A platform-type submarine docking device and submarine docking method for large AUVs

Abstract

This invention discloses a platform-type seabed docking device and method for large AUVs. The seabed docking device includes a docking platform and two docking arms spaced apart on the docking platform, with the large AUV positioned above the docking platform. Each docking arm has an arresting cable at its top, and the bottom of the large AUV has two sets of docking interfaces spaced apart for docking with the seabed docking device. The distance between the two sets of docking interfaces is equal to the distance between the two sets of docking arms. Each docking interface includes a grappling hook with a groove at its bottom. When the large AUV docks with the seabed docking device, the groove engages the arresting cable. This invention enables data connection and energy replenishment between the large AUV and the seabed observation network. The platform structure does not limit the shape and volume of the large AUV. Combined with a standardized large AUV docking interface, it greatly expands the types of large AUVs that can be docked. The flexible arresting cable method significantly reduces the motion control requirements during large AUV docking.

Description

Technical Field

[0001] This invention relates to the field of subsea docking devices, and more particularly to a platform-type subsea docking device and method for docking large AUVs. Background Technology

[0002] The largest ecosystem on Earth is the marine ecosystem, with oceans covering approximately 71% of the planet's surface. Oceans are rich in biological and mineral resources, making their exploration, development, and utilization increasingly important to countries worldwide. Unmanned underwater vehicles (UUVs) play a crucial role in seabed exploration, underwater rescue, and marine scientific research. Among these, autonomous underwater vehicles (AUVs), capable of performing various underwater tasks without umbilical cables or real-time human intervention, possess immense development and application potential. Currently, to improve the payload capacity and endurance of AUVs, countries are actively developing large-scale AUVs.

[0003] As a crucial tool for exploring and researching the ocean, seabed observation networks play an irreplaceable role in collecting seabed data, identifying seabed biological resources, and exploring mineral resources. AUVs can exchange collected data with shore-based stations via seabed docking devices within the network, and these docking devices can replenish the AUV's energy during the process.

[0004] Currently, the main types of underwater docking devices are as follows:

[0005] 1. Guided shroud type: The AUV is directly guided into the device through the guide shroud. This docking method has a simple structure and requires minimal modification to the AUV. However, it requires high positioning accuracy for the AUV, is only suitable for AUVs of a single size, and poses a potential hazard due to frequent impacts to the bow of the AUV.

[0006] 2. Rod + Sliding Cover Type: The V-shaped guide mechanism at the bow of the AUV locks the rod to the AUV, and then drives the sliding cover to push the AUV to the bottom and tighten it. This docking method allows for omnidirectional docking, but the guide mechanism at the bow of the AUV can affect the AUV's motion performance and increase its wear and tear.

[0007] 3. Platform Type: The AUV extends a gripping arm, and the hook of the gripping arm connects to the V-shaped guide device of the platform. After the gripping arm reaches the end of the guide device, the AUV cannot move forward. Subsequently, the AUV moves downward until it contacts and locks with the platform. This docking method allows for docking of various AUVs, but it requires a high degree of motion control and maneuverability of the AUV.

[0008] In general, research on subsea docking devices has largely met the subsea docking requirements for small and medium-sized AUVs. However, due to the large mass, high difficulty in motion control and maneuvering of large AUVs, most current subsea docking devices struggle to meet the requirements. Summary of the Invention

[0009] To address the problems existing in the background art, the present invention aims to provide a platform-type seabed docking device capable of connecting large AUVs to the seabed, and a large AUV docking interface for docking with the device, thereby enabling data connection and energy replenishment between large AUVs and seabed observation networks.

[0010] To achieve the above objectives, this invention provides the following technical solution:

[0011] The subsea docking device includes a docking platform and two docking arms spaced apart on the docking platform, with the large AUV located above the docking platform. Each docking arm has an arresting cable at its top, and the large AUV has two sets of docking interfaces spaced apart at its bottom, the distance between the two sets of docking interfaces being equal to the distance between the two sets of docking arms. Each docking interface includes a grappling hook, with a hook groove at its bottom. When the large AUV docks with the subsea docking device, the hook groove hooks onto 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; 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 a stop arm and a grab arm, respectively. The hook groove of the grab arm located on the front side of the large AUV in the direction of travel hooks the stop cable of the stop arm, and the hook groove of the grab arm located on the rear side of the large AUV in the direction of travel hooks the stop cable of the grab arm.

[0014] Each docking arm includes a telescopic module, a pitch module, a clamping module, and a blocking module connected sequentially 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 movement of the docking arm. The telescopic module includes a telescopic cylinder barrel with the telescopic direction in the up and down direction. The top end of the telescopic 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 movement of the docking arm end, and includes a pitch cylinder and a connecting frame arranged sequentially from bottom to top. The pitch cylinder is a swing cylinder with a rotating shaft, which is horizontally arranged and fixedly connected to the connecting frame, driving the connecting frame to rotate synchronously. The cylinder body of the pitch cylinder is fixedly connected to the top of the telescopic module. A slide rail is provided on the top surface of the connecting component.

