Autonomous docking charging and information exchange device and method suitable for multiple types of UUVs

Abstract

The invention provides an autonomous docking charging and information exchange device and method suitable for multiple types of UUVs, and belongs to the technical field of underwater work.The device comprises a docking platform and a UUV carrying mechanism, after the head of a carrying cabin makes contact with a positioning plate at the front end of the docking platform, a wireless charging module at the bottom of the docking platform ascends, and the UUV carrying mechanism carries out wireless charging; the carrying cabin is pushed to rise to be in contact with the inverted-V-shaped structure at the top of the butt joint platform, then the pin shaft at the bottom of the butt joint platform rises and is inserted into the positioning hole in the corresponding position of the carrying cabin, complete positioning of the carrying cabin is achieved, the process has the advantages of being rapid and reliable in positioning and high in feasibility, and the device is simple in structure, convenient and reliable to operate and stable in performance. And the improvement of the underwater long-term operation capability of the UUV is facilitated.

Description

Technical Field

[0001] The present invention belongs to the technical field of underwater operations, and particularly relates to an autonomous docking charging and information exchange device applicable to multiple types of UUVs. Background Art

[0002] At present, the underwater docking technology of UUVs has been widely studied. However, how to achieve efficient and reliable docking for UUVs of different sizes and shapes, especially those with irregular shapes, and conduct efficient charging and information exchange still requires in-depth exploration and research. Summary of the Invention

[0003] The purpose of the present invention is to provide an autonomous docking charging and information exchange device applicable to multiple types of UUVs, which has a simple structure, is convenient to operate, reliable, and has stable performance, and is beneficial to improving the long-term underwater operation ability of UUVs.

[0004] The purpose of the present invention is achieved by the following technical solutions:

[0005] An autonomous docking charging and information exchange device applicable to multiple types of UUVs includes: a docking platform and a UUV carrying mechanism;

[0006] The docking platform includes a bow positioning mechanism. The bow positioning mechanism is located at the bottom of the support frame at the front end of the top frame. Two guide plates are symmetrically arranged at the front end of the top frame. The side of the guide plate is fixedly connected to the support frame. A rectangular through groove is opened inside the guide plate, and the groove is perpendicular to the cross beam of the bottom frame. The top of the mounting seat of the bow positioning mechanism is installed at the bottom of the longitudinal beam of the bottom frame, and the positioning plate is installed in the groove of the guide plate. The positioning plate vertically moves up and down along the groove of the guide plate under the drive of the lifting cylinder. Communication and charging modules are horizontally installed on two U-shaped beams on the bottom frame;

[0007] The UUV carrying mechanism includes a carrying cabin. A UUV optical communication machine and a UUV wireless charging module are sequentially installed at the bottom of the carrying cabin. The cable at the stern of the carrying cabin transmits electric energy and signal instructions to the UUV. One ends of the main push rod and the push rod are respectively hinged to the front and rear ends of the top of the carrying cabin, and the other ends are hinged to the front ear plate and the rear ear plate at the bottom of the UUV. The cylinder barrel of the hydraulic cylinder is hinged to the UUV, and the end of the cylinder rod of the hydraulic cylinder is hinged to the ear plate in the middle of the main push rod.

[0008] Further, the bow positioning mechanism includes a mounting seat, a lifting cylinder, and a positioning plate. The end of the cylinder barrel of the lifting cylinder is installed at the center of the bottom of the mounting seat, and the hydraulic rod of the lifting cylinder passes through the circular hole at the center of the mounting seat and is installed at the center of the bottom of the positioning plate.

[0009] Further, the mounting seat is U-shaped.

[0010] Further, the positioning plate is an L-shaped plate.

[0011] Further, the top frame includes three support frames. A guiding frame is installed at one end of the three support frames. The top of the guiding frame has a guiding structure. A through channel is formed by connecting the support and the guiding frame through N guiding rods I.

[0012] Further, the tops of the support frame and the guiding frame are both inverted V-shaped structures.

