CN110510084B - A full-sea deep composite exploration vehicle and its application method - Google Patents

Abstract

The invention relates to the technical field of full sea depth detection equipment, in particular to a full sea depth composite detection vehicle and a use method thereof. The invention not only reduces the cost and improves the efficiency, but also realizes the clustering scientific investigation operation in the true sense in a novel full sea depth detection mode of 'one-diving-multiple-function'.

Description

A full-sea deep composite exploration vehicle and its use method

technical field

The invention relates to the technical field of full-sea depth detection equipment, in particular to a full-sea depth composite detection vehicle and a method for using the same.

Background technique

With the continuous advancement of science and technology, the investment cost of scientific and technological research and development is also getting higher and higher. A very important goal of research and development in many scientific research fields is how to reduce costs and improve efficiency. For example, in the field of rockets, "a The new launch mode of "multiple arrows and multiple satellites" has gradually replaced the traditional "one arrow, one satellite" mode. This method makes full use of the rocket's carrying capacity, reduces the cost of satellite launches, and realizes the goal of clustered and coordinated operations in space. Improve the efficiency of space development and utilization.

For the technical field of deep-sea exploration equipment, researchers from various countries have continuously developed new deep-sea detection equipment, such as manned submersibles, unmanned submersibles, and deep-sea landers. Overcoming the difficulties of full-sea deep pressure and full-sea deep communication has also led to a huge investment in the research and development of these full-sea deep detection equipment. However, at present, all kinds of full-sea deep detection equipment at home and abroad basically adopt a single-type launch operation inspection method, lacking clusters. The research on collaborative scientific expeditions has led to high research and development costs, low work efficiency, and insufficiently systematic scientific expedition content for the current deep-sea scientific expedition equipment.

Contents of the invention

The object of the present invention is to provide a full-sea deep compound exploration vehicle and its use method. The exploration vehicle body is combined with the escort robot to effectively reduce the detection cost, and the escort robot is detached from the exploration vehicle body and placed on the exploration vehicle body. Cluster detection and collaborative operations within a certain range around it not only improve detection efficiency, but also realize cluster scientific research operations in the true sense.

The purpose of the present invention is achieved through the following technical solutions:

An all-sea-deep composite exploration vehicle, comprising a vehicle body and an accompanying robot, the vehicle body of the exploration vehicle is provided with an accompanying robot, and a mechanical limit assembly and an electromagnetic limit assembly are provided between the escort robot and the vehicle body , the mechanical limit assembly includes a connection block, a connection seat and a fall-off positioning pin, the connection block is fixed on the escort robot, the connection seat is fixed on the body of the probe car, and the fall-off positioning pin includes a positioning pin connected with a pull rope The buckle and the positioning main shaft with a spring are installed, the connecting block and the connecting seat are connected through the positioning main shaft, and the positioning main shaft is limited by the positioning buckle and compresses the spring, and the positioning buckle passes through the positioning The electromagnetic limit assembly includes a limit electromagnet, a dump ballast iron, and a load electromagnet. The limit electromagnet is fixed on the body of the probe car, and the drop electromagnet is fixed on the escort robot. above, and the limit electromagnet and the dumping electromagnet are adsorbed on both sides of the dumping ballast iron; the body of the probe car is provided with a positioning beacon, and the escort robot is provided with an underwater acoustic positioning device; the escort The robot is provided with a horizontal thruster and a vertical thruster.

The fall-off positioning pin is provided with a positioning pin housing, and the positioning spindle is inserted into the positioning pin housing, and the positioning shaft end of the front end of the positioning spindle protrudes out of the positioning pin housing and is inserted through the corresponding connecting seat. To the corresponding connecting block, a spring is sheathed on the positioning shaft end in the positioning pin housing, and a positioning buckle is provided at the end of the positioning pin housing away from the positioning shaft end.

The accompanying robot includes a navigation carrier, a horizontal propeller and a vertical propeller, the front end of the navigation carrier is provided with a front cover, and the front cover is provided with a lighting lamp and a camera, and a vertical propeller is provided at the center of gravity of the navigation carrier , the rear part of the navigation carrier is provided with a battery, the rear end of the navigation carrier is provided with an empennage, and both sides of the empennage are provided with horizontal propellers, the end of the empennage is provided with a CTD sensor, and the interior of the navigation carrier is provided with There is a control module.

