Submerged buoy docking system

Abstract

The present application relates to a submerged buoy docking system, including a carrier, a docking device, a suspension and a counterweight; the docking device is detachably connected to the top of the carrier, and is used to dock with the port of an underwater robot; the suspension is connected to the carrier, and can drive the carrier and the docking device to move upward in the water; the counterweight is detachably connected to the carrier, and can drive the carrier, the docking device and the suspension to move downward in the water, wherein the upward pulling force F1 of the suspension on the carrier is not greater than the downward pulling force F2 of the counterweight on the carrier. The above-mentioned submerged buoy docking system can not only keep the docking device and the carrier in a stable posture with the opening in the downstream direction in the water, but also facilitate recovery.

Description

Technical Field

[0001] The present application relates to the field of marine engineering technology, and in particular to a submerged buoy docking system. Background Art

[0002] Marine resources provide the backbone for the sustainable development of human society, and the development and application of autonomous underwater vehicles (AUVs) are becoming increasingly important. However, AUVs rely on their own rechargeable batteries for energy, and their internal energy storage is limited. After a certain period of underwater operation, they need to be recycled to replenish energy, read information, and perform maintenance, which not only interrupts the continuity of operations, but also consumes time and effort, severely limiting their underwater working time.

[0003] With the development of the seabed observation network, AUV underwater docking technology has come into being. By connecting with the interface provided by the seabed observation network and other possible equipment, the AUV can autonomously complete tasks such as charging, data uploading, and new task downloading underwater, reducing the tedious and complicated recovery process. It is an important guarantee for the practical application of autonomous underwater robots in the deep sea.

[0004] The lower end of the existing docking system is often designed to be conical to improve the stability of the docking system posture, thereby improving the accuracy and stability of the docking between the robot and the docking system. However, the docking system configured in this way has a complex structure, and the part of the structure that sinks into the seabed is easy to break during the recovery process, making it inconvenient to recycle the docking system. Summary of the invention

[0005] Based on this, it is necessary for the present invention to provide a submerged buoy docking system to improve the convenience of recovery and the stability of the overall posture.

[0006] A submersible buoy docking system comprises a carrier frame, a docking device, a suspension member and a counterweight; the docking device is detachably connected to the top of the carrier frame for docking with a port of an underwater robot; the suspension member is connected to the carrier frame and can drive the carrier frame and the docking device to move upward in the water; the counterweight is detachably connected to the carrier frame and can drive the carrier frame, the docking device and the suspension member to move downward in the water, wherein the upward pulling force F1 of the suspension member on the carrier frame is not greater than the downward pulling force F2 of the counterweight on the carrier frame.

[0007] In the process of deploying the above-mentioned submerged buoy docking system into water, the upward pulling force F1 of the suspension member on the supporting frame is smaller than the downward pulling force F2 of the counterweight on the supporting frame, and the counterweight drives the supporting frame, the docking device and the suspension member to move downward until the counterweight is in direct contact with the seabed; after the counterweight stays on the seabed, the upward pulling force F1 of the suspension member on the supporting frame is equal to the downward pulling force F2 of the counterweight on the supporting frame, and at this time the suspension member, the supporting frame and the docking device are in a stable suspended state in the water, which can not only make the supporting frame and the docking device maintain a stable posture with their openings in the downstream direction in the water, but also avoid the problems of direct contact between the supporting frame and the docking device and the problem of the supporting frame and the docking device being sunk into the seabed; during the recovery process, the connection between the counterweight and the supporting frame is released, and at this time the downward pulling force F2 of the counterweight on the supporting frame disappears, and the suspension member drives the supporting frame and the docking device to move upward in the water until the suspension member floats to the surface of the water, and the recovery is completed.

[0008] In one embodiment, the suspension members are arranged in pairs, each pair of the suspension members are symmetrically arranged on both sides of the support frame, and the sum F3 of the upward pulling force of all the suspension members on the support frame is not greater than the downward pulling force F2 of the counterweight on the support frame.

[0009] In one embodiment, the submersible buoy docking system further includes a release mechanism, the upper end of which is connected to the top of the carrier frame, and the lower end of which is detachably connected to the counterweight.

[0010] In one embodiment, the release mechanism includes a releaser, a first chain and a second chain, the upper end of the releaser is connected to the carrier frame, the lower end of the releaser is connected to the upper end of the first chain, the lower end of the first chain is detachably connected to the second chain, and the end of the second chain facing away from the first chain is connected to the counterweight.

[0011] In one embodiment, there are two releasers, the lower end of the first chain is inserted into a through hole at the upper end of the second chain, and the two ends of the first chain are detachably connected to the two releasers respectively. When one releaser is released from the connection with the first chain, the first chain and the second chain are in a separated state.

