Multimodal robotic system capable of autonomous docking and reconfiguration on the seafloor

Abstract

The present invention discloses a multi-modal robot system capable of autonomous docking and reconstruction on the seabed, including a contactless charging platform, several functional modules and a docking robot; a coil is arranged on the contactless charging platform to transmit energy and signals with the functional modules; the functional modules include a thruster module, an energy module, an observation and detection module, an operation tool module, a navigation control module, a bow detection module, and a tail propulsion module; the docking robot docks and reconstructs a specific functional module into an underwater robot with multiple modes according to a docking and reconstruction task instruction, or disassembles the underwater robot according to a disassembly task instruction. The multi-modal robot system of the present invention can reconstruct the robot's working mode according to actual needs, realize the reconstruction and assembly of underwater robots with three movement modes: horizontal plane cruising, fixed-point operation, and vertical profile shuttle, and reduce the construction cost of the submarine space station robot system.

Description

Technical Field

[0001] The present invention relates to the technical field of submarine robots, and in particular to a multi-modal robot system capable of autonomous docking and reconfiguration on the seabed. Background Art

[0002] Autonomous underwater vehicles (AUVs), remotely controlled underwater robots (ROVs), and underwater gliders are three relatively mature underwater robots that can perform large-scale cruising, fixed-point operations, and profile monitoring tasks, respectively. However, the functional overlap between the three types of robots is small, and only one type of underwater robot cannot meet the needs of submarine space station construction, and supporting various types of underwater robots has problems such as high operation and maintenance and deployment costs.

[0003] At present, the common multi-modal underwater robots at home and abroad include ARV (combination of AUV and ROV) and hybrid glider (combination of AUV and glider), which complete different work tasks by changing the motion state, such as adjusting the center of mass, switching the propulsion mode, etc., enriching the working ability of a single underwater robot. For example, the Chinese patent document with the publication number CN110386238A discloses a full-sea depth ARV underwater robot structure, including a cabin, a starboard vertical thruster, a port vertical thruster, a rotating rudder assembly, a main propulsion motor, an underwater and surface communication and positioning system, an optical and acoustic detection system and an operating device, wherein the starboard vertical thruster and the port vertical thruster are respectively arranged on both sides of the bow of the cabin, and the rotating rudder assembly and the main propulsion motor are arranged on both sides of the stern of the cabin to provide horizontal navigation power for the carrier, the top of the cabin is provided with an underwater and surface communication and positioning system, the bottom is provided with an optical detection system and an acoustic detection system, and the interior of the cabin is provided with an operating device.

[0004] Houston Electromechanical Company of the United States has launched a variable structure underwater robot Aquanaut, which can perform seabed operations including inspection, maintenance, repair, drilling support and other services. Aquanaut relies on thrusters for efficient cruising during long-distance cruising, and during near-end operations, it can hover stably with full attitude control while deforming into an operating robotic arm. It is one of the few underwater robots with variable shape and structure. However, no matter what type of multi-modal underwater robot, in order to achieve the best overall performance, it is often necessary to sacrifice the working performance under a single mode, which is reflected in increased load and increased water resistance. In addition, if a single robot is to have multiple functions, it is often necessary to configure different types of sensors or operating tools, which makes the robot larger, and these sensors or operating tools do not need to be used at the same time. Therefore, when performing a task, unused sensors bring additional energy consumption to the underwater robot.

[0005] Therefore, by exploring underwater multimodal robot technology with in-situ functional reorganization on the seabed, and through technologies such as autonomous docking reconstruction and seabed power replacement, underwater robots can switch between different functions and modes on the seabed and improve work efficiency. Summary of the invention

[0006] The present invention provides a multimodal robot system that can autonomously dock and reconstruct on the seabed. It can construct three types of underwater robots: a torpedo-type cruising robot, a fixed-point hovering robot, and a vertical profile shuttle robot, and can autonomously assemble different functions according to needs.

