Platform type seabed connection device and seabed connection method for large AUV (Autonomous Underwater Vehicle)

Abstract

The invention discloses a platform type seabed connection device and a seabed connection method for a large AUV (Autonomous Underwater Vehicle). The seabed connection device comprises a butt joint platform and two butt joint arms arranged on the butt joint platform at intervals, and the large AUV is located above the butt joint platform. The top ends of the two butt-joint arms are provided with arresting cables, two sets of butt-joint interfaces used for being in butt joint with a seabed connection device are arranged at the bottom of the large AUV at intervals, and the distance between the two sets of butt-joint interfaces is equal to the distance between the two sets of butt-joint arms; the butt joint interface comprises a grab hook, a hook groove is formed in the bottom end of the grab hook, and when the large AUV is in butt joint with the seabed connection device, the hook groove hooks the arresting cable. Data connection and energy supplement between the large AUV and the seabed observation network are achieved, the platform type structure does not limit the shape and the size of the large AUV, the standardized large AUV docking interface is combined, the type of the large AUV capable of being docked is greatly widened, and the motion control requirement during docking of the large AUV is obviously reduced by adopting the flexible blocking mode of the blocking cable.

Description

Technical Field

[0001] The present invention relates to the field of submarine docking devices, and in particular to a platform-type submarine docking device and a submarine docking method capable of docking a large AUV. Background Art

[0002] The largest ecosystem on Earth is the marine ecosystem. The ocean area on Earth accounts for about 71% of the total area of ​​the Earth, and the ocean is rich in biological resources and mineral resources. Therefore, the exploration, development and utilization of the ocean have received more and more attention from various countries. Whether it is seabed exploration, underwater rescue, or marine scientific research, unmanned underwater vehicles (UUVs) play an important role. Among them, autonomous underwater vehicles (AUVs) have great development and application potential because they can perform multiple tasks underwater without umbilical cables and real-time human intervention. At present, in order to improve the loading capacity and endurance of AUVs, countries are actively carrying out the research and development of large AUVs.

[0003] As one of the important means of exploring and studying the ocean, the seabed observation network plays an irreplaceable role in collecting seabed data, exploring seabed biological resources and mineral resources, etc. The AUV can exchange the collected data with the shore base station through the seabed docking device in the seabed observation network, and the seabed docking device can replenish the energy of the AUV during the process.

[0004] At present, the forms of submarine docking devices are mainly divided into the following types:

[0005] 1. Guided hood type: The AUV is directly guided into the device through the guide hood. This docking method has a simple structure and requires little modification to the AUV. However, it requires high positioning accuracy for the AUV, is only applicable to AUVs of a single size, and often hits the bow of the AUV, which poses a hidden danger;

[0006] 2. Rod + slide cover: The V-shaped guide mechanism at the bow of the AUV locks the rod and the AUV, and then drives the slide cover to push the AUV to the bottom and tighten it. This docking method can dock in all directions, but the guide mechanism at the bow of the AUV will affect the movement performance of the AUV and increase the consumption of the AUV;

[0007] 3. Platform type: The AUV extends its grab arm, and the hook of the grab arm is connected to the platform-type V-shaped guide device. After the grab arm reaches the end of the guide device, the AUV cannot move forward. After that, the AUV moves downward until it contacts and locks with the platform. This docking method allows a variety of AUVs to dock, but it has high requirements for the motion control and maneuverability of the AUV.

[0008] In general, the research on submarine docking devices has basically met the submarine docking needs of small and medium-sized AUVs. However, due to the large mass, motion control and high difficulty in maneuverability of large AUVs, most of the current submarine docking devices are difficult to meet the requirements. Summary of the invention

[0009] In order to solve the problems existing in the background technology, the purpose of the present invention is to provide a platform-type submarine docking device capable of realizing submarine docking of large AUVs and a large AUV docking interface docking with the device, so as to realize data connection and energy replenishment between the large AUV and the submarine observation network.

[0010] To achieve the above purpose, the present invention provides the following technical solutions:

[0011] The submarine docking device includes a docking platform and two docking arms arranged at intervals on the docking platform, and the large AUV is located above the docking platform; arresting cables are provided at the tops of the two docking arms, and two groups of docking interfaces are arranged at intervals at the bottom of the large AUV, and the distance between the two groups of docking interfaces is equal to the distance between the two groups of docking arms; the docking interface includes a grab hook, and a hook groove is provided at the bottom of the grab hook, and when the large AUV is docked with the submarine docking device, the hook groove hooks the arresting cable.

[0012] The docking platform includes a platform frame and a hydraulic pump station, a central control unit and a valve control module arranged inside the platform frame; the hydraulic pump station is connected to the valve control module through a pipeline and supplies oil to the valve control module, and the central control unit is electrically connected to the valve control module and controls the docking arm through the valve control module.

[0013] The two docking arms are respectively a blocking arm and a grabbing arm. The hook groove of the grabbing hook located at the front side of the large AUV in the traveling direction hooks the blocking cable of the blocking arm, and the hook groove of the grabbing hook located at the rear side of the large AUV in the traveling direction hooks the blocking cable of the grabbing arm.

[0014] Each docking arm includes a telescopic module, a pitch module, a clamping module and a blocking module connected in sequence from bottom to top; the bottom end of the telescopic module is fixedly connected to the platform frame, the top end of the telescopic module is rotatably connected to the clamping module through the pitch module, and the blocking module includes the blocking cable.

[0015] The telescopic module is used to control the telescopic action of the docking arm. The telescopic module includes a telescopic oil cylinder barrel with the telescopic direction being the up and down direction. The top end of the telescopic oil cylinder barrel is the telescopic end, and the bottom end is fixedly connected to the platform frame.

[0016] The pitch module is used to control the pitch action of the end of the docking arm, and includes a pitch cylinder and a connecting frame arranged in sequence from bottom to top; the pitch cylinder is a swing cylinder with a rotating shaft, the rotating shaft is arranged horizontally, the rotating shaft is fixedly connected to the connecting frame and drives the connecting frame to rotate synchronously, and the cylinder body of the pitch cylinder is fixedly connected to the top of the telescopic module. A slide rail is arranged on the top surface of the connecting piece.

[0017] The clamping module is used to control the clamping action of the end of the docking arm, and includes two clamping units with the same structure, each clamping unit includes a clamping cylinder barrel, a clamping cylinder piston rod and an end clamping claw; an end clamping claw is slidably arranged above the connecting frame, and the end clamping claw can slide along the slide rail on the connecting frame; a clamping cylinder barrel is also arranged on the connecting frame, and the clamping cylinder piston rod is sleeved in the clamping cylinder barrel; the top end of the clamping cylinder piston rod extends from the top of the clamping cylinder barrel and is hinged to the end clamping claw, and the bottom end of the clamping cylinder barrel is hinged to the connecting frame; the clamping module also includes an underwater camera for visual guidance during AUV docking, a terminal lighting lamp and an ultra-short baseline transponder for acoustic guidance during AUV docking; at least one ultra-short baseline transponder, at least two terminal lighting lamps and at least two underwater cameras are installed on the end clamping claws of the two clamping units.

