An underwater docking station with active compensation for position deviation

Abstract

The present invention proposes an underwater dock that actively compensates for position deviation, belonging to the field of underwater docks, and includes a fixed portion with one end arranged at a fixed position underwater and the other end extending horizontally; a first movable portion with one end connected to the fixed portion and the other end moving relative to the fixed portion along a vertical direction of the horizontal plane; a second movable portion with one end connected to the free end of the first movable portion and the other end moving relative to the fixed portion along a radial direction of the fixed portion; the fixed portion, the first movable portion, and the second movable portion are connected to form a hollow cylinder. The present invention uses two deformable movable portions to adjust the ends of the two movable portions so that the inlet of the underwater dock is aligned with the position of the underwater robot, thereby achieving position compensation according to the depth position and lateral position of the underwater robot or vehicle, so that the underwater robot can enter the second movable portion, and after the two movable portions are reset to form a straight cylinder, the underwater robot enters the cylinder structure of the underwater dock for docking and docking.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater docks, and in particular to an underwater dock that actively compensates for position deviation. Background Art

[0002] The limited onboard energy of underwater robots (AUVs) is a major bottleneck limiting their operating time and mission types. Automated underwater energy resupply is key to improving their operational efficiency. Underwater docking stations can intermittently recharge the AUVs' energy and enable data and command transmission, while also ensuring their safety in high sea conditions.

[0003] China CN111874194A discloses an underwater docking station for underwater vehicles (AUVs) and an ocean environment observation platform based on buoys and AUVs. The underwater docking station is typically a cylindrical frame with one end open and the other closed. A funnel-shaped protective net is provided at the open end, and multiple optical guide devices are provided on the outer edge of the protective net to guide the underwater robot to move into and dock within the docking station. However, the entry end of the current underwater docking station is fixed under geometric constraints. This results in insufficient adaptability when there is position deviation during the docking process between the underwater dock and the underwater robot. The underwater robot needs to repeatedly adjust its docking position to accurately enter the opening of the underwater dock, which causes the underwater robot to spend a long time docking and consume a lot of energy, resulting in a low docking success rate. Summary of the Invention

[0004] In view of this, the present invention proposes an underwater docking dock that actively compensates for position deviation, which is used to solve the problem that when there is position deviation during the docking process between the underwater dock and the underwater robot, the underwater robot needs to repeatedly adjust the docking position to accurately enter the opening of the underwater dock, causing the underwater robot to consume a long docking time and lose more energy.

[0005] The technical solution of the present invention is implemented as follows: The present invention provides an underwater docking dock that actively compensates for position deviation, including a fixed part, one end of which is arranged at a fixed position underwater and the other end extends horizontally; a first movable part, one end of which is connected to the fixed part, and the other end moves relative to the fixed part in a vertical direction of the horizontal plane; a second movable part, one end of which is connected to the free end of the first movable part, and the other end moves horizontally relative to the fixed part along the radial direction of the fixed part; wherein the fixed part, the first movable part and the second movable part are connected to form a hollow cylinder, and the end of the second movable part away from the fixed part is open and is used for underwater vehicles to enter the cylinder.

[0006] On the basis of the above technical solution, it is preferred that it further includes a first frame body, connected between the fixed part and the first movable part; a second frame body, connected between the first movable part and the second movable part; and a third frame body, connected to the end of the second movable part away from the fixed part; wherein, a first window is provided on the first frame body, a second window is provided on the second frame body, and a third window is provided on the third frame body, and the directions of the first window, the second window and the third window are all parallel to the axial direction of the fixed part; the first movable part is deformed so that the axial direction of the first movable part intersects with the axial direction of the fixed part, and the second frame body moves relative to the first frame body in a direction perpendicular to the horizontal plane, and the first window and the second window are staggered; the second movable part is deformed so that the axial direction of the second movable part intersects with the axial direction of the fixed part, so that the third frame body moves horizontally along the radial direction of the fixed part relative to the first frame, and the third window is staggered with the first window or the second window.

