An unmanned underwater vehicle charging system based on wave energy power generation

Abstract

The application relates to the technical field of unmanned underwater vehicle charging, in particular to an unmanned underwater vehicle charging system based on wave energy generation, which comprises a vehicle body and a hatch cover, the vehicle body is internally provided with a dry cabin and a wet cabin which are communicated through a dynamic sealing cabin-penetrating part, the dry cabin is internally provided with an electric winch, a stay wire type power generation device and an electricity storage module, the electric winch comprises a winding drum, the wet cabin is internally provided with a power capturing unit, the power capturing unit comprises an air bag float, the air bag float is provided below with an inflation assembly, one end of a connecting cable is connected to the winding drum, the middle part of the connecting cable is wound on the stay wire type power generation device, and the other end of the connecting cable is connected with the air bag float through the dynamic sealing cabin-penetrating part. The power capturing unit, the stay wire type power generation device and the electricity storage module for capturing wave energy are integrated in the unmanned underwater vehicle, the power capturing unit can be released in the sea for multiple times in sequence to realize in-situ autonomous charging in a task sea area, and the task duration and operation range of the vehicle in the deep sea are greatly prolonged.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of marine equipment and the technical field of unmanned underwater vehicle charging, in particular to an unmanned underwater vehicle charging system based on wave energy generation. BACKGROUND

[0002] As an instrument without human driving, relying on remote control or automatic control to navigate underwater, the unmanned underwater vehicle (UUV) refers to an intelligent system capable of replacing divers or manned small submarines to carry out underwater operations such as deep sea exploration and shipwreck search and rescue, so the unmanned underwater vehicle is also called "submarine robot" or "underwater robot". The unmanned underwater vehicle plays an increasingly important role in the fields of marine exploration, environmental monitoring and underwater operation.

[0003] A good performance unmanned underwater vehicle must integrate advanced navigation control system, energy and propulsion system, communication and environmental perception technology. One of the current development trends of unmanned underwater vehicles is to improve their endurance to enable them to perform tasks for a longer time. However, current underwater vehicles are usually limited by the capacity of internal batteries and are difficult to achieve long endurance. The endurance of underwater vehicles is a critical performance bottleneck. The traditional power supply method of unmanned underwater vehicles is to return to the mother ship or the shore base for charging or battery replacement. This method has the disadvantages of operation interruption, low efficiency, high operating cost and dependence on supporting facilities. Therefore, it is of great significance to develop an underwater charging system that can prolong the underwater operation time of unmanned underwater vehicles and improve their autonomy and flexibility.

[0004] CN117799802A discloses a device and operation method for UUV sliding and charging. In view of the problems that the UUV is limited in operation range by energy during underwater operation, the charging efficiency of the UUV with a built-in solar panel is low, and the UUV is easily exposed during the charging process, a telescopic folding solar panel is provided to supply power to the UUV, ensuring the energy supply efficiency and greatly ensuring the single endurance, so that the UUV can work independently underwater for a long time, and has the advantages of energy saving, strong concealment and strong maneuverability compared with the traditional UUV. However, the product structure of the above-mentioned patent is complex and bulky, resulting in a too complicated charging procedure and a substantial increase in product cost. SUMMARY

[0005] The present application aims to provide an unmanned underwater vehicle charging system based on wave energy generation to solve the problems in the prior art. The energy capturing unit, the stretched wire power generation device and the power storage module are integrated in the unmanned underwater vehicle body to realize autonomous power supply of the underwater vehicle in the task sea area, prolong the underwater operation time of the unmanned underwater vehicle, and solve the problems in the prior art.

[0006] In order to achieve the above purpose, the present application adopts the following technical solutions:

[0007] An unmanned underwater vehicle charging system based on wave energy power generation, comprising a vehicle body and an electricity storage module arranged inside the vehicle body for storing electricity, an execution cabin is arranged inside the vehicle body, the execution cabin is divided into a dry cabin and a wet cabin in the vertical direction by a watertight partition, the dry cabin and the wet cabin are communicated through a dynamic sealing through-cabin piece arranged on the watertight partition, the top of the wet cabin is provided with a hatch, the dry cabin is provided with an electric winch, a pull wire type power generation device for generating electricity and an electricity storage module, the pull wire type power generation device is connected with the electricity storage module, the electric winch comprises a drum, the wet cabin is provided with a energy trapping unit, the energy trapping unit comprises an inflatable airbag float, a gas charging assembly for inflating the airbag float is arranged below the airbag float, the two ends of the connecting cable are respectively a fixed end and a connecting end, the fixed end of the connecting cable is connected to the drum, the middle part of the connecting cable is wound on the pull wire type power generation device, and the connecting end of the connecting cable penetrates through the dynamic sealing through-cabin piece and is detachably connected with the airbag float.

[0008] Further, the gas charging assembly comprises a gas generator arranged below the airbag float, and the gas generator is communicated with the airbag float.

