An underwater autonomous and remote-controlled robot-oriented seabed long-stay dock station system

Abstract

The application belongs to the technical field of underwater robots, and specifically discloses a seabed long-docking station system for underwater autonomous and remote-controlled robots, which comprises a seabed long-docking station, an autonomous underwater robot and a remote-controlled underwater robot; the seabed long-docking station adopts an upper-lower layered structure, the upper layer is provided with a stay platform for the autonomous underwater robot to dock, and the lower layer is provided with a containing groove for the remote-controlled underwater robot to stay, and the stay platform and the containing groove are used for supporting the two types of underwater robots to stay simultaneously and be stored in categories; the seabed long-docking station is provided with an energy supply module, a navigation and docking guiding module, an underwater multi-modal communication module and a buoyancy adjusting mechanism. Through the application, the function of one dock and two stays of the autonomous and remote-controlled underwater robots is realized, the large-range cruising monitoring capability of the autonomous underwater robot and the fine operation capability of the remote-controlled underwater robot are complementary to each other under the same technical system, and thus the double models of the robots are cooperated to perform long-stay operation on the seabed.

Description

Technical Field

[0001] This application belongs to the field of underwater robot technology, and more specifically, relates to a long-term underwater docking station system for underwater autonomous and remotely operated robots. Background Technology

[0002] Underwater robots are highly integrated underwater transport vehicles, mainly divided into two categories: autonomous underwater vehicles (AUVs) and remotely operated underwater vehicles (ROVs) controlled in real-time by humans via umbilical cables. In recent years, underwater robots have been widely used in marine target detection and deep-sea operations. However, in practical applications, their underwater endurance is limited by the energy capacity carried by the vehicle itself. To replenish energy and exchange data, underwater robots typically need to surface frequently or be recovered from their mother ship. This process is cumbersome and costly, and its ability to meet the needs of long-term continuous underwater operations and routine stays is limited.

[0003] To address the aforementioned need for long-term underwater deployment, the industry typically employs subsea long-term deployment systems to provide energy supply and data transmission support for underwater robots, enabling them to perform tasks such as the operation and maintenance of deep-sea production facilities and the monitoring of submarine cables. In engineering practice, subsea docking station systems are often designed for single-model deployments, supporting either remotely operated underwater vehicles (ROVs) or autonomous underwater vehicles (AUVs).

[0004] Each type of docking system has its own applicable boundaries in engineering applications: docking systems supporting remotely operated underwater vehicles (ROVs) can perform complex underwater precision intervention operations with the help of robots, but their operating range is limited by the length of the umbilical cable and hydrodynamic resistance; docking systems supporting autonomous underwater vehicles (AUVs) have wide-range cruising capabilities, but their adaptability to complex manual intervention and control operations is limited by their cableless nature and structural limitations. Achieving complementary advantages of both wide-range cruising monitoring and precision intervention within the same operational system places comprehensive demands on docking station structure, energy supply, navigation and return to dock, and underwater communication.

[0005] Therefore, given that existing subsea dock stations cannot simultaneously support the deployment of both autonomous underwater vehicles (AUVs) and remotely operated underwater vehicles (ROVs) within the same operational system, while also accommodating large-scale patrol monitoring and refined intervention operations, how to develop a subsea long-term dock station system that supports collaborative long-term subsea operations of both types of vehicles is a technical problem that urgently needs to be solved in this field. Summary of the Invention

[0006] In view of the shortcomings of the existing technology, the purpose of this application is to realize a long-term underwater docking station system that supports the coordinated long-term underwater operations of two aircraft.

[0007] To achieve the above objectives, this application provides a long-term underwater docking station system for autonomous and remotely operated underwater robots, including: a long-term underwater docking station, an autonomous underwater robot, and a remotely operated underwater robot; The underwater long-term docking station adopts a two-layer structure. The upper layer is equipped with a docking platform for autonomous underwater robots to dock, and the lower layer is equipped with a storage tank for remotely operated underwater robots to stay. The docking platform and storage tank are used to support the simultaneous stay and classified storage of autonomous underwater robots and remotely operated underwater robots. The underwater long-term docking station is equipped with an energy supply module, a navigation and docking guidance module, an underwater multi-modal communication module, and a buoyancy adjustment mechanism; The energy supply module supplies power to the autonomous underwater vehicle (AUV) and remotely operated underwater vehicle (ROV), the navigation and docking guidance module guides the AUV back to the docking platform and the ROV back to the storage tank, the underwater multimodal communication module enables data interaction between the long-term docking station and the AUV and ROV, and the buoyancy adjustment mechanism assists the long-term docking station in returning to the sea surface after the long-term mission is completed.

