Underwater charging dock

Abstract

In order to solve the technical problems of high possibility of mechanical clamping, low charging efficiency, low locking success rate and low AUV (Autonomous Underwater Vehicle) recycling success rate in the existing underwater electric energy supply and docking technology, the invention provides an underwater charging dock which comprises a bracket, a charging base station, a wireless electric energy transmitting device, a recycling cage, a positioning unit, a guide unit, a locking unit and a management and control cabin, the positioning unit is an acousto-optic combined positioning unit, so that the docking efficiency and precision can be effectively improved; the guide unit adopts a V-shaped guide groove rod to carry out docking guide on the underwater equipment, so that the docking precision of the underwater equipment is ensured; the locking unit is simple in structure and high in reliability, and can ensure the safety of the underwater equipment after docking and the stable operation of the wireless charging function; the upper end face of the shell of the wireless electric energy transmitting device is provided with elastic rubber, deformation is generated when the elastic rubber is pressed, seawater in a coupling area can be discharged, and the charging efficiency is improved.

Description

Technical Field

[0001] The invention relates to the technical field of power supply circuit devices or systems. Background Art

[0002] Underwater vehicles play an important role in the fields of ocean exploration, underwater search and rescue, etc. Currently, underwater vehicles are mostly powered by lithium batteries. Due to factors such as the size of underwater vehicles and battery energy density, the amount of electricity that underwater vehicles can carry is limited. When the electricity is insufficient, it needs to be recovered and supplemented.

[0003] The traditional way of power supply is to replace the battery manually or charge it by wire after the underwater vehicle is salvaged ashore, but this method is inefficient and cannot meet the concealment requirements of underwater vehicles. In order to overcome the drawbacks of the traditional way of power supply after salvaging ashore, underwater power supply technology and docking technology came into being.

[0004] The Chinese invention patent application with application number 202311194395.9 discloses a submarine docking station for supporting underwater vehicles to work for a long time. The station adopts a frame structure, and openings are set in the front and top for the vehicles to enter. A mechanical guide device is provided to guide the vehicle to move accurately into the dock after landing to complete docking. A clamping device is provided to fix the vehicle after docking is completed. A wireless charging and optical communication device is provided to interact with the underwater vehicle for energy and information. The submarine docking station combines optical and mechanical guidance to reduce the dependence on the accuracy of vehicle motion control, reduce the difficulty of underwater docking, enable it to efficiently support the vehicle to work for a long time, and improve the speed and safety of the deployment and recovery of the docking station. However, the recovery method and mechanical guide device of the submarine docking station can only adapt to underwater vehicles with six-degree-of-freedom full-drive capability, and cannot recover vehicles with a rotating body shape. In addition, the gap between the guide structure and the vehicle is too small, which is prone to mechanical jamming.

[0005] A Chinese invention patent application with application number 202310724478.8 discloses a self-adjusting and locking wireless charging device for a rotary AUV, which includes an improved rotary AUV cabin, a combined modular AUV resident cabin, an AUV adaptive locking mechanism, an AUV wireless energy transmission adaptive adjustment device, and a general control device for the device. The invention enables the device to achieve a locking range of different diameters of a rotary AUV while keeping the control and structural design as simple as possible, thereby improving the applicable range of the device's locking AUV types. At the same time, the device can adjust the position of the primary coil in the device in real time according to the position of the wireless charging secondary coil in the AUV, so that the device can match multiple types and different lengths of AUV models, effectively expanding the application range of the device. However, the wireless charging device is not provided with a mechanical guidance structure, making it difficult to recover the vehicle, and there is seawater medium between the wireless charging primary module and the secondary module during the charging process, resulting in low wireless charging efficiency.

