CN216709596U

CN216709596U - Underwater dredging system

Info

Publication number: CN216709596U
Application number: CN202123422041.4U
Authority: CN
Inventors: 刘虎; 兰传春; 朱家村
Original assignee: Qingdao Robotfish Marine Technology Co ltd
Current assignee: Qingdao Robotfish Marine Technology Co ltd
Priority date: 2021-12-31
Filing date: 2021-12-31
Publication date: 2022-06-10
Anticipated expiration: 2031-12-31

Abstract

The utility model discloses an underwater dredging system which comprises an underwater dredging robot, a flexible water suction pipe, a cable floating body, an umbilical cable, a sludge pump, a blow-off pipe, a sludge pump cable and an operating platform, wherein the underwater dredging robot is connected with a control center on the operating platform through the umbilical cable, the sludge pump is connected with the operating platform through the sludge pump cable, a water inlet of the sludge pump is communicated with a sludge suction head on the underwater dredging robot through the flexible water suction pipe, a water outlet of the sludge pump is communicated with the blow-off pipe and is discharged outside through the blow-off pipe, the flexible water suction pipe and the umbilical cable are bundled together, the cable floating body is fixed on the flexible water suction pipe and the umbilical cable, and when the underwater dredging robot works, the sludge pump is separated from the underwater dredging robot and hung in water, and the flexible water suction pipe and the umbilical cable float in the water in an S shape, so that the influence of a pipeline on the operation posture of the underwater robot is reduced to the minimum. The sludge pump is separated from the underwater dredging robot, and the sludge pump is submerged into water according to the requirement when the sludge pump is used, so that the sludge cleaning depth is deepened.

Description

Underwater dredging system

The technical field is as follows:

the utility model belongs to the technical field of underwater robots, and particularly relates to an underwater dredging system.

Background art:

the culture concept of first culturing fish and first culturing water and first culturing bottom is deeply focused on farmers and aquaculture workers, and the maintenance of good bottom quality becomes an important link of safe culture and high-yield culture. The dredging of a plurality of fish culture ponds is not carried out for many years, along with the increase of culture density and the increase of yield, organic wastes such as excrement and urine, feed residues and the like discharged by fishes are accumulated at the bottom of the pond, the sludge at the bottom of the pond is less than half a meter and more than one meter, so that conditions are created for the propagation of pathogenic bacteria and parasites, the water quality is easy to deteriorate in the culture process, diseases are frequently generated, great loss is caused to the culture production, and the dredging becomes an important problem of the current aquaculture industry.

The existing dredging modes mainly comprise dry pond dredging, slurry pump dredging, crawler robot dredging and the like. The dry pond dredging is generally carried out by adopting engineering machinery under the conditions of empty pond and dry water after the adult fish is caught in winter, the engineering quantity is large, and the environment is restricted; the slurry pump mode is that the slurry pump is vertically hoisted to the water bottom for dredging, and like the bottom of the net cage can not be dredged; the thickness of the sludge is required to be not too thick for dredging by the tracked robot, and the geology is hard, otherwise, the robot sinks into the sludge and cannot walk, and the restriction of the ground topography and the geology is large. The crawler-type underwater robot has a good dredging effect in a hard geological region, but when thick silt is encountered, the following problems can be encountered: (1) because the bearing capacity of the silt is limited, the crawler of the crawler-type underwater robot can sink into the silt and cannot advance, the crawler-type underwater robot sinks deeper, the underwater terrain is complex, the crawler-type underwater robot cannot get past when encountering obstacles such as gullies, huge stones, huge trees and the like, and the obstacle crossing capability is poor; (2) when the crawler type underwater robot works, an umbilical cable of the crawler type underwater robot is dragged with a sewage suction pipeline to drag the ground, so that great resistance is formed to the advance of the robot, and the working range of the robot is seriously influenced; (3) the sludge pump is generally carried on a crawler-type underwater robot, so that the influences of heavy equipment weight, high power supply requirement, signal interference and the like are caused; (4) for a system with a separated sludge pump and a robot, the sludge pump is generally placed on water and affects the suction stroke; (5) the crawler-type underwater robot is heavy and cannot rise or fall in water, so that the laying and recovery process is very troublesome, and the engineering quantity is large.

