Intelligent monitoring underwater robot combined operation system for deepwater pipe cable laying

Abstract

The invention relates to a deepwater pipe cable laying intelligent monitoring underwater robot combination system which is composed of a small-sized water surface unmanned ship USV, an optical communication relay ROV and a monitoring operation ARV, a communication layered relay mode is adopted, an operation support mother ship achieves real-time communication with the USV through a radio station, the communication relay ROV establishes a real-time communication link with the USV through an umbilical cable, and the monitoring operation ARV achieves real-time communication with the USV. And the monitoring operation ARV realizes large-data-volume real-time communication with the relay ROV through blue-light communication, so that ARV fine operation of people in a loop and real-time monitoring of a water surface facing mud points are realized, and the function of intelligent monitoring of deepwater pipe cable laying is realized. By adopting a layered structure taking the ROV as a communication repeater and the ARV as a monitoring operation body, the problem that an umbilical cable of the ROV winds a subsea pipeline when the ROV is adopted as a monitor is effectively solved, and meanwhile, the problem that an underwater robot cannot be monitored and controlled in real time by a water surface operator in a cable-free mode when the AUV is adopted as a monitor is also solved; and the working efficiency of intelligent monitoring is greatly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of deep - sea monitoring, and particularly to an intelligent monitoring underwater robot combined operation system for deep - water cable laying. Background Art

[0002] With the increasing demand for ocean resource development, the construction of deep - water cable networks has become increasingly important. These underwater cables not only undertake the tasks of transporting resources such as electricity, communication, oil and gas, and minerals, but also play a key role in improving ocean transportation efficiency and resource security.

[0003] During the laying process of deep - water cables, traditional monitoring means mainly include three types. One is to use surface monitoring, such as using a surface vessel to mount an acoustic device to sweep the state of the underwater cable and the touchdown point; another is to use a remotely operated underwater vehicle (ROV) to remotely track the touchdown point of the cable and monitor the cable state; the third is to use an autonomous underwater vehicle (AUV) to track and monitor.

[0004] Although the above - mentioned traditional monitoring means can achieve monitoring functions to a certain extent, they have many limitations and face the following problems: 1) When using a surface vessel to mount an acoustic device for sweeping, affected by acoustic resolution and environmental noise, the viewing range is limited and the image is unclear, resulting in low efficiency; 2) When using an unmanned remotely operated submersible (ROV) for monitoring, there is a risk of the umbilical cable being entangled with the underwater cable, and the operation needs to be particularly cautious; during the operation process, the large support mother ship needs to be synchronized with the underwater operation equipment, resulting in low efficiency; 3) When using an autonomous underwater vehicle (AUV) for tracking and monitoring, the acoustic communication bandwidth is low and the delay is large, making it difficult to transmit high - definition data in real - time or remotely control the AUV, resulting in a lag in task adjustment and the AUV may lose the tracking target.

[0005] Therefore, it is urgent to design an intelligent monitoring underwater robot combined system for deep - water cable laying to solve the problems existing in the above - mentioned prior art. Summary of the Invention

[0006] In view of this, the present invention provides an intelligent monitoring underwater robot combined system for deep - water cable laying. Adopting a communication hierarchical relay form, the operation support mother ship realizes real - time communication with the unmanned surface vessel (USV) through a radio station. The communication relay ROV establishes a real - time communication link with the unmanned surface vessel (USV) through an umbilical cable. The monitoring operation ARV realizes real - time communication with a large amount of data with the relay ROV through blue - light communication, so as to realize the fine operation of the ARV with human - in - the - loop and the real - time monitoring of the water - surface touchdown point, and realize the function of intelligent monitoring of deep - water cable laying.

[0007] To achieve the above object, the present invention adopts the following technical solutions:

[0008] An intelligent monitoring underwater robot combined operation system for deep water pipe laying. The robot combined system includes an operation support mother ship, a central control container, an unmanned surface vehicle (USV), a remotely operated underwater vehicle (ROV) body, and an autonomous / remotely operated underwater vehicle (ARV) body. The ROV body serves as a communication repeater, and the ARV body serves as a monitor, which is used to autonomously search for the position of the underwater pipe and autonomously identify the mud touchdown point.

[0009] The central control container is placed on the operation deck of the operation support mother ship. The central control container establishes communication with the USV through a radio station. The USV establishes communication with the ROV body through an umbilical cable.

