AUV underwater charging platform and underwater charging method

Abstract

The invention relates to the technical field of charging equipment, and discloses an underwater charging platform and an underwater charging method for an AUV (Autonomous Underwater Vehicle). The charging platform comprises a platform frame, a platform plate is installed at the top of the platform frame, a connecting rod is arranged at the front end of the platform plate, a first guiding device is arranged at the rear end of the platform frame, and a second guiding device and a third guiding device are arranged at the top and the bottom of the connecting rod correspondingly; and an angle adjusting part, a second connecting device and a wireless charging device are arranged on the platform plate. The three guiding devices and the first connecting device enable the AUV to be close to the platform and to be in butt joint with the connecting rod, the angle adjusting component is used for adjusting the angle of the ship body, the AUV is made to accurately land on the platform plate, the AUV is fixed through the second connecting device, and then the wireless charging device is used for charging. According to the AUV underwater charging platform and the underwater charging method provided by the invention, the charging stability of the charging platform is improved, and the technical problem that stable charging of the charging platform is influenced by a complex seabed environment is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of charging equipment, and in particular to an AUV underwater charging platform. Background Art

[0002] At present, underwater unmanned vehicles are mainly divided into unmanned remotely operated vehicles (ROVs) and autonomous underwater vehicles (AUVs). ROVs are connected to mother ships through cables, and the energy required for their work is supplied by the mother ship through cables, which can allow ROVs to perform long-term heavy-load operations. However, the existence of cables limits the operating range of ROVs, so ROVs are only suitable for fixed-point operations with limited maneuvering ranges; while AUVs have their own power supply, do not require mother ship support, can achieve autonomous navigation, and are widely used in large-scale deep-sea exploration. Since AUVs carry limited power, in order to increase the endurance of AUVs, underwater charging platforms are usually set up to charge AUVs.

[0003] Most AUV underwater charging methods are contact charging. One method is to charge the AUV and the charging station by connecting the connector, and the other method is to use a robotic arm to connect the charging port of the AUV with the charging port of the charging station for charging. Both methods require high operating accuracy and stability. In addition, the underwater charging platform is located on the seabed. The seabed environment is complex and changeable, which has a great impact on the operational accuracy and stability of the docking between the AUV and the charging platform, making it more difficult to accurately dock the two. If the AUV and the charging platform cannot be accurately docked, the AUV cannot be charged, resulting in the underwater charging platform being unable to provide stable charging services, which is very inconvenient to use. Summary of the invention

[0004] The technical problem to be solved by the present invention is that the complex and changeable environment of the seabed has a great impact on the operational accuracy and stability of the docking between the AUV and the charging platform, resulting in the underwater charging platform being unable to provide stable charging services and being very inconvenient to use.

[0005] In order to solve the above technical problems, the present invention provides an AUV underwater charging platform, comprising:

[0006] A platform frame, wherein a platform plate is installed on the top of the platform frame;

[0007] A connecting rod, the connecting rod is vertically fixed to the front end of the platform plate;

[0008] A first guiding device, the first guiding device is arranged at the rear end of the platform frame, and the first guiding device guides the AUV to approach the platform frame through sound waves;

[0009] A second guiding device, the second guiding device is arranged on the top of the connecting rod, and the second guiding device guides the front end of the AUV to approach the connecting rod through sound waves;

[0010] A third guiding device, which is disposed at the bottom of the connecting rod and is used to illuminate the connecting rod so that the connecting rod can be identified by the AUV;

[0011] The first guiding device is used to guide the AUV at a first distance or a second distance from the platform frame, and the second guiding device and the third guiding device are used to guide the AUV at a second distance from the platform frame, and the first distance is greater than or equal to the second distance;

[0012] A first connecting device is provided at the front end of the AUV, and the first connecting device and the connecting rod slide up and down to guide the AUV to move from the upper part of the platform frame to the platform frame;

[0013] An angle adjustment component is arranged on the platform plate, the angle adjustment component is connected with the AUV signal, and the AUV adjusts the angle of the AUV according to the position information of the angle adjustment component;

[0014] Wireless charging device, wirelessly connected to the AUV;

[0015] The second connecting device is arranged on the platform frame to be fixedly connected with the AUV after the AUV adjusts its angle.

[0016] In some embodiments of the present application, the angle adjustment component includes at least one QR code disposed on the platform plate.

[0017] In some embodiments of the present application, the first connecting device includes a connecting block, a connecting plate and an elastic clip. A connecting plate is provided on the connecting block. An opening is reserved in the middle of the connecting plate. A recess is provided on the inner side of the opening. The recess is connected to the opening. An elastic clip is provided at the junction of the edge of the opening and the recess. Each elastic clip rotates horizontally elastically toward the inner side of the recess, and the connecting rod squeezes the elastic clip to enter the recess.

[0018] In some embodiments of the present application, a guide rod is vertically arranged on the front side of the connecting rod, and the guide rod guides the movement up and down along the edge of the opening.

[0019] In some embodiments of the present application, the second connecting device includes:

[0020] Limiting grooves: two parallel and spaced limiting grooves are provided on the platform plate, and the limiting grooves extend along the front-rear direction of the platform plate;

[0021] A first limiting block, which is fixedly arranged at the front end of the limiting groove;

[0022] A second limiting block, which is slidably disposed at the rear end of the limiting groove;

[0023] Both ends of each limiting groove are respectively provided with a first limiting block and a second limiting block;

[0024] The platform frame is also provided with a driving structure for driving the second limiting block to slide.