[0013] Further, the communication charging module includes a pin mounting seat. The pin mounting seat is symmetrically installed on the positioning plate. The cylinder barrel of the pin lifting cylinder is installed at the bottom of the pin mounting seat. The piston rod of the pin lifting cylinder passes through the circular hole at the center of the pin mounting seat. The end of the piston rod of the pin lifting cylinder is fixedly connected to the bottom of the pin shaft;

[0014] The bottom of the optical communication machine is installed on the positioning plate. The charging seat is installed at the bottom of the positioning plate. The cylinder barrel of the charging cylinder is installed at the center of the bottom of the charging seat. The piston rod of the charging cylinder passes through the circular hole at the center of the charging seat. The end of the piston rod of the charging cylinder is fixedly connected to the center of the bottom of the wireless charging module. Four guiding rods II are symmetrically installed at the bottom of the wireless charging module. The guiding rods II are in small clearance fit with the corresponding through holes on the charging seat. When the charging cylinder drives the wireless charging module to lift and lower, the cooperation between the guiding rods II and the charging seat ensures the stability of the lifting and lowering.

[0015] Further, the shape of the carrying cabin is one of a cylindrical shape, an elliptical shape, a biomimetic carp shape, and a biomimetic ray shape.

[0016] The present invention may further include:

[0017] An autonomous docking charging and information exchange method applicable to multiple types of UUVs, using the above-mentioned autonomous docking charging and information exchange device applicable to multiple types of UUVs. The method includes:

[0018] Step 1: When docking and charging is required, the positioning plate of the docking platform rises; the UUV carrying mechanism sails near the docking platform. The hydraulic cylinder drives the main push rod to swing to the vertical position, and the carrying cabin is translated to the lowest position;

[0019] Step 2: The UUV carrying mechanism enters the inside of the docking platform under the guidance of the camera at the front end of the carrying cabin. The guiding structure on the top of the guiding frame guides the carrying cabin to enter. The top of the top frame is a through channel. When the carrying cabin enters the top frame, the main push rod and the hydraulic cylinder move forward along the through channel at the top of the top frame;

[0020] Step 3: When the bow of the carrying cabin contacts the positioning plate, the communication charging module operates;

[0021] Step 4: When the charging and information exchange are completed, the wireless charging module, the pin shaft, and the positioning plate descend to the bottom of the top frame in sequence, and the UUV carrying mechanism drives forward and leaves.

[0022] Further, the operation of the communication charging module in Step 3 includes the following steps:

[0023] First, the wireless charging module moves upward under the drive of the hydraulic cylinder, pushing the carrying cabin upward until the carrying cabin contacts the inverted V-shaped structure at the top of the support frame and the guiding frame.

[0024] Then, the pin shaft moves upward and inserts into the pin hole at the bottom of the carrying cabin to achieve complete positioning.

[0025] Finally, the communication charging module starts charging the UUV wireless charging module and communicates with the UUV optical communication machine.

[0026] The beneficial effects of the present invention are as follows:

[0027] The present invention is applicable to UUVs of various shapes and sizes. The positioning with the docking platform is achieved through the carrying cabin. The charging and information exchange modules on the carrying cabin cooperate with the docking platform for charging and information exchange, and the docking, charging, and information exchange of UUVs of various shapes and sizes can be realized.

[0028] The present invention has small water resistance. When the shape of the carrying cabin is cylindrical, it is connected to the bottom of the UUV through a cylindrical push rod. In the non-working state, the push rod drives the carrying cabin to rise and retract to the bottom of the UUV, without increasing the water resistance during the UUV's navigation.

[0029] The present invention has rapid positioning and high reliability. After the head of the carrying cabin contacts the positioning plate at the front end of the docking platform, the wireless charging module at the bottom of the docking platform rises, pushing the carrying cabin upward to contact the inverted V-shaped structure at the top of the docking platform. Then, the pin shaft at the bottom of the docking platform rises and inserts into the positioning hole at the corresponding position of the carrying cabin to achieve complete positioning of the carrying cabin. This process is characterized by rapid and reliable positioning and high feasibility.

[0030] The present invention can achieve efficient charging. The communication charging module can achieve the accurate cooperation between the wireless charging module and the UUV carrying cabin through the hydraulic cylinder and the guiding rod structure, so as to achieve rapid and effective charging.