[0010] The ROV body and the ARV body conduct real-time communication through a blue light communication system. The ROV body and the ARV body are positioned through a short baseline positioning system to ensure that both are in a stable communication position.

[0011] Furthermore, the short baseline positioning system includes a positioning unit of the ROV body and a positioning unit of the ARV body. Both positioning units include an acoustic transducer and a hydrophone positioning module. The acoustic transducer is used to emit sound. Each hydrophone positioning module includes four hydrophones located at different positions. The hydrophones are used to receive sound and calculate the relative position of the acoustic signal source.

[0012] Furthermore, the positioning unit of the ROV body includes an acoustic transducer and a hydrophone positioning module. The acoustic transducer is arranged at the bottom of the ROV body. The hydrophone positioning module includes four hydrophones, and the four hydrophones are arranged in a rectangular array at the bottom of the ROV body.

[0013] Furthermore, the positioning unit of the ARV body includes an acoustic transducer and a hydrophone positioning module. The acoustic transducer is arranged on the back of the ARV body. The hydrophone positioning module includes four hydrophones, and the four hydrophones are arranged in a rectangular array on the back of the ARV body.

[0014] Furthermore, the acoustic transducer of the ROV body emits sound, and the hydrophone positioning module of the ARV body receives the sound emitted by the acoustic transducer, and calculates the relative position and direction between the ARV body and the ROV body according to the time difference of the sound received by the four hydrophones.

[0015] Further, the acoustic transducer of the autonomous / remotely operated underwater vehicle (ARV) body emits sound, and the hydroacoustic positioning module of the remotely operated underwater vehicle (ROV) body receives the sound emitted by the acoustic transducer, and calculates the relative position and direction of the ROV body and the ARV body based on the time difference of the sound received by the four hydrophones.

[0016] Further, the blue light communication system includes a blue light communicator carried by the ROV body and a blue light communicator carried by the ARV body; a two-degree-of-freedom pan-tilt is provided at the center of the bottom of the ROV body, and a two-degree-of-freedom pan-tilt is provided at the center of the back of the ARV body; both blue light communicators are installed on the two-degree-of-freedom pan-tilt, and the two-degree-of-freedom pan-tilt is used to control and adjust the azimuth of the underwater blue light communicator for transmitting and receiving blue light.

[0017] Further, both blue light communicators include a blue light communication transmitting unit and a blue light communication receiving unit. The blue light communication transmitting unit transmits communication blue light, and the blue light communication receiving unit receives and interprets the communication blue light.

[0018] Further, the blue light communicator carried by the ROV body includes an ROV-side blue light communication transmitting unit and an ROV-side blue light communication receiving unit. The blue light communication transmitting unit and the blue light communication receiving unit are installed on the ROV-side two-degree-of-freedom pan-tilt; the ROV-side blue light communication transmitting unit transmits communication blue light to the ARV-side blue light communication receiving unit, and the ROV-side blue light communication receiving unit receives the communication blue light emitted by the ARV-side blue light communication transmitting unit;

[0019] The ROV-side two-degree-of-freedom pan-tilt is used to adjust the pointing angle of the ROV-side for transmitting and receiving blue light communication, so that the range of the ROV-side transmitting communication blue light optimally covers the ARV-side blue light communication receiving unit.

[0020] Further, the blue light communicator carried by the ARV body includes an ARV-side blue light communication transmitting unit and an ARV-side blue light communication receiving unit. The blue light communication transmitting unit and the blue light communication receiving unit are installed on the ARV-side two-degree-of-freedom pan-tilt; the ARV-side blue light communication transmitting unit transmits communication blue light to the ROV-side blue light communication receiving unit, and the ARV-side blue light communication receiving unit receives the communication blue light emitted by the ROV-side blue light communication transmitting unit;

[0021] The ARV-side two-degree-of-freedom pan-tilt is used to adjust the pointing angle of the ARV-side for transmitting and receiving blue light communication, so that the range of the ARV-side transmitting communication blue light optimally covers the ROV-side blue light communication receiving unit.

[0022] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0023] (1) By using a small unmanned surface vessel to carry and deploy a relay ROV, and establishing communication with the monitoring operation ARV through blue light to track and monitor the mud point of the pipeline and monitor the pipeline status, the problem of low synchronization efficiency between the large operation support mother ship and the underwater operation equipment is solved.