[0025] In some embodiments of the present application, the driving structure includes a driving motor disposed on the platform frame, the output end of the driving motor is connected to a screw rod, and the screw rod is threadedly connected to the second limit block.

[0026] In some embodiments of the present application, each limit groove includes a horizontal section and a vertical section that are perpendicular to each other and fixedly connected. The vertical sections of the two limit grooves are close to each other, and the top of each vertical section is provided with a slope inclined upward toward the other limit groove.

[0027] In some embodiments of the present application, at least one lifting device is provided on the platform frame, and a fixing device is provided on the lifting device, and the lifting device is used to drive the fixing device to move up and down;

[0028] At least one lifting device is arranged on the platform frame, and a wireless charging device is arranged on the lifting device. The lifting device is used to drive the wireless charging device to move up and down.

[0029] In some embodiments of the present application, a protection frame is provided on the top of the connecting rod, and the second guiding device is provided in the protection frame;

[0030] A base is arranged at the bottom of the connecting rod, and the base is fixedly mounted on the top surface of the platform plate.

[0031] An AUV underwater charging method, implemented using the AUV underwater charging platform according to any one of claims 1 to 9, comprising the following steps:

[0032] S1, an AUV at a first distance from the platform frame receives a sound wave signal emitted by a first guiding device, and the AUV approaches the platform frame according to the sound wave signal;

[0033] S2, the AUV at a second distance from the platform frame receives the acoustic wave signal emitted by the second guidance device, and the AUV approaches the connecting rod;

[0034] S3, using the third guiding device to illuminate the connecting rod, the AUV identifies the connecting rod, and connects to the connecting rod through the first connecting device;

[0035] S4, the AUV is connected to the angle adjustment component signal, the AUV adjusts the angle according to the angle adjustment component and descends along the connecting rod to land on the platform frame;

[0036] S5. The second connecting device is fixedly connected to the AUV;

[0037] S6. The wireless charging device is connected to the AUV for charging.

[0038] An AUV underwater charging platform and underwater charging method according to an embodiment of the present invention enable the AUV to quickly approach the charging platform and connect with the connecting rod through a first guiding device, a second guiding device, a third guiding device and a first connecting device, and then adjust the angle of the AUV through an angle adjusting component, so that the AUV lands accurately on the platform board, thereby realizing the precise connection between the charging area of ​​the AUV and the wireless charging device; the second connecting device fixes the AUV on the charging platform, thereby avoiding the seawater disturbance affecting the charging connection of the AUV, resulting in unstable charging; at the same time, the wireless charging device is used to charge the AUV, so that the charging connection is converted from point-to-point to face-to-face, which greatly reduces the difficulty of charging connection. While ensuring the accurate connection between the charging interface and the wireless charging device, the present invention also reduces the difficulty of charging connection, avoids the influence of seawater disturbance, greatly enhances the reliability of the charging platform, enables the charging platform to stably and continuously provide charging services, and solves the technical problem in the prior art that the complex seabed environment affects the stable charging service provided by the charging platform. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 is a three-dimensional stereogram of an embodiment of the present invention;

[0040] Figure 2 is a top view of an embodiment of the present invention;

[0041] Figure 3 is a schematic diagram of a connecting rod connected to a guide rod according to an embodiment of the present invention;

[0042] Figure 4 is a detailed view of the top end of a connecting rod according to an embodiment of the present invention;

[0043] Figure 5 is a schematic diagram of a first connecting device according to an embodiment of the present invention;

[0044] Figure 6 The embodiment of the present invention Figure 2 AA section diagram;

[0045] Figure 7 is a schematic structural diagram of a second connecting device according to an embodiment of the present invention;

[0046] Figure 8 is a schematic cross-sectional view of a limiting groove according to an embodiment of the present invention;

[0047] Fig. 9 2 is a schematic structural diagram of a self-unloading spreader locking device according to an embodiment of the present invention;

[0048] Fig.10 2 is a schematic structural diagram of unlocking a self-unloading spreader according to an embodiment of the present invention;

[0049] Fig.11is a schematic structural diagram of a platform frame and a platform plate according to an embodiment of the present invention;

[0050] Fig.12 Schematic diagram of the process of the AUV underwater charging method according to an embodiment of the present invention.

[0051] In the figure, 1, platform frame; 1a, column leg; 1b, crossbeam; 2, platform board; 2a, secondary crossbeam; 2b, vertical rod; 2c, vertical board; 2d, panel; 3, connecting rod; 4, sonar device; 5, USBL sensor; 6, LED lighting lamp; 7, first connecting device; 7a, connecting block; 7b, connecting plate; 7c, elastic buckle; 7d, opening; 7e, notch; 8, QR code; 9, wireless charging board; 10, second connecting device; 10a, limit groove; 10b, first limit block; 10c, second limit block; 11. Guide plate; 11a. Straight plate section; 11b. Arch section; 12. Driving structure; 12a. Driving motor; 12b. Screw rod; 13. Horizontal section; 14. Vertical section; 15. Slope; 16. Hydraulic lifting rod; 17. Self-unloading spreader; 17a. Lock rod; 17b. Lock cap; 17c. Conical lock head; 17d. Double conical slider; 17e. Slide groove; 17f. Spring pin; 17g. Lock hole; 18. Protective frame; 19. Round base; 20. Fastener; 21. Underwater fluorescent lamp; 22. Plug plate. DETAILED DESCRIPTION

[0052] The specific implementation of the present invention is further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0053] In the description of the present invention, it should be understood that the terms "upper", "lower", "vertical", "horizontal", "bottom", "inside" and "outside" used in the present invention to indicate the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0054] It should be understood that the present invention uses the terms "first", "second", etc. to describe various information, but these information should not be limited to these terms, and these terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present invention, "first" information may also be referred to as "second" information, and similarly, "second" information may also be referred to as "first" information.

