Autonomous underwater robot docking device control system and method

Abstract

The invention relates to the technical field of underwater robot control, in particular to an autonomous underwater robot docking device control system and method, and the system comprises an interaction layer which communicates with water surface display and control software and an AUV, is used for achieving the data transmission and command forwarding between a docking device and the AUV, and feeds back the state information of the docking device and the AUV to the water surface display and control software, simultaneously responding to equipment control instructions of the docking device and the AUV, and receiving a task and a configuration file; the deliberation layer is used for receiving tasks and configuration files according to equipment control instructions of the docking device and the AUV, and generating a sequence of actions required to be completed by the docking device control system during the mission period of the AUV; a control instruction corresponding to the action sequence is sent to the reaction layer to cooperate with the AUV to complete a mission task; meanwhile, state information, sensor data and detection data of the docking device and the AUV are recorded into a file and fed back to the interaction layer; the reaction layer is used for executing the control instruction from the deliberation layer and calling an actuator equipment driving module to provide equipment driving of corresponding equipment; and the software framework layer is used for supporting the operation of functional modules of each layer.

Description

Technical Field

[0001] The invention relates to the technical field of underwater robot control, in particular to a control system and method for an autonomous underwater robot docking device. Background Art

[0002] Autonomous underwater vehicles (AUVs) are often used for deep-sea exploration. They can carry a variety of sensors and play an important role in many fields. However, due to the limitation of the energy they can carry, after completing a detection mission, AUVs need to surface and be recovered to the mother ship for energy replenishment, data exchange and maintenance. This process consumes a lot of time and interrupts the continuity of operations.

[0003] In recent years, domestic and foreign research has found that the method of establishing a docking device underwater or on the seabed can solve a series of problems such as data transmission, energy replenishment and residence, and has broad application prospects. The docking device, which can also be called a base station, docking device, garage, etc., refers to a cage or open device that accommodates AUVs. It can be installed as needed but is not limited to the following equipment: guide docking, guidance, etc. for AUVs to guide and dock, limit and lock, etc. for fixing AUVs, acoustic communication and positioning, etc. for acoustic communication and ultra-short positioning, charging and optical communication, etc. for energy replenishment and data transmission.

[0004] Most of the existing docking devices need to be powered by the optical cable of the mother ship, and are operated by the mother ship's surface control system and used as relay nodes. The existing docking device control system itself does not have a control system or only has simple control capabilities, and cannot be separated from the mother ship to achieve autonomous operation. This method requires the mother ship to always remain connected, which is suitable for short-term operations or experimental tests. The disadvantages are that the system has low autonomy, the AUV's working area is limited, and it cannot achieve long-term residence. There is currently no control system suitable for docking devices that can replace humans, interact with AUVs underwater completely autonomously, and cooperate with AUVs to complete operational tasks. Summary of the invention

[0005] In view of the above-mentioned deficiencies in the prior art, the present invention proposes a control system for a docking device, which runs on a main control computer of the docking device that can reside on the seabed for a long time. Based on the control system, the docking device can be separated from the control of the operator and can realize long-term operation autonomously. During the operation, it can interact with the AUV to jointly complete multiple underwater detection operations and handle various situations that may arise during the operation. The main functions of the control system are: cooperating with the AUV to guide the dock, backing up the AUV detection data, replenishing the AUV power energy, detecting the health status of the docking device and the AUV system, autonomously planning detection tasks, distributing detection tasks, and monitoring the operation status.

[0006] The technical solution adopted by the present invention to achieve the above-mentioned purpose is: a control system for an autonomous underwater robot docking device, comprising: an interaction layer, a deliberation layer, a reaction layer and a software framework layer for realizing information interaction with each other;

[0007] The interaction layer communicates with the surface display and control software and the AUV to realize data transmission and command forwarding between the docking device and the AUV, as well as feedback of the status information of the docking device and the AUV to the surface display and control software, and responds to the equipment control instructions of the docking device and the AUV, and receives tasks and configuration files;

[0008] The deliberation layer is used to generate the action sequence that the docking device control system needs to complete during the AUV mission according to the equipment control instructions, received tasks and configuration files of the docking device and AUV; and send the control instructions corresponding to the action sequence to the reaction layer to cooperate with the AUV to complete the mission; at the same time, the status information, sensor data and detection data of the docking device and AUV are recorded in the file and fed back to the interaction layer;

[0009] The reaction layer is used to execute the control instructions from the deliberation layer, call the actuator device driver module to provide the device driver of the corresponding device, and realize the closed-loop control between the devices;

[0010] The software framework layer is used to support the operation of functional modules at all levels. As the information interaction center, it realizes the data transmission of each functional module, uniformly manages the reading and writing operations of global data, and connects each module at each level in a loosely coupled form.