[0007] The technical solution of the present invention is as follows:

[0008] A multi-modal robot system capable of autonomous docking and reconfiguration on the seabed, including a contactless charging platform, several functional modules and a docking robot;

[0009] The contactless charging platform is provided with a coil, and energy and signal transmission is performed between the coil and the functional module;

[0010] Coils and permanent magnets are arranged in the docking surfaces of the functional modules. During docking and reconstruction, adjacent docked functional modules are attracted to each other through the permanent magnets, and the coils are energized to generate an electromagnetic force that repels the permanent magnets, thereby separating.

[0011] The functional modules include an energy module, a propeller module, an observation / detection module, an operation tool module, a navigation control module, a bow module, and a tail module;

[0012] The docking robot docks and reconstructs functional modules with multiple specific functions into underwater robots with multiple modes according to the docking and reconstruction task instructions, or disassembles the underwater robot according to the disassembly task instructions.

[0013] The energy module supplies power to the underwater robot; the thruster module provides vertical or horizontal propulsion for the underwater robot; the observation / detection module performs environmental monitoring; the operation tool module is used for seabed operations of the underwater robot; the navigation control module provides real-time positioning information of the underwater robot, and performs task planning and control of the underwater robot; the bow module is used for the head construction of the torpedo robot; and the tail module is used for the tail construction of the torpedo robot.

[0014] The energy module is equipped with permanent magnets and coils on each side. The energy module includes a battery pack, a DC-DC module, an inverter, and a transmitting resonant circuit. The battery pack supplies power to the inverter to generate a square wave after voltage regulation through the DC-DC module, and then the waveform is conditioned by the transmitting resonant circuit and transmitted to its coil.

[0015] The thruster module comprises a vertical thruster and a horizontal thruster.

[0016] The observation / detection module includes environmental monitoring sensors such as cameras, inertial sensors (IMU), temperature-salinity-depth meters (CTDs), and multi-beam imaging sonars.

[0017] The working tool module contains commonly used underwater working tools such as a robotic arm and a soft gripper, which are used for the maintenance and operation of seabed facilities, or the capture of underwater targets.

[0018] The navigation control module contains an inertial navigation system, an electronic compass, a depth sensor, and an ultra-short baseline positioning system transceiver, which can provide real-time positioning information of the underwater robot; the navigation control module also includes an underwater robot controller for robot task planning and control.

[0019] The bow module is used for constructing the head of a torpedo-type robot, and mainly plays the role of guiding flow and reducing drag, and also includes cameras and other detection sensors.

[0020] The tail module contains two horizontally mounted thrusters that adjust the torpedo-type underwater vehicle's forward and backward movement and heading.

[0021] The energy module is equipped with permanent magnets and coils on all sides, and the other functional modules are equipped with permanent magnets and coils only on the adsorption surface. The permanent magnet is on the inner side, the coil is on the outer side, and the distance between the coil and the end face is no more than 3mm.

[0022] Preferably, a standby controller is provided inside each functional module, and the standby controller is awakened when other functional modules are connected to the energy module.

[0023] Each functional module is in a self-sealing state.

[0024] Except for the energy module, the other functional modules contain rectifiers that convert the energy received by their coils into direct current to power the internal devices.

[0025] When the contactless charging platform detects that the energy module above it is low on power, it will automatically charge the energy module wirelessly.

[0026] Preferably, the docking robot comprises a permanent magnet, a control center, and an antenna, a buoyancy adjustment device, an energy and signal manager, a thruster, a coil, and a battery pack controlled by the control center;

[0027] The control center includes a controller and navigation sensors (inertial navigation, electronic compass, pressure sensor). The control center communicates with the shore base station through an antenna. According to the docking and reconstruction task instructions, the control center docks and adsorbs specific functional modules through the cooperation of permanent magnets and coils.

[0028] The buoyancy adjustment device is installed in the top water-permeable cabin to adjust the sinking and floating of the docking robot through buoyancy;

[0029] Energy and signal manager, used to condition the energy and signal transmitted by the coil;

[0030] The thrusters include vertical thrusters and horizontal thrusters, which are used for vertical motion adjustment and horizontal motion adjustment of the docking robot respectively;

[0031] The coil transmits electrical energy and signals when alternating current is applied to it; when direct current is applied to it, the coil generates an electromagnetic force opposite to the adsorption force of the permanent magnet, thereby detaching the functional module adsorbed by the permanent magnet.

