CN116280110A - Underwater archaeological robot cooperation platform and cooperation method - Google Patents
Underwater archaeological robot cooperation platform and cooperation method Download PDFInfo
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- CN116280110A CN116280110A CN202211561440.5A CN202211561440A CN116280110A CN 116280110 A CN116280110 A CN 116280110A CN 202211561440 A CN202211561440 A CN 202211561440A CN 116280110 A CN116280110 A CN 116280110A
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- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
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Abstract
The invention relates to an underwater archaeological robot cooperation platform and a cooperation method. The platform comprises an underwater base station, a water surface floating communication station, a shallow water energy storage station and a ground control end; the underwater base station is arranged at the water bottom and is used for accommodating the underwater robot, charging the underwater robot and communicating with the underwater robot; the water surface floating communication station is arranged in a water surface area and used as a buoy for marking the position of the underwater base station and is communicated with the underwater base station, the shallow water energy storage station and the ground control end; the shallow water energy storage station is arranged in a shallow water area and used for storing electric energy and supplying electric energy for the underwater base station and the water surface floating communication station. The invention can reduce the cost of energy supply, and thoroughly gets rid of the constraint of shore-based and ship-based power supply; the underwater robot gets rid of the constraint of an umbilical cable by adopting an optical, acoustic and electric composite communication mode and a wireless charging mode, and the operating capacity and the efficiency of the archaeological robot are greatly improved by adopting a plurality of multi-type underwater robots to cooperatively operate, so that the operating capacity of the underwater archaeological equipment in China is improved.
Description
Technical Field
The invention relates to the field of underwater archaeological equipment, in particular to an underwater archaeological robot cooperation platform and a cooperation method.
Background
The underwater archaeology has great significance in exploring ancient heritage, salvaging sunken ships and underwater relics, and also has great significance in researching ancient shipbuilding, navigation, maritime traffic, maritime trade and the like.
Deep sea archaeology is a very dangerous and time-consuming and labor-consuming work, and a wrong behavior of a diver can not only put himself into a dangerous situation, but also cause precious historical relics to suffer irreparable damage, even to be lost in the lost deep sea. Therefore, a great deal of special technology, in particular underwater robot technology, is required to be used in the deepwater archaeological work so as to solve a plurality of problems of underwater operation.
The current underwater archaeology mainly searches a large-area water area through a scientific investigation ship carrying detection equipment, and then observes and confirms through a further detection means after finding underwater site trails. After the underwater site is found, the next detection and development are generally carried out by remote control underwater Robots (ROVs), manned submarines, divers and the like.
The scientific investigation ship with the detection equipment has some problems which are difficult to overcome in the aspect of water area searching, has low efficiency in the process of searching a large-area water area, and is easy to appear in the repeatedly searched water area or in the missed detection area even though a searching path can be planned through some technical means. For the detection means of the scientific investigation ship with the detection equipment in the deepwater area, the efficiency of the scientific investigation ship in the aspect of water area searching is reduced due to the change of the sea water depth, and the searching effect is questioned. At present, autonomous Underwater Vehicles (AUVs) are used for autonomous searching of large-area water areas, but the underwater autonomous vehicles (AUVs) have higher manufacturing cost and severely limited cruising ability, are adequate for local water area searching tasks, and have limited capability for searching large-area water areas.
The remote control underwater Robot (ROV) detection and mining has certain advantages compared with the means of manned diving tools, divers and the like, the divers in the deep water environment cannot enter the deep water environment, and the manned diving tools are high in manufacturing and using cost. Remote controlled underwater Robots (ROVs) suffer from a number of insufficient capabilities, such as: the cruising ability is severely limited, a plurality of technical problems exist in the operation without a cable, the communication without a cable on the water under water is difficult, the high-precision gesture control is difficult, and the like.
Disclosure of Invention
In order to solve the technical problems, the invention provides the underwater archaeological robot cooperation platform and the cooperation method, which can greatly reduce the cost of energy supply and thoroughly lead the underwater archaeological robot cooperation platform to get rid of the constraint of shore-based power supply and ship-based power supply; the underwater archaeological robot cooperation platform also adopts a light, sound and electricity composite communication mode and a wireless charging energy supply mode, so that the underwater robot can thoroughly get rid of the constraint of an umbilical cable, the operation capacity and efficiency of the archaeological robot are greatly improved, and the operation capacity of the underwater archaeological equipment in China is improved.