[0031] For the UUV of the present invention, it can directly drive away. The top of the docking platform frame is designed as a through groove. When the UUV completes charging and information exchange and needs to drive away, the wireless charging module and the positioning pin descend to the bottom of the docking platform in sequence, and the positioning plate at the end of the docking platform descends along the two side grooves to the bottom of the docking platform. The UUV can directly drive forward and leave the docking device, improving the operation efficiency of the UUV. Description of the Drawings

[0032] Appended Figure 1 is the structural schematic diagram of the present invention.

[0033] Appended Figure 2 is the structural schematic diagram of the docking platform of the present invention.

[0034] Appended Figure 3 is the structural schematic diagram of the bow positioning mechanism of the present invention.

[0035] Appended Figure 4 is the structural schematic diagram of the top frame of the present invention.

[0036] Appended Figure 5 is the structural schematic diagram of the bottom frame of the present invention.

[0037] Appended Figure 6 is the structural schematic diagram of the communication and charging module of the present invention.

[0038] Appended Figure 7 is the stern view of the UUV carrying mechanism after the carrying cabin descends in the present invention.

[0039] Appended Figure 8 is appended Figure 7 left view.

[0040] Appended Figure 9 is the stern view of the UUV carrying mechanism after the carrying cabin ascends in the present invention

[0041] Appended Figure 10 is appended Figure 9 left view.

[0042] Appended Figure 11 is the structural schematic diagram of the present invention when the elliptical UUV is charging and exchanging information.

[0043] Appended Figure 12 is the structural schematic diagram of the present invention when the elliptical UUV sails away.

[0044] Appended Figure 13 is the structural schematic diagram of the present invention when the circular UUV sails in.

[0045] Appended Figure 14 is the stern view of the biomimetic manta ray UUV when it sails away in the present invention.

[0046] Appended Figure 15 is appended Figure 14 left view.

[0047] Appended Figure 16 is the three-dimensional view of the biomimetic manta ray UUV when it sails away in the present invention.

[0048] Appended Figure 17 is the stern view of the biomimetic manta ray UUV carrying mechanism after the carrying cabin ascends in the present invention

[0049] Attached Figure 18 is the attached Figure 17 left view.

[0050] Attached Figure 19 is the stern view when the bionic carp UUV of the present invention sails away.

[0051] Attached Figure 20 is the attached Figure 19 left view.

[0052] Attached Figure 21 is the three-dimensional view when the bionic carp UUV of the present invention sails away.

[0053] Attached Figure 22 is the stern view of the bionic carp UUV carrying mechanism after the carrying cabin rises in the present invention.

[0054] Attached Figure 23 is the attached Figure 22 left view.

[0055] In the attached drawings: 1. Docking platform; 2. UUV carrying mechanism;

[0056] 1-1. Bow positioning mechanism; 1-2. Top frame; 1-3. Bottom frame; 1-4. Communication and charging module;

[0057] 1-1-1. Mounting seat; 1-1-2. Lifting cylinder; 1-1-3. Positioning plate;

[0058] 1-2-1. Guide plate; 1-2-2. Support frame; 1-2-3. Guide rod 1; 1-2-4. Guide frame;

[0059] 1-3-1. Longitudinal beam; 1-3-2. Cross beam; 1-3-3. U-shaped beam;

[0060] 1-4-1. Positioning plate; 1-4-2. Pin lifting cylinder; 1-4-3. Pin shaft; 1-4-4. Pin mounting seat; 1-4-5. Optical communication machine; 1-4-6. Wireless charging module; 1-4-7. Charging cylinder; 1-4-8. Charging seat; 1-4-9. Guide rod 2;

[0061] 2-1. UUV; 2-2. Main push rod; 2-3. Hydraulic cylinder; 2-4. Carrying cabin; 2-5. Push rod; 2-6. Cable. Specific embodiments

[0062] The present invention will be further described below with reference to the attached drawings.

