Modularized reconfigurable multi-UUV underwater docking charging device and charging method

Abstract

The invention discloses a modularized reconfigurable multi-UUV (Unmanned Underwater Vehicle) underwater docking charging device and a charging method. The device comprises an integral frame, an anti-settling plate at the bottom of the integral frame is mounted on a base through four leveling hydraulic cylinders, a hydraulic cabin and a control cabin are mounted on the anti-settling plate, a charging communication device and two secondary cylinders are arranged in the integral frame, and the tops of the secondary cylinders are connected with a supporting frame. Rollers on a main frame of the supporting frame slide in grooves of stand columns of the integral frame, a butt-joint cage is installed on the upper portion of the supporting frame through a rotating mechanism, a clamping and locking mechanism is arranged in the butt-joint cage, a buffering device is installed at the end of the butt-joint cage, and an underwater lamp, an environment sensing system and underwater positioning communication equipment are installed on the butt-joint cage. A state monitoring system is installed on the overall frame. The space occupied by a single device is small, modular assembly can be achieved, clamping and locking of UUVs of various reconstruction modes, various shapes and different diameters are achieved, and reliable and stable position transfer is achieved.

Description

Technical Field

[0001] The present invention belongs to the technical field of underwater charging, and in particular relates to a modular and reconfigurable multi-UUV underwater docking charging device and a charging method. Background Art

[0002] As the level of modernization in the world continues to improve, the world is also accelerating the consumption of resources while developing at a high speed. The exploitation of non-renewable resources on land is close to saturation. Because the ocean has a variety of rich resources, humans have gradually accelerated the development and exploration of the ocean. Autonomous underwater robot (AUV) is an important underwater detection tool that can go deep into the ocean to conduct investigations and surveys, providing a large amount of ocean data. These data are an important basis for understanding the characteristics of the marine environment, seabed topography, distribution of marine organisms and the development of marine resources; play a role in marine development, such as offshore oil, natural gas, mineral resource exploration, marine engineering construction and maintenance, etc.; serve ports, marine science and technology tourism and other fields, and promote the rapid development of the marine economy; monitor the marine environment, discover and record changes in marine sediments and biological communities, and help scientists study the impact of marine pollution and the protection of marine ecosystems.

[0003] AUVs mainly rely on self-sufficient batteries, fuel cells, and closed-loop diesel engines for underwater operations, but their endurance and working time are limited by the onboard energy supply, so the AUVs need to be retracted and charged in a timely manner. The retraction and charging methods of AUVs are generally divided into two types: surface retraction and charging and underwater retraction and charging. However, surface retraction often requires the mother ship to hoist and recover it, and also requires the operation of staff, which will consume a lot of manpower and material resources. Therefore, retracting and charging the AUV underwater can reduce the support of the mother ship and improve operational efficiency.

[0004] The underwater retractable charging device is a key component of the AUV working system and must meet the precise positioning requirements such as top-stream recovery, AUV guidance and positioning, locking and charging. In recent years, with the continuous in-depth research and design by researchers, many different underwater charging devices have been designed and manufactured. However, the design of underwater charging devices with compact structure and modular assembly is relatively lacking. Many underwater charging devices lack the design that can adjust the docking cage according to the direction of the ocean current to achieve top-stream recovery, and the charging device structure that meets the design of top-stream recovery is relatively bloated. The underwater charging scheme that is as simple as possible and completes the modular design while meeting various requirements remains to be studied. Summary of the invention

[0005] The purpose of the present invention is to provide a modular and reconfigurable multi-UUV underwater docking charging device and charging method to solve the limitations of the existing UUV underwater charging device design, such as the lack of modular design and the insufficiently compact structure, and to propose a UUV underwater charging device that can achieve a small space occupation for a single device, modular assembly, and multiple reconstruction methods.