[0011] The interaction layer includes: an intelligent agent collaboration module and a human-computer interaction module;

[0012] Intelligent agent collaboration module, used to realize data transmission and command forwarding between the docking device control system and the AUV;

[0013] The human-computer interaction module is used for the operator to interact with the docking device control system through the surface display and control software, including providing the status information of the docking device control system and AUV to the surface display and control software, responding to the equipment control instructions of the docking device control system and AUV, and receiving tasks and configuration files.

[0014] The data transmission is as follows: the AUV uploads the detection data to the docking device control system, or the docking device control system sends the mission and configuration file to the AUV;

[0015] The command forwarding is: when the AUV cannot communicate directly with the surface display and control software, the docking device control system is used as a transfer to forward the operator's control instructions to the AUV, or forward the AUV's status information to the surface display and control software.

[0016] The deliberation layer includes: a mission planning module, a data recording module, a navigation and positioning module, and a mission management module;

[0017] The mission planning module is used to autonomously plan the detection mission according to the current position of the docking device control system and the AUV, as well as the position of the operation point, to realize the autonomous planning of the detection path of the AUV area coverage, and to generate the detection path that minimizes the detection cost, thereby generating the action sequence that the docking device control system needs to complete during the AUV mission;

[0018] The data recording module is used to record the status information of the connection device and the AUV, the sensor data, and the detection data into a file at a set interval;

[0019] The navigation and positioning module is used to calculate the AUV's own position by using the inertial navigation device installed thereon and adopting the Kalman filter algorithm;

[0020] The mission management module, based on the action sequence generated by the mission planning module, performs different missions before the AUV leaves the docking device, when the AUV performs the detection mission, and after the AUV returns to the docking device control system, to cooperate with the AUV to complete the mission.

[0021] The reaction layer includes: a sensor device driving module, a communication device driving module, an actuator device driving module, a data acquisition module, a fault diagnosis module and an execution control module;

[0022] Sensor device driver module, used to provide device drivers including inertial navigation, Doppler, depth meter, altimeter, camera and in-place sensor, to realize device parameter configuration and data reading functions;

[0023] The communication device driver module is used to provide communication device drivers including acoustic communication devices, underwater optical communication devices, radio, and ultra-short positioning devices, and realize device parameter configuration and communication functions;

[0024] Actuator device driver module, used for device driving of locking mechanism, wake-up mechanism, guide light, and lighting lamp, to realize device parameter configuration and execute corresponding device action functions;

[0025] The data acquisition module sends the data of each device to the data recording module of the careful thinking layer at a regular interval;

[0026] The fault diagnosis module obtains device data from the data acquisition module in real time. When the device data is abnormal, it handles the fault by reopening the switch, resending the configuration command, and logging according to the user's fault handling configuration;

[0027] The execution control module receives the control instructions from the mission management module of the careful thinking layer, calls the actuator device driver module to provide the device driver of the corresponding device, and realizes the control between various devices.

[0028] The software framework layer includes: a thread management module, a global data management module, a subscription-publishing message bus module and a dual-thread operation base class;

[0029] The thread management module is responsible for starting each functional module in sequence when the docking device control system starts running, when the mission is executed, and when the mission is completed, and maintaining the life cycle of each thread;

[0030] Global data management module, used to store and read global data in various modules of the docking device control system;

[0031] Subscribe-publish message bus module, implemented based on message queue, used for one-to-one, one-to-many, and many-to-many data and instruction interaction between modules;

[0032] The dual-threaded running base class abstracts each module of the control system into a class. Each class inherits the base class. The base class constructs a message loop receiving thread and a periodic execution thread to read the information sent to this module on the message bus. At the same time, according to the fixed periodic execution method, timely message processing and periodic execution functions are realized.

