An AUV underwater charging platform and underwater charging method

Abstract

This invention relates to the field of charging equipment technology, and discloses an AUV underwater charging platform and underwater charging method. The charging platform includes a platform frame, a platform plate mounted on top of the platform frame, a connecting rod at the front end of the platform plate, a first guiding device at the rear end of the platform frame, and second and third guiding devices respectively located at the top and bottom of the connecting rod. A first connecting device is located at the front end of the AUV. An angle adjustment component, a second connecting device, and a wireless charging device are provided on the platform plate. The three guiding devices and the first connecting device bring the AUV close to the platform and align it with the connecting rod. The angle adjustment component adjusts the hull angle, allowing the AUV to land precisely on the platform plate and be secured by the second connecting device. Then, the wireless charging device charges the AUV. The underwater charging platform and underwater charging method provided by this invention improve the charging stability of the charging platform and solve the technical problem of the complex underwater environment affecting the stable charging of the charging platform.

Description

Technical Field

[0001] This invention relates to the field of charging equipment technology, and in particular to an AUV underwater charging platform. Background Technology

[0002] Currently, underwater unmanned vehicles are mainly divided into remotely operated vehicles (ROVs) and autonomous underwater vehicles (AUVs). ROVs are connected to a mother ship via a cable, and the energy required for their operation is supplied by the mother ship through the cable. This allows ROVs to perform long-duration, high-load operations, but the presence of the cable limits their operating range, thus limiting their application to fixed-point operations with limited mobility. AUVs, on the other hand, are self-powered, requiring no mother ship support, and can achieve autonomous navigation, making them widely used in large-scale deep-sea exploration. Because AUVs have limited onboard power, underwater charging platforms are typically used to recharge them to extend their range.

[0003] Underwater charging methods for AUVs are mostly contact charging. One method involves connecting the AUV to the charging station via a connector, while the other uses a robotic arm to connect the AUV's charging port to the charging station's charging interface. Both methods require high operational precision and stability. Moreover, underwater charging platforms are situated on the seabed, where the complex and variable underwater environment significantly impacts the precision and stability of the docking operation between the AUV and the charging platform. This increases the difficulty of achieving precise docking, making it impossible to charge the AUV without precise docking. Consequently, the underwater charging platform cannot provide a stable charging service, resulting in significant inconvenience for users. Summary of the Invention

[0004] The technical problem this invention aims to solve is that the complex and ever-changing underwater environment greatly affects 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 a stable charging service and being very inconvenient to use.

[0005] To address the aforementioned technical problems, this invention provides an AUV underwater charging platform, comprising:

[0006] Platform frame, with a platform plate installed on top;

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

[0008] The first guiding device is located at the rear end of the platform frame and guides the AUV to approach the platform frame via sound waves.

[0009] The second guiding device is located at the top of the connecting rod. The second guiding device guides the front end of the AUV close to the connecting rod through sound waves.

[0010] The third guiding device is located at the bottom of the connecting rod and is used to illuminate the connecting rod so that it can be identified by the AUV.

[0011] The first guiding device is used to guide an 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 an AUV at a second distance from the platform frame, wherein the first distance is greater than or equal to the second distance.

[0012] The front end of the AUV is equipped with a first connecting device, which slides up and down with the connecting rod to guide the AUV from the upper part of the platform frame to the platform frame.

[0013] An angle adjustment component is mounted on the platform plate. The angle adjustment component is connected to the AUV signal, and the AUV adjusts its angle according to the position information of the angle adjustment component.

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

[0015] The second connecting device is mounted on the platform frame to be fixedly connected to the AUV after the AUV's angle is adjusted.

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

[0017] In some embodiments of this application, the first connecting device includes a connecting block, a connecting plate, and an elastic buckle. The connecting block is provided with a connecting plate, and an opening is reserved in the middle of the connecting plate. A notch is provided inside the opening, and the notch communicates with the opening. An elastic buckle is provided at the junction of the edge of the opening and the notch. Each elastic buckle rotates horizontally elastically toward the inside of the notch, and the connecting rod squeezes the elastic buckle to enter the notch.

[0018] In some embodiments of this application, a guide rod is vertically provided on the front side of the connecting rod, and the guide rod moves up and down along the edge of the opening.

