CN104369842B - Water surface auxiliary robot based on autonomous underwater vehicle and use method - Google Patents

Abstract

The invention discloses a water surface auxiliary robot based on an autonomous underwater vehicle, including a surface auxiliary device, the water surface auxiliary device is composed of an energy supply device and a wireless signal relay device that move synchronously with the autonomous underwater vehicle; the energy supply device and The wireless signal relay devices are all interconnected with the autonomous underwater vehicle through cables. Both the energy supply device and the wireless signal relay device are set on the ship-shaped robot body; the robot body is equipped with a control system, a motion system, a cable management system, a tracking navigation system and an auxiliary system; the control system is connected with the wireless signal center respectively. Relay devices and other signal connections; and through the control of wireless signal relay devices, energy supply devices, motion systems, cable management systems, tracking navigation systems and auxiliary systems, the surface auxiliary robot and autonomous underwater vehicles can be synchronized in the horizontal direction Mobile; the energy supply device is electrically connected with the wireless signal relay device and the like.

Description

Autonomous underwater vehicle-based surface assistance robot and method of use

technical field

The present invention relates to a surface robot, in particular to a surface auxiliary robot for autonomous underwater navigation and a method for using it, that is, a surface auxiliary robot based on an autonomous underwater vehicle and a method for using it.

Background technique

With the continuous deepening of human exploration of the ocean, deep-sea technology has developed rapidly, and underwater vehicles, as a tool for exploring the ocean, have become more and more widely used. According to different control methods, underwater vehicles can be divided into autonomous underwater vehicles and remote-controlled underwater vehicles. Remote-controlled underwater vehicles are underwater vehicles that work under the control of a base station. High-speed communication, and can transmit and distribute power, but limited by the length of the cable, its working range is limited; autonomous underwater vehicles carry out deep-sea operations without unmanned control, and their working range is wide, and by carrying large-capacity batteries to improve However, for autonomous underwater vehicles that work in the deep sea for a long time, there will be problems such as slow communication, discontinuous positioning, and difficulty in energy replenishment.

At present, when autonomous underwater vehicles operate in the deep sea, the communication method is mostly underwater acoustic communication, which has a slow transmission speed and a small amount of data, and basically cannot complete high-speed transmission of large amounts of data, such as high-definition video data, high-definition picture data. . Surface ships can use radio, satellite, inertial navigation system (INS), etc. for positioning and navigation, while underwater vehicles can basically only be positioned by underwater acoustic technology at the bottom, or surfaced for positioning. If the underwater acoustic positioning is adopted, the cooperation of the underwater positioning system is required, and it can only be used in local sea areas. When operating in a large area of sea area, the implementation of underwater acoustic positioning is very difficult; if the surface positioning is adopted, the underwater positioning will be greatly reduced. The efficiency of the aircraft, and the positioning is not continuous. The power supply methods of the aircraft mainly include: electromagnetic isolation charging, charging through cable plugs, and salvage to replace batteries. Electromagnetic isolation charging can carry out non-contact charging through electromagnetic induction under sea level. This charging method is convenient, but the charging time is long and the loss is large; cable plug charging has a fast charging speed, but it needs to connect the cable to the aircraft. Its operation is cumbersome; salvaging and replacing the battery can directly install a fully charged battery, but salvage and disassembly are required, and it has an adverse effect on the sealing of the autonomous underwater vehicle.

Contents of the invention

The technical problem to be solved by the present invention is to provide a water surface auxiliary robot with simple structure for autonomous underwater navigation.

In order to solve the above-mentioned technical problems, the present invention provides a surface auxiliary robot based on an autonomous underwater vehicle, including a surface auxiliary machine device arranged on the autonomous underwater vehicle; A mobile energy supply device and a wireless signal relay device; both the energy supply device and the wireless signal relay device are connected to the autonomous underwater vehicle through cables.