[0009] Further, a permanent magnet is arranged below the airbag float, and correspondingly, the connecting end of the connecting cable is provided with an electromagnetic connecting assembly for magnetic attraction with the permanent magnet.

[0010] Further, the electromagnetic connecting assembly comprises a shell, an electromagnet, a power supply for electrifying the electromagnet, and a control receiver for controlling the on-off state of the power supply are arranged in the shell.

[0011] Further, the energy trapping unit has a plurality of energy trapping units, and correspondingly, a replacement mechanism for sequentially pushing the energy trapping units above the electromagnetic connecting assembly is arranged in the wet cabin.

[0012] Further, the replacement mechanism comprises a horizontal guide rail and a first spring arranged in the wet cabin, a plurality of energy trapping units are arranged side by side on the guide rail, the area above the electromagnetic connecting assembly on the guide rail is an execution position, one end of the first spring is connected to the inner side wall of the wet cabin, the other end of the first spring is connected with an abutting plate for abutting and pushing the energy trapping unit farthest from the execution position, a horizontal first sliding groove is arranged on the inner side wall of the wet cabin, and the abutting plate is slidingly connected in the first sliding groove.

[0013] Further, the replacement mechanism comprises a limiting component for limiting the displacement of the energy trapping unit closest to the execution position along the guide rail.

[0014] Further, the limiting assembly comprises a second sliding groove vertically formed on the inner side wall of the wet cabin, a movable plate is slidably connected in the second sliding groove, the upper portion of the movable plate is used for abutting against the electromagnetic connecting assembly, a stopper for abutting against the closest one of the energy trapping units to the blocking distance is arranged on the movable plate, the lower portion of the movable plate is connected with one end of a vertical second spring, and the other end of the second spring is connected with the bottom wall in the wet cabin.

[0015] Further, the energy trapping unit comprises a frame, the gasbag float is arranged in the frame, the inflating assembly is arranged at the lower portion of the frame, the frame abuts against the guide rail, and a groove corresponding to the stopper is formed in the frame.

[0016] Further, the hatch, the dynamic sealing cabin-penetrating part, the line-type power generation device and the electric winch are located in the same vertical direction.

[0017] Compared with the prior art, the present application has the following beneficial effects:

[0018] 1. Significantly prolonging the endurance: by arranging a plurality of energy trapping units in the vehicle body in advance, the energy trapping units can be released in the sea to capture wave energy and charge multiple times, thereby greatly prolonging the mission duration and operation range of the vehicle body in the deep sea.

[0019] 2. Improving the autonomy and concealment: the dependence on the mother ship and the frequency of returning are reduced, and the autonomous operation capability of the vehicle body and the concealment of task execution are improved.

[0020] 3. Reducing the product operation cost: the charging system has a simple and efficient structure, integrates the energy trapping unit for capturing wave energy, the line-type power generation device and the power storage module, the energy trapping unit is a disposable water surface device which can be deployed, the effective connection between the connecting cable and the energy trapping unit is realized through the electromagnetic connecting assembly, the use of the support ship is reduced, the deployment and recovery operation of the energy trapping unit is saved, the system complexity, risk and product operation cost are greatly reduced, the system has good applicability and economy in various sea conditions. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 A schematic diagram of the overall structure of the vehicle body in an unmanned underwater vehicle charging system based on wave energy generation is provided for the present application;

[0022] Figure 2 A schematic diagram of the charging state of the unmanned underwater vehicle charging system based on wave energy generation is provided for the present application;

[0023] Figure 3 A Figure 2 A local enlarged view of A in FIG.

[0024] Figure 4A cross-sectional view of an internal cavity of a vehicle body in an unmanned underwater vehicle charging system based on wave energy power generation provided by the application;

[0025] Figure 5 An internal structure diagram of a dry cabin in an unmanned underwater vehicle charging system based on wave energy power generation provided by the application;

[0026] Figure 6 An internal structure diagram of a wet cabin after releasing one energy trapping unit in an unmanned underwater vehicle charging system based on wave energy power generation provided by the application;

[0027] Figure 7 An internal structure diagram of a wet cabin after releasing two energy trapping units in an unmanned underwater vehicle charging system based on wave energy power generation provided by the application;

[0028] Figure 8 An internal structure diagram of a wet cabin after releasing three energy trapping units in an unmanned underwater vehicle charging system based on wave energy power generation provided by the application;

[0029] Figure 9 An internal structure diagram of a wet cabin in an unmanned underwater vehicle charging system based on wave energy power generation provided by the application.