[0032] Preferably, there are at least three horizontal thrusters in the docking robot, which are evenly distributed around the axis of the docking robot.

[0033] Further preferably, the buoyancy regulating device comprises a flexible airbag and a pressure gas cylinder wrapped in the flexible airbag, a first solenoid valve is installed at the mouth of the pressure gas cylinder, and the flexible airbag has an exhaust port, and a second solenoid valve is installed at the exhaust port.

[0034] The outside of the airbag is in direct contact with water, and the first solenoid valve is used to control the pressure cylinder to deflate it, so that the airbag discharges more water and floats up; when it is necessary to dive, the second solenoid valve is used to discharge the gas in the airbag to the outside.

[0035] The minimum pressure of the pressure cylinder is greater than the maximum working water depth pressure of the docking robot. When the pressure of the pressure cylinder is lower than the safety threshold, the docking robot needs to inflate and pressurize the pressure cylinder through an air compressor on the water surface.

[0036] Preferably, the docking reconstruction method comprises:

[0037] (1) After receiving the command from the reconfiguration robot, the docking robot is guided to approach the platform by the acoustic beacon of the contactless charging platform;

[0038] (2) With the assistance of the visual system, the docking robot searches for the designated functional module. After finding it, the docking robot performs visual servo descent control until its depth can no longer change.

[0039] (3) The docking robot transmits a high-frequency modulated signal through the coil. The coil of the designated functional module receives the induced magnetic field and generates an induced voltage. The permanent magnet of the docking robot and the permanent magnet of the designated functional module are attracted to each other. When the induced voltage reaches a specific value, it is considered that the attraction is in place. The functional module returns an attraction signal through the coil. The docking robot moves the attracted functional module to the designated position and turns off the thruster.

[0040] (4) The docking robot applies a direct current to the coil to generate an electromagnetic repulsive force, thereby detaching the adsorbed functional module and searching for the next functional module to be assembled;

[0041] (5) Repeat steps (2) to (4) until the docking and reconstruction of the functional modules of the specified modal robot are completed.

[0042] Preferably, the reconstruction and disassembly method includes:

[0043] (i) After receiving the command from the reconstruction and disassembly robot, the docking robot finds the functional module to be disassembled through the visual system, descends to the top of the functional module through visual servo control, and turns off the thruster;

[0044] (ii) applying direct current to the coil on the side of the energy module close to the functional module to be disassembled, so that the coil generates electromagnetic repulsion force, thereby loosening the functional module to be disassembled;

[0045] (iii) docking the permanent magnet at the bottom of the robot and the permanent magnet adsorption of the released functional module;

[0046] (iv) The docking robot sails with the adsorbed functional module to an empty space on the contactless charging platform and releases it.

[0047] The docking robot can shuttle vertically in the profile and can be used as a vertical profile shuttle robot to perform profile detection tasks.

[0048] The multi-modal robot system capable of autonomous docking and reconfiguration on the seabed of the present invention can autonomously dock and reconfigure robots of multiple modes, including:

[0049] Cruise robots are used to perform large-scale cruise tasks;

[0050] Fixed-point hovering robot, used for fixed-point hovering operations;

[0051] Vertical profile shuttle robot, used to perform profile inspection tasks.

[0052] The cruise robot comprises a bow detection module, a vertical propulsion module, a navigation control module, an energy module, a vertical propulsion module and a tail propulsion module which are docked in sequence.

[0053] The docking and reconstruction method of the cruise robot is: based on the energy module, the navigation control module, the vertical thruster module, the bow detection module and the tail propulsion module are successively adsorbed.

[0054] The fixed-point hovering robot comprises:

[0055] Energy module;

[0056] The four thruster modules adsorbed around the energy module include two vertical thrusters and two horizontal thrusters. The same type of thrusters are symmetrical about the center of the energy module.

[0057] A navigation control module, observation / detection module or work tool module attached to the top of the energy module.

[0058] The docking reconstruction method of the fixed-point hovering robot is: based on the energy module, four thruster modules are successively adsorbed and spliced ​​around the energy module, two of which are vertical thrusters and two are horizontal thrusters, and the same type of thrusters are centrally symmetrical about the energy module, and then the navigation control module, observation / detection module or work tool module is spliced ​​on the top of the energy module.