As an improvement to the surface auxiliary robot based on the autonomous underwater vehicle described in the present invention: the energy supply device and the wireless signal relay device are all arranged on the ship-shaped structure robot body; the robot body is provided with a control system , a motion system, a cable management system, a tracking and navigation system, and an auxiliary system; Vehicle signal connection; and by controlling the wireless signal relay device, energy supply device, motion system, cable management system, tracking navigation system and auxiliary system to realize the synchronous movement of the surface auxiliary robot and the autonomous underwater vehicle in the horizontal direction The energy supply device is electrically connected with the wireless signal relay device, control system, motion system, cable management system, tracking and navigation system, auxiliary system and autonomous underwater vehicle.

As a further improvement to the surface auxiliary robot based on the autonomous underwater vehicle described in the present invention: the wireless signal relay device includes a radio module, a satellite positioning navigation module and an optical cable communication module; the optical cable communication module communicates with the autonomous vehicle through a cable The underwater vehicle signal connection; the energy supply device is electrically connected to the autonomous underwater vehicle through a cable; the control system is connected to the radio module, the satellite positioning navigation module and the optical cable communication module; the energy supply device is connected to the control system The system, the radio module, the satellite positioning navigation module and the optical cable communication module are electrically connected.

As a further improvement to the surface auxiliary robot based on the autonomous underwater vehicle described in the present invention: the cable management system includes a cable retractor and a cable status monitor; Driven by the take-up and pay-off device, the cable is evenly wound on the reel of the take-up and pay-off device; the signal connection between the cable state monitor and the cable realizes the monitoring of the cable transmission state; Both the cable retractor and the cable state monitor are connected to the control system signal; the optical fiber wire, cable and monitoring line are integrated in the cable; the cable retractor and the cable state monitor are connected to the energy supply The device is electrically connected.

As a further improvement to the surface auxiliary robot based on the autonomous underwater vehicle described in the present invention: the motion system includes propellers and motion controllers; The propeller and the right propeller; the motion controller is respectively connected with the control system, the left propeller and the right propeller for signals; the motion controller, the left propeller and the right propeller are all electrically connected with the energy supply device.

As a further improvement to the surface auxiliary robot based on the autonomous underwater vehicle described in the present invention: the tracking navigation system includes an inertial navigation system, a hydroacoustic positioning communication module and a Doppler velocimeter; Both the positioning communication module and the Doppler speedometer are connected to the control system signal, and the inertial navigation system on the autonomous underwater vehicle is connected to the control system signal through a cable;

Both the underwater acoustic positioning communication module and the Doppler speedometer are electrically connected to the energy supply device, and the inertial navigation system is electrically connected to the energy supply device through cables.

As a further improvement to the surface auxiliary robot based on the autonomous underwater vehicle described in the present invention: the auxiliary system includes a self-diagnosis system and a weather monitor that are all connected with the control system signal; the self-diagnosis system and the weather monitor are all It is electrically connected with the energy supply device.

As a further improvement to the surface auxiliary robot based on the autonomous underwater vehicle described in the present invention: the energy supply device is composed of a main battery pack, a backup battery pack, a solar power generation module, a voltage transformer and a battery management controller Energy supply device.

As a further improvement to the surface auxiliary robot based on the autonomous underwater vehicle described in the present invention: the control system includes a control board and a control circuit; the control board controls the work of each module, and the control board integrates embedded Computers, hubs and cameras.

A water surface assistance method for an autonomous underwater vehicle: it is completed based on a surface auxiliary robot; the surface auxiliary robot obtains electric energy through an energy supply device, and transmits the electric energy to the autonomous underwater vehicle through a cable, as an autonomous underwater vehicle available energy; the surface auxiliary robot realizes the transmission and reception of wireless signals through a wireless signal relay device, and transmits them to the autonomous underwater vehicle through a cable, so that the autonomous underwater vehicle completes the communication with the surface base station through real-time wireless signal interaction Real-time signal transmission; the surface auxiliary robot actively controls the action trajectory of the surface auxiliary robot through the control system, and keeps the movement trajectory of the surface auxiliary robot and the autonomous underwater vehicle consistent in the horizontal direction.