[0017] The clamping module is used to control the clamping action of the docking arm end, and includes two identical clamping units. Each clamping unit includes a clamping cylinder barrel, a clamping cylinder piston rod, and an end gripper. The end gripper is slidably arranged above the connecting frame and can slide along a slide rail on the connecting frame. The connecting frame also has a clamping cylinder barrel, in which the clamping cylinder piston rod is fitted. The top end of the clamping cylinder piston rod extends from the top of the clamping cylinder barrel and is hinged to the end gripper. 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, an end light, and an ultra-short baseline transponder for acoustic guidance during AUV docking. At least one ultra-short baseline transponder, at least two end lights, and at least two underwater cameras are installed on the end grippers of the two clamping units.

[0018] The blocking module is used to block the pullback of large AUVs and also includes a hydraulic winch; a hydraulic winch is arranged on each side of the clamping module, one end of the blocking cable is wound around the hydraulic winch on the first side, and the other end passes through the center holes opened on the two end grippers in sequence and is wound around the hydraulic winch on the second side.

[0019] The valve control module is connected to the cylinders of the telescopic cylinder, the pitch cylinder, the clamping cylinder, and the hydraulic winch, respectively.

[0020] The blocking arm and the gripping arm 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 is arranged along the second direction, the central hole on the end gripper is opened along the second direction, and two hydraulic winches are respectively arranged on both sides of the clamping module in the second direction.

[0021] The docking interface also includes a hook cylinder barrel and a hook cylinder piston rod. The hook cylinder barrel is arranged on one side of the hook. The hook cylinder piston rod is coaxially mounted inside the hook cylinder barrel. The end of the hook cylinder piston rod extends from the bottom end of the hook cylinder barrel and is fixedly connected to the middle of the hook, driving the hook to rotate relative to the large AUV. The hook cylinder barrel is fixedly connected to the large AUV, and the top end of the hook is hinged to the large AUV.

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

[0023] The underwater electric push rod is mounted on the grappling hook. The bottom end of the underwater electric push rod is a telescopic end and is fixedly connected to the flange at the top of the hook-lock connecting flange below. The hook-lock connecting flange has a downward-opening telescopic groove. 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. The bottom end of the telescopic groove has a stepped groove that is wider at the top and narrower at the bottom. The stepped groove is arranged in conjunction with the limiting mechanism at the top of the one-way hook lock, so that when the underwater electric push rod retracts upward, the one-way hook lock is driven to slide upward through the hook-lock connecting flange.

[0024] The spring is fitted into 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 groove. When the arresting cable is in the hook groove, if the one-way hook lock closes the hook groove outlet, the arresting cable will always be in the hook groove. If the underwater electric push rod retracts upward, the underwater electric push rod will drive the one-way hook lock to retract upward through the hook lock connecting flange, thereby opening the hook groove, at which point the arresting cable can slide out of the hook groove.

[0026] The docking platform also includes a charging and transmitting module and an underwater WiFi module arranged on the top of the platform frame. The charging and transmitting 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. Both the charging and transmitting module and the underwater WiFi module are electrically connected to the central control unit and controlled by the central control unit.

[0027] The submarine observation network includes the aforementioned platform-type submarine docking device for large AUVs, shore base stations, docking boxes, and optical fiber cables.

[0028] The aforementioned method for subsea docking of large AUVs specifically includes the following steps:

[0029] S1) Pre-docking: After receiving the instruction from the shore base station, the central control unit controls the underwater docking device to extend the barrier arm and the grab arm.

[0030] S2) Docking: As the large AUV approaches the seabed docking device, the pitch module of the arresting arm rotates and opens its end grippers. Cameras on both sides of the end grippers identify the underwater lights on both sides of the main hook and adjust the height of the arresting arm so that the arresting cable can slide into the hook groove of the main hook. Then, the arresting cable of the arresting arm slides into the hook groove of the main hook and stops the large AUV. After the large AUV is stopped, the hydraulic winch of the arresting arm slowly retracts the rope, pulling the large AUV back. Then, the end grippers of the arresting arm clamp the main hook of the large AUV. When the large AUV is adjusted to a horizontal position, the grab arm extends from the docking platform of the seabed docking device. Then, the arresting cable on the grab arm slides into the hook groove of the auxiliary hook, and then the end grippers of the grab arm clamp the auxiliary hook of the large AUV.

[0031] 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 interaction and energy replenishment: The arresting 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. The large AUV is wirelessly charged 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 upwards simultaneously and push away from the large AUV. The end grippers of the arresting arm and the grabbing arm open, the one-way hook lock of the large AUV retracts, and the arresting cables of the arresting arm and the grabbing arm slide out from their corresponding hook slots. The seabed docking device retracts the arresting arm and the grabbing arm, and the large AUV separates from the seabed docking device and departs from the seabed docking device.

