ROV platform and method for putting and recycling karst landform karst cave exploration robot

Abstract

The invention discloses an ROV platform and method for releasing and recycling karst landform karst cave detection robots, the platform comprises an ROV body and a releasing and recycling device arranged on the rear side of the ROV body, and the multiple karst landform karst cave detection robots can be flexibly released and recycled. The putting and recycling device is accurately controlled through an electric system, and it is ensured that the karst landform karst cave exploration robot is reliably released and recycled in the complex underwater environment. Through modular design and intelligent cooperative control, the operation efficiency and the task success rate are remarkably improved, and the system is particularly suitable for complex task scenes such as narrow space detection of karst caves and underground rivers. In addition, the problem of recycling after the detection robot breaks down is solved. The method has the functions of low energy consumption, high adaptability and redundancy fault tolerance, equipment loss and maintenance cost are reduced, and the method has wide application prospects.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater robots and unmanned submersibles, and particularly relates to an ROV platform and method for launching and recovering a karst landform cave exploration robot. Background Art

[0002] A remotely operated vehicle (ROV) is an underwater observation and operation device widely used in the fields of marine scientific research, underwater archaeology, seabed resource exploration, aquaculture, and underwater engineering inspection. Traditional ROVs usually operate independently. However, in the face of complex tasks, such as the scenario of synchronous execution of multiple tasks in karst pipelines, the single operation mode of traditional ROVs has obvious functional limitations.

[0003] In Guizhou, carbonate rocks are widely distributed and karst is well developed. Karst pipelines are important storage and migration channels for groundwater. Efficient and accurate detection and characterization of groundwater karst pipelines are of great significance in water exploration and groundwater pollution prevention in karst mountainous areas of Guizhou. However, the exploration and investigation of karst pipelines are still in the primary stage, and the acquisition of original data mainly relies on traditional geophysical exploration and engineering means. At present, traditional ROVs cannot carry robots or cannot carry multiple robots, and lack the ability to carry, launch, and recover karst landform cave exploration robots. For example, in the task of detecting karst pipelines, a single ROV needs to make multiple round trips, resulting in low efficiency; in narrow spaces, due to their large volume, traditional ROVs cannot enter areas with small diameters, resulting in uncompleted tasks.

[0004] Therefore, there is an urgent need to develop an ROV platform that can carry and launch karst landform cave exploration robots to improve the efficiency, flexibility, and safety of underwater operations. Summary of the Invention

[0005] In view of this, the present invention provides an ROV platform and method for launching and recovering a karst landform cave exploration robot that at least solves the above partial technical problems. The platform includes an ROV body and a launching and recovering device arranged on its rear side, expanding the functions of traditional ROVs, having the ability to carry multiple karst landform cave exploration robots and launch and recover karst landform cave exploration robots, facilitating the flexible launching and recovering of multiple karst landform cave exploration robots, and enabling multi-robot collaborative operations with multiple karst landform exploration robots. It is particularly suitable for complex task scenarios such as narrow space detection of karst pipelines, which is beneficial to improving operation efficiency and task success rate.

[0006] To achieve the above object, the technical solution adopted by the present invention is as follows:

[0007] In a first aspect, the present invention provides an ROV platform for deploying and recovering karst landform cave detection robots. The ROV platform includes: an ROV body and a deployment and recovery device symmetrically arranged at the rear side of the ROV body, where:

[0008] One or more karst landform cave detection robots are carried inside each deployment and recovery device; the deployment and recovery device includes: a housing, a hatch, and an electric system, and the hatch is controlled to open and close through the electric system.

[0009] Preferably, the ROV body includes: thrusters, a sealed cabin, a manipulator, a lighting lamp, a camera, and a floating body, and an electromagnetic lock is provided in the arm of the manipulator.

[0010] Preferably, the ROV body and the deployment and recovery device are connected by an electromagnetic lock type mother and son buckle.

[0011] Preferably, the electric system of the deployment and recovery device includes: a rope, a cable, a motor bracket, and a motor, where: the rope is connected to the hatch, and the motor drives the cable to release and retract the rope to control the opening and closing of the hatch; the motor bracket is used to fix the motor.

[0012] Preferably, the deployment and recovery device further includes a suspended electromagnetic lock; it is fixed by the suspended electromagnetic lock.

[0013] Preferably, a plurality of grids are provided on the housing and the hatch of the deployment and recovery device.

[0014] Preferably, the karst landform cave detection robot carried inside the deployment and recovery device is a small underwater detection robot, with a maximum passing diameter less than 15 cm, and is equipped with a variety of navigation, communication, and environmental detection devices.