As an improvement to the water surface assistance method of an autonomous underwater vehicle described in the present invention: the control system obtains the current navigation environment and the relative position of the autonomous underwater vehicle through a tracking navigation system and an auxiliary system; the control system According to the current navigation environment and the relative position of the autonomous underwater vehicle, the length of the cable is adjusted through the cable management system; through the energy supply device, the wireless signal relay device, control system, motion system, cable management system, and tracking The navigation system, the auxiliary system and the autonomous underwater vehicle provide energy; the energy supply device completes the energy supply by replacing the main battery pack or the spare battery pack solar power generation module to absorb solar energy and generate electricity.

In the realization process of the surface auxiliary robot based on the autonomous underwater vehicle of the present invention, on the one hand, the inertial navigation system of the autonomous underwater vehicle determines the heading information of the autonomous underwater vehicle; The auxiliary inertial navigation system determines the course information of the surface auxiliary robot; then the relative position of the autonomous underwater vehicle and the surface auxiliary robot is determined through the cooperation of the sonar communicator underwater acoustic positioning system and the sonar communicator, and the measurement error of the inertial navigation system is compensated; Monitor the real-time weather conditions on the sea surface through the weather monitor; monitor the running status of the surface auxiliary robot through the sensors of the self-diagnosis system; monitor the real-time running status of the integrated optical fiber, cable and monitoring line in the cable through the cable status monitor detection; on the other hand, while obtaining the above-mentioned robot state results, the running state control of the surface auxiliary robot is carried out: for example, the cable is retracted and retracted through the motor-controlled retracting and discharging device through the cable retractor; through the motion controller Control the motor rotation of the left propeller and the right propeller, and realize the stroke control of the surface auxiliary robot through the rotation of the motor of the left propeller and the right propeller; the position information of the surface auxiliary robot is determined by the satellite positioning and navigation module, and then the water surface is realized by the radio module. The signal transmission between the auxiliary robot and the external operating system; the control signal of the external operating system is received by the radio module, and then transmitted to the autonomous underwater vehicle through the cable.

The signal output by the autonomous underwater vehicle is first output to the surface auxiliary robot through a signal transmission stable cable, and then the surface auxiliary robot transmits the signal to the surface base station in a wireless transmission manner through the radio module; this method solves the problem of The information receiving and sending problem when the autonomous underwater vehicle sails long-distance. The energy supply device used on the surface auxiliary robot is a solar system, which provides its own energy by converting solar energy into electric energy, and also performs autonomous energy supply for autonomous underwater vehicles, increasing the endurance of autonomous underwater vehicles; The surface auxiliary robot realizes the synchronous operation with the trajectory of the autonomous underwater vehicle in the horizontal direction through the positioning system and the motion system.

Description of drawings

The specific implementation manners of the present invention will be described in further detail below in conjunction with the accompanying drawings.

Fig. 1 is a top view schematic diagram of the present invention;

Fig. 2 is a schematic bottom view of the appearance of the present invention;

Fig. 3 is a schematic diagram of the front view structure of the appearance of the present invention;

Fig. 4 is a schematic diagram of the top view structure of the present invention;

Fig. 5 is a schematic left-view structure diagram of the present invention;

6 is a schematic diagram of a wireless signal relay device of the present invention;

Fig. 7 is a schematic structural view of the cable retractor of the present invention;

Fig. 8 is a schematic diagram of a cross-sectional structure of a cable of the present invention;

Fig. 9 is a schematic diagram of the composition of the energy supply device of the present invention;

Fig. 10 is a schematic diagram of the internal system of the present invention;

Fig. 11 is a schematic diagram of cooperation between the present invention and an autonomous underwater vehicle.

detailed description

Embodiment 1, Figures 1 to 11 present a surface assistance robot based on an autonomous underwater vehicle and a method for using it. The method used overcomes the disadvantages of poor endurance and weak communication capabilities of the autonomous underwater vehicle in the prior art.

