A Novel Modular Suspended Underwater Dredging Robot with a Suction and Jet-of-Pump Combination

摘要

This article introduces a novel modular suspended underwater dredging robot used for the biochemical reaction tanks of underground water treatment plants. The presented underwater robot can be used to perform dredging operations without touching underwater bottom facilities. The approach achieved a suction and jet-of-pump combination. This requires the underwater robot system to maintain a stable operation attitude in turbulent water flow which is generated by the pump. The study involves the overall design of underwater robots coordinated with the dredging module and details the development of a ground control platform and underwater sensing sonar system. Depending on the location of the dredging, the robot has two operation modes: suspended mode and bottom sitting mode. The experimental results validate the feasibility and effectiveness of the underwater dredging robot. This research can achieve dredging in biochemical reaction tanks without interrupting operations and facilitates the development of intelligent operations in the water treatment industry.