[0015] Preferably, the ROV platform performs a global situation analysis through an environmental perception system, dynamically allocates detection tasks to the karst landform cave detection robots to execute, and at the same time retains an artificial intervention channel to form a hybrid control mode of global autonomous planning + local manual correction.

[0016] In a second aspect, the present invention further provides a method for deploying and recovering karst landform cave detection robots, which is applied to the above-mentioned ROV platform for deploying and recovering karst landform cave detection robots. The method includes:

[0017] Step 1: Debug the ROV platform equipment before departure to check whether the perception and execution structures are normal;

[0018] Step 2: Open the deployment and recovery device at the rear side of the ROV body, and release the karst landform cave detection robots one by one to the target point;

[0019] Step 3: If the karst cave detection robot fails during the mission, the ROV robotic arm recovers the failed karst cave detection robot.

[0020] Step 4: The karst cave detection robot completes the task, and the recovery device is opened to recover the karst cave detection robot;

[0021] Step 5: Complete the deployment and recovery mission of the karst cave exploration robot and return to the base camp to prepare a mission effectiveness evaluation report.

[0022] Compared with the prior art, the present invention has at least the following beneficial technical effects:

[0023] 1. The present invention provides an ROV platform for launching and recovering karst cave exploration robots. The ROV platform includes an ROV body and a launching and recovering device arranged on the rear side thereof, which is convenient for flexibly launching and recovering multiple karst cave exploration robots. The ROV platform is particularly suitable for complex mission scenarios such as narrow space exploration such as karst pipelines, and is conducive to improving work efficiency and mission success rate.

[0024] 2. In the present invention, the ROV body is provided with a mechanical arm, and after a karst landform detection robot fails, the mechanical arm can be used to recover the failed robot; thus, the problem of recycling and reusing the robot after a failure is solved, and costs can be saved.

[0025] 3. The present invention uses electromagnetic lock-type snap-on quick connection technology, so that the ROV can achieve plug-and-play docking with the launch and recovery device, simplifying the equipment maintenance process and improving the flexibility of system deployment.

[0026] 4. The present invention helps to achieve multi-machine collaborative operation: by carrying multiple karst cave detection robots, the ROV can simultaneously perform multi-line tasks in an anchored state, significantly expanding the operating scope and improving task efficiency.

[0027] 5. The present invention helps to improve economic benefits: a single mission can complete multiple types of operations (such as mapping + sampling + testing), and the overall cost is reduced. At the same time, the karst cave detection robot replaces ROV to perform high-risk actions, reduces the loss of core components, and reduces the average annual maintenance cost.

[0028] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the written description and the accompanying drawings.

[0029] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] To more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0031] The drawings are used to provide a further understanding of the present invention and constitute a part of the specification. They are used together with the embodiments of the present invention to explain the present invention and do not constitute a limitation to the present invention.

[0032] Figure 1 It is a schematic diagram of the overall structure of an ROV platform for a detection robot for karst landform caves with throwing and recovery provided by an embodiment of the present invention.

[0033] Figure 2 It is a top view schematic diagram of the ROV platform provided by an embodiment of the present invention.

[0034] Figure 3 It is a rear view schematic diagram of the ROV body provided by an embodiment of the present invention.

[0035] Figure 4 It is a top view schematic diagram of the throwing and recovery device provided by an embodiment of the present invention.

[0036] Figure 5 It is a side view schematic diagram of the throwing and recovery device provided by an embodiment of the present invention.

[0037] Figure 6 It is a bottom view schematic diagram of the throwing and recovery device provided by an embodiment of the present invention.

[0038] Figure 7 It is a schematic diagram of a detection robot for karst landform caves provided by an embodiment of the present invention.

[0039] Figure 8 It is a schematic diagram of the state when the opening angle of the hatch for throwing and recovering the detection robot for karst landform caves by the throwing and recovery device provided by an embodiment of the present invention is 120°.

[0040] Figure 9 It is a schematic diagram of the working process of the ROV throwing and recovery device provided by an embodiment of the present invention.

