UUV underwater charging device and charging method

Abstract

The application relates to a UUV underwater charging device and a charging method, which is dragged by a mother ship to travel; the charging device comprises a device shell, a central module is arranged in the device shell, a plurality of sub-modules are led out from the central module, a fuel cell is arranged in the central module, an inverter and a central management module are connected with the fuel cell, a communication positioning module is connected with the central management module, a sub-management module is arranged in the sub-module, and the sub-management module is connected with the central management module; a wireless charging module and a guide lamp are connected with the sub-management module, the wireless charging module is connected with the inverter of the central module, is uniformly distributed in the inner layer of the device shell, and is used for being connected with an external UUV to be charged to charge. The application searches a UUV dense area by the charging device, plans a path direction, guides a UUV to be charged to sail to a charging position to charge, and can conveniently and wirelessly charge a plurality of UUVs underwater.

Description

TECHNICAL FIELD

[0001] The application relates to the underwater wireless charging technical field, in particular to a UUV underwater charging device and a charging method. BACKGROUND

[0002] As the use value of unmanned systems is increasingly prominent, how to make the UUV (Unmanned Underwater Vehicle) work for a longer time and perform more tasks has become a problem to be solved. In order to solve this problem, the whole world is maximizing the endurance of the UUV.

[0003] With the large-scale application of the UUV, the technology of improving the energy carried by the UUV itself has reached a bottleneck, and the demand for the UUV to obtain power supply in the deep sea is increasingly urgent. SUMMARY

[0004] The applicant provides a UUV underwater charging device and a charging method with a reasonable structure in view of the defects in the prior production technology.

[0005] The technical scheme adopted by the application is as follows:

[0006] A UUV underwater charging device is towed by a mother ship; the charging device comprises a device shell, a central module is arranged in the device shell, the central module leads out a plurality of sub-modules,

[0007] A fuel cell is arranged in the central module, the fuel cell is connected with an inverter and a central management module, and a communication positioning module is connected to the central management module,

[0008] A sub-management module is arranged in the sub-module, and the sub-management module is connected with the central management module; a wireless charging module and a guide lamp are connected to the sub-management module, wherein the wireless charging module is connected with the inverter of the central module and is uniformly distributed in the inner layer of the device shell and used for connecting the charging of the UUV to be charged outside.

[0009] As a further improvement of the above technical scheme:

[0010] A plurality of guide plates are embedded on the outer surface of the device shell, the guide plates are spliced to form a honeycomb-shaped charging position, and the charging position covers the circumferential surface of the device shell.

[0011] The guide lamp is located at the central position of each charging position.

[0012] The charging space of a single honeycomb-shaped charging position is a radial open structure.

[0013] A charging method using the UUV underwater charging device comprises the following steps:

[0014] The mother ship drags the charging device, the charging device searches for the UUV to be charged within the circumferential range with the charging device as the center, and issues an instruction;

[0015] After receiving the instruction, the UUV to be charged sends back a reservation for charging position, if the reservation is successful, the UUV to be charged sails to the charging device, and is parked in the charging position along the guide plate;

[0016] The guide lamp guides the UUV to be charged to dock, after successful docking, the fuel cell of the central module generates power, which is converted through the inverter, and is transmitted to the wireless charging receiving end of the UUV to be charged through the wireless charging module of the sub-module, so that the UUV to be charged is charged;

[0017] After the charging is completed, the UUV exits the charging position.

[0018] As a further improvement of the above technical solution:

[0019] When the charging position is not full, the UUV to be charged is allowed to make a reservation;

[0020] When the charging position is full, the reservation function is closed, and the charging reservation sent by the subsequent UUV to be charged is not successful;

[0021] After the UUV to be charged leaves the charging position after the charging is completed, the reservation system is restarted, and the subsequent UUV to be charged is allowed to make a reservation.

[0022] During the sailing of the charging device, the charging device searches for a direction with a higher density of UUVs to be charged, plans a path, and sends a signal to the mother ship, so that the mother ship drags the charging device to the dense area of the UUV to be charged.

[0023] After receiving the charging reservation request of the UUV to be charged, the charging device records the position of the UUV sending the request, forms a three-dimensional point cloud map, and plans a path according to the point cloud map.