[0033] A control method for a control system of an autonomous underwater robot docking device comprises the following steps:

[0034] 1) After the docking device control system is started, the thread management module starts the functional modules of each level in turn, and then the operator connects to the interactive layer of the docking device control system through the network, operates the surface display and control software to edit and plan multiple batches of mission tasks, and downloads the mission file and configuration file together to the docking device main control computer, and the interactive layer human-computer interaction module is responsible for receiving, parsing, verifying and storing;

[0035] 2) The operator operates the surface display and control software to issue switch commands for each device, and realizes the data and command interaction of many to many modules through the subscription-publishing message bus module. The human-computer interaction module summarizes the switch status and data of each device and uploads them to the surface display and control software for display. The operator observes the status and data to determine whether the devices of the docking device are working normally;

[0036] 3) The operator disconnects the network connection with the docking device control system, and deploys the docking device and the AUV fixed on the docking device from the mother ship deck into the sea. The docking device dives to the seabed without power in the sea. The operator sends a task execution instruction to the docking device control system through the acoustic communication equipment. After receiving the instruction, the docking device control system starts to execute the autonomous detection task.

[0037] 4) After the autonomous detection mission begins, the docking device control system will plan the mission according to the pre-made mission file and the current position. The docking device and AUV will jointly plan the autonomous mission and compare and verify each other. Through multiple batches of detection tasks, large-area coverage detection can be achieved;

[0038] 5) The docking device control system releases the locking mechanism, and the AUV starts from the docking device to perform the detection task. The dual-threaded operation base class of the software framework layer extracts the common functions of each module into the base class for implementation. The base class is responsible for driving, and the functional modules of each subclass in the reaction layer implement specific functions; at the same time, according to the fixed periodic execution method, timely message processing and periodic execution functions are realized;

[0039] 6) After completing the detection mission, the AUV returns to the docking device, which locks the AUV and performs data synchronization;

[0040] 7) During the autonomous detection mission, the data acquisition module and the data recording module are responsible for the information collection of the docking device itself and the storage of the hydrological data obtained by the AUV body;

[0041] 8) After completing an autonomous detection mission, the docking device control system and the AUV enter a dormant state, waiting for the next acoustic communication remote control command issued by the mother ship operator to start the next autonomous detection mission.

[0042] The step 2) implements data and instruction interaction between many-to-many modules through a subscription-publishing message bus module, specifically:

[0043] The subscription-publishing message bus module is implemented based on the IPC function message queue in the Linux system. The content of subscription and publication is called Topic. Each topic holds a message identification queue of a subscriber. The message bus TopicBus maintains multiple Topics.

[0044] When a module publishes a topic through the message bus, the message bus sends the message to all subscribers through the topic object;

[0045] Each functional module of the docking device control system subscribes to a certain topic. When a new message is published on the topic, it can be notified immediately, and can also publish a new message to a certain topic.

[0046] Based on this message bus, the various units within the program only need to subscribe to or publish a topic to complete communication, realizing a message-driven operation mechanism.

[0047] The step 5) is specifically:

[0048] The base class is run in two threads, a message receiving thread is created, and the message receiving thread blocks and receives messages sent to itself from the subscription-publishing message bus module;

[0049] When a new message arrives, the OnTopic() function is called to respond, and the subclass implements the specific function of this function;

[0050] The base class for dual-threaded operation creates a periodic execution thread and calls the Iterator() function at a fixed period according to the user's settings. The subclasses of this function implement specific functions, and the default period is 500ms.

[0051] Between the two threads, a resource lock is used to protect the common member data to avoid conflicts.

[0052] The step 6) is specifically:

[0053] The docking device control system outputs key logs to the log file. A default log file is created each time the system is powered on. After each mission is completed, the current log is backed up.

[0054] Record the original communication data of the AUV hardware device corresponding to the reaction layer, including serial port, CAN, and network communication protocols, and record the read and written original data in the form of hexadecimal characters;

[0055] The docking device control system uses the sqlite3 database to store important data including periodic sampling data of each sensor, communication data, status information sent by the AUV, and status information of the docking device itself.

