Deep sea mining area biological detection method based on autonomous underwater robot system

Abstract

The invention belongs to the field of underwater robots (AUV), and particularly relates to a flat type full-degree-of-freedom autonomous underwater robot system and a deep sea mining area biological detection method. The method comprises the following steps: developing a flat full-degree-of-freedom autonomous underwater robot with a deep-sea near-bottom detection function, carrying deep-sea mining area biosensors (a monocular camera, a binocular camera, an animal classification identification instrument, a larva collection counting instrument and a deep-sea animal sampler); the method comprises the following steps: performing detection motion on an autonomous underwater robot of a deep-sea animal DNA analyzer in a deep-sea mining area, and measuring and recording biological data on a route; the biological sample can be further obtained and the species thereof can be analyzed. According to the method, a large amount of image information and biological DNA information are combined, the function of in-situ rapid species diagnosis is achieved, and a new method is provided for biological investigation and research of deep sea mining areas.

Description

Technical Field

[0001] The present invention belongs to the field of underwater robots (AUVs), in particular to a flat full-freedom autonomous underwater robot system and a deep-sea mining area biological detection method. Background Art

[0002] As mining activities continue to deepen, the demand for biological data collection is becoming increasingly urgent. Optical imaging is the core method for biological data detection in mining areas. Its strong resolution, high sampling frequency and real-time performance, and solid technical foundation make it uniquely advantageous for identifying biological morphology and behavior. It has become a core supporting technology for tasks such as mining resource exploration, biodiversity assessment, environmental monitoring, and species identification. However, imaging data alone cannot fully meet the needs of detailed biological detection in mining areas; it also requires integration with sample collection and species identification.

[0003] The fully flat, fully free-of-freedom autonomous underwater vehicle (AUV) can navigate autonomously underwater. Its low center of gravity, wide-body structure, and multi-thruster layout provide excellent roll resistance and active bottom-seat functionality—stably adhering to the seabed through controlled sinking, providing a platform for high-precision operations. This design gives the AUV advantages such as high maneuverability, long-range endurance, and multi-sensor integration, making it a key vehicle for biological exploration in mining areas. In mining environments characterized by thermal disturbances and complex terrain, the AUV requires precise position adjustment through six-degree-of-freedom motion control. Summary of the Invention

[0004] The present invention relates to the field of near-bottom biological detection in deep-sea mining areas by autonomous underwater robots. Aiming at the deficiencies of traditional autonomous underwater robot platforms in sample acquisition methods, the present invention utilizes human participation in the loop control, and realizes precise in-situ detection of the seabed through the spatial motion of the autonomous underwater robot, terminal sampling tools, and biosensors.

[0005] The technical solution adopted by the present invention to achieve the above-mentioned purpose is:

[0006] An autonomous underwater robot system for biological detection in deep-sea mining areas includes an AUV body and biological detection sensors arranged inside, on the upper and lower surfaces of the AUV body, and also includes a relay system connected to the AUV body through a fine optical fiber, wherein:

[0007] The bow and stern of the AUV body are each provided with two vertical thrusters and one horizontal thruster. The rear end of the AUV body is symmetrically provided with two stern thrusters, the back is provided with a rim thruster, and the lower part of the body is provided with a bottom support.

[0008] The biological detection sensor includes: a monocular camera, a binocular camera, an animal classification and identification instrument, a larvae collection and counting instrument, a deep-sea animal sampler and a deep-sea animal DNA analyzer.

[0009] The relay system adopts a frame design, on which a breakable fine optical fiber system, an underwater positioning beacon, an underwater acoustic communicator and an optical system are integrated. The underwater acoustic communicator is connected to the mother ship through a communication link, and the free state of the relay system in the water is horizontal.

[0010] The bow of the AUV body is also equipped with a bow traction ring, a rope thrower, a bow junction box, a diving electromagnet, a strobe light, a radio antenna, a self-contained iridium antenna, and an animal classification and identification device;

[0011] The AUV body is also equipped with a battery compartment, a propulsion control compartment, a sensor compartment, a floating electromagnet, a depth gauge, a large compensator, an umbilical cable interface, a main junction box, a deep-sea animal sampler, a deep-sea animal DNA analyzer, a larvae collection and counting instrument, an inertial navigation + DVL, a 5-function robotic arm, a propulsion control compartment, an ultra-short positioning beacon, a horizontal channel thruster, and a fiber optic communication compartment.

[0012] The stern of the AUV body is also equipped with horizontal and vertical stabilizing wings and a main propeller.