[0006] The Chinese invention patent application with application number 201811478948.2 discloses an underwater docking device for AUV, including a docking frame and a guide cover. One end of the docking frame is mounted on an adaptive adjustment platform, and the other end is provided with a guide cover. The guide cover and the docking frame provide a guide channel for the docking of the AUV. The docking frame is respectively equipped with a wireless charging device, a wireless communication device and a locking mechanism. After the AUV is docked with the docking frame, it is locked and positioned by the locking mechanism, and energy replenishment and information exchange are achieved through the wireless charging device and the wireless communication device. A hydraulic station for providing power is installed on the base. The device drives the pitch mechanism through a hydraulic cylinder to adapt to the seabed plane with different slopes, and cooperates with the AUV docking through the passive adjustment of the adaptive adjustment platform, so as to achieve energy replenishment and information exchange of the AUV in the marine environment. However, the underwater docking device is not equipped with a guide unit, and the vehicle cannot find the docking device. In addition, the locking method has high requirements on the docking accuracy of the AUV, and the axial shaking and rolling of the AUV will affect the success rate of locking.

[0007] The Chinese invention patent application with application number 201610896336.X discloses an underwater docking and retracting device for AUV, including a carrying tube, with guide rings coaxially fixed at both ends of the carrying tube, and a locking mechanism and a limiting mechanism provided on the inner wall of the carrying tube for locking and limiting the AUV respectively. The docking and retracting device can complete the underwater docking, recovery and deployment of the AUV, but when there is ocean current interference, the negative pressure at the guide ring makes it difficult to ensure that the head of the AUV can reliably enter the guide ring. At this time, the success rate of AUV recovery is low, and there is seawater medium between the wireless charging primary module and the secondary module during the charging process, and the wireless charging efficiency is low. Summary of the invention

[0008] In order to solve the technical problems of easy mechanical jamming, low charging efficiency, low locking success rate and low AUV recovery success rate in the existing underwater power supply and docking technology, the present invention provides an underwater charging dock.

[0009] The technical solution of the present invention is:

[0010] An underwater charging dock comprises a bracket, a charging base station and a wireless power transmitting device; the charging base station is used to provide electrical energy to the wireless power transmitting device;

[0011] Its special features are:

[0012] It also includes a recovery cage, a positioning unit, a guide unit, a locking unit and a control cabin;

[0013] The recovery cage comprises a cage body and a guide cover which are coaxially connected; the cage body is fixedly mounted on the bracket through a seat-type pipe bracket; the guide cover is trumpet-shaped, and its small end opening is connected to the cage body;

[0014] The positioning unit is an acoustic and optical combined positioning unit, which is used to guide the underwater equipment to the center position in front of the guide cover, wherein acoustic positioning guidance is adopted at a long distance, and optical positioning guidance is adopted at a close distance;

[0015] The guide unit comprises a V-shaped guide groove rod, an ejector pin, a spring and a limit block; the upper end of the spring is fixedly arranged on the bracket through a spring seat, and the lower end of the spring is connected to the V-shaped guide groove rod; the V-shaped guide groove rod is located in the cage body, one end of which has a V-shaped opening, and the lower end surface is provided with a rectangular groove connected to the V-shaped opening and extending in the axial direction; the limit block is arranged above the head of the underwater equipment, its position corresponds to the V-shaped opening, and its width matches the minimum opening size of the V-shaped opening; the V-shaped opening and the rectangular groove are both matched with the limit block to provide guidance for the underwater equipment to enter the dock; the ejector pin is arranged on the upper surface of the V-shaped guide groove rod, so as to limit it to move only in the vertical direction;

[0016] The locking unit includes a stepper motor and a cam; the stepper motor is used to drive the cam to rotate; the cam is arranged above the cage body and contacts the V-shaped guide groove rod, and the rotation of the cam can adjust the height of the V-shaped guide groove rod; the profile of the cam should ensure that the V-shaped guide groove rod has sufficient downward travel to lock the vehicle in the cage body in place and discharge the seawater in the coupling area;

