A frame-type autonomous underwater vehicle docking charging device and charging method

Abstract

The present invention provides a docking charging device and charging method for a frame-type autonomous underwater vehicle. The docking structure and docking scheme are optimized by comprehensively considering the docking and charging process of the frame-type autonomous underwater vehicle. Through the semi-open docking charging device structure, the design of the left-right symmetrical rounded and gradually contracted structure, and the intervention of the auxiliary positioning component, the workload of the frame-type autonomous underwater vehicle in the docking work is simplified under the premise of ensuring the docking accuracy, and the influence of installing an additional docking device on the frame-type autonomous underwater vehicle on the carrying capacity and fluid characteristics of the frame-type autonomous underwater vehicle is avoided. At the same time, a transmitting end coupler structure including a deformable medium storage bag and an insulating medium charging and discharging component is designed. After the docking of the frame-type autonomous underwater vehicle is completed, the storage bag is filled with oil / air to discharge the seawater in the coupler gap, avoiding eddy current loss and improving system efficiency.

Description

Technical Field

[0001] The present invention belongs to the technical field of underwater charging, and in particular relates to a docking charging device and a charging method for a frame-type autonomous underwater vehicle. Background Art

[0002] As human beings continue to explore the ocean, autonomous underwater vehicles (AUVs) are playing an increasingly important role in marine resource exploration and marine scientific research. Frame-type autonomous underwater vehicles have the advantages of small size and flexible movement, and are more suitable for operations in complex environments. Wireless power transmission technology breaks the problems of exposed wires, easy contact sparks, and poor mobility in traditional wired energy supply, greatly improving the intelligence, consistency, and concealment of AUV work.

[0003] Due to the safety, flexibility and intelligence of wireless power transmission technology, it has been widely used in AUV energy replenishment in recent years. In the underwater docking process, docking structure design and correct identification of berths are very important. The underwater docking devices provided by Chinese patents CN115158609B and CN114003029B realize the underwater docking and recovery of the rotating body AUV. However, the cage docking device suitable for the rotating body AUV has a small opening and is difficult to be applied to the frame-type AUV. Although Chinese patent application CN116729149A provides an open-frame AUV underwater wireless charging seating device, it does not provide an AUV docking solution. In addition, the underwater robot wireless charging unit and method provided by Chinese patent application CN116032036A require the AUV to perform complex operations such as underwater mechanical arm grabbing, and an additional docking device needs to be installed on the AUV, which will affect the AUV carrying capacity and fluid properties; it can be seen that how to enable the frame-type AUV underwater docking charging to achieve precise docking without adding precision control equipment is still a problem that needs to be solved urgently.

[0004] In addition, the underwater wireless charging devices provided by Chinese patent application CN117275913A, Chinese patent CN308265716S and CN217240385U, although they realize the safe supply of underwater energy, still have some problems. These technical solutions do not consider the impact of underwater eddy current loss on wireless charging efficiency. Because when wireless charging is applied to the marine environment, the primary coil of the transmitter and the secondary coil of the receiver cannot be completely fitted due to the docking accuracy between the underwater vehicle and the underwater charging base station. Therefore, after the underwater vehicle is docked with the underwater charging base station, there will be seawater medium between the primary coil and the secondary coil. Since the conductivity of seawater is much greater than the conductivity of air, the high-frequency alternating current in the coil will generate an alternating electromagnetic field in the seawater, and then generate eddy current loss in the coupling area. The eddy current loss will cause energy to be lost in the form of heat, thereby reducing the power transmission efficiency of the wireless charging device; these problems also exist in the docking charging process of the frame-type AUV.

[0005] In view of the above-mentioned problem of precise docking of the frame-type autonomous underwater vehicle (i.e., frame-type AUV) and the problem of eddy current loss generated during the charging process, the present invention provides a docking charging device and a charging method that can be applied to the frame-type autonomous underwater vehicle, aiming to improve the efficiency and reliability of underwater energy supply of the frame-type AUV. Summary of the invention

[0006] The purpose of the present invention is to solve the shortcomings of the existing frame-type autonomous underwater vehicle underwater docking and charging, and to provide a frame-type autonomous underwater vehicle docking and charging device and a charging method.

[0007] To achieve the above purpose, the technical solution provided by the present invention is:

[0008] A frame-type autonomous underwater vehicle docking and charging device, which is special in that it includes a charging base, a wireless charging unit and an auxiliary positioning and centering unit;

[0009] The charging base is a semi-open structure, and a docking space is provided on its upper surface for the frame-type autonomous underwater vehicle to enter; the docking space is formed by the bottom surface, the front end surface and two opposite side surfaces of the charging base, and the two opposite side surfaces and the bottom surface form a symmetrical rounded and tapered structure; here, tapering means that the two side surfaces have a taper, that is, the side surfaces are inclined, so that the frame-type autonomous underwater vehicle can achieve left-right position calibration in the process of slowly falling, that is, the receiving end coupler on the frame-type underwater vehicle is slowly aligned with the transmitting end coupler on the charging base in the left-right direction, so that the frame-type autonomous underwater vehicle can achieve accurate left-right alignment between the wireless charging unit couplers in the process of descending; the docking space also provides installation positions for the transmitting end coupler, the transmitting end control cabin and the auxiliary positioning and centering unit;

[0010] The wireless charging unit includes a transmitting end coupler, a transmitting end control cabin, a receiving end coupler and a receiving end control cabin;

[0011] The transmitting end control cabin and the transmitting end coupler are arranged on the bottom surface of the charging base from bottom to top; the receiving end control cabin and the receiving end coupler are arranged on the bottom of the frame-type autonomous underwater vehicle from top to bottom;

[0012] The transmitting end coupler cooperates with the receiving end coupler to wirelessly charge the frame-type autonomous underwater vehicle, which includes a primary shell, a primary coil and a primary ferrite core arranged in the primary shell; wherein the primary ferrite core is laid under the primary coil; a deformable medium storage bag is arranged at the upper end of the primary shell, and an insulating medium charging and discharging component is arranged at the lower end;

[0013] The insulating medium charging and discharging component is used to charge the insulating medium into the deformable medium storage bag to deform it so as to discharge the seawater in the coupling area (i.e., the docking gap between the receiving end coupler and the transmitting end coupler) after the receiving end coupler and the transmitting end coupler are docked, and discharge the insulating medium in the deformable medium storage bag to restore the deformation after the charging and docking are completed;

[0014] The auxiliary positioning and centering unit includes an acoustic beacon, an optical beacon and an auxiliary positioning component;

