1. Intelligence materials handling system, including automatic oxygenating remote control module, oxygenating equipment transport module and oxygen suppliment equipment remote location module, its characterized in that: automatic oxygenating remote control module is including gathering record module, normal oxygenating module, emergent oxygenating module, data calculation module, logic judgment module, orbit simulation module, intelligence transport module includes sound wave information module, speed adjustment module, position adjustment module, oxygen and supplys the module, distal end orientation module includes forced induction module, equipment orientation module, oxygen deficiency early warning module, remote control module, oxygenating equipment transport module and distal end orientation module are separately through wireless connection.

2. The intelligent material handling system of claim 1, wherein: the collection recording module is used for collecting information of oxygen supply equipment and recording the pressure value of the oxygen supply equipment, the normal oxygen supply module is used for oxygen supply control under the conventional condition of the whole system, the emergency oxygen supply module is used for processing allocation of system resources under the emergency condition, the data calculation module is used for calculating collected data, the logic judgment module is used for classifying various calculation results and formulating subsequent processing schemes, the track simulation module is used for carrying out computer simulation on the formulated schemes to confirm the feasibility of the schemes, the sound wave information module is used for transmitting sound waves and collecting sound wave data, the speed adjustment module is used for adjusting the carrying speed according to the actual condition, the position adjustment module is used for adjusting the carrying position according to the actual condition, the oxygen supply module is used for supplementing oxygen to the oxygen supply equipment, and the pressure sensing module is used for sensing the real-time pressure condition of the oxygen supply equipment, the equipment positioning module is used for providing accurate position information of oxygen supply equipment, and the oxygen deficiency early warning module is used for reminding operating personnel to supply oxygen ashore.

3. The intelligent material handling system of claim 2, wherein: the operation of the intelligent material handling system comprises the following steps:

s1, before underwater operation, the acquisition and recording module is used for acquiring and recording the oxygen supply equipment information and the initial pressure obtained by the pressure sensing module, and simultaneously recording the position information of the oxygen supply equipment carrying module;

s2, during underwater operation, acquiring the service condition data of the oxygen supply equipment in real time through the pressure sensing module, acquiring the position information of the oxygen supply equipment through the equipment positioning module, and recording the position information in the acquisition and recording module;

s3, the data calculation module calculates according to the data in the acquisition and recording module;

s4, the logic judgment module analyzes data according to the calculated result and formulates a subsequent processing scheme;

s5, confirming feasibility of the scheme through a track simulation module according to the processing scheme;

s6, controlling the appointed oxygen supplement equipment carrying module to move to the oxygen supply equipment far-end positioning module through the normal oxygen supplement module or the emergency oxygen supplement module;

s7, collecting sound wave data on the way of the route through the sound wave information module, transmitting the sound wave data to the data calculation module, and determining whether the route needs to be re-planned or not by using the logic judgment module;

s8, reaching the remote positioning module of the oxygen supply equipment, and supplementing oxygen through the oxygen supplementing module according to the data provided by the equipment positioning module;

s9, after the supplement is finished, returning the oxygen supplement equipment carrying module to the initial position;

and S10, repeating S2-S9, and realizing the cyclic supplement of the oxygen supply equipment.

4. The intelligent material handling system of claim 3, wherein: the method for acquiring the information of the oxygen supply equipment in the steps S1-S2 is as follows:

s21, establishing a space coordinate system by taking the position of the automatic oxygen supplementation remote control module as an origin;

s22, collecting and recording the position information of the transportation module of the oxygenating equipment, and marking the position information with a mark (A)_jt，B_jt，C_jt) The position of the jth oxygen supplement equipment at the time t is shown;

s23, before underwater operation, acquiring information of the oxygen supply equipment needing to be operated under water, recording the initial pressure value of the oxygen supply equipment, and marking P_i0The initial pressure value of the ith oxygen supply device is shown;

s24, during underwater operation, the pressure value of the oxygen supply equipment is acquired in real time through the pressure sensing module, the position information of the oxygen supply equipment is acquired through the positioning module and recorded in the acquisition and recording module, and the mark P is used_itThe pressure value at time t of the ith oxygen supply facility is shown by symbol (X)_it，Y_it，Z_it) Showing the position of the ith oxygen supply equipment at the moment t;

by adopting the marking method, the pressure value and the position of the oxygen supply equipment can be quantitatively known, and preparation is made for the next calculation.

