An underwater energy supply system

Abstract

The present invention discloses an underwater energy supply system, which includes a delivery platform and an energy storage unit. The delivery platform includes a carrier, a delivery device provided on the carrier, a charging module for charging the energy storage unit, a positioning module, a control module, and a first underwater acoustic communication module. The control module is connected to the carrier, the delivery device, the charging module, the positioning module, and the first underwater acoustic communication module. The energy storage unit includes a second underwater acoustic communication module, a monitoring and duty module, a charging and auxiliary guiding module, and an anchor system module. The monitoring and duty module is respectively connected to the second underwater acoustic communication module, the charging and auxiliary guiding module, and the anchor system module. The first underwater acoustic communication module is communicatively connected to the second underwater acoustic communication module, and the second underwater acoustic communication module is also communicatively connected to an underwater autonomous navigation device. The present invention solves the problems of short endurance, limited operation time, and low operation efficiency of existing underwater equipment.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater collection equipment, and particularly to an underwater energy supply system. Background Art

[0002] The deep sea harbors treasures on the earth that are far from being recognized and developed. However, to obtain these treasures, it is necessary to master key technologies in deep-sea entry, deep-sea exploration, and deep-sea development. In the process of cognition and exploration, underwater observation and detection equipment are essential facilities for ocean entry and ocean exploration, providing technical support for the development and utilization of ocean resources. In particular, the development, improvement, and application of deep-water equipment such as autonomous underwater vehicles (AUVs), remotely operated vehicles (ROVs), and human-occupied vehicles (HOVs) can be equipped with modular mission payloads that can perform various tasks, including various underwater detection sensor devices, underwater defense, and other functional payloads. It can meet different mission requirements such as ocean surveys, intelligence / surveillance / reconnaissance, exploration and identification, communication and navigation network nodes, payload delivery, sensitive target strikes, and covert attacks, and has become an important tool for deep-sea exploration.

[0003] However, limited by the design requirements such as the volume, weight, and reliability of underwater equipment, the energy loading capacity of deep-water equipment such as AUVs, ROVs, and HOVs is greatly restricted. Their single-time endurance and operation capabilities are limited by the energy density of the self-carried power supply and the operating conditions, resulting in low operation time and operation efficiency, and high operation costs. Therefore, continuously improving the endurance of underwater equipment, extending the operation time and operation efficiency has become an urgent problem to be solved in the field of underwater equipment. Summary of the Invention

[0004] (1) Technical Problems to be Solved

[0005] Based on the above problems, the present invention provides an underwater energy supply system to solve the problems of short endurance, limited operation time, and low operation efficiency of existing underwater equipment, so as to improve the safety, concealment, and economy of long-term underwater equipment in the fields of underwater acoustic detection and underwater defense.

[0006] (2) Technical Solutions

[0007] Based on the above technical problems, the present invention provides an underwater energy supply system, including a delivery platform and an energy storage unit. The delivery platform includes a carrier, a delivery device provided on the carrier, a charging module for charging the energy storage unit, a positioning module, a control module, and a first underwater acoustic communication module. The control module is connected to the carrier, the delivery device, the charging module, the positioning module, and the first underwater acoustic communication module. The energy storage unit includes a second underwater acoustic communication module, a monitoring and duty module, a charging and auxiliary guidance module, and an anchoring module. The monitoring and duty module is respectively connected to the second underwater acoustic communication module, the charging and auxiliary guidance module, and the anchoring module. The anchoring module is used to be fixed at a predetermined sea depth. The monitoring and duty module is used to monitor the wake-up signal. The charging and auxiliary guidance module is used to guide an underwater autonomous navigation device to approach and dock, and to charge the underwater autonomous navigation device. The first underwater acoustic communication module is communicatively connected to the second underwater acoustic communication module, and the second underwater acoustic communication module is also communicatively connected to the underwater autonomous navigation device.

[0008] Further, the monitoring and duty module is further used for data unloading, Beidou time service, and Beidou command sending and receiving, and includes a control circuit and a data storage circuit. The control circuit is used to control the second underwater acoustic communication device to communicate with the underwater autonomous navigation device after detecting the wake-up signal, control the operation of the charging and auxiliary guidance module, parse Beidou commands, and perform Beidou synchronous time service processing technology position coordinate update. The data storage circuit is used to store the data unloaded from the underwater autonomous navigation device.

