A deep-sea mining area biological detection method based on an autonomous underwater robot system

Abstract

This invention belongs to the field of underwater robots (AUVs), specifically the development of a flat, fully free autonomous underwater vehicle system and a method for biological detection in deep-sea mining areas. The invention includes the following steps: developing a flat, fully free autonomous underwater vehicle with near-bottom deep-sea exploration capabilities; equipping the autonomous underwater vehicle with deep-sea mining area biosensors (monocular camera, binocular camera, animal classification and identification instrument, larval collection and counting instrument, deep-sea animal sampler, and deep-sea animal DNA analyzer) to perform exploration movements in deep-sea mining areas, measuring and recording biological data along its route; furthermore, it can acquire biological samples and analyze their species. This invention combines a large amount of image information with biological DNA information, enabling rapid in-situ species diagnosis, providing a new method for biological surveys and research in deep-sea mining areas.

Description

Technical Field

[0001] This invention belongs to the field of underwater robots (AUVs), specifically a flat, fully free autonomous underwater robot system and a method for biological detection in deep-sea mining areas. Background Technology

[0002] As human exploration of biological detection in mining areas deepens, the need for biological data collection becomes increasingly urgent. Biological data detection in mining areas, with optical imaging as its core method, boasts unique advantages in identifying biological morphology and behavior due to its high resolution, high sampling frequency and real-time performance, and solid technological foundation. 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 is insufficient to fully meet the needs of detailed biological detection in mining areas; it must also be combined with sample collection and species identification.

[0003] The fully free-degree-of-freedom flat-bodied autonomous underwater vehicle (AUV) can navigate autonomously underwater. Thanks to its low center of gravity, wide-body structure, and multi-thruster layout, it possesses excellent anti-roll capability and active seabed mounting—stable adhering to the seabed through controlled settling, providing a platform for high-precision operations. This design gives the AUV advantages such as high mobility, long endurance, and multi-sensor integration, making it a key carrier for biological detection in mining areas. In the thermal disturbance and complex terrain of mining environments, the AUV needs to achieve precise attitude adjustment through six-degree-of-freedom motion control. Summary of the Invention

[0004] This invention relates to the field of near-bottom biological detection by autonomous underwater robots in deep-sea mining areas. This invention addresses the shortcomings of traditional autonomous underwater robot platforms in sample acquisition methods by utilizing human-in-the-loop control and achieving precise in-situ detection of the seabed through the spatial movement of the autonomous underwater robot, end-effector sampling tools, and biosensors.

[0005] The technical solution adopted by the present invention to achieve the above objectives is as follows:

[0006] An autonomous underwater vehicle (AUV) system for biological detection in deep-sea mining areas includes an AUV body and biological detection sensors mounted on its interior, upper, and lower planes. It also includes a relay system connected to the AUV body via a micro-optical fiber.

[0007] The AUV body is equipped with two vertical thrusters and one horizontal thruster at both the bow and stern. The rear end of the AUV body is symmetrically equipped with two stern thrusters, and the back is equipped with a rim thruster. The lower part of the body is equipped with a support for near-bottoming.

[0008] The biosensors include: a monocular camera, a binocular camera, an animal classification and identification instrument, a larval collection and counting instrument, a deep-sea animal sampler, and a deep-sea animal DNA analyzer.

[0009] The relay system adopts a frame design, which integrates a breakable micro-fiber system, an underwater positioning beacon, an underwater acoustic communication device, and an optical system. The underwater acoustic communication device is connected to the mother ship through a communication link. The relay system is in a horizontal state in the water.

[0010] The bow of the AUV is also equipped with a bow towing 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 midship section of the AUV is also equipped with a battery compartment, propulsion control compartment, sensing compartment, buoyancy electromagnet, depth gauge, large compensator, umbilical cable interface, main junction box, deep-sea animal sampler, deep-sea animal DNA analyzer, larval collection and counting instrument, inertial navigation + DVL, 5-function robotic arm, propulsion control compartment, ultra-short positioning beacon, horizontal channel thruster, and fiber optic communication compartment.