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

[0035] 1. This invention proposes a novel large-scale AUV subsea docking device, which mainly includes a docking platform and two docking arms, namely a stop arm and a grab arm. The stop arm has a stop cable at its end, which can stop and pull back the large AUV. The two docking arms can change the position of the large AUV and drag it. The platform structure does not limit the shape and volume of the large AUV, and can greatly expand the types of large AUVs that can be docked.

[0036] 2. In this invention, the arresting cable of the arresting arm flexibly stops the large AUV. The damping brake in the hydraulic winch consumes the kinetic energy of the AUV during the stopping process. Therefore, it is not necessary to precisely control the speed of the AUV to stop it smoothly. This flexible arresting method significantly reduces the motion control requirements when docking large AUVs.

[0037] 3. In this invention, when a large AUV approaches its position, the arresting arm uses optical guidance to enable a camera on the arresting arm to identify the AUV's location and predict its route. If the predicted route of the AUV exceeds the arresting range, the arresting arm will enter a warning mode and retract into the platform; if the predicted route of the AUV is within the arresting range, the arresting arm will adjust its position and attitude to ensure that the arresting cable is as level as possible with the center of the grappling hook on the AUV. This method eliminates the need for complex operations by the AUV during docking and reduces the requirements for the AUV's maneuverability.

[0038] 4. This invention proposes a novel docking interface for large AUVs, which mainly comprises two grappling hooks and a one-way hook lock. The two grappling hooks are a main hook and an auxiliary hook. The AUV docking interface and the docking device are docked via the grappling hooks and the docking arm. The main hook connects to the arresting arm, and the auxiliary hook connects to the grabbing arm. This docking interface does not limit the mass and volume of large AUVs, and therefore can serve as a standardized AUV docking interface for the aforementioned seabed docking devices, greatly enriching the types and models of AUVs that can dock with these seabed docking devices. Attached Figure Description

[0039] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0040] Figure 1 This is a schematic diagram of the seabed observation network provided in an embodiment of the present invention;

[0041] Figure 2 This is a schematic diagram of the structure of the underwater docking device provided in an embodiment of the present invention;

[0042] Figure 3 This is a schematic diagram of the internal structure of the underwater docking device platform frame provided in an embodiment of the present invention;

[0043] Figure 4 A schematic diagram of the hydraulic pump station of the subsea docking device provided in an embodiment of the present invention;

[0044] Figure 5This is a schematic diagram of the hydraulic pump station of the subsea docking device provided in an embodiment of the present invention, wherein the oil tank body is an exploded view.

[0045] Figure 6 A schematic diagram of the specific structure of the arresting arm of the underwater docking device provided in an embodiment of the present invention;

[0046] Figure 7 This is a partially exploded view of the arresting arm of the subsea docking device provided in an embodiment of the present invention, wherein the telescopic module is an exploded view;

[0047] Figure 8 This is a partially exploded view of the arresting arm of the subsea docking device provided in an embodiment of the present invention;

[0048] Figure 9 This is a schematic diagram of the structure of a large AUV provided in an embodiment of the present invention;

[0049] Figure 10 This is a partially exploded view of a large AUV provided in an embodiment of the present invention, wherein the docking interface of the large AUV is an exploded view;

[0050] Figure 11 This is a partial exploded view of a large AUV provided in an embodiment of the present invention, wherein the grab hook is an exploded view;

[0051] Figures 12 to 21 This is a schematic diagram illustrating the working process of an embodiment of the present invention.

[0052] The components include: 0. Subsea docking device; 100. Docking platform; 200. Arresting 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 transmitting module; 160. Underwater WiFi module; 121. Fuel tank assembly; 122. Hydraulic pump set; 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-sea motor; 122b. Hydraulic pump; 122c. Coupling; 122d. Pump station valve box; 122e. Pump station electrical control box; 122f. Pump mounting hardware; 122g. Motor mounting hardware; 123a. Suction filter; 123b. Return filter; 124a. Tank pressure compensator; 124b. Valve box pressure compensator; 210. Telescopic module. 220. Pitch module; 230. Clamping module; 240. Barrier module; 211. Base; 212. Hydraulic cylinder positioning rod; 213. Hydraulic cylinder positioning flange; 214. End cap; 215. Telescopic hydraulic cylinder barrel; 216. Telescopic hydraulic cylinder piston rod; 217. Telescopic rod; 218. Piston rod positioning rod; 221. Pitch cylinder; 222. Connecting frame; 231. End light; 232. Clamping hydraulic cylinder barrel; 233. Clamping hydraulic cylinder piston rod; 234. End gripper; 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 receiver 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 Implementation

[0053] The technical solutions of the embodiments of the present invention will be further described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0054] This invention proposes a platform-type subsea docking device 0 for large AUV 400s, used for energy replenishment and information exchange of the large underwater AUV 400. In addition, this invention also proposes a large AUV docking interface for use with the subsea docking device 0, for docking between the large AUV 400 and the subsea docking device 0.