[0056] The present invention has the following beneficial effects and advantages:

[0057] 1. The docking device control system of the present invention is composed of multiple levels and functional modules, has a clear structure, has a certain degree of autonomy, and can replace humans to cooperate with AUVs to complete underwater tasks;

[0058] 2. The dual-thread base class technology proposed in the present invention encapsulates the complexity of thread creation, execution and message-driven, effectively improves development efficiency, improves code running efficiency, and reduces resource consumption of the docking device control system.

[0059] 3. The subscription-publishing message bus technology proposed in the present invention encapsulates the complexity of message transmission between modules, realizes the many-to-many message distribution function between modules, effectively improves the code operation efficiency, reduces the coupling between modules, and improves the scalability of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] Figure 1This is a control system architecture diagram of the autonomous underwater robot docking device of the present invention;

[0061] Figure 2 It is the principle diagram of the dual-threaded base class technology of the present invention;

[0062] Figure 3 This is a schematic diagram of the subscribe-publish message bus technology of the present invention;

[0063] Figure 4 This is a schematic diagram of the IPC function message queue implementation principle of the present invention. DETAILED DESCRIPTION

[0064] The present invention is further described in detail below in conjunction with the accompanying drawings and embodiments.

[0065] The technical solution of the present invention specifically comprises four parts: the design of a docking device control system, a dual-threaded operation base class technology, and a subscription-publishing message bus technology.

[0066] 1. Design

[0067] The core idea of ​​the control system design is to regard the docking device as a special AUV and adopt a layered architecture design, including: interaction layer, deliberation layer, reaction layer and software framework layer. Figure 1 As shown in the figure, the main functions and modules of each layer are as follows:

[0068] The interaction layer communicates with the surface display and control software and the AUV to realize data transmission and command forwarding between the docking device and the AUV, as well as feedback of the status information of the docking device and the AUV to the surface display and control software, and responds to the equipment control instructions of the docking device and the AUV, and receives tasks and configuration files;

[0069] The interaction layer includes: 1. The intelligent body collaboration module realizes data transmission and command forwarding between the docking device and the AUV. Data transmission is when the AUV uploads the detection data to the docking device, or the docking device sends the mission and configuration file to the AUV. Command forwarding is when the AUV cannot communicate directly with the surface display and control software, the docking device is used as a transfer to forward the operator's control instructions to the AUV, or forward the AUV's status information to the surface display and control software;

[0070] 2. Human-computer interaction module: the operator uses the surface display and control software to interact with the docking device, including providing the status information of the docking device and AUV to the surface display and control software, responding to the equipment control instructions of the docking device and AUV, receiving tasks and configuration files, etc.

[0071] The deliberation layer is used to generate the action sequence that the docking device control system needs to complete during the AUV mission according to the equipment control instructions, received tasks and configuration files of the docking device and AUV; and send the control instructions corresponding to the action sequence to the reaction layer to cooperate with the AUV to complete the mission; at the same time, the status information, sensor data and detection data of the docking device and AUV are recorded in the file and fed back to the interaction layer;

[0072] The deliberative layer is responsible for the long-term, overall planning and decision-making of the docking device, and formulates specific actions to complete the detection mission or avoid risks.

[0073] It includes: 1. Mission planning module, which autonomously plans the detection mission according to the current position of the docking device and AUV and the position of the operation point, realizes the autonomous planning of the detection path of the AUV area coverage, generates the detection path that minimizes the detection cost, and generates the action sequence that the docking device needs to complete during the AUV mission;

[0074] 2. Data recording module, which records the system status, sensor data, and detection data into files every 500ms. These data come from the navigation and positioning module and the data acquisition module of the reaction layer;

[0075] 3. Navigation and positioning module, using its own inertial navigation equipment combined with Kalman filter algorithm to calculate its own position;

[0076] 4. The mission management module, based on the results generated by the mission planning module, performs different missions before the AUV leaves the docking device, when the AUV performs the detection mission, and after the AUV returns to the docking device, to cooperate with the AUV to complete the mission.

[0077] The reaction layer is responsible for processing immediate, low-latency reaction behaviors, taking quick actions based on sensor data, handling changes and emergencies in the external environment, and executing control instructions from the deliberate layer. It calls the actuator device driver module to provide device drivers for corresponding devices, thus realizing closed-loop control between devices.