[0008] Specifically, the long-term underwater docking station system provided in this application physically partitions the docking space for two different types of autonomous underwater vehicles (AUVs) and remotely operated underwater vehicles (ROVs) through a layered structure: the upper docking platform is used for docking of AUVs, and the lower storage tank is used for the accommodation of ROVs, thereby enabling simultaneous accommodation and categorized storage of both types of vehicles. This structural design ensures that AUVs and ROVs do not interfere with each other within the same long-term underwater docking station. AUVs can launch from the docking platform to perform large-scale underwater autonomous patrol and monitoring tasks, while ROVs can launch from the storage tank to perform precise underwater intervention operations. The two have the hardware foundation for collaborative operation at the spatial layout level.

[0009] Based on the dual-model stationing structure, this application constructs a complete closed loop for long-term seabed operations through the coordinated operation of an energy supply module, a navigation and docking guidance module, an underwater multimodal communication module, and a buoyancy adjustment mechanism. The energy supply module provides operational power to both the autonomous underwater vehicle (AUV) and the remotely operated underwater vehicle (ROV), providing continuous underwater endurance support for both types of vehicles. This enables multiple voyages and cruises for the AUV and multiple outboard operations for the ROV, thus overcoming the bottleneck of underwater robots being limited by their own onboard energy capacity and thus unable to remain stationary on the seabed for extended periods. The navigation and docking guidance module guides the AUV back to the stationing platform and the ROV back to the receiving tank, respectively, ensuring that the AUV can autonomously return to dock after completing its cruise mission and that the ROV can safely enter the tank after completing its intervention operations. This provides reliable homing assurance for multiple voyage-return cycles for both types of vehicles. The underwater multimodal communication module establishes a data interaction link between the long-term underwater docking station and the autonomous underwater vehicles (AUVs) and remotely operated underwater vehicles (ROVs). This supports the transmission of data collected during AUV patrols, the reporting of ROV operational status, and the issuance of task commands from the docking station to both types of vehicles. This ensures that the AUVs and ROVs maintain communication with the docking station during long-term deployments, guaranteeing coordination and data closure in collaborative operations. After the long-term deployment mission concludes, the buoyancy adjustment mechanism assists in the overall recovery of the long-term underwater docking station to the surface, completing the system's full operational cycle from deployment and long-term operation to recovery.

[0010] Therefore, this application utilizes a hierarchical structure to enable the simultaneous and categorized storage of both autonomous underwater vehicles (AUVs) and remotely operated underwater vehicles (ROVs). A functional support system comprises an energy supply module, a navigation and docking guidance module, an underwater multimodal communication module, and a buoyancy adjustment mechanism. This allows the AUV's wide-range patrol and monitoring capabilities and the ROV's precise intervention capabilities to complement each other within the same operational system, thereby achieving collaborative long-term underwater operations for both types of vehicles. The underwater long-term docking station system for autonomous and ROVs provided in this application can be applied to the marine engineering equipment industry, providing effective support for the manufacturing of diving equipment and marine mobile observation platforms.

[0011] In one possible implementation, the landing platform is equipped with a docking assistance mechanism and a landing locking mechanism. The docking assistance mechanism is used to assist the autonomous underwater robot in docking with the landing platform, and the landing locking mechanism is used to fix the autonomous underwater robot after it lands on the landing platform. The receiving tank is equipped with an entry guide mechanism and a dwell limiting mechanism. The entry guide mechanism is used to guide the remotely operated underwater vehicle (ROV) to enter the receiving tank, and the dwell limiting mechanism is used to lock the ROV after it reaches the docking position. The inlet guide mechanism includes multiple vertical guide columns arranged in an array on the bottom plate of the receiving tank. The vertical guide columns are used to mechanically correct and guide the bottom of the remotely operated underwater robot.