[0055] The subsea docking device 0 includes a docking platform 100 and two docking arms spaced apart on the docking platform 100. A large AUV 400 is located above the docking platform 100. Each of the two docking arms is equipped with a arresting cable 242 at its top. The bottom of the large AUV 400 is equipped with two sets of docking interfaces spaced apart for docking with the subsea docking device. The distance between the two sets of docking interfaces is equal to the distance between the two sets of docking arms. The docking interface includes a grappling hook, and the bottom end of the grappling hook is provided with a hook groove. When the large AUV 400 docks with the subsea 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. 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 connected sequentially from bottom to top. The bottom end of the telescopic module 210 is fixedly connected to the platform frame 110, and the top end of the telescopic module 210 is rotatably connected to the clamping module 230 through the pitch module 220. The blocking module 240 includes a blocking cable 242.

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

[0059] In one 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 telescopic rod 217 is slidably arranged on the upper part of the base 211. The telescopic cylinder barrel 215 is arranged inside the telescopic rod 217, and the telescopic cylinder piston rod 216 is slidably fitted inside the telescopic cylinder barrel 215. The base 211 and the platform frame 110 are connected. The bottom inner wall of 10 is fixedly connected, the base 211 is fixedly connected to the telescopic cylinder barrel 215, the top end of the telescopic cylinder piston rod 216 extends out of the top end of the telescopic cylinder barrel 215, and is fixedly connected to the telescopic rod 217 through the piston rod positioning rod 218; the telescopic cylinder barrel 215 drives the telescopic cylinder piston rod 216 to extend and retract vertically relative to the platform frame 110, and the telescopic cylinder piston rod 216 drives the telescopic rod 217 to slide synchronously up and down on the base 211 through the piston 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 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] In one embodiment of the present invention, the connecting frame 222 includes a top plate forming a U-shape and two side plates vertically arranged below the top plate. A clamping module 230 is arranged above the top plate, and a pitch cylinder 221 is installed between the two side plates. 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, and the two side plates of the connecting frame 222 are respectively fixedly connected to both ends of the rotation shaft of the pitch cylinder 221. The cylinder body of the pitch cylinder 221 is fixedly connected to the telescopic rod 217. A slide rail is provided 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. It includes two clamping units with identical structures. Each clamping unit includes a clamping cylinder barrel 232, a clamping cylinder piston rod 233, and an end gripper 234. The end gripper 234 is slidably arranged above the connecting frame 222, so that the end gripper 234 can slide along the slide rail on the connecting frame 222. The connecting frame 222 is also equipped with a clamping cylinder barrel 232, and the clamping cylinder piston rod 233 is movably fitted in the clamping cylinder barrel 232. The top end of the piston rod 233 extends from the top of the clamping cylinder barrel 232 and is hinged to the end gripper 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. At least one ultra-short baseline transponder 236, at least two end lights 231, and at least two underwater cameras 235 are mounted on the end grippers 234 of the two clamping units. Each end gripper 234 is equipped with at least one end light 231 and at least one underwater camera 235.

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

[0064] The piston rod 233 of the clamping cylinder and the end gripper 234 can be hinged together by a pin, and the cylinder barrel 232 of the clamping cylinder and the connecting frame 222 can be hinged together by a pin.

[0065] In the docking arm, the arresting module 240 is used to arrest the pullback of the large AUV400, and also includes a hydraulic winch 241; a hydraulic winch 241 is arranged on each side of the clamping module 230. The two hydraulic winches 241 are respectively installed on the top of the two end grippers 234. One end of the arresting cable 242 is wrapped around the hydraulic winch 241 on the first side, and the other end passes through the center hole opened on the end grippers 234 of the two clamping units in sequence and then wraps around the hydraulic winch 241 on the second side.

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

[0067] Specifically, the two docking arms are arranged at intervals along a first direction, the rotating shaft is arranged along a second direction intersecting the first direction, the blocking cable 242 is arranged along the second direction intersecting the first direction, and the center hole on the end gripper 234 is opened along 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] In a preferred embodiment of the present invention, a total of one ultra-short baseline transponder 236, two end lights 231, and two underwater cameras 235 are mounted on the two clamping units. The two clamping units are arranged at a distance along a second direction. Each clamping unit has an end light 231 and an underwater camera 235 mounted on its end gripper 234.

[0069] In a preferred embodiment of the present invention, the two hooks on the two docking interfaces have the same outlet orientation, and the outlet direction is located in the first direction.

