A submarine self-powered docking station for underwater unmanned systems

Abstract

The present invention relates to a submarine self-powered docking dock for an underwater unmanned system, comprising a supporting and fixing structure, a hydroacoustic beacon, an electric energy monitoring circuit cavity, a battery cavity, an ocean current energy capture device, a trumpet-shaped docking energy transmission platform and a flat-plate docking energy transmission platform, wherein the trumpet-shaped docking energy transmission platform and the flat-plate docking energy transmission platform are both connected by a protective structure and an energy transmission coil assembly. The submarine self-powered docking dock for an underwater unmanned system uses ocean current energy as an energy source, converts ocean current energy into electric energy through an energy capture device, and processes, stores, and distributes electric energy through an electric energy monitoring circuit cavity and a battery cavity. After the hydroacoustic beacon guides the underwater unmanned system to dock, an electromagnetically coupled near-field wireless energy transmission docking platform is used to power the underwater unmanned system. The submarine self-powered dock of the present invention is based on in-situ energy capture, overcomes the limitations of cable energy transmission, can be widely deployed on the seabed, has good adaptability to the form of underwater unmanned systems, has high energy transmission reliability, and has good structural stability.

Description

Technical Field

[0001] The present invention relates to the field of ocean observation technology, and in particular to a seabed self-powered docking station for an underwater unmanned system, and specifically to a seabed self-powered docking station for an underwater unmanned system that is powered by a current energy capture device and based on electromagnetic coupling near-field wireless energy transmission. Background Art

[0002] The submarine trumpet-shaped docking dock is the main form of docking dock for underwater unmanned systems at home and abroad. It is connected to the submarine observation network through a watertight cable or directly to the shore through a submarine cable. It can obtain sustainable electricity and provide electricity to mobile underwater unmanned systems. It can be used for tasks such as mobile detection of marine elements and inspection of underwater infrastructure.

[0003] The existing technology has the following disadvantages: the submarine bell-shaped docking station relies on watertight cables or submarine cables for power supply, with a limited deployment range, large transmission loss and low operating efficiency; the submarine bell-shaped docking station has poor adaptability to various types of underwater unmanned systems and can only adapt to cylindrical underwater unmanned systems, and cannot power typical underwater unmanned systems such as flat-type systems; the submarine bell-shaped docking station uses connecting rods for suspended support in structure, which has low stability. In order to solve the above problems, it is urgent to develop a new type of submarine self-powered docking station for underwater unmanned systems. Summary of the invention

[0004] The purpose of the present invention is to overcome the defects of the above-mentioned prior art and provide a seabed self-powered docking dock for an underwater unmanned system.

[0005] The purpose of the present invention can be achieved by the following technical solutions:

[0006] The present invention provides a seabed self-powered docking dock for an underwater unmanned system, comprising: a support and fixing structure assembly, a hydroacoustic beacon assembly, a power monitoring circuit cavity assembly, a battery cavity assembly, a current energy capture device assembly, a trumpet-type docking energy transmission platform assembly and a flat-plate docking energy transmission platform assembly;

[0007] Furthermore, the support and fixing structure is composed of a bottom plate foot, a bottom plate, a lower bottom net, a support column, an upper top net and side columns. The bottom plate foot is evenly distributed around the bottom of the bottom plate. Bolt through holes are opened on the bottom plate for fixing various devices, cavities and support columns. The lower bottom net is fixed above the bottom plate for connecting the support column and the side columns. The support column is installed above the center of the lower bottom net for supporting the upper top net and the flat-plate connection energy transmission platform. The upper top net is fixed above the support column. The side columns are fixed on the sides between the upper top net and the lower bottom net for supporting the upper top net and the flat-plate connection energy transmission platform.

[0008] Furthermore, the hydroacoustic beacon is installed on the side support frame of the hydroacoustic beacon by a hydroacoustic beacon clamp, the side support frame of the hydroacoustic beacon is fixed on the bottom support frame of the hydroacoustic beacon, and is installed above the bottom plate by bolts for hydroacoustic communication with the target underwater unmanned system;

[0009] Furthermore, the power monitoring circuit cavity is composed of a microcontroller and a monitoring management circuit. The circuit outer protection cavity is fixed to the circuit cavity bottom plate by a circuit cavity clamp and installed above the bottom plate by bolts, so as to realize power switch control and signal processing of the hydroacoustic beacon, battery cavity, trumpet-type docking energy transmission platform and flat-plate docking energy transmission platform;