[0006] The purpose of the present invention is achieved through the following technical solutions:

[0007] A modular and reconfigurable multi-UUV underwater docking and charging device comprises: an overall frame, an anti-sinking plate at the bottom of the overall frame is installed on a base through four leveling hydraulic cylinders, a hydraulic cabin and a control cabin are installed on the anti-sinking plate, a charging communication device and two secondary cylinders are arranged inside the overall frame, the top of the secondary cylinder is connected to a support frame, rollers on the main frame of the support frame slide in grooves of the overall frame columns, a docking cage is installed on the upper part of the support frame through a rotating mechanism, a clamping and locking mechanism is provided inside the docking cage, a buffer device is installed at the end of the docking cage, an underwater light, an environmental perception system, and underwater positioning and communication equipment are installed on the docking cage, and a status monitoring system is installed on the overall frame.

[0008] Furthermore, the status monitoring system includes a camera holder, a camera, a sliding rod, and a monitoring hydraulic cylinder. The monitoring hydraulic cylinder and the sliding rod are installed on the middle beam of the overall frame. When working, the monitoring hydraulic cylinder drives the sliding rod to slide horizontally along the middle beam, driving the camera to extend or retract, so as to ensure comprehensive monitoring of the UUV.

[0009] Furthermore, the clamping and locking mechanism includes two driving cylinders, the tail of the cylinder barrel of the driving cylinder is installed on a support at one end of the bottom frame, the top of the cylinder rod of the driving cylinder is installed on the side of the screw nut mechanism, and two claws are installed oppositely at the two ends of the two screw nut mechanisms respectively. The screw nut mechanism drives the claws to move closer and farther away from each other, and at the same time, the two driving cylinders respectively drive one of the screw nut mechanisms to drive the claws to move horizontally.

[0010] Furthermore, the buffer device includes a positioning plate, which is mounted on a mounting seat through a group of buffer springs. The mounting seat is fixed to the end of the docking cage. When the bow of the UUV contacts the positioning plate, the buffer spring is compressed to reduce the reaction force of the positioning plate on the UUV.

[0011] Furthermore, the rotating mechanism is installed between the docking cage and the support frame, and a worm gear transmission mechanism and an angle sensor are arranged inside the rotating mechanism, and the docking cage is driven to rotate relative to the support frame according to feedback from the angle sensor.

[0012] Furthermore, the charging and communication device includes a wireless charging module, an optical communication module, a support, 6 telescopic cylinders, and a mounting platform. The wireless charging module and the optical communication module are mounted on the support. The bottoms of the cylinder barrels of the 6 telescopic cylinders are divided into three pairs and are evenly hinged on the mounting platform. The tops of the cylinder rods of the 6 telescopic cylinders are divided into three pairs and are evenly hinged on the bottom of the support. The 6 telescopic cylinders realize six-degree-of-freedom adjustment of the support.

[0013] Furthermore, the charging and communication device is installed on a charging rack, and the charging rack is installed on an anti-sinking plate at the bottom of the overall frame. When the docking cage drives the UUV down to the lowest position in the overall frame, the support rises and adjusts its posture to charge the UUV and exchange information.

[0014] Furthermore, an anti-sinking barrel is installed at the bottom of the base.

[0015] Furthermore, two latches and two sockets are installed on both sides of the overall frame respectively;

[0016] When multiple charging devices are required to work side by side, the plug on the right side of one charging device is inserted into the socket on the left side of another charging device, and so on, multiple charging devices can be assembled side by side;

[0017] When multiple UUVs need to be docked and charged in both the forward and reverse directions, sockets and plugs are installed on the rear end beams of the overall frame of the two charging devices respectively. The two charging devices are placed back to back, and the plugs are installed in the sockets, which can be reconstructed into a combination of underwater docking and charging devices for multiple UUVs in both the forward and reverse directions.