The utility model has the following contents:

it is an object of the present invention to seek an underwater dredging system which separates the sludge pump from the underwater robot and at the same time will.

In order to achieve the purpose, the utility model relates to an underwater dredging system which comprises an underwater dredging robot, a flexible water suction pipe, a cable floating body, an umbilical cable, a sludge pump, a blow-off pipe, a sludge pump cable and an operating platform.

The utility model relates to an underwater dredging robot, which comprises an underwater robot body, a bottom sliding plate, an electric push rod, a sewage suction head and a support frame, wherein the bottom sliding plate is arranged on the underwater robot body; the bottom slide is installed in the frame bottom, arranges the soil pick-up head of underwater robot body front end in and rotates with the underwater robot body through the support frame and be connected, and the electric putter stiff end is fixed on the underwater robot body, and the electric putter free end is connected with the support frame middle part, promotes the support frame and drives the soil pick-up head and revolute the rotation point forward and backward rotation.

Specifically, the soil pick-up head includes the soil pick-up head casing, the filter screen, soil pick-up mouth and soil pick-up under water the camera, soil pick-up head casing bottom opening, transparent plate is adopted on soil pick-up head casing upper portion, the filter screen is fixed at soil pick-up head casing bottom opening department, enclose into the mud chamber that holds mud with the soil pick-up head casing, install at least one soil pick-up mouth with mud chamber intercommunication at soil pick-up head casing top, the soil pick-up mouth passes through the pipeline and is connected with the soil pick-up pump, soil pick-up under water the camera slope is fixed on transparent soil pick-up head casing and soil pick-up under water the camera transparent window and aim at the transparent plate on soil pick-up head casing upper portion, be used for gathering soil chamber front end image data.

Specifically, the support frame includes first fixed plate, the second fixed plate, first bracing piece and second bracing piece, first bracing piece both ends are articulated with first fixed plate and second fixed plate respectively, second bracing piece both ends are articulated with first fixed plate and second fixed plate respectively, first fixed plate, first bracing piece, second fixed plate and second bracing piece enclose into parallelogram structure, first fixed plate level is fixed on the robot body under water, the second fixed plate is fixed on the first casing of soil pick-up head soil pick-up, the electric putter stiff end is fixed on the robot body under water, the electric putter free end is connected with first bracing piece middle part, electric putter is flexible to drive the support frame around the pin joint fore-and-aft rotation on the first fixed plate.

Preferably, the sewage suction head is connected with the underwater robot body through a left parallelogram support frame and a right parallelogram support frame, two ends of the connecting rod are respectively connected with the middle parts of the first support rods of the two support frames, and the free end of the electric push rod is connected with the middle part of the connecting rod.

In order to improve the sludge treatment area, the length of the sewage suction head is more than or equal to the width of the underwater dredging robot, and two sewage suction ports are arranged at the top of the sewage suction head shell.

Specifically, the sewage suction underwater camera is an integrated illumination underwater camera with an illumination lamp.

Specifically, the underwater robot body comprises a frame, a propeller, an electronic cabin, a lighting lamp, a forward looking sonar, an underwater camera, a hanging ring, an underwater GPS and a floating body, wherein the electronic cabin is fixed on the frame and is respectively connected with the propeller, an electric push rod, the lighting lamp, the forward looking sonar, the underwater camera and the underwater GPS, the electronic cabin is connected with a control center through an umbilical cable and is used for sending information collected by the underwater desilting robot to the control center in real time, receiving a control command of the control center and controlling the relevant components to work, the propeller is fixed on the frame 1, the lighting lamp matched with the underwater camera is fixed on the front side of the frame, the underwater camera is fixed above the front side of the frame and is used for collecting image information in an environment with short distance or high visibility, the forward looking sonar is fixed above the front side of the frame and is used for collecting image information in an environment with long distance or low visibility, the underwater GPS is fixed on the frame and used for positioning underwater in real time to obtain the course and the relative position of the underwater dredging robot, and the floating body is fixed at the top of the frame.