[0024] The UUV to be charged sails close to the outer surface of the charging device and is parked in the charging position along the guide plate; the UUV to be charged exits the charging position along the radial direction of the device shell.

[0025] The beneficial effects of the present application are as follows:

[0026] Compared with the existing underwater charging device, the existing charging method is that the charging device itself searches for a single UUV to be charged, and connects the charging; in the present application, the charging device searches for a UUV dense area, plans a path direction, and searches for a UUV to be charged within the surrounding range, and guides the UUV to be charged to sail to the charging position for charging. The UUV automatically adapts to the charging position of the charging device, rather than the charging device adapting to the power connection position of the UUV, and because the guide plate and the guide lamp are arranged on the charging device, the adaptation difficulty between the two can be greatly reduced.

[0027] The operation of the charging device in the application itself does not provide power, is towed by a mother ship to travel, and reduces the energy consumption of the charging device itself as much as possible.

[0028] The UUV to be charged can be charged nearby after receiving the charging command of the charging device, and can be connected to the power supply more quickly and shorten the searching and adapting time of the UUV due to the guiding function. Compared with the charging device searching for the charging device to be charged, the energy consumption of the charging device is reduced; compared with the charging device sailing to the fixed charging position, the energy consumption of the charging device to be charged is reduced.

[0029] The charging position of the application has a reservation function, and a plurality of charging positions are arranged on the charging device by using the larger circumferential area of the spherical structure. When the charging position is not full, the UUV to be charged can make a reservation; when the charging position is full, the subsequent reservation is unsuccessful, and the UUV being charged is not affected by the subsequent UUV.

[0030] In the application, when the UUV to be charged sails to the vicinity of the charging device, the sailing path of docking into the charging position sails along the outer contour of the charging device and is embedded into the charging position; after the charging is completed and the UUV exits the charging position, it exits along the radial direction of the spherical charging position, so that the path of entering the charging and the path of exiting the charging do not coincide as much as possible. When the exiting UUV exits to a distance from the charging device that allows the next UUV to be charged to enter, the next UUV to be charged can already enter the charging position, thereby improving the efficiency of switching between two UUVs. BRIEF DESCRIPTION OF DRAWINGS

[0031] Figure 1 It is a schematic diagram of the overall structure of the application.

[0032] Figure 2 It is a schematic diagram of the overall structure of the application.

[0033] Figure 3 It is a block diagram of the internal structure of the application.

[0034] Figure 4 It is a schematic diagram of the process of the UUV to be charged into the application in use.

[0035] Figure 5 It is a schematic diagram of the process of the UUV to be charged out of the application in use.

[0036] Figure 6-1 It is a schematic diagram of the detection range of the charging device of the application when the power is sufficient.

[0037] Figure 6-2 It is a schematic diagram of the detection range of the charging device of the application when the power is insufficient.

[0038] The components include: 1. Central module; 2. Sub-module; 3. Device housing; 4. Guide plate; 5. Fuel cell; 6. Inverter; 7. Wireless charging module; 801. Central management module; 802. Sub-management module; 9. Guide light; 10. Communication and positioning module. Detailed Implementation

[0039] The specific embodiments of the present invention will now be described with reference to the accompanying drawings.

[0040] like Figures 1-6-2 As shown, the UUV underwater charging device in this embodiment is towed by a mother ship; the charging device includes a device housing 3, a central module 1 is disposed inside the device housing 3, and several sub-modules 2 extend from the central module 1.

[0041] Central module 1 contains fuel cell 5, which is connected to inverter 6 and central management module 801. Communication and positioning module 10 is connected to central management module 801.

[0042] Sub-module 2 has a sub-management module 802, which is connected to the central management module 801. The sub-management module 802 is connected to a wireless charging module 7 and a guide light 9. The wireless charging module 7 is connected to the inverter 6 of the central module 1 and is evenly distributed in the inner layer of the device housing 3 for connecting to the external UUV to be charged for charging.

[0043] Multiple guide plates 4 are embedded in the outer surface of the device housing 3. The guide plates 4 are spliced ​​together to form a honeycomb charging position, covering the circumference of the device housing 3.

[0044] The guide light is located in the center of each charging station.

[0045] The charging space of a single honeycomb charging station has a radial open structure.