[0017] The upper surface of the shell of the wireless power transmitting device is provided with an elastic rubber material, or the upper end cover of the shell is made of an elastic rubber material, so that when the V-shaped guide groove rod is pressed down, the shell of the wireless power receiving device on the underwater equipment can be completely pressed and fitted with the shell of the wireless power transmitting device to discharge the seawater in the coupling area;

[0018] The control cabin is used to control the operation of the positioning unit and the stepper motor;

[0019] A pressure sensor is provided on the upper surface of the shell of the wireless power transmitting device, which is used to detect the pressure value exerted on the shell of the wireless power transmitting device and provide a reference basis for the control cabin to control the operation of the stepper motor.

[0020] Furthermore, the V-shaped guide groove rod includes a straight rod section and two arc-shaped rod sections; the two arc-shaped rod sections are arranged on one side of the straight rod section, and the two arc-shaped rod sections are bent downward and outward at the same time, and the distance between the two arc-shaped rod sections gradually increases from the straight rod section outward to form a V-shaped opening; two connecting pieces are arranged at intervals on the upper surface of the straight rod section for connecting with the spring; the ejector pin is arranged on the upper surface of the straight rod section.

[0021] Furthermore, the profile of the cam satisfies the following conditions: before the locking action is performed, the minimum radial direction of the cam does not contact the V-shaped guide groove rod; after the locking action is completed, the maximum radial direction of the cam does not contact the V-shaped guide groove rod.

[0022] Furthermore, the acoustic-optical combination positioning unit includes a first acoustic beacon, a second acoustic beacon, a positioning light and a camera with a light source; the first acoustic beacon and the second acoustic beacon are respectively arranged on the bracket and the head of the underwater equipment, and the first acoustic beacon is used to provide an acoustic signal to the second acoustic beacon, so that the underwater equipment can be guided to the vicinity of the charging dock through acoustic positioning; the positioning light and the camera are respectively arranged at the large end opening of the guide cover and on the head of the underwater equipment, and when the underwater equipment moves to the vicinity of the charging dock, the positioning light is turned on to provide an optical signal to the camera, so that the underwater equipment can move to the center position in front of the large end opening of the guide cover through optical positioning guidance.

[0023] The present invention also provides a method for guiding underwater equipment to return to the dock for charging by using the underwater charging dock, which is special in that it includes the following steps:

[0024] Step 1: Boot back to the dock;

[0025] When the underwater equipment needs to be charged, the underwater equipment is first guided by acoustics to the vicinity of the charging dock, and then guided by opticals to the center position in front of the guide cover;

[0026] Step 2: Boot into the dock;

[0027] The underwater equipment moves toward the guide cover. When the head of the underwater equipment contacts the guide cover, a tangential force is generated to force the underwater equipment to enter the cage. When the underwater equipment contacts the V-shaped guide groove rod, the V-shaped opening at the end of the V-shaped guide groove rod and the rectangular groove on the lower surface successively cooperate with the limit block above the head of the underwater equipment to guide the head of the underwater equipment to move into the V-shaped opening until it is recovered in place.

[0028] Step 3: Press down to lock and discharge the seawater in the coupling area;

[0029] The control cabin controls the stepper motor to drive the cam to rotate forward, causing the V-shaped guide rod to move downward. When the pressure value collected by the pressure sensor is greater than or equal to the sum of the reference pressure and the preset pressure increment, it indicates that the lock is in place. At this time, the control cabin controls the stepper motor to stop working;

[0030] Step 4: Start charging;

[0031] The control cabin connects the wireless power transmitter to the charging base station, and the wireless power transmitter cooperates with the wireless power receiver on the underwater equipment to charge the underwater equipment.

[0032] Step 5: Undocking after charging is complete;

[0033] The control cabin controls the stepper motor to drive the cam to reverse, releasing the V-shaped guide rod so that the underwater equipment can drive out of the charging dock.

[0034] Furthermore, the pressure increment in step 3 is determined in advance through simulation.