[0018] The present invention may also include: a charging method for the modular and reconfigurable multi-UUV underwater docking charging device as described above, the method comprising the following steps:

[0019] (1) Guided docking stage: The underwater positioning communication equipment transmits hydroacoustic signals to the UUV. After the transmission is completed, the secondary cylinder lifts the docking cage and locks the rollers on the support frame to fix the entire docking cage in a vertical position; the rotating mechanism adjusts according to the ocean current direction given by the environmental perception system so that the docking cage is in the same direction as the ocean current. After the adjustment is completed, the rotating mechanism is locked; the claws inside the docking cage move to both sides to avoid interference, the underwater lights turn on, and a message is sent to prompt the UUV to start docking; the UUV enters the docking cage under guidance, and the guided docking stage ends;

[0020] (2) Locking stage: After the UUV enters the docking cage, the buffer device at the bottom of the docking cage decelerates and buffers the UUV, and the sensor installed inside transmits the information of the UUV's arrival; the gripper initially clamps toward the center, so that the UUV is initially aligned with the center. According to the length of the UUV, the two drive cylinders adjust the axial position of the gripper, and then further clamps the UUV to fix it;

[0021] (3) Transfer stage: After the locking is completed, the rotating mechanism is unlocked and locked after returning to the zero position; the roller on the support frame is unlocked, and the secondary cylinder drives the docking cage and UUV to descend, return to the charging position and lock;

[0022] (4) Charging and maintenance stage:

[0023] After the UUV reaches the charging position, the charging communication device uses the information provided by the visual system to drive the wireless charging module and optical communication module on it to align it with the charging and information exchange area of ​​the UUV; and then starts charging and exchanging information with the UUV; the camera in the status monitoring system begins to extend along the track to conduct an overall inspection of the UUV;

[0024] (5) Disengagement phase: After the UUV completes charging and information exchange, it sends a disengagement message to the charging communication device. After receiving the message, the grippers release and move to the sides. After the movement is completed, the charging communication device sends a disengagement message to the UUV, and the UUV exits the charging device backwards, completing the disengagement phase.

[0025] The beneficial effects of the present invention are:

[0026] The present invention is suitable for various types of UUVs. The horizontal hydraulic cylinder can drive the clamping and locking device to move forward and backward to achieve clamping and locking of different UUVs. The screw nut mechanism can drive the locking claws to automatically open and close to achieve clamping and locking of UUVs of various shapes and different diameters.

[0027] The present invention can realize various forms of modular assembly and reconstruction. A socket structure is designed on the left side of the underwater docking charging device, and a pin structure is designed at the corresponding position on the right side. The socket structure on the right side of each underwater docking charging device can be assembled with the pin structure on the left side of another underwater docking charging device. The rear ends of the two underwater docking charging devices are also designed with a socket structure and a pin structure, respectively, so that the two charging devices can be assembled back to back. According to actual needs, multiple UUV underwater charging device modules can be assembled in a single row or multiple rows, assembled as a whole and then hoisted into the water.

[0028] The present invention can realize reliable and stable position transfer. The bottom support frame of the docking cage cooperates with the groove of the column through rollers, and the secondary hydraulic cylinder drives the support frame to move up and down along the groove of the column to control the height of the docking cage, so that it rises when docking is required, and lowers after docking is completed and rotated back to the original position. This structure can ensure that the UUV is reliably and stably transported to the target position.

[0029] The present invention has the ability of autonomous leveling. The base of the UUV underwater charging device module is designed with an autonomous leveling mechanism, which can adapt to different seabed environments and can adjust the direction of the docking cage according to the ocean current. The bottom of the docking cage is connected to the rotating mechanism, which can control the docking cage to adjust according to the ocean current direction given by the environmental sensing system on it, so that the direction of the docking cage is consistent with the ocean current direction. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Attached Figure 1 It is a structural schematic diagram of the present invention.

[0031] Attached Figure 2 It is the front view of the present invention.

[0032] Attached Figure 3 It is a left side view of the present invention.

[0033] Attached Figure 4 It is a structural schematic diagram of the state monitoring system of the present invention;

[0034] Attached Figure 5 It is a structural schematic diagram of the clamping and locking mechanism of the present invention;

[0035] Attached Figure 6 It is a schematic structural diagram of the buffer device of the present invention;

[0036] Attached Figure 7 Yes Figure 6 Left view of .

[0037] Attached Figure 8 Yes Figure 6 Top view of the .