[0059] Compared with the prior art, the present invention has the following beneficial effects:

[0060] (1) The multi-modal robot system capable of autonomous docking and reconfiguration on the seabed of the present invention can reconfigure the robot's working mode according to actual needs, realize the reconfiguration and assembly of underwater robots with three motion modes: horizontal plane cruising, fixed-point operation, and vertical profile shuttle, and reduce the construction cost of the submarine space station robot system;

[0061] (2) The multimodal robot system capable of autonomous docking and reconfiguration on the seabed of the present invention can realize autonomous adsorption and detachment control of the underwater robot functional modules, and uses non-contact battery replacement, operation and maintenance, and usage methods, which saves the waiting time for the robot to charge underwater and improves the work efficiency and energy utilization of the underwater robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] Figure 1 This is a diagram of the composition of a seabed multimodal underwater robot that can autonomously dock and reconfigure;

[0063] Figure 2 This is a schematic diagram of the docking reconstruction process of the modal B robot;

[0064] Figure 3 It is the composition diagram of the modal C robot;

[0065] Figure 4 It is a structural schematic diagram of the buoyancy adjustment mechanism of the modal C robot;

[0066] Figure 5 Schematic diagram of the buoyancy adjustment mechanism of the modal C robot. DETAILED DESCRIPTION

[0067] The present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be pointed out that the embodiments described below are intended to facilitate the understanding of the present invention and do not have any limiting effect on the present invention.

[0068] like Figure 1 As shown, a non-contact charging platform 11 is arranged on the seabed, and coils are evenly distributed on the platform for energy and signal transmission. The platform is adsorbed with energy module 9, thruster module 4, observation / detection module 10, operation tool module 8, navigation control module 7, and bow module 5 and tail module 6 of the underwater robot.

[0069] All other functional modules on the platform except the underwater robot bow module 5 and tail module 6 are cubes. The energy module 9 is installed with permanent magnets and planar coils on all sides, with the coils on the outside and the permanent magnets on the inside. The remaining functional modules are only installed with planar coils and permanent magnets on the adsorption surface. The two opposite faces of each functional module have opposite magnetic poles, and the magnetic poles of each functional module are at a certain angle to the pattern on the top surface of the module. The modal C robot 3 can confirm the direction of its magnetic poles by identifying the pattern on the top of the functional module, and then perform adsorption and splicing of the functional module.

[0070] The energy module 9 is composed of a battery pack, a DC-DC module, an inverter, and a transmitting resonant circuit. The battery pack performs voltage regulation through the DC-DC module, and then supplies power to the inverter to generate a square wave, which is then conditioned by the transmitting resonant circuit and transmitted to its coil.

[0071] The thruster module 4 mainly includes two types of thrusters, vertical and horizontal, to provide power for the robot to move in different directions.

[0072] The observation / detection module 10 includes environmental monitoring sensors such as cameras, inertial sensors (IMU), temperature-salinity-depth meters (CTDs), and multi-beam imaging sonars.

[0073] The operating tool module 8 may include common underwater operating tools such as a robotic arm and a soft gripper, which are used for the maintenance and operation of seabed facilities or the capture of underwater targets.

[0074] The navigation control module 7 includes an inertial navigation system, an electronic compass, a depth sensor, and an ultra-short baseline positioning system transceiver, which can provide real-time positioning information of the underwater robot; the module includes an underwater robot controller for robot mission planning and control.

[0075] The underwater robot bow module 5 is used for the construction of the head of the torpedo-type robot. It mainly plays the role of guiding flow and reducing drag. It also contains cameras and other detection sensors.

[0076] The underwater robot tail module 6 includes two horizontally installed thrusters, which can adjust the forward and backward movement and heading of the torpedo-type underwater robot.

[0077] Each of the above functional modules contains a standby controller for receiving coil signals and sending current status signals of the functional modules. When each functional module obtains energy through the coil, the standby controller can communicate with other functional modules in real time, and the communication signal is transmitted in the form of a high-frequency carrier. Each functional module is in a self-sealing state.