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

[0020] The platform plate has two parallel and spaced-apart limiting grooves that extend along the front-rear direction of the platform plate.

[0021] The first limiting block is fixedly installed at the front end of the limiting groove;

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

[0023] Each limiting groove has a first limiting block and a second limiting block at both ends;

[0024] The platform frame is also equipped with a drive structure for driving the second limit block to slide.

[0025] In some embodiments of this application, the drive structure includes a drive motor mounted on a platform frame, and the output end of the drive motor is connected to a lead screw, which is threadedly connected to a second limit block.

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

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

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

[0029] In some embodiments of this application, a protective frame is provided at the top of the connecting rod, and the second guide device is disposed inside the protective frame;

[0030] The bottom of the connecting rod is equipped with a base, which is fixedly installed on the top surface of the platform plate.

[0031] An underwater charging method for an AUV, implemented using the underwater charging platform for an AUV as described in any one of claims 1 to 9, includes the following steps:

[0032] S1. An AUV at a distance of a first distance from the platform receives an acoustic signal emitted by a first guiding device, and the AUV approaches the platform based on the acoustic signal.

[0033] S2. The AUV at a distance of the second distance from the platform receives the acoustic signal emitted by the second guiding device, and the AUV approaches the connecting rod.

[0034] S3. The connecting rod is illuminated by the third guiding device, 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. The AUV adjusts its 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, wireless charging device connected to AUV charging.

[0038] This invention discloses an underwater charging platform and method for an AUV (Aerial Vehicle). Through a first guiding device, a second guiding device, a third guiding device, and a first connecting device, the AUV quickly approaches the charging platform and connects to a connecting rod. Then, an angle adjustment component adjusts the AUV's angle, allowing it to land precisely on the platform, achieving a precise connection between the AUV's charging area and the wireless charging device. The second connecting device secures the AUV to the charging platform, preventing seawater disturbance from affecting the charging connection and causing charging instability. Simultaneously, the use of a wireless charging device to charge the AUV transforms the charging connection from point-to-point to face-to-face, significantly reducing the difficulty of establishing the charging connection. This invention ensures accurate connection between the charging interface and the wireless charging device while reducing the difficulty of the charging connection, avoiding the influence of seawater disturbance, and greatly enhancing the reliability of the charging platform. This enables the charging platform to provide stable and continuous charging services, solving the technical problem in the prior art where complex seabed environments affect the stable charging service provided by the charging platform. Attached Figure Description

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

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

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

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

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

[0044] Figure 6 This is an embodiment of the present invention. Figure 2 AA cross-section diagram;

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

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

[0047] Figure 9 This is a schematic diagram of the locking structure of the self-unloading lifting device according to an embodiment of the present invention;

[0048] Figure 10 This is a schematic diagram of the self-unloading lifting device unlocking structure according to an embodiment of the present invention;

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

[0050] Figure 12 This is a schematic flowchart of the AUV underwater charging method according to an embodiment of the present invention.

[0051] In the diagram, 1. Platform frame; 1a. Column leg; 1b. Crossbeam; 2. Platform plate; 2a. Secondary crossbeam; 2b. Vertical rod; 2c. Vertical plate; 2d. Panel; 3. Connecting rod; 4. Sonar device; 5. USBL sensor; 6. LED lighting; 7. First connecting device; 7a. Connecting block; 7b. Connecting plate; 7c. Elastic buckle; 7d. Opening; 7e. Notch; 8. QR code; 9. Wireless charging plate; 10. Second connecting device; 10a. Limiting groove; 10b. First limiting block; 10c. Second limiting block; 11. Guide plate; 11a. Straight section; 11b. Arched section; 12. Drive structure; 12a. Drive motor; 12b. Lead screw; 13. Horizontal section; 14. Vertical section; 15. Slope; 16. Hydraulic lifting rod; 17. Self-unloading lifting device; 17a. Locking rod; 17b. Lock cap; 17c. Frustum-shaped lock head; 17d. Double frustum-shaped slider; 17e. Slide groove; 17f. Spring pin; 17g. Lock hole; 18. Protective frame; 19. Circular base; 20. Fastener; 21. Underwater fluorescent lamp; 22. End plate. Detailed Implementation

[0052] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and are not intended to limit the scope of the invention.