A support frame is provided on the outside of the navigation carrier, and the support frame includes support rings at both ends of the navigation carrier and a plurality of support rods between the two support rings. The outside of the frame and the gap of the navigation carrier are filled with buoyancy materials.

The front end cover is a vacuum glass sphere, and the rear part of the navigation carrier is provided with a battery compartment for accommodating batteries, and the battery compartment is provided with an openable and closable battery compartment cover.

The vehicle body of the probe vehicle includes a vehicle body frame, a vehicle body buoyancy material and a walking track, wherein both sides of the vehicle body frame are provided with a walking track, and the upper side of the vehicle body frame is provided with a vehicle body buoyancy material, and the vehicle body buoyancy material There is an escort robot on the upper side.

The vehicle body frame is provided with a walking driving device, and the output shafts of the walking driving device are fixedly connected to the driving wheels of the walking crawlers on the corresponding side through couplings.

Both the accompanying robot and the probe car body are provided with a water surface positioning recovery assembly, which includes an iridium star beacon, a flag and a strobe light.

The car body of the probe car is provided with a car body frame, and a primary ballast assembly and a secondary ballast assembly are arranged in the car body frame, the primary ballast assembly is arranged at the front of the car body frame, and the two The first-stage ballast assembly is arranged at the rear end of the car body frame, the first-stage ballast assembly includes a first-stage electromagnet and a first-stage ballast iron, and the second-stage ballast assembly includes a second-stage electromagnet and a second-stage ballast iron.

A method of using the full-sea deep compound exploration vehicle, comprising:

1. The body of the probe car and the accompanying robot are placed on the sea surface, and the positioning buckle on the falling off positioning pin is pulled by pulling the pull rope, so that the positioning spindle on the falling off positioning pin is separated from the connecting block and the connecting seat, and the mechanical limit assembly Lift the limit;

2. The escort robot dives without power under the action of gravity along with the rover body;

3. When landing on the seabed, the first-level electromagnet in the body of the rover will act to discard the first-level ballast iron;

4. After landing on the seabed, the limit electromagnet in the electromagnetic limit component moves to release the electromagnetic limit, and the vertical thruster and horizontal thruster on the escort robot are activated, so that the escort robot is separated from the probe vehicle body;

5. During seabed detection, the positioning beacon on the vehicle body of the exploration vehicle emits an underwater acoustic signal to the underwater acoustic positioning device of the accompanying robot, so that the accompanying robot can judge its position relative to the vehicle body by receiving the acoustic signal from the positioning beacon , and adjust and control its own working range through horizontal propellers and vertical propellers to realize cluster detection and collaborative operations;

6. After the detection is completed, the dumping electromagnet on the escort robot acts to discard the ballast iron, and the tail of the escort robot lifts up without power to float to the water surface. Carrying iron, the tail of the probe car body is tilted and floated to the water surface without power;

7. After the body of the rover and the accompanying robot are exposed to the water, the scientific research mother ship approaches and recovers the body of the rover and the accompanying robot.

Advantage of the present invention and positive effect are:

1. The present invention combines the body of the probe vehicle with the escort robot, and the escort robot follows the body of the probe vehicle to dive without power, saving its own load during the dive process. After landing, the escort robot detaches from the body of the probe vehicle and detects Cluster detection and collaborative operations within a certain range around the vehicle body not only greatly improve the detection efficiency, but also the new full-sea deep detection mode of "one potential and multiple capabilities" realizes clustered scientific research operations in the true sense.

2. In the present invention, a mechanical limit assembly and an electromagnetic limit assembly are provided between the probe car body and the escort robot, wherein the mechanical limit method with the falling positioning pin as the main core component realizes the hard limit function of the escort robot, which can To overcome the violent swing during the deployment process on the water surface, and without the need for divers to launch and take off the pin, the electromagnetic limit method with dump electromagnet, dump ballast iron and limit electromagnet as the core components realizes the soft limit of the escort robot Function, to ensure stable positioning and convenient release of the limit, providing a reliable guarantee for the present invention to realize the "one-dive, multi-functional" diving method.