[0013] A method for detecting biological species in deep-sea mining areas based on an autonomous underwater robot system comprises the following steps:

[0014] As the underwater robot system gradually approaches the seabed, it uses the camera system on the relay system and the biological detection sensor on the AUV body to obtain biological information in the seabed environment. This information is used to determine the operation target, and the entire detection process is intervened by a human in the loop.

[0015] When the underwater robot system sinks to the set depth, the relay system stops sinking and releases the AUV body to allow it to continue sinking;

[0016] During the sinking process of the AUV body, if the distance between it and the seabed is greater than the threshold, it approaches the seabed through the vertical thrusters. When the distance reaches the threshold, it approaches the seabed through the rim thrusters, making the AUV body slowly touch the bottom and providing stable thrust.

[0017] When the AUV reaches the seabed, the water relay system obtains control commands from the control center and performs end-control of the AUV's robotic arm through fine optical fibers to capture animal samples.

[0018] The following steps are also included:

[0019] After the animal samples are captured by the deep-sea animal sampler, the type of animal sample is obtained through the monocular camera and binocular camera carried on the AUV body, and then the animal category is obtained through the animal classification and identification instrument, and the animal DNA is accurately detected through the deep-sea animal DNA analyzer.

[0020] The present invention has the following beneficial effects and advantages:

[0021] 1. The present invention adopts a flat fish-shaped AUV with full freedom, which has a certain slenderness ratio, good streamline shape, and good straight-line stability. At the same time, the underwater robot body is small in height and large in area, and has the ability to resist rolling. The addition of a rim motor on the back and a bracket on the abdomen can provide stable bottoming ability.

[0022] 2. The present invention ensures the high maneuverability of the AUV and realizes six-degree-of-freedom control by rationally configuring the two horizontal navigation thrusters, four vertical navigation thrusters, and two stern thrusters on the AUV body.

[0023] 3. The overall system of the present invention consists of a relay system and an AUV body system. When acquiring seabed information, the operator can intuitively identify the information and improve operating efficiency.

[0024] 4. The present invention can directly obtain information on the family, genus and species of deep-sea animals, that is, obtain animal information in situ in the deep sea. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a composition diagram of the system of the present invention;

[0026] Figure 2 It is a workflow diagram;

[0027] Figure 3 AUV equipment layout diagram. DETAILED DESCRIPTION

[0028] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0029] like Figure 1As shown, a full-freedom flat fish-shaped underwater robot for biological detection includes an underwater robot body, biological detection sensors (monocular camera, binocular camera, animal classification and identification instrument, larvae collection and counting instrument, deep-sea animal sampler, deep-sea animal DNA analyzer) and a relay device, wherein the underwater robot body includes an internal keel and an outer surface buoyancy material arc surface, and the bow of the body is provided with three slot propulsion (two vertical propellers and one horizontal propeller), the stern is provided with three slot propulsion (two vertical propellers and one horizontal propeller), the rear end of the underwater robot body is provided with two stern propellers, the back is provided with a rim propeller, and the lower part of the body is provided with a bracket for use near the bottom. The underwater robot body and the relay are connected by fine optical fiber, and biological detection sensors are provided inside the underwater robot body and on the lower plane. The AUV layout diagram is shown in FIG. Figure 3 The AUV's bow section performs the following main functions: assisted recovery, unpowered submergence, surface position indication and positioning communication, assisted heading control, and target identification. Installed equipment includes a bow towing ring, a line thrower, a bow junction box, a submergence electromagnet, a strobe light, a radio antenna, a self-contained Iridium antenna, a horizontal slot thruster, and an animal classification and identification device.

[0030] The midship section performs functions such as submersible deployment, energy and power supply, channel motor drive, emergency jettisoning, control and navigation, target capture, eDNA detection, larvae collection and counting, surface system connection, heading assistance control, motor control, acoustic positioning, and fiber-optic communications. Key equipment onboard includes: vertical channel thrusters, battery compartment, propulsion control compartment, sensor compartment, ascent electromagnet, depth gauge, large compensator, umbilical cable interface, main junction box, deep-sea animal sampler, deep-sea animal DNA analyzer, larvae collection and counting instrument, inertial navigation + DVL, five-function robotic arm, propulsion control compartment, ultra-short positioning beacon, horizontal channel thrusters, and fiber-optic communications compartment.

[0031] The main functions of the stern section are navigation propulsion and maneuvering, and the main equipment installed are horizontal and vertical stabilizers and main thrusters.