[0078] Includes: 1. Sensor device driver module, which is the device driver for inertial navigation, Doppler, depth meter, altimeter, camera and in-place sensor, realizing device parameter configuration and data reading functions;

[0079] 2. Communication equipment driver module is the device driver for acoustic communication equipment, underwater optical communication equipment, radio, and ultra-short positioning, realizing equipment parameter configuration and communication functions;

[0080] 3. The actuator device driver module is the device driver for the locking mechanism, wake-up mechanism, guide light, and lighting lamp, realizing the device parameter configuration and action and brightness adjustment functions;

[0081] 4. Data acquisition module, which sends the data of each device to the data recording module of the careful thinking layer at regular intervals;

[0082] 5. Fault diagnosis module, which obtains device data from the data acquisition module in real time. When the device data is abnormal, it handles the fault by reopening the switch, resending the configuration command, and logging according to the user's fault handling configuration;

[0083] 6. The execution control module receives the control instructions from the mission management module of the careful thinking layer, calls the device control method provided by the actuator device driver module, and realizes the control of each device.

[0084] The software framework layer provides a set of reusable, standardized code structures, tools and components for the development and operation of control systems, so as to quickly build software systems and run them efficiently. The control system is designed using an object-oriented approach, and the software framework layer provides software function modules that can be inherited and reused;

[0085] The software framework layer specifically includes: 1. Thread management module. Each functional module in the control system is an independent thread. The thread management module is responsible for starting each functional module in sequence when the control system starts running, when the mission is executed, and when the mission is completed, and maintains the life cycle of each thread;

[0086] 2. Global data management module, implemented based on the singleton design pattern, uses resource locks to protect each data member, and is used by each module of the system to store and read global data;

[0087] 3. Subscribe-publish message bus module, which provides a convenient and efficient way of inter-thread communication, based on message queue implementation, and can be used for one-to-one, one-to-many, and many-to-many data and instruction interaction between modules;

[0088] 4. Dual-threaded running base class. Each module of the control system is abstracted as a class. Each class inherits the base class. The base class constructs a message loop receiving thread and a periodic execution thread, reads the information sent to this module on the message bus, and executes it according to a fixed periodic execution method. This method is implemented by the inherited module, which can realize timely message processing and periodic execution functions, and improve the development efficiency and operation efficiency of the control system.

[0089] 2. Control method of autonomous underwater robot docking device

[0090] like Figure 1 As shown in the flowchart of the control method of the autonomous underwater robot navigation of the present invention, a control method of the control system of the autonomous underwater robot docking device of the present invention is characterized by comprising the following steps:

[0091] 1) After the docking device control system is started, the thread management module starts the functional modules of each level in turn, and then the operator connects to the interactive layer of the docking device control system through the network, operates the surface display and control software to edit and plan multiple batches of mission tasks, and downloads the mission file and configuration file together to the docking device main control computer, and the interactive layer human-computer interaction module is responsible for receiving, parsing, verifying and storing;

[0092] 2) The operator operates the surface display and control software to issue switch commands for each device, and realizes the data and command interaction of many to many modules through the subscription-publishing message bus module. The human-computer interaction module summarizes the switch status and data of each device and uploads them to the surface display and control software for display. The operator observes the status and data to determine whether the devices of the docking device are working normally;

[0093] 3) The operator disconnects the network connection with the docking device control system, and deploys the docking device and the AUV fixed on the docking device from the mother ship deck into the sea. The docking device dives to the seabed without power in the sea. The operator sends a task execution instruction to the docking device control system through the acoustic communication equipment. After receiving the instruction, the docking device control system starts to execute the autonomous detection task.

[0094] 4) After the autonomous detection mission begins, the docking device control system will plan the mission according to the pre-made mission file and the current position. The docking device and AUV will jointly plan the autonomous mission and compare and verify each other. Through multiple batches of detection tasks, large-area coverage detection can be achieved;

[0095] 5) The docking device control system releases the locking mechanism, and the AUV starts from the docking device to perform the detection task. The dual-threaded operation base class of the software framework layer extracts the common functions of each module into the base class for implementation. The base class is responsible for driving, and the functional modules of each subclass in the reaction layer implement specific functions; at the same time, according to the fixed periodic execution method, timely message processing and periodic execution functions are realized;

[0096] 6) After completing the detection mission, the AUV returns to the docking device, which locks the AUV and performs data synchronization;

[0097] 7) During the autonomous detection mission, the data acquisition module and the data recording module are responsible for the information collection of the docking device itself and the storage of the hydrological data obtained by the AUV body;

[0098] 8) After completing an autonomous detection mission, the docking device control system and the AUV enter a dormant state, waiting for the next acoustic communication remote control command issued by the mother ship operator to start the next autonomous detection mission.