[0063] The present invention provides an autonomous docking charging and information exchange device applicable to multiple types of UUVs. As shown in the attached Figure 1 drawings, it includes: a docking platform 1 and a UUV carrying mechanism 2;

[0064] As shown in the attachment Figure 2 As shown, the docking platform 1 includes a bow positioning mechanism 1-1, a top frame 1-2, a bottom frame 1-3, and a communication and charging module 1-4.

[0065] As shown in the attachment Figure 3 As shown, the bow positioning mechanism 1-1 includes a mounting seat 1-1-1, a lifting cylinder 1-1-2, and a positioning plate 1-1-3. The mounting seat 1-1-1 is U-shaped. The cylinder end of the lifting cylinder 1-1-2 is installed at the center of the bottom of the mounting seat 1-1-1. The positioning plate 1-1-3 is an L-shaped plate with a certain width at the bottom. The hydraulic rod of the lifting cylinder 1-1-2 passes through the circular hole at the center of the mounting seat 1-1-1 and is installed at the center of the bottom of the positioning plate 1-1-3.

[0066] As shown in the attachment Figure 4 As shown, the top frame 1-2 includes two guide plates 1-2-1, three support frames 1-2-2, multiple guide rods 1-2-3, and a guiding frame 1-2-4.

[0067] As shown in the attachment Figure 5 As shown, the bottom frame 1-3 includes longitudinal beams 1-3-1, cross beams 1-3-2, and two U-shaped beams 1-3-3.

[0068] As shown in the attachment Figures 1-5 As shown, the docking platform 1 includes a bow positioning mechanism 1-1. The bow positioning mechanism 1-1 is located at the bottom of the support frame 1-2-2 at the foremost end of the top frame 1-2. The two guide plates 1-2-1 are symmetrically arranged at the foremost end of the top frame 1-2. The side of the guide plate 1-2-1 is fixedly connected to the support frame 1-2-2. A rectangular through groove is opened inside the guide plate 1-2-1. The groove is perpendicular to the cross beam 1-3-2 of the bottom frame 1-3. The top of the mounting seat 1-1-1 of the bow positioning mechanism 1-1 is installed at the bottom of the longitudinal beam 1-3-1 of the bottom frame 1-3. The positioning plate 1-1-3 is installed in the groove of the guide plate 1-2-1. The positioning plate 1-1-3 vertically moves up and down along the groove of the guide plate 1-2-1 under the drive of the lifting cylinder 1-1-2. The communication and charging module 1-4 is horizontally installed on the two U-shaped beams 1-3-3 of the bottom frame 1-3.

[0069] As shown in the attachment Figures 7-10As shown in the figure, the UUV carrying mechanism 2 includes a carrying cabin 2-4. At the bottom of the carrying cabin 2-4, a UUV optical communication machine 2-4-1 and a UUV wireless charging module 2-4-2 are successively installed. The cables at the stern of the carrying cabin 2-4 transmit electric energy and signal commands to the UUV 2-1. One ends of the main push rod 2-2 and the push rod 2-5 are respectively hinged to the front and rear ends of the top of the carrying cabin 2-4, and the other ends are hinged to the front ear plate and the rear ear plate at the bottom of the UUV 2-1. The cylinder barrel of the hydraulic cylinder 2-3 is hinged to the UUV 2-1, and the end of the cylinder rod of the hydraulic cylinder 2-3 is hinged to the ear plate in the middle of the main push rod 2-2.

[0070] In this embodiment, the outer shape of the carrying cabin 2-4 is one of a cylindrical shape, an elliptical shape, a bionic carp shape, and a bionic ray shape.

[0071] As shown in the attached Figure 2 As shown in the figure, the bow positioning mechanism 1-1 includes a mounting seat 1-1-1, a lifting cylinder 1-1-2, and a positioning plate 1-1-3. The mounting seat 1-1-1 is U-shaped. The end of the cylinder barrel of the lifting cylinder 1-1-2 is installed at the center of the bottom of the mounting seat 1-1-1. The positioning plate 1-1-3 is an L-shaped plate. The hydraulic rod of the lifting cylinder 1-1-2 passes through the circular hole at the center of the mounting seat 1-1-1 and is installed at the center of the bottom of the positioning plate 1-1-3.

