Unmanned underwater vehicle charging system based on wave power generation

Abstract

The invention relates to the technical field of unmanned underwater vehicle charging, in particular to an unmanned underwater vehicle charging system based on wave energy power generation, which comprises a vehicle body and a cabin cover, a dry cabin and a wet cabin which are communicated through a dynamic sealing cabin penetrating piece are arranged in the vehicle body, and an electric capstan, a stay wire type power generation device and a power storage module are arranged in the dry cabin. The electric capstan comprises a winding drum, an energy capturing unit is arranged in the wet cabin and comprises an air bag floater, an inflation assembly is arranged below the air bag floater, one end of the connecting cable is connected to the winding drum, the middle of the connecting cable is wound around the stay wire type power generation device, and the other end of the connecting cable penetrates through the dynamic sealing cabin penetrating piece to be connected with the air bag floater. The energy harvesting units for harvesting wave energy, the stay wire type power generation device and the power storage module are integrated in the unmanned underwater vehicle, the energy harvesting units can be sequentially released in the sea for multiple times to achieve in-situ autonomous charging in a task sea area, and the task duration time and the operation range of the vehicle in the deep and far sea are greatly prolonged.

Description

Technical Field

[0001] The present invention relates to the technical fields of marine equipment and unmanned underwater vehicle charging, and in particular to an unmanned underwater vehicle charging system based on wave energy power generation. Background Art

[0002] As an unmanned device that navigates underwater by remote control or automatic control, an unmanned underwater vehicle (UUV) is an intelligent system that can replace divers or manned small submarines to perform underwater operations such as deep-sea exploration and shipwreck search and rescue. Therefore, unmanned underwater vehicles are also called "diving robots" or "underwater robots". Unmanned underwater vehicles (UUVs) are playing an increasingly important role in marine exploration, environmental monitoring, underwater operations and other fields.

[0003] A high-performance unmanned underwater vehicle (UUV) must integrate advanced navigation and control systems, energy and propulsion systems, and communication and environmental perception technologies. One of the current development trends in UUVs is to improve their endurance, enabling them to perform missions for longer periods of time. However, current UUVs are often limited by the capacity of their internal batteries, making it difficult to achieve long-term endurance. The endurance of UUVs is an extremely critical performance bottleneck. Traditional UUVs recharge by returning to a mother ship or shore base for charging or battery replacement. This method has disadvantages such as operational interruptions, low efficiency, high operating costs, and reliance on supporting facilities. Therefore, it is of great significance to develop an underwater charging system that can extend the underwater operation time of UUVs and improve their autonomy and flexibility.

[0004] Patent CN117799802A discloses a device and operating method for UUV gliding and charging. This device addresses the problems of UUVs being limited by their energy resources during underwater operations, the low charging efficiency of UUVs using built-in solar panels, and the tendency to expose themselves during charging. By equipping the UUV with a retractable, foldable solar panel, the UUV is powered, ensuring efficient energy replenishment and greatly enhancing the endurance of the single unit, enabling long-term independent underwater operation. Compared to traditional UUVs, it offers advantages in energy conservation, high concealment, and enhanced maneuverability. However, the product structure of the aforementioned patent is complex and bulky, resulting in an overly cumbersome charging process and a significant increase in product cost. Summary of the Invention

[0005] The purpose of the present invention is to provide an unmanned underwater vehicle charging system based on wave energy power generation to address the shortcomings of the existing technology. By integrating an energy capture unit for capturing wave energy, a wire-type power generation device and a power storage module inside the unmanned underwater vehicle body, the underwater vehicle can be autonomously charged in the mission sea area, thereby extending its underwater operation time and solving the problems existing in the above-mentioned existing technology.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions: A charging system for an unmanned underwater vehicle based on wave energy power generation comprises a vehicle body and a power storage module arranged inside the vehicle body for storing electricity. An execution cabin is provided inside the vehicle body, which is divided into a dry cabin and a wet cabin by a watertight bulkhead in the vertical direction. The dry cabin and the wet cabin are connected by a dynamic sealing penetration member arranged on the watertight bulkhead. A hatch is provided on the top of the wet cabin. An electric winch, a wire-type power generation device for generating electricity and a power storage module are provided in the dry cabin. The wire-type power generation device is connected to the power storage module. The electric winch includes a drum. An energy capture unit is provided in the wet cabin. The energy capture unit includes an inflatable airbag float. An inflation component for inflating the airbag float is provided below the airbag float. The two ends of the connecting cable are respectively a fixed end and a connecting end. The fixed end of the connecting cable is connected to the drum. The middle part of the connecting cable is wound around the wire-type power generation device. The connecting end of the connecting cable passes through the dynamic sealing penetration member and is detachably connected to the airbag float.

