Underwater robot multi-level deployment and cross-domain delivery method

Abstract

The invention provides an underwater robot multi-level deployment and cross-domain delivery method, which comprises the following steps that: a water surface ship is used for delivering an underwater primary terminal robot as an underwater robot delivery platform, and a controller unit and a power unit of the underwater robot delivery platform can realize primary cross-domain delivery of the underwater robot; after deployment of the underwater robot conveying platform is completed, the first-stage terminal management unit and the first-stage laying and recycling unit are started, and a plurality of underwater second-stage terminal robots loaded in the first-stage laying and recycling unit are delivered to serve as an underwater robot operation transfer platform; the cross-level communication, cross-domain delivery and area coverage networking capabilities of the platform are realized by a first-level underwater acoustic communication module, a distributed transmission module and a space networking module which are integrated in a first-level terminal management unit; after deployment of the underwater robot operation transfer platform is completed, a second-level terminal management unit and a second-level laying and recycling unit are started, a plurality of underwater third-level terminal robots loaded in the second-level laying and recycling unit are delivered to serve as underwater operation terminals, and all levels of underwater robots are subjected to echelon control according to a child-mother type distribution strategy; and multi-level deployment and cross-domain delivery of the underwater robot are realized.

Description

Technical Field

[0001] The present invention relates to the field of underwater robot multi-level distribution and echelon deployment, and more specifically, to a method for multi-level deployment and cross-domain delivery of underwater robots. Background Art

[0002] As a technology-integrated marine equipment, underwater robots have the advantages of high maneuverability and full coverage of operating depth and width, and play an important role in the exploration and development of deep-sea environments.

[0003] While current tethered underwater robots (ROVs) can achieve stable functionality and remote control, the cable's inherent operating length limits the robot's operating radius and operating environment. Furthermore, as operating depth increases, the cable's length and resistance increase, further increasing the robot's power consumption. While existing autonomous underwater vehicles (AUVs) address some of the drawbacks of tethered operations, their effective deployment radius still needs to be improved due to limitations in underwater communication technology and the size of their power supply modules.

[0004] To address this type of situation, a multi-level deployment and cross-domain delivery method of underwater robots is adopted to effectively solve the problem of limited deployment radius of underwater robots. Summary of the Invention

[0005] In response to the technical problems raised above, a method for multi-level deployment and cross-domain delivery of underwater robots is provided. The present invention mainly uses a surface vessel to deliver an underwater first-level terminal robot as an underwater robot delivery platform. After the underwater robot delivery platform is deployed, the first-level terminal management unit and the first-level deployment and recovery unit are activated to deliver multiple underwater second-level terminal robots loaded therein as underwater robot operation transfer platforms. After the underwater robot operation transfer platform is deployed, the second-level terminal management unit and the second-level deployment and recovery unit are activated to deliver multiple underwater third-level terminal robots loaded therein as underwater operation terminals, thereby achieving multi-level deployment and cross-domain delivery of underwater robots.

[0006] The technical means adopted in the present invention are as follows:

[0007] A multi-level deployment and cross-domain delivery method for underwater robots, comprising:

[0008] S1. Use a surface vessel to launch an underwater first-level terminal robot as an underwater robot delivery platform, and use its controller unit and power unit to achieve the first-level cross-domain delivery of the underwater robot;

[0009] S2: After the underwater robot delivery platform is deployed, the first-level terminal management unit and the first-level deployment and recovery unit are activated to deploy multiple second-level underwater terminal robots loaded therein as a transfer platform for underwater robot operations;

[0010] S3. Start the first-level underwater acoustic communication module, distributed delivery module, and space networking module integrated in the first-level terminal management unit to control the cross-level communication, cross-domain delivery, and regional coverage networking of the underwater second-level terminal robot;

[0011] S4. After the underwater robot operation transfer platform is deployed, the secondary terminal management unit and the secondary deployment and recovery unit are activated to deploy multiple third-level underwater terminal robots loaded therein as underwater operation terminals.