[0010] Furthermore, the battery cavity fixes the battery outer protection cavity to the battery cavity bottom plate through a battery cavity clamp, and is installed above the bottom plate through bolts to store the energy obtained by the ocean current energy capture device;

[0011] Furthermore, the ocean current energy capture device is a magnetically coupled transmission type vertical axis energy capture device, which is fixed to the energy capture device support structure by an energy capture device clamp. The energy capture device support structure is composed of an energy capture device top support plate, an energy capture device support column and an energy capture device support bottom plate installed above the bottom plate by bolts, and is used to capture ocean current energy and convert it into electrical energy to power the dock.

[0012] Furthermore, the docking energy transmission platform includes the bell-mouth docking energy transmission platform and the flat-plate docking energy transmission platform. The flat-plate docking energy transmission platform is installed above the upper top net by bolts, and the bell-mouth docking energy transmission platform is fixed in the middle of the lower bottom plate, which are used to respectively dock different types of underwater unmanned systems and power the unmanned systems through electromagnetic coupling near-field wireless energy transmission.

[0013] Furthermore, the outer protective cavity of the power monitoring circuit is composed of a circuit cavity cylindrical protective shell and a circuit cavity top cover. Circular holes are evenly opened on the circumference of the opening end of the circuit cavity cylindrical protective shell and the circumference of the circuit cavity top cover, and are installed together by bolts. A circular through hole is opened in the center of the circuit cavity top cover for installing a watertight cable interface. The watertight cable interface of the power monitoring circuit cavity should include a circuit cavity input interface, a circuit cavity output interface and a communication interface.

[0014] Furthermore, the battery outer protection cavity is composed of a battery cavity cylindrical protection shell and a battery cavity top cover. The circumference of the opening end of the battery cavity protection shell and the circumference of the battery cavity top cover are evenly opened with circular holes, which are installed together by bolts. A circular through hole is opened in the center of the battery cavity top cover for installing a watertight cable interface. The watertight cable interface of the battery cavity top cover should include a battery cavity input interface, a battery cavity output interface and a battery cavity communication interface. A battery management system should be installed inside the battery cavity, and it should have overcharge protection and low-power automatic power-off functions.

[0015] Furthermore, the bell-mouth type connection energy transmission platform is composed of a tail fixing plate, a bell-mouth body, and a head device;

[0016] Furthermore, the tail fixing plate is provided with a through hole of the same diameter as the large radius circular end of the bell mouth body, and bolt interfaces are evenly provided around one side; it is connected to the bell mouth body and the head device as a whole and then welded to a designated position on the bottom plate;

[0017] Furthermore, a ring is welded at each end of the bell mouth body and connected to the main body, and bolt interfaces are evenly provided around the ring for connecting with the tail fixing plate and the head device;

[0018] Furthermore, the head device is composed of a fixed block, a cylindrical energy transmission coil, a watertight cable interface and an interface protective shell, a fixed plate, and a coil protective shell. A through hole with the same diameter as one end of the small radius circle of the bell mouth body is opened on one side of the fixed block, and bolt interfaces are evenly opened around it. The cylindrical energy transmission coil is fixed in the coil protective shell and installed in the through hole. A through hole is opened in the center of the fixed plate on the other side to install the watertight cable interface. Bolt holes are evenly opened around the through hole to install the interface protective shell. The coil protective shell is a ring-shaped columnar shell. A cylindrical energy transmission coil is installed in the middle of the two rings and installed on the fixed plate. The cylindrical energy transmission coil is connected to the watertight cable interface through a wire. At the same time, bolt holes are evenly opened around the circumference of the fixed plate and connected to the fixed block. The entire head device is connected to the tail fixed plate and the bell mouth body as a whole and then welded to a designated position on the bottom plate. The cylindrical energy transmission coil and the protective shell include circular rings, rectangular rings, triangular rings and other rings, and have power transmission and simple communication functions at the same time, and adopts electromagnetic coupling near-field wireless energy transmission to power the unmanned system.

