A seabed station for supporting long-term operation of underwater vehicles

Abstract

The application discloses a seabed station for supporting long-time work of underwater unmanned vehicles. The seabed station adopts a frame structure, and is provided with openings in front and above for the vehicles to enter and exit. A hatchable deck is arranged to expand the landing area of the vehicles. A mechanical guiding device is arranged to guide the vehicles to accurately move into the station after landing and complete docking. A pressing device is arranged to fix the vehicles after docking. Wireless charging and optical communication devices are arranged to exchange energy and information with the underwater vehicles. A vehicle locking device and a throw-weight floating device are arranged for sea deployment. An airbag is arranged for near-shore test to realize deployment and recovery. The seabed station of the application adopts a "landing type" docking method, combines optical and mechanical guiding, reduces the dependence on the motion control accuracy of the vehicles, reduces the difficulty of underwater docking, enables the vehicles to realize long-time work efficiently, and improves the quickness and safety of the deployment and recovery of the station.

Description

Technical Field

[0001] This invention relates to the field of underwater vehicle technology, specifically to a seabed dock station for supporting the long-term operation of underwater vehicles. Background Technology

[0002] Underwater vehicles are marine equipment that integrates many advanced technologies such as pressure resistance, propulsion, communication, navigation, positioning, sensing, and energy. They can operate freely over a wide range and represent one of the cutting-edge technologies in the field of marine equipment in recent years. However, due to limitations in their own power sources, most underwater vehicles have relatively short endurance and need to surface periodically for recharging and data transmission, increasing operating costs and preventing them from achieving long-term underwater stays.

[0003] Existing seabed docks suffer from limitations such as single-function design and high docking difficulty, offering limited assistance in improving the underwater survival time of underwater vehicles. Furthermore, they present challenges related to deployment and recovery, including high costs and inherent dangers, restricting further research and application. Typical seabed docks employ a "drilling" docking method, employing a single guidance approach and demanding high precision in the motion control of the underwater vehicle. For underwater vehicles with six degrees of freedom (DOF) all-wheel drive capabilities, existing seabed docks lack specific structural designs to leverage their maneuverability, remaining challenging to dock with. Summary of the Invention

[0004] This invention addresses the maneuverability characteristics of all-wheel-drive six-degree-of-freedom underwater vehicles by designing a "landing-type" docking seabed station. Combining optical and mechanical guidance, it reduces reliance on the precision of vehicle motion control, lowers the difficulty of underwater docking, and enables the underwater vehicle to efficiently support long-term operation. At the same time, it improves the speed and safety of deployment and recovery of the seabed station.

[0005] The present invention includes a main frame with a semi-open structure, openings at the front and top for the vehicle to enter and exit; an openable landing deck is provided at the front opening of the main frame; and a mechanical guidance device is provided inside the main frame to correct the attitude of the vehicle during the docking process until it moves to the final docking position in the dock and restricts its further movement.

[0006] Furthermore, the mechanical guidance device includes a vertical guide column, horizontal guide rollers arranged on the main deck, and caster guide plates; the mechanical guidance device as a whole is flared.

[0007] Furthermore, it also includes a pressure device, which is used to fix the vehicle in place after it has moved to the final docking position in the dock, preventing it from shifting due to water flow disturbance.

[0008] Preferably, the pressing device is arranged on the upper part of the main frame, driven by a first electric push rod, and is inserted into the propeller channel of the aircraft to fix the aircraft.

[0009] Preferably, under the drive of the first electric push rod, the primary wireless charging coil in the pressing device gradually approaches the vicinity of the secondary wireless charging coil of the aircraft to complete the energy transfer.

[0010] Furthermore, the main frame is equipped with a transport landing rack at the bottom, and an airbag is installed inside. The airbag is connected to the shore base by an air pipe. By inflating and deflating the airbag, the overall buoyancy of the dock station is adjusted, so as to achieve efficient deployment and recovery in near-shore shallow water environment.

[0011] Preferably, the main frame is also provided with a dock clamping device, which is used to apply sufficient clamping force to the aircraft during deployment, so as to reliably fix it in the dock and prevent it from being thrown out.