[0009] Further, the charging and auxiliary guidance module includes an energy storage module, an energy management and charging module, and a docking and guidance module. The energy storage module includes a battery. The energy management and charging module is used for the management of the energy storage module and the external charging management. The docking and guidance module is used for the approach guidance and port docking guidance of the underwater autonomous navigation device that has established communication.

[0010] Further, the anchoring module includes a fixing structure and an underwater acoustic release device. The fixing structure is used to fix the energy storage unit at a predetermined sea depth. The underwater acoustic release device is used to release the second underwater acoustic communication module, the monitoring and duty module, and the charging and auxiliary guidance module according to the underwater acoustic release signal.

[0011] Further, the docking and guidance module includes an optical guidance module and a docking circuit. The optical guidance module is used for the fixation and docking after the underwater autonomous navigation device approaches. The docking circuit includes a charging interface, a data transmission interface, and a robotic arm.

[0012] Further, the energy storage module includes a primary battery and a secondary battery.

[0013] Further, the energy storage module is a foldable solar charging unit and a Beidou antenna connected to the energy management and charging module through a cable. The foldable solar charging unit is used to obtain solar energy on the water surface and convert the solar energy into electric energy. The foldable solar charging unit controls its lifting by controlling the buoyancy of the oil bladder or controlling the underwater winch device; the Beidou antenna is connected to the monitoring and duty module through a cable and is used for Beidou time synchronization, coordinate positioning, and instruction sending and receiving.

[0014] Further, the carrier includes shipborne, boatborne, or airborne.

[0015] Further, when the monitoring and duty module receives a Beidou signal, it performs Beidou time synchronization processing and updates the position coordinates synchronously; when the monitoring and duty module monitors a wake-up signal, it controls the circuit to turn on the second underwater acoustic communication module to establish communication with the underwater autonomous vehicle, and sends the coordinate information. When the underwater autonomous vehicle enters the range of optical guidance, the docking and guiding module guides the underwater autonomous vehicle to fix and dock with the energy storage module. The underwater autonomous vehicle conducts charging and supplies, and unloads the data to the data storage circuit. After the operation is completed, the docking and guiding module separates the underwater autonomous vehicle, and the underwater autonomous vehicle returns. The monitoring and duty module enters the duty standby state again; when the energy of the energy storage module is exhausted or the unloaded data of the storage circuit reaches the preset upper limit, the energy storage unit is in the mode of waiting to be recovered. When the delivery platform detects that the energy storage unit is in the mode of waiting to be recovered, the delivery platform notifies the underwater acoustic release device through an underwater acoustic release signal command to release the second underwater acoustic communication module, the monitoring and duty module, and the charging and auxiliary guiding module in the energy storage unit, and waits for the delivery platform to salvage and complete the data recovery.

[0016] Further, the deployment method of the underwater energy supply system includes:

[0017] S1. The carrier carries the at least one set of the underwater energy supply system and at least one underwater autonomous vehicle to the target sea area;

[0018] S2. According to the mission requirements, determine the specific deployment points of the underwater energy supply system and the underwater autonomous vehicle, perform Beidou time synchronization and coordinate calibration on each underwater energy supply system or each underwater autonomous vehicle, and send the deployment coordinates of the underwater energy supply system to the underwater autonomous vehicle;

[0019] S3. Deploy the underwater energy supply system and the underwater autonomous vehicle respectively. Among them, the underwater autonomous vehicle performs the preset task, and according to its energy consumption and the distance from the underwater energy supply system, autonomously plans the energy supply path, and autonomously goes to the underwater energy supply system for docking when needed, calibrates the position and time, uploads the working data, and replenishes the energy and updates the task.

[0020] S4. After the task is completed, the energy storage unit is returned to the deployment sea area through the carrier, and the underwater acoustic release device is notified by an underwater acoustic release signal command to release the second underwater acoustic communication module, the monitoring duty module, and the charging and auxiliary guidance module in the energy storage unit. After surfacing, salvage and data processing are carried out to complete data recovery and analysis.