[0055] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0056] like Figure 1 and Figure 2 As shown, an AUV underwater charging platform according to a preferred embodiment of the present invention comprises a platform frame 1, a platform plate 2 is installed on the top of the platform frame 1; a connecting rod 3 is vertically fixed to the front end of the platform plate 2; a first guiding device is arranged at the rear end of the platform frame 1, and the first guiding device guides the AUV to approach the platform frame 1 through sound waves; a second guiding device is arranged at the top of the connecting rod 3, and the second guiding device guides the front end of the AUV to approach the connecting rod 3 through sound waves; a third guiding device is arranged at the bottom of the connecting rod, and is used to illuminate the connecting rod 3 so that the connecting rod 3 can be identified by the AUV; wherein the first guiding device is used to guide the AUV at a first distance or a second distance from the platform frame 1 UV, the second guiding device and the third guiding device are used to guide the AUV at a second distance from the platform frame 1, and the first distance is greater than or equal to the second distance; a first connecting device 7 is provided at the front end of the AUV, and the first connecting device 7 and the connecting rod 3 slide up and down, and are used to guide the AUV to move from the upper part of the platform frame 1 to the platform frame 1; an angle adjustment component is provided on the platform plate 2, and the angle adjustment component is connected to the AUV signal, and the AUV adjusts the angle of the AUV according to the position information of the angle adjustment component; the wireless charging device is wirelessly connected to the AUV; the second connecting device 10 is provided on the platform frame 1 to be fixedly connected to the AUV after the AUV adjusts the angle.

[0057] The embodiment of the present invention enables the AUV to quickly approach the charging platform and connect with the connecting rod 3 through the first guiding device, the second guiding device, the third guiding device and the first connecting device 7, and then adjusts the angle of the AUV through the angle adjustment component, so that the AUV lands accurately on the platform plate 2, thereby realizing the precise connection between the charging area of ​​the AUV and the wireless charging device; the second connecting device 10 fixes the AUV on the charging platform, thereby preventing the seawater disturbance from affecting the charging connection of the AUV, resulting in unstable charging; at the same time, the wireless charging device is used to charge the AUV, so that the charging connection is converted from point-to-point to face-to-face, which greatly reduces the difficulty of charging connection.

[0058] While ensuring accurate connection between the charging interface and the wireless charging device, the embodiments of the present invention also reduce the difficulty of charging connection, avoid the influence of seawater disturbance, greatly enhance the reliability of the charging platform, enable the charging platform to provide charging services stably and continuously, and solve the technical problem in the prior art that the complex seabed environment affects the charging platform from providing stable charging services.

[0059] Specifically, Figures 1 to 4 As shown, the connecting rod 3 is vertically fixed to the front end of the platform plate 2, a protective frame 18 is provided on the top of the connecting rod 3, and the second guide device is provided in the protective frame 18; in the embodiment of the present invention, the connecting rod 3 adopts a round rod with a height of 2700mm. The protective frame 18 includes a plurality of vertical rods and a circular ring, and the plurality of vertical rods are evenly arranged and fixed along the top edge of the connecting rod 3, and a circular ring is fixed on the top of the plurality of vertical rods, forming a cylindrical frame structure, and the second guide device is provided in the protective frame 18 to protect the second guide device from collision and damage when the AUV is connected to the connecting rod 3. Furthermore, a base is provided at the bottom of the connecting rod 3, and the base is fixedly mounted on the top surface of the platform plate 2 to improve the stability of the connecting rod 3. In the embodiment of the present invention, a circular base 19 is selected.

[0060] Furthermore, if Figure 1 and Figure 3 As shown, a guide rod is vertically arranged on the front side of the connecting rod 3, and the guide rod guides and moves up and down along the edge of the opening 7d. In the embodiment of the present invention, the guide rod is preferably a guide plate 11, and the guide plate 11 includes a straight plate section 11a, and an arched section 11b is arranged on the top of the straight plate section 11a. The design of the arched section 11b is conducive to the arched plate 9 passing through the opening 7d of the first connecting device 7. The guide plate 11 is 1200mm high, parallel to the connecting rod 3 and separated by 130mm, and its bottom is fixed on the circular base 13, and the middle area is fixed on the connecting rod 3 by a snap 20. During the descent of the AUV, when the AUV has an angle deviation, the edge of the opening 7d of the first connecting device 7 is squeezed with the arched section 11b on the top of the guide plate 11, and the AUV slides downward along the arched section 11b, and finally the guide plate 11 is forced into the opening 7d, and the squeezing force of the guide plate 11 on the edge of the opening 7d further adjusts the angle of the AUV.