[0072] In this embodiment, the mounting seat 1-1-1 is U-shaped; the positioning plate 1-1-3 is an L-shaped plate.

[0073] As shown in the attached Figure 4 As shown in the figure, the top frame 1-2 includes three support frames 1-2-2. One ends of the three support frames 1-2-2 are installed with a guiding frame 1-2-4. The top of the guiding frame 1-2-4 has a guiding structure. A through channel is formed between the support frames 1-2-2 and the guiding frame 1-2-4 through N guiding rods one 1-2-3.

[0074] Furthermore, the tops of the support frames 1-2-2 and the guiding frame 1-2-4 are both inverted V-shaped structures.

[0075] Preferably, the angle between the guiding structure and the guiding frame 1-2-4 is 45 degrees.

[0076] As shown in the attached Figure 6 As shown in the figure, the communication and charging module 1-4 includes a pin mounting seat 1-4-4. The pin mounting seat 1-4-4 is symmetrically installed on the positioning plate 1-4-1. The cylinder barrel of the pin lifting cylinder 1-4-2 is installed at the bottom of the pin mounting seat 1-4-4. The cylinder rod of the pin lifting cylinder 1-4-2 passes through the circular hole at the center of the pin mounting seat 1-4-4, and the end of the cylinder rod of the pin lifting cylinder 1-4-2 is fixedly connected to the bottom of the pin shaft 1-4-3;

[0077] The bottom of the optical communication machine 1-4-5 is mounted on the positioning plate 1-4-1, the charging base 1-4-8 is mounted at the bottom of the positioning plate 1-4-1, the cylinder barrel of the charging cylinder 1-4-7 is mounted at the center of the bottom of the charging base 1-4-8, the piston rod of the charging cylinder 1-4-7 passes through the round hole at the center of the charging base 1-4-8, the end of the piston rod of the charging cylinder 1-4-7 is fixedly connected to the center of the bottom of the wireless charging module 1-4-6, four guide rods II 1-4-9 are symmetrically mounted at the bottom of the wireless charging module 1-4-6, and the guide rods II 1-4-9 are in small clearance fit with the corresponding through holes on the charging base 1-4-8. When the charging cylinder 1-4-7 drives the wireless charging module 1-4-6 to move up and down, the cooperation between the guide rods II 1-4-9 and the charging base 1-4-8 ensures the stability of the lifting.

[0078] This embodiment further includes:

[0079] An autonomous docking charging and information exchange method applicable to multiple types of UUVs, using the above-mentioned autonomous docking charging and information exchange device applicable to multiple types of UUVs, and this method includes:

[0080] Step 1: When docking and charging are required, the positioning plate 1-1-3 of the docking platform 1 rises; the UUV carrying mechanism 2 sails to the vicinity of the docking platform 1, the hydraulic cylinder 2-3 drives the main push rod 2-2 to swing to the vertical position, and the carrying cabin 2-4 translates to the lowest position, as shown in the attached Figure 1 figure;

[0081] Step 2: The UUV carrying mechanism 2 enters the interior of the docking platform 1 under the guidance of the camera at the front end of the carrying cabin 2-4. The guiding structure at the top of the guiding frame 1-2-4 guides the carrying cabin 2-4 to enter. The top of the top frame 1-2 is a through groove. When the carrying cabin 2-4 enters the top frame 1-2, the main push rod 2-2 and the hydraulic cylinder 2-3 move forward along the through groove at the top of the top frame 1-2, as shown in the attached Figures 11-16 figures 19 - 21;

[0082] Step 3: When the bow of the carrying cabin 2-4 contacts the positioning plate 1-1-3, the communication charging module 1-4 works, as shown in the attached Figure 11 figure;

[0083] Step 4: When the charging and information exchange are completed, the wireless charging module 1-3-6, the pin shaft 1-3-3, and the positioning plate 1-1-3 descend to the bottom of the top frame 1-2 in sequence, and the UUV carrying mechanism 2 sails forward and away, as shown in the attached drawings, as shown in the attached Figures 14-16 figures 19 - 21.

