An underwater robotic system with extended peripheral cascade interface

Abstract

The application discloses an underwater robot system with an extended peripheral cascade interface, which is constructed with a core interface and a modular extension, and comprises three modules of an optical-electric hybrid modular interface, a dynamic energy management system and a self-adaptive cascade mechanism; the optical-electric hybrid interface adopts a customized OceanLink-12M watertight connector, integrates two 10Gbps single-mode optical fiber channels, selects a commercial underwater 10Gbps SFP+ optical module, is suitable for a water depth of 6000 meters, and integrates four 12-48VDC wide-voltage power channels and six traditional electric signal channels; the dynamic energy management system is split into a main power module and an auxiliary power module, and through a wide-voltage input module, a dynamic power distribution unit and a multi-level protection mechanism, 5-48V continuous adjustable power supply is realized; the self-adaptive cascade mechanism adopts a three-level structure of a main cabin, an extension cabin and peripherals, supports a maximum of five cascades, automatically completes address allocation and parameter synchronization, the delay of core control instructions is less than 5ms, and the delay of large-bandwidth data is less than 10ms.

Description

Technical Field

[0001] This invention belongs to the field of underwater robot technology, specifically relating to an underwater robot system with an extended peripheral cascading interface. Background Technology

[0002] Remotely operated vehicles (ROVs) are core equipment in marine engineering, scientific research, and rescue. Their typical structure includes a sealed electronics compartment, sensor elements, actuators, and an integrated power / communication umbilical cable. Traditional ROVs employ a closed design, which is limited by the pressure chamber design. They typically have only 2-4 pre-installed interfaces, and most of these are dedicated interfaces (such as those only compatible with specific camera or sonar models), making it difficult to flexibly expand external devices.

[0003] With the diversification of underwater operation scenarios, the external payload requirements of ROVs exhibit significant differences: Subsea pipeline inspection: requires a 4K high-definition underwater camera (bandwidth requirement ≥1Gbps), multibeam sonar (real-time data volume ≥500Mbps), and ultrasonic pipe defect detectors (low bandwidth, RS485 interface); Deep-sea shipwreck archaeology: requires integration of side-scan sonar (wide-area scanning), metal detectors (low power consumption), and plankton samplers (hydraulic drive, high power); Marine environmental monitoring: requires connection to multi-parameter water quality sensors (pH, dissolved oxygen, salinity, typically 12V low power consumption), current meters (24V power supply), and meteorological data buoys (two-way communication); Underwater rescue: requires high-intensity lights (high power), robotic arms (hydraulic drive, 48V / 6A), and life detectors (low bandwidth). These requirements necessitate that ROVs have the ability to expand as needed, but traditional enclosed designs cannot meet this requirement, thus limiting their multi-functional collaborative operation capabilities in complex environments.

[0004] The shortcomings of existing peripheral expansion solutions: The current mainstream peripheral expansion solution in the ROV industry is the external self-contained type, where the peripheral is equipped with its own battery, data storage module, and control unit, and is mounted on the ROV body via a mechanical bracket. This solution has the following core shortcomings: The contradiction between size and mobility: Self-contained peripherals require built-in power and storage, which typically increases the weight of a single peripheral by 5-20kg (e.g., a self-contained 4K camera weighs about 8kg, 6kg heavier than a non-self-contained one), increasing the overall size of the ROV by 30%-50%, and significantly reducing mobility in narrow pipes (inner diameter <1m) or complex reef areas. The problem of information silos: There is a lack of a unified communication interface between the peripheral and the ROV host, and between the peripherals themselves. Data transmission relies on independent wireless modules (such as underwater acoustic communication, with a rate <1Mbps) or temporary cables, resulting in poor real-time performance (latency >100ms), and making it impossible to achieve host-peripheral collaborative control (such as visual guidance synchronization between the robotic arm and the camera). High integration complexity: Each replacement of peripherals requires redesigning the mechanical support (to adapt to different sizes) and debugging the power supply interface (such as switching from 12V to 48V), with deployment time reaching 4-8 hours, making it unsuitable for emergency tasks (such as emergency rescue where equipment replacement needs to be completed within 1 hour). Deep-sea safety risks: The sealing reliability of self-contained peripherals depends on their own design. In deep-sea environments (>3000 meters), pressure differences can easily lead to seal failure, and there is a lack of a unified electrical protection mechanism. Short circuits or overcurrents may cause ROV main body failure.

[0005] The shortcomings of existing patented technologies: Patent No. 202322346361.9, a scalable multi-mount underwater robot, only solves the mechanical fixation problem, lacks a unified communication / power supply interface, and remains a self-contained expansion. Patent No. 201610006034.0, a modular autonomous underwater robot, uses wired communication between its hulls, with a bandwidth <1Gbps, and does not support hot-swapping or dynamic energy distribution. Patent No. 202021800893.5, a scalable underwater robot interface, only supports power transmission (24V fixed voltage), lacks a fiber optic channel, and cannot adapt to high-bandwidth devices. Patent No. 202110047052.4, a scalable autonomous control system for large underwater robots, does not involve hardware interface design, has a cascading capacity of ≤2 levels, and lacks deep-sea pressure linkage protection.