The technical scheme adopted for solving the technical problems is as follows: an underwater archaeological robot cooperation platform comprises an underwater base station, a water surface floating communication station, a shallow water energy storage station and a ground control end; the underwater base station is arranged at the water bottom and is used for accommodating the underwater robot and also used for charging the underwater robot and communicating with the underwater robot; the water surface floating communication station is arranged in a water surface area and used for marking the position of an underwater base station as a buoy and also used for communicating with the underwater base station, the shallow water energy storage station and a ground control end; the shallow water energy storage station is arranged in a shallow water area close to the water surface and is used for storing electric energy and supplying electric energy for the underwater base station and the water surface floating communication station.
Further, the shallow water energy storage station has the function of changing the buoyancy in water by changing the volume of the inner empty cabin, and is used for ascending, descending or suspending in water; the shallow water energy storage station is connected with the underwater base station and the water surface floating communication station through cables respectively.
Furthermore, the underwater base station performs underwater acoustic communication and/or laser communication with the underwater robot, and the communication mode is selected according to the distance between the underwater base station and the underwater robot and the communication information quantity; the underwater base station is communicated with the water surface floating communication station through a cable; the water surface floating communication station is in wireless communication with the ground control end through electromagnetic waves.
Further, the underwater base station comprises a base station frame body; the base station frame body is internally provided with a plurality of robot bilges for accommodating the underwater robots; the base station frame body is also provided with a wireless charging device for wirelessly charging the underwater robot; the base station frame body is also provided with a deepwater battery which is used for receiving electric energy transmitted by the shallow water energy storage station and supplying power to the underwater base station; the water surface floating communication station has a GPS positioning function; the underwater base station is also provided with an underwater acoustic communication and positioning device for providing underwater acoustic communication and underwater acoustic positioning; the underwater base station is also provided with a laser communication device for providing laser communication.
Further, the underwater robot is a plurality of underwater robots; and laser communication or underwater sound communication among a plurality of underwater robots.
Further, the underwater robot is also in underwater acoustic communication with a water surface floating communication station.
Further, the underwater robot is of various types including a probe robot, a sampling robot, a mining robot; the underwater robots all comprise a robot body, a propeller arranged on the robot body, a communication receiving and transmitting device arranged on the robot body, and a detection device arranged at the front end of the robot body.
Further, a group of propellers are respectively arranged between the front end and the rear end of the robot body of the detection robot at the left and right positions and used for providing power for the detection robot in the advancing direction; and a group of propellers are arranged between the top surface central area and the bottom surface central area of the robot body of the detection robot and are used for providing power in the up-down direction for the detection robot.
Further, a group of propellers are arranged between the left side and the right side of the robot body of the sampling robot and used for providing power for lateral movement of the sampling robot; a group of propellers are respectively arranged between the top surface and the bottom surface of the robot body of the sampling robot at the position close to the front end and close to the left and the right, and a group of propellers are arranged in the middle area at the position close to the rear end and used for providing power in the up-down direction for the sampling robot; a group of propellers are respectively arranged between the front end and the rear end of the robot body of the sampling robot at the left and right positions and used for providing power for the forward and backward directions of the detection robot; the front end of the robot body of the sampling robot is also provided with a manipulator for sampling operation.
Further, a group of propellers are respectively arranged between the top surface and the bottom surface of the robot body of the mining robot, and the propellers are respectively arranged at the position close to the front end and the position close to the rear end; a group of propellers are respectively arranged at the positions close to the corners of the robot body of the mining robot, wherein the propellers are arranged between the front end surface and the left side surface, between the front end surface and the right side surface, between the rear end surface and the left side surface and between the rear end surface and the right side surface; the bottom side of the robot body of the mining robot is also provided with a crawler travelling mechanism; the front end of the robot body of the mining robot is also provided with a plurality of manipulators for mining operation.
The cooperation method based on the underwater archaeological robot cooperation platform comprises the following steps:
s1, dividing a detection water area into a plurality of large areas by the ground control end, and throwing an underwater base station in a certain large area;
s2, taking the underwater base station as a center, dividing a large area into a plurality of small areas, and assigning a plurality of underwater robots to operate in the corresponding small areas;
s3, the underwater robots cooperatively construct a dynamic laser communication network; when a certain underwater robot needs to transmit information, the underwater robot sequentially transmits the information to the next underwater robot within the communication distance range by utilizing a laser communication network according to the information transmission path until the information is transmitted to an underwater base station; the underwater base station transmits the received information to the water surface floating communication station through a cable;
or, the underwater robots cooperatively construct a dynamic underwater acoustic communication network; when a certain underwater robot needs to transmit information, the underwater robot sequentially transmits the information to the next underwater robot within the communication distance range by utilizing an underwater sound communication network according to the information transmission path until the information is transmitted to a water floating communication station;
s4, the underwater base station acquires the position information of each underwater robot in real time through the underwater acoustic communication and positioning device, and transmits the relevant information to the water floating communication station;
s5, the water surface floating communication station transmits information to a ground control end through electromagnetic wave wireless communication;
s6, after the archaeological operation of the large area is completed, recovering the underwater base station, planning by utilizing GPS positioning, putting the underwater base station in the other large area, and repeating the steps S2 to S5.