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

[0071] The docking interface also includes, from top to bottom, an underwater electric push rod 416, a hook-lock connecting flange 417, and a one-way hook lock 414, as well as a spring 415 coaxially fitted inside the hook-lock connecting flange 417. The underwater electric push rod 416 is mounted on the grappling hook, and its bottom end is a telescopic end, which is fixedly connected to the flange at the top of the hook-lock connecting flange 417 below. The hook-lock connecting flange 417 has a downward-opening telescopic groove, in which the one-way hook lock 414 is slidably arranged. The upper end of the one-way hook lock 414 extends into the telescopic groove, and the bottom end of the telescopic groove has a stepped groove that is wider at the top and narrower at the bottom. The stepped groove is arranged in conjunction with the limiting mechanism at the top of the one-way hook lock 414, so that when the underwater electric push rod 416 retracts upward, the one-way hook lock 414 slides upward through the hook-lock connecting flange 417. The spring 415 is fitted 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 will always be in the hook groove. If the underwater electric push rod 416 retracts 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. At this time, the arresting cable 242 can slide out of the hook groove.

[0073] The docking interface also includes an underwater light 418 mounted on the grappling hook. During docking, the underwater camera 235 at the end of the arresting arm 200 adjusts its height according to the position of the grappling hook by recognizing the underwater light 418.

[0074] The large AUV 400 also needs to be equipped with a corresponding ultra-short baseline transceiver 420, a charging receiver 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 set 122, a filter assembly 123, and a pressure compensator 124; the oil tank assembly 121 includes an oil tank body 121a, the internal cavity of which is filled with oil; the hydraulic pump set 122 includes a hydraulic pump 122b and a coupling 122c arranged inside the oil tank body 121a, and a deep-sea motor 122a, a pump station valve box 122d, and a pump station electrical control box 122e arranged outside the oil tank body 121a; the output shaft of the deep-sea motor 122a is connected to the drive shaft of the hydraulic pump 122b through the coupling 122c and drives the hydraulic pump 122b to convert the mechanical energy of the deep-sea motor 122a into hydraulic energy; the hydraulic pump The oil suction port of 122b is immersed in the oil, and the oil outlet is connected to the pump station valve box 122d. The pump station valve box 122d is connected to the valve control module 140 through the pipe 125. The pump station valve box 122d is electrically connected to the central control unit 130 through the pump station electrical 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 an oil tank pressure compensator 124a for compensating the hydraulic pressure inside the oil tank body 121a and a valve box pressure compensator 124b for compensating the hydraulic 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 controlling one 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 inside 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. 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 signals issued 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. Both the charging and transmitting module 150 and the underwater WiFi module 160 are electrically connected to the central control unit 130 and controlled by the central control unit 130.

[0079] Furthermore, the charging transmission module 150 is positioned at the corresponding location of the charging receiving module 430 of the large AUV 400; the underwater WiFi module 160 is positioned at the corresponding location of the wireless communication module 440 of the large AUV 400.

[0080] The submarine connection device 0 can form a submarine observation network with shore base stations, connection boxes, and optical fiber cables.

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

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

[0083] Reference Figure 1 The subsea docking device 0 is a functional component of the subsea observation network, which consists of shore base stations, docking boxes, fiber optic cables, and various functional devices. The shore base station is the control unit of the entire subsea observation network, responsible for controlling its normal operation and supplying power to the subsea docking device 0 via fiber optic cables. The docking box is the central underwater component, providing an interface for the subsea docking device 0. It allows for direct connection between the docking box and the subsea docking device 0 via an ROV (Remotely Operated Vehicle).

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

[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 transmission module 150, and an underwater WiFi module 160. The hydraulic pump station 120, central control unit 130, and valve control module 140 are all located within the platform frame 110, while the charging transmission module 150 and underwater WiFi module 160 are located on top of the platform frame 110. The pump station supplies oil to the valve control module 140; the central control unit 130 provides power to the electronic equipment, receives sensor signals, and sends control signals to the electronic equipment; the valve control module 140 controls the movement of the docking arm; the charging transmission module 150 charges the large AUV 400; and the underwater WiFi module 160 interacts 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 set 122, a filter assembly 123, a pressure compensator 124, and pipelines 125.

[0087] The fuel tank assembly 121 includes a fuel tank body 121a, lifting lugs 121b, a cleaning hole cover 121c, an oil injector 121d, and a drain plug 121f. The fuel tank body 121a stores fuel and dissipates heat; its bottom can be bolted to the outside. The lifting lugs 121b are located above the four corner arms of the fuel tank body 121a for moving the fuel tank. The cleaning hole cover 121c is located at the cleaning hole on the front of the fuel tank body 121a; removing the cover allows cleaning of all inner surfaces of the fuel tank body 121a. The oil injector 121d is located on the top of the fuel tank body 121a; opening the cover allows for filling the tank with fuel. The drain plug 121f is located at the lowest point on the front of the fuel tank body 121a for changing the fuel.