[0053] In the description of this invention, it should be understood that the terms "upper", "lower", "vertical", "horizontal", "bottom", "inner", "outer" and other terms used in this invention to indicate the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0054] It should be understood that the terms "first," "second," etc., are used in this invention to describe various types of information, but these terms are not limited to them; they are only used to distinguish information of the same type from one another. For example, without departing from the scope of this 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 this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0056] like Figure 1 and Figure 2 As shown, a preferred embodiment of the present invention provides an AUV underwater charging platform, comprising a platform frame 1, with a platform plate 2 mounted on the top of the platform frame 1; a connecting rod 3 vertically fixed to the front end of the platform plate 2; a first guiding device disposed at the rear end of the platform frame 1, which guides the AUV closer to the platform frame 1 via sound waves; a second guiding device disposed at the top of the connecting rod 3, which guides the front end of the AUV closer to the connecting rod 3 via sound waves; and a third guiding device disposed at the bottom of the connecting rod, 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 distance of a first distance or a second distance from the platform frame 1. The UV, second guide device, and third guide device are used to guide the AUV at a second distance from the platform frame 1, where the first distance is greater than or equal to the second distance. The front end of the AUV is provided with a first connecting device 7, which slides up and down with the connecting rod 3 to guide the AUV to move from the upper part of the platform frame 1 onto the platform frame 1. An angle adjustment component is provided on the platform plate 2 and is connected to the AUV signal. The AUV adjusts its angle according to the position information of the angle adjustment component. A 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 its angle.

[0057] In this embodiment of the invention, the AUV is quickly brought close to the charging platform and connected to the connecting rod 3 via a first guiding device, a second guiding device, a third guiding device, and a first connecting device 7. Then, the angle of the AUV is adjusted by an angle adjustment component, allowing the AUV to land precisely on the platform plate 2, achieving a precise connection between the AUV's charging area and the wireless charging device. The second connecting device 10 fixes the AUV to the charging platform, preventing seawater disturbance from affecting the AUV's charging connection and causing charging instability. At the same time, the use of a wireless charging device to charge the AUV changes the charging connection from point-to-point to face-to-face, greatly reducing the difficulty of charging connection.

[0058] The embodiments of the present invention ensure accurate connection between the charging interface and the wireless charging device, while reducing the difficulty of charging connection, avoiding the impact of seawater disturbance, greatly enhancing the reliability of the charging platform, enabling the charging platform to provide stable and continuous charging services, and solving the technical problem in the prior art where the complex underwater environment affects the charging platform to provide stable charging services.

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

[0060] Furthermore, such as 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 moves up and down along the edge of the opening 7d. In this embodiment of the invention, the guide rod is preferably a guide plate 11, which includes a straight plate section 11a and an arched section 11b at the top of the straight plate section 11a. The design of the arched section 11b facilitates the arched plate 9 passing through the opening 7d of the first connecting device 7. The guide plate 11 is 1200mm high and 130mm parallel to the connecting rod 3. Its bottom is fixed on the circular base 13, and the middle area is fixed to the connecting rod 3 by a snap fastener 20. During the descent of the AUV, when there is an angular deviation of the AUV, the edge of the opening 7d of the first connecting device 7 is squeezed against the arched section 11b at the top of the guide plate 11. The AUV slides down along the arched section 11b, and finally the guide plate 11 is forcibly squeezed into the opening 7d. The squeezing force of the guide plate 11 on the edge of the opening 7d further adjusts the angle of the AUV.