[0041] Among them, 1 is the ROV body; 11 is the thruster; 12 is the sealed cabin; 13 is the manipulator; 14 is the lighting lamp; 15 is the camera; 16 is the floating body; 131 is the electromagnetic lock; 2 is the launching and recovery device; 21 is the rope; 22 is the housing; 23 is the suspended electromagnetic lock catch; 24 is the motor bracket; 25 is the motor; 26 is the zip line; 27 is the hatch; 3 is the electromagnetic lock type male-female buckle; 31 is the electromagnetic lock type female buckle; 32 is the electromagnetic lock type male buckle; 4 is the karst landform cave detection robot. Detailed implementation manners

[0042] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "upper", "lower", "inner", "outer", "front end", "rear end", "both ends", "one side", "the other side", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0043] In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, the terms "installed", "provided with", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, a communication connection; it can be directly connected, or indirectly connected through an intermediate medium, and can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0044] Hereinafter, exemplary embodiments of the present disclosure will be described in more detail with reference to the drawings. Although the exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided so that the present disclosure can be more thoroughly understood and the scope of the present disclosure can be completely conveyed to those skilled in the art.

[0045] To address the limitations of traditional ROV operations, the present invention contemplates constructing a master-slave collaborative architecture. An ROV platform is equipped with multiple karst cave exploration robots with autonomous navigation capabilities. A ring topology link is formed through a wireless communication network, creating a three-dimensional operation cluster while increasing the number of operation units. At the task execution level, an intelligent task allocation mechanism is established. The ROV platform conducts a global situation analysis through an environmental perception system and dynamically allocates subtasks such as exploration to two karst cave exploration robots for execution. Meanwhile, a manual intervention channel is reserved to form a hybrid control mode of "global autonomous planning + local manual correction". The system adopts a redundant fault-tolerant design. When a single karst cave exploration robot fails, the task it undertakes can be migrated to other karst cave exploration robots in real time or directly taken over by the ROV. At the same time, the communication network supports self-organizing mesh reconstruction to ensure the overall system remains highly available.

[0046] To achieve the above object, as shown in Figure 1 In the embodiment of the present invention, an ROV platform for deploying and recovering karst cave exploration robots is provided. The ROV platform includes: an ROV body 1 and a deployment and recovery device 2 provided at the rear side of the ROV body 1. Among them: one or more karst cave exploration robots 4 are carried inside each deployment and recovery device 2; in this embodiment, the deployment and recovery device 2 includes: a housing 22, a hatch 27, and an electric system, and the hatch 27 is controlled to open and close through the electric system.

[0047] The following combines with Figures 1-7 As shown, the specific implementation and working principle of the present invention are introduced in detail:

[0048] This embodiment takes each deployment and recovery device 2 carrying one karst cave exploration robot 4 as an example for illustration:

[0049] In a specific implementation, as shown in Figures 1-3 The ROV body 1 includes a thruster 11, a sealed cabin 12, a manipulator 13, a lighting lamp 14, a camera 15, and a floating body 16. Among them, an electromagnetic lock 131 is included in the arm of the manipulator 13. The ROV body 1 is connected to the deployment and recovery device 2 through an electromagnetic lock type male-female buckle 3. The electromagnetic lock type male-female buckle 3 includes an electromagnetic lock type female buckle 31 and an electromagnetic lock type male buckle 32. The electromagnetic lock type female buckle 31 is provided at the side end of the ROV body 1, and the electromagnetic lock type male buckle 32 is provided at the side end of the deployment and recovery device 2. By applying the fast connection technology of the electromagnetic lock type male-female buckle 3, the ROV body 1 can achieve plug-and-play docking with the deployment and recovery device 2, simplify the equipment maintenance process, and improve the deployment flexibility.

[0050] In a specific implementation, as shown in Figure 4As shown in the figure, the electric system of the deployment and recovery device 2 includes: a rope 21, a zip line 26, a motor bracket 24, and a motor 25, where: the rope 21 is connected to the hatch 27, and the motor 25 drives the zip line 26 to release and retract the rope 21 to control the opening and closing of the hatch 27; the motor bracket 24 is used to fix the motor 25. The deployment and recovery device 2 realizes precise control through the electric system to ensure the safe and stable release and recovery of the karst cave detection robot 4 in a complex underwater environment.

[0051] In a specific embodiment, refer to Figure 4 and Figure 5 As shown in the figure, the deployment and recovery device 2 further includes a suspended electromagnetic lock 23 arranged on the top of the housing 22; during operation, the suspended electromagnetic lock 23 on the top is energized and activated, and the magnetic suction field covers the top of the cavity, which is used to adsorb the top of the karst cave detection robot 4. In the present invention, the karst cave detection robot 4 is fixed or released through the suspended electromagnetic lock 23, and the use is convenient and highly flexible.

[0052] In a specific embodiment, a plurality of grids are arranged on the housing 22 and the hatch 27 of the deployment and recovery device 2, which helps to reduce the resistance in water.