[0012] In one embodiment, the releaser is an acoustic releaser.

[0013] In one of the embodiments, the submersible buoy docking system is connected to a power supply unit and a communication unit, the power supply unit is used to supply power to the docking system and the underwater robot, and the communication unit is used to communicate with the underwater robot.

[0014] In one of the embodiments, the submerged buoy docking system is also connected to a control unit, which is used to control the operation of the power supply unit and the communication unit and can transmit data and image information to the shore-based platform.

[0015] In one embodiment, the support frame gradually expands from top to bottom, and the outer surface is coated with a water-proof coating.

[0016] In one embodiment, the submerged buoy docking system further includes a sacrificial anode rod, and the sacrificial anode rod is connected to the supporting frame. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0019] Figure 1 A schematic diagram of the overall structure of a submerged buoy docking system provided in an embodiment of the present application;

[0020] Figure 2 An exploded view of the overall structure of a submerged buoy docking system provided in an embodiment of the present application;

[0021] Figure 3 This is an exploded view of the overall structure of the docking device in the embodiment of the present application;

[0022] Figure 4 This is a partial structural diagram of the main body in the embodiment of the present application;

[0023] Figure 5 This is a partial structural schematic diagram of the guide cover in the embodiment of the present application;

[0024] Figure 6 This is a schematic diagram of the connection relationship between the fixed module and the second camera in the embodiment of the present application;

[0025] Figure 7 This is a schematic diagram of the overall structure of the release mechanism in the embodiment of the present application;

[0026] Figure 8 This is a schematic diagram of the connection relationship between some release mechanisms and counterweights in the embodiment of the present application;

[0027] Fig. 9 This is a schematic diagram of the connection of hardware modules in the embodiment of the present application;

[0028] Fig.10 This is a schematic diagram of the functional composition of the software modules in the embodiment of the present application;.

[0029] Description of Reference Numerals

[0030] 1. Submerged buoy docking system; 10. Carrier; 20. Docking device; 30. Suspended part; 40. Counterweight; 50. Release mechanism; 60. Sacrificial anode rod; 110. Power supply unit; 120. Communication unit; 130. Control unit; 140. Adapter unit; 201. Main body; 202. Connection unit; 203. Bracket; 204. First lighting lamp; 205. Second lighting lamp; 206. First camera; 207. Second camera; 208. Frame; 209. Welding part; 210. Angle plate; 211. Angle seat; 212. Baffle; 213. Magnetic plate; 214. Fixing module; 215. Fixing part; 216. 6. Fixing hole; 217. U-bolt; 220. Guide cover; 221. First guide part; 222. Second guide part; 223. Support rod; 224. First ring; 225. Second ring; 226. Third ring; 227. First auxiliary rod; 228. Second auxiliary rod; 229. Connector; 230. Rib plate; 231. Guide light; 232. Fixing seat; 233. Depth gauge; 234. Clamping block; 235. Support plate; 236. Support seat; 410. Anchor chain; 510. Releaser; 511. Suspension member; 512. Parallel shaft; 513. Parallel block; 520. First chain; 530. Second chain. DETAILED DESCRIPTION

[0031] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0032] like Figure 1-8 As shown, the present application provides a submersible buoy docking system 1, including a carrier 10, a docking device 20, a suspension member 30 and a counterweight 40. The docking device 20 is detachably connected to the top of the carrier 10, and is used for docking with the port of the underwater robot. The suspension member 30 is connected to the carrier 10, and can drive the carrier 10 and the docking device 20 to move upward in the water. The counterweight 40 is detachably connected to the carrier 10, and can drive the carrier 10, the docking device 20 and the suspension member 30 to move downward in the water. Among them, the upward pulling force F1 of the suspension member 30 on the carrier 10 is not greater than the downward pulling force F2 of the counterweight 40 on the carrier 10.

[0033] In the process of deploying the above-mentioned submersible buoy docking system 1 into the water, the upward pulling force F1 of the suspension member 30 on the carrier frame 10 is less than the downward pulling force F2 of the counterweight 40 on the carrier frame 10, and the counterweight 40 drives the carrier frame 10, the docking device 20 and the suspension member 30 to move downward until the counterweight 40 is in direct contact with the seabed; after the counterweight 40 stays on the seabed, the upward pulling force F1 of the suspension member 30 on the carrier frame 10 is equal to the downward pulling force F2 of the counterweight 40 on the carrier frame 10, and at this time, the suspension member 30, the carrier frame 10 and the docking device 20 It is in a stable suspended state in the water, which can not only keep the supporting frame 10 and the docking device 20 stable in the water, but also prevent the supporting frame 10 and the docking device 20 from directly contacting the seabed and causing the supporting frame 10 and the docking device 20 to sink into the seabed. During the recovery process, the connection between the counterweight 40 and the supporting frame 10 is released. At this time, the downward pulling force F2 of the counterweight 40 on the supporting frame 10 disappears, and the suspension member 30 drives the supporting frame 10 and the docking device 20 to move in the water until the suspension member 30 floats to the surface of the water, completing the recovery.

