CN110395369A - A robot for cleaning marine organisms on the surface of underwater steel structure based on magnetic wheel walking - Google Patents

Abstract

The invention relates to a robot for cleaning marine organisms on the surface of an underwater steel structure based on magnetic wheel walking, and belongs to the technical field of deep-sea operation robots. The cleaning robot includes a walking system and a control system, an imaging system, and an operating system mounted on the frame of the walking system; the walking system includes a magnetic wheel and a propulsion system that can be magnetically attracted to the surface of the steel structure. The propeller unit on the two sides of the frame, the propeller unit includes a retractable support located above the magnetic wheel and a first lift propeller, a second lift propeller, a first horizontal oblique thrust propeller installed on the retractable support The device and the second horizontal oblique thruster, the propulsion directions of the two lateral oblique thrusters form an angle greater than zero. Not only can it use the magnetic wheel to walk on the surface of the steel structure, but it can also go to the target place without the help of diving robots or steel pipes. It can be widely used in the fields of surface cleaning and flaw detection of steel structures such as offshore oil pipelines.

Description

A robot for cleaning marine organisms on the surface of underwater steel structure based on magnetic wheel walking

technical field

The invention relates to an underwater operation robot, in particular to an underwater steel structure surface sea organism cleaning robot based on magnetic wheel walking.

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 the face of the above problems, the applicant has applied for a patent document with the notification number CN206476068U disclosing a robot for cleaning marine organisms on the surface of an underwater steel structure, which includes a walking system that can be magnetically attracted to the surface of the steel structure. The 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 marine organisms on the surface of the steel structure. Because the walking system adopts wheeled four-wheel drive mode, 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, which is more efficient. Energy efficient. 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 .

Because it uses magnetic wheels, it can work well on the surface of steel structures; however, during the process of diving from the mother ship to the target operation position, it is difficult for the cleaning robot to cross the surface of marine organisms with a large range. It needs to dive while cleaning the steel pipe extending from the sea surface to the target work place, which is not only slow, but also the whole control process is relatively complicated; especially when only part of the surface of the steel structure needs to be cleaned.

Contents of the invention

The main purpose of the present invention is to provide a robot for cleaning marine organisms on the surface of underwater steel structures based on magnetic wheels, which can not only use magnetic wheels to walk on the surface of steel structures for cleaning, but also can walk to the target as a place without using steel pipes.

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, an imaging system and an operating system mounted on the frame of the walking system; The magnetic wheel on the top; the walking system includes a propulsion system, and the propulsion system includes propeller units that are symmetrically installed on both sides of the frame. The propeller unit includes a retractable bracket located above the magnetic wheel and a The first lifting propeller, 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; The expansion bracket includes a fixed sleeve seat fixed on the frame, a drive shaft fitted in the fixed sleeve seat with clearance fit, a rotary drive device, and a linear displacement output device; The propeller is fixedly connected to one end of the drive shaft through the connecting plate, and the second lifting propeller is fixedly connected to the second horizontal oblique pusher through the connecting plate with the other end of the drive shaft; In the notch of the cylinder wall where the connecting plate is exposed, the first bayonet and the second bayonet arranged side by side and arranged along the axial direction of the drive shaft are arranged on the notch of the cylinder wall; the linear displacement output device drives the connecting plate to snap in through the drive shaft The bayonet is rotated and positioned, or withdrawn from the bayonet to be rotatable; the rotary drive device is used to drive the connecting plate to rotate upward by 90 degrees from the horizontal position that can be snapped into the first bayonet to the vertical position that can be snapped into the second bayonet Location.

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 travel to the target site and float back to the sea surface; and it can quickly change the target site and adjust the position and posture during the operation process, effectively improving the operation efficiency.

The specific plan is that the connecting plate includes a vertical root connecting plate part and a bending connecting plate part. It is fixed on the bent connecting plate part parallel to the plate surface.

A more specific 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.

A preferred solution is that the propelling directions of the first horizontal oblique thruster and the second horizontal oblique thruster are perpendicular to each other.

A more preferred solution is that the propulsion direction of the transverse oblique propeller 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 that is in clearance fit with the straight cylindrical structure; The side is provided with an exposed opening which is connected to form a gap in the cylinder wall; the first bayonet is provided on the outer vertical side wall, and the second bayonet is provided on the upper lateral side wall.