[0038] Attached Fig. 9 It is a front view of the invention when the receiving cage is lifted and docked with a charging device underwater.

[0039] Attached Fig.10 Yes Fig. 9 Left view of .

[0040] Attached Fig.11 It is a structural schematic diagram of the support frame of the present invention;

[0041] Attached Fig.12 It is a structural schematic diagram of the charging communication device of the present invention;

[0042] Attached Fig.13It is a structural schematic diagram of the underwater docking charging device of the present invention after the docking cage is lifted and rotated;

[0043] Attached Fig.14 It is a schematic diagram of the structure of the UUV of the present invention when it enters the docking cage under guidance;

[0044] Attached Fig.15 It is a front view of the underwater docking and charging device of the present invention after the docking cage and the UUV are lowered to the charging position;

[0045] Attached Fig.16 Yes Fig.15 Left view of .

[0046] Attached Fig.17 It is a front view of the underwater docking charging device of the present invention during charging and maintenance.

[0047] Attached Fig.18 Yes Fig.17 Left view of .

[0048] Attached Fig.19 It is a front view of the underwater docking charging device of the present invention when charging and repairing a UUV with a small diameter.

[0049] Attached Fig. 20 Yes Fig.19 Left view of .

[0050] Attached Fig.21 It is a front view of the underwater docking charging device used for charging and repairing a UUV with an elliptical cross-section according to the present invention.

[0051] Attached Fig. 22 Yes Fig.21 Left view of .

[0052] Attached Fig.23 It is a schematic diagram of the structure of two charging devices of the present invention assembled side by side;

[0053] Attached Fig.24 It is a schematic diagram of the structure of two charging devices of the present invention assembled in forward and reverse directions;

[0054] Attached Fig.25 It is a schematic diagram of the structure of four charging devices of the present invention after being assembled side by side in forward and reverse directions;

[0055] Attached Fig.26 It is a schematic structural diagram of eight charging devices of the present invention that are assembled in forward and reverse directions after being arranged side by side.

[0056] In the attached figure: 1. Status monitoring system; 2. Overall frame; 3. Underwater light; 4. Docking cage; 5. Clamping and locking mechanism; 6. Environmental perception system; 7. Underwater positioning and communication equipment; 8. Buffer device; 9. Rotating mechanism; 10. Charging and communication device; 11. Support frame; 12. Latch; 13. Charging frame; 14. Anti-sinking plate; 15. Leveling hydraulic cylinder; 16. Base; 17. Anti-sinking barrel; 18. Secondary cylinder; 19. Hydraulic cabin and control cabin; 20. Socket;

[0057] 1-1, camera seat; 1-2, camera; 1-3, slide bar; 1-4, monitoring hydraulic cylinder;

[0058] 2-1, middle beam;

[0059] 5-1, bottom frame, 5-2, driving cylinder, 5-3, motor, 5-4, lead screw nut mechanism, 5-5, claw;

[0060] 11-1, roller; 11-2, main frame;

[0061] 10-1, wireless charging module; 10-2, optical communication module; 10-3, support; 10-4, telescopic cylinder; 10-5, installation platform. DETAILED DESCRIPTION

[0062] The present invention is further described below in conjunction with the accompanying drawings.

[0063] The present invention provides a modular and reconfigurable multi-UUV underwater docking and charging device, as shown in the attached Figure 1-3 As shown, its components include: a status monitoring system 1, an overall frame 2, an underwater light 3, a docking cage 4, a clamping and locking mechanism 5, an environmental perception system 6, an underwater positioning and communication device 7, a buffer device 8, a rotating mechanism 9, a charging and communication device 10, a support frame 11, a latch 12, a charging frame 13, an anti-sinking plate 14, a leveling hydraulic cylinder 15, a base 16, an anti-sinking barrel 17, a secondary cylinder 18, a hydraulic cabin and a control cabin 19, and a socket 20.

