Underwater adaptive interaction platform and autonomous underwater vehicle

Abstract

The invention relates to an interactive platform of an autonomous underwater vehicle, in particular to an underwater self-adaptive interactive platform and the autonomous underwater vehicle, and aims to solve the problems that in the prior art, efficient butt joint is difficult to realize, and underwater guidance, self-locking and unlocking of various AUVs are adapted. And meanwhile, high-power underwater energy interaction and stable underwater data interaction are difficult to realize. The guiding interaction assembly of the underwater self-adaptive interaction platform comprises a self-locking assembly and a guiding assembly. The self-locking assembly comprises a self-locking connecting frame, a locking device, a reset driving device and N self-locking guide rods arranged in parallel, the self-locking connecting frame is in sliding connection with the N self-locking guide rods, the locking device is used for locking and loosening the self-locking connecting frame, the output end of the reset driving device is connected with the self-locking connecting frame, and the output end of the reset driving device is connected with the N self-locking guide rods. The guiding assembly is further provided with a first positioning device and a first interaction assembly, and the first positioning device and the first interaction assembly are positioned and in butt joint with a second positioning device and a second interaction assembly of the autonomous underwater vehicle respectively.

Description

Technical Field

[0001] The invention relates to an interactive platform of an autonomous underwater vehicle, and in particular to an underwater adaptive interactive platform and an autonomous underwater vehicle. Background Art

[0002] Autonomous underwater vehicles (AUVs) can dive underwater for a long time, relying on their own energy and a variety of underwater observation and detection sensors to operate in the deep sea through autonomous propulsion and autonomous control. They play an important role in marine scientific investigations, underwater archaeology, and maritime military.

[0003] At present, AUVs usually use electric power, and the electric energy comes from the onboard battery pack they carry. Since the total installed capacity that AUVs can carry is very limited, even if disposable batteries with relatively high energy density are used, it is difficult to significantly improve the endurance of AUVs. The main way to improve endurance is to control AUVs to frequently go back and forth to the surface for charging, and wired charging generally requires high-power transmission in the air, so the round-trip charging on the surface greatly increases the salvage time and economic cost. At present, underwater wireless charging technology is also developing rapidly, but due to the complex and changeable underwater environment, severe signal attenuation, and numerous interferences, AUV underwater high-power energy interaction technology faces great challenges. At the same time, AUVs carry a variety of sensors for long-term observation and detection, which is easy to accumulate a large amount of data. Therefore, in order to extend the working time of AUVs as much as possible, it is necessary to increase the bandwidth of data transmission. At present, the large-bandwidth data transmission of AUVs mainly uses wired transmission such as wires. Since wired transmission generally needs to return to the surface and exchange data in the air, it will also greatly increase the salvage time and economic cost.

[0004] In recent years, researchers have developed underwater wireless data exchange technology based on radio and data exchange technology based on wireless optical communication. However, such technologies are also affected by the complex underwater environment, and the transmission rate and bit error rate have certain shortcomings.

[0005] Due to the complex and changeable underwater environment, the impact of underwater undercurrents will cause great uncertainty in the relative position between the AUV and the interactive platform. Therefore, a reliable AUV docking platform is required for underwater interaction to ensure the stability of its relative position with the AUV during the interaction process. At present, domestic researchers have developed underwater docking technologies such as underwater cage docking, manipulator-assisted docking, platform arresting cable, and bell-shaped guided docking for different application scenarios. However, there are many types of AUVs, and there are large differences in appearance and size. The size adaptability of underwater cage docking and bell-shaped guided docking is poor; the docking guidance and clamping drive of manipulator-assisted docking have more actions, and multiple driving elements need to move successively to dock and lock, which prolongs the time used for underwater docking, thereby increasing the uncertainty of underwater docking and the possibility of docking failure; platform arresting cable docking and bell-shaped guided docking have high requirements on the motion control ability and maneuverability of AUV. At the same time, the structure of bell-shaped guided docking is set as a gradually tightened docking interface, which is not easy to release the AUV and difficult to perform secondary dispatch operations.

[0006] Therefore, a structure that can efficiently dock and adapt to the underwater guidance, self-locking and unlocking of various AUVs, while realizing high-power underwater energy interaction and stable underwater data interaction, is of great significance to improving the effective working time of AUVs. Summary of the invention

[0007] The purpose of the present invention is to solve the shortcomings of the prior art that it is difficult to achieve efficient docking and adapt to underwater guidance, self-locking and unlocking of various AUVs, and it is difficult to achieve high-power underwater energy interaction and stable underwater data interaction, and to provide an underwater adaptive interaction platform and an autonomous underwater vehicle.