[0007] More preferably, it also includes a first telescopic mechanism and a second telescopic mechanism, both of which are arranged between the first frame and the second frame; a third telescopic mechanism and a fourth telescopic mechanism, both of which are arranged between the second frame and the third frame; wherein the first telescopic mechanism and the second telescopic mechanism are respectively arranged on the left and right sides of the first movable part, and the two ends of the first telescopic mechanism and the second telescopic mechanism are respectively connected to the first frame and the second frame, and the extension directions of the first telescopic mechanism and the second telescopic mechanism are both arranged cross-wise with the axial direction of the first movable part; when the axial direction of the first movable part is parallel to the axial direction of the fixed part, the extension directions of the first telescopic mechanism and the second telescopic mechanism are symmetrically arranged along the axial direction of the first movable part; the third telescopic mechanism and the fourth telescopic mechanism are respectively arranged on the upper and lower sides of the second movable part, and the two ends of the third telescopic mechanism and the fourth telescopic mechanism are respectively connected to the second frame and the third frame, and the extension directions of the third telescopic mechanism and the fourth telescopic mechanism are both arranged cross-wise with the axial direction of the second movable part; when the axial direction of the second movable part is parallel to the axial direction of the fixed part, the extension directions of the third telescopic mechanism and the fourth telescopic mechanism are symmetrically arranged along the axial direction of the second movable part.

[0008] More preferably, it also includes four first support rods, which are symmetrically arranged in pairs around the first movable part between the first frame and the second frame; four second support rods, which are symmetrically arranged in pairs around the second movable part between the second frame and the third frame; wherein the extension direction of both ends of the first support rod is parallel to the axial direction of the first movable part, and the two ends of the first support rod are respectively hinged to the first frame and the second frame; the four first support rods are grouped together up and down, and the two ends of the first telescopic mechanism are respectively hinged to the two first support rods of one group, and the two ends of the second telescopic mechanism are respectively hinged to the two first support rods of the other group; the extension direction of both ends of the second support rod is parallel to the axial direction of the second movable part, and the two ends of the second support rod are respectively hinged to the second frame and the third frame; the four second support rods are grouped together left and right, and the two ends of the third telescopic mechanism are respectively hinged to the two second support rods of one group, and the two ends of the fourth telescopic mechanism are respectively hinged to the two second support rods of the other group.

[0009] More preferably, one end of the first support rod swings up and down around the other end and is restricted from swinging left and right, and one end of the second support rod swings left and right around the other end and is restricted from swinging up and down.

[0010] More preferably, the distance between two upper and lower adjacent first support rods is smaller than the height of the fixing portion in the vertical direction, and the distance between two left and right adjacent second support rods is smaller than the width of the fixing portion in the horizontal direction.

[0011] More preferably, it also includes a protective net, which is arranged on the side of the third frame away from the fixed part; wherein the protective net is funnel-shaped and connected to the third window, and the inner diameter of the end of the protective net connected to the third frame is smaller than the inner diameter of the end of the protective net away from the third frame.

[0012] More preferably, it further includes a skin, which is laid on the inner wall of the cylinder and the inner wall of the protective net; wherein the skin elastically stretches or shrinks and rebounds with the deformation of the first movable part or the second movable part.

[0013] More preferably, it also includes an acoustic guiding mechanism, which is arranged on the outer wall of the fixed part; and a plurality of optical guiding mechanisms, which surround the central axis of the protective net and are evenly distributed on the edge of the protective net away from the fixed part; wherein the acoustic guiding mechanism guides the underwater vehicle to approach the underwater dock through ultrasonic waves; and the optical guiding mechanism guides the bow of the underwater vehicle through the third window into the second movable part through laser or camera vision.

[0014] On the basis of the above technical solution, preferably, it also includes a locking mechanism, which is arranged in the fixed part; and a suction cup mechanism, which is arranged in the second movable part; wherein the locking mechanism is used to lock and fix the bow of the underwater vehicle entering the cylinder; and the suction cup mechanism is used to adsorb the bow of the underwater vehicle entering the second movable part.