[0099] 3. Subscribe-Publish Message Bus Technology

[0100] Subscribe-publish message bus such as Figure 3 As shown, inter-module message passing and data transmission can be realized, making the system run more efficiently and responding to changes more flexibly. It can support many-to-many inter-module message passing, effectively realize the decoupling between various functional modules, make the system easy to expand, and provide strong support for the operation of AUV intelligent recognition algorithm.

[0101] This technology is based on the IPC (inter-process communication) function message queue implementation in the Linux system, such as Figure 4 As shown in the figure, the content of subscription and publication is called Topic. Each topic holds a message identification queue of a subscriber. The message bus TopicBus maintains multiple Topics. When a module publishes a topic through the message bus, the message bus will send the message to all subscribers through the topic object.

[0102] Each functional module (usually a thread) of the docking device control system can subscribe to a topic, and when a new message is published on the topic, it can be notified immediately. It is also possible to publish a new message to a topic. This subscription-publishing design can realize one-to-one, one-to-many, many-to-one, and many-to-many message sending and receiving. The publisher and subscriber of the topic do not care about each other's existence. For example, the depth meter device driver publishes real-time depth values ​​to the "depth" topic at a frequency of 2Hz, then all functional modules that care about the "depth" topic, such as the navigation positioning module, the real-name management module, etc., will receive notifications at a frequency of 2Hz and obtain the latest depth values. Based on this message bus, the various units within the program only need to subscribe to or publish a topic to complete communication, realizing a message-driven operation mechanism.

[0103] 4. Dual-threaded base class technology

[0104] In step 5), the operation and interaction mode of each module of the system is the basis of the docking device control system. In order to improve development efficiency, the common functions of each module are extracted into the base class for implementation. The base class is responsible for driving, and the functional modules of each subclass implement specific functions, such as Figure 2 shown.

[0105] The base class for dual-threaded operation creates a message receiving thread. The message receiving thread blocks and receives messages sent to itself from the subscription-publishing message bus. When a new message arrives, the OnTopic() function is called to respond. The specific functions of this function are implemented by the subclass. The base class for dual-threaded operation creates a periodic execution thread. The Iterator() function is called at a fixed period according to the user's settings. The specific functions of this function are implemented by the subclass. The default period is 500ms. Between the two threads, resource locks are used to protect shared member data to avoid conflicts.

[0106] In existing control systems, periodic functions cannot receive and process new messages when they are dormant. This is especially true for long-period functions that are executed every few seconds or more than ten seconds, which results in message processing delays. The dual-threaded base class technology separates message sending and receiving from periodic execution, so that messages can be received as soon as possible during the dormant period of periodic functions. The invention of this technology not only takes into account the periodicity of long-term tasks, but also improves the real-time nature of message responses, prevents blocking and untimely message delivery, and has higher flexibility and robustness.

[0107] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above integrated unit may be implemented in the form of hardware or in the form of software functional units. The above is only an implementation method of the present application, and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made by using the contents of the specification and drawings of this application, or directly or indirectly used in other related technical fields, is also included in the patent protection scope of the present application.

Claims

1. A control system for an autonomous underwater robot docking device, characterized in that: include: The interactive layer, deliberative layer, reaction layer and software framework layer for mutual information exchange; The interaction layer communicates with the surface display and control software and the AUV to realize data transmission and command forwarding between the docking device and the AUV, as well as feedback of the status information of the docking device and the AUV to the surface display and control software, and responds to the equipment control instructions of the docking device and the AUV, and receives tasks and configuration files; The deliberation layer is used to generate the action sequence that the docking device control system needs to complete during the AUV mission according to the equipment control instructions, received tasks and configuration files of the docking device and AUV; and send the control instructions corresponding to the action sequence to the reaction layer to cooperate with the AUV to complete the mission; at the same time, the status information, sensor data and detection data of the docking device and AUV are recorded in the file and fed back to the interaction layer; The reaction layer is used to execute the control instructions from the deliberation layer, call the actuator device driver module to provide the device driver of the corresponding device, and realize the closed-loop control between the devices; The software framework layer is used to support the operation of functional modules at all levels. As the information interaction center, it realizes the data transmission of each functional module, uniformly manages the reading and writing operations of global data, and connects each module at each level in a loosely coupled form.