[0053] In a specific embodiment, the karst cave detection robot 4 carried inside the deployment and recovery device 2 is a small underwater detection robot, and the maximum passing diameter is less than 15 cm, which can penetrate into narrow spaces where ROVs cannot enter. The karst cave detection robot 4 is equipped with multi-fusion sensors and combined with networking communication, and a distributed detection network can be constructed to cooperate with each other to realize the functional complementarity of "powerful operation + fine detection". When a single karst cave detection robot 4 fails, the remaining karst cave detection robots 4 can take over its task area to reduce the task interruption rate.

[0054] In a specific embodiment, the ROV platform realizes human-machine collaborative operation through an environmental perception system (including a camera 15, a lighting lamp 14, and a communication control system in the sealed cabin 12): using the lighting lamp 14 to provide high-brightness shadowless lighting, the camera 15 transmits the video stream of the cave structure in real time, and the staff evaluates the detectability of the cave (such as the spatial scale) based on the image data. After confirming the target, the release mechanism is remotely triggered to accurately deploy the karst cave detection robot 4 to execute the task; at the same time, it supports a hybrid control mode of AI autonomous global path planning and manual real-time correction of local detection strategies, taking into account the adaptability to complex environments and operation flexibility, and significantly improving the detection efficiency and safety.

[0055] Furthermore, based on the above ROV platform for deploying and recovering Karst landform cave detection robots, an embodiment of the present invention further provides a method for deploying and recovering Karst landform cave detection robots. When implementing this method, it mainly includes the following operation steps:

[0056] Step 1: Conduct pre-departure debugging on the ROV platform equipment to check whether the sensing and execution structures are normal;

[0057] Step 2: Open the deployment and recovery device 2 at the rear of the ROV body 1, and release the Karst landform cave detection robots 4 one by one at the target point;

[0058] Step 3: If a failure occurs to the Karst landform cave detection robot 4 during the mission execution, the manipulator 13 of the ROV retrieves the failed Karst landform cave detection robot 4.

[0059] Step 4: When the Karst landform cave detection robot 4 completes the mission, the deployment and recovery device 2 is opened to retrieve the Karst landform cave detection robot 4;

[0060] Step 5: After completing the deployment and recovery tasks of the Karst landform cave detection robot 4, return to the base camp for a mission effectiveness evaluation report.

[0061] Next, a detailed introduction to the specific steps of a method for deploying and recovering Karst landform cave detection robots according to the present invention will be given;

[0062] I. Preparation for ROV platform deployment:

[0063] (1) Deploy the deployment and recovery device 2: Connect the electromagnetic lock sub-buckle 32 on the deployment and recovery device 2 to the electromagnetic lock mother-buckle 31 on the ROV body 1. The electromagnetic lock sub-mother-buckle 3 is powered on and activated, and the deployment and recovery device 2 is deployed.

[0064] (2) Equipment inspection and debugging: Conduct a system inspection on the ROV body 1, including sensors, communication modules, control systems, and energy systems in the internal sealed cabin 12 of the ROV body 1. Collect real-time data for each module and verify whether its output is within the preset error range. Detect sensors such as positioning and attitude control to ensure that the data accuracy meets the mission requirements; at the same time, debug actuators such as thrusters 11, lighting lamps 14, and cameras 15 to verify the response speed and accuracy.

[0065] (3) Environment and mission planning: Evaluate the operation environment, including measurement of parameters such as water flow velocity, water depth, and water temperature, and plan the deployment path and recovery path according to the mission requirements. Determine the deployment starting point P s =(x s ,y s ,z s ) and the target area Pd =(x d , y d , z d ). Coordinates are used to plan the route using the optimal path algorithm. The objective function is in the form:

[0066]

[0067] where P i and P i+1 are the i-th and (i + 1)-th path points in the path.

[0068] The distance between path points is:

[0069]

[0070] where the three-dimensional coordinates of P i and P i+1 are (x i , y i , z i ) and (x i+1 , y i+1 , z i+1 ).

[0071] (4) Collaboration and safety preparation: Develop a detailed emergency response plan, including the handling steps for equipment failures, communication interruptions, etc., and organize regular simulation drills to ensure that all members are familiar with the procedures and can respond quickly in case of emergencies. Establish multiple backup communication links to ensure information exchange between each group. Develop a standardized report format to provide real-time feedback on the on-site situation and adjust the task strategy in a timely manner.

