Robot for cleaning surface of underwater cylindrical pier and cleaning method

• Main Authors: MAO JUZHENG, WANG FEI, SONG AIGUO, LIU HAIXIN, XIE FENG, SONG GUANGMING, WU GANG
• Format: Patent
• Language: Chinese; English
• Published: 09.01.2024
• Subjects: CHAMBERS PROVIDED WITH MANIPULATION DEVICES; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; HAND TOOLS; LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; MANIPULATORS; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS; PERFORMING OPERATIONS; PORTABLE POWER-DRIVEN TOOLS; RELATED EQUIPMENT; SHIPS OR OTHER WATERBORNE VESSELS; TRANSPORTING

The invention discloses a robot for cleaning the surface of an underwater cylindrical pier and a cleaning method. The robot comprises a robot body, a power module, an underwater mechanical arm, a vision module, a high-pressure water gun, a brushing module and a fastening part. The robot grabs the surface of the pier to work and can move in any direction of the surface, the tail end of the underwater mechanical arm carries the high-pressure water gun and the brushing module to work cooperatively, the high-pressure water gun is used for large-area cleaning of the surface of the underwater cylindrical pier, and the brushing module is used for small-range fine brushing of the surface of the underwater cylindrical pier. The cleaning and brushing module is composed of a cleaning brush head and a six-dimensional force sensor, admittance control is adopted for the control method of the underwater mechanical arm, the contact force between the cleaning brush head and the surface of the underwater cylindrical pier is ad