Autonomous charging dock for linkage patrol unmanned ship and charging method

Abstract

The invention relates to the technical field of unmanned ship charging devices, in particular to an autonomous charging dock for linkage patrol unmanned ships and a charging method. The charging dock comprises a floating bank layer, a bottom plate layer and a charging layer, the floating bank layer is provided with a floating plate, the floating plate floats on the water surface, a charging notch is formed in one side of the floating plate, lifting mechanisms are arranged on the floating plate on the two sides of the charging notch, and a fixing frame is arranged on the floating plate at the inner end of the charging notch; the bottom plate layer comprises a lifting plate, the lifting plate is located at the charging notch of the floating plate, and the lifting mechanism is in driving connection with the lifting plate; the charging layer comprises a floating electromagnet and a fixed magnetic attraction charging head, the floating electromagnet is installed on the fixing frame in a sliding mode in the vertical direction, and the fixed magnetic attraction charging head is fixed to the end of the fixing frame. The problems that in the prior art, a dock is complex in structure, poor in anti-interference performance, insufficient in charging stability and the like are solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned ship charging device, and particularly relates to an autonomous charging dock for linked patrol unmanned ship and a charging method. BACKGROUND

[0002] The unmanned ship technology is widely applied to scenes such as reservoir topographic survey, water quality monitoring and security patrol, and the endurance of the unmanned ship depends on efficient charging equipment. The traditional charging dock needs to realize automatic parking, limiting fixing and charging docking of the unmanned ship, and the core is to realize accurate docking and stable charging in the water environment through the cooperation of mechanical structure and electromagnetic technology.

[0003] At present, the mainstream charging dock adopts a guided or slot type docking structure, and cooperates with magnetic induction charging technology. The existing technology has the following technical problems: Firstly, the mechanical limiting mechanism depends on complex slots and precise components, and the docking accuracy of the unmanned ship is extremely high. The wind and wave on the water surface can easily cause the ship body to deviate, increase the docking failure rate, and need to continuously adjust the position to resist interference.

[0004] Secondly, the charging process is carried out on the water surface, and the wind and wave disturbance directly affects the docking stability of the magnetic attraction charging head, causes poor contact, charging interruption, and even causes the risk of electrical short circuit. SUMMARY

[0005] In view of the problems in the prior art, the purpose of the embodiments of the present application is to provide an autonomous charging dock for linked patrol unmanned ship, which aims to solve the problems of complex dock structure, poor anti-interference performance and insufficient charging stability in the prior art. Simplify the mechanical structure of the dock, reduce the manufacturing and maintenance cost, eliminate the influence of water surface fluctuation on the charging process, improve the docking success rate and charging efficiency, prolong the service life of the equipment and guarantee the charging safety, and finally strengthen the endurance and response capability of the unmanned ship in the linked patrol task.

[0006] In order to achieve the above purpose, the embodiments of the present application provide the following technical scheme: An autonomous charging dock for linked patrol unmanned ship, comprising: a floating bank layer, a bottom plate layer and a charging layer; the floating bank layer has a floating plate, the floating plate floats on the water surface, one side of the floating plate is provided with a charging slot, the floating plate on both sides of the charging slot is provided with a lifting mechanism, and the floating plate at the inner end of the charging slot is provided with a fixing frame; the bottom plate layer comprises a lifting plate, the lifting plate is located in the charging slot of the floating plate, and the lifting mechanism is drivingly connected with the lifting plate; the charging layer comprises a floating electromagnet and a fixed magnetic attraction charging head, the floating electromagnet is vertically slidingly installed on the fixing frame, and the fixed magnetic attraction charging head is fixed at the end of the fixing frame.

[0007] Optionally, the floating plate is provided with a floating hole, the floating hole is sleeved on the fixed rod, and the upper and lower ends of the fixed rod are fixed to the bridge guardrail of the dam and the bottom of the water respectively.

[0008] Optionally, the charging slot is a trapezoidal notch, the length of the outer end of the trapezoidal notch is greater than the length of the inner end, and the floating hole is a circular notch.

[0009] Optionally, the lifting mechanism comprises a lifting motor, a lead screw and a connecting rod, the lead screw is fixed on the floating plate on the two sides of the charging slot and is vertically arranged, the lifting motor is installed on the lead screw, the upper end of the connecting rod is connected with the lifting motor, and the lower end of the connecting rod is connected with the lifting plate.