[0084] Further, the operation of the communication charging module 1-4 in the step 3 includes the following steps. Combining with the attachedFigure 11 As shown in:

[0085] First, the wireless charging module 1-3-6 moves upward under the drive of the hydraulic cylinder, pushing the carrying cabin 2-4 upward until the carrying cabin 2-4 contacts the inverted V-shaped structure at the top of the support frame 1-2-2 and the guiding frame 1-2-4;

[0086] Then, the pin shaft 1-3-3 moves upward and inserts into the pin hole at the bottom of the carrying cabin 2-4 to achieve complete positioning;

[0087] Finally, the communication charging module 1-4 starts charging the UUV wireless charging module 2-4-2 and communicates with the UUV optical communication machine 2-4-1.

[0088] The above are only the preferred embodiments of the present invention and are not used to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. An autonomous docking charging and information exchange device applicable to multiple types of UUVs, characterized in that Including: Docking platform (1), UUV carrying mechanism (2); The docking platform (1) includes a bow positioning mechanism (1-1), the bow positioning mechanism (1-1) is located at the bottom of the support frame (1-2-2) at the frontmost end of the top frame (1-2), two guide plates (1-2-1) are symmetrically arranged at the frontmost end of the top frame (1-2), the side of the guide plate (1-2-1) is fixedly connected to the support frame (1-2-2), a rectangular through groove is formed inside the guide plate (1-2-1), the groove is perpendicular to the cross beam (1-3-2) of the bottom frame (1-3), the top of the mounting seat (1-1-1) of the bow positioning mechanism (1-1) is installed at the bottom of the longitudinal beam (1-3-1) of the bottom frame (1-3), the positioning plate (1-1-3) is installed in the groove of the guide plate (1-2-1), and the positioning plate (1-1-3) vertically moves up and down along the groove of the guide plate (1-2-1) under the drive of the lifting cylinder (1-1-2), and a communication and charging module (1-4) is horizontally installed on two U-shaped beams (1-3-3) on the bottom frame (1-3); The UUV carrying mechanism (2) includes a carrying cabin (2-4), a UUV optical communication machine (2-4-1) and a UUV wireless charging module (2-4-2) are successively installed at the bottom of the carrying cabin (2-4), the cable at the stern of the carrying cabin (2-4) transmits electric energy and signal instructions to the UUV (2-1), one ends of the main push rod (2-2) and the push rod (2-5) are respectively hinged to the front and rear ends of the top of the carrying cabin (2-4), and the other ends are hinged to the front ear plate and the rear ear plate at the bottom of the UUV (2-1), the cylinder barrel of the hydraulic cylinder (2-3) is hinged to the UUV (2-1), and the end of the cylinder rod of the hydraulic cylinder (2-3) is hinged to the ear plate in the middle of the main push rod (2-2).

2. The autonomous docking charging and information exchange device applicable to multiple types of UUVs according to claim 1, characterized in that, The bow positioning mechanism (1-1) includes a mounting seat (1-1-1), a lifting cylinder (1-1-2), and a positioning plate (1-1-3), the end of the cylinder barrel of the lifting cylinder (1-1-2) is installed at the center of the bottom of the mounting seat (1-1-1), and the hydraulic rod of the lifting cylinder (1-1-2) passes through the round hole at the center of the mounting seat (1-1-1) and is installed at the center of the bottom of the positioning plate (1-1-3).

3. The autonomous docking charging and information exchange device applicable to multiple types of UUVs according to claim 2, characterized in that, The mounting seat (1-1-1) is U-shaped.

4. The autonomous docking charging and information exchange device applicable to multiple types of UUVs according to claim 2, wherein The positioning plate (1-1-3) is an L-shaped plate.

5. The autonomous docking charging and information exchange device applicable to multiple types of UUVs according to claim 1 or 2, characterized in that The top frame (1-2) includes three support frames (1-2-2), a guiding frame (1-2-4) is installed at one end of the three support frames (1-2-2), the top of the guiding frame (1-2-4) has a guiding structure, and N guiding rods one (1-2-3) are connected between the support frame (1-2-2) and the guiding frame (1-2-4) to form a through channel.