[0015] The acoustic beacon cooperates with the acoustic beacon provided on the frame-type autonomous underwater vehicle, and is used for the frame-type autonomous underwater vehicle to identify the charging base at a long distance, so that the frame-type autonomous underwater vehicle can determine the approximate location of the charging device;

[0016] The optical beacon includes an optical searchlight beacon and a light-emitting Aruco two-dimensional code beacon, which are respectively matched with optical cameras arranged on the frame-type autonomous underwater vehicle, and are used for the frame-type autonomous underwater vehicle to respectively identify the charging base at close range and at ultra-close range, so that the frame-type autonomous underwater vehicle can determine and adjust its approximate posture and position, as well as the final posture and position;

[0017] Among them, the distance D1 between the receiving end coupler and the optical camera is the same as the distance D2 between the transmitting end coupler and the luminous Aruco two-dimensional code beacon; the distance D3 between the receiving end coupler and the head of the frame-type autonomous underwater vehicle is the same as the distance D4 between the transmitting end coupler and the front end surface of the charging base; in this way, the docking accuracy can be further improved;

[0018] The auxiliary positioning assembly includes an auxiliary positioning waterway and an auxiliary paddle; the auxiliary positioning waterway is opened through the front end of the charging base, and the middle vertical section is coplanar with the middle vertical section of the charging device; the auxiliary paddle is installed in the auxiliary positioning waterway;

[0019] The transmitter control cabin is electrically connected to the acoustic beacon, optical beacon, auxiliary blades, transmitter coupler and insulating medium charging and discharging assembly, and is used to receive distance messages from acoustic beacons and control the working states of the optical beacon, auxiliary blades, transmitter coupler and insulating medium charging and discharging assembly. A watertight connector is provided on its surface, and is electrically connected to an external power supply (for example, a mother ship on the water or a power supply device on the shore) through a watertight cable.

[0020] The control cabin at the transmitting end controls the auxiliary blades to work after the frame-type autonomous underwater vehicle is aligned with the charging base left and right, which can generate water flow forward and backward, forcing the frame-type autonomous underwater vehicle to move forward until it is completely against the front end surface of the charging base. Since the distance D3 between the receiving end coupler and the head of the frame-type autonomous underwater vehicle is the same as the distance D4 between the transmitting end coupler and the front end surface of the charging base, when the frame-type autonomous underwater vehicle is completely against the front end surface of the charging base, the transmitting end coupler and the receiving end coupler can achieve precise alignment in the front and rear directions.

[0021] In addition, during the docking process, the frame-type autonomous underwater vehicle relies on its own optical camera and the relative position of the luminous Aruco two-dimensional code beacon to control the power source to actively adjust the front and rear positions of the frame-type autonomous underwater vehicle and perform rough adjustments to the docking position; in addition, the distance D1 between the receiving end coupler and the optical camera is the same as the distance D2 between the transmitting end coupler and the luminous Aruco two-dimensional code beacon. Therefore, when the frame-type autonomous underwater vehicle internally solves that the front end size of the two-dimensional code is larger than the rear end, it means that the frame-type autonomous underwater vehicle needs to move backward, and vice versa, until the optical camera captures that the front and rear end sizes of the luminous Aruco two-dimensional code beacon are basically the same. At this time, the power source of the frame-type autonomous underwater vehicle is turned off to prepare for charging, wherein the solution technology involved can adopt existing known technologies.

[0022] It can be seen that after docking, the optical camera on the frame-type autonomous underwater vehicle should be in a vertical position with the luminous Aruco QR code beacon on the docking charging device, that is, the distance D1 between the receiving end coupler of the frame-type autonomous underwater vehicle and the optical camera is the same as the distance D2 between the transmitting end coupler of the docking charging device and the luminous Aruco QR code beacon, so as to ensure that the basic docking position can be achieved when the docking accuracy is roughly adjusted. The distance D3 between the receiving end coupler of the frame-type autonomous underwater vehicle and the head of the frame-type autonomous underwater vehicle and the distance D4 between the transmitting end coupler of the docking charging device and the front end surface of the charging base are the same, which can further ensure that the magnetic coupler (i.e., the receiving end coupler and the transmitting end coupler) in the wireless charging unit can be completely aligned after the frame-type autonomous underwater vehicle passes through the left-right symmetrical rounded and gradually collected structure on the docking charging device and the auxiliary positioning component. In addition, the frame-type autonomous underwater vehicle has a slightly negative buoyancy (which can be achieved by adjusting the counterweight block attached to the AUV), which ensures that it can be seated on the docking charging device after the power source is turned off.

[0023] Furthermore, the insulating medium charging and discharging component is an oil charging and discharging component, the insulating medium is heat-conducting insulating oil, and the deformable medium storage bag is a sealed oil bag;

[0024] Or,

[0025] The insulating medium charging and discharging component is a gas charging and discharging component, the insulating medium is an insulating gas, and the deformable medium storage bag is a sealed air bag.

[0026] Furthermore, the oil filling and discharging assembly comprises an oil storage tank cover, an oil storage tank body, a pump, a first inner conduit, a first flow valve, a second inner conduit, a first solenoid valve and a first outer conduit connected in sequence, and a first control module for controlling the pump, the first flow valve and the first solenoid valve; the oil storage tank body is arranged at the lower end of the primary side shell, the oil storage tank cover is arranged at the upper end of the oil storage tank body and is statically sealed by a sealing ring to form a sealed oil storage tank, and the oil storage tank stores heat-conducting insulating oil; the pump, the first inner conduit, the first flow valve, the second inner conduit and the first solenoid valve are located in the oil storage tank body, and the first outer conduit is located outside the oil storage tank body; the first outer conduit is used to connect the oil storage tank with the sealed oil bag;

[0027] Or,

[0028] The gas charging and discharging assembly includes a gas storage chamber cover, a gas storage chamber body, an air pump, a third inner conduit, a second flow valve, a fourth inner conduit, a second solenoid valve, and a second outer conduit connected in sequence, and a second control module for controlling the air pump, the second flow valve, and the second solenoid valve; the gas storage chamber body is arranged at the lower end of the primary side shell, the gas storage chamber cover is arranged at the upper end of the gas storage chamber body and is statically sealed by a sealing ring to form a sealed gas storage chamber, in which insulating gas is stored; the air pump, the third inner conduit, the second flow valve, the fourth inner conduit, and the second solenoid valve are located inside the gas storage chamber body, and the second outer conduit is located outside the gas storage chamber body; the second outer conduit is used to connect the gas storage chamber with the sealed airbag.

