Underwater robot system with unmanned aerial vehicle recycling and docking functions

Abstract

The invention relates to the technical field of underwater robots, and provides an underwater robot system with an unmanned aerial vehicle recycling and docking function, which comprises a robot body, a power mechanism, an optical assembly and a first pressure-resistant cabin, the robot body is provided with an unmanned aerial vehicle recovery device; the power mechanism is arranged on the robot body and used for driving the robot body to move in multiple directions in water; the optical assembly is arranged on the robot body and used for underwater observation and recognition of the unmanned aerial vehicle. A navigation positioning device and a master controller are arranged in the first pressure-resistant cabin, and the navigation positioning device is used for positioning the robot body in real time; the main controller is electrically connected with the power mechanism, the navigation positioning device and the optical assembly, and the main controller is used for controlling the robot body to move underwater and completing underwater recovery operation of the unmanned aerial vehicle; according to the method, the cross-domain collaborative operation capability is realized, the defects that traditional unmanned aerial vehicle recovery needs to depend on a water surface platform, is greatly influenced by sea conditions and is low in efficiency are overcome, unmanned aerial vehicle recovery can be directly completed underwater, and the ocean exploration efficiency is remarkably improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the underwater robot technical field, especially to a kind of underwater robot system with unmanned aerial vehicle recovery docking function. BACKGROUND

[0002] In the field of ocean exploration and underwater operation, underwater robot (Remote Operated Vehicle, ROV) and unmanned aerial vehicle (Unmanned Aerial Vehicle, UAV) as two important intelligent equipment, undertake different tasks respectively.

[0003] The existing underwater robot (ROV) usually independently executes underwater detection, equipment maintenance and other tasks, and the cooperation with water surface equipment depends on manual intervention. Unmanned aerial vehicle (UAV) has the advantages of wide area reconnaissance and rapid deployment in marine monitoring, and can undertake tasks such as water surface environment monitoring and target search. However, the traditional unmanned aerial vehicle recovery must rely on water surface platform, and this recovery method has obvious defects: on the one hand, the water surface platform is significantly affected by sea conditions, and on the other hand, the recovery process needs manual participation, which is time-consuming and seriously affects the continuity of the task. SUMMARY

[0004] The present application provides a kind of underwater robot system with unmanned aerial vehicle recovery docking function, to solve the defects of unmanned aerial vehicle recovery relying on water surface platform in prior art, by underwater robot directly recovers unmanned aerial vehicle, realizes cross-domain collaborative operation, improves the efficiency of ocean exploration and equipment recovery.

[0005] The present application provides a kind of underwater robot system with unmanned aerial vehicle recovery docking function, comprising: Robot body, provided with unmanned aerial vehicle recovery device; Power mechanism, arranged in the robot body, for driving the robot body to move in multiple directions in water; Optical assembly, arranged in the robot body, for underwater observation and identification of unmanned aerial vehicle; First pressure cabin, the first pressure cabin is provided with: Navigation positioning device, for real-time positioning of the robot body; Master, electrically connected with the power mechanism, the navigation positioning device and the optical assembly respectively, the master is used to control the robot body to move underwater and complete underwater recovery operation of unmanned aerial vehicle.

[0006] According to the underwater robot system with unmanned aerial vehicle recovery docking function provided by the present application, the power mechanism comprises: First propeller, provided with multiple, for providing vertical driving force for the robot body along the height direction; A plurality of second propellers are provided, the second propellers are horizontal vector propellers, and the plurality of second propellers are uniformly distributed on the robot body.

[0007] According to the underwater robot system with the unmanned aerial vehicle recycling docking function, the robot body comprises: A mounting frame is arranged on the mounting frame, and a wireless charging energy cabin is arranged on the mounting frame, which is used for charging the recycled unmanned aerial vehicle.

[0008] According to the underwater robot system with the unmanned aerial vehicle recycling docking function, the robot body comprises: A man-machine interaction terminal system is electrically connected to the main controller through a cable.

[0009] According to the underwater robot system with the unmanned aerial vehicle recycling docking function, the robot body comprises: A cable winch is movably arranged on land, and the cable winch is electrically connected to the man-machine interaction terminal system, and the cable winch is used for winding and unwinding the cable.