[0019] Furthermore, the flat-plate docking energy transmission platform is composed of a protective top cover, a ring-shaped energy transmission coil, a protective shell, a platform pad and a watertight cable interface;

[0020] Furthermore, a groove is provided in the center of the upper part of the platform pad, bolt holes are provided at the four corners of the groove, and four bolt circular holes and an interface circular hole are provided in the center of the lower part of the platform pad, which are connected to the upper top net by bolts;

[0021] Furthermore, the annular energy transmission coil is fixed in a protective shell after being stacked, and the four corners of the protective shell are equipped with hollow cylinders of the same height as the side edges, which are used to maintain watertightness through bolts, and the lower part is provided with a circular hole of the same diameter as the interface circular hole in the platform pad, and the protective cover is provided with circular holes at the four corners and is installed above the protective shell, and the energy transmission coil unit is installed in the groove of the pad through bolts;

[0022] Furthermore, the watertight cable interface is installed in the circular hole of the interface under the platform pad, and the upper end passes through the circular hole of the protective shell, and is connected to the ring-shaped energy transmission coil through a wire after a watertight connection.

[0023] Furthermore, the ring-shaped energy transmission coils should be arranged alternately in a symmetrical manner with two coils on the lower layer, one coil on the upper layer, and the upper coil located in the center of the lower coil, and their magnetic field should cover the entire surface of the flat-plate docking energy transmission platform; the ring-shaped energy transmission coils include circular ring-shaped, rectangular ring-shaped, and runway-shaped coils, and have both power transmission and simple communication functions, and use electromagnetic coupling near-field wireless energy transmission to power the unmanned system.

[0024] Furthermore, the tail cable interface of the ocean current energy capture device is connected to the input interface of the electric energy monitoring circuit cavity through a watertight cable, the output interface of the electric energy monitoring circuit cavity is connected to the input interface of the battery cavity through a watertight cable, the output interface of the battery cavity is connected to the battery cavity communication interface through a watertight cable, and is respectively connected to the flat-type docking energy transmission platform, the trumpet-type docking energy transmission platform and the hydroacoustic beacon through watertight cables, the electric energy monitoring circuit cavity communication interface is connected to the extension interface through a watertight cable, and is respectively merged with the watertight cables connected to the hydroacoustic beacon, the trumpet-type docking energy transmission platform and the flat-type docking energy transmission platform through watertight cables and then inserted into the corresponding interface.

[0025] The working principle of the present invention is:

[0026] The movement of ocean current drives the impeller of the energy capture device to rotate and generate electricity. The generated electricity is stored in the battery cavity and connected to the management and control cavity, hydroacoustic beacon cavity, flat-plate docking energy transmission platform and trumpet-type docking energy transmission platform through watertight optical cables. Under the control of the management circuit in the management and control cavity, the electrical energy is output to drive the hydroacoustic beacon to guide the docking of the underwater unmanned system. Electromagnetic coupling near-field wireless energy transmission technology is applied, and energy transmission coils are used to wirelessly power the column and flat-plate unmanned systems.

[0027] Compared with the prior art, the present invention has the following advantages:

[0028] (1) The underwater unmanned system seabed self-powered docking dock of the present invention includes a supporting and fixing structure, an acoustic beacon, an electric energy monitoring circuit cavity, a battery cavity, an ocean current energy capture device and a docking energy transmission platform, and has the advantages of good adaptability to typical unmanned systems and a stable and reliable structure.

[0029] (2) The underwater unmanned system seabed self-powered docking dock described in the present invention captures ocean current energy in situ as an energy source, which has the advantages of being green and environmentally friendly, reducing power transmission losses, and saving power supply costs.

[0030] (3) The flat-panel wireless charging platform and the trumpet-shaped wireless charging platform described in the present invention use a combined coil wireless power transmission method to charge the unmanned system, and have the advantages of simple docking, good compatibility, and high safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0032] Figure 1 This is a schematic diagram of the overall structural assembly of the submarine self-powered docking station for underwater unmanned systems;

[0033] Figure 2 This is an exploded view of the overall structure of the submarine self-powered docking station for underwater unmanned systems;

[0034] Figure 3 Schematic diagram of the support and fixing structure components of the seabed self-powered docking station for underwater unmanned systems;

[0035] Figure 4 This is a schematic diagram of the hydroacoustic beacon assembly of the underwater unmanned system seabed self-powered docking dock;

[0036] Figure 5 This is a schematic diagram of the power monitoring circuit cavity assembly of the underwater unmanned system seabed self-powered docking dock;

[0037] Figure 6 This is a schematic diagram of the battery chamber assembly of the underwater unmanned system seabed self-powered docking dock;