[0018] The arresting module is used to arrest and pull back a large AUV, and also includes a hydraulic winch; a hydraulic winch is arranged on each side of the clamping module, one end of the arresting cable is wound around the hydraulic winch on the first side, and the other end is wound around the hydraulic winch on the second side after passing through the center holes opened on the two end clamps in sequence.

[0019] The valve control module is respectively connected with the telescopic cylinder barrel, the pitch cylinder, the clamping cylinder barrel, and the cylinder in the hydraulic winch.

[0020] The blocking arm and the grabbing arm are arranged at intervals along the first direction, the rotating axis is arranged along the second direction perpendicular to the first direction, the blocking cable is arranged along the second direction, the center hole on the end clamp is opened along the second direction, and the two hydraulic winches are respectively arranged on both sides of the clamping module in the second direction.

[0021] The docking interface also includes a grab hook cylinder barrel and a grab hook cylinder piston rod. The grab hook cylinder barrel is arranged on one side of the grab hook. The grab hook cylinder piston rod is coaxially sleeved in the grab hook cylinder barrel. The end of the grab hook cylinder piston rod extends from the bottom end of the grab hook cylinder barrel and is fixedly connected to the middle part of the grab hook and drives the grab hook to rotate relative to the large AUV. The grab hook cylinder barrel is fixedly connected to the large AUV, and the top end of the grab hook is hingedly connected to the large AUV.

[0022] The docking interface also includes an underwater electric push rod, a hook lock connecting flange and a one-way hook lock connected in sequence from top to bottom, a spring coaxially sleeved inside the hook lock connecting flange, and an underwater lighting lamp installed on the grab hook.

[0023] The underwater electric push rod is installed on the grab hook, and the bottom end of the underwater electric push rod is a telescopic end, and is fixedly connected to the flange plate on the top of the hook lock connecting flange below; a downward-opening telescopic groove is provided in the hook lock connecting flange, and the one-way hook lock is slidably arranged in the telescopic groove; the upper end of the one-way hook lock extends into the telescopic groove, and the bottom end of the telescopic groove is provided with a stepped groove which is wide at the top and narrow at the bottom; the stepped groove is arranged in coordination with the limiting mechanism at the top of the one-way hook lock, so that when the underwater electric push rod is retracted upward, the one-way hook lock is driven to slide upward through the hook lock connecting flange.

[0024] The spring is sleeved in the telescopic groove, the top end of the spring is fixedly connected to the hook lock connecting flange, and the bottom end of the spring is in contact with the one-way hook lock.

[0025] When the arresting cable contacts the outside of the one-way hook lock from the outside, the spring contracts and the arresting cable slides into the hook slot; when the arresting cable is in the hook slot, if the one-way hook lock closes the hook slot outlet, the arresting cable is always in the hook slot, and if the underwater electric push rod contracts upward, the underwater electric push rod drives the one-way hook lock to retract upward through the hook lock connecting flange, thereby opening the hook slot, and the arresting cable can slide out of the hook slot.

[0026] The docking platform also includes a charging and sending module and an underwater WiFi module arranged on the top of the platform frame. The charging and sending module is electrically connected to the large AUV and supplies power to the large AUV. The underwater WiFi module is used to exchange information with the large AUV. The charging and sending module and the underwater WiFi module are both electrically connected to the central control unit and controlled by the central control unit.

[0027] The seabed observation network includes the above-mentioned platform-type seabed docking device for large AUVs, a shore base station, a docking box, and optical fiber cables.

[0028] The subsea docking method for a large AUV specifically includes the following steps:

[0029] S1) Pre-docking: After receiving the command from the onshore base station, the central control unit controls the seabed docking device to extend the blocking arm and the grabbing arm.

[0030] S2) Docking: When the large AUV approaches the seabed docking device, the pitch module of the arresting arm rotates and opens the end clamp. The underwater lights on both sides of the main hook are identified by the cameras on both sides of the end clamp and the height of the arresting arm is adjusted so that the arresting cable of the arresting arm can slide into the hook groove of the main hook. Then the arresting cable of the arresting arm is slid into the hook groove of the main hook to stop the large AUV. After the large AUV is stopped, the hydraulic winch of the arresting arm slowly retracts the rope to pull the large AUV back, and then the end clamp of the arresting arm clamps the main hook of the large AUV. When the large AUV is adjusted to a horizontal state, the grabbing arm extends from the docking platform of the seabed docking device, and then the arresting cable on the grabbing arm is slid into the hook groove of the auxiliary hook, and then the end clamp of the grabbing arm clamps the auxiliary hook of the large AUV.

[0031] Among them, the main hook is a grab hook located on the front side of the large AUV, and the auxiliary hook is a grab hook located on the rear side of the large AUV.

[0032] S3) Information exchange and energy replenishment: The blocking arm and the grabbing arm simultaneously pull the large AUV down to the charging and transmitting module and the underwater WiFi module of the seabed docking device, and wireless charging of the large AUV is achieved through the charging and transmitting module and the inductive connector on the large AUV. The data collected by the large AUV is transmitted to the central control unit through the underwater WiFi module and the underwater WiFi module on the large AUV, and then transmitted back to the shore base station through the seabed observation network.

[0033] S4) Separation: the arresting arm and the grabbing arm extend upward simultaneously and push away the large AUV, the end clamps of the arresting arm and the grabbing arm open, the one-way hook lock of the large AUV retracts, the arresting cable of the arresting arm and the arresting cable of the grabbing arm both slide out of the corresponding hook groove, the seabed docking device retracts the arresting arm and the grabbing arm, and the large AUV is separated from the seabed docking device and drives away from the seabed docking device.

[0034] Compared with the prior art, the present invention has the following beneficial effects:

[0035] 1. The present invention proposes a novel large-scale AUV submarine docking device, which mainly includes a docking platform and two docking arms, wherein the two docking arms are respectively an arresting arm and a grabbing arm, and an arresting cable is provided at the end of the arresting arm, which can be used to arrest and pull back the large-scale AUV. The two docking arms can change the position of the large-scale AUV and drag its position. The platform-type structure does not limit the shape and volume of the large-scale AUV, and can greatly broaden the types of large-scale AUVs that can be docked.

[0036] 2. The arresting cable of the arresting arm in the present invention flexibly blocks the large AUV, and the kinetic energy of the AUV is consumed during the blocking process by the damping brake in the hydraulic winch. Therefore, the AUV can be stopped smoothly without the need to accurately control the speed of the AUV. This flexible blocking method of the arresting cable significantly reduces the motion control requirements of the large AUV during docking.

[0037] 3. In the present invention, when a large AUV approaches the blocking arm, the camera on the blocking arm identifies the position of the AUV and predicts the route of the AUV through optical guidance. If the predicted route of the AUV exceeds the blocking range, the blocking arm will enter the early warning mode and retract into the platform; if the predicted route of the AUV is within the blocking range, the blocking arm will adjust its position and posture so that the blocking cable is as close to the center of the grappling hook on the AUV as possible. This method does not require the AUV to perform complex operations during docking, and does not require high maneuverability of the AUV.