[0030] Among them, the reference signs are:

[0031] 1, vehicle body; 2, hatch cover; 3, watertight bulkhead; 31, dynamic sealing cabin; 4, dry cabin; 41, electric winch; 42, pull line type power generation device; 43, power storage module; 5, wet cabin; 6, energy trapping unit; 61, gas bag float; 62, inflation assembly; 63, permanent magnet; 64, frame; 641, groove; 7, connecting cable; 71, electromagnetic connection assembly; 8, position compensation mechanism; 81, guide rail; 82, first spring; 83, abutment plate; 84, first sliding groove; 85, limiting assembly; 851, second sliding groove; 852, second spring; 853, movable plate; 854, stop block. DETAILED DESCRIPTION

[0032] In order to enable the personnel in the technical field to better understand the scheme of the present application, the technical scheme in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by the person of ordinary skill in the art without making creative labor are within the scope of protection of the present application.

[0033] It is to be noted that when an element is referred to as being "fixed" or "set" on another element, it can be directly on the other element or indirectly on the other element, with one or more intervening elements. When an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or indirectly connected or coupled to the other element, with one or more intervening elements.

[0034] It is to be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, specify relative positions or orientations based on the orientations or positions shown in the drawings, and are used only for the purpose of ease of description and simplification of description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be understood as limiting the present application.

[0035] In addition, the terms "first", "second", "third", etc. are used only for descriptive purposes and should not be construed as indicating or implying relative importance or a required number thereof. Thus, features with "first", "second" or "third" can explicitly or implicitly include one or more of the features.

[0036] For ease of understanding, please refer to Figures 1 to 9The embodiment provides an unmanned underwater vehicle charging system based on wave energy power generation, which comprises a vehicle body 1, the vehicle body 1 is divided into a water-tight dry cabin 4 and a wet cabin 5 with a controllable water inlet area by a water-tight partition 3, all mechanical parts in the wet cabin 5 are made of seawater corrosion-resistant materials. A high-reliability dynamic sealing cabin-penetrating part 31 is fixedly arranged on the water-tight partition 3, the dynamic sealing cabin-penetrating part 31 is preferably a magnetic fluid sealing device, and the dry cabin 4 is communicated with the wet cabin 5 through the dynamic sealing cabin-penetrating part 31. A hatch 2 is arranged at the top of the wet cabin, the hatch 2 can be opened and closed in seawater, and the wet cabin 5 is communicated with the outside of the vehicle body 1 through the hatch 2. An electric winch 41, a pull-wire type power generation device 42 and an electricity storage module 43 are arranged in the dry cabin 4, wherein the electric winch 41 adopts a compact built-in winch to prevent the connection cable 7 from being wound, the electric winch 41 comprises a drum for winding the connection cable 7 and a motor for driving the drum to rotate; the pull-wire type power generation device 42 is used for power generation, and the pull-wire type power generation device 42 is preferably the pull-wire type power generation device 42 in the patent CN207195084U, comprising a generator, a transmission mechanism, a pull-wire wheel and a spring winding wheel, a scroll spring is arranged in the spring winding wheel, when the pull-wire wheel and the spring winding wheel rotate, mechanical energy is transmitted to the generator through the transmission mechanism, the generator is driven to operate to generate electricity, and the process of converting mechanical energy into electrical energy is realized; the electricity storage module 43 is used for electricity storage and comprises a storage battery. The pull-wire type power generation device 42 is connected with the electricity storage module 43. An energy capturing unit 6 for capturing wave energy is arranged in the wet cabin 5, the energy capturing unit 6 comprises a gasbag float 61 made of flexible and durable materials, the gasbag float 61 is kept in a deflated state in the wet cabin 5 in an initial state, and the gasbag float 61 can be compactly folded in the deflated state. An inflation assembly 62 is fixedly connected below the gasbag float 61, the inflation assembly 62 is used for inflating the gasbag float 61 and specifically comprises a gas generator fixedly arranged below the gasbag float 61, the gas generator comprises a high-pressure gas cylinder, the high-pressure gas cylinder is preferably a small and light aluminum or coated steel gas cylinder, the high-pressure gas cylinder is communicated with the gasbag float 61 through a gas conveying channel, the gas generator can trigger the gas stored in the high-pressure gas cylinder to be rapidly released and conveyed to the inside of the gasbag float 61 through the gas conveying channel, and inflation is realized. When the vehicle body 1 needs to be charged, the controller activates the gas generator, so that the compressed gas in the high-pressure gas cylinder is rapidly inflated into the gasbag float 61 through the gas channel. One end of the connection cable 7 is a fixed end, and the other end is a connection end, wherein the fixed end is fixedly connected to the drum, the connection end extends upwards and is wound on the pull-wire wheel and the spring winding wheel of the pull-wire type power generation device 42 for a certain number of turns, then continues to extend upwards and penetrates through the dynamic sealing cabin-penetrating part 31, and finally extends upwards to be detachably connected with the lower part of the gasbag float 61.By winding a certain number of turns of the connecting cable 7 on the pulley and the spring reel, the contact area between the connecting cable 7 and the pulley and the spring reel is increased, and the friction between the connecting cable 7 and the pulley and the spring reel is increased, so that no matter in the process of the air bag float 61 pulling the connecting cable 7 upward or in the process of the electric winch 41 winding the connecting cable 7 downward, the connecting cable 7 wound on the pulley and the spring reel can drive the pulley and the spring reel to rotate, and then the generator is operated to generate electricity. The dynamic sealing penetration piece 31 ensures that the connecting cable 7 does not occur solid friction even in the case of high-speed movement, and at the same time, the dynamic sealing penetration piece 31 can isolate seawater, ensure that the seawater outside the vehicle body 1 and entering the wet cabin 5 cannot penetrate into the dry cabin 4, and avoid the influence of seawater on the normal operation of the equipment in the dry cabin 4. The controller is also provided in the dry cabin 4 of the vehicle body 1, which controls the movement of the vehicle body 1 and monitors the state of the vehicle body 1. The hatch 2, the pulley and the spring reel of the pulley type power generation device 42, and the drum of the electric winch 41 are located in the same vertical direction, which ensures that the connecting cable 7 can always maintain a vertical state.