The surface auxiliary robot based on the autonomous underwater vehicle adopts a robot body 100 with a ship-shaped structure, and the ship-shaped structure enables the robot to obtain sufficient buoyancy on the water surface, so that the robot can stay still on the water surface. Corresponding positions on the robot body 100 are provided with a control system 720 , a motion system 20 , a wireless signal relay device 30 , a cable management system 40 , an energy supply device 50 , a tracking navigation system 60 and an auxiliary system 70 .

The control system 720 includes a control board and a control circuit; the control board controls the movement system 20, the wireless signal relay device 30, the cable management system 40, the energy supply device 50, the tracking navigation system 60 and the work of each module in the auxiliary system 70, and controls An embedded computer 722, a hub 723 and a camera are integrated on the motherboard.

Motion system 20 comprises propeller 200 and motion controller 210; Propeller 200 comprises motor-driven left propeller 201 and right propeller 202, as shown in Figure 2; Left propeller 201 and right propeller 202 are arranged on robot machine respectively. The left side and the right side of the lower side of the body 100; when the robot of the present invention was suspended on the water surface by the robot fuselage 100, it can be ensured that the left propeller 201 and the right propeller 202 are all below the water surface. Signal connection between motion controller 210 and control system 720 (embedded computer 722 is through hub 723 through control circuit and signal connection between motion controller 210), implements the issuing of control instructions by the embedded computer 722 of control system 720, and The motion controller 210 controls the left thruster 201 and the right thruster 202 to execute the control instruction according to a predetermined execution standard. The left propeller 201 and the right propeller 202 mainly have the following operating modes: when the left propeller 201 and the right propeller 202 rotate forward and generate the same thrust at the same time, the robot completes the straight forward motion; the left propeller 201 and the right propeller 202 forward rotation at the same time and there is a speed difference, the robot advances and has turning motion, when the positive thrust of the left propeller 201 is greater than the positive thrust of the right propeller 202, the robot turns to the right, and the positive thrust of the left propeller 201 is smaller than the right propeller 202 positive thrust, the robot turns to the left; when the left propeller 201 and the right propeller 202 reverse simultaneously and generate the same thrust, the robot completes the backward motion; the propeller can also complete the rotary motion by differential control.

The wireless signal relay device 30 is mainly to solve the problem of difficult communication and positioning of the autonomous underwater vehicle working under water. The wireless signal relay device 30 includes a radio module 300, a satellite positioning and navigation module 310, and an optical cable communication module 320, as shown in FIG. 6 . The radio module 300 includes a vertical antenna I 301 , a vertical antenna II 303 and a horizontal antenna 302 ; the vertical antenna I 301 , the vertical antenna II 303 and the horizontal antenna 302 are used in combination to send and receive electromagnetic waves. The vertical antenna I 301, the vertical antenna II 303 and the horizontal antenna 302 are all signal-processed and connected to the embedded computer 722 via the hub 723, and are connected to the control system 720 ( Embedded computers 722) cooperate with each other to complete communication and ship radio positioning functions. Satellite positioning and navigation module 310 can utilize GPS or Beidou system to carry out positioning, and communicate with base station through satellite; , the motion control of the robot can be carried out through the embedded computer 722 via the left thruster 201 and the right thruster 202 . The optical cable communication module 320 is signal-connected with the embedded computer 722 through the hub 723 through the control circuit, and the embedded computer 722 realizes the sending and receiving of data information with the autonomous underwater vehicle through the optical cable communication module 320 via the cable 420 (optical fiber).