[0008] To achieve the above purpose, the technical solution provided by the present invention is as follows:

[0009] An underwater adaptive interactive platform, which is special in that it includes a guide interaction component, a guide interaction fixed frame and a multi-purpose fixed frame; the guide interaction component includes a self-locking component, a trumpet-shaped guide cage and N guide components, wherein 3≤N≤4; the self-locking component includes a self-locking connecting frame, a locking device, a reset driving device and N self-locking guide rods, the N self-locking guide rods are arranged in parallel, one end of the self-locking guide rod is fixedly connected to the small end of the trumpet-shaped guide cage, and the other end is fixedly connected to the guide interaction fixed frame; the self-locking connecting frame is arranged between the N self-locking guide rods and is respectively slidably connected thereto, the locking device is used to lock and release the self-locking connecting frame, the output end of the reset driving device is connected to the self-locking connecting frame, and is used to drive The self-locking connecting frame slides along the self-locking guide rod; the N guide components are respectively located between adjacent self-locking guide rods, one end of the guide component is hinged to the guide interactive fixed frame, and the other end is close to one end of the self-locking guide rod and faces the central axis of the trumpet-shaped guide cage, and is fixedly connected to the self-locking connecting frame. When the guide component rotates around the hinge position, the other end gradually approaches the central axis of the trumpet-shaped guide cage; a first positioning device and a first interactive component are also provided on the guide component, the first positioning device is used to guide and position the autonomous underwater vehicle, and the relative positions of the first interactive component and the first positioning device remain unchanged; the guide interactive fixed frame is fixedly connected to the multi-purpose fixed frame, and the multi-purpose fixed frame is used to connect the external structure.

[0010] Furthermore, the guide assembly includes two parallelogram structures arranged in parallel, and corresponding vertices of the two parallelogram structures are fixedly connected;

[0011] The parallelogram structure includes a first guide link, a second guide link, a third guide link and a fourth guide link which are hinged in sequence from head to tail. The third guide link is fixedly connected to the guide interactive fixed frame as a fixed end, and the remaining sides serve as movable ends, which are fixedly connected to the self-locking connecting frame.

[0012] Furthermore, the guide assembly further comprises a fifth guide link, one end of which is fixedly connected to the middle position of the second guide link, and the other end of which is fixedly connected to the self-locking connecting frame;

[0013] A mounting plate is arranged between the two fourth guide connecting rods of the parallelogram structure;

[0014] The first positioning device comprises N guide positioning column assemblies respectively arranged corresponding to the N guide assemblies;

[0015] The guide positioning column assembly comprises a central positioning column and a guide positioning upper end cover, a guide positioning lower end cover and a guide positioning spring which are sleeved on the central positioning column;

[0016] The center positioning column is respectively provided with a first limiting boss and a second limiting boss along the circumferential direction, the guide positioning upper end cover is located between the first limiting boss and the second limiting boss, and abuts against the first limiting boss, one end of the guide positioning lower end cover is fixedly connected to the guide positioning upper end cover, and the other end is located at an end of the second limiting boss away from the first limiting boss, a third limiting boss is provided on the inner side wall of the other end of the guide positioning lower end cover, the third limiting boss abuts against the second limiting boss, and the guide positioning lower end cover is fixedly connected to the mounting plate; the center positioning column is slidably connected to the guide positioning upper end cover and the guide positioning lower end cover;

[0017] The two ends of the guide positioning spring are respectively in contact with the guide positioning upper end cover and the second limiting boss to achieve self-reset of the center positioning column.

[0018] Furthermore, the locking device includes an elastic reset device and N ratchet structures corresponding to the N self-locking guide rods respectively, and the ratchet structure includes an unlocking cam, an unlocking motor, a self-locking connecting rod, a self-locking spring, and a continuous tooth groove arranged on the side wall of the self-locking guide rod along the central axis thereof;

[0019] The unlocking motor is arranged on the self-locking connecting frame, and the output end is connected to the unlocking cam;

[0020] A rotating shaft is arranged in the middle of the self-locking connecting rod, and the rotating shaft is connected to the self-locking connecting frame. The unlocking cam and the self-locking spring are respectively located at the driving end of the self-locking connecting rod, and are relatively arranged on both sides of the central axis of the self-locking connecting rod. One end of the self-locking spring is connected to the driving end of the self-locking connecting rod, and the other end is connected to the self-locking connecting frame; the working end of the self-locking connecting rod is engaged with the continuous tooth groove to realize the locking of the self-locking connecting frame; the unlocking cam rotates to squeeze the driving end of the self-locking connecting rod, and the self-locking connecting rod rotates around the rotating shaft, and the working end is away from the continuous tooth groove, thereby unlocking the self-locking connecting frame;

[0021] One end of the elastic reset device is connected or abutted with the self-locking connecting frame, and the other end is connected to the guide interactive fixing frame. After the self-locking connecting frame is unlocked, the self-locking connecting frame moves toward the direction close to the trumpet-shaped guide cage through the action of the compressed elastic reset device.

[0022] Furthermore, the N ratchet structures share the same unlocking cam and unlocking motor, the unlocking cam is coaxially arranged with the trumpet-shaped guide cage, and M protrusions are evenly arranged around the unlocking cam, wherein the value of M is a positive integer multiple of N;

[0023] The self-locking connecting frame is provided as a cylindrical shell with a cavity therein, the self-locking guide rod is provided through the upper bottom plate and the lower bottom plate of the cylindrical shell, and the upper bottom plate of the cylindrical shell is close to one end of the self-locking guide rod;

[0024] The unlocking cam, self-locking connecting rod and self-locking spring are all arranged in the cavity. The unlocking motor is connected to the lower base plate of the cylindrical shell and is located outside the cylindrical shell. The output end passes through the lower base plate to connect the unlocking cam to drive it to rotate around the central axis.

