Mother-son type deep sea bottom mobile robot detection system

Abstract

The invention relates to a primary-secondary type deep sea bottom mobile robot detection system, the system comprises a primary robot and a secondary robot, the primary robot comprises a mobile part, a first control part and a functional assembly; the moving part comprises a first frame, and the first frame is provided with a docking station; the first control part comprises a second frame, the second frame is provided with a folding and unfolding assembly, and the sub-robot is matched with the folding and unfolding assembly and can be fixed or separated relative to the docking station. According to the system, a child-mother robot structure is designed, the child robot obtains fine topographic data of an operation area in advance and plans a reasonable operation path, and the mother robot carries out seabed scientific investigation and data acquisition according to the operation path, so that the operation efficiency is improved; the system is further provided with high-precision navigation and detection positioning equipment of the first control part of the mother robot and the second control part of the child robot, the operation cost is reduced while integration is achieved, and the high precision and stability of the system also reduce the operation risk and the requirement for repeated measurement.

Description

Technical Field

[0001] The present invention relates to the field of ocean exploration technology, and in particular to a mother-and-child type deep seabed mobile robot exploration system. Background Art

[0002] Deep-sea access, exploration, and development require platforms that can walk on the seabed, offer multifunctional missions, and possess reconfigurable payloads. These platforms are designed to achieve closer proximity to the seabed, provide more precise perception, and enhance operational adaptability. Consequently, tracked mobile robots have emerged. Before these deep-sea tracked mobile robots can begin seabed maneuvers and operations, they often require detailed terrain data near their worksite.

[0003] At present, one of the main means of obtaining seabed topography data is to rely on scientific research vessels equipped with multi-beam detection systems for measurement. This type of scientific research vessel detects the seabed topography by transmitting and receiving sound waves. Although it can cover a large sea area, due to its limited measurement accuracy, the terrain data obtained often cannot meet the requirements of deep-sea crawler component mobile operation robots for fine terrain.

[0004] Another approach involves towing a towed vehicle or AUV to maintain altitude near the bottom of the deep sea, enabling close-range exploration of the seafloor and obtaining detailed seafloor topography data. However, this method is costly, and AUVs are currently immature, with their stability and reliability still to be improved. The operational risks are significant, making it unsuitable for small-scale scientific research. Summary of the Invention

[0005] In view of the above-mentioned shortcomings of the prior art, an object of the present invention is to provide a mother-and-child deep-sea mobile robot detection system to solve one or more problems in the prior art.

[0006] To achieve the above object, the technical solution of the present invention is as follows: A mother-and-child deep-sea mobile robot exploration system, the system comprising a mother robot and a child robot, the mother robot comprising a moving part, a first control part, and functional components; the moving part comprising a first frame, the first frame being provided with a docking station; the first control part comprising a second frame, the second frame being provided with a retractable assembly, the child robot being fitted with the retractable assembly and being fixable or detachable relative to the docking station.

[0007] Furthermore, the docking station includes a third frame, a guide plate is connected to the surface of the third frame, a portion of the guide plate protrudes from the third frame and is arranged obliquely; a guide groove is also provided on the surface of the third frame.

[0008] Furthermore, the docking station also includes a locking assembly, which includes a first motor, a screw rod, a mounting plate, a nut, a pressure column and a guide rod, one end of the screw rod is connected to the first motor, the nut is arranged on the mounting plate and cooperates with the screw rod, the pressure column and the guide rod are both connected to the mounting plate, and the guide rod cooperates with the guide groove.

[0009] Furthermore, the retraction and deployment assembly includes a second motor, a reel, a first umbilical cable, a third motor, a cable arranger, a frame, a photoelectric slip ring, a third connecting box, a tensioner and a pulley group. The frame is arranged on the first frame, and the second motor, the cable arranger, the photoelectric slip ring and the third connecting box are all connected to the frame. The two ends of the reel are respectively matched with the second motor and the photoelectric slip ring, and the pulley group is installed between the reel and the cable arranger. The third motor is connected to the cable arranger and is movable relative to the reel. One end of the first umbilical cable is connected to the reel, and the other end of the first umbilical cable is matched with the third motor via the tensioner.

[0010] Furthermore, the moving part also includes a track assembly and a speed meter, the track assembly is symmetrically arranged on both sides of the first frame, and the speed meter is connected to the first frame.