[0061] Specifically, such as Figure 1 and Figure 2As shown, in this embodiment of the invention, since the low-frequency ultrasonic waves emitted by the sonar device 4 have good directionality and penetration ability in seawater, the first guiding device in this embodiment is preferably the sonar device 4. The sonar device 4 is located at the rear end of the platform frame 1 and guides the distant AUV to approach the platform frame 1 by emitting ultrasonic waves. When the sonar device 4 emits ultrasonic waves, the AUV sailing at a distance receives the ultrasonic waves emitted by the sonar device 4 through a sound wave signal receiving device. The sound wave signal receiving device includes multiple receivers. The AUV determines the approximate direction of the charging platform by analyzing the time and angle differences of the sound waves received by the multiple receivers; and estimates the distance between the charging platform and the AUV by analyzing the attenuation of the received sound waves. The AUV analyzes the obtained sound wave signals to obtain the azimuth and distance of the platform frame 1, and then guides itself to approach the platform frame 1 through the AUV navigation system. In this embodiment, the first distance is 20m to 5000m, and the second distance is within 20m. The 5000m distance limit is determined by the working radius of the AUV. If the working radius of the AUV needs to be greater than 5000m, the power of the sonar device 4 can be increased to achieve guidance over a longer distance.

[0062] Specifically, such as Figures 1 to 4 As shown, in this embodiment of the invention, the second guiding device is preferably a USBL sensor 5. The USBL sensor 5 emits sound waves and receives reflected sound waves from the AUV. The USBL sensor 5 calculates the relative positional relationship between the AUV and the USBL sensor by analyzing information such as the propagation time and phase difference of the sound waves received by multiple receivers, and sends this information to the AUV via sound waves. After receiving this information, the AUV adjusts its hull and speed, slowly approaching the connecting rod 3. This technology has the characteristics of high precision, strong real-time performance, and strong adaptability, facilitating the subsequent docking of the AUV's first connecting device 7 with the connecting rod 3. In this embodiment of the invention, the high-frequency ultrasonic waves emitted by the USBL sensor attenuate rapidly, with weak sound wave signals at a distance and strong sound wave signals at close range. Therefore, the AUV begins to receive the sound wave signals from the USBL sensor at a distance of 20m from the sonar device 4.

[0063] Specifically, such as Figures 1 to 3 As shown. In this embodiment of the invention, since the LED light 3 can provide bright and clear lighting in the underwater environment, and has low power consumption and long service life, the third guiding device is preferably the LED light 3. The LED light 3 is set at the bottom of the connecting rod 3 to illuminate the connecting rod 3. When the AUV approaches the connecting rod 3, the AUV's high-definition camera captures a high-definition image of the connecting rod 3 and compares it with the image library in the navigation system. After successful identification, the AUV's navigation system controls the AUV to continue moving towards the connecting rod 3 and complete the docking based on the shape characteristics of the connecting rod and the position information provided by the USBL.

[0064] Specifically, the angle adjustment component includes at least one QR code mounted on the platform plate 2. For example... Figure 1 and Figure 2 As shown in the embodiment of the present invention, a row of QR codes 8 is respectively set at the front end and the rear end of the platform plate 2, and the number of QR codes in each row is 5. A scanning device is respectively set at the front end and the rear end of the bottom of the AUV. The scanning device can only scan one QR code 8 at a time, and the position of the scanning device corresponds to the position of the leftmost QR code 8 in each row when the AUV lands accurately on the platform plate. After the first connecting device 7 on the AUV is docked with the connecting rod 3, the AUV begins to rotate horizontally to adjust its position with the connecting rod 3 as the origin. When the scanning devices at the front and rear of the AUV scan the complete leftmost QR code 8 of each row, the angle calibration is completed. When the AUV scans other QR codes 8, it can obtain the position information (i.e., coordinate information, with the coordinate system having the bottom of the connecting rod 3 as the origin, the direction from the connecting rod 3 to the rear of the platform plate 2 as the positive X-axis, and the direction from the connecting rod 3 to the right side of the platform plate 2 as the positive 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 begins to adjust the angle. During this period, if a complete QR code 8 is not scanned, the AUV navigation system does not process it, and the AUV continues to move until a QR code 8 is scanned.