[0061] Specifically, Figure 1 and Figure 2As shown, in the embodiment of the present invention, since the low-frequency ultrasonic wave emitted by the sonar device 4 has good directionality and penetration ability when propagating in seawater, the first guiding device in the embodiment of the present invention is preferably a sonar device 4, which is arranged at the rear end of the platform frame 1, and guides the AUV in the distance to approach the platform frame 1 by emitting ultrasonic waves. When the sonar device 4 emits ultrasonic waves, the AUV sailing in the distance receives the ultrasonic waves emitted by the sonar device 4 through the acoustic signal receiving device, and the acoustic signal receiving device includes multiple receivers. The AUV determines the approximate direction of the charging platform by analyzing the time difference and angle difference of the acoustic waves received by the multiple receivers; and estimates the distance between the charging platform and the AUV by analyzing the attenuation of the received acoustic waves. The AUV analyzes the acquired acoustic wave signal to obtain the azimuth and distance of the platform frame 1, and then guides the AUV to approach the platform frame 1 through the AUV navigation system. In the embodiment of the present application, the first distance is 20m to 5000m, and the second distance is within 20m. The distance limit of 5000m is determined by the working range radius of the AUV. If the working range radius of the AUV is to be greater than 5000m, the power of the sonar device 4 can be enhanced to achieve longer-distance guidance.

[0062] Specifically, Figures 1 to 4 As shown, in the embodiment of the present invention, the second guiding device is preferably a USBL sensor 5, which emits sound waves and receives reflected sound waves from the AUV. The USBL sensor 5 calculates the relative position relationship between the AUV and the USBL sensor by analyzing the propagation time and phase difference of the sound waves received by multiple receivers, and sends the information to the AUV through sound waves. After receiving the information, the AUV adjusts the hull and speed and slowly approaches the connecting rod 3. This technology has the characteristics of high precision, strong real-time performance and strong adaptability, which facilitates the subsequent docking of the first connecting device 7 of the AUV with the connecting rod 3. In the embodiment of the present invention, the high-frequency ultrasonic wave emitted by the USBL sensor decays rapidly, the sound wave signal is weak at a distance, and the sound wave signal is strong at a close distance. Therefore, the AUV starts to receive the sound wave signal of the USBL sensor at a distance of 20m from the sonar device 4.

[0063] Specifically, Figures 1 to 3 In the embodiment of the present invention, since the LED illuminator 3 can provide bright and clear lighting effects in an underwater environment, and has low power consumption and a long service life, the third guiding device is preferably an LED illuminator 3, which is arranged at the bottom of the connecting rod 3 to illuminate the connecting rod 3. When the AUV approaches the connecting rod 3, the high-definition camera of the AUV takes a high-definition picture of the connecting rod 3 and compares it with the gallery in the navigation system. After successful recognition, the navigation system of the AUV controls the AUV to continue to move toward the connecting rod 3 and complete the docking according to the morphological characteristics of the connecting rod and the position information provided by the USBL.

[0064] Specifically, the angle adjustment component includes at least one two-dimensional code disposed on the platform plate 2. Figure 1 and Figure 2 As shown, in the embodiment of the present invention, a row of two-dimensional codes 8 are respectively provided at the front end and the rear end of the platform plate 2, and the number of two-dimensional codes in each row is 5. A scanning device is respectively provided at the front end and the rear end of the bottom of the AUV. The scanning device can only scan one two-dimensional code 8 at a time, and the position of the scanning device corresponds to the position of the leftmost two-dimensional code 8 in each row when the AUV accurately lands on the platform plate. When the first connecting device 7 on the AUV is docked with the connecting rod 3, the AUV starts to rotate horizontally with the connecting rod 3 as the origin to adjust its position. When the code scanning devices at the front and rear ends of the AUV scan the complete leftmost QR code 8 in each row, the angle calibration is completed; when the AUV scans other QR codes 8, the position information of the scanned QR code 8 can be obtained (that is, the coordinate information, the coordinate system takes the bottom of the connecting rod 3 as the origin, the direction from the connecting rod 3 to the rear end of the platform plate 2 is the positive direction of the X-axis, and the direction from the connecting rod 3 to the right side of the platform plate 2 is the positive direction of the Y-axis), the AUV navigation system calculates and analyzes the coordinate difference between the leftmost QR code 8 and the scanned QR code 8 and starts to adjust the angle. If the complete QR code 8 is not scanned during this period, the navigation system of the AUV does not process it, and the AUV continues to move until the QR code 8 is scanned.

[0065] Specifically, in order to realize the guiding function of the connecting rod 3 on the AUV, a first connecting device 7 is provided at the front end of the AUV and is slidably connected to the connecting rod 3. Figure 5 As shown, the first connecting device 7 includes a connecting block 7a, a connecting plate 7b and an elastic buckle 7c. The connecting block 7a is provided with a connecting plate 7b, and an opening 7d is reserved in the middle of the connecting plate 7b. A notch 7e is provided inside the opening 7d, and the notch 7e is connected to the opening 7d. An elastic buckle 7c is provided at the junction of the edge of the opening 7d and the notch 7e. Each elastic buckle is horizontally elastically rotated toward the inside of the notch 7e, and the connecting rod 3 squeezes the elastic buckle 7c to enter the notch 7e. The radius of the notch 7e is slightly larger than the radius of the connecting rod, so as to realize the slidable connection between the AUV and the connecting rod; similarly, the width of the opening 7d at the position of the corresponding guide plate 11 (i.e., the width of the opening 7d at 130mm from the center of the notch 7e) should also be slightly larger than the width of the guide plate 11, so that the guide plate 11 can pass through the opening 7d, thereby playing a role in fine-tuning the angle.

[0066] The premise for the charging platform to provide charging services stably and reliably is to achieve charging connection. The QR code 8, the first connecting device 7 and the guide plate 11 further adjust the angle of the AUV during its fall, so that the AUV accurately lands on the platform plate 2, so that the wireless charging device and the charging area of ​​the AUV are accurately docked, completing the charging connection between the two, and greatly improving the reliability of the charging platform.