[0007] Furthermore, the inflation assembly includes a gas generator disposed below the airbag float, and the gas generator is communicated with the airbag float.

[0008] Furthermore, a permanent magnet is provided under the airbag float, and correspondingly, an electromagnetic connection component for magnetic attraction with the permanent magnet is provided at the connecting end of the connecting cable.

[0009] Furthermore, the electromagnetic connection assembly includes a shell, in which an electromagnet, a power supply for energizing the electromagnet, and a control receiver for controlling the on / off state of the power supply are arranged.

[0010] Furthermore, there are multiple energy capture units, and accordingly, a replacement mechanism is provided in the wet cabin for pushing the energy capture units to the top of the electromagnetic connection assembly in sequence.

[0011] Furthermore, the compensation mechanism includes a horizontal guide rail and a first spring arranged in the wet tank, and multiple energy capture units are arranged side by side on the guide rail. The area on the guide rail corresponding to the top of the electromagnetic connection component is the execution position. One end of the first spring is connected to the inner wall of the wet tank, and the other end of the first spring is connected to an abutment plate for abutting and pushing the energy capture unit farthest from the execution position. A first horizontal slide groove is opened on the inner wall of the wet tank, and the abutment plate is slidably connected to the first slide groove.

[0012] Furthermore, the compensation mechanism includes a limiting component for limiting the displacement of the energy capture unit closest to the execution position along the guide rail.

[0013] Furthermore, the limiting assembly includes a second slide groove vertically opened on the inner side wall of the wet tank, and a movable plate is slidably connected in the second slide groove. The upper part of the movable plate is used to abut the electromagnetic connection assembly, and the movable plate is provided with a block for abutting and blocking the energy capture unit closest to the distance execution position. The lower part of the movable plate is connected to one end of a vertical second spring, and the other end of the second spring is connected to the bottom wall of the wet tank.

[0014] Furthermore, the energy capture unit includes a frame, the airbag float is arranged inside the frame, the inflation component is arranged at the lower part of the frame, the frame is in contact with the guide rail, and a groove corresponding to the stopper is opened on the frame.

[0015] Furthermore, the hatch cover, dynamic sealing penetration member, cable-type power generation device and electric winch are all located in the same vertical direction.

[0016] Compared with the prior art, the present invention has the following beneficial effects: 1. Significantly extend the endurance: By pre-deploying multiple energy-capturing units in the vehicle, the wave energy can be captured and charged after being released multiple times in the sea, significantly extending the mission duration and operating range of the vehicle in the deep sea.

[0017] 2. Improve autonomy and stealth: Reduce dependence on the mother ship and the frequency of return, and improve the autonomous operation capability of the vehicle itself and the stealth of mission execution.

[0018] 3. Reduce product operating costs: The charging system has a simple and efficient structure, integrating an energy capture unit for capturing wave energy, a cable-type power generation device, and a power storage module. The energy capture unit is a deployable, disposable surface device that uses an electromagnetic connection component to effectively connect the connecting cable to the energy capture unit, reducing the use of support vessels and eliminating the energy capture unit recovery and deployment operations. This significantly reduces system complexity, risk, and product operating costs, making the system highly applicable and economical in various sea conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 A schematic diagram of the overall structure of an unmanned underwater vehicle body in a charging system for wave energy power generation provided by the present invention; Figure 2 A schematic diagram of the charging status of an unmanned underwater vehicle charging system based on wave energy power generation provided by the present invention; Figure 3 for Figure 2 A partial enlarged view of point A in the middle; Figure 4 A cross-sectional view of the internal cavity of an unmanned underwater vehicle body in a charging system for wave energy power generation provided by the present invention; Figure 5A schematic diagram of the internal structure of a dry compartment in an unmanned underwater vehicle charging system based on wave energy power generation provided by the present invention; Figure 6 A schematic diagram of the internal structure of a wet cabin after releasing an energy capture unit in an unmanned underwater vehicle charging system based on wave energy power generation provided by the present invention; Figure 7 A schematic diagram of the internal structure of a wet cabin after releasing two energy-capturing units in an unmanned underwater vehicle charging system based on wave energy power generation provided by the present invention; Figure 8 A schematic diagram of the internal structure of a wet cabin after releasing three energy-capturing units in an unmanned underwater vehicle charging system based on wave energy power generation provided by the present invention; Figure 9 This is a structural schematic diagram of a limit assembly in a wet cabin in an unmanned underwater vehicle charging system based on wave energy power generation provided by the present invention.