[0025] Furthermore, the elastic reset device includes N guide springs, which are respectively sleeved on N self-locking guide rods, one end of the guide spring abuts against the self-locking connecting frame, and the other end is connected to the other end of the self-locking guide rod;

[0026] The first interactive component includes a plug-in motor, an interactive connector, a plug-in screw rod, a fixed frame, and a plug-in guide rod. The output end of the plug-in motor is connected to the plug-in screw rod, and the interactive connector is configured as an interactive connector male head; the fixed frame is slidably connected to the plug-in guide rod, one end of the fixed frame is connected to the plug-in screw rod, and the other end is fixedly connected to the interactive connector male head. The plug-in motor drives the plug-in screw rod to make the fixed frame move along the axial direction of the plug-in guide rod to realize the plug-in and pull-out of the interactive connector male head.

[0027] At the same time, an autonomous underwater vehicle is also provided, which is compatible with the above-mentioned underwater adaptive interactive platform, including an underwater vehicle body, and its special features are:

[0028] The head of the underwater vehicle body is provided with a second positioning device and a second interactive component;

[0029] The second positioning device is adapted to the first positioning device, the second interaction component is used to dock with the first interaction component, and the relative position of the second interaction component and the second positioning device corresponds to the relative position of the first interaction component and the first positioning device.

[0030] Further, the second positioning device includes N guide grooves arranged along the circumference of the underwater vehicle body;

[0031] The width of the guide groove gradually decreases along the central axis direction, and is wider at one end close to the head of the underwater vehicle body; a positioning groove is provided at the bottom of the other end of the guide groove away from the head of the underwater vehicle body;

[0032] The central positioning column of the guide positioning column assembly in the first positioning device is guided by the guide groove and inserted into the positioning groove to achieve positioning.

[0033] Furthermore, the guide groove includes a triangular portion and an extension portion, the base of the triangular portion faces the head of the underwater vehicle body, and one end of the extension portion is connected to the vertex position of the triangular portion.

[0034] Beneficial effects of the present invention:

[0035] 1. The present invention provides an underwater adaptive interactive platform, which forms a two-stage adaptive centering structure through a trumpet-shaped guide cage and N guide components. The autonomous underwater vehicle is roughly guided by sliding along the trumpet-shaped guide cage, and the guide component is finely guided. The autonomous underwater vehicle within a certain range can be quickly and smoothly guided in water, which simplifies the conventional guidance process and improves the efficiency of guidance and docking. The first positioning device and the first interactive component are arranged on the guide component, and their relative positions remain unchanged, that is, they are arranged in the adaptive centering structure. In the process of guiding and positioning the autonomous underwater vehicle, the alignment operation of the first interactive component and the second interactive component on the autonomous underwater vehicle is realized, which greatly simplifies the interactive docking process.

[0036] 2. The guiding assembly of an underwater adaptive interactive platform of the present invention is based on the principle of parallelogram. During the interactive docking process, the forward power of the autonomous underwater vehicle drives the movable end of the parallelogram structure to move in its forward direction, thereby driving the fourth guiding link of the parallelogram structure close to the central axis to contract inward, and precisely guiding the autonomous underwater vehicle, thereby achieving the guidance and docking of autonomous underwater vehicles with continuous external cross-sectional sizes within a certain range. The process is continuous and efficient, which can effectively shorten the docking time and improve the success rate of docking of autonomous underwater vehicles.

[0037] 3. A ratchet structure is provided in an underwater adaptive interactive platform of the present invention as a self-locking and unlocking mechanism, which can realize rapid self-locking during docking, and rapid unlocking and auxiliary separation after docking; when the autonomous underwater vehicle moves forward, the ratchet structure is closed to prevent the self-locking connecting frame from automatically retreating when the AUV docks and moves forward, the autonomous underwater vehicle moves to the set position, the first positioning device works, and cooperates with the second positioning device of the autonomous underwater vehicle to achieve positioning, and realizes self-locking through the ratchet structure. When the autonomous underwater vehicle completes the interactive separation, the unlocking cam moves to open the ratchet structure, and the auxiliary self-locking connecting frame of the guide spring pushes the movable end of the guide assembly to move, so that the fourth guide link moves in a direction away from the central axis, and the first positioning device is separated from the second positioning device. The autonomous underwater vehicle can smoothly exit the trumpet-shaped guide cage and complete the unlocking.

[0038] 4. The present invention provides a first interactive component in an underwater adaptive interactive platform. The relative positions of the first interactive component and the first positioning device remain unchanged, and the first interactive component and the first positioning device are further arranged on a parallelogram structure. When the autonomous underwater vehicle is docked, the first interactive component and the second interactive component on the autonomous underwater vehicle are pushed forward and aligned with the first positioning device. The first interactive component and the second interactive component on the autonomous underwater vehicle can complete automatic centering. Only one alignment operation is required for the whole process, which simplifies the docking process of the interactive components and effectively improves the docking efficiency. At the same time, the autonomous underwater vehicle and the underwater adaptive interactive platform are physically connected, which can effectively improve the stability of data interaction and the power of energy transmission. At the same time, during high-power energy transmission, it is convenient for the autonomous underwater vehicle to be in the water, improve the heat exchange efficiency between the autonomous underwater vehicle and the external environment, and solve the heat dissipation problem during high-power charging.