5. The intelligent material handling system of claim 4, wherein: the method of the data calculation module in step S3 is as follows:

setting safety threshold value P of air pressure of ith oxygen supply equipment_AThe formula is as follows:

wherein V_maxThe maximum value of the movement of the conveying module of the oxygen supply equipment is S, the distance between the jth oxygen supply equipment and the ith oxygen supply equipment at the moment t is S, and the formula is as follows:

the average using speed of oxygen in the oxygen supply equipment is represented by the following formula:

wherein Δ T_kMeans any shorter time period, Δ P_kMeans oxygen supply equipment at delta T_kAccording to the method, the relation between the pressure value of the oxygen supply equipment and the position of the oxygen supply equipment can be established, quantitative data can be provided, and preparation can be made for next judgment.

6. The intelligent material handling system of claim 5, wherein: the method for determining the logic determination module in step S4 is as follows:

s41, when P_it＞P_AThe oxygen supply equipment has sufficient oxygen, and the system does not need to be processed;

s42, whenWhen the oxygen reaches the normal threshold value, the oxygen supply equipment is switched to a normal oxygen supplementing module for treatment;

s43, whenOxygen of the oxygen supply equipment reaches a lower value, and the oxygen is switched to an emergency oxygen supplement module for treatment;

s44, whenWhen the oxygen of the oxygen supply equipment reaches a dangerous value, switching to an oxygen deficiency early warning module to remind an operator to return to the water surface for oxygen supplement;

through classification and logic judgment, single module execution is avoided, all modules work cooperatively, response speed is improved, and time for carrying the oxygen supplement equipment is shortened.

7. The intelligent material handling system of claim 6, wherein: said step (c) is

The operation process of the emergency oxygen supplement module in the S6 is as follows:

s61, when the oxygen of the oxygen supply equipment reaches a lower value, that is to sayThen, switching to an emergency oxygen supplement module;

s62, when oxygen supplement is needed and all oxygen supplement equipment carrying modules work, switching to an emergency oxygen supplement module;

and S63, when the specified oxygen supplement equipment carrying module fails in the conveying process, switching to an emergency oxygen supplement module.

8. The intelligent material handling system of claim 7, wherein: in the steps S62 and S63, after the operation is switched to the emergency oxygen supplement module, the operation is performed again according to the collected data and the latest dynamic situation of the system by the data calculation module, the resources of the whole system are allocated by the logic judgment module, the operation is switched to the steps S41 to S44, the latest emergency scheme is determined by the trajectory simulation module, the emergency safety trigger condition of the system is set, and the system enters the priority processing channel, so that the oxygen exhaustion of the oxygen supply equipment can be effectively prevented, and the personal safety of the underwater operating personnel can be protected.

9. The intelligent material handling system of claim 8, wherein: the operation process in the step S7 is as follows:

s71, the oxygen supply equipment carrying module moves to the oxygen supply equipment remote positioning module according to the instruction, and the speed is adjusted by the speed adjusting module continuously overcoming the water resistance in the midway to reach the set value of the system;

s72, continuously scanning and receiving the sound wave information by using the sound wave information module to judge whether an obstacle exists in front, and simultaneously transmitting the information to the acquisition and recording module;

and S73, if no obstacle exists in the front, continuing to advance until the front reaches the oxygen supply equipment remote positioning module, if the front has the obstacle, replanning the route through the data calculation module, avoiding the obstacle by using the position adjustment module, and reaching the oxygen supply equipment remote positioning module through the transit point.

10. The intelligent material handling system of claim 9, wherein: the method for re-planning the route when the obstacle is found in step S73 is as follows:

the coordinate of the intermediate point when the obstacle is found is (X)₁，Y₁，Z₁) The coordinate of the transit point when the route is re-planned is (X)₂，Y₂，Z₂) The relationship between the two is:

the speed of sound wave in water is 1500m/s, R is the maximum diameter size of the found obstacle, t is the total time of sound wave from transmission to reception, and delta is the compensation amount for preventing collision.

Background

In recent years, with the development of science and technology in China, underwater operation is gradually increased, the underwater operation is special operation and comprises the general names of all underwater projects including the building of an underwater tunnel, the salvage of a sunken ship, the exploration of biological and energy resources and the like, oxygen supplement equipment needs to be carried in the underwater operation, oxygen supplement needs to be carried out after long-time work, the current oxygen supplement mode is divided into pipeline direct oxygen supplement and return oxygen supplement, the use range of the pipeline direct oxygen supplement is small, the pipeline direct oxygen supplement is not suitable for deep sea operation, and the return oxygen supplement needs personnel to return to the water surface to influence the progress of the project, so that the design of an intelligent material handling system with strong practicability and automatic handling is necessary.