[0035] The beneficial effects of the present invention are:

[0036] 1. The present invention proposes an underwater charging dock, which is placed on the bottom of the water. When an underwater vehicle needs to be charged, it will autonomously find and dock with the charging dock, and lock it through a locking unit, and replenish power through wireless charging, which effectively improves the convenience and concealment of charging the underwater vehicle.

[0037] 2. The present invention has the function of detecting the locking degree, which can ensure the safety of the aircraft after docking and the stable operation of the wireless charging function.

[0038] 3. The shell of the wireless charging transmitter in the underwater charging dock of the present invention is made of elastic rubber material. When the aircraft is locked, there is almost no seawater medium between the shell of the wireless charging transmitter and the aircraft, which effectively avoids eddy current loss during wireless charging and improves charging efficiency.

[0039] 4. The underwater charging dock of the present invention has a combined guidance unit of "long-range acoustic positioning" and "close-range optical positioning", which can effectively improve the docking efficiency and accuracy.

[0040] 5. The trumpet-shaped guide cover in the present invention avoids a violent hard collision between the charging dock and the aircraft, and can protect the head section of the aircraft.

[0041] 6. The underwater charging dock of the present invention is suitable for underwater equipment with a rotating shape. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1It is a structural schematic diagram of the underwater charging dock of the present invention.

[0043] Figure 2 It is a partially enlarged schematic diagram of the structure of the guide unit in the present invention.

[0044] Figure 3 It is a structural schematic diagram of the V-shaped guide groove rod in the present invention.

[0045] Figure 4 Schematic diagram of the present invention using a V-shaped guide rod to guide a vehicle, (a) is a top view, and (b) is a front view.

[0046] Figure 5 It is a structural schematic diagram of the wireless charging transmitting end in the present invention.

[0047] Figure 6 It is a schematic diagram of the sound and light combined guidance principle of the present invention.

[0048] Figure 7 It is a schematic diagram of the working state of the underwater charging dock of the present invention.

[0049] Figure 8 The invention is used to guide and dock an aircraft.

[0050] Fig. 9 This is the control strategy of the stepper motor in the present invention.

[0051] Fig.10 It is a schematic diagram of the principle of wireless charging by the wireless charging transmitting device of the present invention cooperating with the wireless charging receiving device at the aircraft end.

[0052] Reference numerals:

[0053] 1-bracket; 2-recovery cage; 21-cage body; 22-guide cover; 3-wireless power transmitter; 31-shell; 32-pressure sensor; 33-transmitting coil; 4-positioning unit; 41-positioning light; 42-first acoustic beacon; 5-guiding unit; 51-V-shaped guide groove rod; 511-straight rod section; 512-arc rod section; 513-connecting piece; 52-thimble; 53-limiting block; 54-spring; 6-locking unit; 61-stepping motor; 62-cam; 7-charging base station; 8-seat pipe support; 9-fixing plate; 10-vehicle. DETAILED DESCRIPTION

[0054] The present invention will be further described below in conjunction with the accompanying drawings.

[0055] like Figure 1-2 As shown, the underwater charging dock of the present invention includes a bracket 1, a recovery cage 2, a wireless power transmitter 3, a positioning unit 4, a guide unit 5, a locking unit 6, a charging base station 7 and a control cabin.

[0056] The bracket 1 is a frame structure, which provides an installation basis and support for the recovery cage 2, the wireless power transmitting device 3 and the charging base station 7.

[0057] The recovery cage 2 includes a coaxially connected cage body 21 and a guide cover 22. The cage body 21 is fixedly mounted on the upper surface of the bracket through a seat-type pipe bracket 8; the guide cover is trumpet-shaped, and its diameter gradually shrinks from the large end opening to the small end opening. The small end opening of the guide cover is connected to the cage body and is used to guide the aircraft into the cage body.