3. The car body of the probe car of the present invention is equipped with a primary electromagnet and a secondary electromagnet, and releases the corresponding ballast iron adsorption at different stages to complete the safe landing and floating of the car body. In addition, the escort robot passes the limit electromagnet and The dumping electromagnet releases the adsorption of the dumping ballast iron at different stages to complete its own detachment from the probe car body and the dumping and floating action, creating a new type of full-body with a "composite-detachment-floating" mode. Deep sea exploration equipment.

4. The vehicle body of the probe vehicle of the present invention has a stable crawler-type mobile chassis, has strong adaptability and operation ability to the complex environment of the seabed, and provides a stable and reliable carrier for the accompanying robot.

5. The escort robot of the present invention is provided with a vertical thruster and a horizontal thruster, wherein the vertical thruster is installed at the center of gravity of the escort robot to complete the upward and downward movements of the escort robot, and the horizontal thrusters are arranged on both sides of the tail of the escort robot to complete The horizontal movement of the escort robot can realize forward, backward and turning actions, and its multi-degree-of-freedom movement provides a strong guarantee for the escort robot to realize clustered collaborative scientific research.

6. The present invention can complete the functions of cluster detection and collaborative operation. The camera, lighting and CTD sensor carried by the escort robot itself can not only detect and inspect the surrounding environment of the landing vehicle, but also detect the surrounding environment of the landing vehicle. The working status of the car body can be observed and monitored. The video information taken by the accompanying robot can be used as more systematic scientific research data for the scientific research personnel. The car performs a series of control operations, which can realize the comprehensive and systematic detection, inspection and sampling of a certain area.

7. The vehicle body of the probe vehicle and the accompanying robot of the present invention use iridium star beacons, flags and strobe lights as the water surface search and positioning system, and the position information sent by the iridium star beacon determines where the vehicle body of the probe vehicle and the accompanying robot emerge from the water surface. Combined with the position prompt function of the flag and strobe light in day and night, it can ensure the search and smooth recovery of the probe car body and escort robot, and reduce the loss of funds in the scientific research process.

8. The escort robot of the present invention obtains its own coordinate position relative to the vehicle body by receiving the underwater acoustic signal from the vehicle body, and controls itself to complete the group detection and collaborative operation of the full-depth composite detection vehicle within a certain range Its underwater acoustic positioning technology overcomes the winding problem of traditional cables, and at the same time increases the operating range of the swarm expedition to a certain extent. It is an innovative submarine swarm operation method.

Description of drawings

Fig. 1 is the appearance schematic diagram of the present invention,

Fig. 2 is a schematic diagram of the escort robot in Fig. 1,

Fig. 3 is a schematic diagram of the internal structure of the escort robot in Fig. 2,

Fig. 4 is a schematic structural diagram of the fall-off positioning pin in Fig. 1,

Fig. 5 is a schematic diagram of the internal structure of the car body frame in Fig. 1,

Fig. 6 is a schematic diagram of the workflow of the present invention.

Among them, 1 is the walking track, 2 is the buoyancy material of the car body, 201 is the positioning beacon, 3 is the escort robot, 301 is the front cover, 302 is the support ring, 303 is the support rod, 304 is the buoyancy material, 305 is the vertical thruster , 3051 is the vertical thruster bracket, 306 is the horizontal thruster, 3061 is the horizontal thruster bracket, 307 is the installation bracket, 308 is the Iridium beacon, 309 is the flag, 310 is the strobe light, 311 is the empennage, 312 is Battery, 3121 is the battery compartment cover, 313 is the lighting lamp, 314 is the camera, 315 is the CTD sensor, 316 is the underwater acoustic positioning device, 317 is the mounting seat, 4 is the mechanical limit component, 401 is the positioning buckle, 402 is Positioning pin housing, 403 is the positioning main shaft, 4031 is the positioning shaft end, 404 is the spring, 405 is the connecting block, 406 is the connecting seat, 5 is the car body frame, 501 is the first-class electromagnet, 502 is the first-class ballast iron , 503 is a primary electromagnet support, 504 is a walking drive device, 505 is a secondary ballast iron, and 506 is a secondary electromagnet support. 507 is a secondary electromagnet, 508 is a shaft coupling, 6 is an electromagnetic limit assembly, 601 is a limit electromagnet, 602 is a dump ballast iron, and 603 is a load dump electromagnet.