Further, in steps S2 to S5, the plurality of underwater robots perform the cooperative operation of the plurality of robots in the corresponding small areas; the detection robot transmits detection information to a ground control end through a dynamic laser communication network through an underwater base station and a water surface floating communication station; the ground control end receives the detection information, analyzes and judges the suspicious position, and dispatches the sampling robot to reach the suspicious position and performs sampling operation; the ground control end acquires and analyzes the sampling information and judges whether the mining robot is called to perform next mining on the suspicious position.
The invention has the advantages that: according to the underwater archaeological robot collaboration platform and collaboration method, most of energy is stored in the shallow water energy storage station through the design of the shallow water energy storage station, so that the cost for building a deep water energy storage device can be saved, the impact of sea water surface waves on the energy storage station can be properly avoided, the cost for energy supply is greatly reduced, the implementation is easy, and the underwater archaeological robot collaboration platform can thoroughly get rid of the constraint of shore-based power supply and ship-based power supply; the underwater robot can thoroughly get rid of the constraint of the umbilical cable by adopting a mode of optical, acoustic and electric composite communication; the plurality of multi-type underwater robots are adopted for collaborative operation, so that the operation capacity and efficiency of the archaeological robots can be greatly improved, and the operation capacity of the underwater archaeological equipment in China can be greatly improved.
Drawings
FIG. 1 is an overall schematic diagram of an underwater archaeological robot collaboration platform in an embodiment;
FIG. 2 is a communication schematic diagram of an underwater archaeological robot collaboration platform according to an embodiment;
FIG. 3 is a schematic diagram of a multi-robot partition collaborative operation of an underwater archaeological robot collaboration platform according to an embodiment;
fig. 4 is a schematic structural diagram of an underwater base station of an underwater archaeological robot collaboration platform according to an embodiment;
FIG. 5 is a perspective view of a detection robot of an underwater archaeological robot collaboration platform according to an embodiment;
FIG. 6 is another perspective view of another angle of a detection robot of an underwater archaeological robot collaboration platform according to an embodiment;
FIG. 7 is a perspective view of a sampling robot of an underwater archaeological robot collaboration platform according to an embodiment;
FIG. 8 is another perspective view of a sampling robot of an underwater archaeological robot collaboration platform according to an embodiment;
FIG. 9 is a perspective view of a mining robot of an underwater archaeological robot collaboration platform according to an embodiment;
FIG. 10 is another perspective view of a mining robot of the collaborative platform of an underwater archaeological robot of an embodiment;
the device comprises a 1-underwater base station, a 2-water surface floating communication station, a 3-shallow water energy storage station, a 4-ground control end, a 5-cable, a 6-underwater robot, a 7-water surface, an 11-base station frame body, a 12-robot cabin, a 13-wireless charging device, a 14-deepwater battery, a 15-underwater sound communication and positioning device, a 16-lifting lug, a 17-laser communication device, a 61-detection robot, a 62-sampling robot, a 63-mining robot, a 601-robot body, a 602-detection device, a 603-communication receiving and sending device, a 604-propeller, a 605-manipulator and a 606-crawler running mechanism.
Detailed Description
The present invention will be further described in detail with reference to the drawings and examples, which are only for the purpose of illustrating the invention and are not to be construed as limiting the scope of the invention.