[0012] In one possible implementation, the buoyancy adjustment mechanism includes a transport landing rack, an airbag, and an air cylinder. The transport landing rack is located at the lower part of the main frame of the long-term underwater dock station, the airbag is located inside the transport landing rack, and the airbag is connected to the air cylinder. The gas cylinder is used to inflate the gasbag to change the overall buoyancy of the long-term underwater dock station, and to support the long-term underwater dock station to rise autonomously after the gasbag is inflated to provide positive buoyancy; the top of the docking platform is equipped with a dock station deployment hook, which is used to connect the lifting towing rope during lifting deployment and recovery.

[0013] In one possible implementation, the energy supply module is configured such that the long-term underwater dock station obtains a continuous energy supply by connecting to the underwater oil and gas platform, and supplies the autonomous underwater vehicle and the remotely operated underwater vehicle with operating power in both wired and wireless ways, respectively. The remotely operated underwater robot is connected to a long-term underwater docking station via an umbilical cable to obtain continuous power in a wired manner; An array of wireless charging coils is installed in the central area of ​​the accommodation platform. After the autonomous underwater vehicle (AUV) docks with the accommodation platform, the wireless charging coils are aligned with the secondary side coils on the bottom of the AUV to wirelessly replenish the AUV's energy.

[0014] In one possible implementation, the navigation and docking guidance module is configured to use a combined acoustic and optical guidance method based on the distance to guide the autonomous underwater vehicle back to the docking platform and guide the remotely operated underwater vehicle back to the receiving tank. Among them, both autonomous underwater vehicles and remotely operated underwater vehicles use a combined navigation method for global navigation during mission execution and docking. The combined acoustic and optical guidance method includes long-range ultra-short baseline positioning guidance, medium-range optical guidance, and short-range visual marker pose calculation guidance.

[0015] In one possible implementation, the four corners of the stationing platform are equipped with autonomous underwater vehicle (AUV) guide lights for mid-range optical guidance; the platform surface is equipped with an AUV QR code guide pattern containing a QR code for short-range visual identification pose calculation guidance. The navigation and docking guidance module is configured to guide the autonomous underwater vehicle (AUV) back to dock: remotely, it obtains the AUV's position relative to the long-term docking station via ultra-short baseline positioning guidance; in the medium range, it provides optical guidance via the AUV's guide lights; and in the short range, it captures the AUV's QR code guidance pattern, calculates the AUV's three-dimensional pose relative to the long-term docking station, and adjusts its attitude and trajectory to land the AUV in the center of the docking platform. After the autonomous underwater vehicle (AUV) lands, it is secured by a stationary locking mechanism.

[0016] In one possible implementation, remotely operated underwater vehicle (ROV) guide lights are installed at the four corners of the outer frame of the accommodating tank for mid-range optical guidance; a remotely operated underwater vehicle (ROV) QR code guide pattern containing a QR code is installed above the accommodating tank for short-range visual identification pose calculation guidance. The navigation and docking guidance module is configured to guide the remotely operated underwater vehicle (ROV) back to dock: in the mid-range, optical guidance is provided by the ROV's guide lights; in the short-range, the ROV captures the ROV's QR code guidance pattern for visual pose calculation, and combined with manual remote control assistance, the ROV moves horizontally into the receiving tank. After the remotely operated underwater vehicle (ROV) enters the receiving tank, vertical guide columns arranged in an array on the bottom plate of the receiving tank mechanically correct and guide the bottom of the ROV until it reaches the docking position.

[0017] In one possible implementation, the underwater multimodal communication module is configured as follows: for the autonomous underwater robot, data is transmitted to the long-term docking station at sea via underwater acoustic communication over long distances, and after being locked onto the docking platform at close range, a communication link is established with the secondary device at the autonomous underwater robot end via the optical communication device on the docking platform to exchange data. For remotely operated underwater vehicles (ROVs), bidirectional data transmission between the ROV and the long-term underwater docking station is achieved through the umbilical cable connected to the ROV.

[0018] In one possible implementation, the long-term underwater dock station is configured to be deployed to the target location on the seabed by a dynamically positioned vessel, and during the deployment process, a remotely operated underwater robot is used to detach the dock station deployment hook from the lifting towing rope in order to complete the selection and confirmation of the seabed landing point. With the energy and communication support of the long-term underwater docking station, the autonomous underwater vehicle (AUV) performs underwater autonomous patrol and monitoring tasks, while the remotely operated underwater vehicle (ROV) performs underwater operations. The AUV and ROV work together to complete long-term underwater operations through multiple voyages and returns.