[0012] Preferably, the dock-mounted clamping device includes a pressure plate, a contoured pressure block, a buoyancy block, a wire rope, and a thermal fuse. Buoyancy blocks are provided on both sides of the pressure plate. The pressure plate clamps the stern of the vehicle through the contoured pressure block. One end of the wire rope is connected to the tail of the pressure plate, and the head is hinged to the main frame. The other end of the wire rope is connected to the thermal fuse. When the underwater dock is seated, the dock-mounted clamping device is released, and the pressure plate floats up around the hinge shaft under the action of buoyancy.

[0013] Furthermore, guide lights and guide patterns are arranged on the main deck and landing deck; during the descent and approach, the guide lights and guide patterns are captured by downward-looking cameras on both sides of the vehicle, thereby determining the vehicle's position and making adjustments to ensure that it lands as close as possible to the center of the deck.

[0014] Preferably, the main deck is equipped with a primary side optical communication device; when the vehicle moves to the final docking position in the dock, it can establish communication with the secondary side optical communication device of the vehicle to achieve data exchange.

[0015] Compared with existing inventions, the present invention has the following beneficial effects:

[0016] The frame structure, main deck, and landing deck used in this invention allow the aircraft to enter the dock by first landing vertically and then moving forward in a horizontal plane, reducing docking difficulty, increasing success rate, and enhancing operability.

[0017] The openable landing deck used in this invention increases the landing space for the aircraft and improves the docking success rate, without increasing the water resistance during docking deployment.

[0018] The present invention employs a design that arranges guide lights and guide patterns on the landing deck and main deck as optical guidance during docking of the aircraft, thereby improving the success rate of docking.

[0019] The mechanical guidance device deployed on the main deck in this invention can correct the vehicle's course in a simple, efficient and continuous manner during descent and after landing, guiding it to the final docking position in the dock and stopping it. This reduces reliance on optical guidance and improves the docking success rate.

[0020] The pressing platform arranged above the main frame in this invention can reliably lock the vehicle after docking, preventing displacement of the vehicle due to disturbances such as water flow.

[0021] The wireless charging coil and optical communication device used in this invention can enable energy and data interaction with the vessel, thereby enhancing the functionality of the underwater dock station.

[0022] The dock-in-dock clamping device used in this invention can reliably fix the vehicle in the dock when it is deployed together with the underwater dock station, thereby improving the success rate of deployment and avoiding accidents.

[0023] The airbags used in this invention can be deployed in shallow near-shore waters by inflating and deflating the airbags to change the overall buoyancy of the dock, thus simplifying the operation process, reducing costs, and promoting further research and application in this field. Attached Figure Description

[0024] Figure 1(a) is a top view of the underwater dock (excluding the clamping device).

[0025] Figure 1(b) is a view from the front of the underwater dock (excluding the clamping device).

[0026] Figure 2 This is a schematic diagram of a typical all-wheel-drive underwater vehicle.

[0027] Figure 3 This is a schematic diagram of the docking process between an underwater vehicle and an underwater dock station.

[0028] Figure 4 This is a schematic diagram of the clamping device.

[0029] In the diagram, 1-Main frame, 2-Main deck, 3-Landing deck, 4-Guide light, 5-Guide pattern, 6-Cast wheel, 7-Cast wheel guide plate, 8-Vertical guide column, 9-Horizontal guide roller, 10-Pressure-resistant electronics compartment, 11-Primary side optical communication device, 12-Acoustic beacon, 13-First electric push rod, 14-Primary side wireless charging coil, 15-Locking pin, 16-Pressure-resistant battery compartment, 17-Landing deck frame, 18-Transport landing gear, 19-Airbag, 20-First thermal fuse, 21-Jeting iron block, 22-Second electric push rod, 23-Contouring pressure block, 24-Second thermal fuse, 25-Wire rope, 26-Pressure plate, 27-Buoyancy block; 28-Secondary side wireless charging coil, 29-Thruster channel, 30-Main body buoyancy block, 31-Secondary side optical communication device, 32-Cast wheel, 33-Downward camera. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0031] This invention provides an underwater base station for supporting the long-term operation of a fully-driven underwater unmanned vehicle (UAV). It adopts the frame structure shown in Figure 1, namely the main frame 1. Openings are provided at the front and top of the main frame 1 for the UAV to enter and exit, allowing the UAV to enter the dock by first landing vertically and then moving forward in a planar motion, reducing docking difficulty, increasing success rate, and enhancing operability. The frame structure contains a main deck. The main frame 1 and main deck 2 are used to accommodate and support the underwater UAV, including both underwater docking and deployment states.