Examples
Referring to fig. 1 to 10, the present embodiment provides an underwater archaeological robot collaboration platform, which includes an underwater base station 1, a water surface floating communication station 2, a shallow water energy storage station 3, and a ground control end 4; the underwater base station 1 is arranged at the water bottom and is used for accommodating the underwater robot 6 and also used for charging the underwater robot 6 and communicating with the underwater robot 6; the water surface floating communication station 2 is arranged in a water surface 7 area and is used for marking the position of an underwater base station as a buoy and also used for communicating with the underwater base station 1, the shallow water energy storage station 3 and the ground control end 4; the shallow water energy storage station 3 is arranged in a shallow water area close to the water surface 7 for electric energy storage and for supplying electric energy to the underwater base station 1 and the water surface floating communication station 2. In this embodiment, when this underwater archaeological robot cooperation platform is in use, can wholly put in the sea through ocean equipment (such as ship etc.), the surface of water floats the effect that communication station can play buoy and communication, can mark the position of base station under water, the archaeological robot cooperation platform of being convenient for retrieves, still accessible high strength cable and shallow water energy storage station, base station electric connection under water, not only can receive the communication information from the base station under water, can also receive the status information from shallow water energy storage station, base station under water, the surface of water floats the communication station and carries out information interaction with long-range ground control end through wireless communication's mode. The shallow water energy storage station has the main function of energy storage, energy supply is provided for the whole underwater archaeological robot cooperation platform (except a ground control end), the construction cost of the underwater energy storage station is greatly reduced by the design of the shallow water energy storage station, and most of energy is stored in the shallow water energy storage station, so that the cost for constructing a deep water energy storage device can be saved, and the impact of sea water surface storms on the energy storage station can be properly avoided; the underwater base station is moderately weighted to play a role of an anchor hook, can be communicated with the underwater robot, can transmit information from the water surface floating communication station to the underwater robot, and can also transmit information of the underwater robot to the water surface floating communication station to play a role of an information hub; the transmitted information comprises positioning information of the underwater robot, and the positioning information is transmitted to a ground control end through a water surface floating communication station.
Referring again to fig. 1, the shallow water energy storage station 3 has a function of changing buoyancy in water by changing the volume of an internal empty chamber for ascending, descending or suspending in water; the shallow water energy storage station 3 is connected with the underwater base station 1 and the water surface floating communication station 2 through cables 5 respectively. In this embodiment, the cable 5 is a high strength cable; the shallow water energy storage station supplies energy to the water surface floating communication station and the underwater base station through the high-strength cable; the shallow water energy storage station changes dead weight by changing the volume of an internal empty cabin, and the shallow water energy storage station is generally regulated to be almost equal to the buoyancy by a counterweight method, an empty cabin allocation method and the like, or the gravity is slightly larger than the buoyancy, so that underwater throwing and arrangement are facilitated; the high-strength cable can not only play a role in transferring energy and information, but also play a role in connecting like a cable.
Referring to fig. 2 again, the underwater base station 1 performs underwater acoustic communication and/or laser communication with the underwater robot 6, and the communication mode is selected according to the distance between the underwater base station 1 and the underwater robot 6 and the information quantity of communication; the underwater base station 1 is communicated with the water surface floating communication station 2 through a cable 5; the water surface floating communication station 2 and the ground control terminal 4 communicate wirelessly by electromagnetic waves. In the embodiment, the underwater archaeological robot cooperation platform transmits information by using the optical, acoustic and electric composite communication system so as to achieve the purposes of high efficiency and instant communication, and simultaneously solve the technical problem of large-capacity information transmission on the underwater surface, so that the underwater archaeological robot can thoroughly get rid of the constraint of an umbilical cable and meet the large-capacity information transmission requirement of the underwater archaeology. The underwater archaeological robot can communicate with an underwater base station in a laser or underwater acoustic communication mode, short-distance and high-capacity information can be transmitted in a laser communication mode and is generally used for transmitting information such as images and videos, and the laser communication device can realize stable high-capacity information transmission within 100 meters; for small-capacity control and state information, the underwater robot and the underwater base station transmit through underwater acoustic communication. The water surface floating communication station communicates with the ground control end through electromagnetic waves in a wireless mode, and long-distance large-capacity information interaction can be achieved. The underwater base station is connected with the water surface floating communication station through a high-strength cable, so that stable transmission of large-capacity information can be performed. The information transmitted to the underwater base station is transmitted to the water surface floating communication station through the communication line in the high-strength cable, and the water surface floating communication station transmits the information to a remote ground control end through wireless communication.