[0029] Furthermore, the primary housing is open at the upper end and closed at the lower end; a rubber cover is provided at the open end of the primary housing, and the two form the sealed oil bag, and the sealed oil bag is pre-filled with heat-conducting insulating oil with an oil pressure equal to the external seawater pressure, so as to reduce the preparation time before charging after seating; the rubber cover is bonded to the primary housing and then fastened with a flange; or, the primary housing is a closed housing, and the sealed oil bag is provided on its upper end surface; the sealed oil bag is a rubber sealed oil bag;

[0030] Or,

[0031] The upper end of the primary shell is open and the lower end is closed; a rubber cover is provided at the open end of the primary shell, and the two form the sealing airbag, and the sealing airbag is pre-filled with insulating gas with an air pressure equal to the external seawater pressure; the rubber cover is bonded to the primary shell and then fastened with a flange; or, the primary shell is a closed shell, and the sealing airbag is provided on its upper end surface; the sealing airbag is a rubber sealing airbag.

[0032] It can be seen that whether the primary shell and the deformable medium storage bag are integrated or split, and whether the deformable medium storage bag is filled with oil or air, the effect of eddy current loss can be avoided. The specific method can be selected according to the actual application scenario and requirements.

[0033] Furthermore, there are four optical searchlight beacons, namely, one red searchlight and three blue searchlights (currently, red and blue have the strongest penetrating power underwater and are easy to identify, so red searchlights and blue searchlights are used). The four optical searchlight beacons are symmetrically arranged on the bottom surface of the charging device relative to the center of the bottom surface of the charging device to form a square, that is, the distance between two adjacent searchlights is equal, and the adjacent searchlights are at an angle of 90° to each other.

[0034] Furthermore, the acoustic beacon is arranged on the upper surface of the front end of the charging base.

[0035] In addition, the present invention also provides a charging method using the above frame-type autonomous underwater vehicle to dock with a charging device, which is special in that it includes the following steps:

[0036] 1) The frame-type autonomous underwater vehicle communicates with the acoustic beacon of the docking charging device through its own acoustic beacon, determines the approximate location of the docking charging device, and approaches the docking charging device;

[0037] 2) The acoustic beacon of the docking charging device determines the distance between it and the acoustic beacon of the frame-type autonomous underwater vehicle. When the distance between the two reaches the available range of the optical beacon of the docking charging device, the control cabin of the transmitting end turns on the optical beacon and identifies the optical beacon through the optical camera of the frame-type autonomous underwater vehicle itself; the frame-type autonomous underwater vehicle determines and adjusts its own posture and position according to the identification result, turns off its own power source, and makes the frame-type autonomous underwater vehicle sit on the docking charging device; at this time, the control cabin of the transmitting end turns on the auxiliary blades to generate water flow in the auxiliary positioning waterway, and the frame-type autonomous underwater vehicle is forced to move with the water flow until it is completely pressed against the front end surface of the charging base and cannot move, so that the receiving end coupler and the transmitting end coupler are accurately docked;

[0038] 3) After the frame-type autonomous underwater vehicle completes its seating, the seating completion command is transmitted to the transmitter control cabin through mutual communication between acoustic beacons. The transmitter control cabin first turns on the insulating medium charging and discharging component to squeeze out the seawater in the coupling area, and then turns on the transmitter coupler (turns on the inverter) to provide efficient energy replenishment for the frame-type autonomous underwater vehicle;

[0039] 4) After charging is completed, the frame-type autonomous underwater vehicle transmits the charging completion instruction to the transmitter control cabin of the docking charging device through mutual communication between acoustic beacons. The transmitter control cabin controls the insulating medium charging and discharging component to discharge the insulating medium in the deformable medium storage bag, closes the transmitter coupler (closes the inverter), and the frame-type autonomous underwater vehicle detaches from the charging base to continue working.

[0040] Furthermore, step 2) is specifically as follows:

[0041] The docking charging device acoustic beacon determines the distance between itself and the frame-type autonomous underwater vehicle acoustic beacon. When the distance between the two reaches the available range of the docking charging device optical beacon, the transmitting end control cabin turns on the optical searchlight beacon and the luminous Aruco QR code beacon;

[0042] The frame-type autonomous underwater vehicle first determines and adjusts its approximate relative position with the docking charging device through the optical searchlight beacon to ensure that it is located above the docking space; then gradually reduces its vertical power source until the optical camera on it can capture the luminous Aruco QR code beacon;

[0043] The frame-type autonomous underwater vehicle determines and finely adjusts its own posture and position according to the luminous Aruco QR code beacon. When the optical camera of the frame-type autonomous underwater vehicle captures that the front and rear ends of the luminous Aruco QR code beacon are consistent, it can ensure that the optical camera is placed in the center of the luminous Aruco QR code beacon, and then turn off its own power source, so that the frame-type autonomous underwater vehicle is seated on the docking and charging device; at this time, the control cabin of the transmitting end turns on the auxiliary blades to generate water flow in the auxiliary positioning waterway, and the frame-type autonomous underwater vehicle is forced to move with the water flow until it is completely against the front end surface of the charging base and cannot move, so that the receiving end coupler and the transmitting end coupler are accurately docked, that is, the water flow generated by the auxiliary positioning waterway makes the frame-type autonomous underwater vehicle completely against the charging base. Since the distance D3 between the receiving end coupler and the head of the frame-type autonomous underwater vehicle and the distance D4 between the transmitting end coupler and the front end surface of the charging base are the same, the docking accuracy of the front and rear positions can be guaranteed.

[0044] Whether the wireless charging unit works depends on whether the inverter on the primary side (i.e., the inverter in the transmitting end coupler) works. The inverter is a device that converts direct current into high-frequency alternating current. The wireless charging unit needs to work through the alternating current electromagnetic coupling effect. Therefore, after the inverter starts working, the electric energy in the wireless charging unit will flow from the primary side (transmitting end) to the secondary side (receiving end), thereby replenishing energy for the underwater vehicle. The design purpose of the auxiliary positioning and centering unit in the docking and charging device is to ensure the docking accuracy of the wireless charging unit in order to improve its energy replenishment efficiency. The auxiliary positioning and centering units designed in the present invention are all arranged on the primary side (i.e., the transmitting end), so that the volume and weight carried by the secondary side (i.e., the receiving end) of the underwater vehicle can be reduced.