[0065] Specifically, in order to enable the connecting rod 3 to guide 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. For example... Figure 5 As shown, the first connecting device 7 includes a connecting block 7a, a connecting plate 7b, and elastic buckles 7c. The connecting block 7a is provided with the connecting plate 7b, and the connecting plate 7b has an opening 7d in the middle. A notch 7e is provided inside the opening 7d, and the notch 7e communicates 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 rotates horizontally elastically towards the inside of the notch 7e. The connecting rod 3 presses 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, thereby realizing the slidable connection between the AUV and the connecting rod. Similarly, the width of the opening 7d at the position corresponding to the guide plate 11 (i.e., the width of the opening 7d 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 prerequisite for a stable and reliable charging platform to provide charging services is to achieve a 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 descent, ensuring that the AUV lands accurately on the platform plate 2. This allows the wireless charging device and the charging area of ​​the AUV to accurately align, 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 connecting device 10 includes a limiting groove 10a, a first limiting block 10b, and a second limiting block 10c. Two parallel and spaced limiting grooves 10a are provided on the platform plate 2. The limiting grooves 10a extend along the front-rear direction of the platform plate 2, preventing the AUV from moving along the shorter side of the limiting groove 10a after it lands on the limiting groove 10a. Further, as... Figure 6 and Figure 8 As shown, the limiting groove 10a includes a horizontal section 13 and a vertical section 14 that 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 ramp 15 that slopes upward toward the other limiting groove 10a.

[0068] like Figure 1 , Figure 2 , Figures 6 to 8 As shown, the first limiting block 10b is fixedly disposed at the front end of the limiting groove 10a; the second limiting block 10c is slidably disposed at the rear end of the limiting groove 10a; each end of the limiting groove 10a is provided with a first limiting block 10b and a second limiting block 10c respectively; the platform frame 1 is also provided with a driving structure 12 for driving the second limiting block 10c to slide. The driving structure 12 includes a driving motor 12a disposed on the platform frame 1, the output end of the driving motor 12a is connected to a lead screw 12b, and the lead screw 12b is threadedly connected to the second limiting block 10c. Specifically, in this embodiment of the invention, the first limiting block 10b is fixedly connected to the horizontal section 13 of the limiting groove 10a; each end of the limiting groove 10a is provided with a plug plate 22 to prevent the cross section of the limiting groove 10a from rusting, and at the same time to provide support for the driving structure 12. The lead screw 12b passes through the end cap plate 22 and is threadedly connected to the second limiting block 10c. A drive motor 12a is installed on the outside of the end cap plate 22, and the output end of the drive motor 12a is connected to the lead screw 12b. In addition, pressure sensors are installed on each limiting groove 10a. When the AUV lands on the limiting groove 10a, the pressure sensor sends a signal to the controller. The controller controls the drive motor 12a to drive the lead screw 12b to rotate, thereby moving the second limiting block along the limiting groove 10a until it presses against the AUV's base frame, restricting the AUV's movement along the long side of the limiting groove 10a.

[0069] The second connecting device 10 fixes the AUV to the platform plate 2, restricting the horizontal movement of the AUV on the platform plate and preventing seawater intrusion from causing the AUV to move horizontally, 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. The lifting device is used to drive the fixing device to move up and down. Figure 1 , Figure 2 , Figure 6 and Figure 9 As shown, in this embodiment of the invention, the lifting device is preferably a hydraulic lifting rod 16, and there are four lifting devices, which are located on both sides of the front and rear ends of the platform plate 2 respectively. The fixing device is preferably a self-unloading hoist 17.

[0071] like Figure 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 a hydraulic lifting rod 16. A hollow frustum-shaped locking head 17c is fixedly installed at the top of the locking rod 17a. A double frustum-shaped slider 17d, which can slide along the axial direction of the locking rod 17a, is provided at the bottom of the locking rod 17a. The locking cap 17b has a locking hole 17g for the locking rod 17a to be inserted into. A groove 17e is provided perpendicular to the locking hole 17g. A spring pin 17f is provided in the 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 AUV fixing, the controller controls the hydraulic lifting rod 16 to insert the locking rod 17a into the locking hole 17g. When the frustum-shaped locking head 17c moves past the spring pin 17f, the spring pin 17f engages between the frustum-shaped locking head 17c and the double frustum-shaped slider 17d, thus fixing and locking the AUV.

[0072] like Figure 9 and Figure 10 As shown, after the AUV is fully charged, the controller controls the hydraulic lifting rod 16 to move upward. The spring pin 17f is squeezed and contracted by the double frustum slider 17d, eventually locking into the bottom of the double frustum slider 17d. At this time, the AUV moves upward, driving the double frustum slider 17d to move upward along the locking rod 17a. The upper frustum of the double frustum slider 17d enters the frustum lock head 17c. The double frustum slider 17d and the frustum lock head 17c merge to form a double frustum structure. The spring pin 17f is squeezed and contracted by the double frustum structure, and finally the locking rod 17a and the lock cap 17b separate and unlock.