[0037] When the controller monitors that the vehicle body 1 needs to be charged, the vehicle body 1 floats to a predetermined seawater depth, the hatch 2 on the upper part of the vehicle body 1 is opened, the gas-filled assembly 62 is inflated to the inside of the gasbag float 61, the gasbag float 61 is inflated to increase the buoyancy, and then starts to float up. Since one end of the connecting cable 7 is fixedly connected to the lower part of the gasbag float 61, the gasbag float 61 will pull the connecting cable 7 upward when it floats up. Since the other end of the connecting cable 7 is fixedly connected to the reel, and the middle part of the connecting cable 7 is wound on the pulley and the spring reel of the pull-wire type power generation device 42, when the gasbag float 61 pulls the connecting cable 7 upward, the reel, the pulley and the spring reel will rotate together, and a sufficient length of the connecting cable 7 is released. In this process, the connecting cable 7 is stretched upward, the pulley and the spring reel of the pull-wire type power generation device 42 are rotated, the generator of the pull-wire type power generation device 42 is driven to generate electricity through the transmission mechanism, and the scroll spring on the spring reel stores mechanical energy. The gasbag float 61 floats on the sea surface because the gravity of the inflated gasbag float 61 is less than the buoyancy generated by the volume of the gasbag float 61. When waves pass through the area where the gasbag float 61 is placed on the sea surface, the gasbag float 61 can move with the waves on the sea surface. Specifically, the gasbag float 61 rises from the sea surface on the windward side of the wave, and falls to the sea surface on the leeward side of the wave. That is, when the gasbag float 61 is excited by the waves, it will absorb wave energy and generate up-and-down movement following the waves. The gasbag float 61 and the vehicle body 1 both move up and down with the waves, but the movement of the vehicle body 1 lags behind the movement of the gasbag float 61 because of the inertia of the vehicle body 1 and the different depths of the gasbag float 61 and the vehicle body 1 in the sea. The different step movements between the gasbag float 61 and the vehicle body 1 will have a clear phase difference, and there will be relative up-and-down movement. More specifically, when the gasbag float 61 moves from the trough to the crest on the windward side, the gasbag float 61 is lifted upward, the vehicle body 1 lags behind the gasbag float 61, the connecting cable 7 is stretched upward, the pulley and the spring reel of the pull-wire type power generation device 42 are rotated, the generator of the pull-wire type power generation device 42 is driven to generate electricity through the transmission mechanism, and the scroll spring on the spring reel stores mechanical energy in this process. When the gasbag float 61 moves from the crest to the trough on the leeward side, the gasbag float 61 falls downward, the scroll spring on the spring reel is stretched and releases mechanical energy in this process, the connecting cable 7 is wound downward, the pulley and the spring reel of the pull-wire type power generation device 42 are rotated, the generator of the pull-wire type power generation device 42 is driven to generate electricity through the transmission mechanism, and the electrical energy generated by the generator is stored in the power storage module 43.Throughout the whole process, the connecting cable 7 between the reel and the tethered power generation device 42, the connecting cable 7 between the tethered power generation device 42 and the gasbag float 61 always maintains a near-vertical state, i.e. a taut state, and does not appear to be bent and relaxed.