[0045] Working principle of the present invention:

[0046] The present invention comprehensively considers the docking and charging process of the frame-type autonomous underwater vehicle, optimizes the docking structure and docking scheme, simplifies the workload of the frame-type autonomous underwater vehicle in the docking work under the premise of ensuring the docking accuracy through the semi-open docking charging device structure, the design of the left-right symmetrical rounded and gradually contracted structure, and the intervention of the auxiliary positioning component, and avoids the impact of installing additional docking devices on the frame-type autonomous underwater vehicle on the carrying capacity and fluid characteristics of the frame-type autonomous underwater vehicle. At the same time, a transmitting end coupler structure including a deformable medium storage bag and an insulating medium charging and discharging component is designed. After the frame-type autonomous underwater vehicle is docked, the storage bag is filled with oil / air to discharge the seawater in the coupler gap, avoiding eddy current loss and improving system efficiency.

[0047] The present invention has the following advantages:

[0048] 1. The present invention proposes a semi-open docking charging device structure for the frame-type autonomous underwater vehicle. Compared with the fully enclosed cage-type docking charging device, the probability of the frame-type autonomous underwater vehicle colliding with the docking charging device during take-off and landing is reduced, and the difficulty of the frame-type autonomous underwater vehicle entering the docking charging device is reduced. At the same time, the design of the left-right symmetrical rounded and gradually contracted structure avoids the position adjustment of the frame-type autonomous underwater vehicle in the left and right directions, reduces the docking difficulty, and effectively reduces the complex operations of the frame-type autonomous underwater vehicle during the docking process. The present invention sets the auxiliary positioning and centering units on the primary side (transmitting end) to ensure that the wireless charging unit is accurately centered and operates efficiently, while reducing the work to be done by the secondary side (receiving end) during the docking process, avoiding the secondary side from carrying too heavy equipment for docking, and reducing the impact on the carrying capacity and maneuverability of the frame-type autonomous underwater vehicle.

[0049] 2. The present invention adopts a docking scheme of long-distance acoustic guidance, short-distance optical searchlight beacon and optical Aruco two-dimensional code beacon guidance to effectively ensure the success rate of docking between the frame-type autonomous underwater vehicle and the docking charging device. At the same time, the underwater docking and wireless charging unit are designed to ensure that the distance D1 between the receiving end coupler and the optical camera is the same as the distance D2 between the transmitting end coupler and the luminous Aruco two-dimensional code beacon; the distance D3 between the receiving end coupler and the head of the frame-type autonomous underwater vehicle is the same as the distance D4 between the transmitting end coupler and the front face of the charging base. The receiving end coupler and the transmitting end coupler are fully aligned through the auxiliary positioning waterway. Accurate docking can be achieved at the frame-type autonomous underwater vehicle end only by relying on the image information obtained by the optical camera, avoiding the installation of overly complex additional docking devices on the frame-type autonomous underwater vehicle, and reducing the impact of installing additional docking devices on the carrying capacity and fluid characteristics of the frame-type autonomous underwater vehicle.

[0050] 3. A deformable dielectric storage bag and an insulating dielectric charging and discharging component are provided in the transmitting end coupler of the docking charging device of the present invention. When the frame-type autonomous underwater vehicle completes the docking, the seawater in the coupler gap can be discharged by filling the deformable dielectric storage bag, which can avoid the eddy current loss generated in the seawater environment, ensure the high-efficiency operation of the wireless charging device, and improve the transmission efficiency of electric energy; at the same time, when the impact of the ocean current causes the frame-type autonomous underwater vehicle and other underwater equipment to shake, the deformable dielectric storage bag in the present invention can play a buffering role to protect the underwater equipment and the underwater charging base station.

[0051] 4. The present invention only needs to modify the primary coil installed on the side of the underwater docking charging device to minimize or even eliminate the eddy current loss caused by seawater in the coupling area, and no modification is required on the underwater equipment end such as the frame-type autonomous underwater vehicle, which can meet the strict requirements on its weight and size of the technical indicators of long flight time and long range of underwater equipment; at the same time, since the docking charging device is used in a fixed scene, the weight and size requirements are not strict, so the insulating medium charging and discharging components and deformable medium storage bags added to discharge seawater do not affect the normal operation and performance of the docking charging device.

[0052] 5. The present invention can design the primary shell and the deformable dielectric reservoir to be separate. In this case, only the deformable dielectric reservoir can be added to the existing wireless charging device, and the circuit parameters can be adjusted to match the coil assembly, without the need to redesign the coil structure and circuit topology of the original docking charging device, thereby reducing the cost of improvement and implementation. At the same time, since the deformable dielectric reservoir and the primary shell are designed to be separate, when the deformable dielectric reservoir is damaged, it will only affect its working efficiency but not the normal operation of the primary coil, so the separate design has higher reliability.

[0053] 6. When the insulating medium charging and discharging component in the present invention adopts an oil charging and discharging component and the deformable medium storage bag adopts a sealed oil bag, the docking charging device of the present invention can be used in a deep water environment. On the one hand, the oil charging and discharging component can fill the oil bag with thermal insulating oil to discharge the seawater in the coupling area to reduce eddy current losses. On the other hand, it helps to conduct the heat generated by the primary coil to the external seawater through the thermal insulating oil, thereby improving the working reliability of the primary coil. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Figure 1 A schematic diagram of the distribution of optical beacons of the docking charging device of the present invention;

[0055] Figure 2 It is a structural schematic diagram of the docking charging device after removing the sealing oil bag of the present invention;

[0056] Figure 3 It is a schematic diagram of docking a frame-type autonomous underwater vehicle with the docking charging device of the present invention;

[0057] Figure 4 It is a structural schematic diagram of the transmitting end coupler in the docking charging device of the present invention (integrated);

[0058] Figure 5 It is a schematic diagram of the sealing oil bag of the transmitting end coupler in the docking charging device of the present invention after being filled with oil;

[0059] Figure 6 The cloud diagram of eddy current loss in seawater before the sealing oil bag is filled with oil in the present invention;

[0060] Figure 7 This is a cloud diagram of eddy current loss in seawater after the sealing oil bag of the present invention is filled with oil and bonded.

