CN108045531A - For the underwater robot control system and method for submarine cable inspection - Google Patents

Abstract

The invention discloses an underwater robot control system and method for inspection of submarine cables. Wherein, the control system includes: a remote control part, which is located above the water surface and is responsible for issuing tasks to the underwater robot; a task control part, which is connected to the power propulsion part; Operation tasks, and path planning for the operation tasks to control the power propulsion part to implement corresponding actions to realize multi-degree-of-freedom navigation of the underwater robot; at the same time, real-time adjustment of the navigation parameters to ensure that the underwater robot successfully completes the given operation tasks.

Description

Underwater robot control system and method for submarine cable inspection

technical field

The invention belongs to the field of underwater robot control, and in particular relates to an underwater robot control system and method for inspection of submarine cables.

Background technique

Submarine cable laying is recognized as a very difficult large-scale project in the world, with large investment scale, high construction difficulty and long laying distance. At present, most submarine cables are laid by seabed burial, which is the most economical and effective way to protect the safety of submarine cables. However, the submarine cables after they are put into operation still need regular inspections to check possible problems with the submarine cable body (such as whether the cable body is exposed outside the buried ditch, corrosion and wear of the outer skin, etc.) and potential damage to the submarine cable routing area. Threats (e.g. changes in shallow seabed geology, marine sediment cover, etc.). In case of accidents such as breakage of the cable body caused by the pulling of the anchor body of the operating vessel or the fishing net, although the remote monitoring system of the submarine cable may detect the cause of the fault and provide an approximate fault location, it cannot accurately locate the fault location (the fracture may be displaced. position), and it is impossible to detect the fault site, which will seriously affect the efficiency of repairing the faulty cable. At present, the daily inspection and fault detection of submarine cables are mainly based on manual diving and visual observation. This operation method is not only poor in reliability, but also highly dangerous, and it is not suitable for deep sea operations.

In recent years, with the continuous improvement of the reliability, stability and safety of underwater robots, it has become possible to use unmanned underwater robots for submarine cable operation and maintenance inspections and fault detection. Unmanned underwater vehicle (UUV, Unmanned Underwater Vehicle), also known as unmanned underwater vehicle, is an unmanned robot system that works underwater for extreme operations. It can operate in highly dangerous environments, polluted environments, and zero visibility The water area replaces manual long-term underwater operations. Unmanned underwater vehicles are usually divided into two categories: Remote Operated Vehicle (ROV, Remote Operated Vehicle) and Autonomous Underwater Vehicle (AUV, Autonomous Underwater Vehicle). The biggest difference between them is that the ROV is connected to the surface mother ship through an umbilical cable to achieve energy supply and fast signal transmission, so the operator can see the real-time underwater images or other detection data captured by the ROV through the monitor of the surface mother ship and control the robot. However, it is limited by the umbilical cable, usually has a limited operating range and poor navigation flexibility, and is easily affected by marine vessel activities, and the robot may be damaged or lost due to cable entanglement and breakage. AUV, on the other hand, can be separated from the support of the surface mother ship. It has the advantages of independent energy, flexible maneuverability, and strong concealment. It can realize functions such as independent energy supply, decision-making navigation, and information perception. Continue to operate autonomously in the deep ocean. Therefore, AUV is more suitable for submarine cable inspection operations.

Due to the need to perform long-distance submarine cable inspections, there is currently no communication method and communication equipment that can penetrate water bodies and long-distance data transmission. Therefore, AUV needs to rely on the autonomous navigation and operation planning capabilities of its own control system in unknown oceans. Complete inspection tasks in the environment. It can be seen that the establishment of an intelligent control system is the prerequisite for the AUV to successfully complete the submarine cable inspection task.

However, due to the limitation of computer processing capacity and the requirement of modular design, the control system of most underwater robots adopts the separate design of mission controller and navigation controller, that is, the hardware is divided into two parts. Among them, the navigation controller is only responsible for real-time state control of the robot's water navigation (some endow navigation and positioning functions). However, such a design needs to solve the communication problem between the two controllers in terms of hardware design, which occupies valuable information transmission channels, increases the load burden of underwater robots, and hinders the realization of an intelligent system in software design, reducing the The autonomous operation capability of underwater robots limits its application in inspection operations.

