Flexible docking device for autonomous underwater vehicle and offshore platform

Abstract

The present invention belongs to the technical field of underwater vehicles, and relates to a docking device for an autonomous underwater vehicle to replenish energy and communicate with an ocean platform. The flexible docking device for the autonomous underwater vehicle and the ocean platform comprises a docking end and a follower end, wherein the docking end is connected to the ocean platform, and the follower end is connected to the underwater autonomous vehicle; through the docking of the follower end with the docking end, the ocean platform can supply power to the underwater autonomous vehicle and exchange data. The flexible docking device for the autonomous underwater vehicle and the ocean platform of the present invention mainly consists of a docking end and a follower end, and the follower end is docked with the docking end installed on the underwater platform by a touch rod touching a flexible cable, thereby avoiding the damage to the underwater autonomous vehicle caused by a large collision force when directly and rigidly touching the underwater platform. In addition, the docking device has good universality, and the docking end and the follower end have simple and compact structures, which are convenient for installation and docking on a variety of ocean platforms and underwater autonomous vehicles.

Description

Technical Field

[0001] The invention belongs to the technical field of underwater vehicles, and relates to a docking device for an autonomous underwater vehicle to perform energy replenishment and communication with an ocean platform. Background Art

[0002] As human beings continue to explore the ocean, autonomous underwater vehicles are playing an increasingly important role in marine resource exploration, underwater rescue and salvage, marine scientific research, military reconnaissance, etc. Usually, autonomous underwater vehicles use their own batteries as a source of energy, which greatly limits their range of activities. In order to extend the endurance time, autonomous underwater vehicles need to return to the supply platform (fixed supply platform or mobile supply platform) for energy replenishment. Fixed supply platforms often use underwater docking to charge and transmit data to autonomous underwater vehicles, which has a complex structure and is difficult to operate. Mobile supply platforms often use docking devices to recover autonomous underwater vehicles to the surface or underwater mother vehicle for energy replenishment and communication, which requires autonomous underwater vehicles to have high docking accuracy, and the docking difficulty is higher than that of fixed platforms. Summary of the invention

[0003] The purpose of the present invention is to solve the problems that the existing fixed supply platform has a complex structure and large size, and the mobile supply platform is difficult to dock during the replenishment process, and to provide a docking device with a simple structure, easy operation and precise docking.

[0004] In order to achieve the above-mentioned purpose, the technical solution adopted by the present invention is: a flexible docking device for an autonomous underwater vehicle and an offshore platform, comprising a docking end and a follower end, wherein the docking end is connected to the offshore platform, and the follower end is connected to the autonomous underwater vehicle; through the docking of the docking end and the follower end, the offshore platform can realize power supply and data exchange with the autonomous underwater vehicle.

[0005] As a preferred embodiment of the present invention, the docking end includes a primary terminal and a retracting device connected to the primary terminal and used for placing and retrieving the primary terminal.

[0006] Further preferably, the docking end comprises a guiding device, the guiding device is connected to the retracting device, the primary terminal is fixed on the guiding device; and an emitting light source is provided on the guiding device.

[0007] As another preferred embodiment of the present invention, the follower end includes a secondary terminal and a touch rod base connected to the secondary terminal; the touch rod base is hinged to the autonomous underwater vehicle and can rotate along the hinge axis under the action of the driving force; the secondary terminal cooperates with the primary terminal to achieve the docking of the follower end and the docking end.

[0008] Further preferably, a U-shaped groove is provided on the touch rod base, and touch rods are provided on both sides of the opening of the U-shaped groove. The touch rods partially cover the opening of the U-shaped groove. Under the action of external force, the touch rods rotate into the groove to open the U-shaped groove.

[0009] Further preferably, the touch rod base is composed of two upper and lower horizontal plates and a vertical plate, the U-shaped groove is opened on the horizontal plate; the secondary terminal is fixed on the vertical plate, corresponding to the bottom of the U-shaped groove.

[0010] Further preferably, the touch rod consists of two "L"-shaped crank arms, a connecting shaft and a long shaft, a first through hole is provided at the end of the long arm of the crank arm, and a second through hole is provided at the corner of the crank arm; the connecting shaft passes through the first through hole and is fixedly connected to the two crank arms; the long shaft passes through the second through hole and is fixedly connected to the upper and lower horizontal plates.

[0011] Further preferably, a limiting device is provided on the inner side of the touch rod, and the limiting device is used to limit the touch rod from rotating toward the outer side of the U-shaped groove opening.

[0012] Further preferably, the limiting device comprises a short shaft and a spring fixed on the short shaft, one end of the spring is fixedly connected to the touch rod; the short shaft is located inside and behind the long shaft and fixed on the inner surfaces of the upper and lower horizontal plates.