[0015] The underwater docking station that actively compensates for position deviation of the present invention has the following beneficial effects compared with the prior art:

[0016] (1) The present invention uses two deformable movable parts to adjust the ends of the two movable parts so that the entrance of the underwater dock is aligned with the position of the underwater robot, thereby realizing position compensation according to the depth position and lateral position of the underwater robot or vehicle, so that the underwater robot can enter the second movable part. After the two movable parts are reset to form a straight cylinder, the underwater robot can completely enter the cylinder structure of the underwater dock for docking.

[0017] (2) The present invention hinges and sets a support rod between adjacent frames, and hinges the two ends of the telescopic mechanism to the support rod, so that the fixed part and the two movable parts can be firmly connected to form a cylindrical whole, and the two movable parts can be driven to deform by the telescopic conditions of each telescopic mechanism to adjust the relative position of the underwater dock entrance and the underwater robot.

[0018] (3) In the present invention, after the bow of the underwater robot enters the second movable part, the bow is temporarily adsorbed by a suction cup mechanism to prevent the underwater robot from leaving the underwater dock when the two movable parts are reset. When the underwater robot completely enters the cylinder of the underwater dock, the bow of the underwater robot is locked and fixed by a locking mechanism, thereby achieving docking and docking of the underwater robot and the underwater dock. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0020] Figure 1 A left-side perspective view of the underwater docking station of the present invention;

[0021] Figure 2 A right-side perspective view of the underwater docking station of the present invention;

[0022] Figure 3 This is a bottom-up perspective view of the underwater docking station of the present invention;

[0023] Figure 4 A left-angle perspective view of another embodiment of the underwater docking station of the present invention;

[0024] Figure 5 is a three-dimensional diagram of the underwater docking station of the present invention in a deformed state;

[0025] Figure 6 It is a side sectional schematic diagram of the underwater docking dock of the present invention;

[0026] Figure 7 It is a schematic diagram of the principle of the method of using the underwater dock of the present invention.

[0027] In the figure: 1. fixed part; 2. first movable part; 3. second movable part; 4. first frame; 401. first window; 5. second frame; 501. second window; 6. third frame; 601. third window; 7. first telescopic mechanism; 8. second telescopic mechanism; 9. third telescopic mechanism; 10. fourth telescopic mechanism; 11. first support rod; 12. second support rod; 13. protective net; 14. skin; 15. acoustic guide mechanism; 16. optical guide mechanism; 17. locking mechanism; 18. suction cup mechanism. DETAILED DESCRIPTION

[0028] The following will be combined with the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0029] like Figure 1 As shown, combined Figure 5 and Figure 7 An underwater docking station for actively compensating for position deviation of the present invention includes a fixed part 1, a first movable part 2 and a second movable part 3.

[0030] One end of the fixed portion 1 is fixed underwater, while the other end extends horizontally. This fixed location is typically a vertical wall of the underwater dock. The fixed portion 1 is a hollow cylinder with one end mounted on and enclosed by the vertical wall. The vertical wall is equipped with mechanical mounting interfaces, electrical interfaces, and hydraulic interfaces for docking with an underwater vehicle or underwater robot. The underwater dock is also equipped with control system equipment to control the movements of the first and second movable portions 2 and 3, as well as other operations during the docking process.

[0031] One end of the first movable part 2 is connected to the fixed part 1 and the other end moves in a direction perpendicular to the horizontal plane relative to the fixed part 1. The first movable part 2 is also a hollow cylinder, and its shape is preferably consistent with that of the fixed part 1.

[0032] One end of the second movable portion 3 is connected to the free end of the first movable portion 2, and the other end moves horizontally relative to the fixed portion 1 in the radial direction of the fixed portion 1. The end of the second movable portion 3, remote from the fixed portion 1, is open and allows the underwater vehicle to enter the cylinder. The second movable portion 3 is also a hollow cylinder, and its shape is preferably consistent with that of the fixed portion 1.