[0010] Optionally, the lifting plate is in the shape of a long rectangle with two corners hollowed out, the hollowed-out area is two rectangles, and the size is matched with the projection size of the two propellers of the unmanned ship in the vertical direction.

[0011] Optionally, the fixed frame is in the shape of an inverted L structure, comprising a vertical rod and a horizontal rod, one end of the horizontal rod is fixed at the top of the vertical rod, the other end of the horizontal rod protrudes towards the charging slot, the floating electromagnet is slidably installed on the vertical rod, and the fixed magnetic charging head is fixed at the end of the horizontal rod.

[0012] Optionally, the side of the vertical rod facing the charging slot is provided with a sliding rail, the sliding rail is arranged in the vertical direction, a floating rod is slidably installed on the sliding rail, and the floating electromagnet is installed at one end of the floating rod facing the charging slot.

[0013] Optionally, the charging dock is used for charging the unmanned ship, the tail of the unmanned ship is provided with a ship-mounted electromagnet which is connected with the floating electromagnet, and the top of the unmanned ship is provided with a ship-mounted magnetic charging head which is connected with the fixed magnetic charging head.

[0014] The embodiment of the application also provides a charging method for the autonomous charging dock for the linked patrol unmanned ship, and the charging method comprises the following steps: The unmanned ship enters the charging slot guide area of the dock and is parked; The floating electromagnet on the floating bank layer is electrified to generate a magnetic field, and the ship-mounted electromagnet at the tail of the unmanned ship is attracted to fix the pose of the unmanned ship; The lifting mechanism lifts the lifting plate, so that the unmanned ship is lifted to be separated from the water surface along with the lifting plate; The ship-mounted magnetic charging head at the top of the unmanned ship is in contact with the fixed magnetic charging head of the charging layer, is attracted, is electrified, and the unmanned ship is charged.

[0015] Optionally, when the unmanned ship is in the standby state and has not received a task instruction, the power of the unmanned ship is continuously monitored. If the power is lower than the set threshold, the fixed magnetic attraction charging head is maintained in the energized state to continue charging; If the power reaches the set threshold, the energized state of the fixed magnetic attraction charging head is turned off, and the energized state of the floating electromagnet is maintained to fix the unmanned ship pose.

[0016] The one or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages: 1、The overall structure of the autonomous charging dock in the present application is composed of a floating bank layer, a bottom plate layer and a charging layer. The floating plate of the floating bank layer floats on the water surface by buoyancy, serving as the basic load-bearing structure of the entire dock. The charging slot on one side of the floating bank layer provides a docking channel for the unmanned ship, facilitating the entry of the unmanned ship into the designated area. The lifting mechanism on both sides of the charging slot provides power for the movement of the bottom plate layer, and the fixed frame at the inner end of the charging slot provides an installation carrier for the charging layer. The lifting plate of the bottom plate layer is located in the charging slot and can be driven to move up and down by the lifting mechanism, thereby lifting or lowering the unmanned ship. The floating electromagnet of the charging layer is used to fix the unmanned ship, and the fixed magnetic attraction charging head is used for power transmission. Both are installed on the fixed frame to ensure accurate positioning. Through the synergistic effect of the three-layer structure, the floating bank layer is responsible for guidance and connection, the bottom plate layer is responsible for lifting and adjusting, and the charging layer is responsible for fixing and charging, forming a complete automatic charging process. Compared with the complex docking structure in the prior art, this structure reduces the mechanical complexity and reduces the high requirement for the docking accuracy of the unmanned ship. At the same time, the layout of the components of each layer lays a foundation for subsequent reduction of the influence of water factors and realization of automatic operation, and helps to solve the problem of high docking difficulty and the need for more manual intervention in the prior art.

[0017] 2、Reduce human intervention during charging and reduce labor costs. Through the automatic charging docking and management system of the charging dock, the intelligentization and autonomy of the charging process are realized. No manual attendance is required throughout the process, reducing labor input and labor costs, while improving charging efficiency and accuracy and avoiding charging failures or safety hazards caused by human negligence, providing an efficient and reliable solution for unmanned ship charging.

[0018] 3、Simplify the complexity of the dock frame. In the past, the dock frame often used complex mechanical structures and cumbersome limit designs to achieve accurate positioning and fixing of the unmanned ship, which not only increased the manufacturing cost of the dock, but also greatly increased the maintenance difficulty. The three-layer dock frame and the magnetic attraction limiting structure of the present application abandon the complex structure of the traditional dock and use magnetic attraction fixing and lifting to limit the position, greatly simplifying the mechanical structure, reducing the number of components, and making the manufacturing process more simple, thereby improving the stability and practicality of the entire charging system.