[0024] (2) By adopting a hierarchical structure with the ROV as the communication repeater and the ARV as the monitoring operation body, the problem that the ROV umbilical cable winds around the submarine pipeline when the ROV is used as a monitor is effectively solved. At the same time, the problem that the surface operation personnel cannot monitor and control the underwater robot in real time in the cable-free mode when the AUV is used as a monitor is also solved, greatly improving the working efficiency of intelligent monitoring.

[0025] (3) In terms of communication, communication is established between the relay ROV and the ARV through blue light, transmitted to the water surface via the umbilical cable, and then transmitted to the central control container through the radio station to complete the establishment of a complete communication link; compared with acoustic communication, the wireless-wired-optical hierarchical relay combined communication has a large amount of information transmission and high speed.

[0026] (4) By adopting a hydroacoustic positioning scheme, the relative position between the relay ROV and the ARV is accurately calculated according to the time difference of the sound received by the hydrophones located at different positions. At the same time, a mobile pan-tilt mutual pointing scheme is adopted, and combined with the relative position calculated by the hydroacoustic positioning scheme, the underwater blue light communication machines carried by the ROV and the ARV are mutually pointed through the pan-tilt mutual pointing, so as to obtain a larger communication range, ensure continuous communication, and achieve the effect of stable communication.

[0027] Other features and advantages of the present invention will be described in the subsequent specification, and, in part, will be obvious from the specification, or will be understood by implementing the present invention. The objectives and other advantages of the present invention can be realized and obtained by the structure pointed out in the specification and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions in the embodiments of the present invention 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 invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0029] Figure 1 Fig. shows a schematic structural diagram of an intelligent monitoring underwater robot combined operation system for deep water pipeline laying according to an embodiment of the present invention;

[0030] Figure 2 It is a schematic diagram of the overall structure of the ROV according to an embodiment of the present invention;

[0031] Figure 3 It is a schematic side view structure diagram of the ROV according to an embodiment of the present invention;

[0032] Figure 4 It is a schematic diagram of the overall structure and partial enlargement of the ARV body according to an embodiment of the present invention.

[0033] In the figure: 1, operation support mother ship; 2, pipeline cable; 3, central control container; 4, unmanned surface vehicle USV; 5, remotely operated underwater vehicle ROV body; 6, autonomous / remotely operated underwater vehicle ARV body;

[0034] 5-1, ROV motion carrier; 5-2, acoustic transducer; 5-3, hydroacoustic positioning module; 5-4, two-degree-of-freedom pan-tilt; 5-5, blue light communication transmitting unit; 5-6, blue light communication receiving unit;

[0035] 6-1, ARV motion carrier; 6-2, acoustic transducer; 6-3, hydroacoustic positioning module; 6-4, two-degree-of-freedom pan-tilt; 6-5, blue light communication transmitting unit; 6-6, blue light communication receiving unit. Detailed implementation manners

[0036] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0037] An embodiment of the present invention provides an intelligent monitoring underwater robot combined operation system for deep-water pipeline cable laying. As shown in the attached Figures 1-4 figure, the robot combined system includes an operation support mother ship 1, a central control container 3, an unmanned surface vehicle USV 4, a remotely operated underwater vehicle ROV body 5, and an autonomous / remotely operated underwater vehicle ARV body 6; the remotely operated underwater vehicle ROV body 5 serves as a communication relay, and the autonomous / remotely operated underwater vehicle ARV body 6 serves as a monitor for autonomously searching for the position of the underwater pipeline cable 2 and autonomously identifying the mud touchdown point;

[0038] The central control container 3 is placed on the operation deck of the operation support mother ship 1; the central control container 3 establishes communication with the unmanned surface vehicle USV 4 through a radio station; the unmanned surface vehicle USV 4 establishes communication with the remotely operated underwater vehicle ROV body 5 through an umbilical cable;

[0039] The underwater remotely operated vehicle (ROV) body 5 and the autonomous / remotely operated underwater vehicle (ARV) body 6 communicate in real time through a blue light communication system; the underwater remotely operated vehicle (ROV) body 5 and the autonomous / remotely operated underwater vehicle (ARV) body 6 are positioned through a short baseline positioning system to ensure that both are in a position for stable communication.