[0038] Figure 7 This is a schematic diagram of the components of the ocean current energy capture device for the underwater unmanned system seabed self-powered docking station;

[0039] Figure 8 This is an exploded view of the trumpet-shaped docking energy transmission platform of the underwater unmanned system seabed self-powered docking dock;

[0040] Fig. 9 This is an exploded view of the head device of the trumpet-shaped docking energy transmission platform of the underwater unmanned system seabed self-powered docking dock;

[0041] Fig.10This is an exploded view of the flat-plate docking and energy transmission platform of the underwater unmanned system seabed self-powered docking dock;

[0042] Fig.11 This is a schematic diagram of the arrangement of the annular coils of the flat-plate docking energy transmission platform of the underwater unmanned system seabed self-powered docking dock;

[0043] Fig.12 This is a diagram showing the connection relationship between the components of the submarine self-powered docking station for underwater unmanned systems;

[0044] Fig.13 Operation flow chart of the submarine self-powered docking station for underwater unmanned systems;

[0045] In the figure, 100 is a support and fixing structure, 101 is a bottom plate foot, 102 is a bottom plate, 103 is a lower bottom net, 104 is a support column, 105 is an upper top net, 106 is a side column, 200 is a hydroacoustic beacon, 201 is a hydroacoustic beacon body, 202 is a hydroacoustic beacon fixture, 203 is a hydroacoustic beacon side support frame, 204 is a hydroacoustic beacon bottom support frame, 300 is a power monitoring circuit cavity, 310 is a circuit outer protection cavity, and 311 is a circuit cavity cylindrical protection 312 is the circuit cavity cover, 313 is the circuit cavity input interface, 314 is the circuit cavity output interface, 315 is the circuit cavity communication interface, 320 is the circuit cavity fixture, 330 is the circuit cavity bottom plate, 400 is the battery cavity, 410 is the battery outer protection cavity, 411 is the battery cavity cylindrical protection shell, 412 is the battery cavity cover, 413 is the battery cavity input interface, 414 is the battery cavity output interface, 415 is the battery Battery cavity communication interface, 420 is a battery cavity fixture, 430 is a battery cavity bottom plate, 500 is a current energy capture device, 510 is a magnetic coupling transmission type vertical axis energy capture device, 520 is an energy capture device fixture, 530 is an energy capture device support structure, 531 is a top support plate of the energy capture device, 532 is a support column of the energy capture device, 533 is a support bottom plate of the energy capture device, 600 is a bell-mouth type connection energy transmission platform, 610 is a tail fixing plate, 620 is a bell-mouth body, 630 is Head device, 631 is a fixed block, 632 is a cylindrical energy transmission coil, 633 is a first watertight cable interface, 634 is an interface protection shell, 635 is a fixed plate, 636 is a coil protection shell, 700 is a flat-plate connection energy transmission platform, 710 is a protective top cover, 720 is a ring-shaped energy transmission coil, 721 is a lower layer coil one, 722 is a lower layer coil two, 723 is an upper layer coil, 730 is a protective shell, 740 is a platform pad, and 750 is a second watertight cable interface. DETAILED DESCRIPTION

[0046] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are 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 should fall within the scope of protection of the present invention.

[0047] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. 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 the present invention.

[0048] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0049] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or the positions or positional relationships in which the product of the invention is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0050] In addition, the terms "horizontal", "vertical" and the like do not mean that the components are required to be absolutely horizontal or suspended, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0051] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0052] Embodiment 1:

[0053] Figure 1and Figure 2 The overall structure of the underwater unmanned system seabed self-powered docking dock includes a supporting and fixing structure 100 component, a hydroacoustic beacon 200 component, a power monitoring circuit cavity 300 component, a battery cavity 400 component, an ocean current energy capture device 500 component, a trumpet-type docking energy transmission platform 600 component, and a flat-plate docking energy transmission platform 700 component. The hydroacoustic beacon 200 component, the power monitoring circuit cavity 300 component, the battery cavity 400 component, and the ocean current energy capture device 500 component are installed inside the supporting and fixing structure 100.