The cable management system 40 includes a cable retractor 400, a cable status monitor 410 and a cable 420; through a cable management solution based on the cable management system 40, and according to this solution, it is ensured that the cable 420 does not affect the autonomy. The underwater vehicle should be as short as possible under the premise of normal operation. This method of binding the cable 420 to the shortest distance between the autonomous underwater vehicle and the surface assistance robot can reduce the operation of the autonomous underwater vehicle and the surface assistance robot. resistance. The cable management system 40 manages the cable through the autonomous underwater vehicle's depth data and relative position to the surface assistance robot. The cable retractor 400 is composed of a housing 401 , a servo motor 402 , a main reel 403 , a lead card 404 and a sub-reel 405 , as shown in FIG. 7 . The servo motor 402 is installed on the rotating shaft of the main drum 403 and is coaxial. The servo motor 402 directly drives the main drum 403 to rotate without variable speed; the lead card 404 and the auxiliary drum 405 work together to make the cables evenly arranged on the main drum 403 The servo motor 402 is connected to the embedded computer 722 through the control circuit through the hub 723. After the embedded computer 722 obtains the depth data of the autonomous underwater vehicle and the relative position with the surface auxiliary robot, the length of the release cable 420 is determined. The cable 420 integrates an optical fiber line 421, a cable line 422, a monitoring line 423, a filling line 424, and a protective outer layer 425. Fig. 8 is a cross-sectional view of the cable; The optical fiber line 421 and the cable line 422 , and the space between the optical fiber line 421 , the cable line 422 and the monitoring line 423 is filled with a filling line 424 . The cable state detector 410 judges whether the protective outer layer 425 of the cable 420 is damaged and the degree of damage through the detection line 423; The detector 410 sends the detection result of the cable 420 to the embedded computer 722, and the embedded computer 722 performs further operations on the detection result of the cable 420 according to the built-in program; After releasing the tension data, the tension data of the retractable cable 420 can be transmitted to the embedded computer 722, and the embedded computer 722 can realize fine adjustment of the retractable and retractable speed of the cable 420 through the servo motor 402.

The energy supply device 50 provides electric energy for the surface auxiliary robot to work, and transmits electric energy for the autonomous underwater vehicle. The energy supply device 50 includes a main battery pack 511 , a backup battery pack 512 , a solar power generation module 500 , a variable voltage regulator 520 and a battery management controller 530 , as shown in FIG. 9 . The main battery pack 511 and the spare battery pack 512 are placed inside the body 100 of the surface auxiliary robot; the solar power generation module 500 is mainly composed of solar photovoltaic panels I 501, solar photovoltaic panels II 502, solar photovoltaic panels III 503, solar photovoltaic panels IV 504, and solar photovoltaic panels V 505 It is composed of solar controller 506 and generates electricity through sunlight; the electric energy generated by solar power generation module 500 is directly sent to the main battery pack 511 through solar controller 506, and the electric energy generated by solar power generation module 500 can basically meet the needs of autonomous underwater vehicles and water surfaces. The power supply requirements for assisting robot operations; the voltage transformer 520 can perform voltage inversion, increase the transmission voltage to reduce power loss; the battery management controller 530 manages power transmission and control, and the battery management controller 530 controls the circuit through the hub 723 and The embedded computer 722 is signal connected, and the weather conditions obtained by the embedded computer 722 through the weather monitor 710 of the auxiliary system 70 optimize the use of electric energy.

The tracking and navigation system 60 is composed of an underwater acoustic positioning communication module 600 , a Doppler velocimeter 610 and an inertial navigation system 620 . The underwater acoustic positioning communication module 600 includes underwater acoustic probe I 601, underwater acoustic probe II 602, underwater acoustic probe III 603 and signal transceiver processor 604; Auxiliary communications for underwater vehicles. The signal transceiver processor 604 is respectively connected with the signals of the underwater acoustic probe I 601, the underwater acoustic probe II 602, the underwater acoustic probe III 603 and the embedded computer 722; The underwater acoustic probe Ⅲ603 sends out a communication signal;

The first way to determine the relative position of the surface auxiliary robot and the autonomous underwater vehicle is to calculate the time difference of the sound waves emitted by the autonomous underwater vehicle received by the underwater acoustic probe I601, II602 and III603. relative position;

The second method of determining the relative position of the surface-assisted robot and the autonomous underwater vehicle: the surface-assisted robot performs positioning through the inertial navigation system 620 and the Doppler velocimeter 610, and the positioning data is matched with the positioning data of the underwater vehicle for calculation. Due to the cumulative error, this method is used as an auxiliary positioning.