[0033] The fixed part 1, the first movable part 2 and the second movable part 3 are connected to form a hollow cylinder. When the cylinder formed by the fixed part 1, the first movable part 2 and the second movable part 3 is a straight cylinder, the underwater robot can completely enter the cylinder for docking. However, due to the complex underwater environment, it is currently difficult for underwater robots to control their navigation depth and left and right lateral movement range extremely accurately. Therefore, the present application sets the distal end of the first movable part 2 to be able to move up and down to achieve depth position compensation during docking; and the second movable part 3 not only moves synchronously with the first movable part 2, but also its distal end can move left and right to achieve lateral position compensation during docking. Through the above means, the distal end of the entire underwater dock cylinder has the ability to move up and down and left and right, and then the distal end position of the underwater dock cylinder can be adjusted to align with the underwater robot according to the depth and horizontal position when the underwater robot approaches the underwater dock. After the underwater robot is aligned with the entrance of the underwater dock, the bow of the underwater robot will enter the second movable part 3, and then the first movable part 2 and the second movable part 3 will be operated to move and reset, which will also drive the underwater robot whose bow enters the second movable part 3 to move synchronously; when the fixed part 1, the first movable part 2 and the second movable part 3 are reset to form a straight cylinder, the underwater robot can move into the cylinder again and complete the docking with the underwater dock.

[0034] exist Figure 2 In a preferred embodiment shown, in order to achieve the mobility of the first movable part 2 and the second movable part 3 relative to the fixed part 1, during specific implementation, a first frame body 4, a second frame body 5 and a third frame body 6 are further included.

[0035] The first frame 4 is connected between the fixed portion 1 and the first movable portion 2 and has a first window 401 defined therein. The second frame 5 is connected between the first movable portion 2 and the second movable portion 3 and has a second window 501 defined therein. The third frame 6 is connected to the end of the second movable portion 3 away from the fixed portion 1 and has a third window 601 defined therein. The three frames serve as the connecting structure between the fixed portion 1 and the two movable portions, enabling the fixed portion 1 and the two movable portions to move relatively independently.

[0036] Since the fixed part 1 serves as the foundation of the entire underwater dock, in order to ensure structural strength, it can be made of a metal frame structure, such as aluminum alloy or titanium alloy; the three frames can also be made of the same material. The two movable parts can adopt a metal frame structure. For example, in this application, the fixed part 1 is a square cylinder, and the frame is a square frame. Therefore, the two movable parts can adopt a square frame structure, which will become a parallelogram when deformed. However, the two movable parts preferably adopt a bellows cylinder or a rubber cylinder, which has a stronger elastic deformation ability to avoid the problem that the metal frame structure may rust and be unable to deform after long-term deformation in an underwater environment. In addition, when the two movable parts adopt a bellows cylinder or a rubber cylinder, the fixed part 1, the two movable parts and the frame can also adopt a structure with a circular radial cross-section, and are not limited to a square radial cross-section structure.

[0037] The first window 401, the second window 501 and the third window 601 are all oriented parallel to the axial direction of the fixed part 1, which helps to align the underwater vehicle; during the alignment process, the first movable part 2 is deformed so that the axial direction of the first movable part 2 intersects with the axial direction of the fixed part 1, and the second frame 5 moves relative to the first frame 4 in the vertical direction of the horizontal plane, and the first window 401 and the second window 501 are staggered; the second movable part 3 is deformed so that the axial direction of the second movable part 3 intersects with the axial direction of the fixed part 1, and the third frame 6 moves horizontally relative to the first frame 4 along the radial direction of the fixed part 1, and the third window 601 is staggered with the first window 401 or the second window 501.

[0038] exist Figure 3 In a preferred embodiment shown, in order to drive the two movable parts to deform, a first telescopic mechanism 7, a second telescopic mechanism 8, a third telescopic mechanism 9 and a fourth telescopic mechanism 10 are further included.