[0072] II. Open the deployment and recovery devices 2 on both sides of the ROV body 1 and release the karst landform cave detection robots 4 one by one:

[0073] Before deploying the karst landform cave detection robots 4, a series of preparatory work needs to be carried out to ensure the smooth progress of the deployment process. The specific steps are as follows:

[0074] (1) Pre-release preparation operations:

[0075] 1) Test the power opening and closing system of the hatch 27. The motor 25 is finely adjusted in the reverse direction (0.5° pulse counterclockwise) to drive the cable 26 to release the rope 21, and confirm that the hatch 27 is in a fully closed state.

[0076] 2) Energize and activate the suspended electromagnetic latch 23 at the top of the deployment and recovery device 2, and the magnetic suction field covers the top of the cavity to adsorb the top of the karst landform cave detection robot 4.

[0077] 3) Activate the power supply of the karst landform cave detection robot 4 and confirm that its communication link with the ROV platform or the surface console is stable.

[0078] 4) Establish a six-degree-of-freedom dynamics model to ensure that the roll angle (φ) and pitch angle (θ) satisfy |φ| < 5° and |θ| < 3°.

[0079] Using the attitude adjustment algorithm and a PID controller, the thrust distribution formula is:

[0080]

[0081] where F i is the output thrust of the i-th thruster (unit: N), e φ is the roll angle deviation (actual value - target value), ρ is the water density, V is the regulated volume of the ballast tank, g is the gravity, and K p , K i , K d are the corresponding PID control coefficients respectively. Calculate the attitude angle standard deviation through the IMU data: σ φ is the standard deviation of the roll angle, N is the total number of data acquisition points, and φ i is the roll angle value measured at the i-th time. is the average roll angle. Measure the degree of attitude fluctuation (unit: degree). When σ φ < 0.8°, confirm that the ROV attitude is stable and in a hovering or low-speed stable state.

[0082] 5) Check whether the water flow velocity is less than 1.5 knots to avoid being washed away from the target area when releasing the karst landform cave detection robot 4.

[0083] 6) Confirm that the deployment path is free of obstacles, such as floating objects or obstacles. At the same time, establish a three-dimensional obstacle avoidance space, and the safety distance formula is:

[0084] d safe = max(1.2v ROV Δt, 0.5D robot )

[0085] where v ROV is the current speed of the ROV (m / s), and D robot is the diameter of the karst landform cave detection robot 4.

[0086] (2) Distributed release operation:

[0087] The ROV main control system sends an opening command:

[0088] 1) Start the suspended electromagnetic latch 23 to release the fixed constraint of the karst landform cave detection robot 4.

[0089] 2) Synchronous operation: The ROV slightly advances backward (thrust is about 10%), counteracting the reaction force during release and keeping the ROV body 1 stable.

[0090] 3) The external motors 25 on both sides rotate clockwise at a constant torque, driving the double zip lines 26 to synchronously retract the flexible ropes 21. The oppositely arranged flexible ropes 21 pull the hatches 27 on both sides to unfold upward along the guide rails. When the hatches 27 are opened to the limit angle of 120°, the motors 25 trigger the limit switches to stop and lock the positions.

[0091] 4) After the karst landform cave detection robot 4 leaves the deployment and recovery device 2 by its own gravity, its ejector is immediately activated to ensure it gets out of the ROV wake area.

[0092] 5) Through the depth and attitude data transmitted back by the karst landform cave detection robot 4, its movement trajectory is confirmed to ensure there is no collision risk.

[0093] (3) Key verification after release:

[0094] 1) Start the motor 25 counterclockwise, drive the double zip lines 26 to synchronously release the flexible ropes 21, and the hatches 27 on both sides reset downward along the guide rails until the hatches 27 are closed, and the motor 25 triggers the limit switch to stop and lock the position.

[0095] 2) Check the change in the center of gravity of the ROV. When necessary, adopt the center of gravity compensation algorithm and use the ballast tank adjustment calculation model: where (Δm is the mass change, K damp is the damping coefficient, ρ is the water density, is the attitude angular velocity) to adjust the balance of the ballast tank and ensure the ROV returns to a stable state.

[0096] III. Device and method for the recovery failure of the manipulator 13 of the ROV:

[0097] When the karst landform detection robot 4 is performing tasks, a failure may occur. A three-level fault response mechanism is set: Level I recoverable fault: Communication interruption and loss of key sensor data transmission; Level II maintainable fault: Thruster damage and low remaining power; Level III non-recoverable fault: Loss of positioning signal and being trapped in complex fissures. The disposal process follows the principle of "environmental adaptation first": When the fault environment is Level I, the karst landform robot can return to the side of the ROV through the positioning system and start the manipulator recovery program. When the fault type is Level II and the ROV path planning verification is reachable (obstacle density in the open area < 1 piece / m 3When the height of the karst cave is greater than 1.5 times the robot body, start the manipulator recovery program; if the faulty robot loses its positioning information or is located in a narrow rock crack where the ROV cannot enter or there is a risk of secondary collapse, mark the coordinates and abandon the recovery to ensure the safety of the ROV.

