Design Of A Small To Medium Sized Underwater Hull Cleaning Robot

As a ship travels long distances,a thick layer of marine life can accumulate on the surface of its hull,which will increase the amount of fuel consumption,affect the ship’s speed and,in more serious cases,even corrode the ship’s walls.There are two common solutions to this problem.One is to drive the ship into the dock and then clean it with a gun in hand,which is a long and expensive way of cleaning;the other is for divers to dive down to the bottom of the ship with cleaning tools,which is more demanding and dangerous for the operator.In this paper,the technical specifications and working principles of the underwater hull cleaning robot are presented,and the overall design scheme is determined,including the choice of shape structure,the choice of movement,the choice of cleaning method and the choice of adsorption method.In addition,the mechanical structure of the underwater hull cleaning robot is designed and its safe adsorption conditions are analysed.Then,based on the design of the mechanical structure of the underwater hull cleaning robot,a force analysis was carried out,which led to a dynamics model and a simplification of the model for the subsequent control.After that,the control system of hull cleaning robot is designed.The hardware part includes the selection of the communication method,the selection of the camera and various sensors and the design of the power supply system,while the software part includes the design of the upper and lower computer program and the design of the depth and navigation control algorithm.Finally,this paper verifies the accuracy of the nozzle fluid simulation and the cleaning effect of the cavitation cleaning disc after a series of experiments,and further evaluates the cleaning efficiency of the cleaning disc by studying the cleaning trajectory of the disc.In addition,a number of experiments have been conducted in this paper,including underwater multi-degree-of-freedom motion experiments,camera system and sensor data acquisition experiments,underwater fixed depth and navigation experiments,and robot wall motion experiments,etc.The experimental results verify the basic functions and motion stability of the underwater hull cleaning robot.