[0006] Through the search and analysis of published patents, it was found that existing technologies have not solved the ROV peripheral expansion problem from the three-in-one perspective of "interface medium-energy management-cascading mechanism". There is an urgent need for a modular expansion system with high compatibility, high real-time performance and high security. Summary of the Invention

[0007] This invention provides an underwater robot system with an extended peripheral cascading interface, aiming to solve the following problems in the existing underwater robot peripheral expansion technology: (1) Poor peripheral compatibility: Traditional interfaces only support a single type of device (such as only electrical signals or only low bandwidth), and cannot simultaneously adapt to high bandwidth (4K camera), high power (robotic arm) and low power consumption (sensor) devices; (2) Insufficient real-time communication: The bandwidth of the existing electrical interface is <1Gbps, and the data transmission delay of high bandwidth devices is >50ms, which cannot meet the high-precision operation requirements such as visual guidance and real-time scanning; (3) Low energy adaptability: Fixed voltage output (such as 24V) cannot match the power supply requirements (5-48V) of different peripherals, resulting in some devices not working or energy waste; (4) Weak cascading expansion capability: The existing solution has a cascading number of ≤2 levels, and requires manual configuration of addresses and parameters, resulting in low expansion efficiency; (5) Deep-sea safety risks: There is a lack of pressure linkage protection and electrical isolation design for the deep-sea environment, which can easily cause equipment failure due to high pressure and overheating.

[0008] To solve the above problems, the technical solution provided by the present invention is as follows:

[0009] An underwater robot system with an expandable peripheral cascade interface includes a main cabin, at least one expansion cabin, and an expandable interface underwater communication device; the expandable interface underwater communication device integrates an opto-electric hybrid modular interface, a dynamic energy management system, and an adaptive cascade control module.

[0010] The optical-electric hybrid modular interface uses a customized OceanLink-12M watertight connector, including two 10Gbps single-mode fiber optic channels, four 12-48VDC wide-voltage power channels, and six auxiliary electrical signal channels. The dynamic energy management system includes a wide-voltage input module, a dynamic power distribution unit, and a multi-level protection mechanism, achieving 5-48V continuously adjustable power supply and 2W / cm² power consumption. 3 Power density; The adaptive cascading control module adopts a three-level architecture of main compartment-expansion compartment-peripherals, supports up to 5 levels of cascading, and automatically completes address allocation and communication / power supply parameter synchronization;

[0011] The OceanLink-12M watertight connector has a shell made of TC4 titanium alloy and two built-in fluororubber O-rings. It has passed the hydrostatic pressure test of 60MPa for 30 days without leakage. The fiber optic channel uses G.652D single-mode fiber with an attenuation coefficient ≤0.36dB / km. The fiber optic connector is an SC / APC watertight structure with an insertion loss <0.5dB. The 0.36dB / km corresponds to a wavelength of 1310nm.

[0012] The customized OceanLink-12M watertight connector features a quick-locking mechanism with a rotary snap-fit ​​structure: a 90° rotation is sufficient to lock the connector, with a connection time of ≤3 seconds; the unlock button must be pressed to prevent accidental operation.

[0013] The customized OceanLink-12M watertight connector features a built-in polyimide film pressure compensation membrane that automatically adjusts the internal pressure of the connector according to changes in water depth, preventing damage to internal components from negative or overpressure.

[0014] The customized OceanLink-12M watertight connector has a built-in MOS switch that automatically cuts off the power channel and non-essential signal channels during insertion and removal, with an arc suppression time of <10μs, and has an arc suppression function.

[0015] In a preferred embodiment of the present invention, the power channel includes a 3-core positive electrode, a 6-core negative electrode, and a 4-5-core tin-plated copper shielding layer with a shielding effectiveness ≥80dB and supports a maximum output power of 500W; the auxiliary electrical signal channel includes a 7-8-core RS485 interface, a 9-10-core CAN bus interface, and an 11-12-core spare channel. The baud rate of the 7-8-core RS485 interface is 1200bps-1Mbps, and the 9-10-core CAN bus interface adopts the CAN2.0B protocol.

[0016] In a preferred embodiment of the present invention, the opto-electric hybrid modular interface further includes a rotary snap-fit ​​structure and a pressure compensation membrane; the rotary snap-fit ​​rotates 90° to lock, with a connection time of ≤3 seconds; the pressure compensation membrane is made of polyimide film, which automatically adjusts its internal pressure according to water depth.

[0017] In a preferred embodiment of the present invention, the wide-voltage input module of the dynamic energy management system adopts a bidirectional DC-DC isolation converter with an isolation voltage of 2500VAC, an input voltage range of 12-48VDC, and an output ripple of ≤50mV; the dynamic power distribution unit adopts an STM32H743MCU and an ADIADP2441 synchronous buck converter with an output voltage regulation accuracy of ±0.1V.

[0018] In a preferred embodiment of the present invention, the multi-level protection mechanism includes:

[0019] Over-temperature protection: Integrated NTC thermistor, power off when temperature > 85℃, power back on when temperature < 75℃;

[0020] Water pressure linkage protection: When connected to a Keller PA-21Y pressure sensor, the maximum output power is limited to 300W when the water depth is >3000 meters;

[0021] Reverse wireless charging: Integrated TIBQ51013 wireless charging module, charging distance ≤10cm, charging efficiency >60%.