[0038] For ease of understanding, please refer to Figures 2 to 9 The captive unit 6 is a deployable disposable water surface device. A permanent magnet 63 is fixed below the gasbag float 61, and an electromagnetic connection assembly 71 is fixedly connected at the connecting end of the connecting cable 7. The electromagnetic connection assembly 71 includes a shell, an electromagnet, a power supply and a control receiver arranged inside the shell. The power supply is used to energize the electromagnet to generate a magnetic force and be attracted to the permanent magnet 63 below the gasbag float 61, thereby achieving effective connection of the gasbag float 61 and the connecting cable 7. The power supply is preferably a high-energy battery. The control receiver is used to control the on-off state of the power supply and is electrically connected to the controller in the dry cabin. When the controller sends a connection instruction to the control receiver, the control receiver receives the connection instruction and controls the power supply to energize the electromagnet to magnetize, so that the electromagnet is magnetically attracted to the permanent magnet, realizing the connection action. When the controller sends a disconnection instruction to the control receiver, the control receiver receives the instruction and controls the power supply to be de-energized, so that the electromagnet is demagnetized, thereby disconnecting the electromagnet and the permanent magnet. Before entering the sea, a plurality of captive units 6 are pre-stored in the wet cabin 5 of one vehicle body 1 and are arranged side by side in abutment. A replenishment mechanism 8 is provided in the wet cabin 5, and the replenishment mechanism 8 includes a horizontally closed constraint configuration guide rail 81 and a first spring 82. The plurality of captive units 6 are arranged in abutment on the guide rail 81, and the guide rail 81 can provide accurate guidance for the queue of captive units 6. The guide rail 81 includes one execution position and a plurality of waiting positions above the electromagnetic connection assembly 71, and one execution position or waiting position corresponds to one captive unit 6. One end of the first spring 82 is fixedly connected to the right side wall in the wet cabin 5, and the other end is fixedly connected to an abutment plate 83 which abuts against the captive unit 6 farthest from the execution position. Since the captive units 6 are arranged side by side in abutment on the guide rail 81, the first spring 82 can provide a continuous pushing force for the queue of captive units 6, and the captive units 6 in the waiting positions are pushed to the execution position above the electromagnetic connection assembly 71 in sequence through the abutment plate 83, so that there is always one captive unit 6 in the execution position. A first sliding groove 84 is formed horizontally in the inner side wall of the wet cabin 5, and the abutment plate 83 is slidingly connected in the first sliding groove 84.

[0039] In the initial state, the execution bit is stored with a captive unit 6, the abutment plate 83 is in abutment with the captive unit 6 farthest from the execution bit, and the first spring 82 is in a contracted state under the action of a load. When the controller detects that the vehicle body 1 needs to be charged, the vehicle body 1 is floated to a predetermined depth of seawater, and the electromagnetic connection assembly 71 at the end of the connecting cable 7 is connected to the permanent magnet 63 of the gasbag float 61 at the execution bit by the controller, that is, the effective connection between the connecting cable 7 and the gasbag float 61 is realized, and then the hatch 2 is opened to release the first captive unit 6 at the execution bit, so as to charge the vehicle body 1 (the specific charging principle has been described above, and will not be described here). When the controller detects that the vehicle body 1 completes a charging action, the power supply of the electromagnetic connection assembly 71 at the end of the connecting cable 7 is stopped by the controller, the electromagnetic iron is demagnetized, and then the electromagnetic connection assembly 71 at the end of the connecting cable 7 is disconnected from the released gasbag float 61, and the first captive unit 6 is discarded; at this time, the volute spring on the spring winding wheel is stretched and releases mechanical energy, and the connecting cable 7 is wound downward by the electric winch 41 under the control of the controller, and the volute spring and the electric winch 41 jointly pull the connecting cable 7 downward until the connecting cable 7 and the electromagnetic connection assembly 71 at the end of the connecting cable 7 are returned to the wet cabin 5 of the vehicle body 1 together; the first spring 82 releases part of the elastic potential energy, pushes the captive unit 6 farthest from the execution bit through the abutment plate 83, and simultaneously displaces all the captive units 6 at the waiting bit to the execution bit, until the second captive unit 6 is displaced to the execution bit, so that the permanent magnet 63 in the second captive unit 6 is located directly above the electromagnetic connection assembly 71, and waits for the next charging action. When the first spring 82 gradually releases all the elastic potential energy, all the captive units 6 at the waiting bit are pushed to the execution bit in turn, that is, when there is no captive unit 6 at the waiting bit, the abutment plate 83 is at the left end of the first sliding groove 84 and cannot continue to displace to the left, that is, the abutment plate 83 cannot continue to press the captive unit 6 already located at the execution bit under the action of the pushing force of the first spring 82, so as to avoid affecting the floating action of the last captive unit 6.

[0040] For ease of understanding, please refer to Figures 4 to 9The supplement mechanism 8 further comprises a limiting assembly 85 capable of limiting displacement of the energy trapping unit 6 closest to the execution position from the waiting position along the direction of the guide rail 81, the limiting assembly 85 comprising a second sliding groove 851, a second spring 852, a movable plate 853 and a stopper 854 fixedly arranged above the movable plate 853. The second sliding groove 851 is vertically arranged on the inner side wall of the wet cabin 5, the movable plate 853 is slidingly connected in the second sliding groove 851, a through hole is arranged on the movable plate 853 and capable of penetrating the connecting cable 7, the diameter of the through hole is larger than the outer diameter of the connecting cable 7, the upper part of the electromagnetic connection assembly 71 is connected with the energy trapping unit 6, and the lower part of the electromagnetic connection assembly 71 is used to abut against the upper part of the movable plate 853. The stopper 854 is used to abut against and block the energy trapping unit 6 closest to the execution position, so as to prevent the energy trapping unit 6 from being displaced from the waiting position to the execution position. The movement direction of the second spring 852 is the same as the direction of the second sliding groove 851, both being vertical direction, one end of the second spring 852 is fixedly connected to the bottom of the movable plate 853, and the other end of the second spring 852 is fixedly connected to the inner bottom wall of the wet cabin 5.