[0058] The wireless power transmitter 3 is arranged above the charging base station 4 (the relative position of the charging base station 4 and the wireless power transmitter 3 is not limited thereto, as long as it can be ensured that the charging base station 4 can provide electrical energy to the wireless power transmitter 3), and is located below the recovery cage 2, and is used to match the wireless power receiving device on the aircraft after the aircraft returns to the cage body 21. The wireless power transmitter 3 includes a shell 31, a transmitting end circuit, a transmitting coil 33 and a pressure sensor 32; the upper surface of the shell 31 is provided with an elastic rubber material, or the upper cover of the shell 31 is made of an elastic rubber material; the transmitting coil 33 is arranged in the shell 31; the transmitting end circuit can be arranged in the shell 31, or it can be arranged outside the shell 31 and located in the base station control cabin; the pressure sensor 32 is arranged on the outer surface of the shell 31, and is used to sense the pressure value of the shell 31.

[0059] The positioning unit 4 includes a first acoustic beacon 42, a second acoustic beacon (not shown in the figure), a positioning light 41 and a camera (not shown in the figure). The first acoustic beacon 42 and the second acoustic beacon are respectively arranged on the bracket 1 and the head of the aircraft. The first acoustic beacon 42 is used to provide an acoustic signal to the second acoustic beacon installed on the head of the aircraft, so that the aircraft can be guided to the vicinity of the charging dock through acoustic positioning. There are multiple positioning lights 41, which are evenly arranged at the large end opening of the guide cover 22; the camera is a camera with a light source, which is arranged on the head of the aircraft and can capture clear images and videos in low light or no light environment; when the aircraft is near the charging dock, the positioning light 41 is turned on to provide an optical signal to the camera with a light source installed on the head of the aircraft, so that the aircraft can move to the center position in front of the large end opening of the guide cover 22 through optical positioning guidance. The first acoustic beacon 42 and the positioning light 41 are controlled by the control cabin, and the second acoustic beacon and the camera are controlled by the controller of the aircraft itself.

[0060] like Figure 2-3As shown, the guide unit 5 includes a V-shaped guide groove rod 51, a pin 52, a spring 54 and a limit block 53. There are two springs 54, and the upper ends of the springs 54 are fixed to the fixing plate 9 at the upper end of the cage body 21 through a spring frame; there is one V-shaped guide groove rod 51, which is arranged in the cage body 21 and its position in the cage body is limited by two springs 54; the V-shaped guide groove rod 51 is used to provide guidance for the aircraft to enter the cage body; the V-shaped guide groove rod 51 includes a straight rod section 511 and two arc-shaped rod sections 512; the two arc-shaped rod sections 512 are arranged on one side of the straight rod section 511, and the two arc-shaped rod sections 512 are bent downward and outward at the same time, and the distance between the two arc-shaped rod sections 512 gradually increases from the straight rod section 511 to the outside, forming a V-shaped opening; a rectangular rod extending in the axial direction is provided on the lower surface of the straight rod section 511. shaped groove, the rectangular groove is connected to the V-shaped opening; two connecting pieces 513 (for example, hooks) are arranged at intervals on the upper surface of the V-shaped guide groove rod 51, which are used to connect with the spring 54; there are two ejector pins 52, which are arranged at intervals on the upper surface of the straight rod section 511 of the V-shaped guide groove 51 and are fixedly connected to the V-shaped guide groove rod 51, and are used to limit the V-shaped guide groove rod 51 to move only in the vertical direction; the limit block 53 is arranged above the head of the aircraft 10, and its position on the horizontal plane corresponds to the initial position of the V-shaped guide groove rod 51, and its width matches the minimum opening size of the V-shaped opening of the V-shaped guide groove 51 and the groove width of the rectangular groove on the lower surface of the straight rod section 511 of the V-shaped guide groove 51. Through the mutual cooperation of the V-shaped opening, the rectangular groove on the lower surface of the straight rod section 511 and the limit block 53, guidance can be provided for the aircraft to dock.