[0010] According to the underwater robot system with the unmanned aerial vehicle recycling docking function, the robot body comprises: A camera is arranged on one side of the mounting frame and is electrically connected to the main controller. An underwater searchlight is arranged on both sides of the camera and is electrically connected to the main controller.

[0011] According to the underwater robot system with the unmanned aerial vehicle recycling docking function, the robot body comprises:

[0012] According to the underwater robot system with the unmanned aerial vehicle recycling docking function, the robot body comprises:

[0013] According to the underwater robot system with the unmanned aerial vehicle recycling docking function, the robot body comprises:

[0014] The underwater robot system with the unmanned aerial vehicle recovery docking function provided by the application is characterized in that a buoyancy member is further arranged around the mounting frame.

[0015] The underwater robot system with the unmanned aerial vehicle recovery docking function provided by the application is characterized in that a power mechanism is arranged on the mounting frame, and the power mechanism provides power for multi-directional movement of the robot body in water; a navigation positioning device is arranged on the mounting frame, and the navigation positioning device is used for realizing full-dimension control of the underwater movement posture of the robot body; a main control device is arranged on the mounting frame, and the main control device is used for adjusting the movement track in real time according to the navigation data and the optical recognition result, and providing path planning for the robot body according to the posture and position data of the underwater robot collected by the navigation positioning device in real time, so as to realize accurate underwater docking and recovery with the unmanned aerial vehicle; and the unmanned aerial vehicle recovery device, the power mechanism, the optical assembly and the pressure-resistant cabin are integrated in the robot body, so that the cross-domain collaborative operation capability is realized, the defects of the traditional unmanned aerial vehicle recovery, such as dependence on the water surface platform, great influence of the sea conditions (such as wind and wave, water flow) and low efficiency, are overcome, the unmanned aerial vehicle recovery can be directly completed underwater, the dependence on the water surface platform is eliminated, and the ocean exploration efficiency is significantly improved. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are some embodiments of the application, and other drawings can be obtained by those skilled in the art without any creative effort on the basis of these drawings.

[0017] Figure 1 is a structural schematic diagram of the underwater robot system with the unmanned aerial vehicle recovery docking function provided by the embodiment of the application.

[0018] Figure 2 is a structural schematic diagram of the first pressure-resistant cabin provided by the embodiment of the application.

[0019] Figure 3 is a structural schematic diagram of the zero-buoyancy cable provided by the embodiment of the application.

[0020] Figure 4 is an interactive function block diagram of the man-machine interactive terminal system provided by the embodiment of the application.

[0021] REFERENCE SIGNS: 1, power mechanism; 11, first propeller; 12, second propeller; 2, optical assembly; 21, camera; 22, underwater searchlight; 3, first pressure-resistant cabin; 31, mounting area; 4, mounting frame; 5, cable; 51, protective layer; 52, force bearing layer; 53, DC high voltage power line; 54, communication power line; 6, second pressure cabin; 7, buoyancy member; 8, wireless charging energy cabin. DETAILED DESCRIPTION

[0022] To make the objects, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be described below in connection with the drawings in the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0023] The present application will be described below in connection with Figures 1-4 The present application provides an underwater robot system with unmanned aerial vehicle recovery docking function.

[0024] The present application provides an underwater robot system with unmanned aerial vehicle recovery docking function, comprising: a robot body, a power mechanism 1, an optical assembly 2 and a first pressure cabin 3; wherein the robot body is provided with an unmanned aerial vehicle recovery device; the power mechanism 1 is arranged on the robot body and is used to drive the robot body to move in multiple directions in water; the optical assembly 2 is arranged on the robot body and is used to observe and identify unmanned aerial vehicles underwater; the first pressure cabin 3 is provided with a navigation positioning device and a master controller; the navigation positioning device is used to position the robot body in real time; the master controller is electrically connected with the power mechanism 1, the navigation positioning device and the optical assembly 2 respectively, and is used to control the robot body to move underwater and complete the underwater recovery operation of the unmanned aerial vehicle.