[0038] 4. The present invention proposes a new type of large-scale AUV docking interface, which mainly includes two grab hooks and a one-way hook lock. The two grab hooks are divided into a main hook and an auxiliary hook. The AUV docking interface and the docking device complete the docking through the grab hook and the docking arm. The main hook is connected to the blocking arm, and the auxiliary hook is connected to the grab arm. The docking interface does not limit the mass and volume of the large AUV, so it can be used as a standardized AUV docking interface of the above-mentioned submarine docking device, which greatly enriches the types and models of AUVs that dock with the above-mentioned submarine docking device. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0040] Figure 1 A schematic diagram of a seafloor observation network provided by an embodiment of the present invention;

[0041] Figure 2 A schematic diagram of the structure of a submarine docking device provided by an embodiment of the present invention;

[0042] Figure 3 A schematic diagram of the structure inside the platform frame of the submarine docking device provided by an embodiment of the present invention;

[0043] Figure 4 A schematic diagram of the specific structure of a hydraulic pump station of a submarine docking device provided by an embodiment of the present invention;

[0044] Figure 5A schematic diagram of the specific structure of a hydraulic pump station of a submarine docking device provided by an embodiment of the present invention, wherein the oil tank body is an exploded schematic diagram;

[0045] Figure 6 A schematic diagram of the specific structure of the blocking arm of the submarine docking device provided by an embodiment of the present invention;

[0046] Figure 7 A partially exploded schematic diagram of an arresting arm of a submarine docking device provided by an embodiment of the present invention, wherein the telescopic module is an exploded schematic diagram;

[0047] Figure 8 A partially exploded schematic diagram of an arresting arm of a submarine docking device provided by an embodiment of the present invention;

[0048] Fig. 9 A schematic diagram of the structure of a large AUV provided by an embodiment of the present invention;

[0049] Fig.10 It is a partial exploded schematic diagram of a large AUV provided by an embodiment of the present invention, wherein the docking interface of the large AUV is an exploded schematic diagram;

[0050] Fig.11 A partially exploded schematic diagram of a large AUV provided by an embodiment of the present invention, wherein the grappling hook is an exploded schematic diagram;

[0051] Figures 12 to 21 Schematic diagram of the working process of an embodiment of the present invention.

[0052] Among them: 0, submarine docking device, 100, docking platform, 200, blocking arm, 300, grabbing arm, 400, large AUV; 110, platform frame, 120, hydraulic pump station, 130, central control unit, 140, valve control module, 150, charging and sending module, 160, underwater WiFi module; 121, fuel tank assembly, 122, hydraulic pump group, 123, filter assembly, 124, pressure compensator, 125, pipeline; 121a, fuel tank body, 121b, lifting lug, 121c, cleaning hole cover, 121d, oil injector, 121f, drain plug; 122a, deep-water motor, 122b, hydraulic pump, 122c, coupling, 122d, pump station valve box, 122e, pump station electric control box, 122f, pump fixing parts, 122g, motor fixing parts; 123a, oil suction filter, 123b, return oil filter; 124a, oil tank pressure compensator, 124b, valve box pressure compensator; 210, telescopic module, 220, pitch module, 230, clamping module, 240, blocking module; 211, base, 212, cylinder positioning rod, 213, cylinder positioning flange, 214, end cover, 215, telescopic cylinder barrel, 216, telescopic cylinder piston rod, 217, telescopic rod, 218, piston rod positioning rod; 221, pitch cylinder, 222, connecting frame; 231, end lighting lamp, 232, clamping cylinder barrel, 233, clamping cylinder piston rod, 234, end clamping claw, 2 35. Underwater camera; 236. Ultra-short baseline transponder; 241. Hydraulic winch; 242. Arresting cable; 410. Large AUV docking interface; 420. Ultra-short baseline transceiver; 430. Charging receiving module; 440. Wireless communication module; 411. Grappling hook; 412. Grappling hook cylinder barrel; 413. Grappling hook cylinder piston rod; 414. One-way hook lock; 415. Spring; 416. Underwater electric push rod; 417. Hook lock connecting flange; 418. Underwater lighting. DETAILED DESCRIPTION

[0053] The technical scheme in the embodiment of the present invention will be further described below in conjunction with the accompanying drawings in the embodiment of the present invention. Obviously, the described embodiment is only a part of the embodiment of the present invention, not all of the embodiments. Based on the embodiment of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0054] The present invention proposes a platform-type seabed docking device 0 for a large AUV 400, which is used for energy replenishment and information exchange of the underwater large AUV 400. In addition, the present invention also proposes a large AUV docking interface used in conjunction with the seabed docking device 0, which is used for docking the large AUV 400 with the seabed docking device 0.

[0055] The submarine docking device 0 includes a docking platform 100 and two docking arms arranged at intervals on the docking platform 100, and the large AUV 400 is located above the docking platform 100; arresting cables 242 are provided at the tops of the two docking arms, and two groups of docking interfaces for docking with the submarine docking device are arranged at intervals at the bottom of the large AUV 400, and the distance between the two groups of docking interfaces is equal to the distance between the two groups of docking arms; the docking interface includes a grab hook, and a hook groove is provided at the bottom of the grab hook. When the large AUV 400 docks with the submarine docking device 0, the hook groove hooks the arresting cable 242.

[0056] The docking platform 100 includes a platform frame 110 and a hydraulic pump station 120, a central control unit 130 and a valve control module 140 arranged inside the platform frame 110; the hydraulic pump station 120 is connected to the valve control module 140 through a pipeline 125 and supplies oil to the valve control module 140, and the central control unit 130 is electrically connected to the valve control module 140 and controls the docking arm through the valve control module 140.

[0057] The docking arm includes a telescopic module 210, a pitch module 220, a clamping module 230 and a blocking module 240 which are connected in sequence from bottom to top; the bottom end of the telescopic module 210 is fixedly connected to the platform frame 110, the top end of the telescopic module 210 is rotatably connected to the clamping module 230 through the pitch module 220, and the blocking module 240 includes a blocking cable 242.

[0058] In the docking arm, the telescopic module 210 is used to control the telescopic action of the docking arm. The telescopic module 210 includes a telescopic cylinder barrel 215 with the telescopic direction being the up and down direction. The top end of the telescopic cylinder barrel 215 is the telescopic end, and the bottom end is fixedly connected to the platform frame 110.