[0064] The anti-sinking plate 14 at the bottom of the overall frame 2 is installed on the base 16 through four leveling hydraulic cylinders 15. A hydraulic cabin and a control cabin 19 are installed on the anti-sinking plate 14. A charging communication device 10 and two secondary cylinders 18 are provided inside the overall frame 2. The top of the secondary cylinder 18 is connected to the support frame 11. The roller 11-1 on the main frame 11-2 of the support frame 11 slides in the groove of the column of the overall frame 2. A docking cage 4 is installed on the upper part of the support frame 11 through a rotating mechanism 9. A clamping and locking mechanism 5 is provided inside the docking cage 4. A buffer device 8 is installed at the end of the docking cage 4. An underwater light 3, an environmental perception system 6, and an underwater positioning communication device 7 are installed on the docking cage 4. A status monitoring system 1 is installed on the overall frame 2.

[0065] The environment sensing system 6 is installed in the middle of the top of the docking cage 4 to sense the direction and depth of the ocean current, and the underwater positioning communication device 7 is installed on the rear side of the top of the docking cage 4 to transmit hydroacoustic signals with the UUV.

[0066] As attached Figure 4 As shown, the state monitoring system 1 includes a camera seat 1-1; a camera 1-2; a slide bar 1-3; and a monitoring hydraulic cylinder 1-4. The slide bar 1-3 is installed on the middle beam 2-1 of the overall frame 2. When working, the monitoring hydraulic cylinder 1-4 drives the slide bar 1-3 to slide horizontally along the middle beam 2-1, driving the camera 1-2 to extend or retract to ensure comprehensive monitoring of the UUV. Four underwater lights 3 are installed at the four corners of the opening of the docking cage 4 to guide the UUV into the docking cage 4.

[0067] As attached Figure 5 As shown, the clamping and locking mechanism 5 includes a bottom frame 5-1, two drive cylinders 5-2, two motors 5-3, two lead screw nut mechanisms 5-4, and four claws 5-5. The tails of the cylinder barrels of the two drive cylinders 5-2 are mounted on a support at one end of the bottom frame 5-1, and the top ends of the cylinder rods of the two drive cylinders 5-2 are respectively mounted on the side of a lead screw nut mechanism 5-4, and two claws 5-5 are mounted oppositely at the two ends of the lead screw nut mechanism 5-4, so that the lead screw nut mechanism 5-4 can drive the two claws 5-5 to move closer and farther, and at the same time, the two drive cylinders 5-2 can drive a lead screw nut mechanism 5-4 to drive the claws 5-5 to move horizontally.

[0068] As attached Figure 6-8 As shown, the buffer device 8 includes a mounting seat 8-1, a plurality of buffer springs 8-2 and a positioning plate 8-3. The mounting seat 8-1 is fixed to the end of the docking cage 4. When the bow of the UUV contacts the positioning plate 8-3, the buffer spring 8-2 is compressed to slow down the reaction force of the positioning plate 8-3 on the UUV.

[0069] As attached Figure 2-3 As shown in Figures 9-10, the rotating mechanism 9 is installed between the docking cage 4 and the support frame 11. The rotating mechanism 9 has a worm gear transmission mechanism and an angle sensor inside, which can drive the docking cage 4 to rotate a certain angle relative to the support frame 11 according to the feedback of the angle sensor.

[0070] Two secondary cylinders 18 are installed at the bottom center of the support frame 11, which can drive the support frame 11 to drive the docking cage to rise and fall.

[0071] As attached Figure 9-11 As shown, the support frame 11 includes four rollers 11-1 and a main frame 11-2. The four rollers 11-1 are installed at the four corners of the main frame 11-2 and cooperate with the grooves of the columns of the overall frame 2 to ensure that the support frame 11 rises and falls relative to the overall frame 2 with less friction.