[0040] The short baseline positioning system includes a positioning unit of the underwater remotely operated vehicle (ROV) body 5 and a positioning unit of the autonomous / remotely operated underwater vehicle (ARV) body 6; both positioning units include acoustic transducers (5-2, 6-2) and hydroacoustic positioning modules (5-3, 6-3). The acoustic transducers (5-2, 6-2) are used to emit sound. Each hydroacoustic positioning module (5-3, 6-3) includes four hydrophones located at different positions. The hydrophones are used to receive sound and calculate the relative position of the acoustic signal source.

[0041] The positioning unit of the underwater remotely operated vehicle (ROV) body 5 includes an acoustic transducer 5-2 and a hydroacoustic positioning module 5-3. The acoustic transducer 5-2 is arranged at the bottom of the underwater remotely operated vehicle (ROV) body 5. The hydroacoustic positioning module 5-3 includes four hydrophones, and the four hydrophones are arranged in a rectangular array at the bottom of the underwater remotely operated vehicle (ROV) body 5.

[0042] The positioning unit of the autonomous / remotely operated underwater vehicle (ARV) body 6 includes an acoustic transducer 6-2 and a hydroacoustic positioning module 6-3. The acoustic transducer 6-2 is arranged on the back of the autonomous / remotely operated underwater vehicle (ARV) body 6. The hydroacoustic positioning module 6-3 includes four hydrophones, and the four hydrophones are arranged in a rectangular array on the back of the autonomous / remotely operated underwater vehicle (ARV) body 6.

[0043] The acoustic transducer 5-2 of the underwater remotely operated vehicle (ROV) body 5 emits sound, and the hydroacoustic positioning module 6-3 of the autonomous / remotely operated underwater vehicle (ARV) body 6 receives the sound emitted by the acoustic transducer 5-2. The relative position and direction between the autonomous / remotely operated underwater vehicle (ARV) body 6 and the underwater remotely operated vehicle (ROV) body 5 are calculated based on the time difference of the sound received by the four hydrophones.

[0044] The acoustic transducer 6-2 of the autonomous / remotely operated underwater vehicle (ARV) body 6 emits sound, and the hydroacoustic positioning module 5-3 of the underwater remotely operated vehicle (ROV) body 5 receives the sound emitted by the acoustic transducer 6-2. The relative position and direction between the underwater remotely operated vehicle (ROV) body 5 and the autonomous / remotely operated underwater vehicle (ARV) body 6 are calculated based on the time difference of the sound received by the four hydrophones.

[0045] The blue light communication system includes a blue light communicator carried by the underwater remotely operated vehicle (ROV) body 5 and a blue light communicator carried by the autonomous / remotely operated underwater vehicle (ARV) body 6. At the center of the bottom of the ROV body 5, a two-degree-of-freedom pan-tilt 5-4 is provided. At the center of the back of the ARV body 6, a two-degree-of-freedom pan-tilt 6-4 is provided. Both blue light communicators are installed on the two-degree-of-freedom pan-tilts (5-4, 6-4), and the two-degree-of-freedom pan-tilts (5-4, 6-4) are used to control and adjust the azimuth of the underwater blue light communicator for transmitting and receiving blue light.

[0046] Both blue light communicators include a blue light communication transmitting unit (5-5, 6-5) and a blue light communication receiving unit (5-6, 6-6). The blue light communication transmitting unit (5-5, 6-5) transmits communication blue light, and the blue light communication receiving unit (5-6, 6-6) receives and interprets the communication blue light to achieve high-speed large-data communication.

[0047] The blue light communicator carried by the ROV body 5 includes an ROV-side blue light communication transmitting unit 5-5 and an ROV-side blue light communication receiving unit 5-6. The blue light communication transmitting unit 5-5 and the blue light communication receiving unit 5-6 are installed on the ROV-side two-degree-of-freedom pan-tilt 5-4. The ROV-side blue light communication transmitting unit 5-5 transmits communication blue light to the ARV-side blue light communication receiving unit 6-6, and the ROV-side blue light communication receiving unit 5-6 receives the communication blue light transmitted from the ARV-side blue light communication transmitting unit 6-5.