[0059] As an embodiment of the present invention, the telescopic module 210 includes a base 211, and a telescopic cylinder barrel 215, a telescopic cylinder piston rod 216 and a telescopic rod 217 vertically arranged above the base 211; the base 211 is arranged above the platform frame 110, and the upper part of the base 211 is slidably arranged with a telescopic rod 217, the interior of the telescopic cylinder barrel 215 is arranged with a telescopic cylinder piston rod 216, and the base 211 and the platform frame are connected. The bottom inner wall of the platform frame 110 is fixedly connected, the base 211 is fixedly connected to the telescopic cylinder barrel 215, and after the top end of the telescopic cylinder piston rod 216 extends out of the top end of the telescopic cylinder barrel 215, it is fixedly connected to the telescopic rod 217 through the telescopic rod positioning rod 218; the telescopic cylinder barrel 215 drives the telescopic cylinder piston rod 216 to telescope up and down in the vertical direction relative to the platform frame 110, and the cylinder piston rod 216 drives the telescopic rod 217 to slide up and down synchronously on the base 211 through the telescopic rod positioning rod 218.

[0060] In the docking arm, the pitch module 220 is used to control the pitch movement of the end of the docking arm, including a pitch cylinder 221 and a connecting frame 222 arranged in sequence from bottom to top; the pitch cylinder 221 is a swing cylinder with a rotating shaft, the rotating shaft is arranged horizontally, the rotating shaft is fixedly connected to the connecting frame 222 and drives the connecting frame 222 to rotate synchronously, and the cylinder body of the pitch cylinder 221 is fixedly connected to the top of the telescopic module 210.

[0061] As an embodiment of the present invention, the connecting frame 222 includes a U-shaped top plate and two side plates arranged vertically below the top plate, a clamping module 230 is arranged above the top plate, a pitch cylinder 221 is installed between the two side plates, and a telescopic module 210 is arranged below the pitch cylinder 221; the top plate of the connecting frame 222 is connected to the clamping module 230, the two side plates of the connecting frame 222 are respectively fixedly connected to the two ends of the rotating shaft of the pitch cylinder 221, and the cylinder body of the pitch cylinder 221 is fixedly connected to the telescopic rod 217. A slide rail is arranged on the top surface of the connecting frame 222.

[0062] In the docking arm, the clamping module 230 is used to control the clamping action at the end of the docking arm, including two clamping units with the same structure, each of which includes a clamping cylinder barrel 232, a clamping cylinder piston rod 233, and an end clamping claw 234; the end clamping claw 234 is slidably arranged above the connecting frame 222, so that the end clamping claw 234 can slide along the slide rail on the connecting frame 222; the connecting frame 222 is also arranged with a clamping cylinder barrel 232, and the clamping cylinder piston rod 233 is movably sleeved in the clamping cylinder barrel 232; the clamping The top end of the cylinder piston rod 233 extends from the top of the clamping cylinder barrel 232 and is hinged to the end clamping claw 234. The bottom end of the clamping cylinder barrel 232 is hinged to the connecting frame 222. The clamping module 230 also includes an underwater camera 235 for visual guidance during AUV docking and an ultra-short baseline transponder 236 for acoustic guidance during AUV docking. The end clamping claws 234 of the two clamping units are equipped with at least one ultra-short baseline transponder 236, at least two end lighting lamps 231 and at least two underwater cameras 235. Each end clamping claw 234 is equipped with at least one end lighting lamp 231 and at least one underwater camera 235.

[0063] When the clamping cylinder piston rod 233 extends obliquely upward, it drives the end clamping jaw 234 to move inward along the travel direction of the slide rail, and the end clamping jaw 234 is clamped. When the clamping cylinder piston rod 233 retracts obliquely downward, it drives the end clamping jaw 234 to move outward along the travel direction of the slide rail, and the end clamping jaw 234 opens.

[0064] The clamping cylinder piston rod 233 and the end clamping claw 234 may be hinged via a pin, and the clamping cylinder barrel 232 and the connecting frame 222 may be hinged via a pin.

[0065] In the docking arm, the blocking module 240 is used to block and pull back the large AUV400, and also includes a hydraulic winch 241; a hydraulic winch 241 is arranged on each side of the clamping module 230, and the two hydraulic winches 241 are respectively installed on the top of the two end clamps 234, and one end of the blocking cable 242 is wound around the hydraulic winch 241 on the first side, and the other end passes through the center holes opened on the end clamps 234 of the two clamping units in turn and then is wound around the hydraulic winch 241 on the second side.

[0066] Specifically, the valve control module 140 is respectively connected to the telescopic cylinder barrel 215, the pitch cylinder 221, the clamping cylinder barrel 232, and the cylinders in the hydraulic winch 241.

[0067] Specifically, the two docking arms are arranged in a first direction, the rotating shaft is arranged in a second direction intersecting the first direction, the blocking cable 242 is arranged in the second direction intersecting the first direction, and the center hole on the end clamp 234 is opened in the second direction. The travel direction of the slide rail is parallel to the second direction. The axis direction of the pin is parallel to the first direction.

[0068] As a preferred embodiment of the present invention, two clamping units are equipped with a total of one ultra-short baseline transponder 236, two terminal lighting lamps 231 and two underwater cameras 235. The two clamping units are arranged at intervals along the second direction. The terminal clamping claw 234 of each clamping unit is equipped with a terminal lighting lamp 231 and an underwater camera 235.

[0069] As a preferred embodiment of the present invention, on the grab hooks of the two docking interfaces, the outlets of the two hook grooves face the same direction, and the outlet direction is located in the first direction.

[0070] The docking interface also includes a grab hook cylinder barrel 412 and a grab hook cylinder piston rod 413. The grab hook cylinder barrel 412 is arranged on one side of the grab hook. The grab hook cylinder piston rod 413 is coaxially sleeved in the grab hook cylinder barrel 412. The end of the grab hook cylinder piston rod 413 extends from the bottom end of the grab hook cylinder barrel 412 and is hinged to the middle part of the grab hook and drives the grab hook to rotate relative to the large AUV400. The grab hook cylinder barrel 412 is fixedly connected to the large AUV400, and the top end of the grab hook is hingedly connected to the large AUV400.

[0071] The docking interface also includes an underwater electric push rod 416, a hook lock connecting flange 417 and a one-way hook lock 414 connected in sequence from top to bottom, and a spring 415 coaxially sleeved inside the hook lock connecting flange 417; the underwater electric push rod 416 is installed on the grab hook, the bottom end of the underwater electric push rod 416 is a telescopic end, and is fixedly connected to the flange plate on the top of the hook lock connecting flange 417 below, a telescopic groove opening downward is provided in the hook lock connecting flange 417, a one-way hook lock 414 is slidably arranged in the telescopic groove, the upper end of the one-way hook lock 414 extends into the telescopic groove, and a stepped groove that is wide at the top and narrow at the bottom is provided at the bottom of the telescopic groove, the stepped groove is arranged in coordination with the limiting mechanism at the top of the one-way hook lock 414, so that when the underwater electric push rod 416 is retracted upward, the one-way hook lock 414 is driven to slide upward through the hook lock connecting flange 417; a spring 415 is sleeved in the telescopic groove, and the bottom end of the spring 415 contacts the one-way hook lock 414.