Specifically, the floating body is made of a low-density pressure-resistant material, the water absorption rate is low in a high-pressure environment, and the lifting hook is fixed to the top of the underwater robot.

Preferably, the propellers comprise a first horizontal propeller, a second horizontal propeller, a third horizontal propeller, a fourth horizontal propeller, a first vertical propeller, a second vertical propeller, a third vertical propeller and a fourth vertical propeller, the first horizontal propeller, the second horizontal propeller, the third horizontal propeller and the fourth horizontal propeller are arranged on the same horizontal plane on the frame 1, the first horizontal propeller, the second horizontal propeller, the third horizontal propeller and the fourth horizontal propeller are in central symmetry, the first horizontal propeller and the second horizontal propeller are arranged at the front end of the underwater desilting robot, the third horizontal propeller and the fourth horizontal propeller are arranged at the rear end of the underwater desilting robot, one ends of the propellers of the first horizontal propeller and the second horizontal propeller are inclined towards the X axis by 30-45 degrees, one ends of the propellers of the third horizontal propeller and the fourth horizontal propeller are inclined towards the X axis by 30-45 degrees, four vertical thrusters, namely a first vertical thruster, a second vertical thruster, a third vertical thruster and a fourth vertical thruster, are symmetrically arranged on the same horizontal plane of the frame 1.

Specifically, the frame is three layer construction, from upwards being first layer down in proper order, second floor and third layer, the bottom slide is fixed in the first layer bottom, be equivalent to first layer bottom plate, the electron cabin is installed at the first layer middle part, first horizontal propeller, the horizontal propeller of second, the horizontal propeller of third and the horizontal propeller symmetry of fourth are installed in the second floor, first perpendicular propeller, the perpendicular propeller of second, the perpendicular propeller of third and the perpendicular propeller symmetry of fourth are fixed in the frame outside, the body is installed in the third floor, first fixed plate is fixed at first floor bottom front end, the electric putter stiff end that the slope set up is fixed at the bottom plate front end, the electric putter free end is connected with the support frame middle part.

Compared with the prior art, the utility model has the following beneficial effects: the sliding plate type advancing principle is adopted, the sliding plate type sludge scraper can freely slide on sludge with low bearing capacity, the environmental suitability is strong, and the restriction of the terrain is small; the underwater topography is complex, a plurality of obstacles can be encountered, the underwater robot can float up and down and move freely in the water, the obstacle-crossing capability is strong, and the underwater robot can drill into the bottom of a net cage for dredging; the underwater robot has small underwater weight, can float up and down in water, can swim to the water surface for distribution and recovery, and is simple to operate.

Description of the drawings:

fig. 1 is a schematic structural view of an underwater dredging system according to embodiment 1.

Fig. 2 is a schematic structural view of the underwater dredging robot according to embodiment 1.

Fig. 3 is a schematic view of a connecting structure of the soil pick-up head according to embodiment 1.

The specific implementation mode is as follows:

the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and all other embodiments obtained by a person of ordinary skill in the art without creative efforts based on the embodiments of the present invention belong to the protection scope of the present invention.

Example 1

As shown in fig. 1, the underwater dredging system according to this embodiment includes an underwater dredging robot, a flexible suction pipe 14, a cable float 15, an umbilical cable 16, a sludge pump 17, a sewage discharge pipe 18, a sludge pump cable 19 and an operation platform 20, the underwater dredging robot is connected to a control center on the operation platform 20 through the umbilical cable 16, the sludge pump 17 is connected to the operation platform 20 through the sludge pump cable 19, a water inlet of the sludge pump 17 is connected to a sewage suction head 6 on the underwater dredging robot through the flexible suction pipe 14, a water outlet of the sludge pump 17 is connected to the sewage discharge pipe 18, and is discharged outside through the sewage discharge pipe 18, the flexible suction pipe 14 and the umbilical cable 16 are bound together, the cable float 15 is fixed to the flexible suction pipe 14 and the umbilical cable 16, during operation, the sludge pump 17 is suspended in water separately from the underwater dredging robot, and under the action of the cable float 15, the flexible suction pipe 14 and the umbilical cable 16 float in water in an S shape, the influence of the flexible water suction pipe 2 on the dragging of the robot is avoided, and the influence of the pipeline on the running posture of the underwater robot 1 is reduced to the minimum.