[0019] Overall, the technical solutions conceived in this application have the following beneficial effects compared with the prior art: (1) This application adopts a layered structure of a long-term underwater docking station. By setting up a dwelling platform on the top and a storage tank inside the bottom, it realizes the simultaneous dwelling and classified storage of two types of autonomous underwater robots and remotely operated underwater robots, breaking through the system limitation of dwelling a single type.

[0020] (2) This application adopts a deployment and landing method that combines dynamic positioning of the vessel deployment with remote control of the underwater robot actively detaching from the lifting towing rope. This allows the long-term dock station on the seabed to select and confirm the seabed landing point with the help of external auxiliary means during the deployment process, thereby realizing autonomous positioning and stable landing on the seabed and improving the safety of system positioning and deployment.

[0021] (3) This application adopts an energy supply hardware architecture that connects to the subsea oil and gas platform, which can stably supply power to both autonomous underwater robots and remotely operated underwater robots, thus solving the technical problem that underwater robots are limited by their own energy supply and cannot stay for a long time.

[0022] (4) This application adopts a combined navigation and acoustic-optical guidance method, and introduces manual remote control assistance in the remote-controlled underwater robot docking guidance. This not only gives full play to the convenience of fully autonomous docking and docking, but also improves the safety factor and docking success rate of the cabled robot returning to the containment tank under the disturbance of complex deep-sea current field.

[0023] (5) The underwater multimodal communication module configured in this application meets the bidirectional data transmission requirements between the long-term underwater docking station and the robot during the dual-robot collaborative stay.

[0024] (6) This application adopts a buoyancy adjustment mechanism with built-in gas cylinders and airbags connected. It can adjust the overall positive and negative buoyancy of the seabed long-term dock station independently without the need to set up high-pressure air pipelines connected to the water surface, making the surfacing and recovery of the entire seabed long-term dock station more independent, efficient and safe after the deep-sea long-term mission ends. Attached Figure Description

[0025] Figure 1 This is a three-dimensional schematic diagram of the overall structure of the long-term underwater docking station provided in the embodiments of this application.

[0026] In all the accompanying drawings, the same reference numerals are used to denote the same elements or structures, wherein: 1 is the guide light for the autonomous underwater vehicle (AUV); 2 is the dwelling and locking mechanism for the AUV; 3 is the docking station deployment hook; 4 is the wireless charging coil for the AUV; 5 is the optical communication device; 6 is the QR code guidance pattern for the AUV; 7 is the vertical guide column for the remotely operated underwater vehicle (ROV); 8 is the dwelling and locking mechanism for the ROV; 9 is the airbag; 10 is the guide light for the ROV; 11 is the ROV housing; 12 is the QR code guidance pattern for the ROV. Detailed Implementation

[0027] To facilitate a clearer understanding of the various embodiments of this application, some relevant background knowledge will be introduced as follows.

[0028] Autonomous underwater vehicles (AUVs) are cableless, autonomous underwater vehicles that perform pre-programmed navigation tasks using their own power and navigation systems. They are characterized by a large operating range and high maneuverability; their operational endurance is directly related to their own power capacity. Remotely operated underwater vehicles (ROVs), on the other hand, are connected to the surface or dock via an umbilical cable and are controlled in real time by a human operator. They can be equipped with robotic arms and other actuators to perform precise underwater intervention operations; however, while the umbilical cable provides power and communication links, it also limits their effective operating range.

[0029] Analysis of single-robot docking station systems reveals that: docking station systems supporting only remotely operated underwater vehicles (ROVs) have their operational range constrained by umbilical cable length and hydrodynamic resistance; docking station systems supporting only autonomous underwater vehicles (AUVs) are limited by their untethered nature and structural constraints in handling complex manual intervention and control operations. The advantages and limitations of these two types of systems complement each other. Integrating both types into a single docking station system requires comprehensive design considerations in areas such as structural zoning, energy allocation, navigation and docking, and data exchange.