Detailed ways

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

As shown in Figures 1 to 6, the present invention includes a probe vehicle body and an accompanying robot 3. As shown in Figure 1, the probe vehicle body includes a vehicle body frame 5, a vehicle body buoyancy material 2 and a walking track 1, wherein the vehicle The two sides of the body frame 5 are provided with walking crawlers 1, the upper side of the car body frame 5 is provided with a car body buoyancy material 2, and an escort robot 3 is arranged on the upper side of the car body buoyancy material 2, and the escort robot 3 and the car body A mechanical limit assembly 4 and an electromagnetic limit assembly 6 are arranged between the buoyancy members 2, as shown in Figure 2 and Figure 4, the mechanical limit assembly 4 includes a connecting block 405, a connecting seat 406 and a fall-off positioning device with a pull cord. The connecting block 405 is fixed on the accompanying robot 3, and the connecting seat 406 is fixed on the car body buoyancy material 2. The connecting block 405 and the connecting seat 406 are connected through the falling positioning pin, and the falling positioning pin passes through Pull the stay rope to release the limit, as shown in Figure 3, the electromagnetic limit assembly 6 includes a limit electromagnet 601, a dump ballast iron 602 and a load dump electromagnet 603, and the limit electromagnet 601 is fixed on the On the buoyancy material 2 of the car body, the dumping electromagnet 603 is fixedly installed on the escort robot 3, and the limit electromagnet 601 and the dumping electromagnet 603 are adsorbed on both sides of the dumping ballast iron 602, thereby realizing the connection between the escort robot 3 and the vehicle. The body buoyancy material 2 is connected, when the limit electromagnet 601 is powered off, the limit is released, and the dumping ballast iron 602 is no longer adsorbed, the escort robot 3 is separated from the probe car body, and when the dumping electromagnet 603 is powered off Immediately discard the ballast iron 602 to make the accompanying robot 3 float. The vehicle body buoyancy material 2, the limit electromagnet 601 and the dump electromagnet 603 are all known technologies in the art.

As shown in Figure 4, the falling off positioning pin includes a positioning main shaft 403, a positioning buckle 401 and a positioning pin housing 402, the positioning main shaft 403 is inserted on the positioning pin housing 402, and the positioning shaft end 4031 at the front end of the positioning main shaft 403 Stretch out of the positioning pin housing 402, and pass through the corresponding connecting seat 406 and then insert into the corresponding connecting block 405 to realize the limit. The positioning shaft end 4031 in the positioning pin housing 402 is sleeved with a spring 404, A positioning buckle 401 is provided at the end of the positioning pin housing 402 away from the positioning shaft end 4031, and the main body of the positioning main shaft 403 is clamped and limited by the positioning buckle 401 and compresses the spring 404. In the embodiment, the positioning buckle 401 is hinged with the positioning pin housing 402 and a torsion spring is arranged on the hinge shaft to ensure that the positioning buckle 401 presses the positioning main shaft 403, and the positioning buckle 401 is connected with a pull When the limit is released, the positioning buckle 401 is rotated by pulling the pull cord to no longer limit the positioning main shaft 403, and the positioning main shaft 403 moves under the action of the spring 404 and the positioning shaft end 4031 at the front end exits the The block 405 is connected to the seat 406, thereby releasing the limit.

As shown in Figures 2 to 3, the accompanying robot 3 includes a navigation carrier, a horizontal thruster 306 and a vertical thruster 305. The front end of the navigation carrier is provided with a front-end cover 301 made of vacuum glass spheres, and the front-end cover 301 is equipped with There is a mounting seat 317, an illuminating lamp 313 and a camera 314 are arranged at the end of the mounting seat 317, a vertical propeller 305 and a vertical propeller bracket 3051 are provided at the center of gravity of the navigation carrier, and the vertical propeller 305 is installed on the On the vertical thruster bracket 3051, a battery compartment for accommodating the battery 312 is provided in the rear of the navigation carrier, and the battery compartment is provided with a battery compartment cover 3121 that can be opened and closed, and a battery compartment is provided at the rear of the navigation carrier. Empennage 311, horizontal propeller brackets 3061 are provided on both sides of said empennage 311, horizontal propellers 306 are all arranged on each horizontal propeller bracket 3061, CTD sensors are arranged at the end of said empennage 311, and said navigation The connection between the carrier and the empennage 311 is provided with a mounting bracket 307, and the mounting bracket 307 is provided with a water surface positioning recovery assembly. In this embodiment, the water surface positioning recovery assembly includes an iridium star beacon 308, a flag 309 and a strobe Light 310, when the escort robot 3 surfaced to the water surface, the scientific research personnel combine the information sent by the iridium star beacon 308 and the eye-catching position information of the flag 309 and the strobe light 310 to prompt to quickly search and recover the equipment. The horizontal thruster 306, the vertical thruster 305, the illuminating lamp 313, the camera 314, the CTD sensor, the iridium star beacon 308, the flag 309, and the strobe light 310 are all technologies known in the art.