The sludge pump is separated from the underwater dredging robot, so that the problems that the robot is large in size, heavy in weight, high in power supply, high in electric signal interference, and the robot sinks due to vibration of a submersible pump caused by the fact that the sludge pump is installed on the robot can be avoided.

As shown in fig. 2-3, the underwater dredging robot according to the present embodiment includes an underwater robot body, a bottom sliding plate 4, an electric push rod 5, a sewage suction head 6 and a support frame 13; bottom slide 4 installs in frame 1 bottom, arranges the soil pick-up head 6 of underwater robot body front end in and rotates with the underwater robot body through support frame 13 and be connected, and 5 stiff ends of electric putter are fixed on the underwater robot body, and 5 free ends of electric putter are connected with support frame 13 middle part, promote support frame 13 and drive soil pick-up head 6 and revolute the rotation point forward and backward rotation.

Specifically, the soil pick-up head 6 comprises a soil pick-up head shell 601, a filter screen 602, a soil pick-up port 603 and a soil pick-up underwater camera 604, wherein the bottom of the soil pick-up head shell 601 is open, a transparent plate is adopted on the upper part of the soil pick-up head shell 601, the filter screen 602 is fixed at the bottom opening of the soil pick-up head shell 601 and encloses a sludge cavity for containing sludge with the soil pick-up head shell 601, at least one soil pick-up port 603 communicated with the sludge cavity is installed on the top of the soil pick-up head shell 601, the soil pick-up port 603 is connected with a soil pick-up pump through a pipeline, the soil pick-up underwater camera 604 is obliquely fixed on the transparent soil pick-up head shell 601, a transparent window of the soil pick-up underwater camera 604 is aligned with the transparent plate on the upper part of the soil pick-up head shell 601 for collecting image data at the front end of the sludge cavity, and the height of the soil pick-up head is adjusted according to the image data.

Specifically, the supporting frame 13 includes a first fixing plate 1301, a second fixing plate 1302, a first supporting rod 1303 and a second supporting rod 1304, wherein two ends of the first supporting rod 1303 are respectively hinged to the first fixing plate 1301 and the second fixing plate 1302, two ends of the second supporting rod 1304 are respectively hinged to the first fixing plate 1301 and the second fixing plate 1302, the first fixing plate 1301, first bracing piece 1303, second fixed plate 1302 and second bracing piece 1304 enclose into the parallelogram structure, first fixed plate 1301 level is fixed on the robot body under water, second fixed plate 1302 is fixed on soil pick-up head 6 soil pick-up head casing 601, 5 stiff ends of electric putter are fixed on the robot body under water, 5 free ends of electric putter are connected with first bracing piece 1303 middle part, 5 flexible drive support frames of electric putter rotate around the pin joint on first fixed plate 1301 back and forth, and then realize the lift of soil pick-up head 6, so that respond to unevenness's the bottom. When the support frame moves back and forth, four end points of the parallelogram structure are driven to rotate, the second fixing plate 1302 is always parallel to the first fixing plate 1301, the first fixing plate 1301 is horizontally fixed, the second fixing plate 1302 also can be always kept horizontal, and therefore the filter screen at the bottom of the sewage suction head 6 is always kept horizontal.

Preferably, the sewage suction head 6 is connected with the underwater robot body through a left parallelogram support frame and a right parallelogram support frame 13, two ends of a connecting rod 1305 are respectively connected with the middle parts of first support rods 1303 of the two support frames 13, and the free end of an electric push rod 5 is connected with the middle part of the connecting rod 1305.

In order to increase the sludge treatment area, the length of the sewage suction head 6 is more than or equal to the width of the underwater dredging robot, and two sewage suction ports 603 are arranged at the top of the sewage suction head shell to increase the sludge treatment speed. Specifically, the underwater soil pick-up camera 604 is an integrated illumination underwater camera 604 with an illumination lamp.