[0039] Among them, the first telescopic mechanism 7 and the second telescopic mechanism 8 are both arranged between the first frame 4 and the second frame 5. The first telescopic mechanism 7 and the second telescopic mechanism 8 are respectively arranged on the left and right sides of the first movable part 2, and the two ends of the first telescopic mechanism 7 and the second telescopic mechanism 8 are respectively connected to the first frame 4 and the second frame 5. The extension direction of the first telescopic mechanism 7 and the second telescopic mechanism 8 are both arranged to intersect with the axial direction of the first movable part 2. When the first movable part 2 is deformed, for example, when the far end of the first movable part 2 swings downward, the first telescopic mechanism 7 contracts and the second telescopic mechanism 8 extends, thereby driving the second frame 5 to move downward relative to the first frame 4. At the same time, the first movable part 7 also changes from a straight square tube to a parallelogram-shaped square tube; when the far end of the first movable part 2 swings upward, the operation is reversed.

[0040] The third and fourth telescopic mechanisms 9 and 10 are both disposed between the second and third frames 5 and 6. They are located on the upper and lower sides of the second movable portion 3, with their ends connected to the second and third frames 5 and 6, respectively. The third and fourth telescopic mechanisms 9 and 10 extend in directions that intersect the axial direction of the second movable portion 3. When the second movable portion 3 deforms, the third and fourth telescopic mechanisms 9 and 10 operate in the same manner as described above. Furthermore, to ensure consistent expansion and contraction of each telescopic mechanism during deformation, when the axial direction of the first movable portion 2 is parallel to the axial direction of the fixed portion 1, the first and second telescopic mechanisms 7 and 8 extend symmetrically along the axial direction of the first movable portion 2. When the axial direction of the second movable portion 3 is parallel to the axial direction of the fixed portion 1, the third and fourth telescopic mechanisms 9 and 10 extend symmetrically along the axial direction of the second movable portion 3. Each telescopic mechanism preferably utilizes a hydraulic cylinder and requires adequate underwater waterproof sealing.

[0041] exist Figure 4 In a preferred embodiment shown, if adjacent frames are connected only by a telescopic mechanism, the structural strength and stability of the entire cylinder are poor, so a first support rod 11 and a second support rod 12 are further included.

[0042] The four first support rods 11 are symmetrically arranged in pairs around the first movable portion 2 between the first frame 4 and the second frame 5. The extension direction of the two ends of the first support rods 11 is parallel to the axial direction of the first movable portion 2, and the two ends of the first support rods 11 are hinged to the first frame 4 and the second frame 5 respectively. The four first support rods 11 are grouped together, with the two ends of the first telescopic mechanism 7 hinged to the two first support rods 11 in one group, and the two ends of the second telescopic mechanism 8 hinged to the two first support rods 11 in the other group.

[0043] Four second support rods 12 are symmetrically arranged in pairs around the second movable portion 3 between the second frame 5 and the third frame 6. The extension direction of the two ends of the second support rods 12 is parallel to the axial direction of the second movable portion 3. The two ends of the second support rods 12 are hinged to the second frame 5 and the third frame 6 respectively. The four second support rods 12 are arranged in groups of left and right. The two ends of the third telescopic mechanism 9 are hinged to the two second support rods 12 in one group, and the two ends of the fourth telescopic mechanism 10 are hinged to the two second support rods 12 in the other group.

[0044] The support rods limit the distance between adjacent frames, and also avoid the problem that if the movable part breaks during the deformation process, it may cause the entire cylinder to break and be damaged.

[0045] exist Figure 4In a preferred embodiment shown, one end of the first support rod 11 swings up and down around the other end and limits its left and right swinging, and one end of the second support rod 12 swings left and right around the other end and limits its up and down swinging. The above design limits the swinging direction and range of the two movable parts.

[0046] exist Figure 4 In a preferred embodiment shown, the spacing between two adjacent first support rods 11 in the upper and lower directions is smaller than the height of the fixed portion 1 in the vertical direction, and the spacing between two adjacent second support rods 12 in the left and right directions is smaller than the width of the fixed portion 1 in the horizontal direction. By reducing the spacing between the paired support rods, the possible range error of the two paired support rods during the deformation process of the movable portion is reduced, and the swing direction and range of the two movable portions are also limited.