[0098] Therefore, this step is only for when the karst cave detection robot 4 has a level I fault and a level II fault that meets the recoverable conditions, and the emergency recovery operation needs to be carried out by the manipulator 13 carried by the ROV. The specific process is as follows:

[0099] (1) Preparation before recovery:

[0100] 1) Activate the emergency recovery mode of the ROV platform, start the high-precision positioning system and communication system, and receive the positioning beacon coordinates of the faulty karst cave detection robot 4 through the communication system.

[0101] 2) Start the environmental perception system to scan the operation area, detect the obstacle density and the water flow turbulence intensity, and determine that the environment is suitable for the recovery of the manipulator 13.

[0102] (2) Operation process for the recovery of the manipulator 13:

[0103] 1) The ROV approaches the faulty karst cave detection robot 4 at a speed of 0.3 knots along the planned path, starts the automatic hover mode at a distance of 0.4 m, and the joint module of the manipulator 13 unfolds to the preset recovery posture.

[0104] 2) Adjust the spatial pose of the manipulator 13 so that the electromagnet 131 in the hand of the manipulator 13 is coaxially aligned with the top of the faulty karst detection robot 4.

[0105] 3) Start the electromagnetic lock 131, adsorb the top of the faulty karst cave detection robot 4, retract the manipulator 13, fix the faulty karst cave detection robot, and trigger the limit switch to lock the folded state of the manipulator 13.

[0106] 4) The ROV carries the faulty karst cave detection robot 4 back to the working point.

[0107] If multiple karst cave detection robots 4 fail, the above steps are implemented multiple times until all faulty karst cave detection robots 4 are brought back to the working point.

[0108] IV. Open the ROV's launch and recovery device 2 to recover the karst cave detection robot 4:

[0109] When the karst landform cave detection robot 4 completes the detection task at the specified distance and successfully returns to the side of the ROV, it is considered to have completed the task. After the karst landform cave detection robot 4 completes the task, the karst landform detection robot 4 returns to the ROV through the positioning system and is recovered by the deployment and recovery device 2 of the ROV platform. The recovery process includes the following steps:

[0110] (1) Preparation before recovery:

[0111] 1) Adjust the ROV to neutral buoyancy, turn off the unnecessary thrusters 11, and reduce water flow disturbance.

[0112] 2) Send an instruction to make the karst landform cave detection robot 4 enter the recovery mode, and confirm that its remaining power > 10%, to avoid power failure and out-of-control during the recovery process.

[0113] 3) Through the video monitoring of the ROV control interface, confirm that there is no suspension or sediment cloud mass blocking the recovery path.

[0114] 4) Monitor the current water flow speed. If > 1.2 knots, it is necessary to start the ROV active compensation mode (dynamic positioning system).

[0115] (2) Recovery operation process:

[0116] 1) Navigate close to the karst landform cave detection robot 4, slowly approach at a speed of 0.1 m / s, and send an instruction through the communication module to control the karst landform cave detection robot 4 to fine-tune its heading.

[0117] 2) The external motors 25 on both sides of the deployment and recovery device 2 rotate clockwise at a constant torque, driving the double cable 26 to synchronously retract the flexible rope 21. The reversely arranged flexible rope 21 pulls the two side hatches 27 to unfold upward along the guide rail. When the hatch 27 opens to the limit angle of 120°, the motor 25 triggers the limit switch to stop and lock the position.

[0118] 3) The ROV maintains a horizontal attitude, and the karst landform cave detection robot 4 enters the cabin through the gap opened by the two side hatches 27.

[0119] 4) After adjusting the top of the karst landform cave detection robot 4 to align with the suspended electromagnetic latch 23, trigger the suspended electromagnetic latch 23 to fix the main body of the karst landform cave detection robot 4.

[0120] 5) Start the motor 25 counterclockwise, drive the double cable 26 to synchronously release the flexible rope 21, and the two side hatches 27 reset downward along the guide rail until the hatch 27 closes, and the motor 25 triggers the limit switch to stop locking the position.