Disclosure of Invention

The present invention is directed to an intelligent material handling system to solve the above problems.

In order to solve the technical problems, the invention provides the following technical scheme: intelligence materials handling system, including automatic oxygenating remote control module, oxygenating equipment transport module and oxygen suppliment equipment remote location module, its characterized in that: automatic oxygenating remote control module is including gathering record module, normal oxygenating module, emergent oxygenating module, data calculation module, logic judgment module, orbit simulation module, intelligence transport module includes sound wave information module, speed adjustment module, position adjustment module, oxygen and supplys the module, distal end orientation module includes forced induction module, equipment orientation module, oxygen deficiency early warning module, remote control module, oxygenating equipment transport module and distal end orientation module are separately through wireless connection.

According to the technical scheme, the acquisition and recording module is used for acquiring information of oxygen supply equipment and recording the pressure value of the oxygen supply equipment, the normal oxygen supply module is used for oxygen supply control under the conventional condition of the whole system, the emergency oxygen supply module is used for processing allocation of system resources under the emergency condition, the data calculation module is used for calculating acquired data, the logic judgment module is used for classifying various calculation results and formulating a subsequent processing scheme, the track simulation module is used for carrying out computer simulation on the formulated scheme to confirm the feasibility of the scheme, the sound wave information module is used for transmitting sound waves and acquiring sound wave data, the speed adjustment module is used for adjusting the carrying speed according to the actual condition, the position adjustment module is used for adjusting the carrying position according to the actual condition, and the oxygen supply module is used for supplying oxygen for oxygen consumption equipment, the pressure sensing module is used for sensing the real-time pressure condition of the oxygen supply equipment, the equipment positioning module is used for providing accurate position information of the oxygen supply equipment, and the oxygen deficiency early warning module is used for reminding operating personnel to supply oxygen onshore.

According to the above technical solution, the operation of the intelligent material handling system comprises the following steps:

s1, before underwater operation, the acquisition and recording module is used for acquiring and recording the oxygen supply equipment information and the initial pressure obtained by the pressure sensing module, and simultaneously recording the position information of the oxygen supply equipment carrying module;

s2, during underwater operation, acquiring the service condition data of the oxygen supply equipment in real time through the pressure sensing module, acquiring the position information of the oxygen supply equipment through the equipment positioning module, and recording the position information in the acquisition and recording module;

s3, the data calculation module calculates according to the data in the acquisition and recording module;

s4, the logic judgment module analyzes data according to the calculated result and formulates a subsequent processing scheme;

s5, confirming feasibility of the scheme through a track simulation module according to the processing scheme;

s6, controlling the appointed oxygen supplement equipment carrying module to move to the oxygen supply equipment far-end positioning module through the normal oxygen supplement module or the emergency oxygen supplement module;

s7, collecting sound wave data on the way of the route through the sound wave information module, transmitting the sound wave data to the data calculation module, and determining whether the route needs to be re-planned or not by using the logic judgment module;

s8, reaching the remote positioning module of the oxygen supply equipment, and supplementing oxygen through the oxygen supplementing module according to the data provided by the equipment positioning module;

s9, after the supplement is finished, returning the oxygen supplement equipment carrying module to the initial position;

and S10, repeating S2-S9, and realizing the cyclic supplement of the oxygen supply equipment.

According to the technical scheme, the method for acquiring the information of the oxygen supply equipment in the steps S1-S2 is as follows:

s21, establishing a space coordinate system by taking the position of the automatic oxygen supplementation remote control module as an origin;

s22, collecting and recording the position information of the transportation module of the oxygenating equipment, and marking the position information with a mark (A)_jt，B_jt，C_jt) The position of the jth oxygen supplement equipment at the time t is shown;

s23, before underwater operation, acquiring information of the oxygen supply equipment needing to be operated under water, recording the initial pressure value of the oxygen supply equipment, and marking P_i0The initial pressure value of the ith oxygen supply device is shown;

s24, during underwater operation, the pressure value of the oxygen supply equipment is acquired in real time through the pressure sensing module, the position information of the oxygen supply equipment is acquired through the positioning module and recorded in the acquisition and recording module, and the mark P is used_itThe pressure value at time t of the ith oxygen supply facility is shown by symbol (X)_it，Y_it，Z_it) Showing the position of the ith oxygen supply equipment at the moment t;

by adopting the marking method, the pressure value and the position of the oxygen supply equipment can be quantitatively known, and preparation is made for the next calculation.