[0073] The self-unloading spreader 17 is used as a fixing device in this embodiment of the invention. It can not only fix the AUV and restrict the AUV's vertical movement on the platform plate 2, thus avoiding the situation where seawater disturbance causes the AUV to move up and down, thereby affecting the charging connection between the AUV and the charging platform; it can also realize automatic unlocking, simplifying the charging process, and releasing the AUV without manual intervention, thereby improving 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. The lifting device is used to drive the wireless charging device to move up and down. In this embodiment of the invention, the lifting device is preferably a hydraulic lifting rod 16, and the wireless charging device is preferably a wireless charging plate 9. There is one hydraulic lifting rod 16 and one wireless charging plate 9, which are located at the rear end of the platform plate 2. After the controller controls the self-unloading spreader 17 to complete the fixing of the AUV, the controller controls the hydraulic lifting rod 16 to raise the wireless charging plate 9 to the AUV charging area and maintain close contact. After the charging connection is completed, charging begins.

[0075] The wireless charging pad 9 is used to charge the AUV, changing the charging connection 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 this embodiment of the invention, both the platform frame and the platform plate are made of stainless steel. For example... Figure 1 , Figure 2 , Figure 6 and Figure 11 As shown, the platform frame 1 includes four column legs 1a, each with a circular cross-section. A circular base is provided at the bottom of each column leg 1a to enhance the stability of the platform frame 1a. The column legs 1a are divided into two groups, with two column legs 1a in each group. The column legs 1a in each group are arranged parallel and spaced apart. The two column legs 1a in each group are welded together by a crossbeam 1b to form a frame structure system. The platform plate 2 is welded onto the crossbeam 1b.

[0077] like Figure 1 , Figure 2 , Figure 6 and Figure 11 As shown, in this embodiment of the invention, the platform plate 2 consists of a panel 2d, secondary crossbeams 2a, vertical rods 2b, and vertical plates 2c. The four outermost secondary crossbeams are welded end to end to form the secondary crossbeam frame of the platform plate 2. Then, multiple secondary crossbeams 2a parallel to the short side are arranged at intervals along the long side of the secondary crossbeam frame to form a rectangular frame. The platform plate 2 includes two rectangular frames, which are parallel and spaced vertically. The extended areas at the front and rear ends of the two rectangular frames are connected by vertical plates 2c to improve the load-bearing capacity of the extended secondary crossbeams 2a. In other areas, the secondary crossbeams 2a of the two rectangular frames are welded together by vertical rods 2b, which are preferably square steel pipes. A panel 2d with several holes is laid on the upper rectangular frame to facilitate water flow. The panel 2d is preferably a thin steel plate. The lower rectangular frame is welded to the crossbeams 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 both the vertical plate 2b and the stiffening ribs mentioned above need to have round holes to facilitate water flow.

[0078] In addition, an underwater fluorescent light 21 is installed in the central area of ​​the platform plate 2 to illuminate the charging platform, which helps underwater workers to find and avoid the charging platform and ensures the safe conduct of the charging process.

[0079] In this embodiment of the invention, the wireless charging process of the AUV is fully automated. When the AUV lands on the limiting groove 10a, the pressure sensor on the limiting groove 10a transmits a signal to the controller. The controller then controls the charging platform to sequentially move the second moving block 10c to lock the AUV in place, fix the AUV with the self-unloading lifting device, and charge the wireless charging plate 9. During the charging process, the wireless charging plate 9 monitors changes in charging current and voltage. As the AUV charges, the battery's current demand decreases. When the current falls below a certain threshold, the AUV is considered fully charged, and the wireless charging plate 9 sends this signal to the controller. The controller then controls the charging platform to sequentially retrieve the wireless charging plate 9, unlock the self-unloading lifting device, and release the second moving block 10c.

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

[0081] S1. An AUV at a distance of a first distance from the platform receives an acoustic signal emitted by a first guiding device, and the AUV approaches the platform based on the acoustic signal.