[0032] like Figure 2 As shown, a flat full-degree-of-freedom autonomous underwater robot system and a method for detecting biological species in deep-sea mining areas include the following steps:

[0033] Step 1: The AUV and relay system are fixed together on the deck; the communication between the AUV and the relay device is connected via a fine optical fiber;

[0034] Step 2: The underwater robot and relay system enter the water through the deployment device and gradually approach the seabed;

[0035] Step 3: Obtain biological information in the seabed environment through the camera system on the relay system and the biological detection sensor on the AUV;

[0036] Step 4: The relay system releases the AUV, which moves autonomously to the seabed. When approaching the seabed, the channel motor is used to approach the seabed at a longer distance. Within 2 meters, the rim motor is used to make the AUV slowly touch the bottom and provide stable thrust.

[0037] Step 5: The operator controls the AUV's robotic arm through the relay system and fine optical fiber to capture animal samples. The monocular and binocular cameras carried on the AUV can visually identify the type of animal sample. The animal classification and identification instrument can be used to obtain the animal category. The deep-sea animal sampler obtains animal samples and sends the samples to the deep-sea animal DNA analyzer for accurate detection of animal DNA.

Claims

1. An autonomous underwater robot system for biological detection in deep-sea mining areas, characterized in that: The system comprises an AUV body and biological detection sensors arranged inside, on the upper and lower surfaces of the AUV body, and a relay system connected to the AUV body via a fine optical fiber, wherein: The bow and stern of the AUV body are each provided with two vertical thrusters and one horizontal thruster. The rear end of the AUV body is symmetrically provided with two stern thrusters, the back is provided with a rim thruster, and the lower part of the body is provided with a bottom support.

2. The autonomous underwater robot system for biological detection in deep-sea mining areas according to claim 1, characterized in that: The biological detection sensor includes: a monocular camera, a binocular camera, an animal classification and identification instrument, a larvae collection and counting instrument, a deep-sea animal sampler and a deep-sea animal DNA analyzer.

3. The autonomous underwater robot system for biological detection in deep-sea mining areas according to claim 1, characterized in that: The relay system adopts a frame design, on which a breakable fine optical fiber system, an underwater positioning beacon, an underwater acoustic communicator and an optical system are integrated. The underwater acoustic communicator is connected to the mother ship through a communication link, and the free state of the relay system in the water is horizontal.

4. The autonomous underwater robot system for biological detection in deep-sea mining areas according to claim 1, characterized in that: The bow of the AUV body is also equipped with a bow traction ring, a rope thrower, a bow junction box, a diving electromagnet, a strobe light, a radio antenna, a self-contained iridium antenna, and an animal classification and identification device; The AUV body is also equipped with a battery compartment, a propulsion control compartment, a sensor compartment, a floating electromagnet, a depth gauge, a large compensator, an umbilical cable interface, a main junction box, a deep-sea animal sampler, a deep-sea animal DNA analyzer, a larvae collection and counting instrument, an inertial navigation + DVL, a 5-function robotic arm, a propulsion control compartment, an ultra-short positioning beacon, a horizontal channel thruster, and a fiber optic communication compartment. The stern of the AUV body is also equipped with horizontal and vertical stabilizing wings and a main propeller.

5. A method for detecting biological species in deep-sea mining areas based on the autonomous underwater robot system according to claim 1, characterized in that: The following steps are involved: As the underwater robot system gradually approaches the seabed, it uses the camera system on the relay system and the biological detection sensor on the AUV body to obtain biological information in the seabed environment. This information is used to determine the operation target, and the entire detection process is intervened by a human in the loop. When the underwater robot system sinks to the set depth, the relay system stops sinking and releases the AUV body to allow it to continue sinking; During the sinking process of the AUV body, if the distance between it and the seabed is greater than the threshold, it approaches the seabed through the vertical thrusters. When the distance reaches the threshold, it approaches the seabed through the rim thrusters, making the AUV body slowly touch the bottom and providing stable thrust. When the AUV reaches the seabed, the water relay system obtains control commands from the control center and performs end-control of the AUV's robotic arm through fine optical fibers to capture animal samples.

6. The method for detecting biological phenomena in deep-sea mining areas based on an autonomous underwater robot system according to claim 5, characterized in that: The following steps are also included: After the animal samples are captured by the deep-sea animal sampler, the type of animal sample is obtained through the monocular camera and binocular camera carried on the AUV body, and then the animal category is obtained through the animal classification and identification instrument, and the animal DNA is accurately detected through the deep-sea animal DNA analyzer.

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