[0034] It can be understood that when an object enters the water, it will be subjected to an upward buoyancy, and the tension F1 applied by the suspension 30 on the supporting frame 10 in the present application is "the difference between the upward buoyancy applied to the suspension 30 and the gravity of the suspension 30 itself"; the tension F2 applied by the counterweight 40 on the supporting frame 10 in the present application is "the difference between the gravity of the counterweight 40 itself and the upward buoyancy received by the counterweight 40".

[0035] Furthermore, the suspension members 30 are arranged in pairs, and each pair of suspension members 30 is symmetrically arranged on both sides of the carrier 10. The sum F3 of the upward pulling force of the plurality of suspension members 30 on the carrier 10 is not greater than the downward pulling force F2 of the counterweight 40 on the carrier 10. Therefore, after the system enters the water, the counterweight 40 can still keep the carrier 10, the docking device 20 and all the suspension members 30 in a stable suspended state in the water.

[0036] Specifically, in this embodiment, the number of the suspension members 30 is six. The suspension members 30 are evenly distributed on the periphery of the carrier 10 and adopt a hexahedral structure, which can be stably suspended in the water. The suspension members 30 are connected to the carrier 10 by bolts, which can maintain the stability of the connection and facilitate the removal of the suspension members 30 from the carrier 10 during the later maintenance process. In addition, the multiple suspension members 30 distributed on the periphery of the carrier 10 can increase the outer surface area of ​​the system in contact with water, which is conducive to improving the system's ability to resist water flow.

[0037] It should be noted that the docking device 20 includes a body 201 and a guide cover 220 placed horizontally, and when the body 201 and the guide cover 220 are installed on the carrier 10, the center of gravity of the docking device 20 is consistent with the center of gravity of the carrier 10, and combined with the six symmetrically arranged suspension members 30, the docking device 20 and the carrier 10 can maintain a stable posture when suspended in water. Among them, under the action of the water flow, the docking device 20, the carrier 10 and the suspension member 30 will deviate until the guide cover 220 maintains a self-balancing state with the direction of the water flow.

[0038] In one embodiment, Figure 2-Figure 5 As shown, the guide cover 220 includes a first guide portion 221 and a second guide portion 222 for the underwater robot to pass through. The inner wall of the guide cover 220 gradually shrinks from the first guide portion 221 to the second guide portion 222. The second guide portion 222 is connected to the main body 201 and is arranged in alignment with the connection unit 202 on the main body 201. The first guide portion 221 is arranged away from the second guide portion 222.

[0039] Among them, in the process of the underwater robot approaching, the underwater robot first enters the first guide part 221. Since the first guide part gradually shrinks toward the second guide part, the underwater robot can gradually approach the connection unit 202 under the guidance of the guide cover 220's own structure, and connect with the connection unit 202 in a relatively small space, which is conducive to the underwater robot to connect with the submerged buoy docking system 1 more quickly and accurately through the connection unit 202 to perform operations such as charging and data information exchange.

[0040] It should be noted that the connection unit 202 can be docked with the underwater robot so that the submerged buoy docking system 1 can supply power to the underwater robot and collect data information stored by the underwater robot.

[0041] In one embodiment, Figure 1 As shown, the submersible docking system 1 is connected to a power supply unit 110 and a communication unit 120. The power supply unit 110 is used to supply power to the entire docking system and the underwater robot. The communication unit 120 is used to communicate with the underwater robot. Therefore, during the process of the underwater robot approaching, the communication unit 120 sends a communication signal to the underwater robot to guide the underwater robot to approach and dock with the connection unit 202. After the underwater robot successfully docks with the connection unit 202, the power supply unit 110 supplies power to the underwater robot.

[0042] Furthermore, the submerged buoy docking system 1 is also connected to a control unit 130, and the control unit 130 is used to control the operation of the power supply unit 110 and the communication unit 120, and can transmit data and image information to the shore-based platform.

[0043] The power supply unit 110, the communication unit 120 and the control unit 130 can all be set as cylindrical cabin structures, and connected to the carrier 10 or the docking device 20 by clamping with a half ring of a clamp. Specifically, in this embodiment, the power supply unit 110 is provided with a lithium battery, which is heavy and is connected to the lower end of the carrier 10 to improve the stability of the overall structure; the communication unit 120 is connected to the main body 201 of the docking device 20, which is closer to the underwater robot, so as to improve the stability and reliability of its communication with the underwater robot; the control unit 130 is connected to the carrier 10, and a main control system is provided inside it to control the switch of each device, save data, and transmit data and images to the shore-based platform.

