An AUV recovery, charging and information transmission device

Abstract

The present invention provides an AUV recovery, charging and information transmission device, which belongs to the field of AUV underwater docking and recovery; it includes an AUV recovery station, a contact charging and information transmission device, the contact charging and information transmission device is installed in the AUV recovery station, and the AUV recovery station is fixed to the hull through a lifting frame and moves with the ship; the AUV is recovered by the AUV recovery station; the contact charging and information transmission device can adaptively dock with the recovered AUV, and charge and transmit information to the AUV after docking. The present invention uses a charging pile that can slide around the axial direction to more accurately find the positioning point on the AUV, effectively improve the docking success rate, and reduce the requirements for the AUV's docking posture. The positioning pins at both ends extend into the AUV to effectively limit the AUV, thereby greatly improving the plug-in and unplugging success rate of the underwater charging and information transmission integrated plug, thereby achieving the characteristics of high contact charging power, high speed, and high information transmission accuracy.

Description

Technical Field

[0001] The present invention belongs to the field of AUV underwater docking and recovery, and in particular relates to an AUV recovery, charging and information transmission device. Background Art

[0002] With the deepening of the development and utilization of marine resources, more and more underwater autonomous vehicles (AUVs) are being applied to marine exploration and development. Due to the limited energy carried by AUVs, regular energy replenishment and information exchange are required. Usually, fixed underwater docking stations or mobile underwater docking platforms are used to recover and dock AUVs. Underwater docking stations fixed to the seabed have high requirements for the flatness of the seabed and sea conditions, and long-term fixation in seawater will cause corrosion and damage to the recovery dock. Therefore, mobile docking platforms have better application prospects. On this basis, it is of great research significance to study the underwater charging method of AUVs for mobile underwater docking platforms.

[0003] Existing AUV underwater charging methods mainly include contact charging and non-contact charging. Among them, non-contact charging is based on the principle of electromagnetic induction. Although the non-contact charging method proposed in the existing technology can avoid the risk of friction leakage to a certain extent, it also has the disadvantages of slow communication, large device size, and certain impact on the appearance and structure of the AUV. At the same time, electromagnetic coupler-type non-contact charging will cause electromagnetic interference to the various working parts inside the AUV; contact charging has higher charging efficiency and strong information transmission capability, but relatively speaking, the contact charging device has certain requirements for the rolling attitude of the AUV when docking, and the probability of successful docking is relatively low.

[0004] In order to realize underwater contact charging of AUVs and improve the success rate of docking and plugging, the present invention proposes a contact-type AUV recovery charging and information transmission device based on an underwater mobile docking platform. On the basis of improving the docking success rate, it realizes underwater rapid charging and information interaction of AUVs. This device has a good effect on improving plugging accuracy and charging efficiency. Summary of the Invention

[0005] Technical issues to be solved:

[0006] In order to avoid the shortcomings of the existing technology, the present invention provides a contact-type AUV recovery, charging and information transmission device based on an underwater mobile docking platform. Based on the underwater mobile docking platform, the device realizes underwater rapid charging and information interaction of the AUV on the basis of improving the docking success rate. This device has a good effect on improving the plugging and unplugging accuracy and charging efficiency; it realizes underwater contact charging of the AUV and improves the docking and plugging success rate.

[0007] The technical solution of the present invention is: an AUV recovery charging and information transmission device, characterized by comprising an AUV recovery station, a contact charging and information transmission device, wherein the contact charging and information transmission device is installed in the AUV recovery station, and the AUV recovery station is fixed to the hull through a lifting frame and moves with the ship;

[0008] Recovering the AUV via the AUV recovery station;

[0009] The contact charging and information transmission device can adaptively dock with the recovered AUV, and charge and transmit information to the AUV after docking.

[0010] A further technical solution of the present invention is that the AUV recovery station includes a recovery pipe, a recovery frame, an underwater high-definition camera and a light source, the recovery pipe is installed in the recovery frame, and the underwater high-definition camera and the light source are installed above the recovery frame;

[0011] The recovery tube is a cylindrical structure with a through hole on its lower peripheral surface, which is opposite to the AUV charging and information transmission integrated interface on the recovered AUV.