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

[0083] S2. The AUV at a distance of the second distance from the platform receives the acoustic signal emitted by the second guiding device, and the AUV approaches the connecting rod.

[0084] In S2, the second guiding device is a USBL sensor 5. The USBL sensor 5 emits sound waves and receives reflected sound waves from the AUV. It analyzes information such as the propagation time and phase difference of the received sound waves, calculates the relative position between the AUV and the USBL sensor, and sends this information to the AUV via sound waves. Upon receiving this information, the AUV adjusts its hull and speed, slowly approaching the connecting rod 3. The second distance is within 20 meters.

[0085] S3. The connecting rod is illuminated by the third guiding device, 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 LED lighting 3. When the AUV approaches the connecting rod 3, the AUV's high-definition camera captures a high-definition image of the connecting rod 3 and compares it with the image library in the navigation system. After successful identification, the AUV's navigation system controls the AUV to continue moving towards the connecting rod 3 and complete the docking based on the shape 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. The AUV adjusts its 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 the QR code 8. After the first connecting device 7 on the AUV is docked with the connecting rod 3, the AUV starts to rotate horizontally around the connecting rod 3 as the origin to adjust its position. When the scanning devices at the front and rear of the AUV scan the complete leftmost QR code 8 of each row, the angle calibration is completed. When the AUV scans other QR codes 8, it can obtain the position information of the scanned QR code 8. 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. During this period, if a complete QR code 8 is not scanned, the AUV navigation system does not process it, and the AUV continues to move until a QR code 8 is scanned.

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

[0090] In S5, after the AUV lands on the limiting groove 10a, the pressure sensor sends a signal to the controller, which controls the drive motor 12a to rotate the lead screw 12b, thereby moving the second limiting block 10c along the limiting groove 10a until it presses against the AUV's base frame.

[0091] S6, wireless charging device connected to AUV 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 complete the AUV fixing, the controller controls the hydraulic lifting rod 16 to raise the wireless charging plate 9 to the AUV charging area and maintain close contact. After the charging connection is completed, charging begins.

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

[0094] The fixing device is a self-locking lifting device 17. After 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. After the frustum-shaped lock head 17c moves past the spring pin 17f, the spring pin 17f is engaged between the frustum-shaped lock head 17c and the double frustum-shaped slider 17d, thus completing the fixing and locking of the AUV.

[0095] The working process of this invention is as follows: An underwater charging platform for an AUV provided in this embodiment includes a platform frame 1, a platform plate 2 installed on the top of the platform frame 1, and a sonar device 4 located at the rear end of the platform frame 1. The sonar device 4 guides the AUV to approach the charging platform from a distance using 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 close distance. At the same time, the LED light 6 illuminates the connecting rod 3, making the connecting rod 3 recognized by the AUV. The AUV continues to move forward at a low speed until the first connecting device 7 docks with the connecting rod 3. 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 scanning information of the QR code 8. The AUV descends slowly. 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 to fine-tune the angle of the AUV. Finally, the AUV lands accurately on the limiting groove 10a. Then, the drive motor 12a drives the lead screw 12b to rotate, and the lead screw 12b drives the second limit block 10c to move along the limit groove 10a until it stops against the base frame of the AUV; then the hydraulic lifting rod 16 sends the frustum-shaped lock head 17c of the self-unloading hoist 17 into the lock cap 17b at the bottom of the AUV and fixes it to the AUV; finally, the hydraulic lifting rod 16 raises the wireless charging plate 9 to the bottom of the AUV and makes close contact, and charges the AUV after completing the charging connection.

[0096] In summary, this invention provides an AUV underwater charging platform and method. Using a sonar device, a USBL sensor, LED lighting, and a first connecting device, the AUV quickly approaches the charging platform and connects to the connecting rod. Then, by using a QR code and a guide plate to adjust the AUV's angle, it precisely lands on the limiting slot, achieving a precise connection between the AUV's charging interface and the wireless charging device. Simultaneously, a second connecting device and a self-locking lifting device effectively secure the AUV, preventing instability caused by seawater disturbance. Furthermore, using a wireless charging pad to charge the AUV transforms the charging connection from point-to-point to face-to-face, significantly reducing the difficulty of establishing the connection. This invention ensures accurate connection between the charging interface and the wireless charging device while reducing the difficulty of the connection, avoiding the impact of seawater disturbance, and greatly enhancing the reliability of the charging platform. This allows the charging platform to provide a stable and continuous charging service, solving the technical problem in the prior art where the complex underwater environment affects the stable charging service provided by the charging platform.