[0067] like Figure 1 , Figure 2 , Figures 6 to 8 As shown, the second connection device 10 includes a limit groove 10a, a first limit block 10b and a second limit block 10c. Two parallel and spaced limit grooves 10a are provided on the platform plate 2. The limit grooves 10a extend along the front-rear direction of the platform plate 2, and are used to prevent the AUV from moving along the short side direction of the limit groove 10a after the AUV lands on the limit groove 10a. Figure 6 and Figure 8 As shown, the limiting groove 10a includes a horizontal section 13 and a vertical section 14 which are perpendicular to each other and fixedly connected. The vertical sections 14 of the two limiting grooves 10a are close to each other, and the top of each vertical section 14 is provided with a slope 15 which is inclined upward and toward the other limiting groove 10a.

[0068] like Figure 1 , Figure 2 , Figures 6 to 8 As shown, the first limit block 10b is fixedly arranged at the front end of the limit groove 10a; the second limit block 10c is slidably arranged at the rear end of the limit groove 10a; the first limit block 10b and the second limit block 10c are respectively arranged at both ends of each limit groove 10a; and a driving structure 12 for driving the second limit block 10c to slide is also arranged on the platform frame 1. The driving structure 12 includes a driving motor 12a arranged on the platform frame 1, and the output end of the driving motor 12a is connected to a screw rod 12b, and the screw rod 12b is threadedly connected to the second limit block 10c. Specifically, in the embodiment of the present invention, the first limit block 10b is fixedly connected to the horizontal section 13 of the limit groove 10a; and plug plates 22 are arranged at both ends of each limit groove 10a, which are used to prevent the cross section of the limit groove 10a from rusting and provide support for the driving structure 12. The screw rod 12b passes through the plug plate 22 and is threadedly connected to the second limit block 10c. A drive motor 12a is provided on the outside of the plug plate 22, and the output end of the drive motor 12a is connected to the screw rod 12b. In addition, a pressure sensor is provided on each limit groove 10a. When the AUV lands on the limit groove 10a, the pressure sensor sends a signal to the controller, and the controller controls the drive motor 12a to drive the screw rod 12b to rotate, thereby moving the second limit block along the limit groove 10a until it is pressed against the chassis of the AUV, limiting the movement of the AUV along the long side direction of the limit groove 10a.

[0069] The second connection device 10 fixes the AUV on the platform plate 2, restricting the horizontal movement of the AUV on the platform plate, and avoiding the situation where the AUV moves horizontally due to seawater intrusion, thereby affecting the charging connection between the AUV and the charging platform.

[0070] Furthermore, at least one lifting device is provided on the platform frame 1, and a fixing device is provided on the lifting device, and the lifting device is used to drive the fixing device to move up and down. Figure 1 , Figure 2 , Figure 6 and Fig. 9 As shown, in the embodiment of the present invention, the lifting device is preferably a hydraulic lifting rod 16, and the number of the lifting devices is four, which are respectively located on both sides of the front and rear ends of the platform plate 2, and the fixing device is preferably a self-unloading sling 17.

[0071] like Fig. 9 As shown, the self-unloading spreader 17 includes a locking rod 17a and a locking cap 17b. The bottom of the locking rod 17a is connected to the hydraulic lifting rod 16. A hollow truncated cone lock head 17c is fixedly arranged on the top of the locking rod 17a. A double truncated cone slider 17d that can slide axially along the locking rod 17a is arranged at the bottom of the locking rod 17a. A locking hole 17g for the locking rod 17a to be inserted is arranged inside the locking cap 17b. A slide groove 17e is arranged in the direction perpendicular to the locking hole 17g. A spring pin 17f is arranged in the slide groove 17e. The locking cap 17b is fixedly installed at the bottom of the AUV. When the controller controls the second limit block 10c to complete the fixing of the AUV, the controller controls the hydraulic lifting rod 16 to insert the locking rod 17a into the locking hole 17g. When the truncated cone lock head 17c moves past the spring pin 17f, the spring pin 17f is inserted between the truncated cone lock head 17c and the double truncated cone slider 17d to complete the fixing and locking of the AUV.

[0072] like Fig. 9 and Fig.10 As shown, after the AUV is fully charged, the controller controls the hydraulic lifting rod 16 to move upward, and the spring pin 17f is squeezed and contracted by the double-conical slider 17d, and finally gets stuck in the bottom of the double-conical slider 17d. At this time, the AUV moves upward, driving the double-conical slider 17d to move upward along the lock rod 17a, and the upper cone of the double-conical slider 17d enters the cone-shaped lock head 17c. The double-conical slider 17d and the cone-shaped lock head 17c merge to form a double-conical structure, and the spring pin 17f is squeezed and contracted by the double-conical structure, and finally the lock rod 17a and the lock cap 17b are separated and unlocked.

[0073] The self-unloading sling 17 is applied to the embodiment of the present invention as a fixing device, which can not only fix the AUV and limit the up and down movement of the AUV on the platform plate 2, thereby avoiding the up and down movement of the AUV caused by seawater intrusion, thereby affecting the charging connection between the AUV and the charging platform; it can also realize automatic unlocking, simplify the charging process, and release the AUV without manual intervention, thereby improving the charging efficiency.