[0061] The locking unit 6 includes a stepper motor 61 and a cam 62. The stepper motor 61 is used to drive the cam 62 to rotate; the cam 62 is arranged above the cage body, and after the cam 62 passes through and fixes the opening on the plate 9, it contacts the straight rod section 511 of the V-shaped guide groove rod 51, and the height of the V-shaped guide groove rod 51 can be adjusted when the cam 62 rotates. The contour of the cam 62 should be designed to match the vertical stroke of the V-shaped guide groove rod 51, and meet the following conditions: before the locking action is performed, the cam 62 is in the initial position, and the minimum radial direction of the cam 62 should not contact the V-shaped guide groove rod 51, and the V-shaped guide groove rod 51 is only subjected to the tension of the spring 54; after the locking action is completed, the V-shaped guide groove rod 51 should not contact the maximum radial direction of the cam 62, thereby ensuring that the V-shaped guide groove rod 51 has sufficient downward travel to lock the vehicle in place and discharge the seawater in the coupling area.

[0062] The charging base station 7 is arranged on the bracket 1 and is located below the wireless power transmitting device 3 , and is used to provide electrical energy to the wireless power transmitting device 3 .

[0063] The control cabin (not shown in the figure) is used to control the working state of the wireless power transmitting device 3, the operation of the stepper motor, and the operation of the first acoustic beacon 41 and the positioning light 42; the control cabin can be set on the side wall of the charging base station 7.

[0064] Reference Figure 1 , 4 , 6-8, the working principle and process of the present invention:

[0065] When the aircraft needs to be charged, the aircraft is guided to the docking position through a combination of sound and light: first, the aircraft uses the first acoustic beacon 42 and the second acoustic beacon to acoustically locate the charging dock and guide it to the vicinity of the charging dock. Then the control cabin turns on the positioning light 41 on the charging dock, and the aircraft uses the optical signal emitted by the positioning light 42 to optically locate and guide it to the center position in front of the guide cover 22.

[0066] When docking, when the head of the aircraft contacts the guide cover 22, a tangential force (generated by the collision with the guide cover) will push the aircraft into the cage 21, avoiding continuous hard collision between the bracket 1 and the guide cover 22 of the charging dock and the aircraft.

[0067] like Figure 4 As shown, when the aircraft contacts the V-shaped guide groove rod 51, the V-shaped opening at the end of the V-shaped guide groove rod 51 cooperates with the limit block 53 above the head of the aircraft to guide the head of the aircraft to move into the V-shaped opening of the V-shaped guide groove rod 51 to ensure the docking accuracy after the aircraft enters the cage. Since the V-shaped opening gradually bends downward along the cage toward the guide cover, after the aircraft enters the cage for a certain distance, the limit block 53 on it will gradually separate from the V-shaped opening and enter the rectangular groove on the lower surface of the straight rod section 511. The rectangular groove and the limit block 53 cooperate to guide the aircraft until it is recovered into place.

[0068] The state of the spacecraft after recovery is as follows Figure 7 shown.