[0012] A further technical solution of the present invention is that the inlet of the recovery pipe is a trumpet-shaped structure, which is convenient for guiding the AUV during the recovery process.

[0013] A further technical solution of the present invention is that the contact charging and information transmission device includes an underwater charging and information transmission integrated connector, a positioning guide pin, a fixing device, a driving module, a fixing frame, a pulley, and a base;

[0014] The base is used to fix and support the entire contact charging and information transmission device, and is located directly below the through hole of the recovery pipe. Its bottom is fixed to the inner bottom surface of the recovery frame. A groove is provided above the base, and the groove is an arc-shaped structure with the same center as the recovery pipe.

[0015] The bottom of the driving module is installed in the channel through a fixing frame and a pulley, and can move in an arc along the channel, and the output shaft at the top is connected to the fixing device;

[0016] The underwater charging and information transmission integrated connector and positioning guide pin are installed above the fixing device, and their axial directions are parallel to the output shaft of the driving device; the positioning guide pin is docked and positioned with the positioning port on the AUV shell to achieve docking and connection between the underwater charging and information transmission integrated connector and the AUV charging and information transmission integrated interface.

[0017] A further technical solution of the present invention is: the driving module includes a hydraulic device and a motor, the motor is vertically fixed on a fixing frame; a pulley is installed below the fixing frame, the upper surface of which is parallel to the tangent plane of the sliding track;

[0018] The two hydraulic devices are symmetrically arranged on both sides of the motor, and the hydraulic rod drives the positioning guide pin to extend and retract through the fixing device; when docking, the hydraulic rod of the hydraulic device is driven to extend axially by the motor, and then the positioning guide pin extends into the through hole of the recovery pipe. Under the action of the reaction force after contact with the AUV shell, the positioning guide pin enters the AUV positioning hole through the sliding of the motor relative to the groove, thereby realizing radial positioning of the AUV.

[0019] A further technical solution of the present invention is that the entrance of the AUV positioning hole is a trumpet-shaped structure.

[0020] A further technical solution of the present invention is that the head of the positioning guide pin is a conical structure, which is convenient for entering the AUV positioning hole.

[0021] A further technical solution of the present invention is that the underwater charging and information transmission integrated connector is an underwater wet plug connector.

[0022] Working process: A charging and information transmission integrated interface and an AUV positioning port are installed under the AUV. When the AUV enters the recovery tube, the motor starts to drive the hydraulic device to drive the positioning guide pin to retract and retract. The charging pile slides to make the positioning guide pin enter the AUV positioning hole to achieve radial positioning of the AUV. Then the charging and information transmission integrated connector on the charging device extends and docks with the charging and information transmission integrated interface on the AUV to achieve tasks such as AUV energy replenishment and information transmission.

[0023] Beneficial effects

[0024] The beneficial effects of the present invention are as follows: the present invention proposes a contact-type AUV recovery, charging and information transmission device based on an underwater mobile docking platform, wherein the underwater docking station for recovering the AUV is fixed to the hull; since contact charging has high requirements for the rolling posture of the AUV when docking, and plugging and unplugging is relatively difficult, the present invention adopts a charging pile that can slide around the axial direction to more accurately find the positioning point on the AUV, effectively improves the docking success rate, and reduces the requirements for the AUV's docking posture. The positioning pins at both ends extend into the AUV to effectively limit the AUV, thereby greatly improving the plugging and unplugging success rate of the underwater charging and information transmission integrated plug, thereby achieving the characteristics of high contact charging power, fast speed and high information transmission accuracy.