[0030] Integrated navigation refers to a navigation method that combines two or more navigation methods to obtain global pose information. For example, the combination of inertial navigation and ultra-short baseline (USBL) positioning can provide global navigation capabilities for vehicles in underwater environments. Acoustic-optical combined guidance refers to a docking guidance method that combines different acoustic and optical guidance methods depending on the distance: USBL positioning guidance is used for long-range operations, optical light array guidance is used for medium-range operations, and visual marker pose calculation guidance is used for short-range operations. Visual marker pose calculation involves capturing QR code guidance patterns with a camera to calculate the vehicle's multi-dimensional and precise pose relative to the dock.

[0031] Underwater data exchange can be achieved through various wired and wireless methods: umbilical cables provide high-bandwidth, low-latency two-way wired data transmission; underwater acoustic communication is suitable for long-distance transmission; and underwater optical communication is suitable for short-range, high-capacity data exchange. Subsea oil and gas platforms can serve as a continuous energy source for subsea facilities, providing power support for long-term subsea docking stations. Buoyancy adjustment can be achieved by connecting airbags to gas cylinders and changing the overall buoyancy by inflating or deflating gas from the cylinders into the airbags, thereby supporting the autonomous ascent and recovery of the docking station.

[0032] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0033] In the embodiments of this application, the terms "exemplary" or "for example" are used to indicate that something is an example, illustration, or description. Any embodiment or design that is described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design. Specifically, the use of the terms "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0034] In the description of the embodiments of this application, unless otherwise stated, "multiple" means two or more, for example, multiple processing units means two or more processing units, multiple elements means two or more elements, etc.

[0035] The embodiments of this application are described below with reference to the accompanying drawings.

[0036] Example 1: Overall System Structure.

[0037] This application provides a long-term underwater docking station system for autonomous and remotely operated underwater robots (AUVs), comprising a long-term underwater docking station, an AUV, and a remotely operated underwater robot (ROV). The long-term underwater docking station adopts a layered structure, with a docking platform for AUV docking on the upper level and a receiving tank for ROV to stay in the lower level. The docking platform is equipped with a docking assistance mechanism and a staying locking mechanism, while the receiving tank is equipped with an entry guide mechanism and a staying limiting mechanism. The long-term underwater docking station is also equipped with a buoyancy adjustment mechanism to assist in the recovery of the entire long-term underwater docking station to the surface after the long-term docking mission is completed.

[0038] The docking assistance mechanism is located on the docking platform and provides multi-stage guidance and pose assistance for the autonomous underwater vehicle (AUV) during its docking process. The mechanism includes: AUV guide lights 1 positioned at the four corners of the docking platform and an AUV QR code guidance pattern 6 positioned on the platform's surface. During the mid-range of the combined acoustic and optical guidance, the AUV guide lights 1 at the four corners of the docking platform form an optical array to provide the AUV with approach direction guidance. During the near-field docking phase, the AUV QR code guidance pattern 6 on the platform's surface serves as a visual identifier. The AUV captures this pattern using its onboard underwater camera and performs visual identifier pose calculations to obtain its precise three-dimensional pose relative to the long-term docking station on the seabed. Based on this, it adjusts its attitude and trajectory, thereby accurately landing at the predetermined docking position in the center of the docking platform. Based on this, the docking auxiliary mechanism and the autonomous underwater robot dwelling and locking mechanism 2 form a functional connection: the former ensures that the autonomous underwater robot can dock and land with high precision, while the latter mechanically fixes the autonomous underwater robot after landing to prevent displacement caused by water flow disturbance.

[0039] Figure 1 This is a three-dimensional schematic diagram of the overall structure of a long-term underwater dock station, such as... Figure 1 As shown, the main body of the seabed long-term docking station adopts a two-layer frame structure, with the upper layer being a docking platform for autonomous underwater robots to dock, and the lower layer being a remotely operated underwater robot (ROV) accommodating tank 11 for ROVs to stay in.

[0040] Specifically, Figure 1 The long-term docking station on the seabed has a two-tiered frame structure. The upper tier is a horizontal docking platform: Autonomous underwater vehicle (AUV) guide lights 1 are located at the four corners of the platform surface. In the central area of ​​the platform is an AUV wireless charging coil 4, composed of multiple circular coils arranged in an array. On one side of the wireless charging coil, a black and white checkerboard pattern of AUV QR codes 6, optical communication devices 5, and camera components are arranged on the platform. An AUV docking locking mechanism 2 and docking station deployment hooks 3 are also located on the platform. A black and white checkerboard pattern of remotely operated underwater vehicle (ROV) QR codes 12 are arranged on the sides of the upper frame. The lower tier is an ROV housing 11: ROV guide lights 10 are located at the four corners of the outer frame of the housing 11. Multiple ROV vertical guide columns 7 are arranged in an array on the bottom plate inside the 11. An ROV docking locking mechanism 8 and airbags 9 are also located inside the 11. This diagram illustrates the hierarchical relationship between the docking platform and the housing 11, as well as the relative positions of the various mechanisms.