[0078] Except for the energy module, the other functional modules contain rectifiers that convert the energy received by the coil into direct current to power the internal devices.

[0079] When the platform 11 detects that the power of the upper energy module 9 is low, wireless charging will be automatically performed.

[0080] The underwater robot can be reconfigured into three modes autonomously, namely, a torpedo-type underwater robot 1 that can move over a large range in the horizontal plane, namely mode A, an underwater robot 2 that can hover and observe at a fixed point, namely mode B, and an underwater robot 3 that can shuttle vertically, namely mode C. Among them, the mode C robot forms the adsorption and release of specific functional modules by turning on and off the power (direct current) of the bottom coil, and assists in completing the construction of the two robots of mode A and B.

[0081] The steps for in-situ docking and reconstruction of the underwater robot are as follows:

[0082] In the first step, the modal C robot 3 is guided by the acoustic beacon 13 on the seabed charging platform 11 to gradually approach the platform, and with the assistance of the visual system, it navigates to the top of any corner of the platform 11;

[0083] In the second step, according to the acoustic assembly instruction issued by the seabed platform 11, the modal C robot 3 searches for the functional module of the specified pattern. After finding the required module, the modal C robot 3 performs visual servo descent control, and confirms the magnetic pole direction of the functional module according to the pattern on the top of the functional module and adjusts its own heading, and continues to descend until the depth of the modal C robot 3 can no longer change;

[0084] In the third step, the modal C robot 3 transmits a high-frequency modulation signal through the bottom coil. At this time, the coil of the functional module can receive the induced magnetic field and generate an induced voltage. If the functional module is adsorbed in place, the induced voltage is a specific value. At this time, it is considered that the adsorption is in place. The functional module returns the in-place signal through the coil. The modal C robot 3 moves the adsorbed functional module to the specified position and turns off the thruster.

[0085] In the fourth step, the modal C robot 3 applies a direct current to the coil in a direction that generates an electromagnetic repulsive force, thereby detaching from the functional module and searching for the next functional module to be assembled;

[0086] Step 5: Repeat steps 2 to 4 until the modules of the A, B or C robot are docked and assembled.

[0087] The docking reconstruction method of the functional modules of the modal A robot 1 is: based on the energy module 9, the navigation control module 7, the thruster module 4, the bow detection module 5 and the tail propulsion module 6 are adsorbed in sequence to form the arrangement order of the bow detection module 5, the (vertical) propulsion module 4, the navigation control module 7, the energy module 9, the (vertical) propulsion module 4 and the tail propulsion module 5.

[0088] The docking reconstruction method of the modal B robot 2 is: based on the energy module 9, four thruster modules 4 are successively adsorbed and spliced ​​around the four sides, of which two are vertical thrusters and two are horizontal thrusters, and the same type of thrusters are centrally symmetrical about the energy module, and then the navigation control module 7, the observation and detection module 10 or the working tool 8 are spliced ​​on the top of the energy module, which are respectively suitable for high-precision navigation tasks, observation and detection tasks or fixed-point operation tasks. The above steps are as follows Figure 2 shown.

[0089] When the modal B robot 2 completes the task, it can return home by identifying the cursor 12 of the seabed platform. If the modal B robot 2 performs the same task later, it can directly dock on the platform for charging. If the modal B robot 2 needs to change the working mode after completing the task, it will first dock on the platform, and then initiate a reconstruction request instruction to the modal C robot 3 through the seabed platform 11. The reconstruction and disassembly steps are:

[0090] In the first step, the modal C robot 3 finds the functional module to be disassembled through the visual system, descends to the top of the functional module through visual servo control, and turns off the thruster;

[0091] In the second step, direct current is applied to the top coil of the energy module to generate a repulsive force on the top coil, loosening the top functional module;

[0092] In the third step, the permanent magnet at the bottom of the modal C robot 3 and the released functional module permanent magnet of the modal B robot 2 are adsorbed;

[0093] In the fourth step, the modal C robot 3 sails to the empty space of the seabed platform 9 with the functional module and releases it on the seabed platform 9.

[0094] like Figure 3 As shown, the most basic unit (excluding functional modules) of the modal C robot 3 includes:

[0095] Antenna 14 is installed at the top of the modal C robot. When the robot floats to the surface of the sea, it sends the information of the seabed test station back to the shore base station.

