Design and analysis of a new underwater robot for autonomous cleaning water pool

An underwater robot is developed for cleaning the water pool of Macau Water Company. A prototype of underwater robot is designed to meet the needs of cleaning job. The cleaning job can be classified into two main parts: bottom cleaning and side-wall cleaning. Most of the pool cleaning robots available in the market is typically a mobile robot. But a mobile robot alone cannot cleanse up some areas inside the water pool, such as the corner areas and the surface above the water level. Hence an underwater vehicle-manipulator system (UVMS) developed in this paper can tackle the cleaning issues efficiently.