[0012] S5. Start the secondary underwater acoustic communication module, operation planning module and space perception module integrated in the secondary terminal management unit to control the cross-level communication, operation task allocation and operation environment perception of the underwater third-level terminal robot respectively.

[0013] Furthermore, the underwater first-level terminal robot serves as an underwater robot delivery platform in the overall hierarchy to deliver underwater second-level and third-level terminal robots and control the underwater second-level terminal robot, and includes a first-level terminal management unit, a first-level deployment and recovery unit, a controller unit, a power unit, a serial port server and a self-test unit.

[0014] Furthermore, the underwater second-level terminal robot serves as an underwater robot operation transfer platform in the overall hierarchy to carry out the delivery and operation control of the underwater third-level terminal robot, including a second-level terminal management unit, a second-level deployment and recovery unit, a controller unit, a power unit, a serial port server and a self-test unit.

[0015] Furthermore, the underwater three-level terminal robot acts as an underwater operation terminal in the overall level to perform underwater operation tasks, and includes a multimodal perception unit, an operation unit, a controller unit, a power unit, a serial port server and a self-test unit.

[0016] Furthermore, the first-level terminal management unit realizes the management tasks of the underwater first-level terminal robot for the underwater second-level terminal robot, that is, the control, communication, transportation and networking of the underwater robot transportation platform for the underwater robot operation transfer platform, including an underwater acoustic communication module, a space networking module, a distributed transportation module, a terminal serial port server and a first-level terminal database.

[0017] Furthermore, the secondary terminal management unit realizes the management task of the underwater secondary terminal robot for the underwater tertiary terminal robot, that is, the control, communication and planning of the underwater robot operation platform for the underwater operation terminal, including an underwater acoustic communication module, a space perception module, an operation planning module, a terminal serial port server and a secondary terminal database.

[0018] Compared with the prior art, the present invention has the following advantages:

[0019] 1. The present invention provides a method for multi-level deployment and cross-domain delivery of underwater robots, which realizes multi-level deployment and cross-domain delivery of underwater robots by deploying an underwater first-level terminal robot as an underwater robot delivery platform and activating a first-level terminal management unit and a first-level deployment and recovery unit, deploying multiple underwater second-level terminal robots loaded inside the robot as underwater robot operation transfer platforms and activating a second-level terminal management unit and a second-level deployment and recovery unit, and deploying multiple underwater third-level terminal robots loaded inside the robot as underwater operation terminals.

[0020] 2. By designing underwater terminal robots at all levels as transportation platforms, operation transfer platforms and operation terminals in the overall hierarchy, the step-by-step control and delivery of underwater terminal robots at all levels are realized, and components such as terminal management units, deployment and recovery units, controller units, power units, serial port servers and self-test units are integrated, solving the problem of lack of hierarchical and autonomous management capabilities of underwater equipment.

[0021] 3. By designing terminal management units at all levels, the management tasks of underwater terminal robots at all levels for the robots at the next level can be realized, such as the control, communication and planning of the underwater robot transportation platform to the underwater robot operation transfer platform, and the underwater robot operation transfer platform to the underwater operation terminal. The unit integrates underwater acoustic communication modules, distributed transportation modules, space networking modules, space perception modules, operation planning modules, terminal serial port servers and secondary terminal databases, etc., which solves the problems of lack of underwater equipment integration and underwater equipment cluster control efficiency in complex operation systems.

[0022] In summary, the technical solution of the present invention addresses the problems encountered in existing underwater robot deployment applications, such as limited operating radius and depth, weak cross-level and cross-domain deployment capabilities, lack of hierarchical and autonomous management capabilities, and insufficient integration of underwater equipment and control efficiency of underwater equipment clusters in complex operating systems. This solution enables the deployment of underwater robots over a wide operating range. Therefore, the technical solution of the present invention solves the existing problem of multi-level and cross-domain deployment of underwater robots.