[0046] The charging method using a UUV underwater charging device in this embodiment includes the following steps:

[0047] The mother ship tows the charging device, which searches for the UUV to be charged within a circle centered on itself and issues commands.

[0048] After receiving the instruction, the UUV waiting to be charged replies to reserve a charging position. If the reservation is successful, the UUV will sail to the charging device and dock at the charging position along the guide plate 4.

[0049] Guide light 9 guides the UUV to be charged to dock. After successful docking, fuel cell 5 of central module 1 generates electricity, which is converted by inverter 6 and sent to the wireless charging receiver of the UUV to be charged through wireless charging module 7 of sub-module 2 to charge the UUV.

[0050] After charging is completed, the UUV exits the charging position.

[0051] When the charging position is not full, the UUV to be charged is allowed to make a reservation;

[0052] When the charging position is full, the reservation function is closed, and the subsequent UUV to be charged is not successful in making a charging reservation;

[0053] After the UUV to be charged leaves the charging position, the reservation system is restarted, and the subsequent UUV to be charged is allowed to make a reservation.

[0054] During the navigation of the charging device, the charging device searches for a direction with a higher density of UUVs to be charged, plans a path, and sends a signal to the mother ship, which drags the charging device to the dense area of UUVs to be charged.

[0055] After the charging device receives the charging reservation request of the UUV to be charged, it records the location of the UUV sending the request, forms a three-dimensional point cloud map, and plans a path according to the point cloud map.

[0056] The UUV to be charged approaches the outer surface of the charging device and docks into the charging position along the guide plate 4; the UUV to be charged exits the charging position along the radial direction of the device shell 3.

[0057] The specific structure and working process of the present application are as follows:

[0058] As shown in Figure 1 and Figure 2 , it is a schematic diagram of the structure of the charging device and the distribution of the charging position of the present application. The charging device provided by the present application is a spherical device shell 3, which is externally connected with a guide plate 4, and internally has a central module 1 and a sub-module 2 for providing electric energy. In order to facilitate the UUV to be charged to identify the charging position, the charging position separated by the guide plate 4 is trumpet-shaped and diverges outward from the device shell 3. There is a guide light 9 in the middle of each charging position to facilitate the UUV to be charged to identify it. Figure 2

[0059] As shown in Figure 2 and Figure 3 , the central module 1 is the source of electric energy, which contains a fuel cell 5. The electric energy of the fuel cell 5 is transmitted to the wireless charging module 7 of the sub-module 2 through the inverter 6, and the wireless charging module 7 is laid in the inner layer of the device shell 3.

[0060] The central module 1 also has a central management module 801, which is connected with the fuel cell 5, the communication positioning module 10, and the sub-management module 802 of the sub-module 2, and the sub-management module 802 is connected with the wireless charging module 7 and the guide light 9.

[0061] When working, as shown in Figure 6-1 and​Figure 6-2 As shown, the charging device will search for the UUV to be charged in the nearby range, Figure 6-1 is the search range when the power is sufficient, Figure 6-2 is the search range when the power is insufficient, and the search range will be reduced to half of the original search range, thereby reducing power consumption.

[0062] In one embodiment of the present application, when the remaining output power of the fuel cell 5 of the device is less than 15%, the search radius of the device for the UUV is half of the original; when the remaining output power of the fuel cell 5 of the device is less than 5%, the charging reservation system is closed, and the new UUV to be charged is stopped from entering the charging position. After all the UUVs being charged are fully charged and leave, the management module of the device communicates with the towing mother ship through the communication positioning module 10, the mother ship recovers the device, and after recovery, the fuel cell 5 is replaced and the device is maintained.

[0063] As shown, it is a schematic diagram of the UUV to be charged entering the charging position. During the entering process, the surrounding UUV to be charged receives the signal sent by the charging device, and then sends back a signal to reserve the charging position. After the reservation is successful, the UUV sails to the side of the device, turns into the charging position along the direction of the guide plate 4 on the spherical device shell 3 at an appropriate angle. Figure 4

[0064] After the successful docking of the position, the fuel cell 5 of the central module 1 generates power, which is converted by the inverter 6 and then transmitted to the wireless charging receiving end of the UUV to be charged through the wireless charging module 7 of the sub-module 2, thereby charging the UUV.