[0041] Example 2: Deployment and recovery of long-term underwater dock stations.

[0042] The long-term underwater docking station is configured to be deployed to the target location on the seabed by a surface-mounted dynamically positioned vessel. During the deployment phase, the dynamically positioned vessel deploys the station from the surface. As it descends to the target location on the seabed, a remotely operated underwater robot detaches the docking station's deployment hook from the lifting tow rope. This external assistance method allows for the final selection and confirmation of the seabed landing point, thereby achieving autonomous positioning and stable landing of the long-term underwater docking station and improving the safety of system placement and deployment. A docking station deployment hook 3 is installed on the top of the platform for connecting the lifting tow rope during deployment and retrieval.

[0043] The bottom of the long-term underwater dock station is equipped with a buoyancy adjustment mechanism for efficient deployment and recovery of the system. The buoyancy adjustment mechanism includes a transport landing platform located under the main frame, an airbag 9 housed inside the transport landing platform, and associated gas cylinders. The airbag 9 is connected to the gas cylinders, and gas is added or released into the airbag 9 through the gas cylinders to adjust buoyancy. When the long-term deep-sea mission ends and the entire system needs to be recovered, or when recovery is carried out in shallow near-shore waters, a remotely operated underwater robot first secures the lifting tow rope to the dock station's deployment hook 3. Then, the airbag 9 is inflated to provide sufficient positive buoyancy, changing the overall buoyancy of the long-term underwater dock station and supporting its autonomous ascent. This simplifies the deep-sea recovery operation process and enhances the independence and safety of the system recovery. This buoyancy adjustment mechanism can autonomously adjust the overall positive and negative buoyancy of the dock station without the need for high-pressure gas pipelines connected to the water surface.

[0044] Example 3: Energy Supply.

[0045] The system includes an energy supply module. During long-term operation on the seabed, the energy supply module is configured as follows: the seabed dock station obtains a continuous energy supply by connecting to the seabed oil and gas platform; after obtaining energy, the seabed dock station supplies operational power to the autonomous underwater vehicle (AUV) and the remotely operated underwater vehicle (ROV) via both wired and wireless methods. Specifically, the ROV obtains continuous energy from the seabed dock station via an umbilical cable connection; after docking with the hosting platform, the AUV recharges its energy wirelessly by aligning the array of wireless charging coils 4 located in the central area of ​​the hosting platform with the secondary coils at its bottom.

[0046] Example 4: Navigation and docking guidance.

[0047] The system includes a navigation and docking guidance module, configured to use a combined acoustic and optical guidance method based on distance to guide the autonomous underwater vehicle (AUV) back to its docking platform and the remotely operated underwater vehicle (ROV) back to its storage tank. During mission execution and docking, both the AUV and ROV employ a combined navigation method for global navigation.

[0048] During the docking guidance phase, for the autonomous underwater vehicle (AUV): remote positioning and guidance are provided using USBL; mid-range guidance is provided by AUV guide lights 1 positioned at the four corners of the docking platform; during close-range docking, the AUV uses an underwater camera to capture an AUV QR code guidance pattern 6 containing a QR code, calculates its precise three-dimensional pose relative to the seabed docking station, and makes attitude and trajectory adjustments to accurately land in the center of the docking platform. After landing, the AUV docking locking mechanism 2 secures the AUV to prevent displacement due to water flow disturbances.

[0049] During the docking guidance phase, for the remotely operated underwater vehicle (ROV): mid-range guidance is provided by ROV guide lights 10 positioned at the four corners of the ROV housing 11's outer frame; short-range guidance is achieved using a visual pose calculation combined with ROV QR code guidance patterns 12 above the housing. The ROV's docking is achieved through a combination of acoustic and optical guidance and manual remote control assistance, allowing it to horizontally enter the ROV housing 11. After entering the housing, the ROV's bottom is mechanically corrected and guided by ROV vertical guide columns 7 arranged in an array on the bottom plate until the final docking position is reached. Subsequently, the ROV's docking locking mechanism 8 securely locks the ROV.