According to the above technical solution, the method of the data calculation module in step S3 is as follows:

setting safety threshold value P of air pressure of ith oxygen supply equipment_AThe formula is as follows:

wherein V_maxThe maximum value of the movement of the conveying module of the oxygen supply equipment is S, the distance between the jth oxygen supply equipment and the ith oxygen supply equipment at the moment t is S, and the formula is as follows:

the average using speed of oxygen in the oxygen supply equipment is shown as the formulaThe following:

wherein Δ T_kMeans any shorter time period, Δ P_kMeans oxygen supply equipment at delta T_kAccording to the method, the relation between the pressure value of the oxygen supply equipment and the position of the oxygen supply equipment can be established, quantitative data can be provided, and preparation can be made for next judgment.

According to the above technical solution, the method for determining the logic determination module in step S4 is as follows:

s41, when P_it＞P_AThe oxygen supply equipment has sufficient oxygen, and the system does not need to be processed;

s42, whenWhen the oxygen reaches the normal threshold value, the oxygen supply equipment is switched to a normal oxygen supplementing module for treatment;

s43, whenOxygen of the oxygen supply equipment reaches a lower value, and the oxygen is switched to an emergency oxygen supplement module for treatment;

s44, whenWhen the oxygen of the oxygen supply equipment reaches a dangerous value, switching to an oxygen deficiency early warning module to remind an operator to return to the water surface for oxygen supplement;

through classification and logic judgment, single module execution is avoided, all modules work cooperatively, response speed is improved, and time for carrying the oxygen supplement equipment is shortened.

According to the technical scheme, the operation process of the emergency oxygen supplement module in the step S6 is as follows:

s61, when the oxygen of the oxygen supply equipment reaches a lower value, that is to sayThen, switching to an emergency oxygen supplement module;

s62, when oxygen supplement is needed and all oxygen supplement equipment carrying modules work, switching to an emergency oxygen supplement module;

and S63, when the specified oxygen supplement equipment carrying module fails in the conveying process, switching to an emergency oxygen supplement module.

According to the technical scheme, after the step S62 and the step S63 are switched to the emergency oxygen supplementing module, the calculation is carried out through the data calculation module according to the collected data and the latest dynamic condition of the system again, the resources of the whole system are allocated through the logic judgment module, the step S41-S44 is switched to, then the latest emergency scheme is determined through the track simulation module, the emergency safety triggering condition of the system is set, the priority processing channel is entered, the oxygen exhaustion of oxygen supply equipment can be effectively prevented, and the personal safety of underwater operation personnel is protected.

According to the above technical solution, the operation process in step S7 is as follows:

s71, the oxygen supply equipment carrying module moves to the oxygen supply equipment remote positioning module according to the instruction, and the speed is adjusted by the speed adjusting module continuously overcoming the water resistance in the midway to reach the set value of the system;

s72, continuously scanning and receiving the sound wave information by using the sound wave information module to judge whether an obstacle exists in front, and simultaneously transmitting the information to the acquisition and recording module;

and S73, if no obstacle exists in the front, continuing to advance until the front reaches the oxygen supply equipment remote positioning module, if the front has the obstacle, replanning the route through the data calculation module, avoiding the obstacle by using the position adjustment module, and reaching the oxygen supply equipment remote positioning module through the transit point.

According to the above technical solution, the method for re-planning the route when the obstacle is found in step S73 is as follows:

the coordinate of the intermediate point when the obstacle is found is (X)₁，Y₁，Z₁) The coordinate of the transit point when the route is re-planned is (X)₂，Y₂，Z₂) The relationship between the two is:

the speed of sound wave in water is 1500m/s, R is the maximum diameter size of the found obstacle, t is the total time of sound wave from transmission to reception, and delta is the compensation amount for preventing collision.