[0011] Furthermore, the first control unit also includes a transformer, a third motor, a valve box, an oil tank, an oil pump, an electronic cabin, a first docking box, an inertial navigation, a photoelectric separation box, a compensator and a sampling basket arranged on the surface of the second frame; a robotic arm is also connected to the second frame.

[0012] Furthermore, the functional component includes a fourth frame and a first buoyancy member, and the first buoyancy member is connected to the fourth frame; the functional component also includes a first lighting member, a first camera, a first collector, a first depth gauge, a first locator and a second locator, all of which are connected to the fourth frame.

[0013] Furthermore, a bearing head is provided on the top of the fourth frame, and one end of the bearing head is connected to the second umbilical cable.

[0014] Furthermore, the sub-robot includes a fifth frame and a second buoyancy member, the second buoyancy member is connected to the fifth frame, an interface groove is provided on the second buoyancy member, and the pressure column is matched with the interface groove; a second control unit is also provided in the fifth frame.

[0015] Furthermore, the second control unit includes a propeller connected to the fifth frame, a second depth gauge, an altimeter, a second collector, an imager, a second camera, a second lighting component, a pan-tilt head and a second docking box; a third positioner is also connected to the second buoyancy component.

[0016] Compared with the prior art, the beneficial technical effects of the present invention are as follows: The system of the present invention utilizes a mother-and-child robot structure, which, through the division of labor and cooperation between the mother and child robots, not only improves operational efficiency but also enhances the reliability and stability of the entire system through redundant design. Furthermore, the system is equipped with high-precision navigation and detection positioning equipment for the mother robot's first control unit and the child robot's second control unit. Before the mother robot begins operating, based on the precise positioning between the mother and child robots, the child robot can accurately obtain terrain data for the operating area, pre-plan the mother robot's operating path, and then lead or accompany the mother robot during its operation. This localized, precise navigation information further improves operational accuracy, thereby enhancing system operational efficiency. Compared to traditional methods, it offers advantages such as high intelligence, low cost, and convenient operation. Furthermore, the system's high precision and stability reduce operational risks and the need for repeated measurements. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 The schematic diagram shows the structure of a mother-and-child deep seabed mobile robot detection system according to an embodiment of the present invention. Figure I .

[0018] Figure 2 The schematic diagram shows the structure of a mother-and-child deep seabed mobile robot detection system according to an embodiment of the present invention. Figure II .

[0019] Figure 3 The diagram shows the planar layout structure of the first control unit of a mother-and-child deep seabed mobile robot detection system according to an embodiment of the present invention.

[0020] Figure 4 A schematic structural diagram of a sub-robot of a mother-and-child deep-sea mobile robot detection system according to an embodiment of the present invention is shown.

[0021] Figure 5 The diagram shows the planar layout structure of the second control unit of a mother-and-child deep seabed mobile robot detection system according to an embodiment of the present invention.

[0022] Figure 6 A schematic structural diagram of a docking station of a mother-and-child deep seabed mobile robot detection system according to an embodiment of the present invention is shown.

[0023] Figure 7 A schematic structural diagram of a locking assembly of a mother-and-child type deep seabed mobile robot detection system according to an embodiment of the present invention is shown.

[0024] Figure 8 A schematic structural diagram of a retractable assembly of a mother-and-child type deep seabed mobile robot detection system according to an embodiment of the present invention is shown.