[0021] (III) Advantageous Effects

[0022] The above technical solutions of the present invention have the following advantages:

[0023] (1) The present invention deploys the energy storage unit to a predetermined water area on the water surface, underwater or in the air through a delivery platform, which can charge and supplement energy for the underwater autonomous navigation equipment of its own side in the nearby sea area, unload the collected data, correct the coordinate position, improve its autonomous navigation accuracy, increase its endurance operation ability, enable it to work continuously, reduce the deployment and recovery times of the underwater autonomous navigation equipment, further improve the concealment and safety, reduce the deployment difficulty, improve the reuse rate, and reduce the overall cost;

[0024] (2) The present invention replenishes energy for multiple underwater autonomous navigation equipment by deploying the energy storage unit. The underwater autonomous navigation equipment approaches the energy storage unit underwater according to the positioning, rather than the energy storage unit approaching the underwater autonomous navigation equipment, which can serve more underwater autonomous navigation equipment and further improve the concealment and safety;

[0025] (3) The energy storage unit of the present invention has the functions of data unloading and storage, can recover the data of multiple underwater autonomous navigation equipment, and can transmit it to the shore-based end for processing according to the command requirements, improving the timeliness of data processing;

[0026] (4) After the energy storage unit of the present invention is deployed, it first enters the standby mode, and the internal monitoring duty module works. When it detects a work command sent by an external device or a preset timed startup command, it enters the monitoring mode, or is awakened by the underwater autonomous navigation equipment. After completing one or more tasks of charging, navigation correction, and data unloading, it enters the standby mode again, which is beneficial to further improving the concealment and thus improving the concealment of the entire system. Description of the Drawings

[0027] The features and advantages of the present invention will be more clearly understood by referring to the accompanying drawings. The drawings are schematic and should not be construed as any limitation to the present invention. In the drawings:

[0028] Figure 1 It is a schematic connection diagram of the underwater energy supply system according to an embodiment of the present invention;

[0029] Figure 2Schematic diagram of the deployment of the underwater energy supply system according to an embodiment of the present invention;

[0030] Figure 3 Schematic diagram of the docking of the underwater energy supply system according to an embodiment of the present invention;

[0031] Figure 4 Schematic diagram of the shipborne deployment of the underwater energy supply system according to an embodiment of the present invention;

[0032] Figure 5 Schematic diagram of the airborne deployment of the underwater energy supply system according to an embodiment of the present invention;

[0033] In the figure: 1: Delivery platform; 2: Energy storage unit; 3: Underwater autonomous navigation device; 11: Carrier; 12: Delivery device; 21: Mooring module. Detailed implementation manners

[0034] The following combines the accompanying drawings and embodiments to further describe in detail the specific implementation manners of the present invention. The following embodiments are used to illustrate the present invention, but are not used to limit the scope of the present invention.

[0035] An underwater energy supply system of the present invention is as Figure 1 shown, including a delivery platform 1 and an energy storage unit 2. The delivery platform 1 includes a carrier 11, a delivery device 12 provided on the carrier 11, a charging module for charging the energy storage unit 2, a positioning module, a control module, and a first underwater acoustic communication module. The control module is connected to the carrier 11, the delivery device 12, the charging module, the positioning module, and the first underwater acoustic communication module; the energy storage unit 2 includes a second underwater acoustic communication module, a monitoring and duty module, a charging and auxiliary guidance module, and a mooring module 21. The monitoring and duty module is respectively connected to the second underwater acoustic communication module, the charging and auxiliary guidance module, and the mooring module 21; the mooring module 21 is used to be fixed at a predetermined sea depth, the monitoring and duty module is used to monitor wake-up signals, and the charging and auxiliary guidance module is used to guide the underwater autonomous navigation device 3 to approach and dock and charge the underwater autonomous navigation device 3; the first underwater acoustic communication module is communicatively connected to the second underwater acoustic communication module, and the second underwater acoustic communication module is also communicatively connected to the underwater autonomous navigation device 3.

[0036] The delivery platform 1 is used to deliver and deploy the energy storage unit 2 to a predetermined sea area, and mark the coordinate position of the predetermined sea area and send it to the energy storage unit 2. The energy storage unit provides energy supply, coordinate information update, and data unloading for the underwater autonomous navigation device 3 in the nearby sea area.