Compared with the prior art, the invention has the following beneficial effects: in the invention, an acquisition and recording module is used for acquiring information of oxygen supply equipment and recording the pressure of oxygen, a normal oxygen supplementation module is used for oxygen supplementation control under the conventional condition of the whole system, an emergency oxygen supplementation module is used for processing allocation of system resources under emergency conditions, a data calculation module is used for calculating acquired data, a logic judgment module is used for classifying various calculation results and formulating subsequent processing schemes, a track simulation module is used for carrying out computer simulation on the formulated schemes to confirm the feasibility of the schemes, a sound wave information module is used for transmitting sound waves and acquiring sound wave data, a speed adjustment module is used for adjusting the carrying speed according to the actual condition, a position adjustment module is used for adjusting the carrying position according to the actual condition, an oxygen supplementation module is used for supplementing oxygen consumed by the oxygen supply equipment, and a pressure sensing module is used for sensing the real-time pressure condition of the oxygen supply equipment, the equipment positioning module is used for providing accurate position information of the oxygen supply equipment, and the oxygen deficiency early warning module is used for reminding operating personnel to supply oxygen ashore.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:

FIG. 1 is a schematic view of the overall structure of the present invention;

fig. 2 is a schematic diagram of collision avoidance trajectory simulation of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-2, the present invention provides the following technical solutions: intelligence materials handling system, including automatic oxygenating remote control module, oxygenating equipment transport module and oxygen suppliment equipment remote location module, its characterized in that: the automatic oxygen supplementation remote control module comprises an acquisition recording module, a normal oxygen supplementation module, an emergency oxygen supplementation module, a data calculation module, a logic judgment module and a track simulation module, the intelligent carrying module comprises a sound wave information module, a speed adjustment module, a position adjustment module and an oxygen supplementation module, the remote positioning module comprises a pressure sensing module, an equipment positioning module and an oxygen deficiency early warning module, and the remote control module, the oxygen supplementation equipment carrying module and the remote positioning module are respectively in wireless connection;

the system comprises a collecting and recording module, a normal oxygen supplementing module, an emergency oxygen supplementing module, a data calculating module, a logic judging module, a track simulating module, a sound wave information module, a speed adjusting module, a position adjusting module, an oxygen supplementing module, a pressure sensing module and an equipment positioning module, wherein the collecting and recording module is used for collecting information of oxygen supply equipment and recording the pressure value of the oxygen supply equipment, the normal oxygen supplementing module is used for oxygen supplementing control under the conventional condition of the whole system, the emergency oxygen supplementing module is used for processing allocation of system resources under the emergency condition, the data calculating module is used for calculating collected data, the logic judging module is used for classifying various calculation results and formulating subsequent processing schemes, the track simulating module is used for carrying out computer simulation on the formulated schemes to confirm the feasibility of the schemes, the sound wave information module is used for transmitting sound waves and collecting sound wave data, the speed adjusting module is used for adjusting the, the oxygen deficiency early warning module is used for reminding operating personnel to carry out oxygen supplement on the shore;

the operation of the intelligent material handling system comprises the following steps:

s1, before underwater operation, the acquisition and recording module is used for acquiring and recording the oxygen supply equipment information and the initial pressure obtained by the pressure sensing module, and simultaneously recording the position information of the oxygen supply equipment carrying module;

s2, during underwater operation, acquiring the service condition data of the oxygen supply equipment in real time through the pressure sensing module, acquiring the position information of the oxygen supply equipment through the equipment positioning module, and recording the position information in the acquisition and recording module;

s3, the data calculation module calculates according to the data in the acquisition and recording module;

s4, the logic judgment module analyzes data according to the calculated result and formulates a subsequent processing scheme;

s5, confirming feasibility of the scheme through a track simulation module according to the processing scheme;

s6, controlling the appointed oxygen supplement equipment carrying module to move to the oxygen supply equipment far-end positioning module through the normal oxygen supplement module or the emergency oxygen supplement module;

s7, collecting sound wave data on the way of the route through the sound wave information module, transmitting the sound wave data to the data calculation module, and determining whether the route needs to be re-planned or not by using the logic judgment module;

s8, reaching the remote positioning module of the oxygen supply equipment, and supplementing oxygen through the oxygen supplementing module according to the data provided by the equipment positioning module;

s9, after the supplement is finished, returning the oxygen supplement equipment carrying module to the initial position;

s10, repeating S2-S9, and realizing the circulation supplement of the oxygen supply equipment;

the method for acquiring the information of the oxygen supply equipment in the steps S1-S2 is as follows:

s21, establishing a space coordinate system by taking the position of the automatic oxygen supplementation remote control module as an origin;

s22, collecting and recording the position information of the transportation module of the oxygenating equipment, and marking the position information with a mark (A)_jt，B_jt，C_jt) The position of the jth oxygen supplement equipment at the time t is shown;