[0061] The reference numerals are as follows:

[0062] 1-frame-type autonomous underwater vehicle, 2-receiving end coupler, 201-secondary shell, 202-secondary coil, 203-secondary ferrite core, 3-AUV acoustic beacon, 4-optical camera, 5-docking charging device, 6-charging base, 7-transmitting end coupler, 701-primary shell, 702-primary coil, 703-primary ferrite core, 8-transmitting end control cabin, 9-optical beacon, 901-red searchlight, 902-blue searchlight, 903-optical Ar uco QR code beacon, 10-acoustic beacon, 11-auxiliary positioning component; 1101-auxiliary positioning waterway, 1102-auxiliary blades, 12-oil filling and discharging component, 1201-oil storage tank cover; 1202-oil storage tank body; 1203-pump; 1204-oil inlet and outlet; 1205-first inner conduit; 1206-first flow valve; 1207-second inner conduit; 1208-first solenoid valve; 1209-first outer conduit; 1210-thermal insulating oil, 13-rubber cover. DETAILED DESCRIPTION

[0063] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments:

[0064] In order to improve the efficiency and reliability of underwater energy supply for frame-type autonomous underwater vehicles, avoid the influence of the additional docking device added to the frame-type autonomous underwater vehicle on the carrying capacity and fluid characteristics of the frame-type autonomous underwater vehicle, and simplify the operation of the frame-type autonomous underwater vehicle during the docking process, the present invention designs the charging base, wireless charging unit and auxiliary positioning and centering unit in the underwater docking and charging device. During the docking process, the semi-open charging base can reduce the difficulty of the frame-type autonomous underwater vehicle entering the docking and charging device. The left-right symmetrical rounded and gradually contracted design on the charging base can help the frame-type autonomous underwater vehicle to achieve precise alignment in the left and right positions, and the auxiliary positioning component set on the charging base can help the frame-type autonomous underwater vehicle achieve precise docking in the front and back positions. In order to avoid eddy current loss in the seawater between the magnetic couplers of the wireless charging unit, a deformable medium storage bag and an insulating medium charging and discharging component are set on the transmitting end coupler on the docking charging device. After the docking of the frame-type autonomous underwater vehicle is completed, the deformable medium storage bag is filled with oil to discharge the seawater in the coupler gap, avoiding eddy current loss and improving system efficiency.

[0065] like Figure 1-Figure 5 As shown, a frame-type autonomous underwater vehicle docking and charging device includes a charging base 6, a wireless charging unit, and an auxiliary positioning and centering unit;

[0066] The charging base 6 is a semi-open structure, and a docking space is provided on its upper surface for the frame-type autonomous underwater vehicle 1 to enter; the docking space is formed by the bottom surface, the front end surface and two opposite side surfaces of the charging base 6, and the two opposite side surfaces and the bottom surface form a symmetrical rounded structure, which is convenient for the accurate centering of the wireless charging coupler in the left and right directions during the descent of the frame-type autonomous underwater vehicle 1;

[0067] The wireless charging unit includes a transmitting end coupler 7, a transmitting end control cabin 8, a receiving end coupler 2 and a receiving end control cabin; the transmitting end control cabin 8 and the transmitting end coupler 7 are arranged on the bottom surface from bottom to top; the receiving end control cabin and the receiving end coupler 2 are arranged on the bottom of the frame-type autonomous underwater vehicle 1 from top to bottom;

[0068] The transmitting end coupler 7 cooperates with the receiving end coupler 2 to wirelessly charge the frame-type autonomous underwater vehicle 1, including a primary shell 701, a primary coil 702, a primary ferrite core 703, a rubber cover 13, and an oil charging and discharging assembly 12. The receiving end coupler 2 that cooperates with the transmitting end coupler 7 includes a secondary shell 201, a secondary coil 202, and a secondary ferrite core 203; the secondary coil 202 and the secondary ferrite core 203 are both arranged inside the secondary shell 201, and the secondary ferrite core 203 is laid on the inner side of the secondary coil 202. The secondary shell 201 is processed by integrated potting molding technology. The upper end of the primary shell 701 is an open end, and the lower end is a closed end. The primary coil 702 and the primary ferrite core 703 are both arranged in the primary housing 701. The primary ferrite core 703 is laid under the primary coil 702. The primary coil 702 is connected to the primary circuit by wire. The rubber cover 13 (specifically, a silicone cover or a thermoplastic elastomer cover) is arranged at the open end of the primary housing 701, and is adhered to the primary housing 701 and fastened with a flange, and the two form a sealed oil bag; in the initial state, the sealed oil bag is pre-set with heat-conducting insulating oil 1210, and the internal oil pressure is set to be equal to the seawater pressure at the set cruising depth of the aircraft (on the one hand, it can prevent the seawater pressure from flattening the oil bag and affecting the installation space of the primary coil 702, and on the other hand, it can shorten the time of discharging the seawater in the coupling area and improve the docking efficiency). When the transmitting end coupler 7 and the receiving end coupler 2 are initially matched, the sealing oil bag is separated from the secondary side shell 201, and seawater exists in the coupling area between them. After the sealing oil bag is filled with oil through the oil filling and discharging component 12, the sealing oil bag will gradually expand and gradually fit with the secondary side shell 201, and discharge the seawater in the coupling area.

[0069] The oil filling and discharging assembly 12 is arranged at the lower end of the primary housing 701 and is connected to the sealing oil bag. The oil filling and discharging assembly 12 can be used to fill the sealing oil bag with heat-conducting insulating oil 1210 to expand the rubber cover 13 on the upper part thereof outward, and to discharge the heat-conducting insulating oil 1210 from the sealing oil bag to restore the deformation of the rubber cover 13 on the upper part thereof.

[0070] In this embodiment, the oil filling and discharging assembly 12 includes an oil storage tank cover 1201, an oil storage tank body 1202, a pump 1203, a first inner conduit 1205, a first flow valve 1206, a second inner conduit 1207, a first solenoid valve 1208 and a first outer conduit 1209 connected in sequence, and a control module for controlling the pump 1203, the first flow valve 1206 and the first solenoid valve 1208 (the control module belongs to the prior art and is not shown in the figure). The oil storage tank cover 1201 is arranged at the upper end of the oil storage tank body 1202 and is statically sealed by a sealing ring to form a sealed oil storage tank, in which heat-conducting insulating oil 1210 (such as transformer oil, etc.) is stored; the pump 1203, the first inner conduit 1205, the first flow valve 1206, the second inner conduit 1207 and the first solenoid valve 1208 are located in the oil storage tank body 1202, and the first outer conduit 1209 is located outside the oil storage tank body 1202. The primary housing 701 is connected to the oil storage tank 1202 via a first outer conduit 1209. The oil inlet and outlet 1204 is located below the pump 1203 housing.

[0071] The control principle of the oil filling and discharging component 12 is: the control module can realize the mode switching of oil filling and oil discharging by controlling the forward and reverse mode switching of the pump 1203, the opening and closing of the oil circuit can be realized by controlling the first solenoid valve 1208, and the filling and discharging rate can be adjusted by controlling the first flow valve 1206.