[0041] In the initial state, the execution bit is stored with a captive energy unit 6, the lower part of the electromagnetic connection assembly 71 abuts against the upper part of the movable plate 853, the second spring 852 is not under load, the movable plate 853 is at the upper end of the second sliding slot 851, and the stop block 854 abuts against the captive energy unit 6 closest to the execution bit (i.e., the second captive energy unit 6). When the controller detects that the vehicle body 1 needs to be charged, the vehicle body 1 floats to a predetermined depth of seawater, and then the connecting cable 7 is connected to the gasbag float 61 under the control of the controller (the specific connection principle has been described above, and will not be described here again). Then, the hatch 2 is opened to release the first captive energy unit 6 located in the execution bit, and the vehicle body 1 is charged (the specific charging principle has been described above, and will not be described here again). In this process, due to the blocking action of the stop block 854, the captive energy unit 6 closest to the execution bit cannot be displaced from the standby bit to the execution bit, i.e., the displacement of all the captive energy units 6 located in the standby bit is limited. When the controller detects that the vehicle body 1 completes a charging action, the connecting cable 7 is disconnected from the released gasbag float 61 under the control of the controller (the specific disconnection principle has been described above, and will not be described here again), and the first captive energy unit 6 is discarded. The connecting cable 7 is wound downward by the cooperation of the vortex spring and the electric winch 41. In this process, the pull line wheel and the spring winding wheel of the pull line type power generation device 42 rotate, and then drive the generator of the pull line type power generation device 42 to generate electricity through the transmission mechanism, until the lower part of the electromagnetic connection assembly 71 at the end of the connecting cable 7 abuts against the upper part of the movable plate 853. At this time, the connecting cable 7 is continuously wound by the electric winch 41, so that the electromagnetic connection assembly 71 at the end of the connecting cable 7 is pressed downward, and the movable plate 853 and the second spring 852 connected to the lower part of the movable plate 853 are subjected to pressure load. The second spring 852 shrinks downward and stores mechanical energy, and the movable plate 853 slides downward to the lower end of the second sliding slot 851, thereby driving the stop block 854 fixedly arranged on the movable plate 853 to displace downward, and the displacement limitation of the stop block 854 to the captive energy units 6 located in the standby bit is removed. Then, the first spring 82 releases part of the elastic potential energy, and the distance between the execution bit and the closest captive energy unit 6 is the longest. The stop block 854 pushes the captive energy unit 6 farthest from the execution bit through the abutment plate 83, so that all the captive energy units 6 located in the standby bit are simultaneously displaced to the execution bit, until the second captive energy unit 6 is displaced to the execution bit, and the permanent magnet 63 in the second captive energy unit 6 is located directly above the electromagnetic connection assembly 71. The winding action of the electric winch 41 is stopped by the controller, and the electromagnetic connection assembly 71 stops pressing the movable plate 853. At this time, the movable plate 853 and the second spring 852 connected to the lower part of the movable plate 853 are not subjected to pressure load, the second spring 852 releases the elastic potential energy upward, pushes the movable plate 853 to slide upward and displace to the upper end of the second sliding slot 851, and then drives the stop block 854 fixedly arranged on the movable plate 853 to displace upward and abut against the captive energy unit 6 closest to the execution bit (i.e., the third captive energy unit 6), and waits for the next charging action.In the process of the movable plate 853 upward resetting, the electromagnetic connection assembly 71 will follow the movable plate 853 and slightly upwardly displace, and the electromagnetic connection assembly 71 will slightly pull the connecting cable 7 upwardly.

[0042] For the convenience of understanding, please continue to refer to Figures 4 to 9 The captive unit 6 comprises a frame body 64 with an inner partition, the airbag float 61 in the deflated state is folded and stored in the upper layer of the frame body 64, the inflating assembly 62 and the permanent magnet 63 are fixedly arranged in the lower layer of the frame body 64, the lower part of the frame body 64 is abuttingly arranged on the guide rail 81, and the bottom edge of the frame body 64 is provided with a groove 641 corresponding to the structure of the stop block 854. When the movable plate 853 is at the upper end of the second sliding groove 851 and the second spring 852 is in the released state, the stop block 854 is fitted in the groove 641, so that the blocking effect of the stop block 854 is realized; when the movable plate 853 is at the lower end of the second sliding groove 851 and the second spring 852 is in the compressed state, the stop plate is separated from the groove 641, so that the positioning function of the captive unit 6 is realized.