Another preferred solution is that 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 fixedly connected to the other end of the drive shaft.

A more preferred solution is that 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, and the spline sleeve and the straight cylinder The gears are meshed, and the spline sleeve is fixedly connected with one end of the drive shaft. The spline sleeve is connected with the spur gear, and the meshing relationship can still be maintained when the axial position is adjusted.

Another preferred scheme is that a lifting push-off mechanism is installed on the frame, and the lifting push-off mechanism includes a linear displacement output device installed on the axial inner side or axial outer side of the magnetic wheel, and the mover of the linear displacement output device is fixed with a pad block; the linear displacement output device is used to drive the magnetic wheel away from the surface of the steel structure when the pad is supported on the surface of the steel structure. Effectively avoid the problem of the robot moving when the magnetic wheel is separated from the surface of the steel structure in the process of using the propulsion system to drive the robot off the surface of the steel structure, so as to improve the stability of the whole process.

A more 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 unfolding of the retractable support and make the connecting plate snap into the first bayonet, and use the propulsion system to drive the marine organism cleaning robot on the surface of the underwater steel structure to dive to the target workplace;

In the cleaning step, the propulsion system is used to adjust the pose of the marine organism cleaning robot on the surface of the underwater steel structure to the target position where the magnetic wheel is magnetically attracted to the surface of the steel structure, and then the retractable bracket is controlled to retract and the connecting plate is snapped into the second bayonet , and turn on the cavitation jet cleaning module on the operating system to clean the marine organisms;

In the transposition step, control the unfolding of the retractable bracket and make the connecting plate snap into the first bayonet, and start the propulsion system to output the propulsion force of suspension, and then control the lifting push-off mechanism to push the magnetic wheel away from the surface of the steel structure, so as to use the propulsion system Adjust the posture and posture of the marine biological cleaning robot on the surface of the underwater steel structure, and move to the target position;

In the step of floating, control the unfolding of the retractable support and make the connecting plate snap into the first bayonet, and start the propulsion system to output the propulsion force of suspension, and then control the lift and push-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 marine biological cleaning robot on the surface of the underwater steel structure, and it floats to the sea surface.

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 locked into the bayonet;

Fig. 2 is a top view of an embodiment of the present invention when the propulsion system is in a deployed state;

Fig. 3 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. 4 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. 5 is a partial enlarged view of A in Fig. 3;

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

Fig. 7 is a partial enlarged view of C in Fig. 6;

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

Fig. 9 is a top view of an embodiment of the present invention when the propulsion system is in a retracted state;

Fig. 10 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. 11 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, mainly by adding a retractable propulsion system, so that the propulsion system can autonomously dive to the target work place or rise back from the work place. At the same time, it can improve the flexibility and efficiency of adjusting the robot’s pose or changing the target workplace during underwater operations. There are product structures to design, and are not limited to the structures in the following examples.

Example

Referring to Fig. 1 to Fig. 11 , the underwater steel structure sea creature cleaning robot 1 of the present invention includes a control system, a walking system, an operating system, an imaging system and a lifting and pushing 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.

The operation 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 an umbilical cable for supplying water to the cavitation water jet cleaning module 2. The water jet cleaning module 2 is fixed on the frame 10 and is located on one side of the frame 10, so that the cavitation water jet generated by the cavitation water jet cleaning module 2 can be used to clean the surface of the underwater steel structure at a predetermined width on one side of the cleaning robot. Sea life in the range area.

The imaging system is a reflective panoramic imaging system, including a reflector 30, a camera 31, a supplementary light device, and a reflector bracket 33 for fixing the reflector 30 on the frame 10. The specific structure can refer to the applicant's application and publication. The publication number is the patent document of CN108082415A, will not repeat them 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.

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 8, the connecting plate 7 includes a vertical root connecting plate portion 70 and a bent connecting plate portion 71, the propulsion direction of the first lifting 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 7, 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 11, in order to facilitate the linear displacement output device 42 to drive the drive shaft 40 to move in the axial direction, 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 break away from the engagement with the bayonet, the position at this time is shown in Figure 10, and the pushing system is still in the retracted state, but it is 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 snapped into the first bayonet to the horizontal position that can be snapped into the first bayonet. The position at this time is shown in Figure 3 , 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 4, 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 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 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.