[0048] The ROV-side two-degree-of-freedom pan-tilt 5-4 is used to adjust the pointing angle of the ROV-side for transmitting and receiving blue light communication, so that the range of the ROV-side transmitting communication blue light optimally covers the ARV-side blue light communication receiving unit 6-6, thereby ensuring normal communication between the ROV body 5 of the underwater remotely operated vehicle and the ARV body 6 of the autonomous / remotely operated underwater vehicle.

[0049] The blue light communicator carried by the ARV body 6 includes an ARV-side blue light communication transmitting unit 6-5 and an ARV-side blue light communication receiving unit 6-6. The blue light communication transmitting unit 6-5 and the blue light communication receiving unit 6-6 are installed on the ARV-side two-degree-of-freedom pan-tilt 6-4. The ARV-side blue light communication transmitting unit 6-5 transmits communication blue light to the ROV-side blue light communication receiving unit 5-6, and the ARV-side blue light communication receiving unit 6-6 receives the communication blue light transmitted from the ROV-side blue light communication transmitting unit 5-5.

[0050] The dual-degree-of-freedom pan-tilt 6-4 on the ARV side is used to adjust the pointing angle of the blue light communication transmitted and received on the ARV side, so that the blue light communication transmission range on the ARV side optimally covers the blue light communication receiving unit 5-6 on the ROV side, thereby ensuring normal communication between the autonomous / remotely operated underwater vehicle (ARV) body 6 and the remotely operated underwater vehicle (ROV) body 5.

[0051] The remotely operated underwater vehicle (ROV) body 5 and the autonomous / remotely operated underwater vehicle (ARV) body 6 calculate the relative positions of both parties in real time through a short baseline positioning system, and automatically adjust the remotely operated underwater vehicle (ROV) body 5 to track the autonomous / remotely operated underwater vehicle (ARV) body 6 based on the calculated relative positions, ensuring the best communication spatial distance. At the same time, the dual-sided pan-tilts are controlled to achieve mutual pointing, ensuring that both the remotely operated underwater vehicle (ROV) body 5 and the autonomous / remotely operated underwater vehicle (ARV) body 6 are within the best blue light irradiation range of each other, achieving the purpose of stable communication.

[0052] By adopting a hydroacoustic positioning scheme, the relative positions of the repeater ROV and the ARV are accurately calculated according to the time difference of the sound received by hydrophones located at different positions. At the same time, a mobile pan-tilt mutual pointing scheme is adopted, combined with the relative positions calculated by the hydroacoustic positioning scheme, and the underwater blue light communicators carried by the ROV and the ARV are mutually pointed through the pan-tilt mutual pointing, which can obtain a larger communication range, ensure continuous communication, and achieve the effect of stable communication.

[0053] In terms of communication, communication is established between the repeater ROV and the ARV through blue light, transmitted to the water surface via an umbilical cable, and then transmitted to the central control container via a radio station to complete the establishment of a complete communication link; compared with acoustic communication, the wireless-wired-optical hierarchical relay combined communication has a large amount of information transmission and high speed.

[0054] The specific operation process of the intelligent monitoring underwater robot combined operation system for deep water cable laying is as follows:

[0055] 1) The operation support mother ship 1 deploys the surface unmanned surface vehicle (USV) 4 (integrally carrying the remotely operated underwater vehicle (ROV) body 5) into the water, and the central control container 3 remotely controls the unmanned surface vehicle (USV) 4 to a safe water area via wireless.

[0056] 2) The operation support mother ship 1 deploys the autonomous / remotely operated underwater vehicle (ARV) body 6 into the water, and the autonomous /

[0057] remotely operated underwater vehicle (ARV) body 6 autonomously swims underwater to the underwater operation preparation area.

[0058] 3) The central control container 3 remotely controls the surface unmanned surface vehicle (USV) 4 to the water area above the operation preparation area via wireless, and remotely controls the deployment of the remotely operated underwater vehicle (ROV) body 5 to the underwater operation preparation area.