Assistance systems 70 include a self-diagnostic system 700 and a weather monitor 710 . The self-diagnosis system 700 integrates a temperature sensor, a humidity sensor, a Hall sensor and an acquisition card; it can obtain the working state parameters of the surface auxiliary robot, and the temperature sensor, the humidity sensor and the Hall sensor are controlled by the acquisition card through the control circuit via the hub 723 and the embedded The computer 722 is connected to the signal, and the embedded computer 722 judges the running state of the robot through the data obtained by the temperature sensor, the humidity sensor and the Hall sensor, and makes a fault judgment according to the parameter change value. The weather monitor 710 includes a weather monitor I 711, a weather monitor II 712 and a microcomputer 713; the weather monitor I 711 and the weather monitor II 712 are connected to the microcomputer 713 signal, and the microcomputer 713 passes through the weather monitor I 711 and the weather monitor II 712 Obtain current weather data, and microcomputer 713 is connected with embedded computer 722 signal through hub 723 by control circuit, and embedded computer 722 carries out the adjustment (as power supply etc.) of robot operation state by the data that microcomputer 713 obtains.

The control board 721 of the control system 720 integrates an embedded computer 722, a hub 723, a main camera 724 and a bottom camera 725, and the main camera 724 is installed under the light-transmitting glass 701; the optical lens of the bottom camera 725 is integrated with a Doppler speedometer probe 611 installed together. The bottom camera 725 and the main camera 724 are all connected to the embedded computer 722 through the control line through the hub 723; run. Fig. 10 is a schematic diagram of the combined structure of each system.

Fig. 11 is a schematic diagram of a surface auxiliary robot and an autonomous underwater vehicle in normal operation, including: a seabed 1000, an autonomous underwater vehicle 2000, a cable 3000, a sea level 4000, and a surface auxiliary robot 5000.

Finally, it should also be noted that what is listed above is only a specific embodiment of the present invention. Obviously, the present invention is not limited to the above embodiments, and many variations are possible. All deformations that can be directly derived or associated by those skilled in the art from the content disclosed in the present invention should be considered as the protection scope of the present invention.

Claims (10)