[0072] The voltage pulse generated by the primary coil 702 is kept unchanged, and the control module monitors the voltage pulse peak value generated by the secondary coil 202 in real time. As the sealing oil bag gradually expands, the seawater in the coupling area is gradually discharged. During this process, the eddy current loss in the coupling area gradually decreases, so the voltage pulse peak value generated by the secondary coil 202 gradually increases. When the control module detects that the voltage pulse peak value generated by the secondary coil 202 no longer changes, the eddy current loss has been reduced to the minimum, indicating that the sealing oil bag is completely fitted with the secondary shell 201 and no further oil filling is required. The control module can control the first solenoid valve 1208 to close the oil circuit, and calculate the current oil filling amount through the flow rate of the first flow valve 1206 and the oil filling time.

[0073] When draining the oil, the control module calculates the drain flow rate in real time based on the flow rate of the first flow valve 1206 and the drain time. When the drain flow rate is equal to the oil filling amount, it indicates that the sealed oil bag has returned to its initial state. At this time, the control module can close the oil circuit by controlling the action of the first solenoid valve 1208.

[0074] The auxiliary positioning and centering unit includes an acoustic beacon 10 , an optical beacon 9 and an auxiliary positioning component 11 .

[0075] The acoustic beacon 10 is arranged on the upper surface of the front end face of the charging base 6, and cooperates with the acoustic beacon (i.e., the AUV acoustic beacon 3) arranged on the frame-type autonomous underwater vehicle 1, and is used for the frame-type autonomous underwater vehicle 1 to identify the charging base at a long distance, so that the frame-type autonomous underwater vehicle 1 can determine the approximate location of the charging device;

[0076] The optical beacon 9 includes an optical searchlight beacon and a luminous Aruco QR code beacon; there are four optical searchlight beacons, namely a red searchlight 901 and three blue searchlights 902. The four optical searchlight beacons are symmetrically arranged on the bottom surface of the charging device relative to the center of the bottom surface of the charging device to form a square, wherein the red searchlight 901 is located in the upper left corner, the distance between two adjacent searchlights is equal, and the adjacent searchlights form a 90° angle with each other.

[0077] Among them, the optical searchlight beacon and the luminous Aruco two-dimensional code beacon are both coordinated with the optical camera 4 set on the frame-type autonomous underwater vehicle 1, and are respectively used for the frame-type autonomous underwater vehicle 1 to identify the charging base at close range and ultra-close range, so that the frame-type autonomous underwater vehicle 1 can determine and adjust the approximate posture and position, as well as the final posture and position; and the distance D1 between the receiving end coupler 2 and the optical camera 4 is the same as the distance D2 between the transmitting end coupler 7 and the luminous Aruco two-dimensional code beacon; the distance D3 between the receiving end coupler 2 and the head of the frame-type autonomous underwater vehicle 1 is the same as the distance D4 between the transmitting end coupler 7 and the front end face of the charging base 6.

[0078] The transmitting end control cabin 8 is electrically connected to the acoustic beacon 10, the optical beacon 9, the auxiliary blades 1102, the transmitting end coupler 7 and the oil charging and discharging assembly 12, and is used to receive the distance message of the acoustic beacon 10, and control the working status of the optical beacon 9, the auxiliary blades 1102, the transmitting end coupler 7 and the oil charging and discharging assembly 12. A watertight connector is provided on its surface, and is electrically connected to an external power supply (a mother ship on the water or a power supply device on the shore) through a watertight cable.

[0079] The auxiliary positioning assembly 11 includes an auxiliary positioning waterway 1101 and an auxiliary blade 1102; the auxiliary positioning waterway 1101 is opened through the front end of the charging base 6, and the middle vertical section is coplanar with the middle vertical section of the charging device. The water flow generated in the middle is more conducive to the underwater vehicle to move stably and accurately to the front end of the charging base 6; the auxiliary blade 1102 is installed in the auxiliary positioning waterway 1101. After the frame-type autonomous underwater vehicle falls, the auxiliary positioning assembly 11 generates water flow, so that the frame-type autonomous underwater vehicle is forced to move until it is completely against the front end surface of the charging base 6.

[0080] The working principle of the oil filling and discharging assembly in this embodiment is as follows:

[0081] When the frame-type autonomous underwater vehicle completes docking with the docking charging device, the pump and the first solenoid valve are turned on through the control module, and the thermally conductive insulating oil enters the pump from the oil storage tank through the oil inlet and outlet, and then enters the sealed oil bag through the first inner conduit, the first flow valve, the second inner conduit, the first solenoid valve and the first outer conduit in sequence. During the oil filling process, the pressure inside the sealed oil bag gradually increases. When the internal pressure of the sealed oil bag is greater than the external water pressure, the rubber cover begins to expand outward. Under the squeeze of the rubber cover, the seawater medium between the primary coil and the secondary coil gradually decreases. When the rubber cover is completely fitted with the secondary shell, the pump and the first solenoid valve are closed to end the oil filling. At this time, the seawater medium in the coupling area between the primary coil and the secondary coil is basically emptied, and efficient wireless charging can be achieved. The schematic diagram after the coil is filled with oil and the rubber cover is completely fitted with the secondary shell is shown as follows. Figure 5 shown.

[0082] When the frame-type autonomous underwater vehicle leaves the docking charging device, the pump and the first solenoid valve are turned on to drain the oil from the sealed oil bag. The thermally conductive insulating oil in the sealed oil bag flows back and is stored in the oil storage tank after passing through the first outer conduit, the first solenoid valve, the second inner conduit, the first flow valve, the first inner conduit and the pump. The sealed oil bag gradually recovers its deformation, and the rubber cover gradually separates from the secondary side shell.

[0083] During this period, adjusting the first flow valve can control the speed of oil filling and oil draining. The oil filling speed should ensure that the underwater equipment will not shake due to excessively fast oil filling speed, while there is no special requirement for the oil draining speed to be too fast or too slow.