[0013] Further preferably, the follower end comprises a light source probe, which is installed on the autonomous underwater vehicle and is used to search for and locate light source signals to guide the autonomous underwater vehicle to move toward the docking end.

[0014] The flexible docking device for the autonomous underwater vehicle and the marine platform of the present invention is mainly composed of a docking end and a follower end. The follower end docks with the docking end installed on the underwater platform by touching the flexible cable with a touch rod, thereby avoiding the damage to the underwater autonomous vehicle caused by the large collision force during rigid contact. In addition, the docking device has good universality, and the docking end and the follower end have simple and compact structures, which are convenient for installation and docking on various marine platforms and underwater autonomous vehicles. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the overall structure of the docking device in an embodiment of the present invention;

[0016] Figure 2 It is a schematic diagram of the structural composition and installation components of the follower end in an embodiment of the present invention;

[0017] Figure 3 Schematic diagram of the explosion of the left and right touch rods in an embodiment of the present invention;

[0018] Figure 4 It is a partial structural diagram of the left and right touch rods;

[0019] Figure 5 is a schematic diagram of a reed;

[0020] Figure 6 It is a partial schematic diagram of the primary terminal and the clamping spring in the embodiment of the present invention;

[0021] Figure 7 It is a schematic diagram of the energy replenishment and communication working status of the underwater autonomous vehicle in an embodiment of the present invention. DETAILED DESCRIPTION

[0022] In order to facilitate the understanding of the present invention, the present invention is described in more detail below in conjunction with the accompanying drawings and specific embodiments. Preferred embodiments of the present invention are provided in the accompanying drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described in this specification. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present invention more thorough and comprehensive.

[0023] In one of the embodiments provided by the present invention, the flexible docking device of the autonomous underwater vehicle and the marine platform is mainly composed of two parts: a docking end and a follower end, wherein the docking end is connected to the underwater marine platform, and the follower end is connected to the underwater autonomous vehicle.

[0024] like Figure 1 As shown, in some embodiments of the present invention, the docking end includes an electric slip ring 1, a cable winch 2, a cable 3, a guide rod 5, a motor 6, a primary terminal 7, and a lead fish 8.

[0025] The cable winch 2 is connected to the motor 6, the cable 3 is wound on the cable winch 2, the upper end of the cable 3 is connected to the offshore platform through the electric slip ring 1, the lower end of the cable 3 is connected to the guide rod 5, and the primary terminal 7 is fixedly connected to one side of the lower end of the guide rod 5. An emitting light source 4 is provided at the upper end of the guide rod 5.

[0026] The primary terminal 7 is a structure of a lower cylinder and an upper cone, and the upper cone serves as a guide. A retaining spring 21 is provided on the side of the cylindrical section of the primary terminal 7, and the retaining springs are generally provided in pairs, such as Figure 6 shown.

[0027] The motor 6 drives the cable winch 2 to rotate forward and reversely, and the cable winch 2 retracts and releases the cable 3 to realize the retraction and release of the guide rod 5 and the primary terminal 7. The bottom of the guide rod 5 is connected to the lead fish 8 through a steel cable. The lead fish 8 serves as a counterweight component, which uses gravity to overcome the buoyancy of seawater, tightens the cable 3 and limits the swing of the docking end with the sea current, ensuring that the guide rod 5 and the primary terminal 7 remain stable during operation.

[0028] like Figure 1 and Figure 2As shown, the follower end includes an optical probe 9, a deflector 10, a connecting base 12, a servo 13, a secondary terminal 14, a right touch rod 15, a short shaft 16, a left touch rod 17, a reed 18, a long shaft 19, and a touch rod base 20.

[0029] The connection base 12 is installed on one side of the autonomous underwater vehicle 11, and the connection base 12 is hinged to one end of the feeler rod base 20. The steering engine 13 is installed on the connection base 12, and can drive the feeler rod base 20 to rotate around the hinge axis.

[0030] A fairing 10 is installed at the head end of the autonomous underwater vehicle 11 on one side of the connection base 12, and when the feeler rod base 20 is not in operation, the end of the feeler rod base 20 is supported and protected. An optical probe 9 is installed on the fairing 10 to search for the signal of the emitting light source 4, thereby locating the light source and guiding the autonomous underwater vehicle 11 to approach the docking end.

[0031] The touch rod base 20 is composed of two upper and lower horizontal plates and a vertical plate. The upper and lower horizontal plates are provided with a plurality of U-shaped grooves, and the front ends of the connecting parts of adjacent U-shaped grooves form a sharp angle.