[0050] Example 5: Underwater multimodal communication.

[0051] The system includes an underwater multimodal communication module for data interaction between the long-term underwater docking station and autonomous underwater vehicles (AUVs) and remotely operated underwater vehicles (ROVs). For AUVs: byte-stream data is transmitted to the long-term underwater docking station over long distances via underwater acoustic communication; after locking onto the docking platform at close range, a high-speed communication link is established between the optical communication device 5 on the docking platform and the secondary device on the AUV end, enabling high-capacity data interaction. For ROVs: high-bandwidth, low-latency bidirectional data transmission with the long-term underwater docking station is achieved throughout the entire process via their connected umbilical cable.

[0052] Example 6: Dual-model collaborative long-term operation.

[0053] With the energy and communication support of the long-term underwater docking station, autonomous underwater vehicles (AUVs) and remotely operated underwater vehicles (ROVs) collaborate to perform various underwater tasks: AUVs, using the long-term underwater docking station as their home station, perform large-scale autonomous underwater patrol and monitoring tasks, including status perception and data collection along pre-set seabed pipelines and cables; ROVs perform precision underwater operations, including manipulating underwater targets with robotic arms and inserting and removing overhead wires from seabed oil and gas platforms. Through multiple voyages and returns of AUVs and ROVs, the system completes long-term underwater operations.

[0054] The subsea long-term docking station system provided in this embodiment achieves the simultaneous and categorized storage of both autonomous underwater vehicles (AUVs) and remotely operated underwater vehicles (ROVs) through a layered structure, successfully realizing the core function of "one dock, two deployments." Through the coordination of the energy supply module, navigation and docking guidance module, underwater multimodal communication module, and buoyancy adjustment mechanism, it supports both types of vehicles to collaboratively complete large-scale patrol monitoring and refined intervention operations within the same operational system, while also ensuring the convenience and safety of the subsea long-term docking station's deployment and retrieval. The subsea long-term docking station system for autonomous and ROVs provided in this application can be applied to the marine engineering equipment industry, providing effective support for the manufacturing of diving equipment and marine mobile observation platforms.

[0055] It is understood that the various numerical designations used in the embodiments of this application are merely for the convenience of description and are not intended to limit the scope of the embodiments of this application.

[0056] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A long-term underwater docking station system for underwater autonomous and remotely operated robots, characterized in that, include: Submarine long-term docking stations, autonomous underwater vehicles, and remotely operated underwater vehicles; The underwater long-term docking station adopts a two-layer structure. The upper layer is equipped with a docking platform for autonomous underwater robots to dock, and the lower layer is equipped with a storage tank for remotely operated underwater robots to dock. The docking platform and storage tank are used to support the simultaneous docking and classified storage of autonomous underwater robots and remotely operated underwater robots, realizing the dual docking function of one dock for both autonomous and remotely operated underwater robots. The underwater long-term docking station is equipped with an energy supply module, a navigation and docking guidance module, an underwater multi-modal communication module, and a buoyancy adjustment mechanism; The energy supply module supplies power to the autonomous underwater vehicle (AUV) and remotely operated underwater vehicle (ROV), the navigation and docking guidance module guides the AUV back to the docking platform and the ROV back to the storage tank, the underwater multimodal communication module enables data interaction between the long-term docking station and the AUV and ROV, and the buoyancy adjustment mechanism assists the long-term docking station in returning to the sea surface after the long-term mission is completed.

2. The long-term underwater docking station system for underwater autonomous and remotely operated robots according to claim 1, characterized in that, The landing platform is equipped with a docking assistance mechanism and a landing locking mechanism. The docking assistance mechanism is used to assist the autonomous underwater vehicle in docking with the landing platform, and the landing locking mechanism is used to fix the autonomous underwater vehicle after it lands on the landing platform. The receiving tank is equipped with an entry guide mechanism and a dwell limiting mechanism. The entry guide mechanism is used to guide the remotely operated underwater vehicle (ROV) to enter the receiving tank, and the dwell limiting mechanism is used to lock the ROV after it reaches the docking position. The inlet guide mechanism includes multiple vertical guide columns arranged in an array on the bottom plate of the receiving tank. The vertical guide columns are used to mechanically correct and guide the bottom of the remotely operated underwater robot.