[0012] The AUV body is also equipped with horizontal and vertical stabilizers and a main thruster at the stern.

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

[0014] As the underwater robot system gradually approaches the seabed, it acquires biological information about the seabed environment through the camera system on the relay system and the biological detection sensors on the AUV itself. It uses this information to identify the target of the operation and allows human intervention in the entire detection process through 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 descent of the AUV, if the distance between it and the seabed is greater than a threshold, it will approach the seabed through the vertical thruster. When the distance reaches the threshold, it will approach the seabed through the rim thruster, so that the AUV body slowly touches the bottom and provides stable thrust.

[0017] When the AUV reaches the seabed, the surface relay system receives control commands from the control center and uses micro-fibers to manipulate the robotic arm of the AUV to capture animal samples.

[0018] It also includes the following steps:

[0019] After capturing animal samples using a deep-sea animal sampler, the species of the animal samples are obtained using a monocular and binocular camera carried on the AUV itself. The animal category is then determined by an animal classification and identification instrument, and the animal DNA is accurately detected by a deep-sea animal DNA analyzer.

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

[0021] 1. This invention adopts a flat fish-shaped AUV with full degrees of freedom, which has a certain elongation-to-slenderness ratio, good streamlined shape, and good straight-line stability. At the same time, the underwater robot body has a small height and large area, which has the ability to resist roll. The addition of wheel rim motors on the back and the addition of a support on the abdomen can provide stable bottoming ability.

[0022] 2. This invention ensures the high maneuverability of the AUV and achieves six degrees of freedom control by rationally configuring the two horizontal propulsion units, four vertical propulsion units, and two stern propulsion units on the AUV body.

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

[0024] 4. This 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. Attached Figure Description

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

[0026] Figure 2 It is a workflow diagram;

[0027] Figure 3 AUV equipment layout diagram. Detailed Implementation

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

[0029] like Figure 1As shown, a fully free-degree-of-freedom flattened fish-shaped underwater robot for biological detection includes an underwater robot body, biological detection sensors (monocular camera, binocular camera, animal classification and identification device, juvenile collection and counting device, deep-sea animal sampler, deep-sea animal DNA analyzer), and a relay device. The underwater robot body includes an internal keel and an outer surface buoyancy material arc. The bow has three channel propulsion systems (two vertical thrusters and one horizontal thruster), the stern has three channel propulsion systems (two vertical thrusters and one horizontal thruster), the rear of the underwater robot body has two stern thrusters, and a rim thruster is located on the back. A support for near-bottom positioning is located on the lower part of the body. The underwater robot body and the relay are connected via micro-fiber optic cables. Biological detection sensors are located inside the underwater robot body and on the lower plane. The AUV layout is shown in the diagram. Figure 3 As shown. The main functions of the AUV bow include: assisted recovery, unpowered diving, surface positioning and communication, heading assistance control, and target identification. Installed equipment includes: bow towing ring, rope launcher, bow junction box, diving electromagnet, strobe light, radio antenna, self-contained iridium antenna, horizontal channel thruster, and animal classification and identification system.

[0030] The midship section performs the following functions: submersible deployment, power supply, channel motor drive, emergency jettisoning, control and navigation, target acquisition, eDNA detection, larval collection and counting, surface system connection, heading assistance control, motor control, acoustic positioning, and fiber optic communication. Key equipment includes: vertical channel thrusters, battery compartment, propulsion control compartment, sensing compartment, buoyancy electromagnet, depth gauge, large compensator, umbilical cable interface, main junction box, deep-sea animal sampler, deep-sea animal DNA analyzer, larval collection and counting instrument, inertial navigation + DVL, 5-function robotic arm, propulsion control compartment, ultra-short positioning beacon, horizontal channel thrusters, and fiber optic communication 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 the main propulsion unit.