[0121] V. After the karst landform cave detection robot 4 is reset, a task effectiveness evaluation report is made for the ROV platform

[0122] After the reset of the karst cave detection robot 4 is completed, a comprehensive task efficiency assessment of the ROV platform is required to ensure the equipment performance and task completion. The specific steps are as follows:

[0123] (1) Confirmation of reset completion

[0124] Through the communication link between the ROV platform and the karst cave detection robot 4, confirm the reset of the karst cave detection robot 4.

[0125] (2) Multi-source data collection and preprocessing:

[0126] 1) Through the communication link between the karst cave detection robot 4 and the ROV platform, download the data of the karst cave detection robot 4 itself, including data such as GPS coordinates with timestamps and raw sonar data.

[0127] 2) Verify the data integrity, and clean and annotate the collected data.

[0128] 3) Export the energy consumption curve from the ROV console, count the power usage of the karst cave detection robot 4, and integrate the operation data of the ROV platform.

[0129] (3) Core analysis of efficiency assessment:

[0130] 1) Analyze the degradation of equipment performance and evaluate the health of key components.

[0131] 2) Quantitatively analyze the collaborative operation effect of the ROV platform and multiple karst cave detection robots 4, including indicators such as task completion time, data collection quality, and equipment loss. Create a collaborative operation scoring model:

[0132]

[0133] Among them, is the ratio of the planned time to the actual time, that is, the ratio of the planned task time T plan to the actual completion time T real If the ratio > 1, it means completion ahead of schedule; < 1 means overtime; is the data collection completeness, that is, the ratio of the actual collected data volume N data to the preset target data volume N req ; R com is the communication reliability rate, which is the proportion of the duration when the communication link works normally during the collaborative operation (for example, 99% means that the communication is interrupted only 1% of the time). is the remaining energy, that is, the remaining energy E res after the task is completed accounts for the total energy E totalRatio.

[0134] In the collaborative operation scoring model:

[0135] The time efficiency weight is the highest, at 0.4, reflecting the core position of the timeliness of task completion. It directly measures the execution efficiency. Exceeding the time limit may lead to resource waste or environmental risks. Completing tasks quickly can also improve the multitasking rotation ability, so the maximum weight is given.

[0136] The data integrity weight is the second highest, at 0.3, reflecting the core goal of the task. It determines the reliability of subsequent analysis. Missing data may greatly reduce the value of the task. The weight is slightly lower than that of time efficiency because it can be partially compensated by redundant design.

[0137] The communication reliability rate weight is medium, at 0.2, because communication is the basis of collaborative operations. However, the system can adopt a communication topology network with dynamic redundancy and self-healing capabilities, and the actual failure rate is relatively low, so the weight is appropriately reduced, with more emphasis on the first two direct effectiveness indicators.

[0138] The remaining energy weight is the lowest, at 0.1, because it reflects long-term sustainability rather than the current task effectiveness. It mainly affects subsequent tasks, and the karst landform cave detection robot 4 is equipped with intelligent power consumption management, and the energy efficiency is already relatively high, so the priority in the current task is relatively low.

[0139] (4) Report generation and review:

[0140] 1) Use an automated report template to fill in the analysis results and automatically insert key charts into the report.

[0141] 2) Conduct manual review and annotation, and the staff verify the data accuracy item by item.

[0142] 3) Complete multi-level approval and archiving, and archive the documents and data for subsequent reference and analysis.

[0143] As can be seen from the description of the above embodiments, the present invention provides a ROV platform and method for deploying and recovering the karst landform cave detection robot 4. The ROV platform includes a ROV body 1 and a deployment and recovery device 2 provided on its rear side, which is convenient for flexibly deploying and recovering multiple karst landform cave detection robots 4, especially suitable for complex task scenarios such as detecting narrow spaces like karst pipelines, and is beneficial to improving the operation efficiency and task success rate. The specific advantages of the present invention include:

[0144] 1. Adaptability to complex scenarios: The karst landform cave detection robot 4 can penetrate into narrow spaces that the ROV cannot enter, with a diameter of up to 15 cm.

[0145] 2. Modular interface design: By applying the quick connection technology of electromagnetic lock type mother - son buckles 3, the ROV body 1 can achieve plug - and - play docking with the deployment and recovery device 2, simplifying the equipment maintenance process and enhancing the flexibility of system deployment.

[0146] 3. Multi - robot collaborative operation: By carrying multiple karst landform cave detection robots 4, the ROV can synchronously execute multi - line tasks in the anchored state. Combined with networking communication, a distributed detection network can be constructed, significantly expanding the operation range and enhancing the task efficiency.