[0037] Specifically, the delivery platform 1 includes a carrier 11, a delivery device 12, a charging module, a positioning module, a control module, and a first underwater acoustic communication module. The carrier 11 is shipborne, boatborne, or airborne, and moves to a predetermined sea area or above the sea area according to instructions. The delivery device 12 delivers and deploys the energy storage unit 2 to a predetermined sea area. The charging module is used to charge the energy storage unit 2. The charging module is equipped with a charging interface, and the charging interface uses a wet-pluggable connector or a wireless charging interface. The charging module can charge the energy storage unit 2 through the charging interface. The positioning module is used to mark the coordinate position of the energy storage unit 2. The control module is built-in with a Beidou receiving circuit and a data storage circuit, and can be interconnected with the energy storage unit 2 through a data interface to complete the update of coordinate data. The first underwater acoustic communication module is used to communicate with the energy storage unit 2 for wake-up and data instruction issuance.

[0038] The delivery platform 1 can also recover the data in the data module released by the energy storage unit 2. The delivery platform 1 establishes communication with the energy storage unit 2 through the first underwater acoustic communication module. When it detects that the energy storage unit 2 is in the waiting-to-be-recovered mode, it notifies the underwater acoustic release device through an underwater acoustic instruction to release the second underwater acoustic communication module, the listening duty module, the charging and auxiliary guidance module in the energy storage unit 2 and salvage them to complete data recovery.

[0039] The charging module can be a primary battery or a secondary battery; when the charging module is a secondary battery, it is equipped with a charging interface, and the charging interface uses a wet-pluggable connector or a wireless charging interface. The charging module can charge the energy storage unit 2 through the charging interface.

[0040] Specifically, the energy storage unit 2 includes a second underwater acoustic communication module, a listening duty module, a charging and auxiliary guidance module, and an anchor system module 21.

[0041] The second underwater acoustic communication module is used to communicate with underwater autonomous navigation devices 3 such as autonomous underwater vehicles and the first underwater acoustic communication module of the delivery platform 1 to broadcast the current coordinate position;

[0042] The monitoring and on-duty module is also used for data offloading, Beidou timekeeping, and Beidou command sending and receiving. It includes a control circuit and a data storage circuit. The control circuit is used to control the second underwater acoustic communication device to communicate with the underwater autonomous vehicle after detecting a wake-up signal, control the charging and auxiliary guidance module to operate, parse Beidou commands, and update the position coordinates through Beidou synchronous timekeeping processing technology. The data storage circuit is used to store the data offloaded from the underwater autonomous vehicle. The monitoring and on-duty module is in the monitoring mode. When a wake-up signal is detected, the control circuit turns on the second underwater acoustic communication module to establish communication with it, and completes the corresponding docking and guidance fixation according to the request command of the other party, and conducts charging energy supply, coordinate information sending, and data offloading operations. When the data stored in the storage circuit of the monitoring and on-duty module reaches the preset upper limit, data offloading is no longer performed. The data offloaded by the data storage circuit can be offloaded through a dedicated underwater offloading and navigation module.

[0043] The charging and auxiliary guidance module includes an energy storage module, an energy management and charging module, and a docking and guidance module. The energy storage module consists of high-energy-density primary batteries. The energy storage module can also be high-energy-density secondary batteries, high-energy-density fuel cells, or miniaturized high-reliability nuclear power supply devices. When the energy stored in the energy storage module reaches the preset limit, the energy storage unit 2 no longer conducts energy supply and enters the waiting-for-recovery mode, waiting for the delivery platform 1 to perform the recovery operation. The energy management and charging module is used for the management of the energy storage module and external charging management. The docking and guidance module is used to dock and guide the underwater autonomous vehicle 3 with which the monitoring and on-duty module establishes communication through the second underwater acoustic communication module. The docking and guidance module includes an optical guidance module and a docking circuit. The docking circuit includes a charging interface, a data transmission interface, and a robotic arm. The charging interface can be a wireless charging interface or a wet-mateable connector charging interface. The data transmission interface can be a wet-mateable connector interface or a short-range blue-green laser data transmission interface. When the underwater autonomous vehicle 3 is guided to approach through the second underwater acoustic communication module and reaches within the range of the optical guidance effect, optical guidance starts and finally fixation and docking are completed. The wet-mateable connector interface can include a charging interface and a data transmission interface. When the docking and guidance module completes docking with the underwater autonomous vehicle 3, energy supply and data offloading (connected to the duty monitoring module, and the data is stored in the duty interface module) operations are completed through the charging interface and the data transmission interface. After the operations are completed, the docking and guidance module separates from the underwater autonomous vehicle 3, and the monitoring and on-duty module enters the on-duty standby state again.