[0044] In one embodiment, Figure 7 and Figure 8 As shown, the submerged buoy docking system 1 further includes a release mechanism 50. The upper end of the release mechanism 50 is connected to the top of the carrier 10. The lower end of the release mechanism 50 is detachably connected to the counterweight 40.

[0045] It can be seen that during the process of placing in water, the release mechanism 50 is connected to the counterweight 40 so that the counterweight 40 drives the supporting frame 10, the docking device 20, the suspension 30 and the release mechanism 50 to sink; during the recovery process, the release mechanism 50 is disconnected from the counterweight 40 so that the suspension 30 drives the supporting frame 10, the docking device 20 and part of the release mechanism 50 to float.

[0046] Furthermore, the release mechanism 50 includes a releaser 510, a first chain 520 and a second chain 530, the upper end of the releaser 510 is connected to the carrier frame 10, the lower end of the releaser 510 is connected to the upper end of the first chain 520, the lower end of the first chain 520 is detachably connected to the second chain 530, and the end of the second chain 530 facing away from the first chain 520 is connected to the counterweight 40.

[0047] Therefore, the connection between the first chain 520 and the second chain 530 can be released to disconnect the counterweight 40 and the carrier frame 10, so that the pulling force F2 of the counterweight 40 on the carrier frame 10 is 0, so that the suspension member 30 can drive the carrier frame 10, the docking device 20, the releaser 510 and the first chain 520 to float up for easy recovery.

[0048] In one embodiment, there are two releasers 510, the lower end of the first chain 520 is passed through a through hole at the upper end of the second chain 530, and the two ends of the first chain 520 are respectively detachably connected to the two releasers 510. When one releaser 510 is released from the connection with the first chain 520, the first chain 520 and the second chain 530 are in a separated state.

[0049] After the first chain 520 passes through the through hole on the second chain 530, it can be connected to the releaser 510 respectively to form a closed connection loop, thereby improving the connection stability between the first chain 520 and the second chain 530. Providing two releasers 510 can increase the redundancy of the release mechanism 50, improve the reliability of the release action, and ensure the normal recovery of the submerged buoy docking system 1.

[0050] In addition, the top of each releaser 510 is connected to a suspension member 511, and a parallel shaft 512 runs through the middle of the two suspension members 511. The two ends of the parallel shaft 512 are fixed and limited by bolts and nuts. The release structure also includes two parallel blocks 513, which are fixed by bolts and nuts to ensure that the two releasers 510 are relatively stable.

[0051] Furthermore, the upper end of the counterweight 40 may be fixedly connected with an anchor chain 410 , and the anchor chain 410 is fixedly connected to the second chain 530 to facilitate the coupling between the release mechanism 50 and the counterweight 40 .

[0052] In this embodiment, the releaser 510 is an acoustic releaser 510 .

[0053] In one embodiment, Figure 1 and Figure 2 As shown, the carrier frame 10 gradually expands from top to bottom, and the outer surface is coated with a water-proof coating.

[0054] It should also be noted that the support frame 10 is formed by welding bent steel plates, the side is trapezoidal in shape, and the overall shape is a gradually shrinking prism from top to bottom, so as to lower the center of gravity of the support frame 10 and improve the stability of its base. The upper and lower end faces of the support frame 10 are both hexagonal in design, and the side faces are provided with oblique tie bars to increase support and enhance strength. In addition, the oblique tie bars arranged on the side can improve the uniformity of the buoyancy of the support frame 10 in the water, so that the support frame 10 can quickly return to a balanced posture after being impacted by the water flow.

[0055] Of course, multiple inclined rods may be welded inside the support frame 10 to enhance the overall strength and load-bearing capacity, and provide sufficient installation space and support strength for each power supply unit 110 , communication unit 120 , and control unit 130 inside.

[0056] In one embodiment, Figure 1 and Figure 2 As shown, the submerged buoy docking system 1 further includes a sacrificial anode rod 60. The sacrificial anode rod 60 is connected to the carrier 10. The sacrificial anode rod 60 is arranged on the carrier 10 to slow down the corrosion of the carrier 10 by water, which is conducive to the long-term deployment of the carrier 10 in water.

[0057] The structure of the docking device 20 is further described below:

[0058] In one embodiment, Figure 3-Figure 6 As shown, the docking device 20 also includes an observation module. The observation module is connected to the main body 201 and is arranged toward the guide cover 220 to observe the position and state of the robot during the robot's approach. The observation module can facilitate the operator to observe the position and operating state of the robot in real time, so as to facilitate the operator to adjust the position of the robot in time, so as to further improve the efficiency and accuracy of the docking between the robot and the connection unit 202.