6. The autonomous docking charging and information exchange device applicable to multiple types of UUVs according to claim 5, characterized in that, The tops of the support frame (1-2-2) and the guiding frame (1-2-4) are both inverted V-shaped structures.

7. The autonomous docking charging and information exchange device applicable to multiple types of UUVs according to claim 1, wherein The communication and charging module (1-4) includes a pin mounting base (1-4-4), which is axially symmetrically mounted on the positioning plate (1-4-1). The cylinder barrel of the pin lifting cylinder (1-4-2) is mounted at the bottom of the pin mounting base (1-4-4). The piston rod of the pin lifting cylinder (1-4-2) passes through the round hole at the center of the pin mounting base (1-4-4), and the end of the piston rod of the pin lifting cylinder (1-4-2) is fixedly connected to the bottom of the pin shaft (1-4-3). The bottom of the optical communication machine (1-4-5) is mounted on the positioning plate (1-4-1). The charging seat (1-4-8) is mounted at the bottom of the positioning plate (1-4-1). The cylinder barrel of the charging cylinder (1-4-7) is mounted at the center of the bottom of the charging seat (1-4-8). The piston rod of the charging cylinder (1-4-7) passes through the round hole at the center of the charging seat (1-4-8), and the end of the piston rod of the charging cylinder (1-4-7) is fixedly connected to the center of the bottom of the wireless charging module (1-4-6). Four guide rods II (1-4-9) are symmetrically mounted at the bottom of the wireless charging module (1-4-6). The guide rods II (1-4-9) are in small clearance fit with the corresponding through holes on the charging seat (1-4-8). When the charging cylinder (1-4-7) drives the wireless charging module (1-4-6) to lift and lower, the cooperation between the guide rods II (1-4-9) and the charging seat (1-4-8) ensures the stability of the lifting and lowering.

8. The autonomous docking charging and information exchange device applicable to multiple types of UUVs according to claim 1, characterized in that, The shape of the carrying cabin (2-4) is one of a cylindrical shape, an elliptical shape, a biomimetic carp shape, and a biomimetic ray shape.

9. An autonomous docking charging and information exchange method applicable to multiple types of UUVs, characterized in that, Using the autonomous docking charging and information exchange device for multiple types of UUVs according to any one of claims 1-6, the method includes: Step 1: When docking and charging is required, the positioning plate (1-1-3) of the docking platform (1) rises; the UUV carrying mechanism (2) sails to near the docking platform (1), the hydraulic cylinder (2-3) drives the main push rod (2-2) to swing to the vertical position, and the carrying cabin (2-4) is translated to the lowest position. Step 2: The UUV carrying mechanism (2) enters the inside of the docking platform (1) under the guidance of the camera at the front end of the carrying cabin (2-4). The guiding structure at the top of the guiding frame (1-2-4) guides the carrying cabin (2-4) to enter. The top of the top frame (1-2) is a through groove. When the carrying cabin (2-4) enters the top frame (1-2), the main push rod (2-2) and the hydraulic cylinder (2-3) move forward along the through groove at the top of the top frame (1-2). Step 3: When the bow of the carrying cabin (2-4) contacts the positioning plate (1-1-3), the communication and charging module (1-4) works. Step 4: When the charging and information exchange are completed, the wireless charging module (1-3-6), the pin shaft (1-3-3), and the positioning plate (1-1-3) are lowered to the bottom of the top frame (1-2) in sequence, and the UUV carrying mechanism (2) sails forward and away.

10. The autonomous docking charging and information exchange method applicable to multiple types of UUVs according to claim 9, characterized in that, The operation of the communication and charging module (1-4) in step 3 includes the following steps: First, the wireless charging module (1-3-6) moves upward under the drive of the hydraulic cylinder, pushing the carrying cabin (2-4) upward until the carrying cabin (2-4) contacts the inverted V-shaped structure at the top of the support frame (1-2-2) and the guiding frame (1-2-4); Then, the pin shaft (1-3-3) moves upward and inserts into the pin hole at the bottom of the carrying cabin (2-4) to achieve complete positioning; Finally, the communication and charging module (1-4) starts charging the UUV wireless charging module (2-4-2) and communicates with the UUV optical communication machine (2-4-1).

Images