[0020] Wherein, the accompanying drawings are marked as follows: 1. Vehicle body; 2. Hatch cover; 3. Watertight bulkhead; 31. Dynamic sealing penetration component; 4. Dry cabin; 41. Electric winch; 42. Pull-wire generator; 43. Power storage module; 5. Wet cabin; 6. Energy capture unit; 61. Airbag float; 62. Inflatable assembly; 63. Permanent magnet; 64. Frame; 641. Groove; 7. Connecting cable; 71. Electromagnetic connection assembly; 8. Re-positioning mechanism; 81. Guide rail; 82. First spring; 83. Abutment plate; 84. First slide groove; 85. Limiting assembly; 851. Second slide groove; 852. Second spring; 853. Movable plate; 854. Stop block. DETAILED DESCRIPTION

[0021] In order to help those skilled in the art better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0022] It should be noted that when an element is referred to as being “fixed on” or “disposed on” another element, it may be directly on the other element or indirectly on the other element. When an element is referred to as being “connected to” another element, it may be directly connected to the other element or indirectly connected to the other element.

[0023] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0024] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or to implicitly indicate the quantity of the technical features indicated. Thus, a feature specified as "first" or "second" may explicitly or implicitly include one or more of the features.

[0025] For easier understanding, see Figures 1 to 9This embodiment provides a charging system for an unmanned underwater vehicle (UUV) based on wave energy generation. The system includes a vehicle body 1. The vehicle body 1 has an internal execution cabin divided by a watertight bulkhead 3 into a watertight, dry dry compartment 4 and a wet compartment 5 with controllable water inlet. All mechanical components within the wet compartment 5 are constructed of materials resistant to seawater corrosion. A highly reliable dynamic seal penetration 31, preferably a magnetic fluid seal, is fixed to the watertight bulkhead 3. The dry compartment 4 is connected to the wet compartment 5 via the dynamic seal penetration 31. A hatch 2 is provided on top of the wet compartment, capable of opening and closing in seawater. The wet compartment 5 is connected to the exterior of the vehicle body 1 via the hatch 2. The dry compartment 4 is equipped with an electric winch 41, a cable-drawn generator 42, and a power storage module 43. The electric winch 41 utilizes a compact internal winch to prevent the connecting cable 7 from becoming entangled. The electric winch 41 includes a drum for winding the connecting cable 7 and a motor for driving the drum. The cable-drawn generator 42 is used for generating electricity and is preferably the cable-drawn generator 42 described in Patent CN207195084U. The cable-drawn generator 42 includes a generator, a transmission mechanism, a cable-drawn pulley, and a spring reel. The spring reel includes a spiral spring. When the cable-drawn pulley and spring reel rotate, mechanical energy is transferred to the generator via the transmission mechanism, driving the generator to generate electricity, thus converting mechanical energy into electrical energy. The power storage module 43 is used for storing electricity and includes a battery. The cable-drawn generator 42 is connected to the power storage module 43. The wet tank 5 houses an energy capture unit 6 for capturing wave energy. This unit includes an airbag float 61 made of a flexible, durable material. Initially, the airbag float 61 remains deflated within the wet tank 5 and can be compactly folded in this deflated state. An inflation assembly 62 is fixedly attached below the airbag float 61. This inflation assembly 62 is used to inflate the airbag float 61. Specifically, it includes a gas generator fixedly mounted below the airbag float 61. The gas generator includes a high-pressure gas cylinder, preferably a small, lightweight aluminum or coated steel cylinder. The high-pressure gas cylinder is connected to the airbag float 61 via a gas transmission channel. The gas generator triggers the rapid release of gas stored in the high-pressure gas cylinder, which is then transported through the gas transmission channel to the interior of the airbag float 61, achieving inflation. When the vehicle body 1 requires charging, the controller activates the gas generator, allowing the compressed gas in the high-pressure gas cylinder to flow through the gas transmission channel and rapidly inflate the airbag float 61. One end of the connecting cable 7 is a fixed end, and the other end is a connecting end, wherein the fixed end is fixedly connected to the reel, and the connecting end extends upward and is wound around the pull-wire wheel and spring reel of the pull-wire generator 42 for a certain number of turns, and then continues to extend upward through the dynamic sealing cabin penetration part 31, and finally extends upward to be detachably connected to the lower part of the airbag float 61.By wrapping the connecting cable 7 around the pulley and spring reel a certain number of times, the contact area between the connecting cable 7 and the pulley and spring reel is increased, thereby increasing the friction between the connecting cable 7 and the pulley and spring reel. This allows the connecting cable 7, whether pulled upward by the airbag float 61 or reeled downward by the electric winch 41, to rotate the pulley and spring reel, thereby enabling the generator to operate and generate electricity. The dynamic seal penetration 31 ensures that the connecting cable 7 does not experience solid friction even at high speeds. It also isolates the seawater, preventing seawater from entering the wet tank 5 and from infiltrating the dry tank 4, thus preventing it from affecting the normal operation of the equipment within the dry tank 4. A controller is also located within the dry tank 4 of the vehicle body 1, which controls the movements of the vehicle body 1 and monitors its status. The hatch cover 2, the dynamic sealing penetration member 31, the cable pulley and spring reel of the cable-type power generation device 42, and the drum of the electric winch 41 are all located in the same vertical direction, ensuring that the connecting cable 7 can always remain in a vertical state.