Referring again to fig. 4, the underwater base station 1 includes a base station frame 11; the base station frame 11 is internally provided with a plurality of robot bays 12 for accommodating underwater robots; the base station frame 11 is also provided with a wireless charging device 13 for wirelessly charging the underwater robot; the base station frame 11 is also provided with a deepwater battery 14 which is used for receiving the electric energy transmitted by the shallow water energy storage station 3 and supplying power to the underwater base station 1; the underwater base station 1 is also provided with an underwater acoustic communication and positioning device 15 for providing underwater acoustic communication and underwater acoustic positioning; the underwater base station 1 is also provided with laser communication means 17 for providing laser communication. In the embodiment, the underwater base station provides a storage space for the underwater robot through a plurality of robot bunkers; the wireless charging device is a wireless charging transmitting end, and the underwater robot is matched with a wireless charging receiving end, so that energy supply in a wireless charging mode can be provided for the underwater robot; the deepwater battery has higher manufacturing cost and is not suitable for excessive configuration, can provide a certain energy supply for the underwater base station, and can play a role of counterweight. The robot bunk provided by the underwater base station plays a role in accommodating the underwater robot. The underwater base station is provided with a transceiver device for underwater acoustic communication, underwater acoustic positioning and laser communication, and can be used for underwater acoustic communication, underwater acoustic positioning and laser communication with the underwater robot. The underwater base station is electrically connected with the shallow water energy storage station and the water surface floating communication station, so that energy and information can be transmitted, and meanwhile, the high-strength cable has strong tensile capacity, can be bent, can withstand certain tensile impact and is convenient for throwing and recycling the underwater base station; the underwater base station is provided with the underwater sound positioning device, a bracket with a certain height can be erected if necessary, the positioning effect and the positioning distance are improved, the underwater sound positioning device is matched with positioning equipment at the end of the underwater robot, and the accurate positioning of the underwater robot can be realized; the top side of the base station frame 11 is provided with a lifting lug 16 for facilitating lifting and transporting the underwater base station.
Referring again to fig. 2 and 3, the number of underwater robots 6 is plural; and laser communication or underwater sound communication among a plurality of underwater robots. In this embodiment, the underwater robots may communicate with each other by using a laser or underwater acoustic communication method, and the laser communication device may be used to perform large-capacity information transmission within 100 meters, and the underwater acoustic communication device may perform long-distance stable transmission of state information for small-capacity control.
Referring again to fig. 2 and 3, the underwater robot 6 is also in underwater acoustic communication with the surface floating communication station 2. In this embodiment, for some status information, alarm information, and emergency control instructions, the underwater archaeological robot may utilize the underwater acoustic communication device to perform information interaction with the water surface floating communication station.
Referring again to fig. 5 to 10, the underwater robot 6 is of various types including a probe robot 61, a sampling robot 62, a mining robot 63; the underwater robot 2 includes a robot body 601, a propeller 604 attached to the robot body 601, a communication transmitter 603 attached to the robot body 601, and a probe 602 attached to the front end of the robot body 601. The underwater robot further includes an energy storage device (battery) installed in the robot body 601, a receiving end for wireless charging, and the like. In this embodiment, the propeller 604 includes a water flow channel penetrating the robot body and a propulsion component disposed in the water flow channel, and the propulsion component may be a propeller.
In this embodiment, the detection robot 61, the sampling robot 62, and the mining robot 63 are underwater robots with different functions, so as to perform tasks such as underwater detection, sampling, and mining; various underwater robots can sink into the water together with the underwater base station to finish arrangement, and are retracted together with the underwater base station when being recovered; the outer shell of the robot body 601 comprehensively considers the manufacturing cost, streamline requirements and storage requirements, and adopts the appearance design as shown in fig. 5-10, so that the resistance in the underwater advancing direction can be reduced to a large extent, the manufacturing is easy, the manufacturing cost is reduced, meanwhile, the storage is easy, and the storage difficulty is reduced; the communication receiving and transmitting device integrates the laser communication receiving and transmitting device and the underwater acoustic communication receiving and transmitting device, so that the appearance is more concise, and the underwater advancing resistance is further reduced; the front end of each type of underwater robot is integrated with necessary detection devices, wherein the detection devices comprise, but are not limited to, cameras, imaging sonars, obstacle avoidance sonars and infrared sensors; selecting according to the detection requirements of different types of underwater robots; due to the different manufacturing costs and demands for performing tasks, each type of underwater robot may be configured in the following manner.
Referring to fig. 5 and 6 again, a set of thrusters 604 are respectively provided between the front end and the rear end of the robot body 601 of the inspection robot 61 at positions far to the left and right for providing power for the inspection robot in the advancing direction; a set of thrusters 604 is disposed between the top surface center area and the bottom surface center area of the robot body 601 of the probing robot 61, for providing power to the probing robot in the up-down direction. In the present embodiment, the detection robot 61 performs forward movement, depth setting, ascending and submerging actions under the action of a plurality of groups of thrusters; the steering action can be cooperatively realized by arranging two groups of propellers 604 between the front end and the rear end in a left-right separated way; the integrated detection device is a main means for underwater detection.