[0047] exist Figure 6 In a preferred embodiment shown, in order to enhance the docking capability of the underwater dock, a protective net 13 is also included.

[0048] The protective net 13 is located on the side of the third frame 6 away from the fixed portion 1. It is funnel-shaped and communicates with the third window 601. The inner diameter of the end of the net 13 connected to the third frame 6 is smaller than the inner diameter of the end away from the third frame 6. The funnel-shaped conical surface of the net 13 can be considered a geometric guide cone, providing geometrically constrained guidance for the underwater robot.

[0049] exist Figure 6 In a preferred embodiment shown, the movable portion will drive the underwater robot to move synchronously during the resetting process, so the inner wall of the movable portion may come into contact with the robot and push the robot to move. In order to avoid damage caused by collision and contact between the two, a skin 14 is also included.

[0050] The cover 14 is made of an elastic material, specifically a flexible honeycomb sandwich structure made of rubber. The cover 14 is applied to the inner wall of the cylinder and the inner wall of the protective net 13. The cover 14 elastically stretches or contracts and rebounds in response to the deformation of the first movable portion 2 or the second movable portion 3.

[0051] exist Figure 6 In the preferred embodiment shown, an acoustic guiding mechanism 15 and an optical guiding mechanism 16 are also included.

[0052] Among them, the acoustic guiding mechanism 15 is arranged on the outer wall of the fixed part 1; the function of the acoustic guiding mechanism 15 is similar to that of a lighthouse. When docking, the acoustic guiding mechanism 15 continuously emits ultrasonic waves. An acoustic receiving and processing device is set in the underwater robot. After locating the approximate position of the underwater dock by receiving the ultrasonic signal, it gradually approaches the underwater dock under the guidance of the acoustic guiding mechanism 15.

[0053] Several optical guide mechanisms 16 surround the central axis of the protective net 13 and are evenly distributed along the edge of the net 13 away from the fixed portion 1. The optical guide mechanisms 16 use lasers or camera vision to guide the underwater vehicle's bow through the third window 601 and into the second movable portion 3. After the underwater robot approaches the distal opening of the underwater dock for docking, the dock operator begins to drive the distal ends of the two movable portions for position compensation. The optical guide mechanisms 16 are located at the outer edge of the protective net 13, while a light source can be installed at the robot's bow. The optical guide mechanisms 16 use cameras to observe the position of the light source at the robot's bow and adjust the position of the distal opening of the underwater dock accordingly.

[0054] exist Figure 6 In the preferred embodiment shown, a locking mechanism 17 and a suction cup mechanism 18 are also included.

[0055] The locking mechanism 17 is provided in the fixing portion 1 and is used to lock and fix the bow of the underwater vehicle entering the cylinder. The locking mechanism 17 can be a mechanical claw or other locking mechanism that can be opened and closed.

[0056] The suction cup mechanism 18 is arranged in the second movable part 3; when the bow of the robot enters the second movable part 3, the suction cup mechanism 18 is used to temporarily absorb the bow of the underwater vehicle entering the second movable part 3, so that the two movable parts can drive the robot to move synchronously when they reset and move.

[0057] Working principle:

[0058] When the underwater robot or underwater vehicle gradually approaches the underwater dock, the acoustic guiding mechanism 15 starts to emit ultrasonic waves. After the acoustic receiving and processing mechanism inside the robot receives the ultrasonic signal, it will locate the approximate position of the underwater dock based on the emission position of the ultrasonic signal, thereby enabling the robot to gradually approach the underwater dock in a complex underwater environment.

[0059] When the robot moves to a relatively close distance from the underwater dock, it hovers. At this point, the operating system within the underwater dock activates the first and second telescopic mechanisms 7 and 8 to perform telescopic movements, causing the distal end of the first movable portion 2 to swing up and down based on the robot's depth position to achieve depth compensation, and causing the distal end of the second movable portion 3 to swing left and right based on the robot's left and right offset position to achieve lateral position compensation.