[0054] Figure 3 The support and fixing structure 100 components of the underwater unmanned system seabed self-powered docking dock include a bottom plate foot 101, a bottom plate 102, a lower bottom net 103, a support column 104, an upper top net 105 and side columns 106. The bottom plate foot 101 is installed around the bottom of the bottom plate 102 by bolts, and bolt through holes are opened at specific positions on the top of the bottom plate 102 for fixing various devices, cavities and support columns. The lower bottom net 103 is fixed to the center of the bottom plate 102 with bolts and is welded to the support column 104, four side columns 106 and the upper top net 105 to support the flat-plate docking energy transmission platform 700 and protect the various components installed on the bottom plate 102.

[0055] Figure 4 The hydroacoustic beacon of the seabed self-powered docking dock of the underwater unmanned system is composed of a hydroacoustic beacon fixture 202, a hydroacoustic beacon body 201, a hydroacoustic beacon side support frame 203, and a hydroacoustic beacon bottom support frame 204. The hydroacoustic beacon side support frame 203 is welded to the center position above the hydroacoustic beacon bottom support frame 204. The hydroacoustic beacon fixture 202 fixes the hydroacoustic beacon body 201 on the hydroacoustic beacon side support frame 203, and the hydroacoustic beacon 200 is fixed to the specified position of the bottom plate 102 with bolts. The watertight cable interface at the bottom of the hydroacoustic beacon body 201 is connected to the corresponding interfaces of the power monitoring circuit cavity 300 component and the battery cavity 400 component, which can realize the control of the power on and off of the hydroacoustic beacon 200 and the communication function with the target unmanned system.

[0056] Figure 5 The power monitoring circuit cavity 300 component of the underwater unmanned system seabed self-powered docking dock includes an outer protective cavity 310, a clamp 320, and a battery cavity bottom plate 330. After being fixed, it is installed at a specified position on the bottom plate 102 by bolts, wherein the outer protective cavity 310 includes a circuit cavity cylindrical protective shell 311, a circuit cavity top cover 312, a circuit cavity input interface 313, a circuit cavity output interface 314 and a communication interface 315. Circular holes are evenly opened on the circumference of the opening end of the circuit cavity cylindrical protective shell 311 and the circumference of the circuit cavity top cover 312, and are installed together by bolts. A circular through hole is opened in the center of the circuit cavity top cover 312 for installing a watertight cable interface to realize the control of the power on and off of each component and the management of the corresponding energy.

[0057] Figure 6 The battery cavity 400 assembly of the underwater unmanned system seabed self-powered dock is shown as being fixed on the battery cavity bottom plate 430 by a battery outer protection cavity 410 through a clamp 420, and installed at a specified position on the bottom plate 102 by bolts. The battery outer protection cavity 410 includes a battery cavity cylindrical protection shell 411, a battery cavity top cover 412, a battery cavity input interface 413, a battery cavity output interface 414 and a battery cavity communication interface 415. The circumference of the open end of the battery cavity cylindrical protection shell 411 and the circumference of the battery cavity top cover 412 are installed together by bolts and uniform circular holes. A circular through hole is opened in the center of the battery cavity top cover 412 for installing a watertight cable interface to realize the energy storage of the ocean current energy capture device 500 and the power supply function of other components.

[0058] Figure 7 The current energy capture device 500 assembly of the underwater unmanned system seabed self-powered dock includes a magnetically coupled transmission vertical axis energy capture device 510, an energy capture device fixture 520, and an energy capture device support structure 530. The energy capture device support structure 530 is installed at a designated position above the bottom plate 102 by bolts and consists of an energy capture device top support plate 531, an energy capture device support column 532, and an energy capture device support bottom plate 533, which converts current energy into electrical energy to power the dock.