[0025] In the accompanying drawings, the following symbols are used: 1. mother robot; 11. moving part; 111. first frame; 112. crawler assembly; 113. speedometer; 12. first control unit; 121. second frame; 122. retractable assembly; 1221. second motor; 1222. winding drum; 1223. first umbilical cable; 1224. third motor; 1225. cable arranger; 1226. frame; 1227. photoelectric slip ring; 1228. Third docking box; 1229, tensioner; 12210, pulley block; 123, transformer; 124, fourth motor; 125, valve box; 126, oil tank; 127, oil pump; 128, electronics compartment; 129, first docking box; 1210, inertial navigation system; 1211, photoelectric separation box; 1212, compensator; 1213, sampling basket; 13, functional components; 131, fourth frame; 132, first buoyancy element; 133. First lighting element; 134. First camera; 135. First collector; 136. First depth gauge; 137. First locator; 138. Second locator; 2. Sub-robot; 21. Fifth frame; 22. Second buoyancy element; 221. Interface slot; 23. Second control unit; 231. Propeller; 232. Second depth gauge; 233. Altimeter; 234. Second collector; 235. Imager; 236. Second camera; 237. Second lighting element; 238. Pan-tilt head; 239. Second docking box; 3. Docking station; 31. Third frame; 32. Guide plate; 33. Guide groove; 34. Locking assembly; 341. First motor; 342. Screw; 343. Mounting plate; 344. Nut; 345. Pressure column; 346. Guide rod; 4. Robotic arm; 5. Bearing head; 6. Second umbilical cable; 7. Third locator. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical solutions and advantages of the present invention more clear, the following is a further detailed description of a mother-and-child deep-sea mobile robot detection system proposed by the present invention in conjunction with the accompanying drawings and specific embodiments. According to the following description, the advantages and features of the present invention will be clearer. It should be noted that the drawings are in a very simplified form and use non-precise proportions, which are only used to conveniently and clearly assist in explaining the purpose of the embodiments of the present invention. In order to make the purpose, features and advantages of the present invention more obvious and easy to understand, please refer to the drawings. It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the conditions for the implementation of the present invention, so they have no technical significance. Any structural modification, change in proportional relationship or adjustment of size should still fall within the scope of the technical content disclosed by the present invention without affecting the efficacy and purpose that can be achieved by the present invention.

[0027] See also Figures 1 to 8The mother-child deep-sea mobile robot detection system of this embodiment includes a mother robot 1 and a child robot 2. The mother robot 1 includes a moving part 11, a first control part 12 and a functional component 13. The second umbilical cable 6 is connected to the surface control center. The operator issues control instructions. The moving part 11, the first control part 12 and the functional component 13 work together to realize the platform movement, instruction control and data collection of the mother robot 1.

[0028] definition Figure 1 The right side is shown as the "front end" and the left side is shown as the "rear end". Furthermore, the mobile part 11 includes a first frame 111, a docking station 3 is provided at the front end of the first frame 111, the first control part 12 includes a second frame 121, a retractable assembly 122 is provided at the front end of the second frame 121, and the sub-robot 2 cooperates with the retractable assembly 122 and can be fixed or detached relative to the docking station 3. The mobile part 11 also includes a track assembly 112 and a speedometer 113. The track assembly 112 is symmetrically arranged on both sides of the first frame 111, so that the mother robot 1 can adapt to various terrains to move smoothly. The speedometer 113 is connected to the first frame 111 and is located at the bottom of the first frame 111. Preferably, the speedometer 113 is a Doppler speedometer, which uses the Doppler effect to measure and record the moving speed of the mother robot 1 for underwater auxiliary navigation system.

[0029] Specifically, the retracting and unretracting assembly 122 includes a second motor 1221, a reel 1222, a first umbilical cable 1223, a third motor 1224, a cable arranger 1225, a frame 1226, an optoelectronic slip ring 1227, a third connection box 1228, a tensioner 1229 and a pulley block 12210. The frame 1226 is arranged on the first frame 111. The second motor 1221, the cable arranger 1225, the optoelectronic slip ring 1227 and the third connection box 1228 are all connected to the frame 1226. The optoelectronic slip ring 1227 is used to achieve reliable transmission of power and optical signals of the first umbilical cable 1223 during the rotation of the reel 1222. The two ends of the winding disk 1222 are respectively matched with the second motor 1221 and the photoelectric slip ring 1227, that is, they are respectively connected to the rotating shaft of the second motor 1221 and the rotor of the photoelectric slip ring 1227. The pulley group 12210 is installed between the winding disk 1222 and the cable arranger 1225, so that the rotational motion of the winding disk 1222 is converted into the axial motion of the cable arranger 1225 along the winding disk 1222. The third motor 1224 is connected to the cable arranger 1225 and is movable relative to the winding disk 1222. One end of the first umbilical cable 1223 is connected to the reel 1222, and the other end of the first umbilical cable 1223 is coupled to the third motor 1224 via the tensioner 1229. The third motor 1224 drives the first umbilical cable 1223 to be discharged from the reel 1222. During the retraction and discharge of the first umbilical cable 1223, the third motor 1224 simultaneously moves and adjusts relative to the length of the reel 1222, ensuring that the first umbilical cables 1223 are evenly and tightly arranged on the reel 1222. One end of the first umbilical cable 1223 is connected to the reel 1222, and the other end is directly connected to the sub-robot 2. Preferably, the first umbilical cable 1223 is a photoelectric composite umbilical cable, which transmits power to the sub-robot 2 through the mother robot 1. After power distribution, the power is then supplied to the sub-robot 2.