[0072] As attached Fig.12 As shown, the charging communication device 10 includes a wireless charging module 10-1, an optical communication module 10-2, a support 10-3, six telescopic cylinders 10-4, and a mounting platform 10-5. The wireless charging module 10-1 and the optical communication module 10-2 are mounted on the support 10-3, three pairs of the bottom parts of the cylinder barrels of the six telescopic cylinders 10-4 are evenly hinged on the mounting platform 10-5, and three pairs of the top parts of the cylinder rods of the six telescopic cylinders 10-4 are evenly hinged on the bottom of the support 10-3, so that the six telescopic cylinders 10-4 can achieve 6 degrees of freedom adjustment of the support 10-3. Figure 1 , Figure 6 The charging rack 13 is installed on the dustproof plate 14 at the bottom of the overall frame 2, and the charging communication device 10 is installed on the charging rack 13. When the docking cage 4 drives the UUV to descend to the lowest position in the overall frame 2, the support 10-3 of the charging communication device 10 rises and adjusts its posture to charge the UUV and exchange information.

[0073] As attached Figure 1-3 As shown in 9-10, four leveling hydraulic cylinders 15 are installed between the overall frame 2 and the base 16, and two anti-sinking barrels 17 are installed at the bottom of the base 16. This ensures that the underwater charging device can adapt to various seabed environments.

[0074] As attached Figure 1-3 As shown in FIGS. 9-10 , two plugs 12 are fixedly connected to the right side of the overall frame 2 , and two sockets 20 are fixedly connected to the left side of the overall frame 2 .

[0075] As attached Fig.23 As shown, when multiple charging devices need to work side by side, the plug 12 on the right side of one charging device is inserted into the socket 20 on the left side of another charging device, and so on, multiple charging devices can be assembled side by side.

[0076] As attached Figure 24-26 As shown, when multiple UUVs need to be docked and charged in both the forward and reverse directions, the socket 20 and the plug 12 can be respectively installed on the rear end beams of the two charging device overall frames 2. The two charging devices are placed back to back, and the plug 12 is installed in the socket 20, which can be reconstructed into a combination of multiple UUV underwater docking and charging devices in the forward and reverse directions.

[0077] The working process of the above modular reconfigurable multi-UUV underwater docking and charging device is as follows:

[0078] (1) Docking guidance stage: The underwater positioning communication device 7 transmits hydroacoustic signals to the UUV. After the transmission is completed, the secondary cylinder 18 lifts the docking cage 4 and locks the roller 11-1 on the support frame 11, so that the entire docking cage 4 is fixed in a vertical position. Figure 9-11As shown; the rotating mechanism 9 is adjusted according to the ocean current direction given by the environment perception system 6, so that the docking cage 4 is in the same direction as the ocean current. After the adjustment is completed, the rotating mechanism 9 is locked. The internal claws 5-5 of the docking cage 4 move to both sides to avoid interference, the underwater light 3 turns on, and sends a message to prompt the UUV to start docking, as shown in the attached figure. Fig.13 As shown. The UUV enters the docking cage 4 under guidance, and the guided docking phase ends, as shown. Fig.14 shown.

[0079] (2) Locking stage:

[0080] After the UUV enters the docking cage 4, the buffer device 8 at the bottom of the docking cage decelerates and buffers the UUV, and the sensor installed inside transmits the information of the arrival of the UUV. The claw 5-5 initially clamps toward the center, so that the UUV is initially aligned with the center. According to the length of the UUV, the two drive cylinders 5-2 adjust the axial position of the claw 5-5, and then further clamp it to fix the UUV.

[0081] (3)Transfer stage:

[0082] After the locking is completed, the rotating mechanism 9 is unlocked and locked after returning to the zero position. The roller 11-1 on the support frame 11 is unlocked, and the secondary cylinder 18 drives the docking cage 4 and the UUV to descend and return to the charging position and then lock. Figure 15-16 shown.

[0083] (4) Charging and maintenance stage:

[0084] After the UUV reaches the charging position, the charging communication device 10 uses the information provided by the visual system to drive the wireless charging module 10-1 and the optical communication module 10-2 on it to align it with the charging and information exchange area of ​​the UUV. Then the UUV starts to be charged and exchange information. The camera 1-2 in the status monitoring system 1 begins to extend along the track to perform an overall inspection of the UUV, as shown in the attached figure. Figure 17-22 shown.

