The present application discloses a device (1) for cleaning a surface of a structure, the surface being submerged in a water column, comprising: at least one fin (3) for steering the device (1) against the submerged surface while the device (1) moves, through the water column, in a direction parallel to the submerged surface； and at least one pivoting means for pivoting the at least one fin (3), in relation to the device (1), in reaction to a drag acting on the at least one fin (3), in which the pivoting of the at least one fin (3) is constrained for steering the device (1) against the submerged surface. In one embodiment the device comprises brushes (61) which rotate around their pivots (611) in reaction to a contact with the submerged surface.