Specifically, the underwater robot body comprises a frame 1, a propeller 2, an electronic cabin 3, an illuminating lamp 7, a forward-looking sonar 8, an underwater camera 9, a hanging ring 10, an underwater GPS11 and a floating body 12, wherein the electronic cabin 3 is fixed on the frame 1, the electronic cabin 3 is respectively connected with the propeller 2, an electric push rod 5, the illuminating lamp 7, the forward-looking sonar 8, the underwater camera 9 and an underwater GPS11, the electronic cabin 3 is connected with a control center through an umbilical cable, sends information collected by the underwater dredging robot to the control center in real time, receives a control command of the control center and controls related parts to work, the propeller 2 is fixed on the frame 1 and is used for driving the underwater dredging robot to move underwater, the illuminating lamps 7 are fixed on the front side of the frame 1 and are arranged in bilateral symmetry to provide illumination for the work of the underwater camera 9, the underwater camera 9 is fixed at a position above the front side of the frame 1 and is used for collecting image information in an environment with short distance or high visibility, the forward-looking sonar 8 is fixed at the upper position of the front side of the frame 1 and used for collecting image information in a long-distance or low-visibility environment, the underwater GPS11 is fixed on the frame 1 and used for obtaining the course and the relative position of the underwater dredging robot in real-time underwater positioning, the floating body 12 is fixed at the top of the frame 1, the floating body 12 is made of low-density pressure-resistant materials and low in water absorption rate in a high-pressure environment so as to reduce the weight of the underwater robot, and the lifting hook is fixed at the top of the underwater robot.

Preferably, the propellers comprise a first horizontal propeller, a second horizontal propeller, a third horizontal propeller, a fourth horizontal propeller, a first vertical propeller, a second vertical propeller, a third vertical propeller and a fourth vertical propeller, the first horizontal propeller, the second horizontal propeller, the third horizontal propeller and the fourth horizontal propeller are arranged on the same horizontal plane on the frame 1, the first horizontal propeller, the second horizontal propeller, the third horizontal propeller and the fourth horizontal propeller are in central symmetry, the first horizontal propeller and the second horizontal propeller are arranged at the front end of the underwater desilting robot, the third horizontal propeller and the fourth horizontal propeller are arranged at the rear end of the underwater desilting robot, one ends of the propellers of the first horizontal propeller and the second horizontal propeller are inclined towards the X axis by 30-45 degrees, one ends of the propellers of the third horizontal propeller and the fourth horizontal propeller are inclined towards the X axis by 30-45 degrees, the four horizontal propellers are mutually matched to realize advancing, retreating, left turning, right turning, side shifting and navigation fixing of the underwater dredging robot, the first vertical propeller, the second vertical propeller, the third vertical propeller and the fourth vertical propeller are symmetrically arranged on the same horizontal plane of the frame 1, and the four vertical propellers are mutually matched to realize ascending, descending and depth fixing of the underwater dredging robot. The structural design of the eight propellers enables the underwater dredging robot to cruise freely underwater, easily avoid obstacles and reach the bottom of the net cage to finish dredging.

Specifically, frame 1 is three layer construction, from upwards being the first layer in proper order down, second floor and third layer, bottom slide 4 is fixed in the first floor bottom, be equivalent to the first floor bottom plate, electronic compartment 3 installs at the first floor middle part, first horizontal propeller, the horizontal propeller of second, the horizontal propeller of third and the horizontal propeller symmetry of fourth are installed in the second floor, first vertical propeller, the perpendicular propeller of second, the perpendicular propeller of third and the perpendicular propeller symmetry of fourth are fixed in the frame 1 outside, body 12 is installed in the third floor, first fixed plate 1301 fixes at first floor bottom front end, the 5 stiff ends of the electric putter 5 that the slope set up are fixed at the bottom plate front end, 5 free ends of electric putter are connected with the support frame middle part. The frame structure is reasonable in design, not only serves as a supporting structure to reasonably install and fix all the components, but also plays a role in collision protection.