[0039] 5. An autonomous underwater vehicle of the present invention includes a second positioning device and a second interactive component, which match the first positioning device and the first interactive component on the underwater adaptive interactive platform to facilitate docking and interaction.

[0040] 6. The width of the guide groove of an autonomous underwater vehicle of the present invention decreases along the central axis direction, and the end close to the head of the underwater vehicle body is wider to facilitate rough guidance. The first positioning device is easily aligned with the guide groove 22, and then guided by the guide groove to cooperate with the positioning groove. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 It is a structural schematic diagram of an embodiment of an underwater adaptive interactive platform of the present invention;

[0042] Figure 2 It is a structural schematic diagram of a guide interaction component in an embodiment of an underwater adaptive interaction platform of the present invention;

[0043] Figure 3 It is a structural schematic diagram of the first guide component in the embodiment of the underwater adaptive interactive platform of the present invention;

[0044] Figure 4 It is a structural schematic diagram of a guide and positioning column assembly in an embodiment of an underwater adaptive interactive platform of the present invention;

[0045] Figure 5 It is a structural schematic diagram of a self-locking component in an embodiment of an underwater adaptive interactive platform of the present invention;

[0046] Figure 6 yes Figure 5 AA section view;

[0047] Figure 7 is a schematic diagram of the structure of the first interactive component in an embodiment of the underwater adaptive interactive platform of the present invention;

[0048] Figure 8 It is a schematic structural diagram of an embodiment of an autonomous underwater vehicle of the present invention.

[0049] Description of reference numerals:

[0050] 1-guide interaction component; 11-first guide component, 111-guide positioning column component, 1111-guide positioning column, 1112-guide positioning upper end cover, 1113-guide positioning lower end cover, 1114-guide positioning spring; 112-fifth guide link, 113-second guide link, 114-third guide link, 115-fourth guide link, 116-first guide link, 12-second guide component, 13-third guide component, 14-self-locking component, 141-self-locking connecting frame, 142-unlocking cam, 143-unlocking motor, 144-guide spring, 145-self-locking guide rod, 146-self-locking connecting rod, 147-self-locking spring, 15-first interactive component, 151-plug-in motor, 152-plug-in screw rod, 153-fixed frame, 154-plug-in guide rod, 155-interactive connector male head, 16-horn-type guide cage;

[0051] 2- underwater vehicle, 21- second interactive component, 22- guide groove, 23- positioning groove;

[0052] 3-guided interactive fixed framework;

[0053] 4-Multi-purpose fixing frame. DETAILED DESCRIPTION

[0054] Aiming at the demand for rapid data and energy interaction of autonomous underwater vehicles, the present invention overcomes the problems of complicated operation process of guided docking, poor self-locking and unlocking linkage, low energy transmission power, poor anti-interference of data interaction and single type of applicable autonomous underwater vehicles in the prior art. The present invention provides an underwater adaptive interactive platform, the structure of which is as follows: Figure 1 As shown, it mainly includes a guide interaction component 1, a guide interaction fixed frame 3 and a multi-purpose fixed frame 4. In this embodiment, the multi-purpose fixed frame 4 is designed as a bottom-sit structure, which sinks directly to the bottom of the water to form a fixed interactive platform; in other embodiments of the present invention, a connection structure can also be designed as needed to connect with a platform floating on the water surface or in the water to form a mobile interactive platform. The guide interaction fixed frame 3 is arranged around the circumference of the guide interaction component 1 as its protection frame and is fixedly connected to the multi-purpose fixed frame 4.

[0055] like Figure 2 As shown, the guide interaction component 1 mainly includes N guide components, a self-locking component 14, a first interaction component 15 and a trumpet-shaped guide cage 16, wherein 3≤N≤4.