[0059] Figures 8 to 11 It indicates that the energy transmission platform in the submarine self-powered docking dock of the underwater unmanned system includes a bell-shaped docking energy transmission platform 600 and a flat-plate docking energy transmission platform 700, reference Figure 8 The bell-mouth type connection energy transmission platform 600 is composed of a tail fixing plate 610, a bell-mouth body 620, and a head device 630; a ring is welded at each end of the bell-mouth body 620 to connect with the main body, and bolt interfaces are evenly opened around the rings. The tail fixing plate 610 and the head device 630 are connected by bolts, and the whole is welded and fixed at a specified position on the bottom plate 102. Fig. 9 The head device 630 is composed of a fixed block 631, a cylindrical energy transmission coil 632, a first watertight cable interface 633 and an interface protection shell 634, a fixed plate 635, and a coil protection shell 636. The cylindrical energy transmission coil 632 is a ring-shaped columnar shell, fixed in the coil protection shell 636 and installed in the through hole of the fixed block 631. The first watertight cable interface 633 is installed in the central through hole of the fixed plate 635, and the interface protection shell 634 is installed in the outer bolt holes. The cylindrical energy transmission coil 632 is connected to the first watertight cable interface 633 through a wire. The cylindrical energy transmission coil 632 and the protection shell 636 include circular rings, rectangular rings, triangular rings, etc., and have both power transmission and simple communication functions. Reference Fig.10, wherein the flat wireless charging platform 700 is composed of a protective top cover 710, a ring-shaped energy transmission coil 720, a protective shell 730, a platform pad 740 and a second watertight cable interface 750. The four corners of the protective shell 613 are equipped with hollow cylindrical shells of the same height as the side, which are used to be fixed with the platform pad 740 by bolts and prevent seawater from entering the protective shell. A circular hole with the same diameter as the interface circular hole in the platform pad 740 is opened at the lower part, and the second watertight cable interface 750 is installed in the circular hole of the platform pad 740, and is connected to the superimposed ring-shaped energy transmission coil 720 with a wire and fixed in the protective shell 730. The protective cover has circular holes at the four corners, and is sealed with the protective shell 730 above the platform pad 740. The above-mentioned parts are integrally installed in the pad groove by bolts. A groove is opened in the center of the upper part of the platform pad 740, and bolt holes are opened at the four corners of the groove. Four bolt circular holes and an interface circular hole are opened in the center of the lower part of the platform pad 740, which are connected to the upper top net 105 by bolts.

[0060] Fig.11 This is a schematic diagram of the annular coil arrangement of the flat-plate docking energy transmission platform of the underwater unmanned system seabed self-powered docking dock, reference Fig.11 The ring-shaped energy transmission coil 720 should be arranged alternately in a symmetrical manner with two coils 721 and 722 on the lower layer and one coil 723 on the upper layer, with the upper coil 723 located in the middle of the lower coils 721 and 722. The ring-shaped energy transmission coil 720 has both power transmission and simple communication functions, and uses electromagnetic coupling near-field wireless energy transmission to power the unmanned system. Its advantage is that the magnetic field can evenly cover the entire surface of the flat-plate docking energy transmission platform 700: the magnetic field generated by each ring coil 720 can be equivalent to the overlap of the magnetic field distribution of two straight wires and two semicircular wires. In addition, according to Biot-Savart's law, the magnetic field around two straight conductors with opposite currents gradually weakens along the two ends of the symmetrical axis, while the magnetic field around the circular coil gradually weakens outward along the axis. Therefore, the magnetic field around each circular coil weakens outward along the geometric center. The strong magnetic field of the lower coils 721 and 722 is superimposed on the weak magnetic field of the upper coil 723 in a symmetrical alternating arrangement, and the weak magnetic field of the lower coils 721 and 722 is superimposed on the strong magnetic field of the upper coil 723, so that the magnetic field distributed on the surface of the flat-plate connection energy transmission platform 700 tends to be uniform, and the power transmission is more stable.

[0061] Fig.12 For the power supply and communication connection relationship of the underwater unmanned system seabed self-powered docking dock components, refer to Fig.12In terms of electrical connection: the two ocean current energy capture devices 500 convert ocean current energy into electrical energy, and the tail interface of the ocean current energy capture device 500 is connected to the circuit cavity input interface 313 through a cable, and the electrical energy is input into the power monitoring circuit cavity 300. After being processed by the internal circuit of the cavity, the circuit cavity output interface 314 is connected to the battery cavity input interface 413 through a cable, and the electrical energy is transmitted to the battery cavity 400 for storage. After the output interface 414 of the battery cavity 400 is connected to the cable, it is extended and connected to the corresponding watertight interfaces of the hydroacoustic beacon 200, the trumpet-type connecting energy transmission platform 600 and the flat-plate connecting energy transmission platform 700, and the internal of the power monitoring circuit cavity 300 is connected. Under the management of the microcontroller, electric energy is supplied to the above three parts for use, and at the same time, the electric circuit inside the cavity is powered by a cable connected to the control circuit cavity 300; in terms of signal connection: the communication interface 315 of the power monitoring circuit cavity 300 is connected to the hydroacoustic beacon 200, the trumpet-type docking energy transmission platform 600 and the flat-plate docking energy transmission platform 700 respectively through an optical cable branch, and the electric cable and optical cable corresponding to the same interface are combined into a composite cable and inserted into the corresponding interface to realize related signal processing and control functions, and the communication interface 315 of the power monitoring circuit cavity 300 is connected to the communication interface 415 of the battery cavity 400 through an optical cable branch to obtain the battery management system information.