[0023] Based on the above reasons, the present invention can be widely promoted in the field of underwater robot technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0025] Figure 1The present invention provides a multi-level deployment and cross-domain delivery method for underwater robots.

[0026] Figure 2 Schematic diagram of underwater terminal robots at various levels of the present invention.

[0027] Figure 3 This is a schematic diagram of the primary and secondary terminal management units of the present invention.

[0028] Figure 4 Comparison of the deployment radius and depth between the underwater multi-terminal robot and a single underwater robot in an embodiment of the present invention.

[0029] Figure 5 This is a two-dimensional demonstration diagram of the clustered multi-level deployment of underwater scenes in an embodiment of the present invention. DETAILED DESCRIPTION

[0030] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0031] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0032] like Figure 1 As shown, the present invention provides a method for multi-level deployment and cross-domain delivery of underwater robots, which is characterized by comprising:

[0033] S1. Use a surface vessel to launch an underwater first-level terminal robot as an underwater robot delivery platform, and use its controller unit and power unit to achieve the first-level cross-domain delivery of the underwater robot;

[0034] In specific implementation, as a preferred embodiment of the present invention, the underwater first-level terminal robot serves as an underwater robot delivery platform in the overall hierarchy to deliver underwater second-level and third-level terminal robots and control the underwater second-level terminal robot, including a first-level terminal management unit, a first-level deployment and recovery unit, a controller unit, a power unit, a serial port server and a self-test unit;

[0035] The surface ship end includes a master control unit, a deployment and recovery unit, and a data management unit. The master control unit is a human interaction and control end that realizes real-time information interaction and manual intervention of underwater robot clusters at all levels; the deployment and recovery unit is an underwater first-level terminal robot hoisting device; and the data management unit is an information integration unit for the first-level terminal database in each underwater first-level terminal robot, realizing real-time monitoring and aggregation of motion information and operation information of underwater robots at all levels.

[0036] The first-level terminal management unit realizes the management task of the underwater first-level terminal robot for the underwater second-level terminal robot, that is, the control, communication, transportation and networking of the underwater robot transportation platform for the underwater robot operation transfer platform;

[0037] The first-level deployment and recovery unit is a recovery cabin and recovery control module for the underwater second-level terminal robot, which realizes the deployment and retraction of the underwater first-level terminal robot to the underwater second-level terminal robot, that is, the controllable deployment and recovery of the underwater robot delivery platform to the underwater robot operation transfer platform;

[0038] The controller unit is the dynamic control module of the underwater robots at each level, which realizes the motion control, posture compensation and positioning correction of the underwater robots;

[0039] The power unit is the power module of each level of underwater robots. It integrates a multi-axis electric propulsion module and a solid-state battery energy supply module to achieve reliable maneuverability of underwater robots in complex environments.

[0040] The serial port server realizes the bidirectional transmission function of multi-source data within and between levels, ensuring the information connection and interaction of the underwater robot;

[0041] The self-checking unit realizes self-checking and correction of each cross-system of the underwater robot in the hierarchy, ensuring the stability and consistency of the system.

[0042] S2. Start the first-level terminal management unit and the first-level deployment and recovery unit to deploy multiple second-level underwater terminal robots loaded inside the underwater robot delivery platform as an underwater robot operation transfer platform;

[0043] In specific implementation, as a preferred embodiment of the present invention, the underwater secondary terminal robot serves as an underwater robot operation transfer platform in the overall hierarchy to carry out underwater third-level terminal robot delivery and operation control, including a secondary terminal management unit, a secondary deployment and recovery unit, a controller unit, a power unit, a serial port server and a self-test unit;

[0044] The secondary terminal management unit realizes the management task of the underwater secondary terminal robot for the underwater tertiary terminal robot, that is, the control, communication and planning of the underwater robot operation platform for the underwater operation terminal;

[0045] The secondary deployment and recovery unit is a recovery cabin and recovery control module for the underwater third-level terminal robot, which realizes the deployment and retraction of the underwater second-level terminal robot and the underwater third-level terminal robot, that is, the controllable deployment and recovery of the underwater operation terminal by the underwater operation transfer platform;

[0046] The controller unit is a dynamic control module of the underwater robots at each level, which realizes the motion control, posture compensation and positioning correction of the underwater robots;

[0047] The power module of each level of underwater robot is integrated with a multi-axis electric propulsion module and a solid-state battery power supply module to achieve reliable maneuverability of underwater robots in complex environments.