[0022] In a preferred embodiment of the present invention, the address allocation rule of the adaptive cascade control module is as follows: the main cabin IP is fixed at 192.168.5.1, the first-level expansion cabin IP is 192.168.5.11, the second-level expansion cabin IP is 192.168.5.111, and so on; the expansion cabin has a built-in STM32L476 controller, which automatically reports equipment information and receives main cabin parameter configuration.

[0023] In a preferred embodiment of the present invention, the adaptive cascading control module supports priority-based packet routing, with high-bandwidth data priority set to 1, control command priority set to 2, status reporting priority set to 3, and data packet loss rate < 0.01%.

[0024] In a preferred embodiment of the present invention, the opto-electric hybrid modular interface has a built-in MOS transistor switch that automatically cuts off the power channel and unnecessary signal channels during insertion and removal, with an arc suppression time of <10μs.

[0025] In a preferred embodiment of the present invention, the data transmission delay of the system is <10ms, the peripheral replacement time is <5 minutes, and the continuous operation success rate is ≥99.5%, making it suitable for scenarios such as subsea pipeline inspection, deep-sea archaeology, and marine environmental monitoring.

[0026] Compared with the prior art, the embodiments of the present invention provide an underwater robot system with an extended peripheral cascading interface, which has the following beneficial effects:

[0027] (1) High performance and high real-time performance: Fibre Channel supports 10Gbps transmission, which solves the transmission bottleneck of high bandwidth devices such as 4K cameras and multi-beam sonar, with data latency <10ms (traditional electrical interface latency >50ms); priority-based routing algorithm ensures that the response time of key control commands is <5ms, meeting the high-precision operation requirements of robotic arm vision guidance, real-time scanning and other tasks.

[0028] (2) High flexibility and high scalability: The automatic interface adaptation function supports the rapid replacement of peripherals during operation (such as switching from detection mode to sampling mode in just 5 minutes, while the traditional solution takes 4 hours); it supports up to 5 levels of cascading and can carry 10+ peripherals at the same time (such as the main cabin + 2-level expansion cabin can carry 4K camera, multi-beam sonar, robotic arm, water quality sensor, flow meter), covering the needs of complex operation scenarios.

[0029] (3) High compatibility and wide applicability: It supports fiber optic devices (high bandwidth), traditional electrical signal devices (low bandwidth) and self-contained devices (emergency charging), and is compatible with more than 90% of underwater peripherals on the market (such as BlueView multibeam sonar, Tritech side-scan sonar, DeepSea camera); wide voltage input (12-48VDC) and dynamic power supply (5-48V adjustable) to adapt to peripherals with different power (from 5W sensors to 500W robotic arms) without the need for an additional power adapter.

[0030] (4) High safety and high reliability: Multi-level protection mechanism (over-temperature, water pressure linkage, reverse charging protection) reduces the risk of deep-sea operations, and the adaptability to water depth of 6,000 meters covers more than 95% of the world's sea areas; titanium alloy shell and fluororubber sealing structure are resistant to seawater corrosion and have a service life of ≥5 years (the service life of traditional self-contained peripherals is about 2 years); fault self-recovery and isolation function, a single compartment failure does not affect the operation of the overall system, and the success rate of operation is increased to 99.5% (the traditional solution is about 90%).

[0031] (5) Economy and maintainability: Modular design reduces repetitive design and customized development, reducing design costs by 40% and increasing production efficiency by 30% (standardized cabins can be mass-produced); faulty cabins can be replaced individually (replacement time < 30 minutes), reducing maintenance costs by 50% and avoiding the problem of "all systems being damaged if one is damaged" in traditional systems. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in the embodiments or prior art, the drawings used in the description of the embodiments or prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0033] Figure 1 This application provides an architecture diagram of an underwater robot system with an extended peripheral cascading interface.

[0034] Figure 2 This application provides a schematic diagram of a dynamic energy management system for an underwater robot system with an extended peripheral cascading interface.

[0035] Figure 3 This application provides an embodiment of an adaptive cascading mechanism flowchart for an underwater robot system with an extended peripheral cascading interface. Detailed Implementation

[0036] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application. The terms "upper," "lower," "front," "rear," "left," and "right," etc., used when describing the installation position or direction of the structure or components in this embodiment are based on the orientation shown in the accompanying drawings. They are merely for convenience of description, used to distinguish the relative positions of various components or directions, and do not represent the orientation of the system or functional components in this embodiment during use.

[0037] like Figure 1 As shown, this embodiment of the invention provides an underwater robot system with an expandable peripheral cascading interface, including a main cabin, at least one expansion cabin, and an expandable interface underwater communication device. The expandable interface underwater communication device integrates a hybrid optical-electrical modular interface, a dynamic energy management system, and an adaptive cascading control module. These three components work together to achieve rapid docking, stable power supply, and intelligent cascading of peripherals. The system has a data transmission latency of <10ms, a peripheral replacement time of <5 minutes, and a continuous operation success rate of ≥99.5%, making it suitable for scenarios such as subsea pipeline inspection, deep-sea archaeology, and marine environmental monitoring.