[0059] Further, the observation module includes a camera mechanism and a lighting mechanism. The camera mechanism includes a first camera 206 and a second camera 207. The lighting mechanism includes a first lighting lamp 204 and a second lighting lamp 205. The shooting direction of the first camera 206 is horizontal to the lighting direction of the first lighting lamp 204. The shooting direction of the second camera 207 and the lighting direction of the second lighting lamp 205 are both set at an acute angle to the horizontal direction.

[0060] Among them, the first lighting light 204 lights up the shooting path for the first camera 206, so that the first lighting light 204 and the first camera 206 are used in conjunction to increase the line of sight distance underwater, so as to provide the operator with a close-up perspective of observing the robot after it enters the guide cover 220, so as to observe the bow of the robot; the second lighting light 205 lights up the shooting path for the second camera 207, so that the second lighting light 205 and the second camera 207 are used in conjunction to facilitate the operator to observe the robot when approaching from a distance to enter the first guide part 221, as well as the overhead perspective after entering the first guide part 221, thereby facilitating the operator to more comprehensively observe the position and operating status of the robot in the guide cover 220.

[0061] In one embodiment, the docking device 20 further includes two fixing modules 214 to fix the second camera 207 and the second lighting lamp 205 on the main body 201 respectively.

[0062] The fixing module 214 includes a fixing member 215 and a U-bolt 217. The fixing member 215 is provided with a fixing hole 216 through which the second camera 207 and the second lighting lamp 205 can pass. Figure 5 As shown, now take the installation of the second camera 207 as an example: after the second camera 207 passes through the fixing hole 216, the second camera 207 and the fixing member 215 are fixed firmly with screws, the fixing member 215 is clamped with a U-bolt 217, and the U-bolt 217 is fixed to the main body 201 with screws, thereby fixing the fixing member 215 and the second camera 207 to the main body 201. The installation process of the second lighting lamp 205 can refer to the installation process of the second camera 207, which will not be repeated in this article.

[0063] It should be noted that the first camera 206 and the first lighting lamp 204 can be directly welded to the main body 201 to keep the shooting direction of the first camera 206 and the lighting direction of the first lighting lamp 204 level, so as to improve the stability of installation and detection.

[0064] like Figure 3 and Figure 4 As shown, a bracket 203 is connected to the main body 201. The bracket 203 is cylindrical and welded to the fixing module 214. One end of the fixing module 214 is rotatably connected to the bracket 203 and can rotate around the axis of the bracket 203. The fixing module 214 includes a first lighting lamp 204, a second lighting lamp 205, a first camera 206 and a second camera 207. Among them, the second lighting lamp 205 and the second camera 207 can rotate on the bracket 203, so that the operator can flexibly adjust the shooting angle of the second camera 207 and the lighting angle of the second lighting lamp 205 according to actual needs.

[0065] It should be noted that there are two brackets 203, and both are arranged in a "T" shape. One bracket 203 is located at the top of the main body 201, and the other bracket 203 is located at the bottom of the main body 201. The bracket 203 located at the upper part is used to install the second camera 207, and the bracket 203 located at the lower part is used to install the second lighting lamp 205.

[0066] In one embodiment, Figure 3 and Figure 4 As shown, the main body 201 includes a plurality of frames 208, welded parts 209, angle plates 210 and angle seats 211. The plurality of frames 208 are welded to form a trapezoidal structure that shrinks from bottom to top. The welded parts 209 are curved. The convex surface of the welded parts 209 is connected to the frames 208. The concave surface of the welded parts 209 is used to connect electrical components. The angle plate 210 is connected to a side of the frame 208 facing the guide cover 220 and is connected to the second guide portion 222. The angle seat 211 is connected to the bottom of the main body 201 to increase the contact area with the ground.

[0067] The frame 208 can be cut from standard channel steel, which is beneficial to reducing the production cost. In addition, multiple horizontally arranged frames 208 are welded at intervals along the vertical direction to improve the overall stability and firmness of the main body 201. In addition, the horizontally arranged frames 208 can also be conveniently loaded with various electronic devices. In addition, multiple inclined frames 208 can be welded on the main body 201 to form oblique tie bars, thereby further improving the overall strength and stability of the main body 201.

[0068] In this embodiment, there are four corner plates 210, which are arranged at the four corners of a square and are used to install and fix the guide cover 220. There are also four corner seats 211, which are fixedly connected to the bottom of the main body 201, respectively, to increase the contact area between the main body 201 and the ground and improve the stability of the installation.