[0147] 4. Functional complementarity and redundancy fault tolerance: The karst landform cave detection robot 4 is equipped with multi - fusion sensors to achieve functional complementarity of "powerful operation + fine detection". When a single karst landform cave detection robot 4 fails, the other karst landform cave detection robots 4 can take over its task area, reducing the task interruption rate.

[0148] 5. Improvement of economic benefits: A single mission can complete multiple types of operations (such as surveying + sampling + detection), reducing the comprehensive cost. At the same time, the karst landform cave detection robot 4 replaces the ROV to perform high - risk actions, reducing the wear of core components and the annual maintenance cost. There is also a robotic arm 13 provided. After the karst landform cave detection robot 4 fails, the robotic arm 13 can be used to recover the faulty karst landform cave detection robot 4, solving the problem of recycling and reusing the karst landform cave detection robot 4 after failure and saving costs.

[0149] In summary, through the modular architecture design and intelligent collaborative control, the present invention solves the inherent defects of traditional ROVs in task flexibility, efficiency, and safety, and is applicable to complex underwater operation scenarios of karst pipeline detection.

[0150] In this specification, each embodiment is described in a progressive manner. Each embodiment focuses on the differences from other embodiments. The same or similar parts among the embodiments can be referred to each other.

[0151] It should be noted that the word "comprising" does not exclude the existence of components or steps not listed in the claims. The word "a" or "an" preceding a component does not exclude the existence of multiple such components. The present invention can be implemented by means of hardware including several different components and by means of a properly programmed computer.

[0152] The foregoing description of the disclosed embodiments enables those skilled in the art to practice or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An ROV platform for launching and recovering a karst cave exploration robot, characterized in that: The ROV platform includes: an ROV body and a launching and recovering device symmetrically arranged at the rear side of the ROV body, wherein: Each delivery and recovery device is equipped with one or more karst cave detection robots; the delivery and recovery device includes: a shell, a hatch and an electric system, and the hatch is opened and closed by the electric system.

2. The ROV platform for launching and recovering a karst cave exploration robot according to claim 1, characterized in that: The ROV body comprises: a thruster, a sealed cabin, a mechanical arm, a lighting lamp, a camera and a floating body, wherein an electromagnetic lock is arranged in the arm of the mechanical arm.

3. The ROV platform for launching and recovering a karst cave exploration robot according to claim 1, characterized in that: The ROV body is connected to the launching and recovering device via an electromagnetic lock type snap fastener.

4. The ROV platform for launching and recovering a karst cave exploration robot according to claim 1, characterized in that: The electric system of the launching and recovery device includes: a rope, a zip line, a motor bracket and a motor, wherein: the rope is connected to the cabin door, and the motor drives the zip line to release and retract the rope to control the opening and closing of the cabin door; the motor bracket is used to fix the motor.

5. The ROV platform for launching and recovering a karst cave exploration robot according to claim 1, characterized in that: The delivery and recovery device also includes a suspended electromagnetic lock; the karst cave detection robot is fixed or released by the suspended electromagnetic lock.

6. The ROV platform for launching and recovering a karst cave exploration robot according to claim 1, characterized in that: Multiple grids are provided on the outer shell and hatch of the launching and recovery device.

7. The ROV platform for launching and recovering a karst cave exploration robot according to claim 1, characterized in that: The karst cave detection robot carried inside the deployment and recovery device is a small underwater detection robot with a maximum passing diameter of less than 15cm, and is equipped with a variety of navigation, communication, and environmental detection equipment.

8. The ROV platform for launching and recovering a karst cave exploration robot according to claim 1, characterized in that: The ROV platform conducts global situation analysis through the environmental perception system and dynamically assigns the detection tasks to the karst cave detection robot for execution, while retaining the human intervention channel to form a hybrid control mode of autonomous planning + manual correction.

9. A method for launching and recovering a karst cave exploration robot, characterized in that: An ROV platform for launching and recovering a karst cave exploration robot according to any one of claims 1 to 8, the method comprising: Step 1: Debug the ROV platform equipment before departure to check whether the perception and execution structures are normal; Step 2: Open the release and recovery device on the rear side of the ROV body and release the karst cave detection robots one by one at the target point; Step 3: If the karst cave detection robot fails during the mission, the ROV robotic arm recovers the failed karst cave detection robot; Step 4: The karst cave detection robot completes the task, and the recovery device is opened to recover the karst cave detection robot; Step 5: Complete the deployment and recovery mission of the karst cave exploration robot and prepare a mission performance evaluation report.

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