[0038] The optical-electric hybrid modular interface uses a customized OceanLink-12M watertight connector, including two 10Gbps single-mode fiber optic channels, four 12-48VDC wide-voltage power channels, and six auxiliary electrical signal channels. The OceanLink-12M watertight connector's shell is made of TC4 titanium alloy and contains two fluororubber O-rings. It has passed a hydrostatic pressure test of 60MPa for 30 days without leakage. The TC4 titanium alloy has a tensile strength ≥860MPa and a yield strength ≥795MPa, and its seawater corrosion resistance meets GB / T19746-2005 standards. The two fluororubber O-rings are made of FKM material with a hardness of 70±5ShoreA, and a metal retainer is installed on the outside of the two fluororubber O-rings to prevent O-ring extrusion. It has passed a 60MPa test equivalent to a 6000-meter water depth for 30 days without leakage.

[0039] The fiber optic channel uses G.652D single-mode fiber with an attenuation coefficient ≤0.36dB / km (1310nm wavelength). The fiber optic connector is an SC / APC watertight structure with an insertion loss <0.5dB. The power channel includes a 3-core positive electrode, a 6-core negative electrode, and a 4-5-core tin-plated copper shielding layer with a shielding effectiveness ≥80dB, supporting a maximum output power of 500W. The auxiliary electrical signal channel includes a 7-8-core RS485 interface (baud rate 1200bps-1Mbps), a 9-10-core CAN bus interface (CAN2.0B protocol), and an 11-12-core spare channel. The power channel (4-5 cores) uses a tin-plated copper shielding layer with a shielding effectiveness ≥80dB and strong electromagnetic interference (EMI) immunity. This design is crucial for ensuring stable power supply to high-power devices (such as robotic arms), as ordinary connectors have weak interference immunity.

[0040] The opto-electric hybrid modular interface also includes a rotary snap-fit ​​structure and a pressure compensation membrane; the rotary snap-fit ​​completes locking by rotating 90°, with a connection time of ≤3 seconds; the pressure compensation membrane is made of polyimide film, which automatically adjusts its internal pressure according to water depth. The opto-electric hybrid modular interface has a built-in MOS transistor switch, which automatically cuts off the power channel and unnecessary signal channels during insertion and removal, with an arc suppression time of <10μs.

[0041] In this embodiment, the optical-electric hybrid modular interface is the core connection unit between the peripheral device and the cabin. It adopts a customized OceanLink-12M watertight connector, and the specific design is as follows: Interface medium and core wire allocation: Fiber optic channel (1-2 cores): adopts G.652D single-mode fiber, supports 10Gbps high-speed data transmission, attenuation coefficient ≤0.36dB / km (1310nm wavelength), and is compatible with high-bandwidth equipment such as 4K cameras and multi-beam sonar; the fiber optic connector adopts SC / APC watertight structure, with insertion loss <0.5dB. Power channel (3-6 pins): Pin 3 is positive (12-48VDC), pin 6 is negative (GND), pins 4-5 are tin-plated copper shielding (shielding effectiveness ≥80dB), supporting a maximum output power of 500W, and compatible with high-power equipment such as hydraulic robotic arms (48V / 6A) and high-intensity lights (24V / 10A); Auxiliary electrical signal channel (7-12 pins): Pins 7-8 are RS485 interfaces (baud rate 1200bps-1Mbps), pins 9-10 are CAN bus interfaces (CAN2.0B protocol), and pins 11-12 are spare channels, compatible with low-bandwidth devices such as temperature sensors and pressure gauges.

[0042] Optical-Electrical Hybrid Modular Interface Mechanical Structure Design: Shell Material: TC4 titanium alloy (tensile strength ≥860MPa, yield strength ≥795MPa), resistant to seawater corrosion (compliant with GB / T19746-2005 "Titanium and Titanium Alloy Pipes" standard), suitable for water depths of 0-6000 meters. Sealing Structure: Built-in two fluororubber O-rings (material FKM, hardness 70±5ShoreA), combined with a metal retaining ring to prevent extrusion; hydrostatic pressure test result: no leakage for 30 days at 60MPa (equivalent to 6000 meters water depth). Quick Locking Device: Adopts a rotary snap-lock structure; locking is completed with a 90° rotation angle, connection time ≤3 seconds; unlocking is achieved via a press-type unlocking button to avoid accidental operation. Pressure Compensation Membrane: Uses a polyimide film (25μm thickness), automatically adjusting internal pressure according to water depth to prevent negative or overpressure inside the connector.

[0043] The customized OceanLink-12M watertight connector has a total of 12 cores, consisting of 2 10Gbps fiber optic channels, 4 12-48VDC wide voltage power channels, and 6 auxiliary electrical signal channels. It is compatible with high and low bandwidth / power devices. Ordinary connectors do not have multi-media integration capabilities.

[0044] The customized OceanLink-12M watertight connector features a quick-locking mechanism using a rotary snap-fit ​​structure: a 90° rotation completes the locking process, with a connection time of ≤3 seconds; unlocking requires pressing the unlock button to prevent accidental operation. This invention's key feature—"peripheral device replacement time <5 minutes"—is something ordinary connectors cannot achieve with such rapid docking.

[0045] The customized OceanLink-12M watertight connector features a built-in 25μm thick polyimide film pressure compensation membrane that automatically adjusts the internal pressure of the connector according to water depth, preventing damage to internal components from negative or overpressure. This design is essential for adapting to water depths of up to 6000 meters; ordinary connectors do not possess this function.