[0056] like Figure 5 As shown, the self-locking component 14 mainly includes a self-locking connecting frame 141, an unlocking cam 142, an unlocking motor 143, a guide spring 144, N self-locking guide rods 145, N self-locking connecting rods 146 and N self-locking springs 147. In this embodiment, N=3. The three self-locking guide rods 145 are arranged in parallel and are respectively fixedly connected to the guide interactive fixed frame 3. In this embodiment, one end of the self-locking guide rod 145 is fixedly connected to the guide interactive fixed frame 3 through a connecting plate, the self-locking connecting frame 141 is slidably connected to the three self-locking guide rods 145, the unlocking cam 142 is arranged on the self-locking connecting frame 141, and is located between the three self-locking guide rods 145, and the unlocking cam 142 is evenly arranged with M protrusions along the circumferential direction, wherein the value of M is a positive integer multiple of N, such as Figure 6 As shown, in this embodiment, M=3, the self-locking guide rod 145 is provided with continuous tooth grooves along the axial direction, and the continuous tooth grooves are oriented toward the central axis direction of the unlocking cam 142, and N self-locking connecting rods 146 are respectively and correspondingly arranged between the unlocking cam 142 and the three self-locking guide rods 145, and a rotating shaft is arranged in the middle of the self-locking connecting rod 146, and the rotating shaft is connected to the self-locking connecting frame 141, and the unlocking cam 142 and the self-locking spring 147 are respectively located at the driving end of the self-locking connecting rod 146, and are relatively arranged on both sides of the central axis of the self-locking connecting rod 146, one end of the self-locking spring 147 is connected to the driving end of the self-locking connecting rod 146, and the other end is connected to the self-locking connecting frame 141; the working end of the self-locking connecting rod 146 is engaged with the continuous tooth groove to realize the locking of the self-locking connecting frame 141, and the unlocking cam 142 rotates to squeeze the driving end of the self-locking connecting rod 146, and the self-locking connecting rod 146 rotates around the rotating shaft, and the working end is away from the continuous tooth groove, the ratchet mechanism is opened, and the self-locking connecting frame 141 is unlocked.

[0057] In this embodiment, the self-locking connecting frame 141 is configured as a cylindrical shell with a cavity therein, and the self-locking guide rod 145 is arranged through the upper base plate and the lower base plate of the cylindrical shell, and the upper base plate of the cylindrical shell is close to one end of the self-locking guide rod 145; the unlocking cam 142, the self-locking connecting rod 146 and the self-locking spring 147 are all arranged in the cavity, and the unlocking motor 143 is connected to the lower base plate of the cylindrical shell and is located outside the cylindrical shell. The output end passes through the lower base plate to connect the unlocking cam 142 to drive it to rotate around the central axis.

[0058] One end of the self-locking guide rod 145 is sleeved with a guide spring 144, one end of the guide spring 144 is against the lower bottom plate of the self-locking connecting frame 141, and the other end is fixedly connected to the self-locking guide rod 145, serving as an elastic reset device. The continuous tooth grooves of the self-locking guide rod 145, the self-locking connecting rod 146, the self-locking spring 147, the unlocking cam 142 and the unlocking motor 143 constitute a ratchet structure, and the self-locking connecting frame 141 can smoothly move along the self-locking guide rod 145 toward the direction close to the guide spring 144, at this time the ratchet does not restrict the movement, after reaching the specified position, the guide spring 144 is compressed, and the self-locking connecting frame 141 has a tendency to move toward the other end of the self-locking guide rod 145 under the action of the guide spring 144, but at this time the ratchet structure restricts its movement, after the ratchet structure is opened, the self-locking connecting frame 141 moves toward the direction close to the trumpet-shaped guide cage 16 under the action of the guide spring 144, pushing the autonomous underwater vehicle to move out of the guide interaction component 1, and completing the unlocking operation. In other embodiments of the present invention, the guide spring 144 may also be replaced by other elastic components.

[0059] The small end of the trumpet-shaped guide cage 16 is fixedly connected to the other end of the self-locking guide rod 145. The trumpet-shaped guide cage 16 serves as a preliminary guide component. The autonomous underwater vehicle enters the trumpet-shaped guide cage 16 by forward movement. The trumpet-shaped guide cage 16 can directly guide the autonomous underwater vehicle within a larger range into the trumpet-shaped guide cage 16, thereby reducing the requirements for the autonomous underwater vehicle's own position and posture control and improving the smoothness of entering the guide component.

[0060] N guide assemblies are respectively located between adjacent self-locking guide rods 145, one end of the guide assembly is hinged to the guide interactive fixing frame 3, and the other end is close to one end of the self-locking guide rod 145 and faces the central axis of the trumpet-shaped guide cage 16, and is fixedly connected to the self-locking connecting frame 141. When the guide assembly rotates around the hinge position, the other end gradually approaches the central axis of the trumpet-shaped guide cage 16. In this embodiment, three guide assemblies are provided, which are respectively recorded as the first guide assembly 11, the second guide assembly 12, and the third guide assembly 13. Figure 3 The first guide assembly 11 shown includes two parallelogram structures arranged in parallel, and the corresponding vertices of the two parallelogram structures are fixedly connected. The parallelogram structure includes a first guide link 116, a second guide link 113, a third guide link 114 and a fourth guide link 115 which are hinged in sequence head to tail, wherein the third guide link 114 is fixedly connected to the guide interactive fixed frame 3 as a fixed end; the remaining sides serve as movable ends, and the movable ends are fixedly connected to the self-locking connecting frame 141. Specifically, a fifth guide link 112 is fixedly connected to the middle position of the second guide link 113 of each parallelogram structure, and the end of the fifth guide link 112 away from the second guide link 113 is fixedly connected to the upper base plate of the self-locking connecting frame 141.