Referring again to fig. 7 and 8, a set of propellers 604 is disposed between the left and right sides of the robot body 601 of the sampling robot 62, for providing power for lateral movement of the sampling robot 62; a set of thrusters 604 are respectively arranged between the top surface and the bottom surface of the robot body 601 of the sampling robot 62 near the front end and near the left and right, and a set of thrusters 604 are arranged in the middle area near the rear end for providing power for the sampling robot 62 in the up-down direction; a group of thrusters 604 are respectively arranged between the front end and the rear end of the robot body 601 of the sampling robot 62 at the left and right positions, and are used for providing power for the forward and backward directions for the detection robot 61; the front end of the robot body 601 of the sampling robot 62 is further provided with a manipulator 605 for sampling operation. In this embodiment, the sampling robot 62 performs forward, backward, lateral movement, depth setting, ascending and submerging actions under the action of a plurality of groups of thrusters; the steering action can be cooperatively realized by arranging two groups of propellers 604 between the front end and the rear end in a left-right separated way; the sampling robot 62 integrates a part of the above-mentioned various detection devices, and the detection means is reduced compared with the detection robot 61; the sampling robot 62 performs a sampling operation by a robot arm 605.
Referring to fig. 9 and 10 again, between the top surface and the bottom surface of the robot body 601 of the mining robot 63, a group of propellers 604 are respectively arranged at the left and right near the front end and the left and right near the rear end, and the four groups of propellers can realize adjustment of pitching and rolling postures, can realize depth-fixing suspension, can cope with a certain degree of impact, and have strong stability keeping capability; a group of propellers 604 are respectively arranged at the positions close to the corners of the front end face and the left side face, the front end face and the right side face, the rear end face and the left side face and the rear end face and the right side face of the robot body 601 of the mining robot 63, and the four groups of propellers can realize horizontal all-direction movement and realize arbitrary adjustment of yaw angles; the bottom side of the robot body 601 of the excavating robot 63 is also provided with a crawler travel mechanism 606 which can adapt to the complex environment during underwater excavating operation, can travel in a crawler manner when necessary and can play a supporting role during the excavating operation; the front end of the robot body 601 of the excavating robot 63 is also provided with a plurality of manipulators 605 which are used for excavating operation, the manipulators can adapt to different grabbing tasks, and the manipulators can also be matched with other tools for use so as to perform excavating operation better; the mining robot is flexible in action, has good stability maintaining capability and is suitable for underwater mining operation; the mining robot can observe the underwater environment in a necessary way, meanwhile, observation information is returned, and instruction information from a ground control end can be received by means of the underwater archaeological robot collaboration platform.
When the underwater archaeological robot collaboration platform is used, the integral collaboration can be realized by utilizing a plurality of robots of multiple types, wherein the main tasks of the detection robot are as follows: and the high-efficiency detection of the large-area water area is completed through the cooperation among a plurality of detection robots and the cooperation between the robots and the base station.
The embodiment also provides a cooperation method based on the underwater archaeological robot cooperation platform, which comprises the following steps:
s1, dividing a detection water area into a plurality of large areas by the ground control end, and throwing an underwater base station in a certain large area;
s2, taking the underwater base station as a center, dividing a large area into a plurality of small areas, and assigning a plurality of underwater robots to operate in the corresponding small areas;
s3, the underwater robots cooperatively construct a dynamic laser communication network; when a certain underwater robot needs to transmit information, the underwater robot sequentially transmits the information to the next underwater robot within the communication distance range by utilizing a laser communication network according to the information transmission path until the information is transmitted to an underwater base station; the underwater base station transmits the received information to the water surface floating communication station through a cable;
or, the underwater robots cooperatively construct a dynamic underwater acoustic communication network; when a certain underwater robot needs to transmit information, the underwater robot sequentially transmits the information to the next underwater robot within the communication distance range by utilizing an underwater sound communication network according to the information transmission path until the information is transmitted to a water floating communication station;
s4, the underwater base station acquires the position information of each underwater robot in real time through the underwater acoustic communication and positioning device, and transmits the relevant information to the water floating communication station;
s5, the water surface floating communication station transmits information to a ground control end through electromagnetic wave wireless communication;
s6, after the archaeological operation of the large area is completed, recovering the underwater base station, planning by utilizing GPS positioning, putting the underwater base station in the other large area, and repeating the steps S2 to S5.
In the steps S2 to S5, the plurality of underwater robots perform cooperative operation of the plurality of robots in the corresponding small areas; the detection robot transmits detection information to a ground control end through a dynamic laser communication network through an underwater base station and a water surface floating communication station; the ground control end receives the detection information, analyzes and judges the suspicious position, and dispatches the sampling robot to reach the suspicious position and performs sampling operation; the ground control end acquires and analyzes the sampling information and judges whether the mining robot is called to perform next mining on the suspicious position.