[0046] The customized OceanLink-12M watertight connector features a built-in MOSFET switch that automatically cuts off power and non-essential signal channels during insertion and removal, with an arc suppression time of <10μs. This design is crucial for ensuring safe underwater hot-swapping, as ordinary connectors are prone to causing electrical faults during insertion and removal.

[0047] The above describes the multi-media integrated design: Unlike ordinary watertight connectors that only support a single medium (such as power only), the connector of this invention integrates two 10Gbps single-mode fiber optic channels (for high-bandwidth devices), four 12-48VDC wide-voltage power channels (for high-power devices), and six auxiliary electrical signal channels (for low-bandwidth sensors). The 12 cores have clearly defined functional partitions (1-2 fiber optic cores, 3-6 power cores, and 7-12 signal cores), and can be compatible with three types of peripherals at the same time.

[0048] Deep-sea adaptable structure: (1) The shell is made of TC4 titanium alloy (tensile strength ≥860MPa), which is twice as resistant to seawater corrosion as the 316L stainless steel of ordinary connectors, and is suitable for water depths of 6000 meters; (2) The sealing structure adopts "two fluororubber O-rings + metal retaining rings", which avoids the problem of single O-ring extrusion failure under high pressure in ordinary connectors, and has no leakage for 30 days under 60MPa; (3) Built-in polyimide pressure compensation membrane automatically balances internal and external pressure, solving the problem of shell deformation caused by the lack of pressure compensation in ordinary connectors.

[0049] Fast and safe docking: (1) Rotary buckle locking, connection time ≤3 seconds, which is 10 times more efficient than ordinary connector threaded connection, meeting the needs of rapid replacement of peripherals; (2) Built-in MOS tube switch, which cuts off the power channel when plugging and unplugging, and the arc suppression time is <10μs, avoiding the risk of arc burning when plugging and unplugging ordinary connectors.

[0050] Anti-interference and low loss: (1) The power channel adopts a tin-plated copper shielding layer (shielding effectiveness ≥80dB), which improves the anti-interference capability by 30% compared with the aluminum foil shielding of ordinary connectors; (2) The fiber channel uses G.652D single-mode fiber (1310nm attenuation ≤0.36dB / km), and the insertion loss of SC / APC watertight connector is <0.5dB, which solves the problem of insufficient bandwidth (<1Gbps) of ordinary multimode fiber.

[0051] The dynamic energy management system includes a wide-voltage input module, a dynamic power distribution unit, and a multi-level protection mechanism, enabling continuously adjustable power supply from 5-48V and 2W / cm² power consumption. 3 Power density. The wide-voltage input module of the dynamic energy management system adopts a bidirectional DC-DC isolated converter with an isolation voltage of 2500VAC, an input voltage range of 12-48VDC, and an output ripple of ≤50mV; the dynamic power distribution unit adopts an STM32H743MCU and an ADIAP2441 synchronous buck converter with an output voltage regulation accuracy of ±0.1V.

[0052] The multi-level protection mechanism includes: over-temperature protection: integrated NTC thermistor, power off when temperature > 85℃, power back on when temperature < 75℃; water pressure linkage protection: connected to KellerPA-21Y pressure sensor, limit maximum output power to 300W when water depth > 3000 meters; reverse wireless charging: integrated TIBQ51013 wireless charging module, charging distance ≤ 10cm, charging efficiency > 60%.

[0053] The dynamic energy management system in this embodiment achieves full-process energy control from wide voltage input to dynamic allocation and intelligent protection, such as... Figure 2 As shown, the specific design is as follows: Wide-voltage input module: Connects to the 12-48VDC voltage of the ROV umbilical cable, achieving voltage stability through a bidirectional DC-DC isolation converter, with output ripple ≤50mV; Input current protection: Employs a self-resetting fuse (model Littelfuse0451005.MRL, rated current 5A), automatically disconnecting in case of overload and resuming conduction after fault clearance. Dynamic power distribution unit: Core controller: Uses an STM32H743 microcontroller (480MHz main frequency, 1.2DMIPS / MHz floating-point operation capability), receiving real-time power consumption requirements reported by peripherals (via CAN bus). Power regulation module: Employs a synchronous buck converter (model ADIAP2441), with output voltage continuously adjustable from 5-48V via a PID algorithm, achieving an adjustment accuracy of ±0.1V. Power density optimization: Uses a ceramic substrate (thermal conductivity 200W / m・K) and surface-mount power devices, with a module size of 50mm×30mm×10mm and a power density of 2W / cm³.

[0054] Multi-level protection mechanisms: Over-temperature protection: Integrated NTC thermistor (model MurataNCP18WF104F03RC) monitors module temperature in real time. When the temperature > 85℃, the MCU controls the power module to cut off power; when the temperature drops below 75℃, power supply is automatically restored; Water pressure linkage protection: Connected to the pressure sensor of the expansion compartment (model KellerPA-21Y, measurement range 0-100MPa), when the water depth > 3000 meters (pressure > 30MPa), the maximum output power is limited to 300W to avoid poor heat dissipation of power devices under high pressure; Reverse wireless charging: Integrated wireless charging transmitter module (model TIBQ51013), supports Qi protocol, provides emergency power for self-capable peripherals (such as self-capable cameras), charging distance ≤ 10cm, charging efficiency > 60%; real-time monitoring of battery voltage during charging to avoid overcharging (cutoff voltage 4.2V±0.05V).