[0072] When the arresting cable 242 contacts the outside of the one-way hook lock 414 from the outside, the spring 415 contracts and the arresting cable 242 slides into the hook groove; when the arresting cable 242 is in the hook groove, if the one-way hook lock 414 closes the hook groove outlet, the arresting cable 242 is always in the hook groove, and if the underwater electric push rod 416 contracts upward, the underwater electric push rod 416 drives the one-way hook lock 414 to retract upward through the hook lock connecting flange 417, thereby opening the hook groove, and the arresting cable 242 can slide out of the hook groove.

[0073] The docking interface also includes an underwater lighting lamp 418 installed on the grab hook. During the docking process, the underwater camera 235 at the end of the blocking arm 200 adjusts its height according to the position of the grab hook by identifying the underwater lighting lamp 418.

[0074] The large AUV 400 also needs to be equipped with a corresponding ultra-short baseline transceiver 420, a charging interface module 430, and a wireless communication module 440, which are used for acoustic positioning, wireless charging, and information interaction, respectively.

[0075] In the docking platform 100, the hydraulic pump station 120 includes an oil tank assembly 121, a hydraulic pump group 122, a filter assembly 123, and a pressure compensator 124; the oil tank assembly 121 includes an oil tank body 121a, and the internal cavity of the oil tank body 121a is filled with oil; the hydraulic pump group 122 includes a hydraulic pump 122b and a coupling 122c arranged inside the oil tank body 121a, and a deep-water motor 122a, a pump station valve box 122d, and a pump station electric control box 122e arranged outside the oil tank body 121a; the output shaft of the deep-water motor 122a is connected to the transmission shaft of the hydraulic pump 122b through the coupling 122c and drives the hydraulic pump 122b to convert the mechanical energy of the deep-water motor 122a into hydraulic energy; the hydraulic pump The oil suction port of 122b is immersed in the oil, the oil outlet is connected with the pump station valve box 122d, the pump station valve box 122d is connected with the valve control module 140 through the pipeline 125, and the pump station valve box 122d is electrically connected with the central control unit 130 through the pump station electric control box 122e; the filter assembly 123 includes an oil suction filter 123a and an oil return filter 123b for filtering; the oil suction filter 123a is arranged at the oil suction port of the hydraulic pump 122b, and the oil return filter 123b is arranged at the oil return port on the oil tank body 121a; the pressure compensator 124 includes a tank pressure compensator 124a for compensating for the oil pressure inside the oil tank body 121a and a valve box pressure compensator 124b for compensating for the oil pressure inside the pump station valve box.

[0076] In the docking platform 100, the valve control module 140 includes two independent valve control units, each of which controls a docking arm. Each valve control unit includes a docking arm valve box and a docking arm valve box pressure compensator for compensating the oil pressure in the docking arm valve box. The hydraulic components in the docking arm are connected to the pump station valve box 122d through the docking arm valve box, and the docking arm valve box is electrically connected to the central control unit 130 and controls the hydraulic components in the docking arm according to the electrical signal sent by the central control unit 130.

[0077] The hydraulic components in the docking arm include a telescopic cylinder barrel 215 , a telescopic cylinder piston rod 216 , a pitch cylinder 221 , a clamping cylinder barrel 232 , a clamping cylinder piston rod 233 , and a hydraulic winch 241 .

[0078] The docking platform 100 also includes a charging and transmitting module 150 and an underwater WiFi module 160 arranged on the top of the platform frame 110. The charging and transmitting module 150 is electrically connected to the large AUV400 and supplies power to the large AUV400. The underwater WiFi module 160 is used to exchange information with the large AUV400. The charging and transmitting module 150 and the underwater WiFi module 160 are both electrically connected to the central control unit 130 and controlled by the central control unit 130.

[0079] Further, the charging transmission module 150 is arranged at a corresponding position of the charging receiving module 430 of the large AUV 400 ; the underwater WiFi module 160 is arranged at a corresponding position of the wireless communication module 440 of the large AUV 400 .

[0080] The submarine docking device 0 can form a submarine observation network with the shore base station, docking box, and optical fiber cable.

[0081] Specifically, the large AUV 400 in the present invention is the most common torpedo-type large AUV currently.

[0082] The specific embodiments of the present invention are as follows:

[0083] Reference Figure 1 The submarine docking device 0 is a functional device of the submarine observation network, which is composed of shore base stations, docking boxes, optical fiber cables and various functional devices. The shore base station is the control unit of the entire submarine observation network, responsible for controlling the normal operation of the entire submarine observation network and transmitting power to the submarine docking device 0 through optical fiber cables. The docking box is the underwater hub, providing an interface for the submarine docking device 0, and the docking box can be directly connected to the submarine docking device 0 on the docking box with the help of an underwater robot ROV.

[0084] Reference Figure 2 and Figure 3 In an embodiment of the present invention, the submarine docking device 0 comprises:

[0085] The docking platform 100 includes a platform frame 110, a hydraulic pump station 120, a central control unit 130, a valve control module 140, a charging and transmitting module 150, and an underwater WiFi module 160. The hydraulic pump station 120, the central control unit 130, and the valve control module 140 are all located in the platform frame 110, and the charging and transmitting module 150 and the underwater WiFi module 160 are located on the upper part of the platform frame 110. The pump station is used to supply oil to the valve control module 140, the central control unit 130 is used to provide power to the electronic equipment, receive sensor signals, and send control signals to the electronic equipment, the valve control module 140 is used to control the movement of the docking arm, the charging and transmitting module 150 is used to charge the large AUV 400, and the underwater WiFi module 160 is used to exchange information with the large AUV 400.

[0086] Please refer to Figure 4 and Figure 5 The hydraulic pump station 120 includes an oil tank assembly 121 , a hydraulic pump group 122 , a filter assembly 123 , a pressure compensator 124 and a pipeline 125 .

[0087] The oil tank assembly 121 includes an oil tank body 121a, a lifting lug 121b, a cleaning hole cover plate 121c, an oiler 121d and an oil drain plug 121f. The oil tank body 121a is used to store oil and dissipate the heat of the oil. The bottom of the oil tank body 121a can be fixedly connected to the outside world by bolts; the lifting lug 121b is located above the box arms at the four corners of the oil tank body 121a and is used to move the oil tank; the cleaning hole cover plate 121c is located at the cleaning hole on the front of the oil tank body 121a. All inner surfaces of the oil tank body 121a can be cleaned by removing the cleaning hole cover plate 121c; the oiler 121d is located at the top of the oil tank body 121a. Opening the oiler 121d cover can fill the tank with oil; the oil drain plug 121f is located at the lowest point on the front of the oil tank body 121a and is used for oil replacement.

[0088] The hydraulic pump group 122 includes a deep-water motor 122a, a hydraulic pump 122b, a coupling 122c, a pump station valve box 122d, a pump station electric control box 122e, a pump fixing part 122f and a motor fixing part 122g. The deep-water motor 122a is used as a prime mover to drive the hydraulic pump 122b; the hydraulic pump 122b is used to convert the mechanical energy of the prime mover into hydraulic energy; the coupling 122c is used to connect the output shaft of the deep-water motor 122a with the transmission shaft of the hydraulic pump 122b; the pump station valve box 122d is equipped with components such as an overflow valve, a check valve, a pressure sensor and a flow sensor, which are used to monitor and process the oil discharged by the hydraulic pump 122b; the pump station electric control box 122e is equipped with a control system, which is used to power and control the electronic components in the pump station valve box 122d and receive signals from sensors in the pump station valve box 122d. The pump fixing member 122f and the motor fixing member 122g are used to fix the hydraulic pump 122b and the deep-water motor 122a to the oil tank body 121a respectively.