[0044] The anchor system includes a fixing structure and an acoustic release device. The fixing structure fixes / deploys the energy storage unit 2 at a predetermined sea depth. The acoustic release device can release the second acoustic communication module, the monitoring duty module, the charging and auxiliary guidance module in the energy storage unit 2 according to an acoustic release signal instruction, so as to complete the cyclic replenishment of energy and provide continuous energy replenishment for the underwater autonomous navigation device 3.

[0045] When the energy storage module is a secondary battery with high energy density, a folding solar charging unit and a Beidou antenna can also be built in. The folding solar charging unit is used to obtain solar energy on the water surface and convert the solar energy into electric energy. The Beidou antenna is connected to the monitoring duty module through a cable and is used for Beidou time service, coordinate positioning and instruction sending and receiving. When the energy stored in the energy storage module reaches the preset limit, the charging and auxiliary guidance module releases the folding solar charging unit. The folding solar charging unit is connected to the energy management and charging module through a submarine cable to transmit electric energy. After the folding solar charging unit reaches the water surface, it unfolds the charging battery panel to provide a charging power source for the charging module. When the energy storage module is fully charged, it notifies the folding solar charging unit to prepare for recycling the folding solar charging unit, and the charging and auxiliary guidance module recovers the folding solar charging unit underwater.

[0046] The lifting and lowering of the folding solar charging unit can be controlled by controlling the buoyancy of the oil bladder, or can also be controlled by controlling an underwater winch device.

[0047] Therefore, the working mode of the underwater energy replenishment system is as follows:

[0048] The energy storage unit 2 is moved to a predetermined sea area or over the sea area by the carrier 11. When the energy storage unit 2 is on the carrier 11, the energy storage unit 2 can be charged through the charging module. The delivery device 12 delivers and deploys the energy storage unit 2 on the carrier 11 to a predetermined sea area. The positioning module marks the coordinate position of the energy storage unit 2. After the energy storage unit 2 is deployed to the predetermined sea area, it is fixed at the predetermined sea depth through the fixing structure of the anchor system module 21. As Figure 2 、 4 、shown in Figure 5, Figure 4 By shipboard, Figure 5Through the airborne... The energy storage unit 2 monitors signals through the monitoring duty module. When the monitoring duty module receives the Beidou signal, it performs Beidou time synchronization processing and updates the position coordinates synchronously. When the wake-up signal is detected, the control circuit turns on the second underwater acoustic communication module to establish communication with the underwater autonomous vehicle 3, and completes the corresponding docking guidance and fixation according to the request instructions from the other party. It sends the coordinate information to the underwater autonomous vehicle 3 for docking, conducts charging energy supply, Beidou synchronous time, and updates the position coordinates through the charging and auxiliary guidance module, and unloads the data of the underwater autonomous vehicle 3 to the storage circuit. After the operation is completed, the docking and guidance module separates the underwater autonomous vehicle 3, and the monitoring duty module enters the duty standby state again; as Figure 3 shown, the energy storage unit 2 can dock with multiple underwater autonomous vehicles 3.

[0049] When the energy of the charging and auxiliary guidance module is exhausted or the unloaded data of the storage circuit reaches the preset upper limit, the energy storage unit 2 is in the mode of waiting to be recovered. The delivery platform 1 establishes communication with the energy storage unit 2 through the first underwater acoustic communication module. When it detects that the energy storage unit 2 is in the mode of waiting to be recovered, the delivery platform 1 notifies the underwater acoustic release device through the underwater acoustic release signal instruction to release the second underwater acoustic communication module, the monitoring duty module, and the charging and auxiliary guidance module in the energy storage unit 2, and waits for the delivery platform 1 to salvage the second underwater acoustic communication module, the monitoring duty module, and the charging and auxiliary guidance module to complete data recovery.

