In life near the sea, the boats used also need to be cleaned up. In the early stages of ship cleaning, large shipping companies and shipyards are usually cleaned by professional cleaning teams, most of which are manually cleaned on the dock. This cleaning method manually cleans the surface of the ship hull with high intensity, and has the disadvantages of long cleaning period, high cleaning cost, and high manual operation intensity. There is an urgent need for cleaning operations that can replace the underwater cleaning tools of ships. Regular cleaning of the ship to remove growths and algae…