A support frame is provided on the outside of the navigation carrier, the support frame includes support rings 302 at both ends of the navigation carrier and a plurality of support rods 303 between the two support rings 302, and the horizontal propeller bracket 3061 is installed on the support of the tail On the ring 302, a control module is provided inside the navigation vehicle to control the propellers and electronic components mentioned above, and the outside of the frame and the gap of the navigation vehicle are filled with buoyancy materials 304 to ensure buoyancy. Both the control module and the buoyancy material 304 in the navigation vehicle are well-known technologies in the art.

As shown in Figures 1 and 3, a positioning beacon 201 is provided on the upper side of the vehicle body buoyancy material 2, and an underwater acoustic positioning device 316 is provided on the lower side of the front part of the accompanying robot 3, and the accompanying robot 3 is separated from the vehicle body. Finally, during the scientific research operation and site transfer process, the probe vehicle body will transmit an underwater acoustic signal to the underwater acoustic positioning device 316 of the escort robot 3 through the positioning beacon 201, and the escort robot 3 judges its relative position through the high-speed underwater acoustic signal. The location of the probe vehicle body ensures that multiple escort robots 3 can complete the tasks of full-sea deep cluster detection and collaborative operations within a certain range. The underwater acoustic positioning device 316 and the positioning beacon 201 are well-known technologies in the art and are commercially available products.

As shown in Figure 5, a primary ballast assembly and a secondary ballast assembly are provided in the vehicle body frame 5, the primary ballast assembly is arranged at the front of the vehicle body frame 5, and the secondary ballast assembly Set at the rear end of the vehicle body frame 5, the primary ballast assembly includes a primary electromagnet 501 and a primary ballast iron 502, and the primary electromagnet 501 discards the primary ballast iron 502 when the vehicle body lands on the seabed, so The secondary ballast assembly includes a secondary electromagnet 507 and a secondary ballast iron 505, and the secondary electromagnet 507 discards the secondary ballast iron 505 when the car body floats up, and the front part of the car body frame 5 is provided with a primary electromagnet Iron support 503, primary electromagnet 501 is installed on described primary electromagnet support 503, described vehicle body frame 5 rear end is provided with secondary electromagnet support 506, secondary electromagnet 507 is installed in described secondary electromagnet Iron bracket 506. In addition, a plurality of electronic components for detection are provided in the vehicle body frame 5, and a sampling basket and a manipulator for sampling are arranged at the front end of the vehicle body frame 5. The electronic components for detection, the basket and the manipulator are all It is a well-known technology in the art.

As shown in Figure 5, two traveling drive devices 504 are arranged in the vehicle body frame 5, and the output shafts of the two traveling drive devices 504 are respectively connected to the driving wheels of the traveling crawler belt 1 on the corresponding side through a coupling 508. Fixed connection, so as to drive the body of the probe vehicle to walk.

As shown in FIG. 1 , the rear end of the vehicle body buoyancy material 2 of the probe vehicle body is also provided with a water surface positioning recovery assembly, which includes an iridium star beacon 308 , a flag 309 and a strobe light 310 .

As shown in FIG. 1 , in this embodiment, two accompanying robots 3 are provided on the buoyancy material 2 of the car body.

Working principle of the present invention is:

As shown in Figure 6, when the present invention is working, firstly, the operator deploys the present invention on the sea surface through the deployment system on the mother ship, and the scientific research personnel pull the positioning buckle 401 through the pull rope to release the detection vehicle body and The mechanical limit between the escort robots 3 and the fall-off positioning pins are recovered, and the escort robot 3 will follow the probe car body to dive under the action of gravity without power.

When the present invention approaches a certain height on the seabed, the control unit sends a signal to control the first-stage electromagnet 501 in the car body frame 5 to act and discard the first-stage ballast iron 502, the negative buoyancy of the probe car body itself is reduced, and the landing is slowly completed.