[0074] Furthermore, at least one lifting device is provided on the platform frame 1, and a wireless charging device is provided on the lifting device, and the lifting device is used to drive the wireless charging device to move up and down. In the embodiment of the present invention, the lifting device is preferably a hydraulic lifting rod 16, and the wireless charging device is preferably a wireless charging plate 9. The number of the hydraulic lifting rod 16 and the wireless charging plate 9 are both one, which are arranged at the rear end of the platform plate 2. When the controller controls the self-unloading spreader 17 to complete the fixation of the AUV, the controller controls the hydraulic lifting rod 16 to lift the wireless charging plate 9 to the AUV charging area and maintain close contact, and charging starts after the charging connection is completed.

[0075] The wireless charging plate 9 is used to charge the AUV, so that the charging connection is converted from point-to-point to face-to-face, which greatly reduces the difficulty of charging connection and makes the charging platform more reliable and applicable.

[0076] Specifically, in the embodiment of the present invention, the platform frame and the platform plate are made of stainless steel. Figure 1 , Figure 2 , Figure 6 and Fig.11 As shown, the platform frame 1 includes four column legs 1a, the cross section of the column legs 1a is circular, and a circular base is provided at the bottom of the column legs 1a to enhance the stability of the platform frame 1a. The column legs 1a are divided into two groups, each group of column legs 1a has two column legs 1a, and each group of column legs 1a is parallel and spaced apart. Each group of two column legs 1a is welded and connected by a crossbeam 1b to form a frame structure system, and the platform plate 2 is welded on the crossbeam 1b.

[0077] like Figure 1 , Figure 2 , Figure 6 and Fig.11 As shown, in the embodiment of the present invention, the platform plate 2 is composed of a panel 2d, a secondary beam 2a, a vertical bar 2b and a vertical plate 2c. The four outermost secondary beams are welded end to end in sequence to form a secondary beam frame of the platform plate 2, and then a plurality of secondary beams 2a parallel to the short sides are arranged at intervals along the long side direction of the secondary beam frame to form a rectangular frame. The platform plate 2 contains two rectangular frames, which are parallel and arranged at intervals up and down. The extended areas of the front and rear ends of the two rectangular frames are connected by vertical plates 2c to improve the bearing capacity of the extended secondary beams 2a; in other areas, the secondary beams 2a of the two layers of rectangular frames are connected by welding at the connection points of the vertical bars 2b, and the vertical bars 2b are preferably square steel pipes. A panel 2d with a plurality of holes is laid on the upper rectangular frame to facilitate water flow through, and the panel 2d is preferably a thin steel plate. The lower rectangular frame is welded to the beam 1b of the platform frame 1, and the upper rectangular frame is connected to the platform frame 1 by stiffening ribs. It should be noted that the vertical plates 2b and stiffening ribs mentioned above need to be provided with round holes to facilitate the passage of water.

[0078] In addition, an underwater fluorescent lamp 21 is provided in the middle area of ​​the platform plate 2 to illuminate the charging platform, thereby helping underwater workers to find and avoid the charging platform and ensure the safety of the charging process.

[0079] In the embodiment of the present invention, the wireless charging process of the AUV is fully automated. When the AUV lands on the limit groove 10a, the pressure sensor on the limit groove 10a transmits a signal to the controller, and the controller starts to control the charging platform to sequentially complete the second moving block 10c moving to stop the AUV, the self-unloading spreader fixing the AUV, and the wireless charging plate 9 charging. The wireless charging plate 9 monitors the changes in charging current and voltage during the charging process. During the charging process of the AUV, the battery's demand for current decreases. When the current is lower than a certain threshold, it is considered that the AUV is fully charged, and the wireless charging plate 9 sends the signal to the controller. The controller controls the charging platform to sequentially complete the recovery of the wireless charging plate 9, unlocking the self-unloading spreader, and releasing the second moving block 10c.

[0080] like Fig.12 As shown, an embodiment of an AUV underwater charging method includes the following steps:

[0081] S1, an AUV at a first distance from the platform frame receives a sound wave signal emitted by a first guiding device, and the AUV approaches the platform frame according to the sound wave signal;

[0082] In S1, the first guiding device is the sonar device 4. When the sonar device 4 emits ultrasonic waves, the AUV sailing in the distance receives the ultrasonic waves emitted by the sonar device 4 through the acoustic signal receiving device. The AUV determines the approximate direction of the charging platform by analyzing the time difference and angle difference of the received sound waves; and estimates the distance between the charging platform and the AUV by analyzing the attenuation of the received sound waves. Then the AUV is guided to approach the platform frame 1 by the AUV navigation system. Among them, the first distance is 20m to 5000m.

[0083] S2, the AUV at a second distance from the platform frame receives the acoustic wave signal emitted by the second guidance device, and the AUV approaches the connecting rod;

[0084] In S2, the second guiding device is the USBL sensor 5, which emits sound waves and receives reflected sound waves from the AUV. The USBL sensor 5 analyzes the propagation time and phase difference of the received sound waves, calculates the relative position relationship between the AUV and the USBL sensor, and sends the information to the AUV through the sound waves. After receiving the information, the AUV adjusts the hull and speed and slowly approaches the connecting rod 3. The second distance is within 20m.

[0085] S3, using the third guiding device to illuminate the connecting rod, the AUV identifies the connecting rod, and connects to the connecting rod through the first connecting device;

[0086] In S3, the third guiding device uses an LED lighting lamp 3. When the AUV approaches the connecting rod 3, the high-definition camera of the AUV captures a high-definition picture of the connecting rod 3 and compares it with the picture library in the navigation system. After successful recognition, the navigation system of the AUV controls the AUV to continue to move toward the connecting rod 3 and complete the docking according to the morphological characteristics of the connecting rod and the position information provided by the USBL sensor 5.