[0089] The filter assembly 123 includes an oil suction filter 123a and an oil return filter 123b. The oil suction filter 123a is located at the end of the oil suction pipe and is used to filter the oil sucked by the hydraulic pump 122b; the oil return filter 123b is used to filter the oil returned to the inside of the oil tank body 121a. The filter assembly 123 can prevent impurities in the oil from entering the hydraulic pump group 122 and the valve control module 140, thereby improving the service life of the entire submarine docking device 0.

[0090] The pressure compensator 124 includes a tank pressure compensator 124a and a valve box pressure compensator 124b. The tank pressure compensator 124a is used to compensate for the oil pressure inside the tank body 121a, so that the oil pressure is equal to the external environmental pressure; the valve box pressure compensator 124b is used to compensate for the oil pressure inside the pump station valve box 122d, so that the oil pressure is equal to the external environmental pressure. Therefore, the hydraulic pump station 120 does not need to strengthen the shell to resist external pressure, and can prevent water in the external environment from entering the hydraulic system and accelerating the failure of hydraulic components.

[0091] The central control unit 130 includes an input / output port and a microcontroller. The input / output port is used to receive power from the base station, signals from the base station, signals from the pump station, signals from the underwater WiFi module 160, and signals from the docking arm, to power all electronic devices in the submarine docking device 0, and to send signals to the base station, the hydraulic pump 122b station 120, the valve control module 140, the charging and sending module, and the underwater WiFi module 160; the microcontroller is used to process the signals received by the input / output port, and to send signals outward through the input / output port according to the information of the sensor and the instructions of the base station.

[0092] The valve control module 140 includes two docking arm valve boxes, two docking arm valve box pressure compensators and pipelines 125. The central control unit 130 sends out electrical signals to control the valves in the docking arm valve boxes, and then controls the movement of the docking arm by controlling various hydraulic components in the docking arm; the docking arm valve box pressure compensator is used to compensate the oil pressure in the docking arm valve box so that the oil pressure is equal to the external environment pressure.

[0093] The charging transmission module 150 is used to send electromagnetic waves to the charging receiving module 430 corresponding to the AUV to charge it; the underwater WiFi module 160 is used to communicate with the wireless communication module 440 of the AUV so that the docking device and the AUV can exchange information. Both the charging transmission module 150 and the underwater WiFi module 160 are controlled and powered by the central control unit 130.

[0094] Reference Figures 6 to 8 The docking arm is divided into an arresting arm 200 and a grabbing arm 300. The two arms are completely identical, including a telescopic module 210, a pitching module 220, a clamping module 230 and an arresting module 240. The telescopic module 210 is used to control the telescopic action of the entire docking arm, the pitching module 220 is used to control the pitching action of the end of the docking arm, the clamping module 230 is used to control the clamping action of the end of the docking arm, and the arresting module 240 is used to arrest and pull back the AUV.

[0095] The telescopic module 210 includes a base 211, a cylinder positioning rod 212, a cylinder positioning flange 213, an end cover 214, a telescopic cylinder barrel 215, a telescopic cylinder piston rod 216, a telescopic rod 217, a piston rod positioning rod 218, a piston rod positioning flange and bolts. The base 211 serves as the base of the docking arm and is fixedly connected to the platform frame 110 of the docking platform 100; the cylinder positioning rod 212 and the end cover 214 are connected by bolts to fix the base 211 with the telescopic cylinder barrel 215, and the cylinder positioning flange 213 is used to axially position the telescopic cylinder barrel 215. Similarly, the piston cylinder positioning rod and the end cover 214 are connected by bolts to fix the telescopic rod 217 with the telescopic cylinder piston rod 216, and the piston rod positioning flange is used to axially position the telescopic cylinder piston rod 216. By controlling the valve in the docking arm valve box, the movement of the telescopic rod 217 is driven to achieve the telescopic action of the entire docking arm.

[0096] The pitch module 220 includes a pitch cylinder 221 and a connecting frame 222. The pitch cylinder 221 is fixedly connected to the telescopic rod 217 in the telescopic module 210 by bolt connection. Similarly, the connecting frame 222 is fixedly connected to both ends of the rotation axis of the pitch cylinder 221 by bolt connection. The pitch action of the end of the docking arm is achieved by controlling the valve in the docking arm valve box to drive the rotation of the pitch cylinder 221.

[0097] The clamping module 230 includes a terminal lighting lamp 231, a clamping cylinder barrel 232, a clamping cylinder piston rod 233, a terminal clamping claw 234, an underwater camera 235 and an ultra-short baseline transponder 236. The terminal clamping claw 234 is connected to the connecting frame 222 in the pitch module 220, the clamping cylinder piston rod 233 and the hydraulic winch 241 in the blocking module 240, and the clamping cylinder barrel 232 is hinged to the connecting frame 222 in the pitch module 220; the front of the terminal clamping claw 234 is equipped with an underwater camera 235 and a terminal lighting lamp 231 for visual guidance during AUV docking; the front of the terminal clamping claw 234 is equipped with an ultra-short baseline transponder 236 for acoustic guidance during AUV docking. The clamping and opening actions of the terminal clamping claw 234 of the docking arm are realized by controlling the valve in the docking arm valve box.

[0098] The blocking module 240 includes a hydraulic winch 241 and a blocking cable 242. A hydraulic winch 241 is placed on each side. The two hydraulic winches 241 are respectively connected to the end clamps 234 on both sides. The hydraulic winches 241 on both sides are connected by a blocking cable 242, and the blocking cable 242 passes through the central hole of the end clamp 234. By controlling the valve in the docking arm valve box, the hydraulic winch 241 is driven to rotate, and the retracting and releasing action of the blocking cable 242 is realized.

[0099] In addition, refer to Figures 9 to 11, the large AUV 400 needs to be equipped with two sets of docking interfaces matching the docking device at the bottom, and the distance between the interfaces is equal to the distance between the two docking arms in the docking device.