[0055] The adaptive cascading control module adopts a three-tier architecture of main module-expansion module-peripherals, supporting up to 5 levels of cascading and automatically completing address allocation and communication / power supply parameter synchronization. The address allocation rule for the adaptive cascading control module is as follows: the main module IP is fixed at 192.168.5.1, the first-level expansion module IP is 192.168.5.11, the second-level expansion module IP is 192.168.5.111, and so on. Each expansion module has a built-in STM32L476 controller, which automatically reports device information and receives parameter configurations from the main module. The adaptive cascading control module supports priority-based packet routing, with high-bandwidth data priority set to 1, control command priority set to 2, status reporting priority set to 3, and a data packet loss rate of <0.01%.

[0056] The adaptive cascading mechanism in this embodiment adopts a three-tier architecture of "main cabin - expansion cabin - peripherals", supporting up to 5 levels of expansion cabin cascading. The workflow is as follows: Figure 3 As shown, Figure 3 In the design, the steps are as follows: Step 1 is access to the expansion compartment; Step 2 is triggering the proximity switch; Step 3 is reporting equipment information; Step 4 is assigning address and parameters to the main compartment; Step 5 is synchronizing communication / power supply parameters; Step 6 is completing the cascading; Step 7 is real-time status monitoring; and Step 8 is fault handling. The specific design is as follows:

[0057] Cascading Architecture and Address Allocation: Main Cabin: As the core of the cascading network, its IP address is fixed at 192.168.5.1, responsible for global parameter configuration and status monitoring. Expansion Cabins: Each expansion cabin has a built-in independent controller (model STM32L476, low-power mode current <1μA). After connecting to the main cabin or a higher-level expansion cabin, it automatically reports device information (cabin type, maximum power consumption, supported interfaces). The main cabin allocates sub-addresses according to the cascading order (e.g., first-level expansion cabin 192.168.5.11, second-level expansion cabin 192.168.5.111, and so on) to avoid address conflicts. Peripherals: After peripherals are connected to the expansion cabin via the OceanLink-12M interface, the expansion cabin automatically identifies the peripheral type (based on a preset device ID library) and synchronizes the peripheral information to the main cabin. The IP address in this embodiment can be selected according to specific circumstances and is not specifically limited.

[0058] Parameter synchronization and communication coordination: Fiber optic wavelength configuration: The main cabin dynamically configures the fiber optic transmission wavelength (1310nm or 1550nm) according to the bandwidth requirements of the external devices and synchronizes it to each level of the expansion cabin; for example, when a 4K camera is connected, it is configured with a wavelength of 1310nm (low attenuation), and when a long-range side-scan sonar is connected, it is configured with a wavelength of 1550nm (anti-interference).

[0059] Power supply parameter synchronization: The main cabin allocates the upper limit of power supply voltage and current based on the maximum power consumption reported by the expansion cabin (e.g., 48V / 6A for the robotic arm mounted in the first-level expansion cabin; 12V / 2A for the sensor mounted in the second-level expansion cabin), and synchronizes it to the dynamic energy management system via the CAN bus.

[0060] Data routing: A priority-based packet routing algorithm is adopted, with high-bandwidth data (such as camera video) having the highest priority (priority 1), control commands having the second highest priority (priority 2), and status reporting having the lowest priority (priority 3), ensuring that critical data is not lost (packet loss rate < 0.01%).

[0061] Cascaded Status Monitoring and Fault Handling: Real-time Status Monitoring: The main cabin periodically queries the status (temperature, voltage, communication quality) of each level of expansion module and external devices via Ethernet (every 100ms interval) and displays it on the instrument panel. Fault Self-Recovery: When communication with a certain level of expansion module is interrupted, the main cabin automatically attempts to reconnect (retrying 3 times, with a 1-second interval between each retry); if the connection fails, the module is marked as "faulty" and its power supply is cut off to avoid affecting other modules.

[0062] The invention's objectives and key innovations are as follows: Optical-Electrical Hybrid Interface: Breaking through the bandwidth limitations of traditional electrical interfaces, the fiber optic channel supports 10Gbps transmission and is compatible with both high- and low-bandwidth devices. Dynamic Energy Management: Wide voltage input + dynamic power allocation, adaptable to both high-power and low-power devices, and supports wireless emergency charging. Adaptive Cascading: Multi-level cascading with automatic address and parameter allocation.

[0063] Example 1: Submarine Pipeline Inspection System

[0064] System Configuration: Main Cabin: Equipped with the core control unit, umbilical cable interface, and dynamic energy management system main module. First-Level Expansion Cabin: Connected to the main cabin via the OceanLink-12M interface, carrying a 4K underwater camera (DeepSeaDSCC-4K) and a multibeam sonar (BlueViewBV5000). Second-Level Expansion Cabin: Connected to the first-level expansion cabin via the OceanLink-12M interface, carrying a pipe defect ultrasonic detector (OlympusOmniScan) and a small hydraulic robotic arm (SchillingRoboticsTitan4).