[0096] The vertical thruster 15 is installed in the top water-permeable cabin and is used for adjusting the vertical motion of the submarine robot when performing an assembly task, which is initiated by the submarine charging platform 11.

[0097] The buoyancy adjustment system 16 is installed in the top water-permeable cabin. When the robot is not performing assembly tasks, it floats to the sea surface by adjusting the net buoyancy. When the information is sent, the buoyancy is reduced to make the modal C robot 3 sink.

[0098] The control center 17 , including a controller and a navigation sensor, supports various movements of the modal C robot 3 .

[0099] The energy and signal manager 18 is used to condition the energy and signals transmitted by the coil and input them into the control center.

[0100] The battery pack 19 is used to supply power to the modality C robot 3 .

[0101] There are three horizontal thrusters 20 installed at an angle of 120° to control the horizontal movement of the modal C robot 3.

[0102] The permanent magnet 21 is installed below the horizontal thruster module and is used to absorb the functional module or the energy module. The magnetic pole on the outward side attracts the magnetic pole of the functional module.

[0103] The coil 22 is installed under the permanent magnet. When a direct current in a specific direction is applied, a repulsive force opposite to the adsorption force of the permanent magnet is generated, so that the functional module is separated. In addition, when the coil does not generate a repulsive force, it is used for wireless power and signal transmission, so that each module can synchronously interact with energy and data.

[0104] like Figure 4 and Figure 5 As shown, the buoyancy adjustment system 16 of the modal C robot 3 is composed of a flexible airbag 161 that wraps the system equipment. The outer side of the airbag 161 is in direct contact with the water. The pressure cylinder 162 is controlled by the solenoid valve 163 to deflate it, so that the displacement volume of the airbag 161 increases and it floats up. When it is necessary to dive, the gas in the airbag 161 is discharged to the outside. The minimum pressure of the pressure cylinder 162 is greater than the maximum working water depth pressure of the modal C robot 3. Therefore, when the pressure of the pressure cylinder 162 is lower than the safety threshold, the modal C robot 3 needs to inflate and pressurize the pressure cylinder 162 through the air compressor 164 on the water surface. A one-way valve 165 is provided between the pressure cylinder 162 and the air compressor 164.

[0105] The embodiments described above provide a detailed description of the technical solutions and beneficial effects of the present invention. It should be understood that the above are only specific embodiments of the present invention and are not intended to limit the present invention. Any modifications, supplements and equivalent substitutions made within the scope of the principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A multi-modal robot system capable of autonomous docking and reconstruction on the seabed, characterized in that: It includes a contactless charging platform, several functional modules and a docking robot; The contactless charging platform is provided with a coil, and energy and signal transmission is performed between the coil and the functional module; Coils and permanent magnets are arranged in the docking surfaces of the functional modules. During docking and reconstruction, adjacent docked functional modules are attracted to each other through the permanent magnets, and the electromagnetic force repelling the permanent magnet attraction force is generated by energizing the coils, thereby separating; The functional modules include an energy module, a propeller module, an observation / detection module, an operation tool module, a navigation control module, a bow module, and a tail module; The docking robot docks and reconstructs multiple functional modules with specific functions into underwater robots with multiple modes according to the docking and reconstruction task instructions, or disassembles the underwater robot according to the disassembly task instructions; The docking robot includes a permanent magnet, a control center, and an antenna, a buoyancy adjustment device, an energy and signal manager, a thruster, a coil, and a battery pack controlled by the control center; The control center includes a controller and a navigation sensor, which communicate with the shore base station through an antenna. According to the docking and reconstruction task instructions, the specific functional modules are docked and reconstructed through the cooperation of permanent magnets and coils. The buoyancy adjustment device is installed in the top water-permeable cabin to adjust the sinking and floating of the docking robot through buoyancy; Energy and signal manager, used to condition the energy and signal transmitted by the coil; The thrusters include vertical thrusters and horizontal thrusters, which are used for vertical motion adjustment and horizontal motion adjustment of the docking robot respectively; Coils, which transmit electrical energy and signals when alternating current is applied to them; When direct current is applied to it, an electromagnetic force opposite to the adsorption force of the permanent magnet is generated, thereby causing the functional module adsorbed by the permanent magnet to detach.