Contents of the invention

In order to solve the deficiencies in the prior art, the first object of the present invention is to provide an underwater robot control system for submarine cable inspection, which takes autonomous underwater vehicles (AUV) as the research object, and uses long-distance submarine cable routing The operation and maintenance inspection is the operation mission, which improves the autonomous operation ability of the underwater robot and makes it meet the requirements of submarine cable operation and maintenance operations.

A kind of underwater robot control system for submarine cable inspection of the present invention comprises:

The remote control department, which is located above the water surface and is responsible for issuing operational tasks to the underwater robot; and

The task control unit is connected to the power propulsion unit; the task control unit is configured to: receive the operation tasks issued by the remote control unit, and plan the path of the operation tasks to control the power propulsion unit to implement corresponding actions, so as to realize multiple Freedom navigation; at the same time, the navigation parameters are adjusted in real time to ensure that the underwater robot can successfully complete the given task.

Further, the task controller is also connected to the task load part, and the task load part is configured to adopt a task load reconfiguration design to carry different task loads at the same body position according to the operation task.

The present invention not only reduces the size and weight of the underwater robot by adopting the reconfiguration design, but also meets the requirements of different working environments and tasks, and improves the practicability of the underwater robot inspection operation.

Further, the task load is an underwater camera, a side-scan sonar, a multi-beam sonar, a shallow stratum profiler or a magnetometer.

Among them, when equipped with an underwater camera (optical detection equipment), it can take pictures of the surface layer of the seabed, judge the buried status of the submarine cable (whether it is de-ditched or exposed), and evaluate the coverage of marine sediments.

When equipped with side-scan sonar/multi-beam sonar (acoustic detection equipment), the inspection mode of the underwater robot is similar to that of the underwater camera, and due to the long distance of sound wave propagation, the underwater robot and the seabed can be kept in touch during operation and navigation. safe distance.

When equipped with a shallow stratum profiler (acoustic detection equipment), it can display the profile of the stratum below the surface of the seabed, and judge the buried depth of the submarine cable and whether it is broken, which can meet the detection requirements of buried submarine cables.

When equipped with a magnetometer (magnetic detection equipment), the magnetic anomaly characteristics and characteristic variation rules inside the submarine cable can be obtained, and its actual operating status and whether there are defects can be determined based on this, and the status of shallow submarine cables can be judged.

Further, the power propulsion part includes a main propeller, a vertical auxiliary propeller, a horizontal auxiliary propeller, a rudder and an elevator.

Among them, the main propeller is responsible for providing navigation power and speed control capabilities for the underwater robot, and can decide whether to move forward or backward through forward and reverse rotation;

The vertical auxiliary thruster is responsible for the upward and downward movement of the underwater robot when it is at low speed or at rest;

The horizontal auxiliary thruster is responsible for the horizontal movement of the underwater robot when it is at low speed or at rest;

The rudder can change the heading angle of the underwater robot to generate steering motion;

The elevator can change the pitch angle of the underwater robot to generate upward and downward movements.

The mission control department controls the rotation of the three propeller propellers of the main propeller, vertical auxiliary propeller and horizontal auxiliary propeller in real time, and adjusts the angle of the elevator and rudder, so that the underwater robot can move forward, backward, turn left and turn right , floating, diving, fixed-point hovering, fixed-point rotation, left and right translation, any one movement or a combination of several movements, so that it has a powerful and flexible multi-degree-of-freedom navigation capability.

Further, the mission control department includes:

The job planning agent is responsible for the overall planning of the received job tasks, and realizes the mapping from job tasks to path planning; and

Mission control agent, which is responsible for scheduling management and status monitoring among various components of the system during inspection operations, timely handling discrete and emergencies, and ensuring the navigation safety of underwater robots and the smooth execution of operating tasks; and

The dynamic decision-making agent is responsible for underwater collision avoidance and other preset special situations during navigation.

Further, the task control department also includes:

An information communication agent, which is responsible for the information interaction between the underwater robot and the remote control unit; and

A state-aware agent, which is responsible for obtaining the state information of the underwater robot itself and its surrounding environment, and processing and transmitting the above state information based on the needs of other agents; and

The energy management agent is responsible for monitoring the energy storage status of the battery pack in real time.

Further, the task control department also includes:

The safety management agent is responsible for fault diagnosis of the underwater robot, danger perception for the abnormal state of the body, timely determination of emergency treatment methods, and cooperation with the mission control agent to implement self-protection measures; and

The navigation and positioning agent is responsible for the navigation and positioning of the underwater robot.