[0032] like Figure 2 As shown, a method for biological detection in deep-sea mining areas based on the aforementioned flat, fully-free autonomous underwater robot system includes the following steps:

[0033] Step 1: The underwater robot and relay system are fixed together on the deck; communication between the AUV and the relay device is achieved through micro-fiber optic cables;

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

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

[0036] Step 4: The relay system releases the AUV, which moves autonomously to the seabed. During the approach to the seabed, the channel motor is used to approach the seabed from a distance of more than 2 meters. Within 2 meters, the wheel flange motor is used to make the AUV slowly touch the bottom and provide stable thrust.

[0037] Step 5: The operator uses a relay system and micro-fiber to control the robotic arm of the AUV to capture animal samples. At this time, the type of animal sample can be directly obtained by using the monocular and binocular cameras carried on the AUV. The animal category can be obtained by using an animal classification and identification instrument. Animal samples are obtained by using a deep-sea animal sampler and sent to a deep-sea animal DNA analyzer to achieve accurate detection of animal DNA.

Claims

1. A method for biological detection in deep-sea mining areas based on an autonomous underwater robot system, characterized in that, Includes the following steps: As the underwater robot system gradually approaches the seabed, it acquires biological information about the seabed environment through the camera system on the relay system and the biological detection sensors on the AUV itself. It uses this information to identify the target of the operation and allows human intervention in the entire detection process through 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 descent of the AUV, if the distance between it and the seabed is greater than a threshold, it will approach the seabed through the vertical thruster. When the distance reaches the threshold, it will approach the seabed through the rim thruster, so that the AUV body slowly touches the bottom and provides stable thrust. When the AUV reaches the seabed, the surface relay system receives control commands from the control center and uses micro-fibers to manipulate the robotic arm of the AUV to capture animal samples. The autonomous underwater vehicle system includes an AUV body and biosensors mounted on its interior, upper and lower surfaces. It also includes a relay system connected to the AUV body via a micro-fiber optic cable. The AUV body is equipped with two vertical thrusters and one horizontal thruster at both the bow and stern. The rear end of the AUV body is symmetrically equipped with two stern thrusters, and the back is equipped with a rim thruster. The lower part of the body is equipped with a support for near-bottoming.

2. The method for deep-sea mining area biological detection based on an autonomous underwater robot system according to claim 1, characterized in that, It also includes the following steps: After capturing animal samples using a deep-sea animal sampler, the species of the animal samples are obtained using a monocular and binocular camera carried on the AUV itself. The animal category is then determined by an animal classification and identification instrument, and the animal DNA is accurately detected by a deep-sea animal DNA analyzer.

3. The method for deep-sea mining area biological detection based on an autonomous underwater robot system according to claim 1, characterized in that, The biosensors include: a monocular camera, a binocular camera, an animal classification and identification instrument, a larval collection and counting instrument, a deep-sea animal sampler, and a deep-sea animal DNA analyzer.

4. The method for deep-sea mining area biological detection based on an autonomous underwater robot system according to claim 1, characterized in that, The relay system adopts a frame design, which integrates a breakable micro-fiber system, an underwater positioning beacon, an underwater acoustic communication device, and an optical system. The underwater acoustic communication device is connected to the mother ship through a communication link. The relay system is in a horizontal state in the water.

5. A method for deep-sea mining area biological detection based on an autonomous underwater robot system according to claim 1, characterized in that, The bow of the AUV is also equipped with a bow towing 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 midship section of the AUV is also equipped with a battery compartment, propulsion control compartment, sensing compartment, buoyancy electromagnet, depth gauge, large compensator, umbilical cable interface, main junction box, deep-sea animal sampler, deep-sea animal DNA analyzer, larval collection and counting instrument, inertial navigation + DVL, 5-function robotic arm, propulsion control compartment, ultra-short positioning beacon, horizontal channel thruster, and fiber optic communication compartment. The AUV body is also equipped with horizontal and vertical stabilizers and a main thruster at the stern.

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