The specific use of the underwater dredging system that this embodiment relates to does:

(1) the underwater dredging robot is hoisted into the water by a crane on the operating platform 20, the crane is unhooked, the sludge pump 17 is hoisted into the water by the crane, and the underwater dredging robot is submerged to a proper depth when the propeller works; the sludge pump 17 is separated from the underwater dredging robot and suspended in water.

(2) The underwater dredging robot swims to the bottom of the net cage 21 and reaches the dredging position, the height of the sewage suction head is adjusted through video data returned by the sewage suction underwater camera 604, if the filter screen can be seen in the video, the sewage suction head is moved downwards, and the sludge discharge amount of the sewage discharge pipe 18 is observed to continuously adjust the height of the sewage suction head.

(3) The propeller works, the underwater dredging robot slides at the bottom, the sludge pump works, sludge is firstly filtered through the filter screen, the flexible water suction pipe is prevented from being blocked, and the sludge sequentially arrives at the operation platform along the sludge cavity, the flexible water suction pipe and the blow-off pipe. In the underwater operation process of the underwater dredging robot, the forward-looking sonar or underwater camera is used for collecting the front environment video data in real time, and an operator controls the propeller to move correspondingly according to the video data.

(4) After the work is finished, the sludge pump 17 is firstly hung on the operating platform 20 by the crane, the underwater dredging robot is controlled to swim to the water surface, and the underwater dredging robot is lifted out of the water surface by the crane, so that the recovery work is finished. The system can be operated by 2-3 people, and is convenient to operate.

Claims

1. The utility model provides an underwater dredging system, a serial communication port, including underwater dredging robot, the flexible pipe that absorbs water, the cable body, the umbilical cable, the sludge pump, the blow off pipe, sludge pump cable and operation platform, underwater dredging robot passes through the umbilical cable and is connected with the control center on the operation platform, the sludge pump passes through the sludge pump cable and is connected with operation platform, the sludge pump water inlet passes through the flexible sewage suction pipe intercommunication sewage suction head on the underwater dredging robot, sludge pump delivery port and blow off pipe intercommunication, arrange outward through the blow off pipe, flexible pipe and umbilical cable bundle together, the cable body is fixed on flexible pipe and umbilical cable that absorb water, in operation, the sludge pump hangs in aqueous with underwater dredging robot separation, flexible pipe and umbilical cable S-shaped float in aqueous.

2. The underwater dredging system of claim 1, comprising an underwater robot body, a bottom sliding plate, an electric push rod, a sewage suction head and a support frame; the bottom slide is installed in the frame bottom, arranges the soil pick-up head of underwater robot body front end in and rotates with the underwater robot body through the support frame and be connected, and the electric putter stiff end is fixed on the underwater robot body, and the electric putter free end is connected with the support frame middle part, promotes the support frame and drives the soil pick-up head and revolute the rotation point forward and backward rotation.

3. The underwater dredging system of claim 2, wherein the sewage suction head comprises a sewage suction head housing, a filter screen, a sewage suction port and a sewage suction underwater camera, the bottom of the sewage suction head housing is open, a transparent plate is arranged on the upper portion of the sewage suction head housing, the filter screen is fixed on the bottom of the opening of the sewage suction head housing and forms a sludge cavity for containing sludge with the sewage suction head housing, at least one sewage suction port communicated with the sludge cavity is arranged on the top of the sewage suction head housing, the sewage suction port is connected with the sewage suction pump through a pipeline, the sewage suction underwater camera is obliquely fixed on the transparent sewage suction head housing, and a transparent window of the sewage suction underwater camera is aligned with the transparent plate on the upper portion of the sewage suction head housing and used for collecting image data at the front end of the sludge cavity.

4. An underwater dredging system as claimed in claim 3, wherein the support frame comprises a first fixing plate, a second fixing plate, a first support rod and a second support rod, two ends of the first support rod are respectively hinged to the first fixing plate and the second fixing plate, two ends of the second support rod are respectively hinged to the first fixing plate and the second fixing plate, the first support rod, the second fixing plate 1 and the second support rod form a parallelogram structure, the first fixing plate is horizontally fixed on the underwater robot body, the second fixing plate is fixed on the sewage suction head shell, a fixed end of the electric push rod is fixed on the underwater robot body, a free end of the electric push rod is connected with the middle of the first support rod, and the electric push rod stretches to drive the support frame to rotate back and forth around a hinge point on the first fixing plate.