Further, the task control department also includes:

The navigation control agent adjusts the navigation parameters in real time by controlling different propellers and rudders according to the navigation control instructions determined by the task control agent, the dynamic decision-making agent and the navigation and positioning agent, so as to realize the multi-freedom of the underwater robot. degree voyage; and

The load control agent is responsible for the real-time control of the airborne task load, and collects and stores the detection data.

Further, the job planning agent also includes:

Create a digital chart module, which is configured to create a three-dimensional digital chart that reflects the route of the submarine cable and the surrounding area environment based on the routing information provided by the submarine cable laying party, as a planning basis for the underwater robot to perform inspection tasks; and

generating task task module, which is configured to perform submarine cable inspection task setting according to the digital chart, so as to generate the task task; and

The path planning module is configured to plan the optimal navigation path for the underwater robot to perform the task according to the mission requirements, marine environment, energy reserves and the carried mission load.

The second object of the present invention is to provide a control method for an underwater robot control system for inspection of submarine cables.

The control method of the underwater robot control system for submarine cable inspection of the present invention includes:

The remote control department issues tasks to the underwater robot;

The mission control department receives the operation tasks issued by the remote control department, and plans the path of the operation tasks to control the power propulsion department to implement corresponding actions, so as to realize the multi-degree-of-freedom navigation of the underwater robot; at the same time, it also adjusts the navigation parameters in real time to ensure that the underwater robot Successfully complete the given homework tasks.

Compared with prior art, the beneficial effect of the present invention is:

(1) The present invention takes the autonomous underwater vehicle (AUV) as the research object, takes the long-distance submarine cable routing operation and maintenance inspection as the mission, and simplifies the control system hardware of the underwater robot into the mission control unit, and designs a The software structure of the control system based on the multi-agent structure improves the autonomous operation ability of the underwater robot and makes it meet the requirements of submarine cable operation and maintenance.

(2) After the task control unit of the present invention accepts the operation task from the remote control platform, it completes task control behaviors such as operation planning, navigation calculation, dynamic decision-making, etc. according to the task content, operation constraints, marine operation environment and its own navigation state, and controls different propulsion The robot and rudder are used to realize multi-degree-of-freedom navigation of underwater robots, and real-time adjustments are made to navigation parameters such as speed, heading, height, and depth to ensure that underwater robots can successfully complete given tasks.

Description of drawings

The accompanying drawings constituting a part of the present application are used to provide further understanding of the present application, and the schematic embodiments and descriptions of the present application are used to explain the present application, and do not constitute improper limitations to the present application.

Fig. 1 is a structural schematic diagram of Embodiment 1 of an underwater robot control system for submarine cable inspection according to the present invention.

Fig. 2 is a structural schematic diagram of Embodiment 2 of the underwater robot control system for submarine cable inspection according to the present invention.

Fig. 3 is a schematic diagram of the intelligent body structure of the task control part of the underwater robot control system used for submarine cable inspection according to the present invention.

Fig. 4 is a flow chart of the control method of the underwater robot control system for submarine cable inspection according to the present invention.

Detailed ways

It should be pointed out that the following detailed description is exemplary and intended to provide further explanation to the present application. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

It should be noted that the terminology used here is only for describing specific implementations, and is not intended to limit the exemplary implementations according to the present application. As used herein, unless the context clearly dictates otherwise, the singular is intended to include the plural, and it should also be understood that when the terms "comprising" and/or "comprising" are used in this specification, they mean There are features, steps, operations, means, components and/or combinations thereof.

Embodiment one

Fig. 1 is a structural schematic diagram of Embodiment 1 of an underwater robot control system for submarine cable inspection according to the present invention.

As shown in Figure 1, a kind of underwater robot control system for submarine cable inspection of the present invention comprises:

The remote control department, which is located above the water surface and is responsible for issuing operational tasks to the underwater robot; and

The task control unit is connected to the power propulsion unit; the task control unit is configured to: receive the operation tasks issued by the remote control unit, and plan the path of the operation tasks to control the power propulsion unit to implement corresponding actions, so as to realize multiple Freedom navigation; at the same time, the navigation parameters are adjusted in real time to ensure that the underwater robot can successfully complete the given task.

(1) Mission Control Department

The task control part is the core control part for the underwater robot to perform the operation task. The invention transplants the navigation control function into the task control part, and realizes the centralization of the control function. The mission control department has functions such as mission decision-making, navigation control, (functional) module management, status monitoring, data collection, data processing, data transmission, and data storage.