[0025] Through the above scheme, the unmanned aerial vehicle recovery device, the power mechanism 1, the optical assembly 2 and the pressure cabin are integrated in the underwater robot body, realizing the cross-domain collaborative operation capability, overcoming the defects that the traditional unmanned aerial vehicle recovery needs to rely on the water surface platform, is greatly affected by the sea conditions (such as wind and wave, water flow) and has low efficiency, and can directly complete the unmanned aerial vehicle recovery underwater without relying on the water surface platform, significantly improving the efficiency of ocean exploration; the power mechanism 1 provides the power for the multi-directional movement of the robot body underwater, and the navigation positioning device realizes the full-dimensional control of the underwater movement posture; the master controller adjusts the movement trajectory in real time according to the navigation data and the optical identification result, and provides path planning for the robot body according to the underwater robot posture and position data collected by the navigation positioning device in real time, finally realizing the underwater accurate docking and recovery with the unmanned aerial vehicle.

[0026] Optionally, the unmanned aerial vehicle recovery device comprises an unmanned aerial vehicle docking mechanism and a clamping arm assembly; the unmanned aerial vehicle docking mechanism is arranged at the top of the robot body as a landing platform for the unmanned aerial vehicle, and the clamping arm assembly can comprise a pair of first clamping arms and a pair of second clamping arms arranged symmetrically for clamping the unmanned aerial vehicle body or landing gear, and the driving mode can be a common driving structure such as a servo motor, pneumatic or hydraulic drive. It should be noted that the unmanned aerial vehicle recovery device is a product in the prior art, and its structure and principle are not the focus of this article. This is only an example and will not be described in detail.

[0027] In this embodiment, the power mechanism 1 comprises a plurality of first propellers 11 for providing vertical driving force for the robot body in the height direction and providing power for the robot body to float and dive, and a plurality of second propellers 12. The second propeller 12 is a horizontal vector propeller, i.e. the second propeller 12 can rotate around a vertical axis to dynamically adjust the direction of horizontal thrust. The plurality of second propellers 12 are evenly distributed on the robot body to enable the robot body to move forward, backward, sideways and turn.

[0028] In this embodiment, the robot body comprises a mounting frame 4 made of a combination of PE material and high-strength aluminum alloy material. The frame structure design optimizes the layout of the cable 5, provides support for various structural components and reduces weight. The unmanned aerial vehicle recovery device, optical assembly 2, first pressure-resistant cabin 3, first propeller 11 and second propeller 12 are arranged on the mounting frame 4. The mounting frame 4 also has a wireless charging energy cabin 8 for charging the recovered unmanned aerial vehicle.

[0029] Specifically, the wireless charging energy cabin 8 is mainly used to provide power supply for the recovered unmanned aerial vehicle. Based on wireless charging technologies such as electromagnetic induction or magnetic resonance, the wireless charging energy cabin 8 realizes non-contact transmission of energy in underwater environments, effectively solving the problems of interface sealing difficulty and complex plug-in operation of traditional wired charging methods. After the underwater robot and the unmanned aerial vehicle are docked, the wireless charging energy cabin 8 can automatically charge the battery of the unmanned aerial vehicle, ensuring that the unmanned aerial vehicle has sufficient power for the next task, and improving the operation continuity of the entire system.

[0030] As Figure 1As shown, the first propeller 11 and the second propeller 12 are both provided with four, four first propellers 11 and four second propellers 12 are respectively distributed around the mounting frame 4, ensuring that the robot body is balanced in force and improves stability; alternatively, the four first propellers 11 are arranged symmetrically in pairs at the bottom of the mounting frame 4, forming a "cross" or "rectangular" layout, and the four second propellers 12 are evenly distributed around the mounting frame 4, when all the second propellers 12 rotate in the same direction, the robot can realize forward or backward movement; when a pair of opposite diagonal second propellers 12 rotate in opposite directions, the robot body can realize turning in place; the main controller can adjust the rotation angle and output power of each propeller in real time through the PID algorithm, realize the synthesis of thrust vector, and through the combined control of the first propeller 11 and the second propeller 12, complex actions can be completed.

[0031] Optionally, the first pressure cabin 3 can also be provided with a depth sensor, a temperature sensor, a water quality sensor, etc., for multi-directional detection of the underwater environment.