[0059] 4) Use the hydroacoustic positioning module 5-3 of the underwater remotely operated vehicle (ROV) body 5 to position the autonomous / remotely operated underwater vehicle (ARV) body 6;

[0060] 5) The central control container 3 controls the ROV body 5 to dive into the blue light communication irradiation range of the ARV body 6 according to the positioning information. The pan-tilt heads of the ROV body 5 and the ARV body 6 point at each other, and the blue light communication link is established;

[0061] 6) The central control container 3 operates the ARV body 6 to the pipe laying mud point for operation and observation;

[0062] 7) The ROV body 5 follows and self-tracks the ARV body 6, and the unmanned surface vehicle (USV) 4 on the water surface self-tracks the ROV body 5;

[0063] 8) Continue the operation until completion. The ARV body 6 automatically controls and detaches and returns to the predetermined safe recovery area on the water surface;

[0064] 9) The central control container 3 recovers the ROV body 5 into the USV 4 on the water surface by wirelessly controlling the USV 4;

[0065] 10) The central control container 3 wirelessly controls the USV 4 to the predetermined safe recovery area;

[0066] 11) The operation support mother ship 1 recovers the ARV body 6;

[0067] 12) The operation support mother ship 1 recovers the USV 4 on the water surface.

[0068] By using a small unmanned surface vehicle to carry and deploy a relay ROV, establishing communication with the monitoring operation ARV using blue light, tracking and monitoring the pipe laying mud point, and monitoring the pipe cable status, the problem of low synchronization efficiency between the large operation support mother ship and the underwater operation equipment is solved.

[0069] By adopting a hierarchical structure with the ROV as the communication repeater and the ARV as the monitoring operation body, the problem of the ROV umbilical cable winding around the subsea pipeline when the ROV is used as the monitor is effectively solved. At the same time, the problem that the surface operation personnel cannot monitor and control the underwater robot in real time in the cable-free mode when the AUV is used as the monitor is also solved, greatly improving the working efficiency of intelligent monitoring.

[0070] Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An intelligent monitoring underwater robot combined operation system for deep water pipe and cable laying, characterized in that, The described robotic combination system includes an operation support mother ship (1), a central control container (3), an unmanned surface vehicle USV (4), a remotely operated underwater vehicle ROV body (5), and an autonomous / remotely operated underwater vehicle ARV body (6); the remotely operated underwater vehicle ROV body (5) serves as a communication repeater, and the autonomous / remotely operated underwater vehicle ARV body (6) serves as a monitor, which is used to autonomously search for the position of the underwater pipeline (2) and autonomously identify the touchdown point. The central control container (3) is placed on the operation deck of the operation support mother ship (1); the central control container (3) establishes communication with the unmanned surface vehicle USV (4) through a radio station; the unmanned surface vehicle USV (4) establishes communication with the remotely operated underwater vehicle ROV body (5) through an umbilical cable. The remotely operated underwater vehicle ROV body (5) and the autonomous / remotely operated underwater vehicle ARV body (6) conduct real-time communication through a blue light communication system; the remotely operated underwater vehicle ROV body (5) and the autonomous / remotely operated underwater vehicle ARV body (6) are positioned through a short baseline positioning system.

2. The intelligent monitoring underwater robot combined operation system for deep water cable laying according to claim 1, wherein The short baseline positioning system includes a positioning unit of the remotely operated underwater vehicle ROV body (5) and a positioning unit of the autonomous / remotely operated underwater vehicle ARV body (6); both positioning units include acoustic transducers (5-2, 6-2) and hydroacoustic positioning modules (5-3, 6-3), the acoustic transducers (5-2, 6-2) are used to emit sounds, and each hydroacoustic positioning module (5-3, 6-3) includes four hydrophones located at different positions, and the hydrophones are used to receive sounds and calculate the relative position of the acoustic signal source.

3. The intelligent monitoring underwater robot combined operation system for deep water cable laying according to claim 2, characterized in that, The positioning unit of the remotely operated underwater vehicle ROV body (5) includes an acoustic transducer (5-2) and a hydroacoustic positioning module (5-3), the acoustic transducer (5-2) is arranged at the bottom of the remotely operated underwater vehicle ROV body (5), and the hydroacoustic positioning module (5-3) includes four hydrophones, and the four hydrophones are arranged in a rectangular array form at the bottom of the remotely operated underwater vehicle ROV body (5).

4. The intelligent monitoring underwater robot combined operation system for deep water cable laying according to claim 2, wherein, The positioning unit of the autonomous / remotely operated underwater vehicle ARV body (6) includes an acoustic transducer (6-2) and a hydroacoustic positioning module (6-3), the acoustic transducer (6-2) is arranged on the back of the autonomous / remotely operated underwater vehicle ARV body (6), and the hydroacoustic positioning module (6-3) includes four hydrophones, and the four hydrophones are arranged in a rectangular array form on the back of the autonomous / remotely operated underwater vehicle ARV body (6).