When the present invention landed and began to work, the limit electromagnet 601 action in the electromagnetic limit assembly 6 released the electromagnetic limit, and the control module in the accompanying robot 3 sent a control signal to coordinate the work of the vertical thruster 305 and the horizontal thruster 306, so that The detachment of each accompanying robot 3 and the vehicle body of the probe vehicle.

After the escort robot 3 is separated from the probe vehicle body, the probe vehicle body will transmit an underwater acoustic signal to the underwater acoustic positioning device 316 of the escort robot 3 through the positioning beacon 201 during its own scientific research operations and site transfer. 3 Judging the coordinate position of itself relative to the body of the probe vehicle through the underwater acoustic signal, and adjusting and controlling itself through the horizontal thruster 306 and the vertical thruster 305 to carry out cluster detection and cooperative operations within a certain range, and at the same time can work on the body of the probe vehicle The video screen is monitored on site, and the video information is stored in time.

When all tasks are completed, the electromagnet 603 on the accompanying robot 3 acts to discard the ballast iron 602 to increase its own positive buoyancy. At this time, the tail of the accompanying robot 3 is tilted and has no power to float to the water surface. Car body rear end secondary electromagnet 507 action abandons secondary ballast iron 505, to increase the positive buoyancy of car body self.

After the body of the probe vehicle and the accompanying robot 3 surfaced, the operators on the scientific expedition mothership searched for the geographic location information sent by the Iridium beacon 308 on each device to determine the position where each device emerged from the water, and combined with the device itself The eye-catching position prompt function of the flag 309 and the strobe light 310 can approach and recover the probe car body and the accompanying robot 3 quickly.

Claims (8)