[0065] If the charging position is full, the subsequent charging reservation will not be successful until the UUV is fully charged and linearly leaves the device. After the UUV leaves, the reservation system is restarted to ensure that the entire charging process is orderly.

[0066] As shown, after the UUV is fully charged, it exits the charging position along the diameter line. When the UUV exits to a distance that can accommodate the next UUV to be charged into the charging position, the next UUV to be charged can be charged. Figure 5 The device can plan the path direction according to the position of the searched UUV to be charged, and prompt the mother ship to tow the UUV in as many directions as possible.

[0067] When the device receives the charging reservation request of the UUV, the position of the UUV is recorded to form a three-dimensional point cloud map. According to the point cloud map, the path direction is dynamically planned to find the most direction of the UUV to be charged, and an optimized path direction is generated.

[0068]

[0069] ​​The point cloud map is updated in real time after receiving a new UUV charging reservation request, and an optimized path direction is generated according to the updated point cloud map.

[0070] The application can provide a reservation charging function, has multiple charging positions, the charging device has a passive advancing function close to the UUV to be charged, the UUV to be charged can also automatically identify the charging position for charging, the power supply and the UUV are movably arranged, and the adaptation efficiency can be effectively improved, and the electric energy loss in the adaptation process is reduced.

[0071] The above description is an explanation of the application, not a limitation of the application, the scope defined by the application is referred to the claims, and any form of modification within the protection scope of the application can be made.

Claims

1. A UUV underwater charging device, characterized by: The charging device is towed by the mother ship; the charging device comprises a device shell (3), a central module (1) is arranged in the device shell (3), and a plurality of sub-modules (2) are led out from the central module (1), A fuel cell (5) is arranged in the central module (1), the fuel cell (5) is connected with an inverter (6) and a central management module (801), a communication positioning module (10) is connected to the central management module (801), A sub-management module (802) is arranged in the sub-module (2), and the sub-management module (802) is connected with the central management module (801); a wireless charging module (7) and a guide lamp (9) are connected to the sub-management module (802), wherein the wireless charging module (7) is connected with the inverter (6) of the central module (1) and is uniformly arranged in the inner layer of the device shell (3) and is used for being connected with the external UUV to be charged for charging; A plurality of guide plates (4) are embedded on the outer surface of the device shell (3), the guide plates (4) are spliced to form a honeycomb charging position, and the guide plates (4) cover the circumferential surface of the device shell (3); The guide lamp is located at the central position of each charging position; The charging space of a single honeycomb charging position is a radial open structure.

2. A charging method using the UUV underwater charging device of claim 1, characterized by, The method comprises the following steps: The mother ship drags the charging device, the charging device searches for the UUV to be charged within the circumferential range with the charging device as the center, and sends an instruction; After receiving the instruction, the UUV to be charged sends back a charging position reservation, if the reservation is successful, the UUV to be charged sails to the side of the charging device and is parked in the charging position along the guide plate (4); The guide lamp (9) guides the UUV to be charged to dock, after successful docking, the fuel cell (5) of the central module (1) generates power, the power is converted through the inverter (6), and the power is sent to the wireless charging receiving end of the UUV to be charged through the wireless charging module (7) of the sub-module (2), so that the UUV to be charged is charged; After the charging is completed, the UUV exits the charging position.

3. The charging method according to claim 2, characterized by: When the charging position is not full, the UUV to be charged is allowed to reserve; When the charging position is full, the reservation function is closed, and the charging reservation sent by the subsequent UUV to be charged is not successful; After the UUV to be charged exits the charging position, the reservation system is restarted, and the subsequent UUV to be charged is allowed to reserve.

4. The charging method according to claim 2, characterized by: During the sailing of the charging device, the direction with higher density of the UUV to be charged is searched, a path is planned, and a signal is sent to the mother ship, and the mother ship drags the charging device to the dense area of the UUV to be charged.

5. The charging method according to claim 4, characterized by: After receiving the charging reservation request of the UUV to be charged, the charging device records the position of the UUV sending the request, forms a three-dimensional point cloud map, and plans a path according to the point cloud map.

6. The charging method according to claim 2, wherein: The UUV to be charged sails close to the outer surface of the charging device and is parked in the charging position along the guide plate (4); the path of the UUV to be charged after the charging is completed exits the charging position and exits along the radial direction of the device shell (3).

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