[0030] Furthermore, the docking station 3 includes a third frame 31 , and a guide plate 32 is connected to the surface of the third frame 31 . A portion of the guide plate 32 protrudes from the third frame 31 and is arranged obliquely, thereby facilitating the sub-robot 2 to enter or leave the docking station 3 . The surface of the third frame 31 is also provided with a guide groove 33 and a locking assembly 34. The locking assembly 34 includes a first motor 341, a screw rod 342, a mounting plate 343, a nut 344, a pressure column 345 and a guide rod 346. One end of the screw rod 342 is connected to the first motor 341, and the nut 344 is set on the mounting plate 343 and cooperates with the screw rod 342. The screw rod 342 is driven to rotate by the first motor 341, thereby causing the mounting plate 343 to move along the screw rod 342. The pressure column 345 and the guide rod 346 are both connected to the mounting plate 343. In this embodiment, two pressure columns 345 and two guide rods 346 are respectively provided, and the pressure column 345 and the guide rod 346 are arranged on different sides of the mounting plate 343, wherein the guide rod 346 cooperates with the guide groove 33 to ensure the stability of the locking assembly 34 during operation.

[0031] Furthermore, the first control unit 12 also includes a transformer 123, a fourth motor 124, a valve box 125, an oil tank 126, an oil pump 127, an electronics compartment 128, a first connection box 129, an inertial navigation system 1210, an optoelectronic separation box 1211, a compensator 1212, and a sampling basket 1213, all mounted on the surface of the second frame 121. Specifically, the transformer 123 provides a voltage reduction function to meet the power requirements of all devices in the mother robot 1. The fourth motor 124 is preferably a high-voltage motor that converts electrical energy into mechanical energy to drive the oil pump 127. The valve box 125, mounted at the rear end of the second frame 121, controls pipeline flow, pressure, and direction, and drives hydraulic actuators. The oil tank 126 stores oil and provides the working medium for the hydraulic system, while the oil pump 127 is a hydraulic oil pump that provides stable hydraulic power to drive the hydraulic system. The electronics compartment 128 is the core of the control system of this embodiment, enabling power conversion and distribution, data acquisition, communication, and complex motion control. The first junction box 129 is encapsulated with a circuit board, which realizes power distribution, electrical interconnection and signal monitoring functions. The inertial navigation system 1210 can provide real-time attitude, acceleration, speed and other information, integrate the data of the speedometer 113, feedback the real-time position of the system, and serve as services such as automatic driving closed-loop control. The optoelectronic separation box 1211 is used to separate the electrical circuit and optical circuit in the second umbilical cable 6 and connect the power and optical signals. In this embodiment, two compensators 1212 are provided and are respectively arranged on both sides of the second frame 121 to compensate for changes in external environmental pressure, protect the mother robot 1 and enhance system reliability. The sampling basket 1213 is used for sample storage. A robotic arm 4 is also connected to the second frame 121. The multi-degree-of-freedom design and flexible joints of the robotic arm 4 enable it to adapt to various complex operating environments and task requirements, and can complete the operation of grabbing seabed rocks and biological samples, and store the collected samples in the sampling basket 1213.

[0032] Furthermore, the functional component 13 includes a fourth frame 131 and a first buoyancy member 132. The first buoyancy member 132 is connected to the fourth frame 131 to provide buoyancy for the mother robot 1, reduce the ground pressure between the mother robot 1 and the seabed, and meet the needs of seabed movement. A load-bearing head 5 is also provided on the top of the fourth frame 131, and one end of the load-bearing head 5 is connected to the second umbilical cable 6. The load-bearing head 5 is used to bear the weight of supporting and connecting the mother robot 1 and the tension of the second umbilical cable 6. The second umbilical cable 6 is an optoelectronic composite armored cable that can not only transmit optical signals to achieve high-speed data communication, transmit electrical signals to provide power support for the system, but also bear the weight of the mother-child mobile robot system.