[0065] The specific implementation steps are as follows:

[0066] Mechanical Installation: Install the OceanLink-12M connector into the pre-set groove (60mm diameter, 30mm depth) on the main compartment end cap, and secure it with a fluororubber O-ring and a mechanical locking ring to ensure a seal. The first-stage expansion compartment is fixed to the side of the main compartment via a titanium alloy bracket (20cm spacing), and the second-stage expansion compartment is fixed below the first-stage expansion compartment (15cm spacing). External equipment is connected to the expansion compartment via a dedicated mechanical connector to ensure underwater stability (resistance to water flow impact ≤1.5m / s).

[0067] Electrical Initialization: The main compartment connects to the 24VDC umbilical cable power supply, the dynamic energy management system starts, and the wide-voltage input module stabilizes the voltage to 24V. After the first-level expansion compartment connects to the main compartment, the mechanical connection triggers the proximity switch sensor (model OMRONE2E-X1R5E1), and the main compartment sends an initialization signal. The first-level expansion compartment returns equipment information: "Compartment type: Acoustic-optical detection, maximum power consumption: 288W (robotic arm operation)", the main compartment is assigned an IP address of 192.168.5.11, configured fiber wavelength of 1310nm, and power supply voltage of 48V. After the second-level expansion compartment connects to the first-level expansion compartment, the initialization is completed in the same way, the main compartment is assigned an IP address of 192.168.5.111, and configured power supply voltage of 12V.

[0068] Operation Process: The 4K camera is activated, transmitting real-time video (3840×2160 resolution, 30fps) via fiber optic channel, with the main cabin receiving latency stabilizing at 8-9ms. Multibeam sonar scans the pipe surface, generating approximately 800Mbps / s of data with no packet loss on the fiber optic channel. The main cabin generates a real-time 3D model of the pipe. Guided by vision (camera video + ultrasonic detector data), the robotic arm samples defects in the pipe. The dynamic energy management system adjusts the power according to the robotic arm's operating status: 50W in standby mode and 288W during operation.

[0069] During the operation, the main cabin instrument panel displays the status of each device in real time: camera temperature 25℃, sonar voltage 48V, robotic arm current 5.8A, and communication quality 99.99%.

[0070] Test Results: Environmental Conditions: A sea area in the South China Sea, water depth 1500 meters, water temperature 10-15℃, salinity 35‰, water flow velocity 0.8 m / s. Performance Indicators: Continuous operation for 72 hours, no packet loss in data transmission, latency ≤10ms, energy utilization rate ≥85%. Safety Test: When simulating overheating (86℃), the system automatically shuts down; when simulating a water depth of 3500 meters (35MPa), the power is limited to 300W, and the equipment operates normally.

[0071] Example 2: Deep-sea shipwreck archaeology system

[0072] System configuration: Main compartment: Core control unit, dynamic energy management system. First-level expansion compartment: Side-scan sonar (Tritech SuperSeaKing), metal detector (Minelab Excalibur II). Second-level expansion compartment: Plankton sampler (Hydro-BiosMultiNet), self-contained high-definition camera (modified Sony RX100VII).

[0073] Key Implementation Points: Side-scan sonar adaptation: The side-scan sonar requires a bandwidth of 200Mbps, and the main cabin is equipped with a fiber optic wavelength of 1550nm (anti-interference) to ensure stable transmission of scanning data over long distances (1000 meters). Emergency charging for self-contained cameras: When the battery level of the self-contained camera drops below 20%, the wireless charging module in the secondary expansion cabin activates, charging to 50% within 30 minutes with a charging efficiency of 62%. Sampler power adjustment: The planktonic sampler requires a 36V / 2A power supply. The dynamic energy management system uses a PID algorithm to adjust the output voltage to 36V with an accuracy of ±0.1V, ensuring stable and uninterrupted sampling.

[0074] Test Results: Operating Area: The shipwreck site covers an area of ​​approximately 500m × 300m. Side-scan sonar completed a full area scan, generating a silhouette map of the shipwreck. Equipment Compatibility: All peripherals functioned normally without any interface compatibility issues. Emergency Function: After charging, the self-contained camera can operate continuously for 4 hours, meeting the needs of archaeological photography.

[0075] Example 3: Marine Environmental Monitoring System

[0076] System configuration: Main compartment: core control, umbilical cable interface. First-level expansion compartment: multi-parameter water quality sensor (model YSIEXO2), current meter (model Nortek Aquadopp). Second-level expansion compartment: meteorological data buoy (model AXYS Technologies CB-150). Third-level expansion compartment: underwater spectrometer (model OceanOptics HR4000).

[0077] Key Implementation Points: Multi-level Cascading: Achieves 3-level cascading expansion modules, with the main module IP192.168.5.1 and the third-level expansion module IP192.168.5.1111, with parameter synchronization time <2 seconds. Low-Power Adaptation: Water quality sensors and current meters are all low-power devices (total power consumption <10W). The dynamic energy management system adjusts the output voltage to 12V, achieving a power density of 2W / cm³, and maintaining a stable module temperature of 30℃. Data Collaboration: Data from the meteorological buoy and water quality sensors is synchronized to the main module via a CAN bus. The main module generates a marine environmental monitoring report (once per hour), with a data update latency of <5ms.

[0078] Test Results: Monitoring Period: Continuous monitoring for 30 days; equipment operated stably without faults. Data Accuracy: Water quality sensor measurement error ≤5%, current meter measurement error ≤2%, conforming to marine environmental monitoring standards (GB / T12763.4-2007). Cascading Stability: In a 3-level cascaded configuration, communication success rate was 100%, with no address conflicts or parameter synchronization anomalies.