Specifically, the underwater base station realizes accurate positioning of the detection robots through the underwater acoustic positioning device, and usually the underwater archaeological robot cooperation platform partitions the detection water area, for example, please refer to fig. 3, generally divides the detection water area into A, B, C areas, and assigns a plurality of detection robots to perform partition cooperation operation. The water surface floating communication station has a GPS positioning function, and after the detection of the covered area sea area is completed, the position can be planned to be put in again according to GPS positioning information, so that the large-range water area searching capability of the underwater archaeological robot cooperation platform is improved. The underwater archaeological robot cooperation platform can cooperatively control each underwater detection robot to perform underwater detection, the search speed can be reduced for the area needing important detection, and the detection robots can be increased if necessary. The underwater robots can build a dynamic laser communication network through cooperation, the underwater robots transmit information to the robots within a communication distance range, the underwater robots receiving the information transmit the information to the next detection robot according to a system planning transmission path, and finally, the underwater base station transmits large-capacity information to an underwater base station, and the underwater base station transmits the large-capacity detection information instantly through a high-strength cable and a water surface floating communication station. The underwater detection robots can build a dynamic underwater acoustic communication network through cooperation, and the communication range of the underwater archaeological robot cooperation platform is expanded through the dynamic underwater acoustic communication network. For some non-critical information with larger capacity, the underwater detection robot can transmit the large-capacity detection information to the ground control end through the high-strength cable and the water surface floating communication station by transmitting the laser communication to the underwater base station within a proper distance range under the cooperative control of the system. After the control system of the cooperative platform of the underwater archaeological robot analyzes the suspicious position, the sampling robot can be dispatched to reach the appointed place, and the sampling robot can complete automatic sampling under the guidance of the control system. After the sampling analysis and the further detection are completed, whether the mining robot is called for further mining is determined.
According to the underwater archaeological robot cooperation platform and the cooperation method, the underwater archaeological operation capacity in a complex water area environment is improved, the underwater archaeological robot cooperation platform becomes a new tool of a new section of underwater archaeology, and technical support is provided for carrying out underwater archaeological detection, sampling and excavation in complex sea areas such as shoals, submerged reefs, muddy water and rapid flows in China.
The above embodiments should not limit the present invention in any way, and all technical solutions obtained by equivalent substitution or equivalent conversion fall within the protection scope of the present invention.
Claims (10)
1. An underwater archaeological robot cooperation platform which is characterized in that: the system comprises an underwater base station, a water surface floating communication station, a shallow water energy storage station and a ground control end; the underwater base station is arranged at the water bottom and is used for accommodating the underwater robot and also used for charging the underwater robot and communicating with the underwater robot; the water surface floating communication station is arranged in a water surface area and used for marking the position of an underwater base station as a buoy and also used for communicating with the underwater base station, the shallow water energy storage station and a ground control end; the shallow water energy storage station is arranged in a shallow water area close to the water surface and is used for storing electric energy and supplying electric energy for the underwater base station and the water surface floating communication station.
2. The underwater archaeological robot collaboration platform as defined in claim 1, wherein: the shallow water energy storage station has the function of changing the buoyancy in water by changing the volume of the inner empty cabin and is used for ascending, descending or suspending in the water; the shallow water energy storage station is connected with the underwater base station and the water surface floating communication station through cables respectively.
3. The underwater archaeological robot collaboration platform as defined in claim 2, wherein: the underwater base station is in underwater acoustic communication and/or laser communication with the underwater robot, and the communication mode is selected according to the distance between the underwater base station and the underwater robot and the communication information quantity; the underwater base station is communicated with the water surface floating communication station through a cable; the water surface floating communication station is in wireless communication with the ground control end through electromagnetic waves; the underwater robot is also in underwater acoustic communication with a water surface floating communication station.
4. An underwater archaeological robot collaboration platform as claimed in claim 3, wherein: the underwater base station comprises a base station frame body; the base station frame body is internally provided with a plurality of robot bilges for accommodating the underwater robots; the base station frame body is also provided with a wireless charging device for wirelessly charging the underwater robot; the base station frame body is also provided with a deepwater battery which is used for receiving electric energy transmitted by the shallow water energy storage station and supplying power to the underwater base station; the water surface floating communication station has a GPS positioning function; the underwater base station is also provided with an underwater acoustic communication and positioning device for providing underwater acoustic communication and underwater acoustic positioning; the underwater base station is also provided with a laser communication device for providing laser communication; the number of the underwater robots is multiple; and laser communication or underwater sound communication among a plurality of underwater robots.