5. The intelligent monitoring underwater robot combined operation system for deep water cable laying according to claim 2, wherein The acoustic transducer (5-2) of the remotely operated underwater vehicle ROV body (5) emits sounds, and the hydroacoustic positioning module (6-3) of the autonomous / remotely operated underwater vehicle ARV body (6) receives the sounds emitted by the acoustic transducer (5-2), and calculates the relative position and direction of the autonomous / remotely operated underwater vehicle ARV body (6) and the remotely operated underwater vehicle ROV body (5) according to the time difference of the sounds received by the four hydrophones.

6. The intelligent monitoring underwater robot combined operation system for deep water cable laying according to claim 5, wherein, The acoustic transducer (6-2) of the autonomous / remotely operated underwater vehicle (ARV) body (6) emits sound, and the underwater acoustic positioning module (5-3) of the remotely operated underwater vehicle (ROV) body (5) receives the sound emitted by the acoustic transducer (6-2), and calculates the relative position and orientation between the ROV body (5) and the ARV body (6) according to the time difference of the sound received by the four hydrophones.

7. The intelligent monitoring underwater robot combined operation system for deep water cable laying according to claim 6, characterized in that The blue light communication system includes a blue light communication machine carried by the ROV body (5) and a blue light communication machine carried by the ARV body (6); a two-degree-of-freedom pan-tilt (5-4) is arranged at the center of the bottom of the ROV body (5), and a two-degree-of-freedom pan-tilt (6-4) is arranged at the center of the back of the ARV body (6); both blue light communication machines are installed on the two-degree-of-freedom pan-tilts (5-4, 6-4), and the two-degree-of-freedom pan-tilts (5-4, 6-4) are used to control and adjust the azimuth of the underwater blue light communication machine for transmitting and receiving blue light.

8. The intelligent monitoring underwater robot combined operation system for deep water cable laying according to claim 7, characterized in that, Both blue light communication machines include a blue light communication transmitting unit (5-5, 6-5) and a blue light communication receiving unit (5-6, 6-6). The blue light communication transmitting unit (5-5, 6-5) transmits communication blue light, and the blue light communication receiving unit (5-6, 6-6) receives and interprets the communication blue light.

9. The intelligent monitoring underwater robot combined operation system for deep water cable laying according to claim 8, characterized in that, The blue light communication machine carried by the ROV body (5) includes an ROV-side blue light communication transmitting unit (5-5) and an ROV-side blue light communication receiving unit (5-6). The blue light communication transmitting unit (5-5) and the blue light communication receiving unit (5-6) are installed on the ROV-side two-degree-of-freedom pan-tilt (5-4); the ROV-side blue light communication transmitting unit (5-5) transmits communication blue light to the ARV-side blue light communication receiving unit (6-6), and the ROV-side blue light communication receiving unit (5-6) receives the communication blue light emitted by the ARV-side blue light communication transmitting unit (6-5). The ROV-side two-degree-of-freedom pan-tilt (5-4) is used to adjust the pointing angle of the ROV-side for transmitting and receiving blue light communication, so that the ROV-side communication blue light transmission range optimally covers the ARV-side blue light communication receiving unit (6-6).

10. The intelligent monitoring underwater robot combined operation system for deep water cable laying according to claim 8, characterized in that, The blue light communication machine carried by the ARV body (6) includes an ARV-side blue light communication transmitting unit (6-5) and an ARV-side blue light communication receiving unit (6-6). The blue light communication transmitting unit (6-5) and the blue light communication receiving unit (6-6) are installed on the ARV-side two-degree-of-freedom pan-tilt (6-4); the ARV-side blue light communication transmitting unit (6-5) transmits communication blue light to the ROV-side blue light communication receiving unit (5-6), and the ARV-side blue light communication receiving unit (6-6) receives the communication blue light emitted by the ROV-side blue light communication transmitting unit (5-5). The ARV-side two-degree-of-freedom gimbal (6-4) is used to adjust the pointing angle of the ARV-side for transmitting and receiving blue light communication, so that the range of the transmitted communication blue light on the ARV side optimally covers the blue light communication receiving unit (5-6) on the ROV side.

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