[0026] When the controller detects that the aircraft body 1 needs to be charged, the aircraft body 1 floats to a predetermined seawater depth, opens the hatch 2 on the upper part of the aircraft body 1, and inflates the airbag float 61 through the inflation component 62. After the airbag float 61 expands, the buoyancy increases, and then it begins to float. Since one end of the connecting cable 7 is fixedly connected to the lower part of the airbag float 61, the airbag float 61 will pull the connecting cable 7 upward when it floats up. Since the other end of the connecting cable 7 is fixedly connected to the drum, and the middle part of the connecting cable 7 is wrapped around the pulley and spring reel of the pull-wire type generator 42 for a certain number of turns, when the airbag float 61 pulls the connecting cable 7 upward, the reel, the pulley and the spring reel will rotate together, releasing a sufficient length of the connecting cable 7. In this process, the connecting cable 7 is stretched upward, driving the pulley and the spring reel of the pull-wire type generator 42 to rotate, and then driving the generator of the pull-wire type generator 42 through the transmission mechanism to generate electricity. At the same time, the vortex spring on the spring reel is wound and stores mechanical energy until the airbag float 61 floats to the sea surface. Because the inflated airbag float 61's own weight is less than the buoyancy generated by its volume, it floats on the sea surface. When a wave passes through the area where the airbag float 61 is placed, the airbag float 61 can follow the wave's movement. Specifically, the airbag float 61 rises from the sea surface on the wave's head-on side and descends to the sea surface on the wave's tail-off side. In other words, when the airbag float 61 is excited by the wave, it absorbs wave energy and produces an up-and-down motion that follows the wave. Both the airbag float 61 and the vessel body 1 oscillate back and forth with the wave's up-and-down motion. However, due to the vessel body 1's own inertia and the different depths at which the airbag float 61 and the vessel body 1 are immersed in the sea, the vehicle body 1's movement lags behind the airbag float 61. The asynchronous oscillations between the airbag float 61 and the vessel body 1 result in a significant phase difference, resulting in relative up-and-down motion. More specifically, when the airbag float 61 is at the trough and moves from the wave face to the wave crest, the airbag float 61 is lifted upward, the movement of the vehicle body 1 lags behind the airbag float 61, and the connecting cable 7 is stretched upward, driving the wire pulley and spring reel of the wire-drawing power generation device 42 to rotate, and then driving the generator of the wire-drawing power generation device 42 through the transmission mechanism to generate electricity. During this process, the vortex spring on the spring reel is wound and stores mechanical energy; when the airbag float 61 is at the wave crest and moves from the wave face to the trough, the airbag float 61 falls downward. During this process, the vortex spring on the spring reel is stretched and releases mechanical energy, pulling the connecting cable 7 downward to reel, driving the wire pulley and spring reel of the wire-drawing power generation device 42 to rotate, and then driving the generator of the wire-drawing power generation device 42 through the transmission mechanism to generate electricity, and the electricity generated by the generator is stored in the power storage module 43.During the whole process, the connecting cable 7 between the drum and the pull-wire generator 42 and the connecting cable 7 between the pull-wire generator 42 and the airbag float 61 always remain in a nearly vertical state, that is, a taut state, and the connecting cable 7 will not bend or relax.

[0027] For easier understanding, see Figures 2 to 9 The energy capture unit 6 is a deployable, disposable surface device. A permanent magnet 63 is fixedly mounted below the airbag float 61, and an electromagnetic connection assembly 71 is fixedly mounted at the connection end of the connecting cable 7. The electromagnetic connection assembly 71 comprises a housing, an electromagnet, a power supply, and a control receiver disposed within the housing. The power supply is used to energize the electromagnet, causing it to generate magnetic force and attract the permanent magnet 63 below the airbag float 61, thereby effectively connecting the airbag float 61 to the connecting cable 7. The power supply is preferably a high-energy battery. The control receiver is used to control the on / off state of the power supply and electrically connect the control receiver to the controller in the dry cabin. When the controller sends a connection command to the control receiver, the control receiver controls the power supply to energize and magnetize the electromagnet, causing it to be magnetically attracted to the permanent magnet, achieving connection. When the controller sends a disconnect command to the control receiver, the control receiver controls the power supply to demagnetize the electromagnet, thereby disconnecting the electromagnet from the permanent magnet. Before entering the sea, a plurality of energy capture units 6 arranged side by side are pre-stored in the wet tank 5 of an aircraft body 1, and a corresponding replacement mechanism 8 is provided in the wet tank 5. The replacement mechanism 8 includes a horizontal closed constraint configuration guide rail 81 and a first spring 82. The plurality of energy capture units 6 are all abutted against the guide rail 81. The guide rail 81 can provide precise guidance for the energy capture unit 6 queue. The guide rail 81 includes an execution position corresponding to the electromagnetic connection component 71 and several waiting positions. One execution position or waiting position corresponds to one energy capture unit 6. One end of the first spring 82 is fixedly connected to the right side wall of the wet chamber 5, and the other end is fixedly connected to an abutment plate 83. The abutment plate 83 abuts the energy capture unit 6 farthest from the execution position. Because the energy capture units 6 are arranged side by side on the guide rail 81, the first spring 82 can provide continuous thrust to the energy capture unit 6 queue. The abutment plate 83 pushes the energy capture units 6 in the waiting position to the execution position above the electromagnetic connection assembly 71 in sequence, so that there is always an energy capture unit 6 in the execution position. A first horizontal slot 84 is provided on the inner wall of the wet chamber 5, and the abutment plate 83 is slidably connected to the first slot 84.