2. The multimodal robot system capable of autonomous docking and reconfiguration on the seabed according to claim 1, characterized in that: The energy module supplies power to the underwater robot; the thruster module provides vertical or horizontal propulsion for the underwater robot; the observation / detection module performs environmental monitoring; the operation tool module is used for seabed operations of the underwater robot; the navigation control module provides real-time positioning information of the underwater robot, and performs task planning and control of the underwater robot; the bow module is used for the head construction of the torpedo robot; and the tail module is used for the tail construction of the torpedo robot.

3. The multimodal robot system capable of autonomous docking and reconfiguration on the seabed according to claim 1, characterized in that: Each functional module is equipped with a standby controller. When other functional modules are connected to the energy module, the standby controller is awakened.

4. The multimodal robot system capable of autonomous docking and reconfiguration on the seabed according to claim 1, characterized in that: There are at least three horizontal thrusters in the docking robot, which are evenly distributed around the axis of the docking robot.

5. The multimodal robot system capable of autonomous docking and reconfiguration on the seabed according to claim 1, characterized in that: The buoyancy regulating device comprises a flexible air bag and a pressure gas cylinder wrapped in the flexible air bag, a first solenoid valve is installed at the mouth of the pressure gas cylinder, and the flexible air bag has an exhaust port, and a second solenoid valve is installed at the exhaust port.

6. The multimodal robot system capable of autonomous docking and reconfiguration on the seabed according to claim 1, characterized in that: The methods of autonomous docking and reconstruction include: (1) After receiving the docking reconstruction task instruction, the docking robot is guided to approach the platform by the acoustic beacon of the non-contact charging platform; (2) With the assistance of the visual system, the docking robot searches for the designated functional module. After finding it, the docking robot performs visual servo descent control until its depth can no longer change. (3) The docking robot transmits a high-frequency modulated signal through the coil. The coil of the designated functional module receives the induced magnetic field and generates an induced voltage. The permanent magnet of the docking robot and the permanent magnet of the designated functional module are attracted to each other. When the induced voltage reaches a specific value, it is considered that the attraction is in place. The functional module returns an attraction signal through the coil. The docking robot moves the attracted functional module to the designated position and turns off the thruster. (4) The docking robot applies a direct current to the coil to generate an electromagnetic repulsive force, thereby detaching the adsorbed functional module and searching for the next functional module to be assembled; (5) Repeat steps (2) to (4) until the docking and reconstruction of the functional modules of the specified modal robot are completed.

7. The multimodal robot system capable of autonomous seabed docking and reconfiguration according to claim 1, characterized in that: A robot that can autonomously dock and reconstruct multiple modes, including: Cruise robots are used to perform large-scale cruise tasks; Fixed-point hovering robot, used for fixed-point hovering operations; Vertical profile shuttle robot, used to perform profile inspection tasks.

8. The multi-modal robot system capable of autonomous seabed docking and reconfiguration according to claim 7, characterized in that: The cruise robot comprises a bow module, a vertical thruster module, a navigation control module, an energy module, a vertical thruster module and a tail module which are docked in sequence; The docking and reconstruction method of the cruise robot is: based on the energy module, the navigation control module, the vertical thruster module, the bow module and the tail module are successively adsorbed.

9. The multimodal robot system capable of autonomous seabed docking and reconfiguration according to claim 7, characterized in that: The fixed-point hovering robot comprises: Energy module; The four thruster modules adsorbed around the energy module include two vertical thrusters and two horizontal thrusters. The same type of thrusters are symmetrical about the center of the energy module. A navigation control module, an observation / detection module or an operation tool module adsorbed on top of the energy module; The docking reconstruction method of the fixed-point hovering robot is: based on the energy module, four thruster modules are successively adsorbed and spliced ​​around the energy module, two of which are vertical thrusters and two are horizontal thrusters, and the same type of thrusters are centrally symmetrical about the energy module, and then the navigation control module, observation / detection module or work tool module is spliced ​​on the top of the energy module.

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