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.

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 magnetic wheel walking, comprising a walking system and a control system, an imaging system and an operating system mounted on the frame of the walking system; the walking system includes a magnetic The magnetic wheel sucked on the surface of the steel structure; characterized in that: The walking system includes a propulsion system, and the propulsion system includes a propeller unit symmetrically installed on both sides of the frame, and the propeller unit includes a retractable bracket positioned above the magnetic wheel and mounted on The first lifting propeller, the second lifting propeller, the first horizontal oblique thruster and the second horizontal oblique thruster on the retractable support, the propulsion directions of the two horizontal oblique thrusters are sandwiched into a an included angle greater than zero degrees; 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 to snap into the bayonet through the drive shaft to rotate and position, or withdraw from the bayonet to be rotatable; the rotation The driving device is used to drive the connecting plate to rotate upward by 90 degrees from a horizontal position capable of being snapped into the first bayonet slot to a vertical position capable of snapping into the second bayonet slot. 2. The marine organism cleaning robot on the surface of underwater steel structure according to claim 1, 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. 3. The marine organism cleaning robot on the surface of underwater steel structure according to claim 2, 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 The installation board part, the sleeve of the lifting propeller is fixed on the said installation board part. 4. The underwater steel structure surface sea organism cleaning robot according to any one of claims 1 to 3, characterized in that: The propelling direction of the first horizontal oblique thruster and the second horizontal oblique thruster are perpendicular to each other. 5. The marine organism cleaning robot on the surface of underwater steel structure according to claim 4, characterized in that: The propulsion direction of the transverse oblique propeller forms an included angle of 45 degrees with the axial direction of the drive shaft. 6. The underwater steel structure surface marine organism cleaning robot according to any one of claims 1 to 5, 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 communicating 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. 7. The underwater steel structure surface sea organism cleaning robot according to any one of claims 1 to 6, characterized in that: The rotation drive device is a steering gear, and the rotation 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 fixedly connected with the other end of the drive shaft. 8. The underwater steel structure surface sea organism cleaning robot according to claim 7, characterized in that: 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 The sleeve meshes with 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 lifting push-off mechanism is installed on the frame, and the lifting push-off mechanism includes a linear displacement output device installed on the axial inner side or axial outer side of the magnetic wheel. The mover of the linear displacement output device is fixed on the There is a spacer, and the linear displacement output device is used to drive the magnetic wheel away from the steel structure surface when the spacer is supported on the steel structure surface. 10. The underwater steel structure surface sea organism cleaning robot according to claim 9, wherein the control system includes a processor and a memory, the memory stores a computer program, and the computer program is controlled by the processor When executed, the following steps can be achieved: In the step of diving, control the unfolding of the retractable support and make the connecting plate snap into the first bayonet, and use the propulsion system to drive the underwater steel structure surface marine organism cleaning robot to dive to the target workplace; In the cleaning step, the propulsion system is used to adjust the pose of the marine organism cleaning robot on the surface of the underwater steel structure to the target position where the magnetic wheel is magnetically attracted to the surface of the steel structure, and then the retractable support is controlled to recover and snap the connecting plate into the second bayonet, and open the cavitation jet cleaning module on the operating system to clean the marine organisms; The transposition step is to control the unfolding of the retractable bracket and snap the connecting plate into the first bayonet, and control the propulsion system to output the propulsive force of suspension, and then control the lifting and pushing mechanism to push the magnetic wheel away from the surface of the steel structure, so as to use the propulsion system to adjust the posture and posture of the marine biological cleaning robot on the surface of the underwater steel structure, and move to the target position; In the step of floating, control the unfolding of the retractable bracket and make the connecting plate snap into the first bayonet, and control the propulsion system to output the propulsive force of suspension, and then control the lifting and pushing mechanism to push the magnetic wheel away The steel structure surface is used to adjust the pose of the underwater steel structure surface marine biological cleaning robot by using the propulsion system, and float to the sea surface.