s23, before underwater operation, acquiring information of the oxygen supply equipment needing to be operated under water, recording the initial pressure value of the oxygen supply equipment, and marking P_i0The initial pressure value of the ith oxygen supply device is shown;

s24, during underwater operation, the pressure value of the oxygen supply equipment is acquired in real time through the pressure sensing module, the position information of the oxygen supply equipment is acquired through the positioning module and recorded in the acquisition and recording module, and the mark P is used_itThe pressure value at time t of the ith oxygen supply facility is shown by symbol (X)_it，Y_it，Z_it) The position of the ith oxygen supply equipment at the moment t is shown, and the pressure value and the position of the oxygen supply equipment can be quantitatively known by adopting the marking method, so that preparation is made for the next calculation;

the method of the data calculation module in step S3 is as follows:

setting safety threshold value P of air pressure of ith oxygen supply equipment_AThe formula is as follows:

wherein V_maxThe maximum value of the movement of the conveying module of the oxygen supply equipment is S, the distance between the jth oxygen supply equipment and the ith oxygen supply equipment at the moment t is S, and the formula is as follows:

the average using speed of oxygen in the oxygen supply equipment is represented by the following formula:

wherein Δ T_kMeans any shorter time period, Δ P_kMeans oxygen supply equipment at delta T_kAccording to the method, the relation between the pressure value of the oxygen supply equipment and the position of the oxygen supply equipment can be established, quantitative data can be provided, and preparation is made for next judgment;

the logic determination module in step S4 determines the method as follows:

s41, when P_it＞P_AThe oxygen supply equipment has sufficient oxygen, and the system does not need to be processed;

s42, whenWhen the oxygen reaches the normal threshold value, the oxygen supply equipment is switched to a normal oxygen supplementing module for treatment;

s43, whenOxygen of the oxygen supply equipment reaches a lower value, and the oxygen is switched to an emergency oxygen supplement module for treatment;

s44, whenOxygen of the oxygen supply equipment reaches a dangerous value, the oxygen supply equipment is shifted to an oxygen deficiency early warning module to remind an operator to return to the water surface for oxygen supplement, and through classification and logic judgment, execution of a single module is avoided, so that the modules work cooperatively, the response speed is improved, and the time for carrying the oxygen supplement equipment is shortened;

the operation process of the emergency oxygen supplement module in the step S6 is as follows:

s61, when the oxygen of the oxygen supply equipment reaches a lower value, that is to sayThen, switching to an emergency oxygen supplement module;

s62, when oxygen supplement is needed and all oxygen supplement equipment carrying modules work, switching to an emergency oxygen supplement module;

s63, when the specified oxygen supplement equipment carrying module breaks down in the conveying process, switching to an emergency oxygen supplement module;

in the steps S62 and S63, after the system is switched to the emergency oxygen supplement module, the system is calculated again through the data calculation module according to the latest dynamic condition of the system according to the collected data, the resources of the whole system are allocated by using the logic judgment module, the system is switched to the steps S41-S44, then the latest emergency scheme is determined through the track simulation module, the emergency safety triggering conditions of the system are set, and the system enters a priority processing channel, so that the oxygen exhaustion of oxygen supply equipment can be effectively prevented, and the personal safety of underwater operators is protected;

the operation in step S7 is as follows:

s71, the oxygen supply equipment carrying module moves to the oxygen supply equipment remote positioning module according to the instruction, and the speed is adjusted by the speed adjusting module continuously overcoming the water resistance in the midway to reach the set value of the system;

s72, continuously scanning and receiving the sound wave information by using the sound wave information module to judge whether an obstacle exists in front, and simultaneously transmitting the information to the acquisition and recording module;

s73, if no obstacle exists in front, continuing to advance until the far-end positioning module of the oxygen supply equipment is reached, if the obstacle exists in front, re-planning the route through the data calculation module, avoiding the obstacle through the position adjustment module, and reaching the far-end positioning module of the oxygen supply equipment through a transfer point;

the method for re-planning the route when the obstacle is found in step S73 is as follows:

the coordinate of the intermediate point when the obstacle is found is (X)₁，Y₁，Z₁) The coordinate of the transit point when the route is re-planned is (X)₂，Y₂，Z₂) The relationship between the two is:

the speed of sound wave in water is 1500m/s, R is the maximum diameter size of the found obstacle, t is the total time of sound wave from transmission to reception, and delta is the compensation amount for preventing collision.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.