[0025] Among them, the combined use of the trumpet-shaped AUV positioning port and the slidable charging pile plays a role in adjusting the position and posture of the AUV in the docking station and adjusting the spatial position of the charging and information transmission contacts, greatly improving the docking success rate of the charging and information transmission devices and the charging efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is an overall schematic diagram of the mobile underwater docking platform;

[0027] Figure 2 This is a schematic diagram of a contact charging and information transmission device;

[0028] Figure 3 Schematic diagram of the underwater recovery, charging and information transmission platform for contact AUV;

[0029] Figure 4 Schematic diagram of AUV;

[0030] Figure 5 Schematic diagram of the distribution of charging and information transmission integrated interfaces and positioning ports on the AUV (AUV top view);

[0031] Figure 6 This is a schematic diagram of the AUV starting to enter the recovery device;

[0032] Figure 7 Schematic diagram of the AUV entering the recovery device to complete recovery;

[0033] Figure 8 A schematic diagram of positioning with the positioning pin extended;

[0034] Figure 9 Schematic diagram of charging and information transmission after positioning is completed;

[0035] Figure 10 Schematic diagram of charging and information transmission for AUV;

[0036] Figure 11 Schematic diagram of the docking between the contact charging and information transmission device and the AUV;

[0037] Explanation of the reference numerals: 1-underwater charging and information transmission integrated connector; 2-positioning guide pin; 3-fixing device; 4-hydraulic device; 5-motor; 6-fixing frame; 7-pulley; 8-groove; 9-base; 10-contact charging and information transmission device; 11-recovery tube; 12-recovery frame; 13-AUV; 14-AUV charging and information transmission integrated interface; 15-AUV positioning port; 16-hull. DETAILED DESCRIPTION

[0038] The embodiments described below with reference to the accompanying drawings are exemplary and are intended to explain the present invention, but should not be construed as limiting the present invention.

[0039] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0040] This embodiment provides a contact-type AUV underwater recovery, charging, and information transmission platform to solve the problems existing in the prior art and improve the efficiency of AUV energy replenishment and information transmission.

[0041] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0042] like Figures 1 to 2 As shown: This embodiment provides a contact-type AUV underwater recovery, charging and information transmission platform, including an AUV recovery device, an underwater charging and information transmission device, and the underwater charging and information transmission device is installed in the recovery frame of the recovery device and can be connected to the charging and information transmission module on the AUV by telescoping.

[0043] The AUV recovery station includes a recovery pipe 11, a recovery frame 12, an underwater high-definition camera and a light source. The recovery pipe 11 is installed in the recovery frame 12, and the underwater high-definition camera and the light source are installed above the recovery frame 12; the recovery pipe 11 is a cylindrical structure, and a through hole is opened on its lower circumference, which is opposite to the AUV charging and information transmission integrated interface on the recovered AUV.

[0044] The contact charging and information transmission device includes an underwater charging and information transmission integrated connector 1, a positioning guide pin 2, a fixing device 3, a driving module, a fixing frame 6, a pulley 7, and a base 9; the base 9 is used to fix and support the entire contact charging and information transmission device, is located directly below the through hole of the recovery pipe 11, and its bottom is fixed to the inner bottom surface of the recovery frame 12; a groove 8 is provided above the base 9, and the groove 8 is an arc structure concentric with the recovery pipe 11; the bottom of the driving module is installed in the groove 8 through the fixing frame 6 and the pulley 7, and can move in an arc along the groove 8, and its top output shaft is connected to the fixing device 3; the underwater charging and information transmission integrated connector 1 and the positioning guide pin 2 are installed above the fixing device 3, and their axial directions are parallel to the output shaft of the driving device; the positioning guide pin 2 is docked and positioned with the positioning port 15 on the AUV shell to achieve docking and communication between the underwater charging and information transmission integrated connector 1 and the AUV charging and information transmission integrated interface 14.

[0045] Preferably, the driving module includes a hydraulic device 4 and a motor 5, and the motor 5 is vertically fixed on a fixing frame 6; a pulley 7 is installed below the fixing frame 6, and its upper surface is parallel to the cross-section of the sliding track; the two hydraulic devices 4 are symmetrically arranged on both sides of the motor 5, and the hydraulic rod drives the positioning guide pin 2 to achieve extension and retraction through the fixing device; when docking, the hydraulic rod of the hydraulic device 4 is started and driven by the motor 5 to extend axially, and then the positioning guide pin 2 extends into the through hole of the recovery pipe 11. Under the action of the reaction force after contact with the AUV shell, the positioning guide pin enters the AUV positioning hole through the sliding of the motor 5 relative to the groove, thereby realizing radial positioning of the AUV.

[0046] like Figures 3 and 4 As shown: There are charging and information transmission module interfaces and positioning ports under the AUV, and their positions and sizes can match those of the underwater charging device.