[0100] The docking interface of the large AUV 400 includes a grab hook, a grab hook cylinder barrel 412, a grab hook cylinder piston rod 413, a one-way hook lock 414, a spring 415, an underwater electric push rod 416, a hook lock connecting flange 417 and an underwater lighting lamp 418. One end of the grab hook and one end of the grab hook cylinder barrel 412 are fixed to the bottom of the AUV, and the grab hook cylinder piston rod 413 extends from the other end of the grab hook cylinder barrel 412 and is fixedly connected to the middle of the grab hook. The rotation of the grab hook can be achieved by driving the grab hook cylinder piston rod 413. There is a hook groove at the bottom of the grab hook, and a one-way hook lock 414 is placed at the exit of the hook groove. The one-way hook lock 414, the hook lock connecting flange 417 and the underwater electric push rod 416 are arranged in sequence, and a spring 415 is installed inside the hook lock connecting flange 417. When the arresting cable 242 contacts the curved surface outside the one-way hook lock 414 from the outside, the spring 415 contracts and the arresting cable 242 slides into the hook groove; when the arresting cable 242 is in the hook groove, if the one-way hook lock 414 closes the hook groove outlet, the arresting cable 242 is always in the hook groove. When the underwater electric push rod 416 contracts, the one-way hook lock 414 retracts to open the hook groove, and the arresting cable 242 can slide out of the hook groove. The underwater lighting 418 is used to adjust the height of the arresting arm 200 according to the position of the grab hook at a close distance.

[0101] Reference Figures 12 to 21 , the working process of the present invention is:

[0102] First, a command is issued through the onshore base station, and the blocking arm and the grabbing arm in the seabed docking device 0 are extended to wait for the large AUV 400 to approach. Fig.12 shown.

[0103] The large AUV 400 sends an acoustic signal through the ultra-short baseline transceiver 420 to determine the position of the submarine docking device 0, and then drives to the pre-docking area. After arriving at the area, the large AUV 400 adjusts its own orientation so that its axis and the line connecting the centers of the two docking arm bases are in the same vertical plane, and the height is within the docking range. Then, the large AUV 400 approaches the submarine docking device 0 at a low speed, keeping its height, azimuth and pitch angle at predetermined values, and at the same time, the grab hook at the bottom falls, as shown in FIG. Fig.13 shown.

[0104] When the large AUV 400 approaches the seafloor docking device 0, the pitch module 220 of the blocking arm 200 rotates and the end clamp 234 opens. Fig.14As shown, the cameras on both sides of the end clamp 234 identify the underwater lights 418 on both sides of the hook and adjust their own height so that the arresting rope 242 of the arresting arm 200 can slide into the hook groove of the main hook. After the large AUV 400 is stopped, the hydraulic winch 241 of the arresting arm 200 slowly retracts the rope, pulls the large AUV 400 back and clamps the main hook, as shown in FIG. Fig.15 shown.

[0105] Then, the large AUV 400 adjusts itself to a horizontal state, and the grab arm 300 slides the arresting cable 242 into the auxiliary hook slot and clamps the auxiliary hook. Fig.16 Afterwards, the blocking arm 200 and the grabbing arm 300 simultaneously pull the large AUV 400 close to the charging and transmitting module of the seabed docking device 0 and the underwater WiFi module 160, as shown in FIG. Fig.17 As shown. Wireless charging of the large AUV 400 is achieved through the charging transmission module on the seabed docking device 0 and the inductive connector on the large AUV 400. Information interaction between the large AUV 400 and the seabed docking device 0 in a deep-sea environment is achieved through the underwater WiFi module 160 on the seabed docking device 0 and the underwater WiFi module 160 on the large AUV 400. The large AUV 400 transmits the data collected by the sensor to the central control unit 130 in the seabed docking device 0, and then transmits it back to the shore base station through the seabed observation network.

[0106] After completing charging and information exchange, the shore base station issues a "release" command, and the blocking arm 200 and the grabbing arm 300 push the large AUV 400 away to a position far away from the seabed docking device 0, such as Fig.18 As shown, the one-way hook lock 414 of the large AUV 400 is retracted, the end clamps 234 of the arresting arm 200 and the grabbing arm 300 are opened and the arresting cable 242 is slid out, and then the two arms are retracted, as shown in FIG. Fig.19 and Fig. 20 As shown, at this time, the large AUV 400 is separated from the seabed docking device 0 and then drives away from the seabed docking device 0, as shown in FIG. Fig.21 shown.

[0107] At this point, the large AUV 400 has completed the entire process of pre-docking-docking-information exchange / energy replenishment-mission completion-separation.

[0108] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A platform-type submarine docking device for large AUVs, characterized by: The seabed docking device (0) comprises a docking platform (100) and two docking arms arranged at intervals on the docking platform (100); the large AUV (400) is located above the docking platform (100); the top ends of the two docking arms are each provided with an arresting cable (242); the bottom of the large AUV (400) is provided with two groups of docking interfaces arranged at intervals, and the distance between the two groups of docking interfaces is equal to the distance between the two groups of docking arms; the docking interface comprises a grab hook, and a hook groove is provided at the bottom end of the grab hook, and when the large AUV (400) is docked with the seabed docking device (0), the hook groove hooks the arresting cable (242).

2. A platform-type seafloor docking device for a large AUV according to claim 1, characterized in that: The docking platform (100) comprises a platform frame (110), and a hydraulic pump station (120), a central control unit (130), and a valve control module (140) arranged inside the platform frame (110); the hydraulic pump station (120) is connected to the valve control module (140) through a pipeline (125) and supplies oil to the valve control module (140); the central control unit (130) is electrically connected to the valve control module (140) and controls the docking arm through the valve control module (140); The two docking arms are respectively an arresting arm (200) and a grabbing arm (300); the hook groove of the grabbing hook located at the front side of the large AUV (400) hooks the arresting cable (242) of the arresting arm (200), and the hook groove of the grabbing hook located at the rear side of the large AUV (400) hooks the arresting cable (242) of the grabbing arm (300); Each docking arm comprises a telescopic module (210), a pitch module (220), a clamping module (230) and a blocking module (240) which are connected in sequence from bottom to top; the bottom end of the telescopic module (210) is fixedly connected to the platform frame (110), the top end of the telescopic module (210) is rotatably connected to the clamping module (230) via the pitch module (220), and the blocking module (240) comprises the blocking cable (242).

3. A platform-type seafloor docking device for a large AUV according to claim 2, characterized in that: The telescopic module (210) is used to control the telescopic action of the docking arm, and the telescopic module (210) comprises a telescopic cylinder barrel (215) whose telescopic direction is an up-and-down direction, and the telescopic cylinder barrel (215) is fixedly connected to the platform frame (110); The pitch module (220) is used to control the pitch movement of the docking arm, and comprises a pitch cylinder (221) and a connecting frame (222); the pitch cylinder (221) is a swing cylinder having a rotating shaft, the rotating shaft is arranged horizontally, the rotating shaft is fixedly connected to the connecting frame (222) and drives the connecting frame (222) to rotate synchronously, the cylinder body of the pitch cylinder (221) is fixedly connected to the top end of the telescopic module (210); a slide rail is arranged on the connecting frame (222); The clamping module (230) is used to control the clamping action of the docking arm, and comprises two clamping units with the same structure, each clamping unit comprising a clamping cylinder barrel (232), a clamping cylinder piston rod (233), and an end clamping claw (234); the end clamping claw (234) is slidably arranged above the connecting frame (222); the connecting frame (222) is also provided with a clamping cylinder barrel (232), and the clamping cylinder piston rod (233) is sleeved in the clamping cylinder barrel (232); the top end of the clamping cylinder piston rod (233) is extended from the clamping cylinder barrel The top of the clamping module (232) is extended and hinged to the terminal clamp (234), and the bottom of the clamping cylinder barrel (232) is hinged to the connecting frame (222); the clamping module (230) further comprises an underwater camera (235) for visual guidance during AUV docking, a terminal lighting lamp (231) and an ultra-short baseline transponder (236) for acoustic guidance during AUV docking; at least one ultra-short baseline transponder (236), at least two terminal lighting lamps (231) and at least two underwater cameras (235) are installed on the two terminal clamps (234); The blocking module (240) is used to block and pull back the large AUV (400), and also includes a hydraulic winch (241); a hydraulic winch (241) is arranged on each side of the clamping module (230), one end of the blocking cable (242) is wound around the hydraulic winch (241) on the first side, and the other end passes through the center holes opened on the two end clamps (234) in sequence and then is wound around the hydraulic winch (241) on the second side.