1. A method for using a full-sea-depth composite exploration vehicle, characterized in that: the full-sea-depth composite detection vehicle includes a vehicle body and an accompanying robot (3), and the vehicle body is provided with an accompanying robot (3) , and a mechanical limit assembly (4) and an electromagnetic limit assembly (6) are provided between the accompanying robot (3) and the probe car body, the mechanical limit assembly (4) includes a connecting block (405), a connecting seat (406) and fall off locating pin, connecting block (405) is fixed on the accompanying robot (3), and connecting seat (406) is fixed on the car body of probe car, and described falling off locating pin comprises the locating card that links to each other with stay rope The buckle (401) and the positioning main shaft (403) with the spring (404) sleeved, the connecting block (405) and the connecting seat (406) are connected through the positioning main shaft (403), and the positioning main shaft (403) passes through The positioning buckle (401) limits and compresses the spring (404), the positioning buckle (401) is pulled by the pull cord, and the electromagnetic limit assembly (6) includes a limit electromagnet (601 ), the dumping ballast iron (602) and the dumping electromagnet (603), the limit electromagnet (601) is fixed on the body of the probe car, and the dumping electromagnet (603) is fixed on the escort robot (3) on, and the limit electromagnet (601) and the dumping electromagnet (603) are adsorbed on both sides of the dumping ballast iron (602); the body of the detection vehicle is provided with a positioning beacon (201), and the escort The robot (3) is provided with a hydroacoustic positioning device (316); the accompanying robot (3) is provided with a horizontal thruster (306) and a vertical thruster (305); the probe car body is provided with a body frame ( 5), and the vehicle body frame (5) is provided with a primary ballast assembly and a secondary ballast assembly, the primary ballast assembly is arranged at the front of the vehicle body frame (5), and the secondary ballast assembly The components are arranged at the rear end of the car body frame (5), the primary ballast assembly includes a primary electromagnet (501) and a primary ballast iron (502), and the secondary ballast assembly includes a secondary electromagnet ( 507) and secondary ballast iron (505); The method for using the full-sea deep composite exploration vehicle comprises the following steps: 1. The body of the probe vehicle and the accompanying robot (3) are placed on the sea surface, and the positioning buckle (401) on the falling positioning pin is pulled by pulling the pull rope, so that the positioning spindle (403) on the falling positioning pin is separated from the connection Block (405) and connection seat (406), mechanical limit assembly (4) release limit; 2. The escort robot (3) dives with the body of the probe vehicle under the action of gravity without power; 3. When landing on the seabed, the first-level electromagnet (501) in the vehicle body of the exploration vehicle acts to discard the first-level ballast iron (502); 4. After landing on the seabed, the limit electromagnet (601) in the electromagnetic limit assembly (6) moves to release the electromagnetic limit, and the vertical thruster (305) and horizontal thruster (306) on the escort robot (3) start , so that the escort robot (3) is separated from the probe car body; 5. During seabed detection, the positioning beacon (201) on the vehicle body of the exploration vehicle emits an underwater acoustic signal to the underwater acoustic positioning device (316) of the accompanying robot (3), so that the accompanying robot (3) can receive signals from the positioning beacon. The acoustic signal of (201) judges the position of itself relative to the vehicle body of the probe vehicle, and adjusts and controls the working range of itself through the horizontal thruster (306) and the vertical thruster (305), so as to realize cluster detection and cooperative operation; 6. After the detection is completed, the throwing electromagnet (603) on the escort robot (3) moves to discard the ballast iron (602), and the tail of the escort robot (3) rises to the water surface without power, and at the same time detects the vehicle The action of the secondary electromagnet (507) at the rear end of the body discards the secondary ballast iron (505), and the tail of the vehicle body is tilted and floated to the water surface without power; 7. After the probe vehicle body and the accompanying robot (3) are exposed to the water surface, the scientific research mother ship approaches and recovers the probe vehicle body and the accompanying robot (3). 2. The method of using the full-sea deep compound exploration vehicle according to claim 1, characterized in that: the falling off positioning pin is provided with a positioning pin housing (402), and the positioning spindle (403) is inserted into the positioning pin. on the pin housing (402), and the positioning shaft end (4031) at the front end of the positioning spindle (403) protrudes out of the positioning pin housing (402) and is inserted into the corresponding connecting block after passing through the corresponding connecting seat (406) In (405), a spring (404) is sleeved on the positioning shaft end (4031) in the positioning pin housing (402), and the positioning pin housing (402) is away from the positioning shaft end (4031 ) is provided with a positioning buckle (401) at one end. 3. The method for using the full-sea deep composite exploration vehicle according to claim 1, characterized in that: the accompanying robot (3) includes a navigation carrier, a horizontal thruster (306) and a vertical thruster (305), the The front end of the navigation carrier is provided with a front end cover (301), the front end cover (301) is provided with a light (313) and a camera (314), and a vertical propeller (305) is provided at the center of gravity of the navigation carrier. A battery (312) is provided in the rear of the navigation carrier, an empennage (311) is provided at the rear end of the navigation carrier, and horizontal propellers (306) are arranged on both sides of the empennage (311), and the empennage (311) A CTD sensor (315) is arranged at the end of the carrier, and a control module is arranged in the carrier. 4. The method for using the full-sea deep composite exploration vehicle according to claim 3, characterized in that: a support frame is provided outside the navigation carrier, and the support frame includes support rings (302) and two support rings (302) at the two ends of the navigation carrier. A plurality of support rods (303) between the two support rings (302), the frame exterior and gaps of the navigation carrier are filled with buoyancy materials (304). 5. The method of using the full-sea deep composite exploration vehicle according to claim 3, characterized in that: the front end cover (301) is a vacuum glass sphere, and the rear part of the navigation carrier is provided with a battery (312 ) battery compartment, and the battery compartment is provided with an openable and closable battery compartment cover (3121). 6. The method of using the full-sea deep composite exploration vehicle according to claim 1, characterized in that: the vehicle body of the exploration vehicle comprises a vehicle body frame (5), a vehicle body buoyancy material (2) and a walking track (1 ), wherein both sides of the car body frame (5) are provided with walking crawlers (1), the upper side of the car body frame (5) is provided with a car body buoyant material (2), and on the upper side of the car body buoyant material (2) An escort robot (3) is provided. 7. The method of using the full-sea deep compound exploration vehicle according to claim 6, characterized in that: the vehicle body frame (5) is provided with a driving device (504), and the driving device (504 ) output shafts are fixedly connected with the drive wheels of the walking crawler belt (1) on the corresponding side through couplings (508) respectively. 8. The method of using the full-sea deep composite exploration vehicle according to claim 1, characterized in that: the accompanying robot (3) and the vehicle body of the exploration vehicle are equipped with water surface positioning recovery components, and the water surface positioning recovery Components include an iridium beacon (308), flag (309) and strobe light (310).

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