[0061] A mounting plate is arranged between the fourth guide links 115 corresponding to the two parallelogram structures, and a guide positioning column assembly 111 is arranged on the mounting plate. Figure 4 As shown, the guide positioning column assembly 111 mainly includes a central positioning column 1111 and a guide positioning upper end cover 1112 , a guide positioning lower end cover 1113 and a guide positioning spring 1114 which are sleeved on the central positioning column 1111 . The center positioning column 1111 is respectively provided with a first limiting boss and a second limiting boss along the circumferential direction, the guide positioning upper end cover 1112 is located between the first limiting boss and the second limiting boss and abuts against the first limiting boss, one end of the guide positioning lower end cover 1113 is fixedly connected to the guide positioning upper end cover 1112, and the other end is located at an end of the second limiting boss away from the first limiting boss, and a third limiting boss is provided on the inner side wall, the third limiting boss abuts against the second limiting boss, the other end of the guide positioning lower end cover 1113 is fixedly connected to the mounting plate, the two ends of the guide positioning spring 1114 are respectively abutted against the guide positioning upper end cover 1112 and the second limiting boss, the center positioning column 1111 slides along the center axis in the guide positioning upper end cover 1112 and the guide positioning lower end cover 1113, and the guide positioning spring 1114 realizes the self-reset of the center positioning column 1111 toward the center axis direction of the centering structure.

[0062] The structures of the second guide assembly 12 and the third guide assembly 13 are the same as those of the first guide assembly 11, and are also respectively provided with mounting plates and guide positioning column assemblies 111. The three guide positioning column assemblies 111 constitute a first positioning device for guiding and positioning the autonomous underwater vehicle. In this embodiment, the first interactive assembly 15 is arranged on the mounting plate of the first guide assembly 11.

[0063] The third guide link 114 in the first guide assembly 11, the third guide link 114 in the second guide assembly 12, the third guide link 114 in the third guide assembly 13, the trumpet-shaped guide cage 16 and the self-locking guide rod 145 in the self-locking assembly 14 constitute a fixed part. During use, the fixed part remains in a constant position relative to the guide interactive fixed frame 3. The movable end of the first guide assembly 11, the movable end of the second guide assembly 12, and the movable end of the third guide assembly 13 are respectively fixedly connected to the self-locking connecting frame 141. The self-locking connecting frame 141 can slide axially along the self-locking guide rod 145, and the trumpet-shaped guide cage 16, the first guide assembly 11, the second guide assembly 12, and the third guide assembly 13 constitute an adaptive centering structure. When the autonomous underwater vehicle enters the trumpet-shaped guide cage 16, it is roughly guided by its trumpet mouth; it hits and continuously pushes the self-locking connecting frame 141 to move away from the trumpet-shaped guide cage 16, and pulls the movable ends of the first guide assembly 11, the second guide assembly 12, and the third guide assembly 13 to move, so that they shrink toward the central axis, and guides the autonomous underwater vehicle during its forward movement through the first positioning device, so that the central axis of the autonomous underwater vehicle and the central axis of the adaptive centering structure coincide, and fine guidance is performed, thereby completing the adaptive centering operation.

[0064] Since the fourth guide link 115 and the center axis of the adaptive centering structure are parallel to each other, the fourth guide link 115 in the parallelogram mechanism can be pulled forward and backward by the fifth guide link 112 to adjust the distance deviation of the autonomous underwater vehicle perpendicular to the center axis of the adaptive centering structure, and adjust the center axis of the autonomous underwater vehicle to a position that coincides with the center axis of the adaptive centering structure. In this process, the fourth guide link 115 can always maintain a parallel relationship with the center axis of the adaptive centering structure.

[0065] like Figure 7 As shown, the first interactive component 15 includes a plug-in motor 151, a plug-in screw rod 152, a fixing frame 153, a plug-in guide rod 154, and an interactive connector male head 155. The output end of the plug-in motor 151 is connected to the plug-in screw rod 152, the fixing frame 153 is slidably connected to the plug-in guide rod 154, one end of the fixing frame 153 is connected to the plug-in screw rod 152, and the other end is fixedly connected to the interactive connector male head 155. The plug-in motor 151 drives the plug-in screw rod 152 to make the fixing frame 153 move along the axial direction of the plug-in guide rod 154, thereby driving the interactive connector male head 155 to move, and plugging and unplugging is achieved. The interactive connector adopts an underwater plug-in optoelectronic composite connector.

[0066] like Figure 8The figure shows an autonomous underwater vehicle of the present invention, comprising an underwater vehicle body 2, a second positioning device and a second interactive component 21 are arranged at the head of the underwater vehicle body 2, and the second positioning device and the second interactive component 21 are used to cooperate with the guide interactive component 1 to perform docking, interaction and separation operations. The second positioning device comprises N guide grooves 22 arranged along the circumference of the underwater vehicle body 2, the width of the guide groove 22 decreases along the central axis direction, the end close to the head of the underwater vehicle body 2 is wider, and a positioning groove 23 is arranged at the bottom of the other end away from the head of the underwater vehicle body 2. In this embodiment, the guide groove 22 comprises a quasi-triangular part and an extension part connected in sequence, the bottom edge of the quasi-triangular part faces the head of the underwater vehicle body 2, and one end of the extension part is connected to the vertex position of the quasi-triangular part.