[0048] The serial port server realizes the bidirectional transmission function of multi-source data within and between levels, ensuring the information connection and interaction of the underwater robot;

[0049] The self-checking unit realizes self-checking and correction of each cross-system of the underwater robot in the hierarchy, ensuring the stability and consistency of the system.

[0050] S3. Start the first-level underwater acoustic communication module, distributed delivery module, and space networking module integrated in the first-level terminal management unit to control the cross-level communication, cross-domain delivery, and regional coverage networking of the underwater second-level terminal robot;

[0051] In specific implementation, as a preferred embodiment of the present invention, the first-level terminal management unit realizes the management task of the underwater first-level terminal robot for the underwater second-level terminal robot, that is, the control, communication, transportation and networking of the underwater robot transportation platform for the underwater robot operation transfer platform, including an underwater acoustic communication module, a space networking module, a distributed transportation module, a terminal serial port server and a first-level terminal database;

[0052] The underwater acoustic communication module includes an underwater acoustic communication module (UACN) and an information solution module to realize long-distance step-by-step communication and data transmission of the underwater robot;

[0053] The spatial networking module integrates multi-source data of the underwater secondary terminal robot to share sensor perception information and power system status information, and realizes the networking management of the underwater primary terminal robot for the underwater secondary terminal robot, that is, the clustered collaborative control of the underwater robot delivery platform over the underwater robot operation transfer platform;

[0054] The distributed transport module is a control module for the underwater first-level terminal robot's power system and controller system of the underwater second-level terminal robot. It cooperates with the spatial networking module to interact with the information to realize the motion control, spatial positioning planning and operation transfer radiation range monitoring of the underwater robot transport platform to the underwater robot operation transfer platform.

[0055] The terminal serial port server realizes the bidirectional transmission function of multi-source data in the terminal management unit, ensuring the stability of communication and ladder networking of underwater robots at all levels;

[0056] The primary terminal database is an information integration unit for the secondary terminal database in each underwater secondary terminal robot, that is, it realizes the real-time monitoring and aggregation of the motion information and operation information of the underwater robot delivery platform to the underwater robot operation transfer platform.

[0057] S4. Start the secondary terminal management unit and the secondary deployment and recovery unit to deploy multiple tertiary underwater terminal robots loaded inside the underwater robot operation transfer platform as underwater operation terminals;

[0058] In specific implementation, as a preferred embodiment of the present invention, the underwater three-level terminal robot performs underwater operation tasks as an underwater operation terminal in the overall hierarchy, including a multimodal perception unit, an operation unit, a controller unit, a power unit, a serial port server and a self-test unit;

[0059] The multimodal perception unit includes optical cameras, lidar, sonar and other equipment to enable the underwater three-level terminal robot to accurately perceive the operating environment;

[0060] The operation unit adopts a modular design concept, allocating different operation modules or pods according to different operation task types, meeting the operation requirements of underwater robots with wide compatibility and high adaptability;

[0061] The controller unit is the dynamic control module of the underwater robots at each level, which realizes the motion control, posture compensation and positioning correction of the underwater robots;

[0062] The power unit is the power module of each level of underwater robots. It integrates a multi-axis electric propulsion module and a solid-state battery energy supply module to achieve reliable maneuverability of underwater robots in complex environments.

[0063] The serial port server realizes the bidirectional transmission function of multi-source data within and between levels, ensuring the information connection and interaction of the underwater robot;

[0064] The self-checking unit realizes self-checking and correction of each cross-system of the underwater robot in the hierarchy, ensuring the stability and consistency of the system.