2. The control system of an autonomous underwater robot docking device according to claim 1, characterized in that: The interaction layer includes: an intelligent agent collaboration module and a human-computer interaction module; Intelligent agent collaboration module, used to realize data transmission and command forwarding between the docking device control system and the AUV; The human-computer interaction module is used for the operator to interact with the docking device control system through the surface display and control software, including providing the status information of the docking device control system and AUV to the surface display and control software, responding to the equipment control instructions of the docking device control system and AUV, and receiving tasks and configuration files.

3. The control system of an autonomous underwater robot docking device according to claim 1 or 2, characterized in that: The data transmission is as follows: the AUV uploads the detection data to the docking device control system, or the docking device control system sends the mission and configuration file to the AUV; The command forwarding is: when the AUV cannot communicate directly with the surface display and control software, the docking device control system is used as a transfer to forward the operator's control instructions to the AUV, or forward the AUV's status information to the surface display and control software.

4. The control system of an autonomous underwater robot docking device according to claim 1, characterized in that: The deliberation layer includes: a mission planning module, a data recording module, a navigation and positioning module, and a mission management module; The mission planning module is used to autonomously plan the detection mission according to the current position of the docking device control system and the AUV, as well as the position of the operation point, to realize the autonomous planning of the detection path of the AUV area coverage, and to generate the detection path that minimizes the detection cost, thereby generating the action sequence that the docking device control system needs to complete during the AUV mission; The data recording module is used to record the status information of the connection device and the AUV, the sensor data, and the detection data into a file at a set interval; The navigation and positioning module is used to calculate the AUV's own position by using the inertial navigation device installed thereon and adopting the Kalman filter algorithm; The mission management module, based on the action sequence generated by the mission planning module, performs different missions before the AUV leaves the docking device, when the AUV performs the detection mission, and after the AUV returns to the docking device control system, to cooperate with the AUV to complete the mission.

5. The control system of an autonomous underwater robot docking device according to claim 1, characterized in that: The reaction layer includes: a sensor device driving module, a communication device driving module, an actuator device driving module, a data acquisition module, a fault diagnosis module and an execution control module; Sensor device driver module, used to provide device drivers including inertial navigation, Doppler, depth meter, altimeter, camera and in-place sensor, to realize device parameter configuration and data reading functions; The communication device driver module is used to provide communication device drivers including acoustic communication devices, underwater optical communication devices, radio, and ultra-short positioning devices, and realize device parameter configuration and communication functions; Actuator device driver module, used for device driving of locking mechanism, wake-up mechanism, guide light, and lighting lamp, to realize device parameter configuration and execute corresponding device action functions; The data acquisition module sends the data of each device to the data recording module of the careful thinking layer at a regular interval; The fault diagnosis module obtains device data from the data acquisition module in real time. When the device data is abnormal, it handles the fault by reopening the switch, resending the configuration command, and logging according to the user's fault handling configuration; The execution control module receives the control instructions from the mission management module of the careful thinking layer, calls the actuator device driver module to provide the device driver of the corresponding device, and realizes the control between various devices.

6. The control system of an autonomous underwater robot docking device according to claim 1, characterized in that: The software framework layer includes: a thread management module, a global data management module, a subscription-publishing message bus module and a dual-thread operation base class; The thread management module is responsible for starting each functional module in sequence when the docking device control system starts running, when the mission is executed, and when the mission is completed, and maintaining the life cycle of each thread; Global data management module, used to store and read global data in various modules of the docking device control system; Subscribe-publish message bus module, implemented based on message queue, used for one-to-one, one-to-many, and many-to-many data and instruction interaction between modules; The dual-threaded running base class abstracts each module of the control system into a class. Each class inherits the base class. The base class constructs a message loop receiving thread and a periodic execution thread to read the information sent to this module on the message bus. At the same time, according to the fixed periodic execution method, timely message processing and periodic execution functions are realized.