[0043] The charging step of the present application:

[0044] Step one, initial preparation stage:

[0045] Before the seagoing vehicle body 1 enters the sea, that is, in the initial state, one captive unit 6 is stored on the execution position, two captive units 6 are stored on the standby position, and three captive units 6 are arranged side by side and abuttingly; the first spring 82 is in the compressed state, the abutting plate 83 abuts against the frame body 64 of the captive unit 6 farthest from the execution position (that is, the third captive unit 6), and at the same time, the abutting plate 83 is located at the right end of the first sliding groove 84; the second spring 852 is in the released state, the movable plate 853 is located at the upper end of the second sliding groove 851, and the stop block 854 is fitted and abuttingly arranged with the groove 641 of the frame body 64 of the captive unit 6 closest to the execution position (that is, the second captive unit 6); the lower part of the electromagnetic connection assembly 71 abuts against the upper part of the movable plate 853, and the upper part of the electromagnetic connection assembly 71 abuts against the captive unit 6 on the execution position (that is, the first captive unit 6).

[0046] Step two, charging action judgment:

[0047] The seagoing vehicle body 1 is put into the sea, and the controller judges whether charging is needed through the power of the power storage module 43, the task demand or the preset program.

[0048] Step three, inflating and floating stage:

[0049] When the controller monitors that the vehicle body 1 needs to be charged, the vehicle body 1 floats to a predetermined depth of seawater, the electromagnetic connection assembly 71 at the end of the connecting cable 7 is connected with the first capturing module through the controller, the hatch 2 is opened, the first capturing module inflates the inside of the gasbag float 61 through the inflation assembly 62, and the gasbag float 61 is inflated and floated up; the first capturing module pulls the connecting cable 7 upwards during the floating process, so that the winch, the wire pulley and the spring reel rotate together, and a sufficient length of the connecting cable 7 is continuously released, the wire pulley and the spring reel of the wire-type power generation device 42 rotate continuously, and then the generator of the wire-type power generation device 42 is driven to generate electricity through the transmission mechanism, and the scroll spring on the spring reel is wound and stores mechanical energy until the first capturing unit 6 is floated to the sea surface.

[0050] Step four, wave energy capturing and converting stage:

[0051] When the first capturing unit 6 moves from the trough to the crest through the face of the wave, the gasbag float 61 is lifted upwards, the vehicle body 1 moves laggingly behind the gasbag float 61, the connecting cable 7 is stretched upwards, the wire pulley and the spring reel of the wire-type power generation device 42 are rotated, and then the generator of the wire-type power generation device 42 is driven to generate electricity through the transmission mechanism, and the scroll spring on the spring reel is wound and stores mechanical energy during the process; when the first capturing unit 6 moves from the crest to the trough through the back of the wave, the gasbag float 61 falls down, the scroll spring on the spring reel is stretched and releases mechanical energy during the process, the connecting cable 7 is wound downwards, the wire pulley and the spring reel of the wire-type power generation device 42 are rotated, and then the generator of the wire-type power generation device 42 is driven to generate electricity through the transmission mechanism, and the electrical energy generated by the generator is stored in the power storage module 43.

[0052] Step five, discarding and winding stage:

[0053] When the controller monitors that the vehicle body 1 completes a charging action or encounters an emergency, the electromagnetic connection assembly 71 at the end of the connecting cable 7 is disconnected from the first capturing unit 6 that has been released, that is, the first capturing unit 6 is discarded, the connecting cable 7 is wound downwards through the cooperation of the scroll spring and the electric winch 41, the wire pulley and the spring reel of the wire-type power generation device 42 rotate during the process, and then the generator of the wire-type power generation device 42 is driven to generate electricity through the transmission mechanism, until the lower part of the electromagnetic connection assembly 71 at the end of the connecting cable 7 abuts against the upper part of the movable plate 853.

[0054] Step six, position compensation stage:

[0055] The controller controls the electric winch 41 to continue to wind the connecting cable 7, so that the electromagnetic connection assembly 71 at the end of the connecting cable 7 is pressed downward, the second spring 852 is contracted downward and stores mechanical energy, the movable plate 853 is slid downward to the lower end of the second sliding groove 851, the stop block 854 is driven to displace downward, the displacement restriction of the stop block 854 on the energy trapping unit 6 in the standby position is released, at this time, the first spring 82 releases part of the elastic potential energy, and pushes the second and third energy trapping units 6 to displace to the execution position at the same time, until the second energy trapping unit 6 is displaced to the execution position; the controller controls the electric winch 41 to stop winding, and the electromagnetic connection assembly 71 stops pressing the movable plate 853, at this time, the second spring 852 releases the elastic potential energy upward, pushes the movable plate 853 to slide upward to reset to the upper end of the second sliding groove 851, drives the stop block 854 to displace upward to reset, and abuts against the third energy trapping unit 6, waits for the next charging action; the hatch 2 is closed, and the vehicle body 1 continues to work in seawater.