In a specific implementation, the task control unit can be implemented by using a computer, a server or a processor.

The mission control department of the underwater robot is a mixed process system, including many functional modules and task modules, accompanied by a large number of discrete and unexpected events, which require timely information transmission, which requires real-time and concurrent control. Based on the analysis of the autonomous operation requirements of the underwater robot, the present invention adopts a multi-agent structure (Multi Agent System, MAS) based on behaviorism to design the task control part of the underwater robot, so as to adapt to the requirements of the underwater robot to perform multiple types of tasks. need.

Multi-agent control is a typical application of intelligent control technology. Structurally speaking, agents are some independent behavior modules, and each behavior module works in parallel to generate their own task instructions. Each task instruction is adjusted through a coordination algorithm to uniformly manage and schedule each agent, so that multiple agents can interact with each other. Cooperate and connect into a whole, and finally get control instructions and realize task behavior control. New task functions can be extended only by modifying individual agents without affecting the normal work of other agents. Therefore, the multi-agent structure can make the mission control system of underwater robots have self-organization and self-adaptive capabilities, and its flexibility, openness and scalability are not available in other control systems, which improves the mission control system of underwater robots. The overall intelligent level makes it easier to complete more complex tasks.

As shown in Figure 1, the task control unit of the present invention is divided into three control levels from top to bottom, namely task planning layer, coordination control layer and function execution layer, which reflect the information interaction flow between different agents.

The degree of autonomy of the three control layers increases sequentially from bottom to top, and the control tasks they are responsible for are:

(1) The task planning layer is responsible for the overall operation planning of the underwater robot based on the submarine cable inspection task, and realizes the mapping from the operation task to the path planning;

(2) The coordination and control layer is responsible for executing the instructions of the task planning layer, scheduling, managing and monitoring between functional modules and task modules, and realizing the mapping from path planning to behavior instructions;

(3) The function execution layer is responsible for realizing the mapping from behavior instructions to underwater robot execution actions.

Specifically, the mission control unit includes:

(1) Job planning agent, which is responsible for the overall planning of the received job tasks, and realizes the mapping from job tasks to path planning.

The operation planning agent also includes:

(1.1) Create a digital chart module, which is configured to create a three-dimensional digital chart that reflects the submarine cable route and the surrounding area environment based on the routing information provided by the submarine cable laying construction party, as a planning basis for the underwater robot to perform inspection tasks .

Among them, the routing information includes electronic charts, seabed topographic maps, submarine cable buried depth data, etc.

(1.2) The task generation module is configured to perform submarine cable inspection task setting according to the digital chart, so as to generate the task.

According to whether the underwater robot returns to the starting point of the mission, the inspection mode is divided into two types: origin recovery and far point recovery:

a) Origin recovery refers to taking the position where the underwater robot is deployed by the surface mother ship as the origin of the operation. At this time, the underwater robot sails above the set route inspection section and performs inspection operations. Manually set the return point or independently determine the return point according to the power reserve of the battery pack and return to the origin of the operation along the original path.

This operation mode can carry out two round-trip inspections and detections on the route inspection section, which can compensate for the deviation of the inspection path caused by the accumulated navigation errors of the underwater robot and ensure better inspection quality. However, limited to the limited power reserve of the underwater robot, the inspection distance in this inspection mode is relatively short;

b) Far-point recovery refers to setting a remote recovery point. After the surface mother ship deploys the underwater robot, it will sail to the remote recovery point and wait. At this time, the underwater robot will drive above the set route inspection section. Navigate for inspection operations, and leave the submarine cable routing area near the remote recovery point to sail to the remote recovery point, and be recovered by the surface mother ship. Since it is a one-time inspection section instead of a round-trip voyage, this operation mode can greatly increase the inspection distance of the underwater robot, and is especially suitable when equipped with acoustic detection equipment with a wide scanning range such as multi-beam sonar, so it can As the main mode of future multinational long-distance submarine cable inspection operations.

(1.3) The path planning module, which is configured to plan the optimal navigation path for the underwater robot to perform the task according to the mission requirements, marine environment, energy reserves and the carried mission load.

The purpose of path planning is to obtain a series of continuous waypoints, use them as the spatial nodes of the underwater robot task navigation, and guide it to complete the inspection task.