[0069] Furthermore, if Figure 3 and Figure 4 As shown, the main body 201 also includes a baffle 212. The baffle 212 is mounted on the frame 208 by screws. There are two baffles 212, which are spaced apart in the vertical direction. Both baffles 212 are located on the side of the main body 201 facing the guide cover 220, and the spacing H in the vertical direction is smaller than the width L of the robot in the numerical direction, so as to prevent the robot from entering the interior of the main body 201 and causing collision damage. Among them, the baffle 212 can be made of a non-metallic material with good deformation ability to reduce the impact of the robot colliding with the baffle 212, which is beneficial to protect the outer surface of the robot from being scratched, and can also effectively protect the internal components of the robot from being damaged.

[0070] Furthermore, a magnetic plate 213 in a fan-shaped structure is also provided on the main body 201. The magnetic plate 213 is magnetic and can provide a magnetic field signal to the robot when the robot approaches the connection unit 202, which is helpful for the underwater robot to judge whether the docking is successful through the magnetic induction signal. Among them, the magnetic plate 213 is fixedly connected to the outside of the baffle 212 and can be spliced ​​by multiple magnets.

[0071] In one embodiment, Figure 3 and Figure 5 As shown, the guide cover 220 also includes a support rod 223, a first circular ring 224 and a second circular ring 225. The two ends of the support rod 223 are connected to the first circular ring 224 and the second circular ring 225 respectively. The diameter of the first circular ring 224 is greater than the diameter of the second circular ring 225. One end of the support rod 223 close to the first circular ring 224 forms a first guide portion 221 with the first circular ring 224. One end of the support rod 223 close to the second circular ring 225 forms a second guide portion 222 with the second circular ring 225. There are multiple support rods 223, and the multiple support rods 223 are arranged at intervals around the circumference of the first circular ring 224.

[0072] In the present application, the guide cover 220 is provided in a conical structure and is formed by welding various components.

[0073] It should be noted that there are eight support rods 223, which are arranged at intervals along the circumferential direction, and gradually converge from the first ring 224 to the second ring 225, and connect the first ring 224 and the second ring 225 into one. When the robot enters the guide cover 220 and continues to approach the connection unit 202, the support rods 223 can guide the robot to approach the connection unit 202. For example, when the robot deviates upward, the support rods 223 located above the robot can limit the robot from continuing to move upward, and when the robot continues to move forward, the multiple support rods 223 gradually converged toward the second ring 225 can smoothly guide the robot to move toward the second ring 225. When the robot moves to the second ring 225, there is not much space left for the robot to deviate from the connection unit 202, that is, the robot has approached the connection unit 202, which is conducive to improving the accuracy of the robot and the connection unit 202 docking.

[0074] like Figure 5 As shown, both ends of the first auxiliary rod 227 are also connected to the first ring 224 and the second ring 225 respectively, and are arranged between adjacent support rods 223. The number of the first auxiliary rods 227 is also eight, which play a role of auxiliary reinforcement.

[0075] Furthermore, in one embodiment, a second auxiliary rod 228 may be provided on the guide cover 220. One end of the second auxiliary rod 228 is connected to the support rod 223, and the other end is connected to the first auxiliary rod 227 near the support rod 223, so as to prevent the robot from escaping from the area where the guide cover 220 is located through the gap between the support rod 223 and the first auxiliary rod 227. It should be noted that the gap between the second auxiliary rod 228 and the first auxiliary rod 227, the support rod 223, the first ring 224, and the second ring 225 should be small enough so that the robot cannot escape from the area where the guide cover 220 is located through the gap.

[0076] The first circular ring 224 , the second circular ring 225 , the support rod 223 , the first auxiliary rod 227 , the second auxiliary rod 228 and the third circular ring 226 may all be made of solid steel rod material to enhance the strength and stability of the guide cover 220 .

[0077] In one embodiment, Figure 5As shown, a connector 229 is connected to the second ring 225. The connecting plate is screwed to the angle plate 210 to fix the second ring 225 to the main body 201, and then the guide cover 220 to the main body 201. In addition, the screw connection method can not only improve the connection stability between the main body 201 and the guide cover 220, but also can disassemble the main body 201 and the guide cover 220 when disassembly and adjustment are required, so as to facilitate subsequent maintenance and repair. It can be understood that the specific shape of the connector 229 can be set according to actual needs. Specifically, in this embodiment, the connector 229 is set in a trapezoidal plate shape.

[0078] Furthermore, a rib plate 230 may be connected to the support rod 223. One side of the rib plate 230 is fixedly connected to the support rod 223, and the other side of the rib plate 230 is fixedly connected to the connecting member 229, so as to play the role of a reinforcing rib, and prevent the connecting member 229 from being separated from the second ring 225 when subjected to a large shear force, so as to improve the connection stability between the connecting member 229 and the second ring 225, and further improve the connection stability between the guide cover 220 and the main body 201.

[0079] It should be noted that the rib plate 230 is in a right-angled triangle structure, and its two right-angled sides are welded to the support rod 223 and the connecting piece 229 respectively.