[0088] The hydraulic pump unit 122 includes a deep-sea motor 122a, a hydraulic pump 122b, a coupling 122c, a pump station valve box 122d, a pump station electrical control box 122e, a pump mounting component 122f, and a motor mounting component 122g. The deep-sea motor 122a acts as a prime mover to drive the hydraulic pump 122b; the hydraulic pump 122b converts the mechanical energy of the prime mover into hydraulic energy; the coupling 122c connects the output shaft of the deep-sea motor 122a to the drive shaft of the hydraulic pump 122b; the pump station valve box 122d contains components such as an overflow valve, a check valve, a pressure sensor, and a flow sensor, used to monitor and process the oil discharged by the hydraulic pump 122b; the pump station electrical control box 122e contains a control system used to power and control the electronic components in the pump station valve box 122d, and to receive signals from the sensors in the pump station valve box 122d. Pump mounting bracket 122f and motor mounting bracket 122g are used to fix hydraulic pump 122b and deep-water motor 122a to oil tank body 121a, respectively.

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

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

[0091] The central control unit 130 includes input / output ports and a microcontroller. The input / output ports are used to receive power from the base station, signals emitted by the base station, signals emitted by the pump station, signals emitted by the underwater WiFi module 160, and signals emitted by the docking arm. They also supply power to all electronic devices in the seabed docking device 0 and send signals to the base station, hydraulic pump 122b station 120, valve control module 140, charging transmission module, and underwater WiFi module 160. The microcontroller processes the signals received by the input / output ports and sends signals outward through the input / output ports according to sensor information and base station instructions.

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

[0093] The charging transmitter module 150 sends electromagnetic waves to the charging receiver module 430 corresponding to the AUV to charge it; the underwater WiFi module 160 communicates with the wireless communication module 440 of the AUV, enabling information exchange between the docking device and the AUV. Both the charging transmitter 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 consists of a stop arm 200 and a gripping arm 300, which are identical and include a telescopic module 210, a pitch module 220, a clamping module 230, and a stop module 240. The telescopic module 210 controls the telescopic movement of the entire docking arm, the pitch module 220 controls the pitch movement of the end of the docking arm, the clamping module 230 controls the clamping movement of the end of the docking arm, and the stop module 240 is used to stop the AUV from pulling back.

[0095] The telescopic module 210 includes a base 211, a cylinder positioning rod 212, a cylinder positioning flange 213, an end cap 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 cap 214 are bolted together to connect the base 211 to the telescopic cylinder barrel 215, and the cylinder positioning flange 213 provides axial positioning for the telescopic cylinder barrel 215. Similarly, the piston cylinder positioning rod and the end cap 214 are bolted together to connect the telescopic rod 217 to the telescopic cylinder piston rod 216, and the piston rod positioning flange provides axial positioning for 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, thus realizing the telescopic movement 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 bolts. Similarly, the connecting frame 222 is fixedly connected to both ends of the rotation shaft of the pitch cylinder 221 by bolts. By controlling the valve in the docking arm valve box, the rotation of the pitch cylinder 221 is driven, thereby realizing the pitching action of the docking arm end.

[0097] The clamping module 230 includes an end-effector illumination light 231, a clamping cylinder barrel 232, a clamping cylinder piston rod 233, an end-effector gripper 234, an underwater camera 235, and an ultra-short baseline transponder 236. The end-effector gripper 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 arresting module 240. The clamping cylinder barrel 232 is hinged to the connecting frame 222 in the pitch module 220. The end-effector gripper 234 has an underwater camera 235 and an end-effector illumination light 231 mounted on its front for visual guidance during AUV docking. The end-effector gripper 236 is also mounted on its front for acoustic guidance during AUV docking. The clamping and opening actions of the end-effector gripper 234 are achieved by controlling the valves within the docking arm valve box.

[0098] The arresting module 240 includes a hydraulic winch 241 and an arresting cable 242. One hydraulic winch 241 is placed on each side, and the two hydraulic winches 241 are fixedly connected to the end grippers 234 on both sides. The two hydraulic winches 241 are connected by an arresting cable 242, which passes through the central hole of the end gripper 234. By controlling the valve in the docking arm valve box, the rotation of the hydraulic winches 241 is driven, thereby realizing the raising and lowering of the arresting cable 242.

[0099] In addition, refer to Figures 9 to 11The bottom of the large AUV 400 needs to be equipped with two sets of docking interfaces that are compatible with this docking device, 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 grappling hook, a grappling hook cylinder barrel 412, a grappling 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 grappling hook and one end of the grappling hook cylinder barrel 412 are fixed to the bottom of the AUV. The grappling hook cylinder piston rod 413 extends from the other end of the grappling hook cylinder barrel 412 and is fixed to the middle of the grappling hook. The grappling hook can be rotated by driving the grappling hook cylinder piston rod 413. There is a hook groove at the bottom of the grappling hook. A one-way hook lock 414 is placed at the outlet 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. The hook lock connecting flange 417 contains a spring 415. When the arresting cable 242 contacts the outer arc surface 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 will always be in the hook groove. When the underwater electric push rod 416 retracts, the one-way hook lock 414 retracts, causing the hook groove to open, at which point 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 grappling hook at close range.

[0101] Reference Figures 12 to 21 The working process of this invention is as follows:

[0102] First, a command is sent from the onshore base station, and the arresting arm and grasping arm of the underwater docking device 0 extend, waiting for the large AUV 400 to approach. Figure 12 As shown.