[0085] (5) Disengagement stage:

[0086] After the UUV completes charging and information exchange, it sends a separation message to the charging communication device 10. After receiving the message, the gripper 5-5 is released and moves to both sides. After the movement is completed, the charging communication device 10 sends a separation message to the UUV, and the UUV exits the charging device backwards, and the separation stage is completed.

[0087] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A modular and reconfigurable multi-UUV underwater docking and charging device, characterized in that: include: An integral frame (2), an anti-sinking plate (14) at the bottom of the integral frame (2) is mounted on a base (16) via four leveling hydraulic cylinders (15), a hydraulic cabin and a control cabin (19) are mounted on the anti-sinking plate (14), a charging communication device (10) and two secondary cylinders (18) are mounted inside the integral frame (2), the top of the secondary cylinder (18) is connected to a support frame (11), a roller (11-1) on a main frame (11-2) of the support frame (11) slides in a groove of a column of the integral frame (2), a docking cage (4) is mounted on the upper part of the support frame (11) via a rotating mechanism (9), a clamping and locking mechanism (5) is mounted inside the docking cage (4), a buffer device (8) is mounted at the end of the docking cage (4), an underwater light (3), an environment sensing system (6), and an underwater positioning communication device (7) are mounted on the docking cage (4), and a status monitoring system (1) is mounted on the integral frame (2).

2. The modular reconfigurable multi-UUV underwater docking and charging device according to claim 1 is characterized in that: The state monitoring system (1) comprises a camera seat (1-1), a camera (1-2), a sliding rod (1-3), and a monitoring hydraulic cylinder (1-4). The monitoring hydraulic cylinder (1-4) and the sliding rod (1-3) are installed on the middle beam (2-1) of the overall frame (2). When working, the monitoring hydraulic cylinder (1-4) drives the sliding rod (1-3) to slide horizontally along the middle beam (2-1), driving the camera (1-2) to extend or retract, so as to ensure comprehensive monitoring of the UUV.

3. The modular and reconfigurable multi-UUV underwater docking and charging device according to claim 1 is characterized in that: The clamping and locking mechanism (5) comprises two driving cylinders (5-2), the rear end of the cylinder barrel of the driving cylinder (5-2) is mounted on a support at one end of the bottom frame (5-1), the top end of the cylinder rod of the driving cylinder (5-2) is mounted on the side of the screw nut mechanism (5-4), and two clamping claws (5-5) are mounted oppositely at the two ends of the two screw nut mechanisms (5-4), respectively, and the screw nut mechanism (5-4) drives the clamping claws (5-5) to move towards and away from each other, and at the same time, the two driving cylinders (5-2) respectively drive one of the screw nut mechanisms (5-4) to drive the clamping claws (5-5) to move horizontally.

4. The modular and reconfigurable multi-UUV underwater docking and charging device according to claim 1 is characterized in that: The buffer device (8) comprises a positioning plate (8-3), wherein the positioning plate (8-3) is mounted on a mounting seat (8-1) via a group of buffer springs (8-2), and the mounting seat (8-1) is fixed to the end of the docking cage (4). When the bow of the UUV contacts the positioning plate (8-3), the buffer spring (8-2) is compressed to reduce the reaction force of the positioning plate (8-3) on the UUV.

5. The modular reconfigurable multi-UUV underwater docking and charging device according to claim 1 is characterized in that: The rotating mechanism (9) is installed between the docking cage (4) and the support frame (11). A worm gear transmission mechanism and an angle sensor are provided inside the rotating mechanism (9). The docking cage (4) is driven to rotate relative to the support frame (11) according to feedback from the angle sensor.

6. The modular reconfigurable multi-UUV underwater docking and charging device according to claim 1 is characterized in that: The charging communication device (10) comprises a wireless charging module (10-1), an optical communication module (10-2), a support (10-3), six telescopic cylinders (10-4), and a mounting platform (10-5); the wireless charging module (10-1) and the optical communication module (10-2) are mounted on the support (10-3); the bottoms of the cylinder barrels of the six telescopic cylinders (10-4) are divided into three pairs and are evenly hinged on the mounting platform (10-5); the tops of the cylinder rods of the six telescopic cylinders (10-4) are divided into three pairs and are evenly hinged on the bottom of the support (10-3); and the six telescopic cylinders (10-4) achieve six-degree-of-freedom adjustment of the support (10-3).