[0080] In one embodiment, Figure 5 As shown, the guide cover 220 also includes a third circular ring 226. A bending portion is provided at one end of the support rod 223 facing the second circular ring 225. The third circular ring 226 is sleeved on the bending portions of the plurality of support rods 223. The diameter of the third circular ring 226 is smaller than the diameter of the second circular ring 225. Therefore, the third circular ring 226 can further enhance the connection stability between the support rod 223 and the second circular ring 225. It should be noted that the first circular ring 224, the second circular ring 225, the third circular ring 226, the support rod 223, the first auxiliary rod 227 and the second auxiliary rod 228 can all be fixed by welding to enhance the overall connection stability of the guide cover 220.

[0081] In one embodiment, Figure 3 and Figure 5 As shown, the docking device 20 also includes a guide light 231. The guide light 231 is connected to the fixing seats 232 that are spaced apart on the circumference of the first ring 224. The guide light 231 is arranged in the area of ​​the first ring 224 facing the main body 201 to avoid collision between the guide light 231 and the robot and damage to each other. In this embodiment, the number of the guide lights 231 is eight, and the number of the fixing seats 232 is also eight. The fixing seats 232 are spaced apart along the circumferential direction of the first ring 224. The lighting direction of the guide light 231 is arranged away from the main body 201.

[0082] It should be noted that the fixing seat 232 is semicircular (inwardly concave) to accommodate the cylindrical guide light 231. The guide light is connected and fixed to the fixing seat 232 through a throat clamp to provide an optical guide signal for the robot during the docking process.

[0083] Furthermore, an adapter unit 140 is also provided on the carrier 10, and an adapter plate is provided in the adapter unit 140 to control the turning on and off of the guide light.

[0084] Furthermore, a support 236 connected to the carrier 10 can be provided on the guide cover 220 below the first ring 224 to match the height of the main body 201 and adjust the height of the guide cover 220. In addition, the support 236 has a larger projection area in the vertical direction, so as to increase the connection stability between the guide cover 220 and the carrier 10 while supporting the guide cover 220.

[0085] In one embodiment, Figure 3 Then after Figure 5 As shown, a depth gauge 233 may be provided on the guide cover 220 to measure the depth of the guide cover 220 in the water. The depth gauge 233 may be fixed on the first ring 224 by a clamping block 234 and a support plate 235. The support plate 235 may be cut from a steel plate, and one end of the support plate 235 may be welded to the outside of the first ring 224. One end of the clamping block 234 is fixedly connected to the support plate 235 and is used to clamp the outer periphery of the depth gauge 233 to fix the depth gauge 233 on the first ring 224.

[0086] It should be noted that the support plate 235 should be connected below the first ring 224 and avoid interference with the fixing base 232 , while preventing the depth gauge 233 from blocking the light path of the guide light.

[0087] The submersible buoy docking system 1 in the present application can also be divided into two parts: a hardware module and a software module. The software module includes two parts: a surface monitoring unit and an underwater control unit 130 .

[0088] like Fig. 9As shown, the hardware module includes three parts: energy supply, equipment power on and off, and data processing and storage. Among them, a 48V battery is used to provide the energy required for the operation of the control module, the power detection module monitors its power status, and the power conversion module is used to convert the voltage (24V, 12V, 5V) to suit the voltage requirements of different devices; the power on and off of the external devices are controlled by a multi-way relay switch, and the status of each switch is monitored. The external devices include a communication unit 120, an altimeter, a posture sensor, a water leakage detection module, a locator, a camera, a lighting lamp, and a guide lamp; each device collects relevant data and transmits it to the ARM main control board for data processing, including transmission methods such as RS485, RS232, GPIO and a network switch; the processed data is stored in the hard disk through SATA3.0 for data backup, and all data can be transmitted to the surface monitoring unit in real time through the network switch using a watertight cable, so as to facilitate viewing the operating status of the docking dock system; and the main control board is equipped with a fiber optic interface, and all data can be transmitted to the surface monitoring unit in real time through the fiber optic cable to meet the needs of long-distance data transmission such as deep sea or offshore.

[0089] like Fig.10 As shown, the surface monitoring unit and the underwater control unit 130 in the software module perform data transmission and receive command execution:

[0090] The surface monitoring unit mainly completes three functions: data display, data storage and issuing execution commands, including equipment status, data display module, video image data display module, abnormal alarm module, video image data recording module, log data storage module and equipment switch control module;

[0091] The underwater control unit 130 mainly completes three functions of data uploading, data storage and command execution, including five parts: data uploading module, log data storage module, equipment switch control module, equipment switch status monitoring module, and command receiving and execution module; the underwater control unit 130 is connected to external equipment, controls its power on and off, adjusts its parameters, and receives data collected by each device.