[0056] The above steps three to six are repeated, and the vehicle body 1 can realize three in-situ charging actions in seawater once. By carrying and deploying a plurality of disposable wave energy trapping units 6 in sequence as needed, the vehicle body 1 realizes multiple in-situ charging in the case of being far away from the support platform, effectively solves the problem that the endurance of the traditional vehicle is limited, and has high practicability and popularization potential due to the modular structure design and automatic operation process.

[0057] Although the present application has been described by the above preferred embodiments, it is not intended to limit the protection scope of the present application, and any person skilled in the art can make various changes and modifications to the above embodiments without departing from the spirit and scope of the present application, which still belongs to the protection scope of the present application.

Claims

1. A charging system for an unmanned underwater vehicle based on wave energy generation, comprising a vehicle body (1) and an energy storage module (43) disposed inside the vehicle body (1) for energy storage, characterized in that, The aircraft body (1) has an execution compartment inside, which is vertically divided into a dry compartment (4) and a wet compartment (5) by a watertight bulkhead (3). The dry compartment (4) and the wet compartment (5) are connected by a dynamic sealing penetration component (31) installed on the watertight bulkhead (3). The wet compartment (5) has a hatch cover (2) on top. The dry compartment (4) is equipped with an electric winch (41), a pull-wire generator (42) for generating electricity, and an energy storage module (43). The pull-wire generator (42) is connected to the energy storage module (43). The electric winch (41) The wet chamber (5) includes a drum and an energy harvesting unit (6). The energy harvesting unit (6) includes an inflatable airbag float (61). An inflation assembly (62) for inflating the airbag float (61) is provided below the airbag float (61). The two ends of the connecting cable (7) are a fixed end and a connecting end, respectively. The fixed end of the connecting cable (7) is connected to the drum. The middle part of the connecting cable (7) is wound around the pull-wire generator (42). The connecting end of the connecting cable (7) passes through the dynamic sealing chamber component (31) and is detachably connected to the airbag float (61). The airbag float (61) is provided with a permanent magnet (63) below it, and correspondingly, the connecting end of the connecting cable (7) is provided with an electromagnetic connection component (71) for magnetic attraction with the permanent magnet (63); There are multiple energy harvesting units (6), and the wet chamber (5) is provided with a replacement mechanism (8) for sequentially pushing the energy harvesting units (6) above the electromagnetic connection assembly (71); The replacement mechanism (8) includes a horizontal guide rail (81) and a first spring (82) disposed in the wet chamber (5). Multiple energy harvesting units (6) are arranged side by side on the guide rail (81). The area on the guide rail (81) corresponding to the area above the electromagnetic connection assembly (71) is the execution position. One end of the first spring (82) is connected to the inner wall of the wet chamber (5). The other end of the first spring (82) is connected to an abutment plate (83) for abutting and pushing the energy harvesting unit (6) furthest from the execution position. A horizontal first groove (84) is provided on the inner wall of the wet chamber (5). The abutment plate (83) is slidably connected in the first groove (84). The replacement mechanism (8) also includes a limiting component (85) for limiting the displacement of the nearest energy-harvesting unit (6) along the guide rail (81); The limiting component (85) includes a second slide groove (851) vertically opened on the inner wall of the wet chamber (5). A movable plate (853) is slidably connected in the second slide groove (851). The upper part of the movable plate (853) is used to abut against the electromagnetic connection component (71). The movable plate (853) is provided with a stop block (854) for abutting against the nearest energy-harvesting unit (6) at the blocking distance execution position. One end of a vertical second spring (852) is connected to the lower part of the movable plate (853). The other end of the second spring (852) is connected to the inner bottom wall of the wet chamber (5).

2. The unmanned underwater vehicle charging system based on wave energy power generation according to claim 1, characterized in that, The inflation assembly (62) includes a gas generator disposed below the airbag float (61) and the gas generator is in communication with the airbag float (61).

3. The unmanned underwater vehicle charging system based on wave energy power generation according to claim 1, characterized in that, The electromagnetic connection assembly (71) includes a housing, within which is provided an electromagnet, a power supply for energizing the electromagnet, and a control receiver for controlling the on / off state of the power supply.

4. The unmanned underwater vehicle charging system based on wave energy power generation according to claim 1, characterized in that, The energy harvesting unit (6) includes a frame (64), the airbag float (61) is disposed inside the frame (64), the inflation component (62) is disposed at the lower part of the frame (64), the frame (64) abuts against the guide rail (81), and a groove (641) adapted to the stop block (854) is provided on the frame (64).

5. The unmanned underwater vehicle charging system based on wave energy power generation according to claim 1, characterized in that, The hatch cover (2), the dynamic sealing hatch insert (31), the pull-wire generator (42), and the electric winch (41) are all located in the same vertical direction.

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