[0103] The large AUV 400 transmits acoustic signals via an ultra-short baseline transceiver 420 to determine the location of the seabed docking device 0, thus proceeding towards the pre-docking area. Upon arrival, the large AUV 400 adjusts its orientation so that its axis is aligned with the line connecting the centers of the two docking arm bases in the same vertical plane, and its height is within the docking range. Then, the large AUV 400 approaches the seabed docking device 0 at low speed, maintaining its altitude, azimuth, and pitch angles at predetermined values, while its grappling hooks lower. Figure 13 As shown.

[0104] As the large AUV 400 approaches the seabed docking device 0, the pitch module 220 of the arresting arm 200 rotates, and the end gripper 234 opens, as... Figure 14As shown, the cameras on both sides of the end gripper 234 identify the underwater lights 418 on both sides of the hook and adjust their own height so that the arresting cable 242 of the arresting arm 200 can slide into the hook groove of the main hook. After stopping the large AUV 400, the hydraulic winch 241 of the arresting arm 200 slowly retracts the rope, pulling the large AUV 400 back and clamping it to the main hook, as shown. Figure 15 As shown.

[0105] Then, the large AUV 400 adjusts itself to a horizontal position, and the gripping arm 300 slides the arresting cable 242 into the auxiliary hook groove and clamps the auxiliary hook, as follows. Figure 16 As shown. Then, the arresting arm 200 and the grasping arm 300 simultaneously pull the large AUV 400 closer to the vicinity of the charging and transmitting module and the underwater WiFi module 160 of the seabed docking device 0, as... Figure 17 As shown. Wireless charging of the large AUV 400 is achieved through the charging and transmitting module on the seabed docking device 0 and the inductive connector on the large AUV 400. Information exchange between the large AUV 400 and the seabed docking device 0 in the deep-sea environment is achieved through the underwater WiFi module 160 on both the seabed docking device 0 and the large AUV 400. The large AUV 400 transmits the data collected by its sensors 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 arresting arm 200 and the grasping arm 300 push the large AUV 400 to a position far from the seabed docking device 0, such as... Figure 18 As shown, the one-way hook lock 414 of the large AUV 400 retracts, the end grippers 234 of the arresting arm 200 and the grabbing arm 300 open and slide out the arresting cable 242, and then both arms retract, as... Figure 19 and Figure 20 As shown, at this point, the large AUV 400 separates from the subsea docking device 0 and then departs from the subsea docking device 0, as... Figure 21 As shown.

[0107] Thus, the large AUV 400 has completed the entire process of pre-docking, docking, information exchange / energy replenishment, mission completion, and 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 transformations made under the concept of the present invention using the contents of the present invention specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A platform-type subsea docking device for large AUVs, characterized in that: The subsea docking device (0) includes a docking platform (100) and two docking arms spaced apart on the docking platform (100). The large AUV (400) is located above the docking platform (100). Each of the two docking arms is provided with an arresting cable (242) at its top. The large AUV (400) has two sets of docking interfaces spaced apart at its bottom. The distance between the two sets of docking interfaces is equal to the distance between the two sets of docking arms. Each docking interface includes a grappling hook. The bottom end of the grappling hook is provided with a hook groove. When the large AUV (400) docks with the subsea docking device (0), the hook groove hooks the arresting cable (242). 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); 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 a stop arm (200) and a grab arm (300). The hook groove of the grab arm located on the front side of the large AUV (400) hooks the stop cable (242) of the stop arm (200), and the hook groove of the grab arm located on the rear side of the large AUV (400) hooks the stop cable (242) of the grab arm (300). Each docking arm includes a telescopic module (210), a pitch module (220), a clamping module (230), and a blocking module (240) connected sequentially 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 the blocking cable (242). The pitch module (220) is used to control the pitch movement of the docking arm, and includes a pitch cylinder (221) and a connecting frame (222); 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); the connecting frame (222) is provided with a slide rail; The blocking module (240) is used to block the pullback of a 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 grippers (234) and then is wound around the hydraulic winch (241) on the second side.

2. The platform-type subsea docking device for large AUVs according to claim 1, characterized in that: The telescopic module (210) is used to control the telescopic movement of the docking arm. The telescopic module (210) includes a telescopic cylinder barrel (215) with the telescopic direction being up and down. The telescopic cylinder barrel (215) is fixedly connected to the platform frame (110). The clamping module (230) is used to control the clamping action of the docking arm. It includes two clamping units with the same structure. Each clamping unit includes a clamping cylinder barrel (232), a clamping cylinder piston rod (233), and an end gripper (234). The end gripper (234) is slidably arranged above the connecting frame (222). The clamping cylinder barrel (232) is also arranged on the connecting frame (222). The clamping cylinder piston rod (233) is fitted in the clamping cylinder barrel (232). The top end of the clamping cylinder piston rod (233) extends from the clamping cylinder barrel. The top of (232) extends out and is hinged to the end gripper (234), and the bottom end of the gripping cylinder (232) is hinged to the connecting frame (222); the gripping module (230) also includes an underwater camera (235) for visual guidance during AUV docking, an end light (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 end lights (231) and at least two underwater cameras (235) are installed on the two end grippers (234).