[0032] In this embodiment, a man-machine interaction terminal system is also included, which is electrically connected to the main controller through the cable 5. The man-machine interaction terminal system includes a computer terminal program or a mobile terminal application. For example, the computer terminal software AOHI-CRIMM of the man-machine interaction terminal system processes and displays data, displays sensor data such as power voltage, current, heading, depth, water temperature of the underwater robot, integrates water quality sensor data and multi-beam sonar image data, and realizes functions such as motion control, light control, camera angle adjustment, etc. of the underwater robot. The operator sends control instructions through the software interface, which are transmitted to the main controller of the underwater robot through the cable 5, to realize control of the robot. The operator can also set parameters through the AOHI-CRIMM software and confirm that the power mechanism 1 and the optical assembly 2 are normal. The cable 5 adopts zero buoyancy cable to reduce the resistance and cable 5 winding problem when the underwater robot moves, and to ensure the stability of data and power transmission.

[0033] Referring to Figure 3In this embodiment, the zero-buoyancy cable is a 200m-long neutral streamer cable, comprising a protective layer 51 and a load-bearing layer 52. The protective layer 51 can be a polyurethane foam layer, made of a closed-cell polyurethane (PU) foam material with a closed-cell structure. This layer isolates seawater from penetration and resists salt spray, acid, and alkali corrosion. Its zero-buoyancy properties eliminate the drag force exerted by the cable 5 on the underwater robot. The load-bearing layer 52 is a Kevlar layer woven from aramid fiber (Kevlar). As the primary load-bearing structure, it bears the weight of the cable 5 and the traction force during robot movement, while also providing mechanical protection for the internal cable 5 and preventing damage from impact with underwater obstacles. Two DC high-voltage power lines 53 and six communication power lines 54 are interposed between the polyurethane foam layer and the Kevlar load-bearing layer. The zero-buoyancy properties of the polyurethane foam layer, the high-strength support of the Kevlar load-bearing layer, and the composite transmission of the internal cables 5 address the problems of large buoyancy interference, insufficient load-bearing capacity, and unstable transmission associated with conventional underwater cables 5.

[0034] In addition, the cabins of the two pressure-resistant cabins are equipped with reserved cable 5 interfaces for connecting to the zero-buoyancy cable to realize power transmission and data exchange. For example, the main controller receives data from the navigation and positioning device through the communication line and supplies power to the thruster through the power line; and the joints between the interface and the zero-buoyancy cable are sealed. For example, the zero-buoyancy cable is connected to the main controller through a waterproof connector.

[0035] Furthermore, it also includes a cable winch, which is movably set on land. The cable winch is electrically connected to the human-computer interaction end system, and the cable winch is used to reel in and out the cable 5. Optionally, the cable winch is a manual cable winch system, and the bracket material of the cable winch is selected from a combination of high-density polyethylene (HDPE) and aluminum alloy, so that the cable winch as a whole has the characteristics of light weight and compact structure, and 4 universal wheels are configured at the bottom of the bracket of the cable winch for easy carrying and transportation.

[0036] In some specific embodiments, the optical assembly 2 includes a camera 21 and a pair of underwater searchlights 22. The camera 21 is mounted on one side of the mounting frame 4 and electrically connected to the main controller. The underwater searchlights 22 are mounted on either side of the camera 21 and electrically connected to the main controller. The camera 21 can be a 5-megapixel low-light camera 21, utilizing a starlight-class underwater color HD camera module with 5 megapixels and a wide-angle lens to achieve wide-range observation, fully understanding the underwater state of objects. The underwater searchlights 22 can be 1500lm lamps with a 135° beam angle. Two underwater searchlights 22 are positioned on either side of the camera 21, providing multi-directional lighting coverage for the underwater robot. The lights also feature an eight-level brightness adjustment function, significantly expanding the underwater observation range and assisting the underwater camera in acquiring high-definition video data.

[0037] Further, the second pressure cabin 6 is provided, which is an underwater robot energy cabin, and an electric power source is arranged in the second pressure cabin 6, and the electric power source is electrically connected with the camera 21, the underwater searchlight 22, the navigation positioning device, the main controller, the first propeller 11 and the second propeller 12 respectively, so as to provide stable power support for each functional module and electronic equipment of the underwater robot, and ensure that the robot can continuously and reliably operate in a complex underwater environment.