Since most of the submarine cable laying routes are relatively straight and gently sloped seabed terrain, the requirements for the horizontal plane path planning of underwater robot navigation are not very high, but when carrying different task loads, the vertical direction of underwater robot navigation Area path planning poses different requirements.

For example, when equipped with visual detection equipment such as underwater cameras, the underwater robot needs to sail as close to the surface of the seabed as possible (near the height of the seabed) to ensure the clarity of shooting; when equipped with sonar equipment such as side-scan sonar and shallow stratum profiler, the underwater robot It is possible to sail away from the bottom of the sea, but it is necessary to maintain a constant depth and slow speed (maintain a fixed navigation depth); when equipped with magnetic detection equipment such as a magnetometer, it is necessary to keep the underwater robot at a reasonable distance from the bottom of the sea, and consider the impact of the towed cable on its own navigation. Therefore, the path planning of underwater robots for submarine cable inspection operations is a four-dimensional space planning including two-axis coordinates, depth, and height on the horizontal plane.

(2) Task control agent, which is responsible for the dispatch management and status monitoring among the various components of the system during the inspection operation, timely handling discrete and emergency events, and ensuring the navigation safety of the underwater robot and the smooth execution of the operation tasks.

(3) Dynamic decision-making agent, which is responsible for underwater collision avoidance and other preset special situations during navigation.

Use the forward-looking sonar to detect whether the underwater robot is heading to the sea area to determine whether there is an obstacle on the navigation path. When there is an obstacle, it will independently decide the collision avoidance method (horizontal plane bypass or vertical plane bypass) according to the obstacle type, and cooperate with the operation The planning agent cooperates with online local path re-planning to make the underwater robot safe from collisions, and transmits navigation instructions such as changing speed, heading, depth, and altitude to the agents in the function execution layer. When special situations such as insufficient power reserves occur, the dynamic decision-making agent can also make reasonable decisions independently and issue mission change instructions to ensure the safety of underwater robots.

(4) The information communication agent is responsible for the information interaction between the underwater robot and the remote control unit.

The information communication agent is the window for the operation and maintenance personnel to issue operation instructions. When conducting long-distance submarine cable inspections, underwater robots cannot use underwater acoustic communication equipment to interact with the mother ship in real time, and can only use wireless communication equipment (digital transmission stations) to realize information data transmission. However, due to the obstruction of wireless communication by the water body, only when the underwater robot floats near the water surface can it realize wireless communication through the composite antenna protruding from the sea level, and transmit a small amount of key information such as mission instructions. In addition, the airborne GPS positioning receiver acquires navigation and positioning initialization information on the sea surface through wireless communication.

(5) A state-aware agent, which is responsible for obtaining the state information of the underwater robot itself and its surrounding environment, and processing and transmitting the above-mentioned state information based on the needs of other agents.

For example, the navigation attitude, speed, range, height from the seabed, and navigation depth of the underwater robot are obtained through the fiber optic compass sensor, Doppler log, altimeter, and depth gauge.

(6) Energy management agent, which is responsible for monitoring the energy storage status of the battery pack in real time.

When the energy storage is too low, a warning message is sent to the task control agent in time, so that the underwater robot can return to the voyage or float in a safe area in time, and it can also ensure the reasonable use of the battery pack to prolong the service life.

(7) The safety management agent is responsible for the fault diagnosis of the underwater robot, the danger perception of the abnormal state of the body, the timely determination of the emergency treatment method, and the implementation of self-protection measures in cooperation with the task control agent.

Among them, danger perception: such as water leakage, damage, ultra-deep, etc.

(8) Navigation and positioning agent, which is responsible for the navigation and positioning of underwater robots.

Use GPS positioning receiver and composite antenna to obtain positioning initialization information on the sea surface to realize position and time correction, and obtain underwater robot navigation status information through optical fiber compass sensor, Doppler log (DVL), altimeter, depth gauge and other sensors , and use the data fusion algorithm to calculate the underwater navigation information, and provide the control basis for the navigation control agent.

(9) Navigation control agent, which adjusts the navigation parameters in real time by controlling different propellers and rudders according to the navigation control instructions determined by the task control agent, dynamic decision-making agent, and navigation and positioning agent, so as to realize the underwater robot multi-degree-of-freedom navigation.

(10) Load control agent, which is responsible for the real-time control of the airborne task load, and collects and stores the detection data.

For example: the switch of the side-scan sonar, the angle adjustment of the underwater camera pan-tilt, etc.