[0092] It should be noted that the phrases "one embodiment", "an embodiment", "an exemplary embodiment", "some embodiments", etc. mentioned in the specification indicate that the described embodiments may include certain features, structures or characteristics, but not every embodiment may include the certain features, structures or characteristics. In addition, such phrases do not necessarily refer to the same embodiment. In addition, when describing certain features, structures or characteristics in conjunction with an embodiment, it is within the knowledge of those skilled in the art to implement such features, structures or characteristics in conjunction with other embodiments, whether explicitly or not explicitly described.

[0093] It should be easily understood that “on,” “above,” and “over” in the present disclosure should be interpreted in the broadest manner, so that “on” not only means “directly on something,” but also includes the meaning of “on something” with intervening features or layers therebetween, and “above” or “over” not only includes the meaning of “above” or “over,” but also may include the meaning of “above” or “over something” with no intervening features or layers therebetween (i.e., directly on something).

[0094] In addition, spatially relative terms, such as "below," "below," "beneath," "above," "above," etc., may be used herein for ease of description to describe the relationship of one element or feature relative to other elements or features as shown in the figures. Spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation shown in the figures. The device may have other orientations (rotated 90 degrees or at other orientations), and the spatially relative descriptors used herein may likewise be interpreted accordingly.

[0095] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0096] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A submerged buoy docking system, characterized in that: include: Carrier; A docking device, detachably connected to the upper portion of the carrier, for docking with the port of the underwater robot; A suspension member, bolted to the carrier frame, capable of driving the carrier frame and the docking device to move upward in the water; The counterweight is detachably connected to the carrier frame and can drive the carrier frame, the docking device and the suspension member to move downward in the water. The upward pulling force F1 exerted by the suspension members on the supporting frame is not greater than the downward pulling force F2 exerted by the counterweight on the supporting frame; the suspension members are arranged in pairs, and each pair of suspension members is symmetrically arranged on both sides of the supporting frame, and the sum of the upward pulling forces F3 exerted by all the suspension members on the supporting frame is not greater than the downward pulling force F2 exerted by the counterweight on the supporting frame; The submersible buoy docking system further includes a release mechanism, the upper end of which is connected to the top of the carrier, and the lower end of which is detachably connected to the counterweight; The carrier gradually expands from top to bottom and is formed by welding bent steel plates. The side surface is trapezoidal in shape, the upper and lower end surfaces are both hexagonal in design, and the outer surface is coated with a water-proof coating. There are six suspension members, which are evenly distributed on the periphery of the carrier and adopt a hexahedral structure; The docking device includes a horizontally placed main body and a guide cover, and the main body includes multiple frames, baffles and magnetic plates arranged in a fan-shaped structure; multiple frames are welded to form a trapezoidal structure that shrinks from bottom to top; the baffles are installed on the frames by screws, and there are two baffles, which are spaced apart in the vertical direction. The two baffles are both located on the side of the main body facing the guide cover, and the spacing in the vertical direction is smaller than the width of the underwater robot in the numerical direction to prevent the underwater robot from entering the interior of the main body and causing collision damage; the magnetic plate is magnetic and is fixedly connected to the outside of the baffle. It can provide a magnetic field signal to the underwater robot when the underwater robot approaches the connection unit on the main body, which is beneficial for the underwater robot to judge whether the docking is successful through the magnetic induction signal.

2. The submerged buoy docking system according to claim 1, characterized in that: The release mechanism includes a releaser, a first chain and a second chain. The upper end of the releaser is connected to the carrier frame, the lower end of the releaser is connected to the upper end of the first chain, the lower end of the first chain is detachably connected to the second chain, and the end of the second chain facing away from the first chain is connected to the counterweight.

3. The submerged buoy docking system according to claim 2, characterized in that: There are two releasers, the lower end of the first chain is passed through the through hole at the upper end of the second chain, and the two ends of the first chain are detachably connected to the two releasers respectively. When one releaser is released from the connection with the first chain, the first chain and the second chain are in a separated state.

4. The submerged buoy docking system according to claim 3, characterized in that: The releaser is an acoustic releaser.

5. The submerged buoy docking system according to claim 1, characterized in that: The submersible buoy docking system is connected to a power supply unit and a communication unit. The power supply unit is used to supply power to the docking system and the underwater robot, and the communication unit is used to communicate with the underwater robot.

6. The submerged buoy docking system according to claim 5, characterized in that: The submerged buoy docking system is also connected to a control unit, which is used to control the operation of the power supply unit and the communication unit and can transmit data and image information to the shore-based platform.

7. The submerged buoy docking system according to claim 1, characterized in that: The submerged buoy docking system further includes a sacrificial anode rod, which is connected to the supporting frame.

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