[0084] The present invention also provides a charging method using the above frame-type autonomous underwater vehicle to dock with a charging device, comprising the following steps:

[0085] 1) The frame-type autonomous underwater vehicle communicates with the acoustic beacon of the docking charging device through its own acoustic beacon, determines the approximate location of the docking charging device, and approaches the docking charging device;

[0086] 2) The docking charging device acoustic beacon determines the distance between itself and the frame-type autonomous underwater vehicle acoustic beacon. When the distance between the two reaches the available range of the docking charging device optical beacon, the transmitter control cabin turns on the optical searchlight beacon and the luminous Aruco QR code beacon;

[0087] The frame-type autonomous underwater vehicle first determines and adjusts its approximate relative position with the docking charging device through the optical searchlight beacon to ensure that it is located above the docking space; then gradually reduces its vertical power source until the optical camera on it can capture the luminous Aruco QR code beacon;

[0088] The frame-type autonomous underwater vehicle determines and finely adjusts its own posture and position according to the luminous Aruco QR code beacon. When the optical camera of the frame-type autonomous underwater vehicle captures the front and rear ends of the luminous Aruco QR code beacon with the same size, it can ensure that the optical camera is placed in the center of the luminous Aruco QR code beacon, and then turn off its own power source, so that the frame-type autonomous underwater vehicle is seated on the docking and charging device; at this time, the control cabin of the transmitting end turns on the auxiliary blades to generate water flow in the auxiliary positioning waterway, and the frame-type autonomous underwater vehicle is forced to move with the water flow until it is completely against the front end surface of the charging base and cannot move, so that the receiving end coupler and the transmitting end coupler are accurately docked (the transmitting end coupler and the receiving end coupler are completely aligned), that is, the water flow generated by the auxiliary positioning waterway makes the frame-type autonomous underwater vehicle completely against the charging base. Since the distance D3 between the receiving end coupler and the head of the frame-type autonomous underwater vehicle and the distance D4 between the transmitting end coupler and the front end surface of the charging base are the same, the docking accuracy of the front and rear positions can be guaranteed.

[0089] 3) After the frame-type autonomous underwater vehicle completes its seating, the seating completion command is transmitted to the transmitter control cabin through mutual communication between acoustic beacons. The transmitter control cabin first turns on the insulating medium charging and discharging component to squeeze out the seawater in the coupling area (until the sealing oil bag is completely fitted with the secondary shell / the voltage pulse peak generated by the secondary coil no longer changes), and then turns on the transmitter coupler (turns on the inverter) to provide efficient energy replenishment for the frame-type autonomous underwater vehicle;

[0090] 4) After charging is completed, the frame-type autonomous underwater vehicle transmits the charging completion instruction to the transmitter control cabin of the docking charging device through mutual communication between acoustic beacons. The transmitter control cabin controls the oil charging and discharging assembly to discharge the thermal insulating oil in the sealed oil bag (the sealed oil bag restores its deformation to prepare for the next charging), closes the transmitter coupler (turns off the inverter), and the frame-type autonomous underwater vehicle detaches from the charging base to continue working.

[0091] Effect verification:

[0092] Figure 6and Figure 7 is the eddy current loss in the coupling zone before and after the sealing oil bag is filled with oil in this embodiment. Figure 6 It can be seen that the eddy current loss before oil filling is mainly concentrated in the seawater area between the primary coil and the secondary coil. Figure 7 It can be seen that after oil filling, the eddy current loss between the primary coil and the secondary coil is eliminated, and only the eddy current loss caused by the stray electromagnetic field exists outside the coil. The loss density and loss area of ​​this part are small, and have little effect on the power transmission efficiency.

[0093] Of course, the above-mentioned oil filling and discharging assembly can be replaced with an air filling and discharging assembly, and the primary shell and the deformable medium storage bag can be replaced with a split design, which can achieve the same effect as the above-mentioned embodiment.

[0094] The above description is only a specific implementation mode of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and these modifications or substitutions should be included in the protection scope of the present invention.

Claims

1. A frame-type autonomous underwater vehicle docking and charging device, characterized in that: It includes a charging base, a wireless charging unit and an auxiliary positioning and centering unit; The charging base is a semi-open structure, and a docking space is provided on its upper surface for the frame-type autonomous underwater vehicle to enter; The docking space is formed by the bottom surface of the charging base, the front surface and two opposite side surfaces, and the two opposite side surfaces and the bottom surface form a symmetrical rounded and gradually contracted structure; The wireless charging unit includes a transmitting end coupler, a transmitting end control cabin, a receiving end coupler and a receiving end control cabin; The transmitting end control cabin and the transmitting end coupler are arranged on the bottom surface of the charging base from bottom to top; the receiving end control cabin and the receiving end coupler are arranged on the bottom of the frame-type autonomous underwater vehicle from top to bottom; The transmitting end coupler comprises a primary shell, a primary coil and a primary ferrite core arranged in the primary shell; wherein the primary ferrite core is laid under the primary coil; a deformable medium storage capsule is arranged at the upper end of the primary shell, and an insulating medium charging and discharging assembly is arranged at the lower end; The insulating medium charging and discharging component is used to charge the insulating medium into the deformable medium storage bag to deform it so as to discharge the seawater in the coupling area after the receiving end coupler and the transmitting end coupler are docked, and to discharge the insulating medium in the deformable medium storage bag after charging is completed to restore the deformation; The auxiliary positioning and centering unit includes an acoustic beacon, an optical beacon and an auxiliary positioning component; The acoustic beacon cooperates with the acoustic beacon arranged on the frame-type autonomous underwater vehicle, and is used for the frame-type autonomous underwater vehicle to identify the charging base at a long distance; The optical beacon includes an optical searchlight beacon and a light-emitting Aruco two-dimensional code beacon, which are respectively matched with an optical camera arranged on the frame-type autonomous underwater vehicle, and are used for the frame-type autonomous underwater vehicle to respectively identify the charging base at close range and at ultra-close range; Among them, the distance D1 between the receiving end coupler and the optical camera is the same as the distance D2 between the transmitting end coupler and the luminous Aruco two-dimensional code beacon; the distance D3 between the receiving end coupler and the head of the frame-type autonomous underwater vehicle is the same as the distance D4 between the transmitting end coupler and the front end surface of the charging base; The auxiliary positioning assembly includes an auxiliary positioning waterway and an auxiliary paddle; the auxiliary positioning waterway is opened through the front end of the charging base, and the middle vertical section is coplanar with the middle vertical section of the charging device; the auxiliary paddle is installed in the auxiliary positioning waterway; The transmitter control cabin is electrically connected to the acoustic beacon, optical beacon, auxiliary blades, transmitter coupler and insulating medium charging and discharging assembly, and is used to receive distance messages from the acoustic beacon and control the working states of the optical beacon, auxiliary blades, transmitter coupler and insulating medium charging and discharging assembly. A watertight connector is provided on its surface and is electrically connected to an external power supply through a watertight cable.