[0033] Furthermore, the functional component 13 also includes a first lighting element 133, a first camera 134, a first collector 135, a first depth gauge 136, a first locator 137, and a second locator 138, all of which are connected to the fourth frame 131. Specifically, the first lighting element 133 provides sufficient light for underwater walking to facilitate observation, detection, or operation. The first camera 134 is used to observe and record the underwater environment. The first collector 135 is an image sonar that works based on the propagation and reflection principles of sound waves. It generates images of underwater objects by emitting sound waves and converting them into electrical signals after reflection and reception processing. The first depth gauge 136 is used to measure the diving depth of the mother robot 1. The first locator 137 is an ultra-short baseline that uses the propagation characteristics of acoustic signals in water to calculate the distance between the target and the reference point by measuring the round-trip time of the signal, so as to determine the position of the mother robot 1 on the seabed. The second locator 138 is an acoustic positioning base station, a fixed device capable of transmitting and receiving sound wave signals, and cooperates with the third locator 7 to determine the position of the sub-robot 2 relative to the mother robot 1.

[0034] Furthermore, the sub-robot 2 includes a fifth frame 21 and a second buoyancy member 22, the second buoyancy member 22 is connected to the fifth frame 21 and is located at the upper and lower ends of the fifth frame 21, and the second buoyancy member 22 at the upper end is provided with an interface groove 221, and the pressure column 345 cooperates with the interface groove 221 to fix or loosen the sub-robot 2 to the docking station 3.

[0035] Furthermore, a second control unit 23 is provided within the fifth frame 21. The second control unit 23 includes a propeller 231, a second depth gauge 232, an altimeter 233, a second collector 234, an imager 235, a second camera 236, a second lighting element 237, a pan-tilt head 238, and a second docking box 239, all connected to the fifth frame 21. A third positioner 7 is also connected to the second buoyancy element 22. Specifically, six propellers 231 are provided in this embodiment, evenly arranged at the upper end of the fifth frame 21, and are used to drive the sub-robot 2 to move underwater. The second depth gauge 232 is used to measure the diving depth of the sub-robot 2. The altimeter 233 is used to accurately measure the height of the sub-robot 2 relative to the seabed underwater. The second collector 234 is a shallow stratum profile sonar, which is used to detect and record the structure of the seabed and underwater sediments. The imager 235 is a three-dimensional laser imager. By emitting a laser beam and receiving the reflected laser signal, combined with the posture information of the sub-robot 2, it can quickly obtain the three-dimensional contour information of the object being measured. The second camera 236 is used for observing and recording the underwater environment. The second lighting component 237 provides sufficient light for underwater movement to facilitate observation, detection or operation. The pan-tilt head 238 can achieve single-degree-of-freedom rotation and adjust the shooting angle of the second camera 236. The second junction box 239 is encapsulated with a controller and a variety of control boards, which can realize power conversion and distribution, data acquisition and complex motion control functions. The third locator 7 is an acoustic positioning beacon, which is used in conjunction with the second locator 138 to obtain the position of the sub-robot 2 relative to the mother robot 1 in real time.

[0036] The specific working process of the mother-child deep seabed mobile robot detection system of the present invention is described below: When the target operating area is reached, the sub-robot 2 is installed in the docking station 3 of the mother robot 1, and the first motor 341 is controlled to rotate, locking the sub-robot 2 via the locking assembly 34. The operator then operates the winch to lower the mother robot 1 and the sub-robot 2 to the seabed. After reaching the seabed, the operator at the control center controls the first motor 341 to operate, causing the locking assembly 34 to release the sub-robot 2, allowing the sub-robot 2 to be free. The surface operator then controls the sub-robot 2 to move out of the docking station 3. Then, the mother robot 1 and the sub-robot 2 use acoustic positioning, using the mother robot 1 as a reference, to achieve precise positioning of the sub-robot 2 within a small range. The child robot 2 activates automatic cruise mode, navigating at a fixed altitude with the mother robot 1 as its center and a predetermined operating radius. The imager 235 and the second collector 234 carried by the child robot 2 obtain seafloor topography data within the aforementioned range and transmit it back in real time to the surface control center. The surface control center then creates a map of the aforementioned local area based on the transmitted seafloor topography data. Scientists mark the operating points of interest on the map. The surface computer then integrates the map data and the operating point locations to plan a reasonable operating path. The mother robot 1 can complete operations at multiple locations on the seafloor according to the planned operating path. The child robot 2 can accompany the mother robot 1 while the mother robot 1 is moving and operating. When the child robot 2 needs to return to the mother robot 1, the operator controls the child robot 2 to fly back to the mother robot 1 while controlling the second motor 1221 to cause the reel 1222 to retract the first umbilical cable 1223. After the child robot 2 returns to the docking station 3, the operator controls the first motor 341 to activate, locking the child robot 2 via the locking assembly 34. After the system operation is completed, the operator controls the second umbilical cable 6 to lift the system to the water surface and recover it to the deck.