1. A water surface auxiliary robot based on an autonomous underwater vehicle, including a surface auxiliary machine device arranged on the autonomous underwater vehicle; it is characterized in that: the water surface auxiliary machine device includes an energy supply that moves synchronously with the autonomous underwater vehicle devices and wireless signal relay devices; Both the energy supply device and the wireless signal relay device are connected to each other with the autonomous underwater vehicle through cables; Both the energy supply device and the wireless signal relay device are arranged on the ship-shaped structure robot body; The body of the robot is provided with a control system, a motion system, a cable management system, a tracking navigation system and an auxiliary system; The control system is respectively connected with the wireless signal relay device, the energy supply device, the motion system, the cable management system, the tracking navigation system, the auxiliary system and the autonomous underwater vehicle signal; and through the control of the wireless signal relay device, the energy supply The device, the motion system, the cable management system, the tracking navigation system and the auxiliary system realize the synchronous movement of the surface assisting robot and the autonomous underwater vehicle in the horizontal direction; The energy supply device is respectively electrically connected with the wireless signal relay device, the control system, the motion system, the cable management system, the tracking and navigation system, the auxiliary system and the autonomous underwater vehicle. 2. The surface auxiliary robot based on the autonomous underwater vehicle according to claim 1, wherein the wireless signal relay device includes a radio module, a satellite positioning and navigation module and an optical cable communication module; The optical cable communication module is signal-connected to the autonomous underwater vehicle through a cable; The energy supply device is electrically connected to the autonomous underwater vehicle through a cable; The control system is signal-connected with the radio module, the satellite positioning navigation module and the optical cable communication module; The energy supply device is electrically connected with the control system, the radio module, the satellite positioning and navigation module and the optical cable communication module. 3. The surface auxiliary robot based on autonomous underwater vehicle according to claim 2, wherein the cable management system includes a cable retractor and a cable status monitor; The cable take-up and release device is a take-up and take-off device driven by a motor, and the cable is evenly wound on the reel of the take-up and take-off device; The signal connection between the cable state monitor and the cable realizes the monitoring of the cable transmission state; Both the cable retractor and the cable state monitor are connected to the control system signal; Optical fiber wires, cable wires and monitoring wires are integrated in the cables; Both the cable retractor and the cable state monitor are electrically connected to the energy supply device. 4. The water surface auxiliary robot based on the autonomous underwater vehicle according to claim 3, wherein the motion system includes a propeller and a motion controller; The propeller includes a left propeller and a right propeller respectively arranged on the left and right sides of the robot fuselage; The motion controller is respectively connected with the control system, the left propeller and the right propeller for signals; The motion controller, the left thruster and the right thruster are all electrically connected with the energy supply device. 5. The surface auxiliary robot based on the autonomous underwater vehicle according to claim 4, wherein the tracking navigation system includes an inertial navigation system, an underwater acoustic positioning communication module and a Doppler velocimeter; The inertial navigation system, the underwater acoustic positioning communication module and the Doppler velocimeter are all connected to the control system signal, and the inertial navigation system on the autonomous underwater vehicle is connected to the control system signal through a cable; Both the underwater acoustic positioning communication module and the Doppler speedometer are electrically connected to the energy supply device, and the inertial navigation system is electrically connected to the energy supply device through cables. 6. The surface auxiliary robot based on the autonomous underwater vehicle according to claim 5, characterized in that: the auxiliary system includes a self-diagnostic system and a weather monitor that are all connected with the control system signal; Both the self-diagnosis system and the weather monitor are electrically connected to the energy supply device. 7. The water surface auxiliary robot based on autonomous underwater vehicle according to claim 6, characterized in that: said energy supply device is a main battery pack, a backup battery pack, a solar power generation module, a voltage transformer regulator and a battery management An energy supply device composed of a controller. 8. The surface auxiliary robot based on the autonomous underwater vehicle according to claim 7, wherein the control system includes a control board and a control circuit; The control main board controls the work of each module, and an embedded computer, a hub and a camera are integrated on the control main board. 9. A water surface assistance method for an autonomous underwater vehicle, characterized in that: it is completed based on a water surface assistance robot; The surface auxiliary robot obtains electrical energy through an energy supply device, and transmits the electrical energy to the autonomous underwater vehicle through a cable, as an available energy source for the autonomous underwater vehicle; The surface auxiliary robot realizes the transmission and reception of wireless signals through the wireless signal relay device, and transmits them to the autonomous underwater vehicle through cables, so that the autonomous underwater vehicle completes the real-time signal transmission with the surface base station through real-time wireless signal interaction; The surface assisting robot actively controls the action trajectory of the surface assisting robot through the control system, and keeps the movement trajectory of the surface assisting robot and the autonomous underwater vehicle consistent in the horizontal direction. 10. The surface assistance method of an autonomous underwater vehicle according to claim 9, wherein the control system obtains the current navigation environment and the relative position of the autonomous underwater vehicle through a tracking navigation system and an auxiliary system ; The control system adjusts the length of the cable through the cable management system according to the current navigation environment and the relative position of the autonomous underwater vehicle; Provide energy to wireless signal relay devices, control systems, motion systems, cable management systems, tracking and navigation systems, auxiliary systems and autonomous underwater vehicles through energy supply devices; The energy supply device completes the energy supply by replacing the main battery pack or the spare battery pack, and generating electricity after the solar power generation module absorbs solar energy.