[0028] In the initial state, one energy capture unit 6 is stored in the actuating position, with the abutment plate 83 abutting the energy capture unit 6 farthest from the actuating position. The first spring 82 is in a contracted state under load. When the controller detects that the vessel body 1 needs to be charged, the vessel body 1 ascends to a predetermined seawater depth. The controller then controls the electromagnetic connection assembly 71 at the end of the connecting cable 7 to connect with the permanent magnet 63 of the airbag float 61 in the actuating position, effectively connecting the connecting cable 7 and the airbag float 61. The hatch 2 is then opened to release the first energy capture unit 6 in the actuating position, charging the vessel body 1. (The specific charging principle has been described above and will not be repeated here.) When the controller detects that the aircraft body 1 has completed a charging action, the controller controls the power supply of the electromagnetic connection component 71 at the end of the connecting cable 7 to stop energizing the electromagnet, demagnetizing the electromagnet, and then disconnecting the electromagnetic connection component 71 at the end of the connecting cable 7 from the released airbag float 61, and discarding the first energy capture unit 6; at this time, the spiral spring on the spring reel stretches and releases mechanical energy, and controls the electric winch 41 to reel the connecting cable 7 downward, and the spiral spring and the electric winch 41 work together to pull the connecting cable 7 downward until the connecting cable 7 and the electromagnetic connection component 71 at the end of the connecting cable 7 return to the wet tank 5 of the aircraft body 1 together; the first spring 82 releases part of the elastic potential energy, and pushes the energy capture unit 6 farthest from the execution position through the abutment plate 83, so that all the energy capture units 6 in the waiting position are simultaneously displaced toward the execution position until the second energy capture unit 6 is displaced to the execution position, so that the permanent magnet 63 in the second energy capture unit 6 is located directly above the electromagnetic connection component 71, waiting for the next charging action. When the first spring 82 gradually releases all elastic potential energy, all energy capture units 6 on the waiting position are pushed to the execution position in turn, that is, when there is no energy capture unit 6 on the waiting position, the abutment plate 83 is at the left end of the first slide groove 84 and cannot continue to move to the left, that is, the abutment plate 83 will not be affected by the thrust of the first spring 82 and continue to squeeze the energy capture unit 6 that is already in the execution position, thereby preventing the abutment plate 83 from affecting the floating action of the last energy capture unit 6.

[0029] For easier understanding, see Figures 4 to 9The compensation mechanism 8 also includes a limiting assembly 85, which can limit the displacement of the energy capture unit 6 located in the waiting position and closest to the execution position along the guide rail 81. The limiting assembly 85 includes a second slide 851, a second spring 852, a movable plate 853, and a stopper 854 fixed above the movable plate 853. The second slide 851 is vertically opened on the inner wall of the wet tank 5. The movable plate 853 is slidably connected in the second slide 851. The movable plate 853 is provided with a through hole for the connection cable 7 to pass through. The aperture of the through hole is larger than the outer diameter of the connection cable 7. The upper part of the electromagnetic connection assembly 71 is connected to the energy capture unit 6, and the lower part of the electromagnetic connection assembly 71 is used to abut against the upper part of the movable plate 853. The stopper 854 is used to abut and block the energy capture unit 6 closest to the execution position, preventing the energy capture unit 6 from moving from the waiting position to the execution position. The movement direction of the second spring 852 is the same as that of the second slide groove 851 , both of which are vertical directions. One end of the second spring 852 is fixedly connected to the bottom of the movable plate 853 , and the other end of the second spring 852 is fixedly connected to the bottom wall of the wet cabin 5 .