5. An underwater dredging system as claimed in claim 4, wherein the sewage suction head is connected to the underwater robot body through a left parallelogram support frame and a right parallelogram support frame, two ends of the connecting rod are respectively connected to the middle of the first support rod of the two support frames, and the free end of the electric push rod is connected to the middle of the connecting rod.

6. The underwater dredging system of claim 5, wherein the length of the sewage suction head is greater than or equal to the width of the underwater dredging robot, two sewage suction ports are arranged at the top of the sewage suction head shell, and the sewage suction underwater camera is an integrated lighting underwater camera with a lighting lamp.

7. The underwater dredging system of claim 4, wherein the underwater robot body comprises a frame, a propeller, an electronic cabin, a lighting lamp, a forward looking sonar, an underwater camera, a hanging ring, an underwater GPS and a floating body, the electronic cabin is fixed on the frame, the electronic cabin is respectively connected with the propeller, an electric push rod, the lighting lamp, the forward looking sonar, the underwater camera and the underwater GPS, the electronic cabin is connected with a control center through an umbilical cable, information collected by the underwater dredging robot is sent to the control center in real time, a control command of the control center is received, relevant parts are controlled to work, the propeller is fixed on the frame, the lighting lamp matched with the underwater camera is fixed on the front side of the frame, the underwater camera is fixed on the upper position of the front side of the frame and used for collecting image information in an environment with short distance or high visibility, the forward looking sonar is fixed on the upper position of the front side of the frame, the underwater GPS is fixed on the frame and used for positioning underwater in real time to obtain the course and the relative position of the underwater dredging robot, and the floating body is fixed on the top of the frame.

8. An underwater dredging system as claimed in claim 7, wherein the floating body is made of a low-density pressure-resistant material, has a low water absorption rate in a high-pressure environment, and the hook is fixed to the top of the underwater robot.

9. The underwater dredging system of claim 8, wherein the propeller includes a first horizontal propeller, a second horizontal propeller, a third horizontal propeller, a fourth horizontal propeller, a first vertical propeller, a second vertical propeller, a third vertical propeller and a fourth vertical propeller, the first horizontal propeller, the second horizontal propeller, the third horizontal propeller and the fourth horizontal propeller are arranged on the same horizontal plane on the frame, the first horizontal propeller, the second horizontal propeller, the third horizontal propeller and the fourth horizontal propeller are arranged on the front end of the underwater dredging robot, the first horizontal propeller, the second horizontal propeller, the third horizontal propeller and the fourth horizontal propeller are arranged on the rear end of the underwater dredging robot, one end of the propeller of the first horizontal propeller and the propeller of the second horizontal propeller are inclined 30 degrees to 45 degrees towards the X axis, one ends of propellers of the third horizontal propeller and the fourth horizontal propeller are inclined by 30-45 degrees towards the X axis, and four vertical propellers of the first vertical propeller, the second vertical propeller, the third vertical propeller and the fourth vertical propeller are symmetrically arranged on the same horizontal plane of the frame.

10. An underwater dredging system as claimed in claim 9, wherein the frame is a three-layer structure including a first layer, a second layer and a third layer in sequence from bottom to top, the bottom sliding plate is fixed at the bottom of the first layer and corresponds to a bottom plate of the first layer, the electronic cabin is installed in the middle of the first layer, the first horizontal thruster, the second horizontal thruster, the third horizontal thruster and the fourth horizontal thruster are symmetrically installed in the second layer, the first vertical thruster, the second vertical thruster, the third vertical thruster and the fourth vertical thrusters are symmetrically fixed outside the frame, the floating body is installed in the third layer, the first fixing plate is fixed at the front end of the bottom of the first layer, the fixed end of the obliquely arranged electric push rod is fixed at the front end of the bottom plate, and the free end of the electric push rod is connected with the middle of the support frame.