2. According to claim 1, a frame-type autonomous underwater vehicle docking and charging device is characterized in that: The insulating medium charging and discharging component is an oil charging and discharging component, wherein the insulating medium is heat-conducting insulating oil; and the deformable medium storage bag is a sealed oil bag; Or, The insulating medium charging and discharging component is a gas charging and discharging component, wherein the insulating medium is an insulating gas; and the deformable medium storage bag is a sealed air bag.

3. According to claim 2, a frame-type autonomous underwater vehicle docking and charging device is characterized in that: The oil filling and discharging assembly comprises an oil storage tank cover, an oil storage tank body, a pump, a first inner conduit, a first flow valve, a second inner conduit, a first solenoid valve and a first outer conduit connected in sequence, and a first control module for controlling the pump, the first flow valve and the first solenoid valve; the oil storage tank body is arranged at the lower end of the primary side shell, the oil storage tank cover is arranged at the upper end of the oil storage tank body and is statically sealed by a sealing ring to form a sealed oil storage tank, in which heat-conducting insulating oil is stored; the pump, the first inner conduit, the first flow valve, the second inner conduit and the first solenoid valve are located in the oil storage tank body, and the first outer conduit is located outside the oil storage tank body; the first outer conduit is used to connect the oil storage tank with the sealed oil bag; Or, The gas charging and discharging assembly includes a gas storage chamber cover, a gas storage chamber body, an air pump, a third inner conduit, a second flow valve, a fourth inner conduit, a second solenoid valve, and a second outer conduit connected in sequence, and a second control module for controlling the air pump, the second flow valve, and the second solenoid valve; the gas storage chamber body is arranged at the lower end of the primary side shell, the gas storage chamber cover is arranged at the upper end of the gas storage chamber body and is statically sealed by a sealing ring to form a sealed gas storage chamber, in which insulating gas is stored; the air pump, the third inner conduit, the second flow valve, the fourth inner conduit, and the second solenoid valve are located inside the gas storage chamber body, and the second outer conduit is located outside the gas storage chamber body; the second outer conduit is used to connect the gas storage chamber with the sealed airbag.

4. According to claim 3, a frame-type autonomous underwater vehicle docking and charging device is characterized in that: The primary housing is open at the upper end and closed at the lower end; a rubber cover is provided at the open end of the primary housing, and the two form the sealing oil bag, and the sealing oil bag is pre-filled with heat-conducting insulating oil with an oil pressure equal to the external seawater pressure; the rubber cover is bonded to the primary housing and then fastened with a flange; or, the primary housing is a closed housing, and the sealing oil bag is provided on its upper end surface; the sealing oil bag is a rubber sealing oil bag; Or, The upper end of the primary shell is open and the lower end is closed; a rubber cover is provided at the open end of the primary shell, and the two form the sealing airbag, and the sealing airbag is pre-filled with insulating gas with an air pressure equal to the external seawater pressure; the rubber cover is bonded to the primary shell and then fastened with a flange; or, the primary shell is a closed shell, and the sealing airbag is provided on its upper end surface; the sealing airbag is a rubber sealing airbag.

5. A docking and charging device for a frame-type autonomous underwater vehicle according to any one of claims 1 to 4, characterized in that: There are four optical searchlight beacons, namely one red searchlight and three blue searchlights; the four optical searchlight beacons are symmetrically arranged on the bottom surface of the charging device relative to the center of the bottom surface of the charging device to form a square.

6. A docking and charging device for a frame-type autonomous underwater vehicle according to claim 5, characterized in that: The acoustic beacon is arranged on the upper surface of the front end of the charging base.

7. A charging method using a frame-type autonomous underwater vehicle docking charging device as described in any one of claims 1 to 6, characterized in that: The following steps are involved: 1) The frame-type autonomous underwater vehicle communicates with the acoustic beacon of the docking charging device through its own acoustic beacon, determines the approximate location of the docking charging device, and approaches the docking charging device; 2) The acoustic beacon of the docking charging device determines the distance between itself and the acoustic beacon of the frame-type autonomous underwater vehicle. When the distance between the two reaches the available range of the optical beacon of the docking charging device, the control cabin of the transmitting end turns on the optical beacon and recognizes the optical beacon through the optical camera of the frame-type autonomous underwater vehicle itself; The frame-type autonomous underwater vehicle determines and adjusts its own posture and position according to the recognition result, shuts down its own power source, and places the frame-type autonomous underwater vehicle on the docking and charging device; at this time, the control cabin of the transmitting end turns on the auxiliary blades to generate water flow in the auxiliary positioning waterway, and the frame-type autonomous underwater vehicle is forced to move with the water flow until it is completely pressed against the front end surface of the charging base and cannot move, so that the receiving end coupler and the transmitting end coupler are accurately docked; 3) After the frame-type autonomous underwater vehicle completes its seating, the seating completion command is transmitted to the transmitter control cabin through mutual communication between acoustic beacons. The transmitter control cabin first opens the insulating medium charging and discharging component to squeeze out the seawater in the coupling area, and then opens the transmitter coupler to provide efficient energy replenishment for the frame-type autonomous underwater vehicle; 4) After charging is completed, the frame-type autonomous underwater vehicle transmits the charging completion instruction to the transmitter control cabin through mutual communication between acoustic beacons. The transmitter control cabin closes the transmitter coupler, and the frame-type autonomous underwater vehicle detaches from the charging base and continues to operate.

8. The charging method according to claim 7, characterized in that: Step 2) is as follows: The docking charging device acoustic beacon determines the distance between itself and the frame-type autonomous underwater vehicle acoustic beacon. When the distance between the two reaches the available range of the docking charging device optical beacon, the transmitting end control cabin turns on the optical searchlight beacon and the luminous Aruco QR code beacon; The frame-type autonomous underwater vehicle first determines and adjusts its approximate relative position with the docking charging device through the optical searchlight beacon to ensure that it is located above the docking space; then gradually reduces its vertical power source until the optical camera on it can capture the luminous Aruco QR code beacon; The frame-type autonomous underwater vehicle determines and finely adjusts its own posture and position based on the luminous Aruco QR code beacon. When the optical camera of the frame-type autonomous underwater vehicle captures that the front and rear end sizes of the luminous Aruco QR code beacon are consistent, it shuts down its own power source and allows the frame-type autonomous underwater vehicle to sit on the docking and charging device. At this time, the control cabin of the transmitting end turns on the auxiliary blades to generate water flow in the auxiliary positioning waterway, and the frame-type autonomous underwater vehicle is forced to move with the water flow until it is completely pressed against the front end surface of the charging base and cannot move, allowing the receiving end coupler to dock accurately with the transmitting end coupler.

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