[0037] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0038] The above-described embodiments merely illustrate several implementations of the present invention, and while their descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent. It should be noted that a person skilled in the art would be able to make numerous variations and improvements without departing from the spirit of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of the patent for this invention shall be determined by the appended claims.

Claims

1. A mother-and-child deep-sea mobile robot exploration system, characterized by: The system includes a mother robot and a child robot, the mother robot includes a moving part, a first control part and a functional component; the moving part includes a first frame, the first frame is provided with a docking station; the first control part includes a second frame, the second frame is provided with a retractable component, the child robot cooperates with the retractable component and can be fixed or detached relative to the docking station.

2. The mother-and-child deep-sea mobile robot exploration system according to claim 1, characterized in that: The docking station includes a third frame, a guide plate is connected to the surface of the third frame, a portion of the guide plate protrudes from the third frame and is arranged obliquely; a guide groove is also provided on the surface of the third frame.

3. The mother-and-child deep-sea mobile robot exploration system according to claim 2, characterized in that: The docking station also includes a locking assembly, which includes a first motor, a screw rod, a mounting plate, a nut, a pressure column and a guide rod. One end of the screw rod is connected to the first motor, the nut is arranged on the mounting plate and cooperates with the screw rod, the pressure column and the guide rod are both connected to the mounting plate, and the guide rod cooperates with the guide groove.

4. The mother-and-child deep-sea mobile robot exploration system according to claim 3, characterized in that: The retraction and unwinding assembly includes a second motor, a reel, a first umbilical cable, a third motor, a cable arranger, a frame, a photoelectric slip ring, a third connection box, a tensioner and a pulley group. The frame is arranged on the first frame. The second motor, the cable arranger, the photoelectric slip ring and the third connection box are all connected to the frame. The two ends of the reel are respectively matched with the second motor and the photoelectric slip ring. The pulley group is installed between the reel and the cable arranger. The third motor is connected to the cable arranger and is movable relative to the reel. One end of the first umbilical cable is connected to the reel, and the other end of the first umbilical cable is matched with the third motor via the tensioner.

5. The mother-and-child deep-sea mobile robot exploration system according to claim 4, characterized in that: The moving part further includes a track assembly and a speedometer. The track assembly is symmetrically arranged on both sides of the first frame, and the speedometer is connected to the first frame.

6. The mother-and-child deep-sea mobile robot exploration system according to claim 5, characterized in that: The first control unit also includes a transformer, a fourth motor, a valve box, an oil tank, an oil pump, an electronic cabin, a first docking box, an inertial navigation, a photoelectric separation box, a compensator and a sampling basket arranged on the surface of the second frame; a robotic arm is also connected to the second frame.

7. The mother-and-child deep-sea mobile robot exploration system according to claim 6, characterized in that: The functional component includes a fourth frame and a first buoyancy member, wherein the first buoyancy member is connected to the fourth frame; the functional component also includes a first lighting member, a first camera, a first collector, a first depth gauge, a first locator and a second locator, all of which are connected to the fourth frame.

8. The mother-and-child deep-sea mobile robot exploration system according to claim 7, characterized in that: A bearing head is provided on the top of the fourth frame, and one end of the bearing head is connected to the second umbilical cable.

9. The mother-and-child deep-sea mobile robot exploration system according to claim 8, characterized in that: The sub-robot includes a fifth frame and a second buoyancy member, the second buoyancy member is connected to the fifth frame, an interface groove is provided on the second buoyancy member, and the pressure column is matched with the interface groove; a second control unit is also provided in the fifth frame.

10. The mother-and-child deep-sea mobile robot exploration system according to claim 9, characterized in that: The second control unit includes a propeller connected to the fifth frame, a second depth gauge, an altimeter, a second collector, an imager, a second camera, a second lighting component, a pan-tilt head and a second docking box; a third positioner is also connected to the second buoyancy component.

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