[0032] A secondary terminal 14 is fixed on the vertical plate corresponding to the bottom of each U-shaped groove. The secondary terminal corresponds to the U-shaped groove one by one. The secondary terminal 14 is a cylindrical structure with two ends open, and its inner diameter is equal to the outer diameter of the primary terminal 7. After the secondary terminal 14 enters the primary terminal 7, the connection, charging and communication between the two are realized.

[0033] like Figure 2 As shown, at the opening of each U-shaped groove, a left touch rod 17 and a right touch rod 15 are respectively provided on the left and right sides. The left touch rod 17 and the right touch rod 15 can partially cover the opening of the U-shaped groove in the initial state.

[0034] like Figure 2 and Figure 3 As shown, the left touch rod 17 and the right touch rod 15 are mirror images of each other, and both are composed of two upper and lower "L"-shaped arms 22, a connecting shaft 23, and a long shaft 19.

[0035] like Figure 2 , 3 As shown in FIG. 4 , a first through hole 24 is provided at the long arm end of the crank arm 22 for being fixedly connected to the connecting shaft 23, and a second through hole 25 is provided at the corner of the crank arm 22 for being hinged to the long shaft 19. The upper and lower ends of the long shaft 19 pass through the second through holes 25 respectively and are fixedly connected to the upper and lower horizontal plates.

[0036] like Figure 2As shown, the second through holes 25 of the adjacent left and right touch rods 17 and 15 share a long axis 19, and the long axis 19 passes through the second through holes 25 on the left and right touch rods in sequence to hinge the left and right touch rods' crank arms 22 together. The upper and lower ends of the long axis 19 are fixed at the tips of the adjacent U-shaped groove connection parts.

[0037] In order to limit the rotation direction of the left touch rod 17 and the right touch rod 15 so that they can only rotate into the U-shaped slot opening and cannot rotate in the opposite direction, a limit device is provided on the inner side of the left touch rod 17 and the right touch rod 15. Figure 3 and 5 As shown, the limit device consists of a short shaft 16 and a spring 18. The short shaft 16 is located inside and behind the long shaft 19, embedded in the small grooves reserved on the inner surfaces of the upper and lower horizontal plates, and protrudes from the inner surfaces of the horizontal plates. The spring 18 is fixed to the short shaft 16 through a ring 26, and the inner side of the long arm of the crank arm 22 is fixedly connected to the spring 18. The adjacent left touch rod 17 and right touch rod 15, and the spring 18 connected to the two also share a short shaft 16.

[0038] Take the right touch bar as an example. Figure 2 and Figure 3 As shown, in the initial state, the inner side of the short arm of the crank arm 22 contacts the side of the ring 26. When the right touch rod is hit, the crank arm 22 rotates counterclockwise, driving the spring 18 to rotate. At this time, the inner side of the short arm of the crank arm 22 separates from the ring 26, so that the right touch rod 15 rotates into the U-shaped groove. When the external force is released, the crank arm 22 rotates clockwise under the rebound force of the spring 18 and returns to the initial position.

[0039] In the process of returning to the initial position, when the inner side of the short arm of the crank arm 22 contacts the ring 26, the crank arm stops rotating and remains at the initial position due to the blocking effect of the ring on the short arm of the crank arm 22. Therefore, it is ensured that the right touch rod can only rotate into the U-shaped groove. Similarly, when the left touch rod is hit, it can only rotate into the U-shaped groove.

[0040] like Figures 1 to 7 As shown, the flexible docking device for an autonomous underwater vehicle and an ocean platform provided in an embodiment of the present invention has the following working principle and process:

[0041] After the marine platform issues a return command to the autonomous underwater vehicle 11, the motor 6 drives the cable winch 2 to rotate to release the cable 3. After the primary terminal 7 on the cable 3 reaches the specified depth, the motor 6 stops releasing the cable 3. Under the dragging action of the lead fish 8, the cable 3 is in a tensioned state.

[0042] After receiving the return command, the autonomous underwater vehicle 11 continuously approaches the emitting light source 4 on the guide rod 5 by using the optical positioning function of the optical probe 9 during the process of returning to the platform against the current. When the distance between the autonomous underwater vehicle 11 and the guide rod 5 is less than the set value, the steering gear 13 drives the feeler rod base 20 to rotate until the vertical plate of the feeler rod base 20 is perpendicular to the axis of the autonomous underwater vehicle 11, and then the steering gear 13 stops.