[0060] When the distal opening of the underwater dock cylinder, i.e., the third window 601 of the third frame 6, is aligned with the robot, the robot advances at this depth, allowing the bow of the robot to pass through the third window 601 of the third frame 6 and enter the second movable part 3. The suction cup of the suction cup mechanism 18 extends and adsorbs on the outer wall of the robot to fix it. Then, the two movable parts move and reset, driving the robot to move synchronously; when the two movable parts and the fixed part 1 are connected to form a straight cylinder again, the suction cup mechanism 18 releases the robot, and the robot continues to advance until the entire robot enters the cylinder and the bow of the robot enters the fixed part 1. At this time, the locking mechanism 17 grabs the bow of the robot to lock it. In the locked state, the robot is charged or transmits data through the mechanical installation interface, electrical and hydraulic interfaces, etc. located at the inner end of the fixed part 1.

[0061] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. An underwater docking station that actively compensates for position deviation, characterized in that: include: A fixed portion (1), one end of which is arranged at a fixed position underwater and the other end of which extends horizontally; a first movable portion (2), one end of which is connected to the fixed portion (1), and the other end of which moves relative to the fixed portion (1) in a direction perpendicular to the horizontal plane; a second movable portion (3), one end of which is connected to the free end of the first movable portion (2), and the other end of which moves horizontally relative to the fixed portion (1) along the radial direction of the fixed portion (1); A first frame (4) connected between the fixed portion (1) and the first movable portion (2); A second frame (5) is connected between the first movable part (2) and the second movable part (3); a third frame (6) connected to the end of the second movable portion (3) away from the fixed portion (1); The fixed portion (1), the first movable portion (2) and the second movable portion (3) are connected to form a hollow cylinder, and one end of the second movable portion (3) away from the fixed portion (1) is open and is used for the underwater vehicle to enter the cylinder; The first frame (4) is provided with a first window (401), the second frame (5) is provided with a second window (501), and the third frame (6) is provided with a third window (601), and the first window (401), the second window (501) and the third window (601) are all oriented in a direction parallel to the axial direction of the fixing portion (1); The first movable portion (2) is deformed so that the axial direction of the first movable portion (2) intersects the axial direction of the fixed portion (1), and the second frame (5) moves relative to the first frame (4) in a direction perpendicular to the horizontal plane, and the first window (401) and the second window (501) are staggered; The second movable portion (3) is deformed so that the axial direction of the second movable portion (3) intersects the axial direction of the fixed portion (1), so that the third frame (6) moves horizontally along the radial direction of the fixed portion (1) relative to the first frame (4), and the third window (601) is staggered with the first window (401) or the second window (501).

2. The underwater docking station capable of actively compensating for position deviation according to claim 1, characterized in that: Also includes: A first telescopic mechanism (7) and a second telescopic mechanism (8) are both arranged between the first frame (4) and the second frame (5); The third telescopic mechanism (9) and the fourth telescopic mechanism (10) are both arranged between the second frame (5) and the third frame (6); The first telescopic mechanism (7) and the second telescopic mechanism (8) are respectively arranged on the left and right sides of the first movable part (2); both ends of the first telescopic mechanism (7) and the second telescopic mechanism (8) are respectively connected to the first frame (4) and the second frame (5); and the extension directions of the first telescopic mechanism (7) and the second telescopic mechanism (8) are both arranged to intersect with the axial direction of the first movable part (2); When the axial direction of the first movable part (2) is parallel to the axial direction of the fixed part (1), the extension directions of the first telescopic mechanism (7) and the second telescopic mechanism (8) are symmetrically arranged along the axial direction of the first movable part (2); The third telescopic mechanism (9) and the fourth telescopic mechanism (10) are respectively arranged on the upper and lower sides of the second movable part (3); both ends of the third telescopic mechanism (9) and the fourth telescopic mechanism (10) are respectively connected to the second frame (5) and the third frame (6); and the extension directions of the third telescopic mechanism (9) and the fourth telescopic mechanism (10) are arranged to intersect with the axial direction of the second movable part (3); When the axial direction of the second movable part (3) is parallel to the axial direction of the fixed part (1), the extension directions of the third telescopic mechanism (9) and the fourth telescopic mechanism (10) are symmetrically arranged along the axial direction of the second movable part (3).

