position of the mouth. 5. The marine organism cleaning robot on the surface of underwater steel structure according to claim 4, characterized in that: The connecting plate includes a vertical root connecting plate and a bent connecting plate. The propulsion direction of the lifting propeller is fixed on the root connecting plate perpendicular to the plate surface. It is fixed on the bent connecting plate part parallel to the plate surface. 6. The marine organism cleaning robot on the surface of underwater steel structure according to claim 5, characterized in that: The root connecting plate part is provided with a through hole for installing the lifting propeller, and the root connecting plate part is bent and extended on the side of the through hole to form a mounting plate part perpendicular to the plate surface, and the lifting propeller The sleeve is fixed on the mounting plate part. 7. The underwater steel structure surface marine organism cleaning robot according to any one of claims 4 to 6, characterized in that: The propulsion direction of the first horizontal oblique thruster is perpendicular to the propulsion direction of the second lateral oblique thruster; The propulsion direction of the transverse oblique propeller forms an included angle of 45 degrees with the axial direction of the drive shaft. 8. The underwater steel structure surface marine organism cleaning robot according to any one of claims 4 to 6, characterized in that: The drive shaft is a straight cylinder structure; the cross-section of the fixed sleeve seat is rectangular, and the inner cylinder cavity is a cylindrical structure that is clearance-fitted with the straight cylinder structure; On the adjacent two sides of the fixed sleeve seat, there are exposed openings that communicate with each other to form the notch of the cylinder wall; the first bayonet is arranged on the outer vertical side wall, and the second bayonet is arranged on the outer vertical side wall. on the upper lateral sidewall; The rotary drive device is a steering gear, and the rotary output shaft of the steering gear is connected to one end of the drive shaft through a gear transmission mechanism; the mover of the linear displacement output device is connected to the other end of the drive shaft Fixedly connected; the gear transmission mechanism includes a straight cylindrical gear that is sleeved outside the rotary output shaft of the steering gear through a keyway structure and a spline sleeve that can slide axially outside the straight cylindrical gear. The spline sleeve meshes with the internal teeth of the straight cylindrical gear, and the spline sleeve is fixedly connected with one end of the drive shaft. 9. The marine organism cleaning robot on the surface of underwater steel structure according to any one of claims 1 to 8, characterized in that: The walking system includes a magnetic wheel system, and the magnetic wheel system includes a magnetic wheel that can be magnetically attracted to the surface of the steel structure; The spacer on the surface of the steel structure and the linear displacement output device driving the spacer to move up and down relative to the magnetic wheel, the linear displacement output device is used to drive the magnetic wheel away from the surface of the steel structure. 10. The underwater steel structure surface sea organism cleaning robot according to any one of claims 1 to 9, wherein the control system includes a processor and a memory, the memory stores a computer program, and the When the computer program is executed by the processor, the following steps can be realized: In the step of diving, control the retractable support to drive the propeller to expand to the propulsion position, and then control the lifting support to drive the reflector down until its lower surface is close to the frame, and then control The propeller drives the marine biological cleaning robot on the surface of the underwater steel structure to dive to the target position; In the cleaning step, control the lifting support to drive the reflector to rise to the imaging position, then control the retractable support to drive the propeller back to an avoidance position, and then control the cavitation jet module on the operating system carry out cleaning operations; In the step of floating, control the retractable support to drive the propeller to expand to the propulsion position, then control the lifting support to drive the reflector down until its lower surface is close to the frame, and then control the The propeller drives the marine organism cleaning robot on the surface of the underwater steel structure to float to the sea surface.