[0067] The second interactive component 21 is configured as an interactive connector female head, which is configured corresponding to one of the guide grooves 22. Since the first interactive component 15 and the guide positioning column component 111 are fixed on the same structure, their relative positions remain unchanged, and the spacing between the interactive connector female head and one of the guide grooves 22 corresponds thereto, when the autonomous underwater vehicle is centered using the adaptive centering structure, the centering operation of the first interactive component 15 and the second interactive component 21 can be simultaneously achieved.

[0068] The guide groove 22 and the guide positioning column assembly 111 cooperate to guide and position the position of the autonomous underwater vehicle, correct the angular deviation of the autonomous underwater vehicle around the central axis of the adaptive centering structure when the autonomous underwater vehicle moves forward, and realize the position and posture certainty of the autonomous underwater vehicle and the underwater adaptive interactive platform.

[0069] During docking, the guide positioning column assembly 111 is first inserted into the guide groove 22 on the underwater vehicle body 2. During the cooperation between the guide groove 22 and the guide positioning column assembly 111, the center positioning column 1111 moves, compressing the guide positioning spring 1114. When the autonomous underwater vehicle continues to move and the guide positioning column assembly 111 reaches the positioning groove 23, the center positioning column 1111 is reset under the drive of the guide positioning spring 1114 and inserted into the positioning groove 23, thereby accurately positioning the relative positions of the autonomous underwater vehicle and the underwater adaptive interactive platform.

Claims

1. An underwater adaptive interactive platform, characterized by: It comprises a guide interaction component (1), a guide interaction fixed frame (3) and a multi-purpose fixed frame (4); The guide interaction component (1) comprises a self-locking component (14), a trumpet-shaped guide cage (16), and N guide components, wherein 3≤N≤4; The self-locking assembly (14) comprises a self-locking connecting frame (141), a locking device, a reset driving device and N self-locking guide rods (145), wherein the N self-locking guide rods (145) are arranged in parallel, one end of the self-locking guide rod (145) is fixedly connected to the small end of the trumpet-shaped guide cage (16), and the other end is fixedly connected to the guide interactive fixing frame (3); the self-locking connecting frame (141) is arranged between the N self-locking guide rods (145) and is respectively slidably connected thereto, the locking device is used to lock and release the self-locking connecting frame (141), and the output end of the reset driving device is connected to the self-locking connecting frame (141) and is used to drive the self-locking connecting frame (141) to slide along the self-locking guide rod (145); The N guide assemblies are respectively located between adjacent self-locking guide rods (145), one end of the guide assembly is hinged to the guide interactive fixing frame (3), the other end is close to one end of the self-locking guide rod (145), and faces the central axis of the trumpet-shaped guide cage (16), and is fixedly connected to the self-locking connecting frame (141), and when the guide assembly rotates around the hinged position, the other end gradually approaches the central axis of the trumpet-shaped guide cage (16); The guide assembly is also provided with a first positioning device and a first interactive component (15), the first positioning device is used to guide and position the autonomous underwater vehicle, and the relative position of the first interactive component (15) and the first positioning device remains unchanged; The guide interactive fixed frame (3) is fixedly connected to the multi-purpose fixed frame (4), and the multi-purpose fixed frame (4) is used to connect to the external structure.

2. The underwater adaptive interactive platform according to claim 1, characterized in that: The guide assembly includes two parallelogram structures arranged in parallel, and the corresponding vertices of the two parallelogram structures are fixedly connected; The parallelogram structure comprises a first guide link (116), a second guide link (113), a third guide link (114) and a fourth guide link (115) which are hinged in sequence head to tail, the third guide link (114) being fixedly connected to the guide interactive fixed frame (3) as a fixed end, and the remaining sides being movable ends which are fixedly connected to the self-locking connecting frame (141).

3. The underwater adaptive interactive platform according to claim 2, characterized in that: The guide assembly further comprises a fifth guide link (112), one end of the fifth guide link (112) being fixedly connected to the middle position of the second guide link (113), and the other end of the fifth guide link (112) being fixedly connected to the self-locking connection frame (141); A mounting plate is arranged between the two fourth guide connecting rods (115) of the parallelogram structure; The first positioning device comprises N guide positioning column assemblies (111) respectively arranged corresponding to the N guide assemblies; The guide positioning column assembly (111) comprises a central positioning column (1111), a guide positioning upper end cover (1112) sleeved on the central positioning column (1111), a guide positioning lower end cover (1113) and a guide positioning spring (1114); The central positioning column (1111) is provided with a first limiting boss and a second limiting boss respectively along the circumferential direction; the guiding positioning upper end cover (1112) is located between the first limiting boss and the second limiting boss and abuts against the first limiting boss; one end of the guiding positioning lower end cover (1113) is fixedly connected to the guiding positioning upper end cover (1112), and the other end is located at an end of the second limiting boss away from the first limiting boss; a third limiting boss is provided on the inner side wall of the other end of the guiding positioning lower end cover (1113), the third limiting boss abuts against the second limiting boss, and the guiding positioning lower end cover (1113) is fixedly connected to the mounting plate; the central positioning column (1111) is slidably connected to the guiding positioning upper end cover (1112) and the guiding positioning lower end cover (1113); The two ends of the guide positioning spring (1114) are respectively in contact with the guide positioning upper end cover (1112) and the second limiting boss, so as to realize the self-reset of the center positioning column (1111).