[0032] Figure 2 This is a typical underwater vehicle used for underwater docking with the present invention. The underwater vehicle is equipped with a secondary wireless charging coil 28 and a thruster channel 29 on its top; a secondary optical communication device 31 is located in front of the main buoyancy block 30; casters 32 are located at the bottom of the main buoyancy block 30; and downward-facing cameras 33 are located on both sides of the main buoyancy block 30.

[0033] In this invention, a landing deck 3 is provided at the front of the main frame 1, supported by a landing deck frame 17, and driven to rotate by a second electric push rod 22. During deployment, the landing deck 3 is closed to reduce water resistance. After landing on the seabed, the landing deck 3 is opened to increase the landing space of the vehicle.

[0034] In one embodiment, an acoustic beacon 12 is arranged on the upper part of the main frame 1 for communication with shore-based systems. The acoustic beacon 12 is located at a high position and has better signal quality. At the same time, it emits acoustic guidance signals for distant vessels to guide them to the vicinity of the dock.

[0035] The main deck 2 and landing deck 3 are equipped with guide lights 4 and guide patterns 5. During descent and approach, the aircraft, such as... Figure 3 As shown, the guide lights 4 and guide patterns 5 are captured by the downward-facing cameras 33 (on both sides). The vehicle can determine its position and make adjustments to land as close to the center of the deck as possible. The guide lights are used for guidance at a relatively long distance, and the guide patterns 5 are used for guidance at a relatively short distance, so that the position and attitude of the vehicle are as suitable as possible for landing requirements.

[0036] The main deck 2 is equipped with a mechanical guiding device, including vertical guide columns 8, horizontal guide rollers 9, and caster guide plates 7, all of which are funnel-shaped. Figure 3 As shown, during the descent and approach of the aircraft, the main buoyancy block 30 can be passively corrected by touching the vertical guide column 8. After the aircraft lands on the landing deck 3, it moves horizontally forward, and the horizontal guide roller 9 corrects the main buoyancy block 30, and the caster guide plate 7 corrects the caster 32, until it moves to the final docking position in the dock and restricts its further movement.

[0037] In one embodiment, the main deck 2 is equipped with a primary-side optical communication device 11. After the vehicle moves to the final docking position in the dock, it can establish communication with the secondary-side optical communication device 31 at the end of the vehicle to exchange data, including confirming the docking status.

[0038] In addition, the main deck 2 is also equipped with a pressure-resistant electronics compartment 10, a pressure-resistant battery compartment 16, and other necessary devices to support the operation of the underwater dock station.

[0039] Furthermore, a pressing device is provided on the upper part of the main frame 1, driven by the first electric push rod 13, to realize the vertical movement of the primary wireless charging coil 14 and the locking pin 15. After the vehicle moves to the final docking position in the dock, the locking pin 16 is inserted into the propeller channel 29 of the vehicle to fix the vehicle and prevent it from being displaced by disturbances such as water flow. At the same time, the primary wireless charging coil 14 is close to the secondary wireless charging coil 28 at the end of the vehicle, where energy can be transferred.

[0040] Furthermore, such as Figure 4As shown, the upper part of the main frame 1 is equipped with an in-dock clamping device, which consists of a pressure plate 26, a contoured pressure block 23, a buoyancy block 27, a steel wire rope 25, and a second thermal fuse 24. The shape of the contoured pressure block complements the stern profile of the vehicle, allowing the clamping force to be better transmitted to the vehicle. When the vehicle is deployed together with the underwater dock, one end of the steel wire rope 25 is connected to the second thermal fuse 24, which is fixed to the main frame 1, and the other end is connected to the pressure plate 26; tensioning the steel wire rope 25 applies sufficient downward pressure to the vehicle, reliably fixing it in the dock and preventing it from being thrown out due to swaying or other factors during deployment. The buoyancy block 27 is similar in volume to the contoured pressure block 23 and uses the same buoyancy material, thus maintaining approximately equal buoyancy on both sides of the pressure plate. Once the underwater dock is settled, the second thermal fuse 24 is heated and melted, releasing the steel wire rope 25. The pressure plate 26 floats up around the axis under the action of buoyancy and eventually approaches a vertical state, without affecting the landing space of the vehicle.