[0062] Fig.13The operation process of the seabed self-powered docking dock for underwater unmanned systems: in one operation, the microcontroller in the monitoring circuit first self-checks the system to ensure that the power supply and communication connection between the docking dock components are normal, and checks the operation of the power monitoring circuit. Secondly, the monitoring circuit determines the battery power. If the power is too low, it will suspend and wait for the battery to be charged to a sufficient value. If the power is sufficient, the microcontroller will connect the power of the hydroacoustic beacon and transmit a signal to the unmanned system to guide the docking; then the microcontroller will start the communication function in the ring-type energy transmission coil in the corresponding docking energy transmission platform, and prepare to receive the charging instruction issued by the unmanned system. If the charging instruction is not received for a long time, it means that the unmanned system is not ready. The system will shut down the communication function of the coil, cut off the power of the hydroacoustic beacon, and end the next charging process; if the coil receives the charging instruction normally, the coil will be turned on for power supply. The power supply starts the wireless charging process and determines whether the battery power is sufficient at a preset interval. If it is not sufficient, the coil sends a termination energy transmission signal to remind the unmanned system that charging is about to end, and accordingly stops the energy transmission and communication process of the docking energy transmission platform; otherwise, the coil is checked to see whether it has received the charging completion instruction sent by the unmanned system. If it has, it means that the unmanned system has been charged. After the platform terminates the energy transmission and communication process and cuts off the power supply of the hydroacoustic beacon, it will self-check and prepare for the next charging process; if the charging completion signal is not received, it is necessary to determine whether the coils between the docking dock and the unmanned system are still communicating normally. If normal, the unmanned system has not yet completed charging and the charging process continues. Otherwise, it means that the docking has failed. The docking energy transmission platform immediately stops the energy transmission and communication process and cuts off the power supply of the hydroacoustic beacon, thus completing all the operating steps in a charging process.

[0063] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present invention, and these modifications or replacements should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A seabed self-powered docking station for an underwater unmanned system, characterized in that: The invention comprises a supporting and fixing structure (100), on which an underwater acoustic beacon (200), an electric energy monitoring circuit cavity (300), a battery cavity (400), an ocean current energy capture device (500), a trumpet-shaped connecting energy transmission platform (600) and a flat-plate connecting energy transmission platform (700) are arranged, wherein the electric energy monitoring circuit cavity (300) is connected to the ocean current energy capture device (500) and the battery cavity (400) respectively, the trumpet-shaped connecting energy transmission platform (600) and the flat-plate connecting energy transmission platform (700) are connected to the electric energy monitoring circuit cavity (300) and the battery cavity (400) respectively, and the battery cavity (400) is also connected to the underwater acoustic beacon (200); The supporting and fixing structure (100) comprises a bottom plate foot (101), a bottom plate (102), a lower bottom net (103), a supporting column (104), an upper top net (105) and a side column (106); the bottom plate foot (101) is arranged at a top corner position of the bottom of the bottom plate (102); the bottom plate (102) is provided with the lower bottom net (103); the supporting column (104) and the side column (106) are provided on the lower bottom net (103); the upper top net (105) is connected to the lower bottom net (103) via the supporting column (104) and the side column (106); The hydroacoustic beacon (200) comprises a hydroacoustic beacon body (201), a hydroacoustic beacon fixture (202), a hydroacoustic beacon side support frame (203) and a hydroacoustic beacon bottom support frame (204); the hydroacoustic beacon side support frame (203) is arranged on the hydroacoustic beacon bottom support frame (204) and is integrally mounted on the bottom plate (102); the hydroacoustic beacon body (201) is mounted and fixed on the hydroacoustic beacon side support frame (203) via the hydroacoustic beacon fixture (202); The electric energy monitoring circuit cavity (300) is composed of a microcontroller and a monitoring management circuit, and includes an external circuit protection cavity (310). The external circuit protection cavity (310) is fixed to the circuit cavity bottom plate (330) by a circuit cavity clamp (320), and is integrally mounted on the bottom plate (102). The external circuit protection cavity (310) is composed of a circuit cavity cylindrical protection shell (311) and a circuit cavity top cover (312). The circuit cavity top cover (312) is provided with a circuit cavity input interface (313), a circuit cavity output interface (314) and a circuit cavity communication interface (315); The battery cavity (400) comprises a battery outer protection cavity (410), the battery outer protection cavity (410) is fixed to the battery cavity bottom plate (430) by a battery cavity clamp (420), and is integrally mounted on the bottom plate (102), the battery outer protection cavity (410) is composed of a battery cavity cylindrical protection shell (411) and a battery cavity top cover (412), and the battery cavity top cover (412) is provided with a battery cavity input interface (413), a battery cavity output interface (414) and a battery cavity communication interface (415); The tail cable interface of the ocean current energy capture device (500) is connected to the circuit cavity input interface (313) through a watertight cable, and the circuit cavity output interface (314) is connected to the battery cavity input interface (413) and the battery cavity communication interface (415) through a watertight cable. After the battery cavity output interface (414) is connected to the circuit cavity communication interface (315) through a watertight cable, the battery cavity output interface (414) is connected to the circuit cavity communication interface (315) again through a watertight cable connection extension interface to be connected to the trumpet-type docking energy transmission platform (600), the flat-plate docking energy transmission platform (700) and the hydroacoustic beacon (200) through a watertight cable.