7. The control method of the control system of the autonomous underwater robot docking device according to claim 1, characterized in that: The following steps are involved: 1) After the docking device control system is started, the thread management module starts the functional modules of each level in turn, and then the operator connects to the interactive layer of the docking device control system through the network, operates the surface display and control software to edit and plan multiple batches of mission tasks, and downloads the mission file and configuration file together to the docking device main control computer, and the interactive layer human-computer interaction module is responsible for receiving, parsing, verifying and storing; 2) The operator operates the surface display and control software to issue switch commands for each device, and realizes the data and command interaction of many to many modules through the subscription-publishing message bus module. The human-computer interaction module summarizes the switch status and data of each device and uploads them to the surface display and control software for display. The operator observes the status and data to determine whether the devices of the docking device are working normally; 3) The operator disconnects the network connection with the docking device control system, and deploys the docking device and the AUV fixed on the docking device from the mother ship deck into the sea. The docking device dives to the seabed without power in the sea. The operator sends a task execution instruction to the docking device control system through the acoustic communication equipment. After receiving the instruction, the docking device control system starts to execute the autonomous detection task. 4) After the autonomous detection mission begins, the docking device control system will plan the mission according to the pre-made mission file and the current position. The docking device and AUV will jointly plan the autonomous mission and compare and verify each other. Through multiple batches of detection tasks, large-area coverage detection can be achieved; 5) The docking device control system releases the locking mechanism, and the AUV starts from the docking device to perform the detection task. The dual-threaded operation base class of the software framework layer extracts the common functions of each module into the base class for implementation. The base class is responsible for driving, and the functional modules of each subclass in the reaction layer implement specific functions; at the same time, according to the fixed periodic execution method, timely message processing and periodic execution functions are realized; 6) After completing the detection mission, the AUV returns to the docking device, which locks the AUV and performs data synchronization; 7) During the autonomous detection mission, the data acquisition module and the data recording module are responsible for the information collection of the docking device itself and the storage of the hydrological data obtained by the AUV body; 8) After completing an autonomous detection mission, the docking device control system and the AUV enter a dormant state, waiting for the next acoustic communication remote control command issued by the mother ship operator to start the next autonomous detection mission.

8. The control method of the control system of the autonomous underwater robot docking device according to claim 7, characterized in that: The step 2) implements data and instruction interaction between many-to-many modules through a subscription-publishing message bus module, specifically: The subscription-publishing message bus module is implemented based on the IPC function message queue in the Linux system. The content of subscription and publication is called Topic. Each topic holds a message identification queue of a subscriber. The message bus TopicBus maintains multiple Topics. When a module publishes a topic through the message bus, the message bus sends the message to all subscribers through the topic object; Each functional module of the docking device control system subscribes to a certain topic. When a new message is published on the topic, it can be notified immediately, and can also publish a new message to a certain topic. Based on this message bus, the various units within the program only need to subscribe to or publish a topic to complete communication, realizing a message-driven operation mechanism.

9. The control method of the control system of the autonomous underwater robot docking device according to claim 7, characterized in that: The step 5) is specifically: The base class is run in two threads, a message receiving thread is created, and the message receiving thread blocks and receives messages sent to itself from the subscription-publishing message bus module; When a new message arrives, the OnTopic() function is called to respond, and the subclass implements the specific function of this function; The base class for dual-threaded operation creates a periodic execution thread and calls the Iterator() function at a fixed period according to the user's settings. The subclasses of this function implement specific functions, and the default period is 500ms. Between the two threads, a resource lock is used to protect the common member data to avoid conflicts.

10. The control method of the control system of the autonomous underwater robot docking device according to claim 7, characterized in that: The step 6) is specifically: The docking device control system outputs key logs to the log file. A default log file is created each time the system is powered on. After each mission is completed, the current log is backed up. Record the original communication data of the AUV hardware device corresponding to the reaction layer, including serial port, CAN, and network communication protocols, and record the read and written original data in the form of hexadecimal characters; The docking device control system uses the sqlite3 database to store important data including periodic sampling data of each sensor, communication data, status information sent by the AUV, and status information of the docking device itself.

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