[0087] S4, the AUV is connected to the angle adjustment component signal, the AUV adjusts the angle according to the angle adjustment component and descends along the connecting rod to land on the platform frame;

[0088] In S4, the angle adjustment component is a QR code 8. When the first connecting device 7 on the AUV is docked with the connecting rod 3, the AUV starts to rotate horizontally with the connecting rod 3 as the origin to adjust its position. When the code scanning devices at the front and rear ends of the AUV scan the complete leftmost QR code 8 in each row, the angle calibration is completed; when the AUV scans other QR codes 8, the position information of the scanned QR code 8 can be obtained, and the AUV navigation system calculates and analyzes the coordinate difference between the leftmost QR code 8 and the scanned QR code 8 and starts to adjust the angle. If the complete QR code 8 is not scanned during this period, the AUV navigation system does not process it, and the AUV continues to move until the QR code 8 is scanned.

[0089] S5. The second connecting device is fixedly connected to the AUV;

[0090] In S5, when the AUV lands on the limiting groove 10a, the pressure sensor sends a signal to the controller, and the controller controls the driving motor 12a to drive the screw rod 12b to rotate, thereby moving the second limiting block 10c along the limiting groove 10a until it is pressed against the chassis of the AUV.

[0091] S6. The wireless charging device is connected to the AUV for charging.

[0092] In S6, the wireless charging device is preferably a wireless charging plate 9. After the controller controls the second limit block 10c to fix the AUV, the controller controls the hydraulic lifting rod 16 to lift the wireless charging plate 9 to the AUV charging area and maintain close contact, and starts charging after the charging connection is completed.

[0093] Preferably, a step is added between S5 and S6: the fixing device is fixedly connected to the AUV.

[0094] Among them, the fixing device uses a self-locking sling 17. When the controller controls the second limit block 10c to fix the AUV, the controller controls the hydraulic lifting rod 16 to insert the locking rod 17a into the locking hole 17g. When the round cone lock head 17c moves through the elastic pin 17f, the elastic pin 17f is inserted between the round cone lock head 17c and the double round cone slider 17d, completing the fixing and locking of the AUV.

[0095] The working process of the present invention is as follows: an AUV underwater charging platform provided by an embodiment of the present invention comprises a platform frame 1, a platform plate 2 is installed on the top of the platform frame 1, a sonar device 4 is arranged at the rear end of the platform frame 1, and the AUV is guided to approach the charging platform at a long distance through sound wave signals; when the AUV approaches the charging platform, the USBL sensor 5 emits sound waves to guide the AUV to approach the connecting rod 3 at a short distance, and at the same time, the LED lighting lamp 6 illuminates the connecting rod 3, so that the connecting rod 3 is recognized by the AUV, and the AUV continues to move forward at a low speed until the first connecting device 7 completes docking with the connecting rod 3, and then the AUV scans the QR code 8 on the top surface of the platform plate 2, and adjusts the angle of the AUV according to the scanned code information of the QR code 8, and slowly descends. When the AUV falls to the top of the guide plate 11, the guide plate 11 passes through the edge of the opening 7d of the first connecting device 7, and the angle of the AUV is fine-tuned, and finally accurately lands on the limit groove 10a. Then the driving motor 12a drives the screw rod 12b to rotate, and the screw rod 12b drives the second limit block 10c to move along the limit groove 10a until it hits the underframe of the AUV; then the hydraulic lifting rod 16 sends the round table lock head 17c of the self-unloading spreader 17 into the lock cap 17b at the bottom of the AUV and fixes it with the AUV; finally, the hydraulic lifting rod 16 lifts the wireless charging plate 9 to the bottom of the AUV and makes close contact with it, and the AUV is charged after the charging connection is completed.

[0096] In summary, the embodiment of the present invention provides an AUV underwater charging platform and an underwater charging method. Through a sonar device, a USBL sensor, an LED lighting lamp and a first connecting device, the AUV is quickly approached to the charging platform and connected to the connecting rod. Then, the AUV angle is adjusted through a QR code and a guide plate, so that the AUV lands accurately on the limit slot, thereby realizing the precise connection between the AUV charging interface and the wireless charging device. At the same time, the second connecting device and the self-locking sling effectively fix the AUV in multiple ways, thereby avoiding the situation where the charging connection is unstable due to seawater disturbance. In addition, the AUV is charged by a wireless charging plate, so that the charging connection is converted from point-to-point to face-to-face, which greatly reduces the difficulty of charging connection. While ensuring the accurate connection between the charging interface and the wireless charging device, the present invention also reduces the difficulty of charging connection, avoids the influence of seawater disturbance, greatly enhances the reliability of the charging platform, enables the charging platform to provide charging services stably and continuously, and solves the technical problem in the prior art that the complex seabed environment affects the stable charging service provided by the charging platform.

[0097] The above are only preferred embodiments of the present invention. It should be pointed out that, for ordinary technicians in this technical field, several improvements and substitutions can be made without departing from the technical principles of the present invention. These improvements and substitutions should also be regarded as the scope of protection of the present invention.