[0030] In the initial state, one energy capture unit 6 is stored in the execute position. The lower portion of the electromagnetic connection assembly 71 abuts the upper portion of the movable plate 853, the second spring 852 is unloaded, the movable plate 853 is at the upper end of the second chute 851, and the stopper 854 abuts and blocks the energy capture unit 6 closest to the execute position (i.e., the second energy capture unit 6). When the controller detects that the vehicle body 1 needs to be charged, the vehicle body 1 ascends to a predetermined seawater depth. The controller then controls the connecting cable 7 to connect to the airbag float 61 (the specific connection principle has been described above and will not be repeated here). The hatch 2 then opens to release the first energy capture unit 6 in the execute position to charge the vehicle body 1 (the specific charging principle has been described above and will not be repeated here). During this process, the energy capture unit 6 closest to the execute position cannot move from the standby position to the execute position due to the blocking effect of the stopper 854, thereby restricting the movement of all energy capture units 6 in the standby position. When the controller detects that the aircraft body 1 has completed a charging action, it controls the connecting cable 7 to disconnect from the released airbag float 61 through the controller (the specific disconnection principle has been described above and will not be repeated here), and the first energy capture unit 6 is discarded; the volute spring and the electric winch 41 work together to pull the connecting cable 7 downward and reel it in. During this process, the wire pulley and the spring reel of the wire-drawing power generation device 42 rotate, and then the generator of the wire-drawing power generation device 42 is driven by the transmission mechanism to generate electricity until the lower part of the electromagnetic connection component 71 at the end of the connecting cable 7 abuts the upper part of the movable plate 853; at this time, the electric winch 41 continues to reel in the connecting cable 7, so that the electromagnetic connection component 71 at the end of the connecting cable 7 is pressed downward, and the movable plate 853 and the second spring 852 connected to the lower part of the movable plate 853 are subjected to the pressure load together, the second spring 852 contracts downward and stores mechanical energy, and the movable plate 853 slides downward to the lower end of the second slide groove 851, thereby driving the stopper 8 fixed on the movable plate 853 54 moves downward, releasing the displacement restriction of the stopper 854 on the energy capture unit 6 in the waiting position, thereby causing the first spring 82 to release part of its elastic potential energy, pushing the energy capture unit 6 farthest from the execution position through the abutment plate 83, causing all the energy capture units 6 in the waiting position to move toward the execution position at the same time, until the second energy capture unit 6 moves to the execution position, so that the permanent magnet 63 in the second energy capture unit 6 is located directly above the electromagnetic connection assembly 71; the reeling action of the electric winch 41 is stopped by the controller, and the electromagnetic connection assembly 71 stops applying pressure to the movable plate 853. At this time, the movable plate 853 and the second spring 852 connected to the lower part of the movable plate 853 are not subjected to the pressure load. The second spring 852 releases its elastic potential energy upward, pushing the movable plate 853 to slide upward and reset to the upper end of the second slide groove 851, thereby driving the stopper 854 fixed on the sliding plate to move upward and reset, abutting and blocking the energy capture unit 6 closest to the execution position (i.e., the third energy capture unit 6), waiting for the next charging action.During the upward reset of the movable plate 853 , the electromagnetic connection assembly 71 will follow the movable plate 853 and move slightly upward, and the electromagnetic connection assembly 71 will slightly pull the connection cable 7 upward.

[0031] For easier understanding, please refer to Figures 4 to 9 The energy capture unit 6 includes a frame 64 with a built-in partition. The deflated airbag float 61 is folded and stored within the upper layer of the frame 64. The inflatable assembly 62 and permanent magnet 63 are fixedly mounted within the lower layer of the frame 64. The lower portion of the frame 64 abuts against the guide rail 81. The bottom edge of the frame 64 defines a groove 641 corresponding to the structure of the stopper 854. When the movable plate 853 is at the upper end of the second slide groove 851 and the second spring 852 is in the released state, the stopper 854 engages within the groove 641, achieving its blocking effect. When the movable plate 853 is at the lower end of the second slide groove 851 and the second spring 852 is in the compressed state, the stopper 854 disengages from the groove 641, achieving the repositioning function of the energy capture unit 6.

[0032] Charging steps of the present invention: Step 1: Initial preparation stage: Before the vehicle body 1 enters the sea, that is, in the initial state, one energy capture unit 6 is stored in the execution position, two energy capture units 6 are stored in the waiting position, and the three energy capture units 6 are arranged side by side and abut against each other; the first spring 82 is in a compressed state, and the abutment plate 83 abuts against the frame 64 of the energy capture unit 6 farthest from the execution position (that is, the third energy capture unit 6), and the abutment plate 83 is located at the right end of the first slide groove 84; the second spring 852 is in a released state, the movable plate 853 is located at the upper end of the second slide groove 851, and the stop block 854 fits and abuts against the groove 641 of the frame 64 of the energy capture unit 6 closest to the execution position (that is, the second energy capture unit 6); the lower part of the electromagnetic connection component 71 abuts against the upper part of the movable plate 853, and the upper part of the electromagnetic connection component 71 abuts against the energy capture unit 6 located in the execution position (that is, the first energy capture unit 6).