[0065] S5. Start the secondary underwater acoustic communication module, operation planning module, and space perception module integrated in the secondary terminal management unit to control the cross-level communication, operation task allocation, and operation environment perception of the underwater third-level terminal robot respectively;

[0066] In specific implementation, as a preferred embodiment of the present invention, the secondary terminal management unit realizes the management task of the underwater secondary terminal robot for the underwater tertiary terminal robot, that is, the control, communication and planning of the underwater robot operation platform for the underwater operation terminal, including an underwater acoustic communication module, a space perception module, an operation planning module, a terminal serial port server and a secondary terminal database.

[0067] The underwater acoustic communication module includes an underwater acoustic communication module (UACN) and an information solution module to realize long-distance step-by-step communication and data transmission of the underwater robot;

[0068] The spatial perception module is an information aggregation and integration module for the underwater second-level terminal robot against the multimodal perception unit data of the underwater third-level terminal robot, which realizes the large-scale and cross-regional perception system fusion of the underwater robot operation transfer platform to the complex environment of the underwater operation terminal;

[0069] The operation planning module integrates multi-source data of the underwater three-level terminal robot to share sensor perception information, operation system feedback information and power system status information, and cooperates with the spatial perception module to interact with information to realize the operation planning of the underwater second-level terminal robot for the underwater third-level terminal robot, that is, the underwater robot operation transfer platform for the clustered collaborative planning and control of the underwater operation terminal;

[0070] The terminal serial port server realizes the bidirectional transmission function of multi-source data in the terminal management unit, ensuring the stability of communication and ladder networking of underwater robots at all levels;

[0071] The secondary terminal database is an integration unit for each underwater third-level terminal robot to obtain environmental information and operation information during the operation process, that is, to realize the real-time monitoring and aggregation of the motion information, spatial perception information and operation information of the underwater operation terminal by the underwater operation transfer platform.

[0072] Example

[0073] like Figure 1 As shown, the present invention provides a method for multi-level deployment and cross-domain delivery of underwater robots; Figure 2 As shown in FIG, the present invention provides a schematic diagram of terminal robots at each level underwater. Figure 3 As shown, the present invention provides a schematic diagram of the first-level and second-level terminal management units, wherein the first-level terminal management unit realizes the management task of the underwater first-level terminal robot for the underwater second-level terminal robot, and includes an underwater acoustic communication module, a terminal serial port server, a first-level terminal database, a space networking module and a distributed transportation module, wherein the space networking module and the distributed transportation module respectively realize the networking management and transportation control for the underwater second-level terminal robot, and the relevant data are summarized in the first-level terminal database in real time, and the data stream is connected to the terminal serial port server through the RS232 serial port and transferred to the RS485 serial port, and the communication and data transmission tasks between the ship end and the underwater second-level terminal are carried out through the underwater acoustic communication module; the second-level terminal management unit includes Underwater acoustic communication module, terminal serial port server, secondary terminal database, space perception module and operation planning module, among which the space perception module and operation planning module respectively realize the environmental perception fusion and operation task planning for the underwater secondary terminal robot, and the relevant data are summarized in the secondary terminal database in real time. The data stream is connected to the terminal serial port server via RS232 serial port and transferred to RS485 serial port. The communication and data transmission tasks between the underwater secondary terminal and the underwater third terminal are carried out through the underwater acoustic communication module; each terminal management unit can manage multiple lower-level terminals in parallel, such as the first-level terminal management unit can manage multiple underwater second-level terminals, and the second-level terminal management unit can manage multiple underwater third-level terminals.

[0074] like Figure 4 As shown in the figure, the deployment radius and depth of the underwater multi-terminal robot in the embodiment of the present invention are compared with those of a single underwater robot. Within the fixed delivery distance and communication range of the underwater robot, the delivery radius and depth of the multi-level underwater robot deployment technology are much higher than those of a single underwater robot. At the same time, due to the use of a parent-child distribution strategy for tiered control, the requirement for manual intervention in the underwater secondary and tertiary terminals is greatly reduced, and the ship side only performs the main management of the underwater primary terminal.