3. A platform-type subsea docking device for large AUVs according to claim 2, characterized in that: The valve control module (140) is connected to the cylinders in the telescopic cylinder (215), the pitch cylinder (221), the clamping cylinder (232), and the hydraulic winch (241).

4. A platform-type subsea docking device for large AUVs according to claim 2, characterized in that: The blocking arm (200) and the gripping 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 central hole on the end gripper (234) is opened along the second direction, and two hydraulic winches (241) are respectively arranged on both sides of the clamping module (230) in the second direction.

5. A platform-type subsea docking device for large AUVs according to claim 1, characterized in that: The docking interface also includes a hook cylinder barrel (412) and a hook cylinder piston rod (413). The hook cylinder barrel (412) is coaxially fitted with the hook cylinder piston rod (413). The hook cylinder piston rod (413) extends from the bottom end of the hook cylinder barrel (412) and is fixedly connected to the middle part of the hook. The hook cylinder barrel (412) is fixedly connected to the large AUV (400), and the top end of the hook is hinged to the large AUV (400).

6. A platform-type subsea docking device for large AUVs 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 from top to bottom, a spring (415) coaxially fitted inside the hook lock connecting flange (417), and an underwater lighting lamp (418) installed on the grappling hook. The underwater electric push rod (416) is installed on the grappling 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 downward-opening telescopic groove. 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. The bottom end of the telescopic groove is provided with a stepped groove that is wider at the top and narrower at the bottom. The stepped groove is arranged in cooperation with the limiting mechanism at the top of the one-way hook lock (414) so ​​that when the underwater electric push rod (416) retracts upward, the one-way hook lock (414) is driven to slide upward through the hook lock connecting flange (417). The spring (415) is installed 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).

7. A platform-type subsea docking device for large AUVs according to claim 1, characterized in that: The docking platform (100) also includes a charging transmission module (150) and an underwater WiFi module (160) arranged on the top of the platform frame (110). The charging transmission 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 interact with the large AUV (400). Both the charging transmission module (150) and the underwater WiFi module (160) are electrically connected to the central control unit (130) and controlled by the central control unit (130).

8. A seabed observation network, characterized in that: The submarine observation network includes a platform-type submarine docking device for large AUVs, a shore base station, a docking box, and optical fiber cables as described in any one of claims 1 to 7.

9. A method for connecting a large AUV to a seabed using a platform-type seabed docking device as described in any one of claims 1 to 7 or a seabed observation network as described in claim 8, characterized in that: The aforementioned method for subsea docking of large AUVs specifically includes the following steps: S1) Pre-docking: After receiving the instruction from the shore base station, the central control unit (130) controls the seabed docking device (0) to extend the arresting arm (200) and the grabbing arm (300). S2) Docking: During the process of the large AUV (400) approaching the seabed docking device (0), the pitch module (220) of the arresting arm (200) rotates and opens the end gripper (234). The cameras on both sides of the end gripper (234) identify the underwater lights (418) on both sides of the main hook and adjust the height of the arresting arm (200) so that the arresting cable (242) of the arresting arm (200) can slide into the hook groove of the main hook. Then, the arresting cable (242) of the arresting arm (200) is slid into the hook groove of the main hook and stops the large AUV (400); the large AUV (400) 00) After being 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 gripper (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 grab arm (300) extends from the docking platform (100) of the seabed docking device (0), and then the arresting cable (242) on the grab arm (300) slides into the hook groove of the auxiliary hook, and then the end gripper (234) of the grab arm (300) clamps the auxiliary hook of the large AUV (400); The main hook is a grab hook located on the front side of the large AUV (400), and the auxiliary hook is a grab hook located on the rear side of the large AUV (400). S3) Information interaction and energy replenishment: The arresting arm (200) and the grabbing arm (300) simultaneously pull the large AUV (400) down to the charging transmission module (150) and the underwater WiFi module (160) of the seabed docking device (0). The large AUV (400) is wirelessly charged through the charging transmission module (150) and the inductive connector on the large AUV (400). 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 seabed observation network. S4) Separation: The arresting arm (200) and the grabbing arm (300) extend upwards simultaneously and push away from the large AUV (400). The end grippers (234) of the arresting arm (200) and the grabbing arm (300) open, the one-way hook lock (414) of the large AUV (400) retracts, the arresting cable (242) of the arresting arm (200) and the arresting cable (242) of the grabbing arm (300) slide out from the corresponding hook grooves, the seabed docking device (0) retracts the arresting arm (200) and the grabbing arm (300), and the large AUV (400) separates from the seabed docking device (0) and drives away from the seabed docking device (0).

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