3. The underwater docking station capable of actively compensating for position deviation according to claim 2, characterized in that: Also includes: Four first support rods (11) are symmetrically arranged in pairs around the first movable portion (2) between the first frame (4) and the second frame (5); Four second support rods (12) are symmetrically arranged in pairs around the second movable portion (3) between the second frame (5) and the third frame (6); The extension direction of both ends of the first support rod (11) is parallel to the axial direction of the first movable portion (2), and both ends of the first support rod (11) are hingedly connected to the first frame (4) and the second frame (5) respectively; The four first support rods (11) are arranged in a group from top to bottom, the two ends of the first telescopic mechanism (7) are respectively hingedly connected to the two first support rods (11) of one group, and the two ends of the second telescopic mechanism (8) are respectively hingedly connected to the two first support rods (11) of the other group; The extension direction of both ends of the second support rod (12) is parallel to the axial direction of the second movable portion (3), and both ends of the second support rod (12) are hingedly connected to the second frame (5) and the third frame (6) respectively; The four second support rods (12) are arranged in a group on the left and right sides, the two ends of the third telescopic mechanism (9) are respectively hingedly connected to the two second support rods (12) in one group, and the two ends of the fourth telescopic mechanism (10) are respectively hingedly connected to the two second support rods (12) in the other group.

4. The underwater docking station capable of actively compensating for position deviation according to claim 3, characterized in that: One end of the first support rod (11) swings up and down around the other end and is restricted from swinging left and right, and one end of the second support rod (12) swings left and right around the other end and is restricted from swinging up and down.

5. The underwater docking station capable of actively compensating for position deviation according to claim 3, characterized in that: The distance between two upper and lower adjacent first support rods (11) is smaller than the height of the fixing portion (1) in the vertical direction, and the distance between two left and right adjacent second support rods (12) is smaller than the width of the fixing portion (1) in the horizontal direction.

6. The underwater docking station capable of actively compensating for position deviation according to claim 1, characterized in that: Also includes: A protective net (13) is arranged on a side of the third frame (6) away from the fixing portion (1); The protective net (13) is funnel-shaped and communicates with the third window (601), and the inner diameter of the end of the protective net (13) connected to the third frame (6) is smaller than the inner diameter of the end of the protective net (13) away from the third frame (6).

7. The underwater docking station capable of actively compensating for position deviation according to claim 6, characterized in that: Also includes: A skin (14) is laid on the inner wall of the cylinder and the inner wall of the protective net (13); The skin (14) undergoes elastic stretching or contraction and rebound as the first movable portion (2) or the second movable portion (3) deforms.

8. The underwater docking station capable of actively compensating for position deviation according to claim 7, characterized in that: Also includes: an acoustic guide mechanism (15) arranged on the outer wall of the fixing portion (1); A plurality of optical guiding mechanisms (16) surround the central axis of the protective net (13) and are evenly arranged on the edge of the protective net (13) away from the fixing portion (1); Wherein, the acoustic guidance mechanism (15) guides the underwater vehicle to approach the underwater dock through ultrasonic waves; The optical guiding mechanism (16) guides the bow of the underwater vehicle through the third window (601) and into the second movable part (3) through laser or camera vision.

9. The underwater docking station capable of actively compensating for position deviation according to claim 1, characterized in that: Also includes: A locking mechanism (17) is arranged in the fixing portion (1); A suction cup mechanism (18) is arranged in the second movable part (3); The locking mechanism (17) is used to lock and fix the bow of the underwater vehicle entering the cylinder; The suction cup mechanism (18) is used to absorb the bow of the underwater vehicle entering the second movable part (3).

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