5. The underwater archaeological robot collaboration platform as defined in claim 4, wherein: the underwater robots are of various types including a detection robot, a sampling robot, and a mining robot; the underwater robots all comprise a robot body, a propeller arranged on the robot body, a communication receiving and transmitting device arranged on the robot body, and a detection device arranged at the front end of the robot body.
6. The underwater archaeological robot collaboration platform as defined in claim 5, wherein: a group of propellers are respectively arranged between the front end and the rear end of the robot body of the detection robot at the left and right positions and used for providing power in the advancing direction for the detection robot; and a group of propellers are arranged between the top surface central area and the bottom surface central area of the robot body of the detection robot and are used for providing power in the up-down direction for the detection robot.
7. The underwater archaeological robot collaboration platform as defined in claim 5, wherein: a group of thrusters are arranged between the left side and the right side of the robot body of the sampling robot and used for providing power for lateral movement of the sampling robot; a group of propellers are respectively arranged between the top surface and the bottom surface of the robot body of the sampling robot at the position close to the front end and close to the left and the right, and a group of propellers are arranged in the middle area at the position close to the rear end and used for providing power in the up-down direction for the sampling robot; a group of propellers are respectively arranged between the front end and the rear end of the robot body of the sampling robot at the left and right positions and used for providing power for the forward and backward directions of the detection robot; the front end of the robot body of the sampling robot is also provided with a manipulator for sampling operation.
8. The underwater archaeological robot collaboration platform as defined in claim 5, wherein: a group of propellers are respectively arranged between the top surface and the bottom surface of the robot body of the mining robot, and are positioned left and right near the front end and left and right near the rear end; a group of propellers are respectively arranged at the positions close to the corners of the robot body of the mining robot, wherein the propellers are arranged between the front end surface and the left side surface, between the front end surface and the right side surface, between the rear end surface and the left side surface and between the rear end surface and the right side surface; the bottom side of the robot body of the mining robot is also provided with a crawler travelling mechanism; the front end of the robot body of the mining robot is also provided with a plurality of manipulators for mining operation.
9. The cooperation method of the underwater archaeological robot cooperation platform based on the claims 5-8 is characterized by comprising the following steps:
s1, dividing a detection water area into a plurality of large areas by the ground control end, and throwing an underwater base station in a certain large area;
s2, taking the underwater base station as a center, dividing a large area into a plurality of small areas, and assigning a plurality of underwater robots to operate in the corresponding small areas;
s3, the underwater robots cooperatively construct a dynamic laser communication network; when a certain underwater robot needs to transmit information, the underwater robot sequentially transmits the information to the next underwater robot within the communication distance range by utilizing a laser communication network according to the information transmission path until the information is transmitted to an underwater base station; the underwater base station transmits the received information to the water surface floating communication station through a cable;
or, the underwater robots cooperatively construct a dynamic underwater acoustic communication network; when a certain underwater robot needs to transmit information, the underwater robot sequentially transmits the information to the next underwater robot within the communication distance range by utilizing an underwater sound communication network according to the information transmission path until the information is transmitted to a water floating communication station;
s4, the underwater base station acquires the position information of each underwater robot in real time through the underwater acoustic communication and positioning device, and transmits the relevant information to the water floating communication station;
s5, the water surface floating communication station transmits information to a ground control end through electromagnetic wave wireless communication;
s6, after the archaeological operation of the large area is completed, recovering the underwater base station, planning by utilizing GPS positioning, putting the underwater base station in the other large area, and repeating the steps S2 to S5.
10. The collaboration method of the underwater archaeological robot collaboration platform as claimed in claim 9, wherein the collaboration method comprises the following steps: in the steps S2 to S5, a plurality of underwater robots work in a mode of cooperative operation of a plurality of robots in corresponding small areas; the detection robot transmits detection information to a ground control end through a dynamic laser communication network through an underwater base station and a water surface floating communication station; the ground control end receives the detection information, analyzes and judges the suspicious position, and dispatches the sampling robot to reach the suspicious position and performs sampling operation; the ground control end acquires and analyzes the sampling information and judges whether the mining robot is called to perform next mining on the suspicious position.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211561440.5A CN116280110A (en) | 2022-12-07 | 2022-12-07 | Underwater archaeological robot cooperation platform and cooperation method |
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| CN202211561440.5A CN116280110A (en) | 2022-12-07 | 2022-12-07 | Underwater archaeological robot cooperation platform and cooperation method |
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| CN116280110A true CN116280110A (en) | 2023-06-23 |
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| CN202211561440.5A Pending CN116280110A (en) | 2022-12-07 | 2022-12-07 | Underwater archaeological robot cooperation platform and cooperation method |
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| Country | Link |
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| CN (1) | CN116280110A (en) |
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