2. The underwater unmanned system seabed self-powered docking dock according to claim 1, characterized in that: The ocean current energy capture device (500) comprises a magnetically coupled transmission type vertical axis energy capture device (510), wherein the magnetically coupled transmission type vertical axis energy capture device (510) is fixed to an energy capture device support structure (530) via an energy capture device clamp (520), wherein the energy capture device support structure (530) is composed of an energy capture device top support plate (531), an energy capture device support column (532) and an energy capture device support bottom plate (533), and is integrally mounted on the bottom plate (102).

3. The underwater unmanned system seabed self-powered docking dock according to claim 1, characterized in that: The bell-mouth type docking energy transmission platform (600) comprises a tail fixing plate (610), a bell-mouth body (620) and a head device (630), wherein two ends of the bell-mouth body (620) are respectively connected to the tail fixing plate (610) and the head device (630), and the head device (630) comprises a fixing block (631), a cylindrical energy transmission coil (632), a first watertight cable interface (633), an interface protection shell (634), a fixing plate (635), and a coil protection shell (636). A first through hole with the same diameter as one end of the bell-mouth body (620) is opened on one side of the fixing block (631); the cylindrical energy transmission coil (632) is fixed in the coil protection shell (636); one side of the coil protection shell (636) is installed in the first through hole, and the other side is installed with the fixing plate (635); a second through hole is provided on the fixing plate (635); the first watertight cable interface (633) is fixed in the second through hole through the interface protection shell (634).

4. The underwater unmanned system seabed self-powered docking dock according to claim 1, characterized in that: The flat-plate docking energy transmission platform (700) comprises a protective top cover (710), a ring-shaped energy transmission coil (720), a protective shell (730), a platform pad (740) and a second watertight cable interface (750). The flat-plate docking energy transmission platform (700) is arranged on the supporting and fixing structure (100) through the platform pad (740). A groove is arranged in the platform pad (740). The ring-shaped energy transmission coil (720) is installed in the protective shell (730). The protective shell (730) is provided with a A cylinder for simultaneously maintaining watertightness, the protective top cover (710) is provided with a circular hole corresponding to the cylinder, the protective top cover (710) is sealedly connected to the protective shell (730) through the cylinder and the circular hole, and is integrally installed in the groove, and the two ends of the second watertight cable interface (750) are respectively connected and arranged between the platform pad (740) and the protective shell (730) through a lower interface circular hole arranged on the platform pad (740) and an upper interface circular hole arranged on the protective shell (730).

5. The underwater unmanned system seabed self-powered docking dock according to claim 4, characterized in that: The ring-shaped energy transmission coil (720) comprises a lower coil one (721) and a lower coil two (722) arranged in the same layer, and an upper coil (723) stacked on the lower coil one (721) and the lower coil two (722); the upper coil (723) is alternately arranged at the center of the plane formed by the lower coil one (721) and the lower coil two (722); the lower coil one (721), the lower coil two (722) and the upper coil (723) are circular ring-shaped, rectangular ring-shaped or racetrack-shaped coils.

Images