[0050] The deployment method of the underwater energy supply system includes:

[0051] S1. The carrier 11 carries the at least one set of the underwater energy supply system and at least one underwater autonomous vehicle 2 to the target sea area;

[0052] S2. According to the mission requirements, determine the specific deployment points of the underwater energy supply system and the underwater autonomous vehicle 3, perform Beidou time synchronization and coordinate calibration on each underwater energy supply system or each underwater autonomous vehicle 3, and send the deployment coordinates of the underwater energy supply system to the underwater autonomous vehicle 3;

[0053] S3. Deploy the underwater energy supply system and the underwater autonomous vehicle 3 respectively. Among them, the underwater autonomous vehicle 3 performs the preset mission, and autonomously plans the energy supply path according to its energy consumption and the distance from the energy supply system. When needed, it autonomously goes to the underwater energy supply system for docking, calibrates the position and time, uploads the working data, and replenishes the energy to update the mission.

[0054] S4. After the task is completed, return to the deployment sea area through the carrier 11, and notify the underwater acoustic release device by sending an acoustic signal command to release the second underwater acoustic communication module, the monitoring and duty module, and the charging and auxiliary guidance module in the energy storage unit. After surfacing, salvage and data processing are carried out to complete data recovery and analysis.

[0055] In addition, the underwater autonomous navigation device 3 can also be recovered and maintained by the carrier 11.

[0056] In summary, through the above-mentioned underwater energy supply system, the following beneficial effects are achieved:

[0057] (1) In the present invention, the energy storage unit is deployed in a predetermined water area on the water surface, underwater or in the air through a delivery platform, which can charge and supplement energy for the underwater autonomous navigation devices of our own side in the nearby sea area, unload the collected data, correct the coordinate positions, improve their autonomous navigation accuracy, increase their endurance operation ability, enable them to work continuously, reduce the deployment and recovery times of the underwater autonomous navigation devices, further improve the concealment and safety, reduce the deployment difficulty, improve the reuse rate, and reduce the overall cost;

[0058] (2) In the present invention, the energy storage unit is used to supply energy to multiple underwater autonomous navigation devices. The underwater autonomous navigation devices approach the energy storage unit underwater according to the positioning, rather than the energy storage unit approaching the underwater autonomous navigation devices. More underwater autonomous navigation devices can be served, and the concealment and safety are further improved;

[0059] (3) The energy storage unit of the present invention has the functions of data unloading and storage, can recover the data of multiple underwater autonomous navigation devices, and can transmit it to the shore-based terminal for processing according to the command requirements, improving the timeliness of data processing;

[0060] (4) After the energy storage unit of the present invention is deployed, it first enters the standby mode, and the internal monitoring and duty module works. After detecting a work command sent by an external device or according to a preset timed startup command, it enters the monitoring mode, or is awakened by the underwater autonomous navigation device. After completing one or more tasks such as charging, navigation correction, and data unloading, it enters the standby mode again, which is beneficial to further improve the concealment, and thus improve the concealment of the entire system.

[0061] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the embodiments of the present invention are described in conjunction with the drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. An underwater energy supply system, characterized in that, It includes a delivery platform and an energy storage unit. The delivery platform includes a carrier, a delivery device disposed on the carrier, a charging module for charging the energy storage unit, a positioning module, a control module, and a first underwater acoustic communication module. The control module is connected to the carrier, the delivery device, the charging module, the positioning module, and the first underwater acoustic communication module; the energy storage unit includes a second underwater acoustic communication module, a monitoring and duty module, a charging and auxiliary guidance module, and an anchoring module. The monitoring and duty module is respectively connected to the second underwater acoustic communication module, the charging and auxiliary guidance module, and the anchoring module; the anchoring module is used to be fixed at a predetermined sea depth, the monitoring and duty module is used to monitor wake-up signals, and the charging and auxiliary guidance module is used to guide an underwater autonomous vehicle to approach and dock and charge the underwater autonomous vehicle; the first underwater acoustic communication module is communicatively connected to the second underwater acoustic communication module, and the second underwater acoustic communication module is also communicatively connected to the underwater autonomous vehicle; The charging and auxiliary guidance module includes an energy storage module, an energy management and charging module, and a docking and guidance module. The energy storage module is a foldable solar charging unit and a Beidou antenna connected to the energy management and charging module through a cable. The foldable solar charging unit is used to obtain solar energy on the water surface and convert the solar energy into electric energy. The foldable solar charging unit controls its lifting by controlling the buoyancy of the oil bladder or controlling an underwater winch device; the Beidou antenna is connected to the monitoring and duty module through a cable and is used for Beidou time service, coordinate positioning, and instruction sending and receiving.