[0041] Furthermore, the lower part of the main frame 1 is provided with a transport landing frame 18 to accommodate related devices, and is equipped with casters 6 for land transport and seabed landing.

[0042] The transport landing gear 18 is equipped with an airbag 19. The airbag 19 is connected to the shore base via an air tube and can be used for deployment and recovery in near-shore shallow water environments. During deployment, the airbag 19 inflates to provide sufficient positive buoyancy to support the underwater dock station's floating. Once the underwater dock station has moved to a suitable position, the airbag 19 deflates, causing the underwater dock station to sink and land. During recovery, the airbag 19 inflates, causing the underwater dock station to rise and be recovered.

[0043] Furthermore, a ballast block 21 is installed at the lower part of the frame structure for deep-sea recovery operations. During the recovery of the underwater dock station, the first thermal fuse 20 is heated and melted, the ballast block 21 is released, and the underwater dock station can then float to the surface.

Claims

1. A subsea dock station for supporting the long-term operation of underwater vehicles, characterized in that: It includes the main frame, which has a semi-open structure with openings at the front and top for the aircraft to enter and exit; and an openable landing deck is provided at the front opening of the main frame. A mechanical guidance device is installed inside the main frame to correct the attitude of the vehicle during its entry into the dock, until it moves to the final docking position inside the dock and restricts its further movement. The main frame is also equipped with a dock clamping device, which is used to apply sufficient clamping force to the aircraft during deployment to reliably fix it in the dock and prevent it from being thrown out. The dock-side clamping device includes a pressure plate, a contoured pressure block, a buoyancy block, a steel wire rope, and a thermal fuse. Buoyancy blocks are provided on both sides of the pressure plate. The pressure plate clamps the stern of the vehicle through the contoured pressure blocks. One end of the steel wire rope is connected to the tail of the pressure plate, and the head is hinged to the main frame. The other end of the steel wire rope is connected to the thermal fuse. When the underwater dock is settled, the dock-side clamping device is released, and the pressure plate floats up around the hinge shaft under the action of buoyancy.

2. A subsea dock station for supporting long-term operation of underwater vehicles according to claim 1, characterized in that: The mechanical guidance device includes a vertical guide column, horizontal guide rollers arranged on the main deck, and caster guide plates; the mechanical guidance device is generally funnel-shaped.

3. A submersible dock station for supporting long-term operation of underwater vehicles according to claim 1, characterized in that: It also includes a pressure device, which is used to fix the vehicle in place after it has moved to the final docking position in the dock, and to prevent it from shifting due to water flow disturbance.

4. A submersible dock station for supporting long-term operation of underwater vehicles according to claim 3, characterized in that: The pressing device is located on the upper part of the main frame and is driven by the first electric push rod. It is inserted into the propeller channel of the aircraft to fix the aircraft.

5. A submersible dock station for supporting long-term operation of underwater vehicles according to claim 4, characterized in that: Driven by the first electric push rod, the primary wireless charging coil in the pressing device gradually approaches the vicinity of the secondary wireless charging coil of the spacecraft, completing the energy transfer.

6. A subsea dock station for supporting long-term operation of underwater vehicles according to claim 1, characterized in that: The main frame is equipped with a transport landing rack, which contains airbags. The airbags are connected to the shore base by air pipes. By inflating and deflating the airbags, the overall buoyancy of the dock station is adjusted, enabling efficient deployment and recovery in near-shore shallow water environments.

7. A submersible dock station for supporting the long-term operation of underwater vehicles according to any one of claims 1 to 6, characterized in that: Guidance lights and patterns are arranged on the main deck and landing deck; during the descent and approach, the vehicle uses downward-looking cameras on both sides to capture the guidance lights and patterns, thereby determining its position and making adjustments to ensure that it lands as close to the center of the deck as possible.

8. A submersible dock station for supporting long-term operation of underwater vehicles according to claim 7, characterized in that: The main deck is equipped with a primary side optical communication device; once the vehicle moves to its final docking position in the dock, it can establish communication with the secondary side optical communication device of the vehicle to exchange data.

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