3. The long-term underwater docking station system for underwater autonomous and remotely operated robots according to claim 1, characterized in that, The buoyancy adjustment mechanism includes a transport landing rack, an airbag, and an air cylinder. The transport landing rack is located under the main frame of the long-term underwater dock station, the airbag is located inside the transport landing rack, and the airbag is connected to the air cylinder. The gas cylinder is used to inflate the gasbag to change the overall buoyancy of the long-term underwater dock station, and to support the long-term underwater dock station to rise autonomously after the gasbag is inflated to provide positive buoyancy; the top of the docking platform is equipped with a dock station deployment hook, which is used to connect the lifting towing rope during lifting deployment and recovery.

4. The long-term underwater docking station system for underwater autonomous and remotely operated robots according to claim 1, characterized in that, The energy supply module is configured as follows: the long-term underwater dock station obtains a continuous energy supply by connecting to the underwater oil and gas platform, and supplies the autonomous underwater vehicle and remotely operated underwater vehicle with operating power in both wired and wireless ways, thereby realizing the function of one dock for two types of underwater vehicles, namely autonomous and remotely operated underwater vehicles. The remotely operated underwater robot is connected to a long-term underwater docking station via an umbilical cable to obtain continuous power in a wired manner; An array of wireless charging coils is installed in the central area of ​​the accommodation platform. After the autonomous underwater vehicle (AUV) docks with the accommodation platform, the wireless charging coils are aligned with the secondary side coils on the bottom of the AUV to wirelessly replenish the AUV's energy.

5. The long-term underwater docking station system for underwater autonomous and remotely operated robots according to claim 1, characterized in that, The navigation and docking guidance module is configured to use a combined acoustic and optical guidance method based on the distance to guide the autonomous underwater vehicle back to the dwelling platform and guide the remotely operated underwater vehicle back to the containment tank. Among them, both autonomous underwater vehicles and remotely operated underwater vehicles use a combined navigation method for global navigation during mission execution and docking. The combined acoustic and optical guidance method includes long-range ultra-short baseline positioning guidance, medium-range optical guidance, and short-range visual marker pose calculation guidance.

6. The long-term underwater docking station system for underwater autonomous and remotely operated robots according to claim 5, characterized in that, The four corners of the platform are equipped with autonomous underwater vehicle (AUV) guide lights for mid-range optical guidance; the platform surface is equipped with an AUV QR code guide pattern containing a QR code for short-range visual identification and pose calculation guidance.

7. The long-term underwater docking station system for underwater autonomous and remotely operated robots according to claim 5, characterized in that, The four corners of the outer frame of the containment tank are equipped with remote-controlled underwater robot guide lights for mid-range optical guidance; the top of the containment tank is equipped with a remote-controlled underwater robot QR code guide pattern containing a QR code for short-range visual identification and pose calculation guidance.

8. The long-term underwater docking station system for underwater autonomous and remotely operated robots according to claim 1, characterized in that, The underwater multimodal communication module is configured as follows: for autonomous underwater robots, data is transmitted to the long-term docking station at sea via underwater acoustic communication over long distances; after locking onto the docking platform at close range, a communication link is established with the secondary device at the autonomous underwater robot end via the optical communication device on the docking platform to exchange data. For remotely operated underwater vehicles (ROVs), bidirectional data transmission between the ROV and the long-term underwater docking station is achieved through the umbilical cable connected to the ROV.

9. The long-term underwater docking station system for underwater autonomous and remotely operated robots according to claim 1, characterized in that, The configuration of the long-term underwater dock station is to be deployed to the target location on the seabed by a dynamically positioned vessel, and during the deployment process, a remotely controlled underwater robot will detach the dock station deployment hook from the lifting towing rope in order to complete the selection and confirmation of the seabed landing point; With the energy and communication support of the long-term underwater docking station, the autonomous underwater vehicle (AUV) performs underwater autonomous patrol and monitoring tasks, while the remotely operated underwater vehicle (ROV) performs underwater operations. The AUV and ROV work together to complete long-term underwater operations through multiple voyages and returns.

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