(2) Power Propulsion Department

The power propulsion section includes main propeller, vertical auxiliary propeller, horizontal auxiliary propeller, rudder and elevator.

Among them, the main propeller is responsible for providing navigation power and speed control capabilities for the underwater robot, and can decide whether to move forward or backward through forward and reverse rotation;

The vertical auxiliary thruster is responsible for the upward and downward movement of the underwater robot when it is at low speed or at rest;

The horizontal auxiliary thruster is responsible for the horizontal movement of the underwater robot when it is at low speed or at rest;

The rudder can change the heading angle of the underwater robot to generate steering motion;

The elevator can change the pitch angle of the underwater robot to generate upward and downward movements.

The mission control department controls the rotation of the three propeller propellers of the main propeller, vertical auxiliary propeller and horizontal auxiliary propeller in real time, and adjusts the angle of the elevator and rudder, so that the underwater robot can move forward, backward, turn left and turn right , floating, diving, fixed-point hovering, fixed-point rotation, left and right translation, any one movement or a combination of several movements, so that it has a powerful and flexible multi-degree-of-freedom navigation capability.

Embodiment two

Fig. 2 is a structural schematic diagram of Embodiment 2 of the underwater robot control system for submarine cable inspection according to the present invention.

As shown in FIG. 2 , on the basis of the first embodiment, the underwater robot control system for submarine cable inspection in this embodiment further includes a task load unit.

The task load part is connected with the task controller, and the task load part is configured to: adopt the task load reconstruction design, and carry different task loads at the same body position according to the operation tasks.

The present invention not only reduces the size and weight of the underwater robot by adopting the reconfiguration design, but also meets the requirements of different working environments and tasks, and improves the practicability of the underwater robot inspection operation.

Specifically, the mission load is an underwater camera, side-scan sonar, multi-beam sonar, shallow formation profiler or magnetometer.

Among them, (1) when equipped with an underwater camera (optical detection equipment), it can take pictures of the surface layer of the seabed, judge the burial status of the submarine cable (whether it is de-ditched or exposed), and evaluate the coverage of marine sediments. When a submarine cable is damaged or broken, it can also detect the damage or accurately locate the break point based on the video image. However, the viewing distance of the underwater camera is affected by the transparency of the water quality. In the turbid waters, the underwater robot needs to sail close to the bottom of the sea to ensure the shooting effect, but this will affect the navigation safety of the underwater robot.

(2) When equipped with side-scan sonar/multi-beam sonar (acoustic detection equipment), the inspection operation mode of the underwater robot is similar to that when equipped with an underwater camera, and due to the long distance of sound wave propagation, the underwater robot can be operated during navigation. Keep a safe distance from the sea bottom. But this kind of equipment is expensive, and its detection data needs to be processed by professional software, which makes it difficult to distinguish, which is not as simple and intuitive as video images.

(3) When equipped with a shallow stratum profiler (acoustic detection equipment), it can display the profile of the stratum below the surface of the seabed, and judge the buried depth of the submarine cable and whether it is broken, which can meet the detection requirements of buried submarine cables . However, the data analysis of such equipment is difficult, and the later data processing workload is relatively large when conducting long-distance submarine cable inspections.

(4) When equipped with a magnetometer (magnetic detection equipment), the magnetic anomaly characteristics and characteristic changes inside the submarine cable can be obtained, and the actual operating status and whether there are defects can be determined based on this, and the submarine cable with a shallower buried depth can be inspected. Status judgment. However, the detection effect of this type of equipment is easily affected by metal deposits on the seabed, and usually cannot be installed inside the body of the underwater robot. It needs to be towed to navigate, and the towing cable will affect the navigation of the underwater robot.

It can be seen that the above-mentioned task loads (detection equipment) have their own advantages and disadvantages, so they need to be reasonably selected or used in combination according to the inspection task and the working environment.

The invention also provides a control method of the underwater robot control system used for submarine cable inspection.

Fig. 4 is a flow chart of the control method of the underwater robot control system for submarine cable inspection according to the present invention.

As shown in Figure 4, the control method of the underwater robot control system for submarine cable inspection of the present invention includes:

The remote control department issues tasks to the underwater robot;

The mission control department receives the operation tasks issued by the remote control department, and plans the path of the operation tasks to control the power propulsion department to implement corresponding actions, so as to realize the multi-degree-of-freedom navigation of the underwater robot; at the same time, it also adjusts the navigation parameters in real time to ensure that the underwater robot Successfully complete the given homework tasks.