4. An underwater adaptive interactive platform according to any one of claims 1 to 3, characterized in that: The locking device comprises an elastic reset device and N ratchet structures corresponding to the N self-locking guide rods (145), respectively, the ratchet structure comprising an unlocking cam (142), an unlocking motor (143), a self-locking connecting rod (146), a self-locking spring (147) and a continuous tooth groove arranged on the side wall of the self-locking guide rod (145) along the central axis thereof; The unlocking motor (143) is arranged on the self-locking connecting frame (141), and the output end is connected to the unlocking cam (142); A rotating shaft is arranged in the middle of the self-locking connecting rod (146), and the rotating shaft is connected to the self-locking connecting frame (141). The unlocking cam (142) and the self-locking spring (147) are respectively located at the driving end of the self-locking connecting rod (146), and are relatively arranged on both sides of the central axis of the self-locking connecting rod (146). One end of the self-locking spring (147) is connected to the driving end of the self-locking connecting rod (146), and the other end is connected to the self-locking connecting frame (141); the working end of the self-locking connecting rod (146) is engaged with the continuous tooth groove to realize the locking of the self-locking connecting frame (141); the unlocking cam (142) rotates to squeeze the driving end of the self-locking connecting rod (146), and the self-locking connecting rod (146) rotates around the rotating shaft, and the working end is away from the continuous tooth groove, thereby unlocking the self-locking connecting frame (141); One end of the elastic reset device is connected to or abuts against the self-locking connection frame (141), and the other end is connected to the guide interactive fixing frame (3). After the self-locking connection frame (141) is unlocked, the self-locking connection frame (141) moves in a direction close to the trumpet-shaped guide cage (16) through the action of the compressed elastic reset device.

5. The underwater adaptive interactive platform according to claim 4, characterized in that: The N ratchet structures share the same unlocking cam (142) and unlocking motor (143); the unlocking cam (142) is coaxially arranged with the trumpet-shaped guide cage (16); and the unlocking cam (142) is evenly arranged with M protrusions in the circumferential direction, wherein the value of M is a positive integer multiple of N; The self-locking connection frame (141) is configured as a cylindrical shell with a cavity therein, and the self-locking guide rod (145) is configured through an upper bottom plate and a lower bottom plate of the cylindrical shell, wherein the upper bottom plate of the cylindrical shell is close to one end of the self-locking guide rod (145); The unlocking cam (142), the self-locking connecting rod (146) and the self-locking spring (147) are all arranged in the cavity. The unlocking motor (143) is connected to the lower base plate of the cylindrical shell and is located outside the cylindrical shell. The output end passes through the lower base plate to connect the unlocking cam (142) to drive it to rotate around the central axis.

6. The underwater adaptive interactive platform according to claim 4, characterized in that: The elastic reset device comprises N guide springs (144), the N guide springs are respectively sleeved on N self-locking guide rods (145), one end of the guide spring abuts against the self-locking connecting frame (141), and the other end is connected to the other end of the self-locking guide rod (145); The first interactive component (15) comprises a plug-in motor (151), an interactive connector, a plug-in screw rod (152), a fixing frame (153), and a plug-in guide rod (154); the output end of the plug-in motor (151) is connected to the plug-in screw rod (152), and the interactive connector is configured as an interactive connector male head (155); the fixing frame (153) is slidably connected to the plug-in guide rod (154); one end of the fixing frame (153) is connected to the plug-in screw rod (152), and the other end is fixedly connected to the interactive connector male head (155); the plug-in motor (151) drives the plug-in screw rod (152) to make the fixing frame (153) move along the axial direction of the plug-in guide rod (154), thereby realizing the plug-in and pull-out of the interactive connector male head (155).

7. An autonomous underwater vehicle, adapted to the underwater adaptive interactive platform according to any one of claims 1 to 6, comprising an underwater vehicle body (2), characterized in that: A second positioning device and a second interactive component (21) are provided at the head of the underwater vehicle body (2); The second positioning device is adapted to the first positioning device, the second interaction component (21) is used to dock with the first interaction component (15), and the relative position of the second interaction component (21) and the second positioning device corresponds to the relative position of the first interaction component (15) and the first positioning device.

8. An autonomous underwater vehicle according to claim 7, characterized in that: The second positioning device comprises N guide grooves (22) arranged along the circumference of the underwater vehicle body (2); The width of the guide groove (22) gradually decreases along the central axis direction, and is wider at one end close to the head of the underwater vehicle body (2); a positioning groove (23) is provided at the bottom of the other end of the guide groove (22) away from the head of the underwater vehicle body (2); The central positioning column (1111) of the guide positioning column assembly in the first positioning device is guided by the guide groove (22) and inserted into the positioning groove (23) to achieve positioning.

9. An autonomous underwater vehicle according to claim 8, characterized in that: The guide groove (22) comprises a triangular portion and an extension portion, wherein the base of the triangular portion faces the head of the underwater vehicle body (2), and one end of the extension portion is connected to the vertex position of the triangular portion.

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