[0038] Further, as shown in Figure 2 the first pressure cabin 3 and the second pressure cabin 6 are in a cylindrical shell with a hemispherical head, and a plurality of phase-separated mounting areas 31 are arranged in the cylindrical shell, which are used for mounting the main controller, the navigation positioning device and the depth sensor; for example, a frame structure can be used to realize the arrangement of the plurality of phase-separated mounting areas 31, so as to avoid the influence of electromagnetic interference on data processing, and provide support and fixing points for the electronic equipment with different functions; the navigation positioning device can be arranged at the front end of the cabin body, so as to facilitate signal transmission and reception; the electronic equipment is isolated from the external environment by the pressure cabin, so as to ensure the stability of signal transmission; and the cabin body is sealed by end face compression of an O-shaped sealing ring, and the material of the sealing ring is selected to be a material with the properties of seawater corrosion resistance and aging resistance, such as hydrogenated nitrile rubber (HNBR), which can effectively prevent seawater from penetrating and protect the internal electronic devices from short circuit or corrosion damage.

[0039] In this way, the sealing design of the pressure cabin can resist the influence of the underwater low temperature and high humidity environment on the electronic devices, prolong the service life of the equipment, and the design of the cylindrical shell combined with the hemispherical head can uniformly distribute the pressure on the entire structure, and compared with a square structure, the stress concentration is reduced by about 30%, so that deformation is prevented and the service life is improved.

[0040] Optionally, the navigation positioning device includes a sonar system, a gyroscope and an electronic compass, wherein the sonar system uses the propagation and reflection of ultrasonic waves in water to detect targets, the gyroscope is used to detect the angular velocity of the rotation of the robot body in water and can maintain the direction stable, and can provide real-time attitude feedback for the power mechanism 1; when the robot body is overturned due to water flow impact, the gyroscope detects the sudden change of the angular velocity, and the main controller can immediately adjust the power of the propeller to restore the balance of the robot body; the electronic compass is used to calculate the direction through GPS; it should be noted that the sonar system, the gyroscope and the electronic compass are products in the prior art, and the structure and principle thereof do not belong to the focus of the present text, and will not be described here.

[0041] Optionally, the material of the first pressure cabin 3 is 6061 aluminum alloy. The cabin body made of aluminum alloy material can provide a certain degree of electromagnetic shielding, reduce the influence of external electromagnetic interference on the internal electronic system, and reduce the weight under the premise of meeting the strength requirement, thereby providing more effective load space for the underwater robot. The cabin body wall thickness distribution is optimized by a finite element analysis software, for example, considering pressure, temperature and vibration factors at the same time, so that the weight is reduced while the strength is improved, and the structural strength and sealing performance under the pressure of 100 m water depth are ensured.

[0042] As shown in Figure 1 The installation frame 4 is also provided with a buoyancy member 7 around the periphery, which offsets the weight of the underwater robot body by its own buoyancy, so that the energy consumption of the propeller is reduced when the robot is in a suspended state in water. The buoyancy member 7 is symmetrically distributed around the frame to form a stable buoyancy support, and can be made of closed-cell polyurethane (PU) foam or glass bead composite material. Preferably, the buoyancy member 7 is designed in a modular manner and is fixed to the periphery of the installation frame 4 by bolts, so as to facilitate adjustment of the number according to the load weight. The external shape can be designed in a streamlined manner to reduce underwater resistance.

[0043] In the embodiment, a water leakage detection sensor is arranged in the first pressure cabin 3 and the second pressure cabin 6, and the water leakage detection sensor is electrically connected with the main controller and the power supply. Once the sealing ring fails or the cabin body is damaged, an alarm signal can be triggered in time, for example, the water leakage position is displayed and recorded on the human-computer interaction terminal system, so as to give the operator more time to handle.