[0043] The autonomous underwater vehicle 11 continues to move in a directional manner along the guiding direction of the emitting light source 4 until the right feeler rod 15 and the left feeler rod 17 on the feeler rod base 20 collide with the guide rod 5, and the guide rod 5 knocks the right feeler rod 15 and the left feeler rod 17 away and enters the U-shaped groove of the feeler rod base 20. Since the right feeler rod 15 and the left feeler rod 17 can only rotate into the U-shaped groove of the feeler rod base 20, after the guide rod 5 enters the U-shaped groove, the right feeler rod 15 and the left feeler rod 17 return to the initial position under the action of the spring 18. Since the gap width between the connecting shafts 23 of the right feeler rod 15 and the left feeler rod 17 is smaller than the cross-sectional diameter of the guide rod 5, after the guide rod 5 enters the U-shaped groove, it cannot exit in the reverse direction due to the obstruction of the right feeler rod 15 and the left feeler rod 17.

[0044] Next, the autonomous underwater vehicle 11 moves downward along the guide rod 5. Under the guidance of the upper cone of the primary terminal 7, the primary terminal 7 smoothly enters the circular hole of the secondary terminal 14. The retaining spring 21 on the primary terminal 7 limits the relative movement between the primary terminal 7 and the secondary terminal 14, thereby ensuring the stability of the autonomous underwater vehicle 11 during charging and communication.

[0045] After the autonomous underwater vehicle 11 completes charging and communication, it first moves upward to the position of the cable 3 and then moves away from the cable 3. Since the gap width between the connecting shaft 23 of the right touch rod 15 and the left touch rod 17 is greater than the cross-sectional diameter of the cable 3, the autonomous underwater vehicle 11 is separated from the docking end.

[0046] Finally, the marine platform retracts the cable 3, and from then on, the autonomous underwater vehicle 11 completes docking with the marine platform.

Claims

1. A flexible docking device for an autonomous underwater vehicle and an offshore platform, characterized in that: The invention comprises a docking end and a follower end, wherein the docking end is connected to an ocean platform, and the follower end is connected to an underwater autonomous vehicle; through the docking of the follower end and the docking end, the ocean platform can supply power to the underwater autonomous vehicle and exchange data; the docking end comprises a primary terminal, and a retracting device connected to the primary terminal and used for launching and recovering the primary terminal; the docking end comprises a guiding device, which is connected to the retracting device, and the primary terminal is fixed on the guiding device; a light source is provided on the guiding device; the follower end comprises a secondary terminal, and a contact rod base connected to the secondary terminal; the contact rod base is connected to the autonomous vehicle The underwater vehicle is hinged and can rotate along the hinge axis under the action of driving force; the secondary terminal cooperates with the primary terminal to realize the connection between the follower end and the docking end; a U-shaped groove is provided on the touch rod base, and touch rods are provided on both sides of the opening of the U-shaped groove, and the touch rods partially block the opening of the U-shaped groove. Under the action of external force, the touch rods rotate into the groove to open the U-shaped groove; the follower end includes an optical probe, which is installed on the autonomous underwater vehicle and is used to search for and locate light source signals to guide the autonomous underwater vehicle to move toward the docking end; the retracting and releasing device includes a motor, a cable winch and a cable; a counterweight component is provided at the bottom of the guide device; the U-shaped groove of the touch rod base cooperates with the guide device to guide the secondary terminal to cooperate with the primary terminal.

2. The flexible docking device for an autonomous underwater vehicle and an offshore platform according to claim 1, characterized in that: The touch rod base is composed of two upper and lower horizontal plates and a vertical plate, and the U-shaped groove is opened on the horizontal plate; the secondary terminal is fixed on the vertical plate and corresponds to the bottom of the U-shaped groove.

3. The flexible docking device for an autonomous underwater vehicle and an offshore platform according to claim 1, characterized in that: The touch rod is composed of two "L"-shaped crank arms, a connecting shaft and a long shaft. The long arm end of the crank arm is provided with a first through hole, and the corner of the crank arm is provided with a second through hole; the connecting shaft passes through the first through hole and is fixedly connected to the two crank arms; the long shaft passes through the second through hole and is fixedly connected to the upper and lower horizontal plates.

4. The flexible docking device for an autonomous underwater vehicle and an offshore platform according to claim 3, characterized in that: A limiting device is provided on the inner side of the touch rod, and the limiting device is used to limit the touch rod from rotating toward the outer side of the U-shaped groove opening.

5. The flexible docking device for an autonomous underwater vehicle and an offshore platform according to claim 4, characterized in that: The limiting device comprises a short shaft and a spring sheet fixed on the short shaft, one end of the spring sheet is fixedly connected to the touch rod; the short shaft is located inside and behind the long shaft and fixed on the inner surfaces of the upper and lower horizontal plates.

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