[0033] Step 2: Determine charging action: The aircraft body 1 is put into the sea, and the controller determines whether charging is required based on the power level of the power storage module 43, mission requirements or preset programs.

[0034] Step 3: Inflation and Floating Stage: When the controller detects that the aircraft body 1 needs to be charged, the aircraft body 1 floats to a predetermined seawater depth, and controls the electromagnetic connection component 71 at the end of the connecting cable 7 through the controller to connect with the first capture module, opens the hatch 2, and the first capture module inflates the airbag float 61 through the inflation component 62, so that it expands and floats up; during the floating process, the first capture module pulls the connecting cable 7 upward, causing the drum, the wire pulley and the spring reel to rotate together, continuously releasing a sufficient length of the connecting cable 7, and during this process, the wire pulley and the spring reel of the wire-drawing power generation device 42 continue to rotate, and then drive the generator of the wire-drawing power generation device 42 to generate electricity through the transmission mechanism, and at the same time, the vortex spring on the spring reel is wound and stores mechanical energy until the first energy capture unit 6 floats to the sea surface.

[0035] Step 4: Wave energy capture and conversion stage: When the first energy capture unit 6 is at the trough and moves from the wave face to the wave crest, the airbag float 61 is lifted upward, the movement of the vehicle body 1 lags behind the airbag float 61, and the connecting cable 7 is stretched upward, driving the wire pulley and spring reel of the wire-drawing power generation device 42 to rotate, and then driving the generator of the wire-drawing power generation device 42 through the transmission mechanism to generate electricity. During this process, the vortex spring on the spring reel is wound and stores mechanical energy; when the first energy capture unit 6 is at the wave crest and moves from the wave face to the wave trough, the airbag float 61 falls downward. During this process, the vortex spring on the spring reel is stretched and releases mechanical energy, pulling the connecting cable 7 to reel downward, driving the wire pulley and spring reel of the wire-drawing power generation device 42 to rotate, and then driving the generator of the wire-drawing power generation device 42 through the transmission mechanism to generate electricity. The electricity generated by the generator is stored in the power storage module 43.

[0036] Step 5: Abandonment and collection stage: When the controller detects that the aircraft body 1 has completed a charging action or encounters an emergency, the controller controls the electromagnetic connection component 71 at the end of the connecting cable 7 to disconnect from the first energy capture unit 6 that has been released, that is, the first energy capture unit 6 is abandoned, and the spiral spring and the electric winch 41 work together to pull the connecting cable 7 downward to reel it up. During this process, the pulling wheel and the spring reel of the pull-wire type power generation device 42 rotate, and then the generator of the pull-wire type power generation device 42 is driven by the transmission mechanism to generate electricity until the lower part of the electromagnetic connection component 71 at the end of the connecting cable 7 abuts the upper part of the movable plate 853.

[0037] Step 6: Filling stage: The controller controls the electric winch 41 to continue to reel in the connecting cable 7, so that the electromagnetic connection component 71 at the end of the connecting cable 7 applies downward pressure, the second spring 852 contracts downward and stores mechanical energy, and the movable plate 853 slides downward to the lower end of the second slide groove 851, driving the stop block 854 to move downward, releasing the displacement restriction of the stop block 854 on the energy capture unit 6 in the waiting position. At this time, the first spring 82 releases part of the elastic potential energy, pushing the second and third energy capture units 6 to move toward the execution position at the same time until the second energy capture unit 6 moves to the execution position; the controller controls the electric winch 41 to stop the reeling action, and the electromagnetic connection component 71 stops applying pressure to the movable plate 853. At this time, the second spring 852 releases the elastic potential energy upward, pushing the movable plate 853 to slide upward and reset to the upper end of the second slide groove 851, driving the stop block 854 to move upward and reset, abutting and blocking the third energy capture unit 6, waiting for the next charging action; close the hatch 2, and the aircraft body 1 continues to operate in the sea water.

[0038] Repeating steps 3 through 6 above, the vessel 1 can achieve three in-situ charging operations in the sea with one entry. By carrying multiple disposable wave energy harvesting units 6 on board and deploying them sequentially as needed, multiple in-situ charging operations are possible while away from the supporting platform, effectively addressing the limited endurance of traditional vessels. Its modular design and automated operation process make it highly practical and has great potential for widespread adoption.

[0039] Although the present invention has been described using the above preferred embodiments, they are not intended to limit the scope of protection of the present invention. Any person skilled in the art who makes various changes and modifications to the above embodiments without departing from the spirit and scope of the present invention still fall within the scope of protection of the present invention.