4. A platform-type seafloor docking device for a large AUV according to claim 3, characterized in that: The valve control module (140) is respectively connected to the telescopic cylinder barrel (215), the pitch cylinder (221), the clamping cylinder barrel (232), and the cylinders in the hydraulic winch (241).

5. The platform-type seafloor docking device for a large AUV according to claim 3, characterized in that: The blocking arm (200) and the grabbing arm (300) are arranged at intervals along a first direction, the rotating shaft is arranged along a second direction perpendicular to the first direction, the blocking cable (242) is arranged along the second direction, the center hole on the end clamp (234) is opened along the second direction, and the two hydraulic winches (241) are respectively arranged on both sides of the clamping module (230) in the second direction.

6. The platform-type seafloor docking device for a large AUV according to claim 1, characterized in that: The docking interface further comprises a grab hook cylinder barrel (412) and a grab hook cylinder piston rod (413); the grab hook cylinder piston rod (413) is coaxially sleeved in the grab hook cylinder barrel (412); the grab hook cylinder piston rod (413) extends from the bottom end of the grab hook cylinder barrel (412) and is fixedly connected to the middle part of the grab hook; the grab hook cylinder barrel (412) is fixedly connected to the large AUV (400); and the top end of the grab hook is hingedly connected to the large AUV (400).

7. The platform-type seafloor docking device for a large AUV according to claim 1, characterized in that: The docking interface also includes an underwater electric push rod (416), a hook lock connecting flange (417) and a one-way hook lock (414) connected in sequence from top to bottom, a spring (415) coaxially sleeved inside the hook lock connecting flange (417), and an underwater lighting lamp (418) installed on the grab hook; The underwater electric push rod (416) is installed on the grab hook, the bottom end of the underwater electric push rod (416) is a telescopic end, and is fixedly connected to the hook lock connecting flange (417) below, the hook lock connecting flange (417) is provided with a telescopic groove opening downward, the one-way hook lock (414) is slidably arranged in the telescopic groove, the upper end of the one-way hook lock (414) extends into the telescopic groove, and the bottom end of the telescopic groove is provided with a stepped groove which is wide at the top and narrow at the bottom, and the stepped groove is arranged in coordination with the limiting mechanism at the top of the one-way hook lock (414), so that when the underwater electric push rod (416) is retracted upward, the one-way hook lock (414) is driven to slide upward through the hook lock connecting flange (417); The spring (415) is mounted in the telescopic groove, the top end of the spring (415) is fixedly connected to the hook lock connecting flange (417), and the bottom end of the spring (415) is in contact with the one-way hook lock (414).

8. The platform-type seafloor docking device for a large AUV according to claim 1, characterized in that: The docking platform (100) further comprises a charging and transmitting module (150) and an underwater WiFi module (160) arranged on the top of the platform frame (110); the charging and transmitting module (150) is electrically connected to the large AUV (400) and supplies power to the large AUV (400); the underwater WiFi module (160) is used to perform information exchange with the large AUV (400); and the charging and transmitting module (150) and the underwater WiFi module (160) are both electrically connected to the central control unit (130) and controlled by the central control unit (130).

9. A seafloor observation network, characterized in that: The seabed observation network includes a platform-type seabed docking device for a large AUV as described in any one of claims 1 to 8, a shore base station, a docking box, and optical fiber cables.

10. A method for seabed docking of a seabed observation network using the platform-type seabed docking device for a large AUV as claimed in any one of claims 1 to 8 or the seabed docking device as claimed in claim 9, characterized in that: The subsea docking method for a large AUV specifically includes the following steps: S1) Pre-docking: after receiving the instruction from the onshore base station, the central control unit (130) controls the seabed docking device (0) to extend the blocking arm (200) and the grabbing arm (300); S2) Docking: When the large AUV (400) approaches the seabed docking device (0), the pitch module (220) of the arresting arm (200) rotates and opens the end clamp (234), and the underwater lighting (418) on both sides of the main hook are identified by the cameras on both sides of the end clamp (234) and the height of the arresting arm (200) is adjusted so that the arresting cable (242) of the arresting arm (200) can slide into the hook groove of the main hook, and then the arresting cable (242) of the arresting arm (200) is slid into the hook groove of the main hook to stop the large AUV (400); the large AUV (400) After the large AUV (400) is stopped, the hydraulic winch (241) of the arresting arm (200) slowly retracts the rope to pull the large AUV (400) back, and then the end clamp (234) of the arresting arm (200) clamps the main hook of the large AUV (400); when the large AUV (400) is adjusted to a horizontal state, the grabbing arm (300) extends from the docking platform (100) of the seabed docking device (0), and then the arresting rope (242) on the grabbing arm (300) is slid into the hook groove of the auxiliary hook, and then the end clamp (234) of the grabbing arm (300) clamps the auxiliary hook of the large AUV (400); The main hook is a grab hook located at the front side of the large AUV (400), and the auxiliary hook is a grab hook located at the rear side of the large AUV (400); S3) Information exchange and energy replenishment: the blocking arm (200) and the grabbing arm (300) simultaneously pull the large AUV (400) down to the charging and transmitting module (150) and the underwater WiFi module (160) of the seafloor docking device (0), wireless charging of the large AUV (400) is achieved through the charging and transmitting module (150) and the inductive connector on the large AUV (400), and the data collected by the large AUV (400) is transmitted to the central control unit (130) through the underwater WiFi module (160) and the underwater WiFi module (160) on the large AUV (400), and then transmitted back to the shore base station through the seafloor observation network; S4) Separation: the blocking arm (200) and the grabbing arm (300) are simultaneously extended upward and pushed away from the large AUV (400), the end clamps (234) of the blocking arm (200) and the grabbing arm (300) are opened, the one-way hook lock (414) of the large AUV (400) is retracted, the blocking cable (242) of the blocking arm (200) and the blocking cable (242) of the grabbing arm (300) are both slid out of the corresponding hook groove, the seabed docking device (0) retracts the blocking arm (200) and the grabbing arm (300), and the large AUV (400) is separated from the seabed docking device (0) and drives away from the seabed docking device (0).

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