Although the specific implementation of the present invention has been described above in conjunction with the accompanying drawings, it does not limit the protection scope of the present invention. Those skilled in the art should understand that on the basis of the technical solution of the present invention, those skilled in the art do not need to pay creative work Various modifications or variations that can be made are still within the protection scope of the present invention.

Claims (10)

1. An underwater robot control system for submarine cable inspection, characterized in that, comprising: The remote control department, which is located above the water surface and is responsible for issuing operational tasks to the underwater robot; and The task control unit is connected to the power propulsion unit; the task control unit is configured to: receive the operation tasks issued by the remote control unit, and plan the path of the operation tasks to control the power propulsion unit to implement corresponding actions, so as to realize multiple Freedom navigation; at the same time, the navigation parameters are adjusted in real time to ensure that the underwater robot can successfully complete the given task. 2. The underwater robot control system for submarine cable inspection as claimed in claim 1, wherein the task controller is also connected with the task load part, and the task load part is configured to: adopt the task load The reconfiguration design, in the same body position, carries different mission loads according to the operation tasks. 3. The underwater robot control system for submarine cable inspection as claimed in claim 2, wherein the task load is an underwater camera, side scan sonar, multi-beam sonar, shallow formation profiler or magnetic force count. 4. The underwater robot control system for submarine cable inspection according to claim 1, wherein the power propulsion unit includes a main thruster, a vertical auxiliary thruster, a horizontal auxiliary thruster, a rudder and an elevator. 5. the underwater robot control system for submarine cable inspection as claimed in claim 1, is characterized in that, described mission control part comprises: The job planning agent is responsible for the overall planning of the received job tasks, and realizes the mapping from job tasks to path planning; and Mission control agent, which is responsible for scheduling management and status monitoring among various components of the system during inspection operations, timely handling discrete and emergencies, and ensuring the navigation safety of underwater robots and the smooth execution of operating tasks; and The dynamic decision-making agent is responsible for underwater collision avoidance and other preset special situations during navigation. 6. the underwater robot control system for submarine cable inspection as claimed in claim 5, is characterized in that, described mission control part also comprises: An information communication agent, which is responsible for the information interaction between the underwater robot and the remote control unit; and A state-aware agent, which is responsible for obtaining the state information of the underwater robot itself and its surrounding environment, and processing and transmitting the above state information based on the needs of other agents; and The energy management agent is responsible for monitoring the energy storage status of the battery pack in real time. 7. the underwater robot control system that is used for submarine cable inspection as claimed in claim 5, is characterized in that, described mission control part also comprises: The safety management agent is responsible for fault diagnosis of the underwater robot, danger perception for the abnormal state of the body, timely determination of emergency treatment methods, and cooperation with the mission control agent to implement self-protection measures; and The navigation and positioning agent is responsible for the navigation and positioning of the underwater robot. 8. the underwater robot control system for submarine cable inspection as claimed in claim 7, is characterized in that, described mission control part also comprises: The navigation control agent adjusts the navigation parameters in real time by controlling different propellers and rudders according to the navigation control instructions determined by the task control agent, the dynamic decision-making agent and the navigation and positioning agent, so as to realize the multi-freedom of the underwater robot. degree voyage; and The load control agent is responsible for the real-time control of the airborne task load, and collects and stores the detection data. 9. the underwater robot control system that is used for submarine cable inspection as claimed in claim 5, is characterized in that, described operation planning intelligent body also comprises: Create a digital chart module, which is configured to create a three-dimensional digital chart that reflects the route of the submarine cable and the surrounding area environment based on the routing information provided by the submarine cable laying party, as a planning basis for the underwater robot to perform inspection tasks; and generating task task module, which is configured to perform submarine cable inspection task setting according to the digital chart, so as to generate the task task; and The path planning module is configured to plan the optimal navigation path for the underwater robot to perform the task according to the mission requirements, marine environment, energy reserves and the carried mission load. 10. A control method for an underwater robot control system for submarine cable inspection according to any one of claims 1-9, characterized in that, comprising: The remote control department issues tasks to the underwater robot; The mission control department receives the operation tasks issued by the remote control department, and plans the path of the operation tasks to control the power propulsion department to implement corresponding actions, so as to realize the multi-degree-of-freedom navigation of the underwater robot; at the same time, it also adjusts the navigation parameters in real time to ensure that the underwater robot Successfully complete the given homework tasks.