Claims

1. A charging system for an unmanned underwater vehicle based on wave energy power generation, comprising a vehicle body (1) and a power storage module (43) arranged inside the vehicle body (1) for storing power, characterized in that: An execution cabin is provided inside the aircraft body (1), and the execution cabin is divided into a dry cabin (4) and a wet cabin (5) in the vertical direction by a watertight bulkhead (3). The dry cabin (4) and the wet cabin (5) are connected by a dynamic sealing cabin penetration member (31) provided on the watertight bulkhead (3). A hatch cover (2) is provided on the top of the wet cabin (5). An electric winch (41), a wire-type power generation device (42) for power generation, and a power storage module (43) are provided in the dry cabin (4). The wire-type power generation device (42) is connected to the power storage module (43). The electric winch (41) The invention comprises a drum, a wet tank (5) is provided with an energy capture unit (6), the energy capture unit (6) comprises an inflatable airbag float (61), an inflation assembly (62) for inflating the airbag float (61) is provided below the airbag float (61), the two ends of the connecting cable (7) are respectively a fixed end and a connecting end, the fixed end of the connecting cable (7) is connected to the drum, the middle part of the connecting cable (7) is wound around the pull-wire type power generation device (42), and the connecting end of the connecting cable (7) passes through the dynamic sealing cabin penetration component (31) and is detachably connected to the airbag float (61).

2. The unmanned underwater vehicle charging system based on wave energy power generation according to claim 1 is characterized in that: The inflation assembly (62) includes a gas generator disposed below the airbag float (61), and the gas generator is in communication with the airbag float (61).

3. The unmanned underwater vehicle charging system based on wave energy power generation according to claim 1, characterized in that: A permanent magnet (63) is provided below the airbag float (61), and correspondingly, an electromagnetic connection component (71) for magnetic attraction with the permanent magnet (63) is provided at the connection end of the connection cable (7).

4. The unmanned underwater vehicle charging system based on wave energy power generation according to claim 3 is characterized in that: The electromagnetic connection assembly (71) comprises a shell, in which an electromagnet, a power supply for energizing the electromagnet, and a control receiver for controlling the on / off state of the power supply are arranged.

5. The unmanned underwater vehicle charging system based on wave energy power generation according to claim 3 is characterized in that: There are a plurality of energy capture units (6), and a positioning mechanism (8) is provided in the wet cabin (5) for sequentially pushing the energy capture units (6) to the top of the electromagnetic connection assembly (71).

6. The unmanned underwater vehicle charging system based on wave energy power generation according to claim 5, characterized in that: The compensation mechanism (8) includes a horizontal guide rail (81) and a first spring (82) arranged in the wet cabin (5); a plurality of energy capture units (6) are arranged side by side on the guide rail (81); an area on the guide rail (81) corresponding to the upper portion of the electromagnetic connection assembly (71) is an execution position; one end of the first spring (82) is connected to the inner wall of the wet cabin (5); the other end of the first spring (82) is connected to an abutment plate (83) for abutting and pushing the energy capture unit (6) farthest from the execution position; a horizontal first slide groove (84) is provided on the inner wall of the wet cabin (5); and the abutment plate (83) is slidably connected to the first slide groove (84).

7. The unmanned underwater vehicle charging system based on wave energy power generation according to claim 6, characterized in that: The position-compensating mechanism (8) includes a position-limiting assembly (85) for limiting the displacement of the energy-capturing unit (6) closest to the execution position along the guide rail (81).

8. The unmanned underwater vehicle charging system based on wave energy power generation according to claim 7, characterized in that: The limiting assembly (85) includes a second chute (851) vertically opened on the inner wall of the wet tank (5), a movable plate (853) is slidably connected in the second chute (851), the upper part of the movable plate (853) is used to abut the electromagnetic connection assembly (71), and a stopper (854) is provided on the movable plate (853) for abutting and blocking the energy capture unit (6) closest to the distance execution position, and one end of a vertical second spring (852) is connected to the lower part of the movable plate (853), and the other end of the second spring (852) is connected to the inner bottom wall of the wet tank (5).

9. The unmanned underwater vehicle charging system based on wave energy power generation according to claim 8, characterized in that: The energy capture unit (6) includes a frame (64), the airbag float (61) is arranged inside the frame (64), the inflation component (62) is arranged at the lower part of the frame (64), the frame (64) abuts against the guide rail (81), and a groove (641) adapted to the stopper (854) is provided on the frame (64).

10. The unmanned underwater vehicle charging system based on wave energy power generation according to claim 1, characterized in that: The hatch cover (2), the dynamic sealing cabin penetration member (31), the pull-wire type power generation device (42) and the electric winch (41) are all located in the same vertical direction.

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