2. The underwater energy supply system according to claim 1, wherein The monitoring and duty module is also used for data unloading, Beidou time service, and Beidou instruction sending and receiving. It includes a control circuit and a data storage circuit. The control circuit is used to control the second underwater acoustic communication device to communicate with the underwater autonomous vehicle after detecting a wake-up signal, control the operation of the charging and auxiliary guidance module, Beidou instruction parsing, Beidou synchronous time service processing technology position coordinate update; the data storage circuit is used to store the data unloaded from the underwater autonomous vehicle.

3. The underwater energy supply system according to claim 2, characterized in that, The energy storage module includes a battery. The energy management and charging module is used for the management of the energy storage module and external charging management. The docking and guidance module is used for the approach guidance and port docking guidance of the underwater autonomous vehicle that has established communication.

4. The underwater energy supply system according to claim 3, characterized in that, The anchoring module includes a fixing structure and an underwater acoustic release device. The fixing structure is used to fix the energy storage unit at a predetermined sea depth, and the underwater acoustic release device is used to release the second underwater acoustic communication module, the monitoring and duty module, and the charging and auxiliary guidance module according to an underwater acoustic release signal.

5. The underwater energy supply system according to claim 3, wherein The docking and guidance module includes an optical guidance module and a docking circuit. The optical guidance module is used for the fixation and docking after the underwater autonomous vehicle approaches. The docking circuit includes a charging interface, a data transmission interface, and a robotic arm.

6. The underwater energy supply system according to claim 3, characterized in that, The energy storage module includes a primary battery and a secondary battery.

7. The underwater energy supply system according to claim 1, characterized in that, The carrier includes shipborne, boatborne, or airborne.

8. The underwater energy supply system according to claim 4, characterized in that When the monitoring and on-duty module receives the Beidou signal, it performs Beidou time synchronization processing and updates the position coordinates synchronously; when the monitoring and on-duty module monitors the wake-up signal, it controls the circuit to turn on the second underwater acoustic communication module to establish communication with the underwater autonomous vehicle, and sends the coordinate information. When the underwater autonomous vehicle enters the range of optical guidance, the docking and guidance module guides the underwater autonomous vehicle to fix and dock with the energy storage module. The underwater autonomous vehicle conducts charging and replenishment, Beidou synchronous time and updates the position coordinates, and unloads the data to the data storage circuit. After completing the operation, the docking and guidance module separates the underwater autonomous vehicle, and the underwater autonomous vehicle returns. The monitoring and on-duty module enters the on-duty standby state again; When the energy of the energy storage module is exhausted or the unloading data of the storage circuit reaches the preset upper limit, the energy storage unit is in the mode of waiting for recovery. When the delivery platform detects that the energy storage unit is in the mode of waiting for recovery, the delivery platform notifies the underwater acoustic release device through the underwater acoustic release signal instruction to release the second underwater acoustic communication module, the monitoring and on-duty module, and the charging and auxiliary guidance module in the energy storage unit, waiting for the delivery platform to salvage and complete data recovery.

9. The underwater energy supply system according to claim 8, wherein The deployment method of the underwater energy supply system includes: S1. The carrier carries at least one set of the underwater energy supply system and at least one underwater autonomous vehicle to the target sea area; S2. According to the mission requirements, determine the specific deployment points of the underwater energy supply system and the underwater autonomous vehicle, perform Beidou time service and coordinate calibration on each underwater energy supply system or each underwater autonomous vehicle, and send the deployment coordinates of the underwater energy supply system to the underwater autonomous vehicle; S3. Deploy the underwater energy supply system and the underwater autonomous vehicle respectively. Among them, the underwater autonomous vehicle executes the preset mission, and autonomously plans the energy supply path according to its energy consumption and the distance from the underwater energy supply system. When necessary, it autonomously goes to the underwater energy supply system for docking, calibrates the position and time, uploads the working data, supplements the energy, and updates the mission; S4. After the mission is completed, return to the deployment sea area through the carrier, notify the underwater acoustic release device through the underwater acoustic release signal instruction to release the second underwater acoustic communication module, the monitoring and on-duty module, and the charging and auxiliary guidance module in the energy storage unit. After surfacing, conduct salvage and data processing to complete data recovery and analysis.

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