[0069] When the camera on the head of the aircraft detects the completion image of docking, it indicates that the aircraft has been recovered. At this time, the control cabin of the charging base station 7 controls the stepper motor 61 to drive the cam 62 to rotate forward, so that the V-shaped guide groove rod 51 moves downward. During this period, the control cabin detects the locking state according to the pressure value collected by the pressure sensor 32 set on the upper surface of the shell 31 of the wireless power transmitter 3, and controls the stepper motor 61 to work according to the detected locking state. The control strategy of the stepper motor is as follows: Fig. 9As shown: First, the initial pressure value under the current environment is obtained by the pressure sensor as the pressure reference P0, and the stepper motor 61 is gradually controlled to move until the pressure obtained by the pressure sensor 32 is equal to or exceeds the sum of the reference pressure P0 and the preset pressure increment ΔP, so that the aircraft can be determined to be in a locked state. At this time, since the upper cover of the shell 31 of the wireless power transmitter 3 is made of elastic rubber material / the upper surface is provided with elastic rubber material, it can be deformed when pressed down, so that the shell of the wireless power receiving device on the belly of the aircraft can be completely close to the shell 31 of the wireless power transmitter 3 in the underwater charging dock, thereby discharging the seawater in the coupling area. Then, the control cabin controls the stepper motor 61 to stop working so that the V-shaped guide groove rod 51 remains in the current position unchanged to maintain reliable locking of the aircraft. During this period, the aircraft can be wirelessly charged in the charging dock using the wireless power transmitter. Among them, the reference pressure is the initial pressure value collected by the pressure sensor 32 when there is no aircraft in the charging dock; the pressure increment ΔP can be determined by prior simulation.

[0070] The working principle of wireless charging by the wireless power transmitting device 3 and the wireless power receiving device at the aircraft end is as follows: Fig.10 As shown:

[0071] The electric energy supplied by the charging base station 4 is first inverted into high-frequency alternating current by the high-frequency inverter circuit in the transmitting end circuit of the wireless power transmitting device 3, and then input into the transmitting coil 33. The transmitting coil 33 generates an alternating magnetic field under the action of the high-frequency current. The alternating magnetic field links with the receiving coil in the wireless power receiving device carried on the aircraft to excite the induced electromotive force, and is converted into direct current by the rectifier module of the receiving end circuit in the wireless power receiving device. The direct current is converted into the voltage required for charging the aircraft battery pack by the battery charger, and then input into the aircraft battery pack for charging.

[0072] After the aircraft is charged, the control cabin controls the stepper motor 61 to drive the cam 62 to rotate in the opposite direction. When the cam 62 rotates to the initial position, the V-shaped guide rod 51 is pulled up by the spring 54 to completely release the aircraft. At this time, the aircraft can be undocking under the action of its own power system.

Claims

1. An underwater charging dock, comprising a bracket, a charging base station and a wireless power transmitting device; the charging base station is used to provide power to the wireless power transmitting device; Features: It also includes a recovery cage, a positioning unit, a guide unit, a locking unit and a control cabin; The recovery cage comprises a cage body and a guide cover which are coaxially connected; the cage body is fixedly mounted on the bracket through a seat-type pipe bracket; the guide cover is trumpet-shaped, and its small end opening is connected to the cage body; The positioning unit is an acoustic and optical combined positioning unit, which is used to guide the underwater equipment to the center position in front of the guide cover, wherein acoustic positioning guidance is adopted at a long distance, and optical positioning guidance is adopted at a close distance; The guide unit comprises a V-shaped guide groove rod, an ejector pin, a spring and a limit block; the upper end of the spring is fixedly arranged on the bracket through a spring seat, and the lower end of the spring is connected to the V-shaped guide groove rod; the V-shaped guide groove rod is located in the cage body, one end of which has a V-shaped opening, and the lower end surface is provided with a rectangular groove connected to the V-shaped opening and extending in the axial direction; the limit block is arranged above the head of the underwater equipment, its position corresponds to the V-shaped opening, and its width matches the minimum opening size of the V-shaped opening; the V-shaped opening and the rectangular groove are both matched with the limit block to provide guidance for the underwater equipment to enter the dock; the ejector pin is arranged on the upper surface of the V-shaped guide groove rod, so as to limit it to move only in the vertical direction; The locking unit includes a stepper motor and a cam; the stepper motor is used to drive the cam to rotate; the cam is arranged above the cage body and contacts the V-shaped guide groove rod, and the rotation of the cam can adjust the height of the V-shaped guide groove rod; the profile of the cam should ensure that the V-shaped guide groove rod has sufficient downward travel to lock the vehicle in the cage body in place and discharge the seawater in the coupling area; The upper surface of the shell of the wireless power transmitting device is provided with an elastic rubber material, or the upper end cover of the shell is made of an elastic rubber material, so that when the V-shaped guide groove rod is pressed down, the shell of the wireless power receiving device on the underwater equipment can be completely pressed and fitted with the shell of the wireless power transmitting device to discharge the seawater in the coupling area; The control cabin is used to control the operation of the positioning unit and the stepper motor; A pressure sensor is provided on the upper surface of the shell of the wireless power transmitting device, which is used to detect the pressure value exerted on the shell of the wireless power transmitting device and provide a reference basis for the control cabin to control the operation of the stepper motor.