7. The modular reconfigurable multi-UUV underwater docking and charging device according to claim 6 is characterized in that: The charging communication device (10) is mounted on a charging rack (13), and the charging rack (13) is mounted on an anti-sinking plate (14) at the bottom of the overall frame (2). When the docking cage (4) drives the UUV to descend to the lowest position in the overall frame (2), the support (10-3) rises and adjusts its posture to charge the UUV and exchange information.

8. The modular and reconfigurable multi-UUV underwater docking and charging device according to claim 1 is characterized in that: An anti-sinking barrel (17) is installed at the bottom of the base (16).

9. The modular reconfigurable multi-UUV underwater docking and charging device according to claim 1, characterized in that: Two latches (12) and two sockets (20) are respectively installed on both sides of the overall frame (2); When multiple charging devices are required to work side by side, the plug (12) on the right side of one charging device is inserted into the socket (20) on the left side of another charging device, and the same process can be repeated to realize the side-by-side assembly of multiple charging devices; When it is required to dock and charge multiple UUVs in both the forward and reverse directions, a socket (20) and a plug (12) are respectively installed on the rear end cross beams of the two charging device overall frames (2), the two charging devices are placed back to back, and the plug (12) is installed in the socket (20), so that a multiple UUV underwater docking charging device assembly in both the forward and reverse directions can be reconstructed.

10. A charging method for a modular reconfigurable multi-UUV underwater docking charging device as claimed in any one of claims 1 to 9, characterized in that: The method comprises the following steps: (1) Guiding docking stage: the underwater positioning communication device (7) transmits hydroacoustic signals to the UUV. After the transmission is completed, the secondary cylinder (18) lifts the docking cage (4) and locks the roller (11-1) on the support frame (11) so that the entire docking cage (4) is fixed in a vertical position; the rotating mechanism (9) is adjusted according to the ocean current direction given by the environmental perception system (6) so that the direction of the docking cage (4) is consistent with the ocean current direction. After the adjustment is completed, the rotating mechanism (9) is locked; the internal claws (5-5) of the docking cage (4) move to both sides to avoid interference, the underwater light (3) is turned on, and a message is sent to prompt the UUV to start docking; The UUV enters the docking cage (4) under guidance, and the guided docking phase ends; (2) Locking stage: After the UUV enters the docking cage (4), the buffer device (8) at the bottom of the docking cage decelerates and buffers the UUV, and the sensor installed inside transmits the information of the UUV's arrival; the gripper (5-5) initially clamps toward the center, so that the UUV is initially aligned with the center. According to the length of the UUV, the two drive cylinders (5-2) adjust the axial position of the gripper (5-5), and then further clamps the UUV to fix it; (3) Transfer stage: After the locking is completed, the rotating mechanism (9) is unlocked, returned to the zero position and then locked; The roller (11-1) on the support frame (11) is unlocked, and the secondary cylinder (18) drives the docking cage (4) and the UUV to descend, return to the charging position, and then lock; (4) Charging and maintenance stage: After the UUV reaches the charging position, the charging communication device (10) drives the wireless charging module (10-1) and the optical communication module (10-2) thereon to align with the charging and information exchange area of ​​the UUV through the information provided by the visual system; and starts charging and information exchange with the UUV; the camera (1-2) in the status monitoring system (1) starts to extend along the track to perform an overall inspection of the UUV; (5) Disengagement phase: After the UUV has completed charging and information exchange, it sends a disengagement message to the charging communication device (10). After receiving the message, the gripper (5-5) is released and moves to both sides. After the movement is completed, the charging communication device (10) sends a disengagement message to the UUV, and the UUV exits the charging device backwards, completing the disengagement phase.

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