[0079] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely preferred examples and are not intended to limit the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. An underwater robotic system with extended peripheral component interconnect interface, characterized by, The underwater communication device comprises a main cabin, at least one expansion cabin and an expandable interface underwater communication device; the expandable interface underwater communication device is integrated with an optical-electric hybrid modular interface, a dynamic energy management system and a self-adaptive cascade control module; The light-electric hybrid modular interface adopts customized OceanLink-12M watertight connectors, including 2-way 10 Gbps single-mode optical fiber channels, 4-way 12-48 V DC wide-voltage power channels and 6-way auxiliary electrical signal channels; the dynamic energy management system includes a wide-voltage input module, a dynamic power distribution unit and a multi-level protection mechanism, achieving 5-48 V continuous adjustable power supply and 2 W / cm 3 Power density; the adaptive cascading control module adopts a three-level architecture of a main cabin, an expansion cabin and external devices, supports a maximum of 5 cascades, and automatically completes address allocation and communication / power supply parameter synchronization; The shell of the OceanLink-12M watertight connector is made of TC4 titanium alloy, and two fluororubber O-rings are arranged in the shell; the static water pressure test is 60 MPa for 30 days without leakage; the optical fiber channel adopts G.652D single-mode optical fiber, the attenuation coefficient is less than or equal to 0.36 dB / km, the optical fiber joint is an SC / APC watertight structure, and the insertion loss is less than 0.5 dB, wherein 0.36 dB / km corresponds to a wavelength of 1310 nm; The quick locking mechanism of the customized OceanLink-12M watertight connector adopts a rotary buckle structure: rotating 90° can complete locking, and the connection time is less than or equal to 3 seconds; when unlocking, the unlocking button needs to be pressed to prevent misoperation; The customized OceanLink-12M watertight connector is internally provided with a polyimide film pressure compensation film, which automatically adjusts the internal pressure of the connector with the change of water depth, so as to avoid damage to the internal elements caused by negative pressure / overpressure; The customized OceanLink-12M watertight connector is internally provided with a MOS tube switch, which automatically cuts off the power channel and the unnecessary signal channel during plugging, and the arc suppression time is less than 10 μs, so as to have the arc suppression function; The optical-electric hybrid modular interface further comprises a rotary buckle and a pressure compensation film; the rotary buckle is rotated 90° to complete locking, and the connection time is less than or equal to 3 seconds; the pressure compensation film adopts a polyimide film, which automatically adjusts the internal pressure with the change of water depth; The multi-level protection mechanism comprises: Over-temperature protection: integrated NTC thermistor, power off when temperature > 85℃, and resume when temperature < 75℃; Water pressure linkage protection: Keller PA-21Y pressure sensor is connected, and the maximum output power is limited to 300W when the water depth is greater than 3000 meters; Reverse wireless charging: integrated TIBQ51013 wireless charging module, charging distance ≤ 10 cm, and charging efficiency > 60%.

2. The ROV system with an extended peripheral cascade interface according to claim 1, wherein, The power channel comprises 3-core positive electrode, 6-core negative electrode and 4-5-core tinned copper shielding layer, the shielding effectiveness is greater than or equal to 80 dB, and the maximum output power is 500W; the auxiliary electrical signal channel comprises 7-8-core RS485 interface, 9-10-core CAN bus interface and 11-12-core standby channel, the baud rate of the 7-8-core RS485 interface is 1200 bps-1 Mbps, and the 9-10-core CAN bus interface adopts CAN2.0B protocol.

3. The ROV system with an extended peripheral cascade interface of claim 1, wherein, The wide-voltage input module of the dynamic energy management system adopts a bidirectional DC-DC isolation converter, the isolation voltage is 2500 VAC, the input voltage range is 12-48 VDC, and the output ripple is less than or equal to 50 mV; the dynamic power distribution unit adopts an STM32H743 MCU and an ADI ADP2441 synchronous step-down converter, and the output voltage adjustment precision is ±0.1 V.

4. The EPI-cable-equipped underwater robotic system of claim 1, wherein, The address allocation rule of the adaptive cascade control module is that the main cabin IP is fixed as 192.168.5.1, the first-level expansion cabin IP is 192.168.5.11, the second-level expansion cabin IP is 192.168.5.111, and so on; the expansion cabin is built-in with an STM32L476 controller, and can automatically report device information and receive main cabin parameter configuration.

5. The EPI-cable-equipped underwater robotic system of claim 1, wherein, The adaptive cascade control module supports priority-based data packet routing, the priority of large-bandwidth data is set as 1, the priority of control instructions is set as 2, and the priority of state reporting is set as 3, and the data packet loss rate is less than 0.01%.

6. The EPI-cable-equipped underwater robotic system of claim 1, wherein, The optoelectronic hybrid modular interface is built-in with MOS tube switches, which can automatically cut off the power channel and unnecessary signal channel during plugging and unplugging, and the arc suppression time is less than 10 mu s.

7. The EPI system of claim 1, wherein, The data transmission delay of the system is less than 10 ms, the peripheral replacement time is less than 5 minutes, the continuous operation success rate is greater than or equal to 99.5%, and the system is suitable for submarine pipeline detection, deep-sea archaeology and marine environment monitoring scenes.

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