2. The underwater charging dock according to claim 1, characterized in that: The V-shaped guide groove rod includes a straight rod section and two arc-shaped rod sections; the two arc-shaped rod sections are arranged on one side of the straight rod section, and the two arc-shaped rod sections are bent downward and outward at the same time, and the distance between the two arc-shaped rod sections gradually increases from the straight rod section outward to form a V-shaped opening; two connecting pieces are arranged at intervals on the upper surface of the straight rod section for connecting with the spring; the ejector pin is arranged on the upper surface of the straight rod section.

3. The underwater charging dock according to claim 1 or 2, characterized in that: The profile of the cam satisfies: before the locking action is performed, the minimum radial direction of the cam does not contact the V-shaped guide groove rod; after the locking action is completed, the maximum radial direction of the cam does not contact the V-shaped guide groove rod.

4. The underwater charging dock according to claim 3, characterized in that: The acoustic-optical combined positioning unit includes a first acoustic beacon, a second acoustic beacon, a positioning light and a camera with a light source; the first acoustic beacon and the second acoustic beacon are respectively arranged on the bracket and the head of the underwater equipment, and the first acoustic beacon is used to provide an acoustic signal to the second acoustic beacon, so that the underwater equipment can be guided to the vicinity of the charging dock through acoustic positioning; the positioning light and the camera are respectively arranged at the large end opening of the guide cover and on the head of the underwater equipment, and when the underwater equipment moves to the vicinity of the charging dock, the positioning light is turned on to provide an optical signal to the camera, so that the underwater equipment can move to the center position in front of the large end opening of the guide cover through optical positioning guidance.

5. A method for guiding underwater equipment to return to dock for charging using the underwater charging dock described in any one of claims 1 to 4, characterized in that: The following steps are involved: Step 1: Boot back to the dock; When the underwater equipment needs to be charged, the underwater equipment is first guided acoustically to the vicinity of the charging dock, and then guided optically to the center position in front of the guide cover; Step 2: Boot into the dock; The underwater equipment moves toward the guide cover. When the head of the underwater equipment contacts the guide cover, a tangential force is generated to force the underwater equipment to enter the cage. When the underwater equipment contacts the V-shaped guide groove rod, the V-shaped opening at the end of the V-shaped guide groove rod and the rectangular groove on the lower surface successively cooperate with the limit block above the head of the underwater equipment to guide the head of the underwater equipment to move into the V-shaped opening until it is recovered in place. Step 3: Press down to lock and discharge the seawater in the coupling area; The control cabin controls the stepper motor to drive the cam to rotate forward, causing the V-shaped guide rod to move downward. When the pressure value collected by the pressure sensor is greater than or equal to the sum of the reference pressure and the preset pressure increment, it indicates that the lock is in place. At this time, the control cabin controls the stepper motor to stop working; Step 4: Start charging; The control cabin connects the wireless power transmitter to the charging base station, and the wireless power transmitter cooperates with the wireless power receiver on the underwater equipment to charge the underwater equipment. Step 5: Undocking after charging is complete; The control cabin controls the stepper motor to drive the cam to reverse, releasing the V-shaped guide rod so that the underwater equipment can drive out of the charging dock.

6. The method according to claim 5, characterized in that: The pressure increment described in step 3 is determined in advance by simulation.

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