[0044] The working process of the present application is as follows: The ground control base station controls the cable winch to release the zero buoyancy cable through the human-computer interaction terminal system, the underwater robot is launched, the operator sets the parameters through the computer terminal AOHI-CRIMM software, and confirms that the power mechanism 1 and the optical assembly 2 are normal. The robot enters the water, the first propeller 11 starts to work, the robot dives to the predetermined depth, the second propeller 12 adjusts the position, the navigation positioning device real-time calibrates the heading, the depth sensor feeds back the current water depth, realizes stable suspension positioning, detects and identifies the working position through the camera 21 and the underwater searchlight 22, and shoots the image information of the target object. When the UAV completes the work task and returns, the underwater robot controls the robot to approach the UAV through the propeller, clamps the UAV after reaching the docking position, the wireless charging energy cabin 8 starts to charge the UAV battery, and the energy is supplemented. After clamping the UAV, upward power can be provided through the first propeller 11, and the robot carrying the UAV rises. The zero buoyancy cable synchronously transmits data to the ground human-computer interaction system during the rising process, the operator monitors the recovery process through the AOHI-CRIMM, the robot rises to the water surface, and the UAV can also be brought back to the ground through the cable winch to complete the recovery of the UAV.

[0045] It should be pointed out finally that the above embodiments are only used to illustrate the technical solutions of the present application, but not to limit the same; and although the present application has been described in detail with reference to the foregoing embodiments, it should be appreciated by those skilled in the art that the technical solutions recorded in the foregoing embodiments can be modified, or some technical features thereof can be replaced equivalently; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. An underwater robot system with drone recovery and docking function, characterized in that: include: The robot body is equipped with a drone recovery device; A power mechanism (1) is provided on the robot body and is used to drive the robot body to move in water; An optical component (2), provided on the robot body, for underwater observation and identification of drones; A first pressure-resistant cabin (3), wherein the first pressure-resistant cabin (3) is provided with: A navigation and positioning device, used for real-time positioning of the robot body; A main controller is electrically connected to the power mechanism (1), the navigation and positioning device, and the optical component (2), respectively. The main controller is used to control the underwater movement of the robot body and complete the underwater recovery operation of the drone.

2. The underwater robot system with drone recovery and docking function according to claim 1, characterized in that: The power mechanism (1) comprises: A plurality of first thrusters (11) are provided for providing a vertical driving force for the robot body in a height direction; A plurality of second propellers (12) are provided, wherein the second propellers (12) are horizontal vector propellers, and the plurality of second propellers (12) are evenly distributed on the robot body.

3. The underwater robot system with drone recovery and docking function according to claim 2, characterized in that: The robot body comprises: A mounting frame (4) is provided on which the UAV recovery device, the optical component (2), the first pressure-resistant cabin (3), the first propeller (11) and the second propeller (12) are all arranged. A wireless charging energy cabin (8) is also provided on the mounting frame (4) for charging the recovered UAV.

4. The underwater robot system with drone recovery and docking function according to claim 1, characterized in that: Also includes: A human-computer interaction end system, wherein the human-computer interaction end system is electrically connected to the main controller via a cable (5).

5. The underwater robot system with drone recovery and docking function according to claim 4, characterized in that: Also includes: A cable (5) winch is movably arranged on land, the cable (5) winch is electrically connected to the human-machine interaction end system, and the cable (5) winch is used to retract and release the cable (5).

6. The underwater robot system with drone recovery and docking function according to claim 3, characterized in that: The optical component (2) comprises: A camera (21) is arranged on one side of the mounting frame (4) and is electrically connected to the main controller; Underwater searchlights (22) are arranged on both sides of the camera (21) and are electrically connected to the main controller.

7. The underwater robot system with drone recovery and docking function according to claim 6, characterized in that: The invention also includes a second pressure-resistant cabin (6), which is an energy cabin of the underwater robot and has a power supply arranged therein. The power supply is electrically connected to the camera (21), the underwater searchlight (22), the navigation and positioning device, the main controller, the first propeller (11), and the second propeller (12).

8. The underwater robot system with drone recovery and docking function according to claim 7, characterized in that: The first pressure-resistant cabin (3) and the second pressure-resistant cabin (6) are shaped as cylindrical shells with hemispherical heads, and a plurality of separated installation areas (31) are provided inside the first pressure-resistant cabin (3) for installing the main controller, the navigation and positioning device, and the depth sensor.

9. The underwater robot system with drone recovery and docking function according to claim 8, characterized in that: Water leakage detection sensors are provided in the first pressure-resistant cabin (3) and the second pressure-resistant cabin (6), and the water leakage detection sensors are electrically connected to the main controller and the power supply.

10. An underwater robot system with a drone recovery and docking function according to any one of claims 1 to 9, characterized in that: Buoyancy members (7) are also provided around the installation frame (4).

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