[0047] like Figures 5 to 8 As shown: When the contact-type underwater AUV recovery, charging, and information transmission platform of this embodiment recovers an AUV and performs charging and information transmission, the AUV follows the horn guide opening of the recovery tube into the recovery tube. After the recovery and docking are completed, the motor starts to drive the hydraulic device to cause the positioning guide pin to extend and retract. The charging pile slides to allow the positioning guide pin to enter the AUV positioning hole, achieving radial positioning of the AUV. The charging and information transmission integrated connector then extends and docks with the AUV charging and information transmission interface, thereby completing the AUV underwater contact energy supply and information transmission tasks. This embodiment avoids the need for salvage work for energy replenishment and information transmission on the water, and also avoids the problems of low efficiency of underwater wireless charging and information transmission.

[0048] Although the embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and are not to be construed as limitations on the present invention. A person skilled in the art may change, modify, replace and modify the above embodiments within the scope of the present invention without departing from the principles and purpose of the present invention.

Claims

1. An AUV recovery, charging and information transmission device, characterized by: It includes an AUV recovery station and a contact charging and information transmission device. The contact charging and information transmission device is installed in the AUV recovery station. The AUV recovery station is fixed to the hull through a lifting frame and moves with the ship. The AUV is recovered through the AUV recovery station; the AUV recovery station includes a recovery pipe, a recovery frame, an underwater high-definition camera, and a light source. The recovery pipe is installed in the recovery frame, and the underwater high-definition camera and light source are installed above the recovery frame. The recovery pipe is a cylindrical structure with a through hole on its lower circumference, which is opposite to the AUV charging and information transmission integrated interface on the recovered AUV; The contact charging and information transmission device can adaptively dock with the recovered AUV, and charge and transmit information to the AUV after docking; The contact charging and information transmission device includes an underwater charging and information transmission integrated connector, a positioning guide pin, a fixing device, a driving module, a fixing frame, a pulley, and a base; The base is used to fix and support the entire contact charging and information transmission device, and is located directly below the through hole of the recovery pipe. Its bottom is fixed to the inner bottom surface of the recovery frame. A groove is provided above the base, and the groove is an arc-shaped structure with the same center as the recovery pipe. The bottom of the driving module is installed in the channel through a fixing frame and a pulley, and can move in an arc along the channel, and the output shaft at the top is connected to the fixing device; The underwater charging and information transmission integrated connector and positioning guide pin are installed above the fixing device, and their axial directions are parallel to the output shaft of the driving device; the positioning guide pin is docked and positioned with the positioning port on the AUV shell to achieve docking and connection between the underwater charging and information transmission integrated connector and the AUV charging and information transmission integrated interface.

2. The AUV recovery, charging and information transmission device according to claim 1, characterized in that: The inlet of the recovery pipe is a trumpet-shaped structure, which is convenient for guiding the AUV during the recovery process.

3. The AUV recovery, charging and information transmission device according to claim 1, characterized in that: The driving module includes a hydraulic device and a motor, and the motor is vertically fixed on a fixed frame; a pulley is installed below the fixed frame, and its upper surface is parallel to the tangent plane of the sliding track; The two hydraulic devices are symmetrically arranged on both sides of the motor, and the hydraulic rod drives the positioning guide pin to extend and retract through the fixing device; when docking, the hydraulic rod of the hydraulic device is driven to extend axially by the motor, and then the positioning guide pin extends into the through hole of the recovery pipe. Under the action of the reaction force after contact with the AUV shell, the positioning guide pin enters the AUV positioning hole through the sliding of the motor relative to the groove, thereby realizing radial positioning of the AUV.

4. The AUV recovery, charging and information transmission device according to claim 3, characterized in that: The entrance of the AUV positioning hole is a trumpet-shaped structure.

5. The AUV recovery, charging and information transmission device according to claim 4, characterized in that: The head of the positioning guide pin is a tapered structure, which is convenient for entering the AUV positioning hole.

6. The AUV recovery, charging and information transmission device according to claim 5, characterized in that: The underwater charging and information transmission integrated connector is an underwater wet plug connector.

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