[0097] The above are merely preferred embodiments of the present invention. It should be noted that those skilled in the art can make several improvements and substitutions without departing from the technical principles of the present invention, and these improvements and substitutions should also be considered within the scope of protection of the present invention.

Claims

1. An underwater charging platform for AUVs, used for underwater charging of AUVs, characterized in that, include: Platform frame (1), with a platform plate (2) mounted on 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 (4) is disposed at the rear end of the platform frame (1), and the first guiding device (4) guides the AUV to approach the platform frame (1) by means of sound waves; The second guiding device (5) is disposed on the top of the connecting rod (3). The second guiding device (5) guides the front end of the AUV close to the connecting rod (3) by sound waves. The third guiding device (6) is disposed at the bottom of the connecting rod (3) 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 (4) is used to guide the AUV at a first distance or a second distance from the platform frame (1), 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), wherein the first distance is greater than or equal to the second distance; The front end of the AUV is provided with a first connecting device (7), which slides up and down with the connecting rod (3) to guide the AUV from the upper part of the platform frame (1) to the platform frame (1); An angle adjustment component (8) is disposed on the platform plate (2). The angle adjustment component (8) is connected to the AUV signal. The AUV adjusts the angle of the AUV according to the position information of the angle adjustment component (8). A wireless charging device (9) is wirelessly connected to the AUV; A second connecting device (10) is disposed on the platform frame (1) 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) includes at least one QR code set on the platform plate (2).

3. The AUV underwater charging platform according to claim 1, characterized in that, 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 the 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) communicates 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) rotates horizontally elastically towards the inside of the notch (7e). The connecting rod (3) presses 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) moves 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) includes: Limiting groove (10a): Two parallel and spaced limiting grooves (10a) are provided on the platform plate (2), and the limiting grooves (10a) extend along the front and rear direction of the platform plate (2); The first limiting block (10b) is fixedly disposed at the front end of the limiting groove (10a); The second limiting block (10c) is slidably disposed at the rear end of the limiting groove (10a); Each of the limiting grooves (10a) is provided with a first limiting block (10b) and a second limiting block (10c) at both ends; The platform frame (1) is also provided with a drive 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 drive structure (12) includes a drive motor (12a) mounted on the platform frame (1), and the output end of the drive motor (12a) is connected to a lead screw (12b), which is threadedly connected to the second limiting block (10c).

7. The AUV underwater charging platform according to claim 5, characterized in that, Each of the limiting grooves (10a) includes a horizontal section (13) and a vertical section (14) that 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 ramp (15) that slopes upward 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), and a fixing device (17) is provided on the lifting device (16). The lifting device (16) is used to drive the fixing device (17) to move up and down. At least one lifting device (16) is provided on the platform frame (1), and a wireless charging device (9) is provided on the lifting device (16). 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, The top of the connecting rod (3) is provided with a protective frame (18), and the second guide device (5) is disposed inside the protective frame (18); The bottom of the connecting rod (3) is provided with a base (19), and the base (19) is fixedly installed on the top surface of the platform plate (2).

10. A method for underwater charging of an AUV, characterized in that, Implementing this method using the AUV underwater charging platform according to any one of claims 1 to 9 includes the following steps: S1. The AUV, which is at a first distance from the platform frame (1), receives an acoustic signal emitted by the first guiding device (4), and the AUV approaches the platform frame (1) based on the acoustic signal. S2. The AUV, which is at a second distance from the platform frame (1), receives the acoustic signal emitted by the second guiding device (5) and the AUV approaches the connecting rod (3). S3. The connecting rod (3) is illuminated by the third guiding device (6), the AUV identifies the connecting rod (3) and connects to the connecting rod (3) through the first connecting device (7); S4. The AUV is signal-connected to the angle adjustment component (8). 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 charging device.

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