[0075] like Figure 5 As shown, a two-dimensional demonstration diagram of the underwater scene cluster multi-level deployment in an embodiment of the present invention, wherein the underwater first-level terminal deploys multiple underwater second-level terminals, each underwater second-level terminal deploys multiple underwater third-level terminals, and the maneuvering, operation, deployment and recovery and other tasks of each level of terminals are controlled and completed by the upper-level terminal.

[0076] The serial numbers of the above embodiments of the present invention are for description only and do not represent the advantages or disadvantages of the embodiments.

[0077] In the above embodiments of the present invention, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0078] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only exemplary. For example, the division of the units can be a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0079] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0080] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A multi-level deployment and cross-domain delivery method for underwater robots, characterized in that: include: S1: Use a surface vessel to launch an underwater first-level terminal robot as an underwater robot delivery platform, and use its controller unit and power unit to achieve the first-level cross-domain delivery of the underwater robot; S2: After the underwater robot delivery platform is deployed, the first-level terminal management unit and the first-level deployment and recovery unit are activated to deploy multiple second-level underwater terminal robots loaded therein as a transfer platform for underwater robot operations; S3: Start the first-level underwater acoustic communication module, distributed transportation module, and space networking module integrated in the first-level terminal management unit to control the cross-level communication, cross-domain delivery, and regional coverage networking of the underwater second-level terminal robot; S4: After the underwater robot operation transfer platform is deployed, the secondary terminal management unit and the secondary deployment and recovery unit are started to deploy multiple underwater third-level terminal robots loaded therein as underwater operation terminals; S5: Start the secondary underwater acoustic communication module, operation planning module and space perception module integrated in the secondary terminal management unit to control the cross-level communication, operation task allocation and operation environment perception of the underwater third-level terminal robot respectively.

2. The method for multi-level deployment and cross-domain delivery of underwater robots according to claim 1, characterized in that: The underwater first-level terminal robot serves as an underwater robot delivery platform in the overall hierarchy to deliver underwater second-level and third-level terminal robots, as well as to control the underwater second-level terminal robot. It includes a first-level terminal management unit, a first-level deployment and recovery unit, a controller unit, a power unit, a serial port server and a self-test unit.

3. The method for multi-level deployment and cross-domain delivery of underwater robots according to claim 1, characterized in that: The underwater secondary terminal robot serves as an underwater robot operation transfer platform in the overall hierarchy to carry out the delivery and operation control of the underwater third-level terminal robot, and includes a secondary terminal management unit, a secondary deployment and recovery unit, a controller unit, a power unit, a serial port server and a self-test unit.

4. The method for multi-level deployment and cross-domain delivery of underwater robots according to claim 1, characterized in that: The underwater three-level terminal robot acts as an underwater operation terminal in the overall hierarchy to perform underwater operation tasks, and includes a multimodal perception unit, an operation unit, a controller unit, a power unit, a serial port server and a self-test unit.

5. The method for multi-level deployment and cross-domain delivery of underwater robots according to claim 1, characterized in that: The first-level terminal management unit realizes the management tasks of the underwater first-level terminal robot for the underwater second-level terminal robot, that is, the control, communication, transportation and networking of the underwater robot transportation platform for the underwater robot operation transfer platform, including an underwater acoustic communication module, a space networking module, a distributed transportation module, a terminal serial port server and a first-level terminal database.

6. The method for multi-level deployment and cross-domain delivery of underwater robots according to claim 1, characterized in that: The secondary terminal management unit realizes the management task of the underwater secondary terminal robot for the underwater tertiary terminal robot, that is, the control, communication and planning of the underwater robot operation platform for the underwater operation terminal, including an underwater acoustic communication module, a space perception module, an operation planning module, a terminal serial port server and a secondary terminal database.

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