Claims

1. An AUV underwater charging platform, used for AUV underwater charging, characterized in that: include: A platform frame (1), wherein a platform plate (2) is installed on the top of the platform frame (1); A connecting rod (3), wherein the connecting rod (3) is vertically fixed to the front end of the platform plate (2); A first guiding device (4), the first guiding device (4) being arranged at the rear end of the platform frame (1), the first guiding device (4) guiding the AUV to approach the platform frame (1) by means of sound waves; A second guiding device (5), the second guiding device (5) being arranged on the top of the connecting rod (3), and the second guiding device (5) guiding the front end of the AUV to approach the connecting rod (3) through sound waves; a third guiding device (6), the third guiding device (6) being arranged at the bottom of the connecting rod (3) and being used for illuminating the connecting rod (3) so that the connecting rod (3) can be identified by the AUV; The first guiding device (4) is used to guide the AUV at a first distance or a second distance from the platform frame (1), and the second guiding device (5) and the third guiding device (6) are used to guide the AUV at a second distance from the platform frame (1), and the first distance is greater than or equal to the second distance; A first connecting device (7) is provided at the front end of the AUV, and the first connecting device (7) and the connecting rod (3) slide up and down, and are used to guide the AUV to move from the upper part of the platform frame (1) to the platform frame (1); An angle adjustment component (8) is arranged on the platform plate (2), the angle adjustment component (8) is connected to the AUV signal, and the AUV adjusts the angle of the AUV according to the position information of the angle adjustment component (8); A wireless charging device (9), wirelessly connected to the AUV; A second connecting device (10), wherein the second connecting device (10) is arranged on the platform frame (1) so as to be fixedly connected to the AUV after the AUV adjusts its angle.

2. The AUV underwater charging platform according to claim 1, characterized in that: The angle adjustment component (8) comprises at least one two-dimensional code arranged on the platform plate (2).

3. The AUV underwater charging platform according to claim 1, characterized in that: The first connecting device (7) comprises a connecting block (7a), a connecting plate (7b) and an elastic buckle (7c); the connecting block (7a) is provided with a connecting plate (7b); an opening (7d) is reserved in the middle of the connecting plate (7b); a notch (7e) is provided inside the opening (7d); the notch (7e) is communicated with the opening (7d); an elastic buckle (7c) is provided at the junction of the edge of the opening (7d) and the notch (7e); each elastic buckle (7c) is elastically rotated horizontally toward the inside of the notch (7e); the connecting rod (3) squeezes the elastic buckle (7c) to enter the notch (7e).

4. The AUV underwater charging platform according to claim 3, characterized in that: A guide rod (11) is vertically arranged on the front side of the connecting rod (3), and the guide rod (11) is guided to move up and down along the edge of the opening (7d).

5. The AUV underwater charging platform according to claim 1, characterized in that: The second connecting device (10) comprises: Limiting grooves (10a), wherein the platform plate (2) is provided with two parallel and spaced limiting grooves (10a), and the limiting grooves (10a) extend along the front-rear direction of the platform plate (2); A first limiting block (10b), wherein the first limiting block (10b) is fixedly arranged at the front end of the limiting groove (10a); A second limiting block (10c), the second limiting block (10c) being slidably arranged at the rear end of the limiting groove (10a); The first limiting block (10b) and the second limiting block (10c) are respectively provided at both ends of each limiting groove (10a); The platform frame (1) is also provided with a driving structure (12) for driving the second limiting block (10c) to slide.

6. The AUV underwater charging platform according to claim 5, characterized in that: The driving structure (12) comprises a driving motor (12a) arranged on the platform frame (1); the output end of the driving motor (12a) is connected to a screw rod (12b); and the screw rod (12b) is threadedly connected to the second limit block (10c).

7. The AUV underwater charging platform according to claim 5, characterized in that: Each of the limiting grooves (10a) comprises a horizontal section (13) and a vertical section (14) which are perpendicular to each other and fixedly connected, the vertical sections (14) of the two limiting grooves (10a) are close to each other, and the top of each of the vertical sections (14) is provided with a slope (15) which is inclined upward and toward the other limiting groove (10a).

8. The AUV underwater charging platform according to claim 1, characterized in that: At least one lifting device (16) is provided on the platform frame (1), a fixing device (17) is provided on the lifting device (16), and the lifting device (16) is used to drive the fixing device (17) to move up and down; At least one lifting device (16) is arranged on the platform frame (1), a wireless charging device (9) is arranged on the lifting device (16), and the lifting device (16) is used to drive the wireless charging device (9) to move up and down.

9. The AUV underwater charging platform according to claim 1, characterized in that: A protection frame (18) is provided on the top of the connecting rod (3), and the second guiding device (5) is arranged in the protection frame (18); A base (19) is provided at the bottom of the connecting rod (3), and the base (19) is fixedly mounted on the top surface of the platform plate (2).

10. An AUV underwater charging method, characterized in that: The method is implemented by using the AUV underwater charging platform according to any one of claims 1 to 9, comprising the following steps: S1, the AUV at a first distance from the platform frame (1) receives the sound wave signal emitted by the first guiding device (4), and the AUV approaches the platform frame (1) according to the sound wave signal; S2, the AUV at a second distance from the platform frame (1) receives the sound wave signal emitted by the second guiding device (5), and the AUV approaches the connecting rod (3); S3, using the third guiding device (6) to illuminate the connecting rod (3), the AUV identifying the connecting rod (3), and connecting to the connecting rod (3) through the first connecting device (7); S4, the AUV is connected to the angle adjustment component (8) by signal, the AUV adjusts its angle according to the angle adjustment component (8) and descends along the connecting rod (3) to land on the platform frame (1); S5. The second connecting device (10) is fixedly connected to the AUV; S6. The wireless charging device (9) is connected to the AUV for charging.

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