[0019] 4, lift off the water surface to charge, reduce the disturbance of external factors on charging. The application lifts the unmanned ship off the water surface when charging through the three-layer framework and lifting device, so that it is in a relatively stable environment that is not affected by water flow and waves. It ensures the stability of the charging connection, improves the charging efficiency, effectively reduces the erosion of external factors on the charging equipment, avoids safety problems such as electrical short circuit caused by water immersion, prolongs the service life of the equipment, and reduces the maintenance cost.

[0020] The advantages of the additional aspects of the application will be given in the following description, some of which will become apparent from the following description, or be learned by the practice of the application. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only some embodiments of the application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings. In addition, the sizes or distances between each other are exaggerated for showing the positions of the components, and the schematic diagram is only used for illustration.

[0022] Figure 1 is the overall framework diagram of the autonomous charging dock system provided by the embodiment of the application; Figure 2 is the lifting layer and bottom layer schematic diagram of the autonomous charging dock provided by the embodiment of the application; Figure 3 is the schematic diagram of the linkage patrol unmanned ship matched with the autonomous charging dock provided by the embodiment of the application; Figure 4 is the magnetic attraction fixing module matching diagram provided by the embodiment of the application; Figure 5 is the automatic charging flowchart of the autonomous charging dock provided by the embodiment of the application; In the figure: 1, floating bank layer; 100, trapezoidal notch; 101, circular notch; 11, lifting mechanism; 111, lifting motor; 112, screw rod; 113, connecting rod; 12, magnetic attraction fixing module; 121, floating electromagnet; 122, sliding rail; 123, floating rod; 13, fixed frame; 2, bottom layer; 21, lifting plate; 22, hollow area; 3, charging layer; 31, fixed magnetic attraction charging head; 4, fixed rod; 5, unmanned ship; 51, shipborne electromagnet; 52, shipborne magnetic attraction charging head; DETAILED DESCRIPTION It should be noted that the following detailed description is illustrative and intended to provide further explanation of the invention. Unless otherwise specified, all technical and scientific terms used in this invention have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0023] Example 1 like Figure 1 As shown, this embodiment proposes an autonomous charging dock for a joint patrol unmanned vessel 5, comprising: a floating shore layer 1, a bottom plate layer 2, and a charging layer 3; the floating shore layer 1 has a floating plate that floats on the water surface, a charging slot is opened on one side of the floating plate, a lifting mechanism 11 is provided on the floating plate on both sides of the charging slot, and a fixed frame 13 is provided on the floating plate at the inner end of the charging slot; the bottom plate layer 2 includes a lifting plate 21, which is located at the charging slot of the floating plate, and the lifting mechanism 11 is drivenly connected to the lifting plate 21; the charging layer 3 includes a floating electromagnet 121 and a fixed magnetic charging head 31, the floating electromagnet 121 is slidably mounted vertically on the fixed frame 13, and the fixed magnetic charging head 31 is fixed to the end of the fixed frame 13.

[0024] The floating platform of the floating shore layer 1 floats on the water surface, with a charging slot on one side and lifting mechanisms 11 on both sides. A fixed frame 13 is installed at the inner end, providing a basic platform and initial positioning guidance for the unmanned surface vessel (USV) to dock and charge. The lifting plate 21 of the bottom plate layer 2 is located inside the charging slot and is driven and connected to the lifting mechanism 11, enabling the USV to rise and fall vertically, allowing it to leave the water surface for charging and avoiding interference from water flow and waves, thus providing a stable charging environment. The charging layer 3 includes a floating electromagnet 121 and a fixed magnetic charging head 31. The floating electromagnet 121 is slidably mounted vertically on the fixed frame 13, and its position can be flexibly adjusted to dock with the USV. The fixed magnetic charging head 31 is fixed to the end of the fixed frame 13 to ensure the reliability of the charging connection. The three-layer structure works together, with the floating plate adapting to changes in the water surface, the lifting mechanism 11 controlling the precise movement of the lifting plate 21, and the floating electromagnet 121 and the fixed magnetic charging head 31 responsible for fixing and charging respectively. Together, they realize the automated and stable charging of the unmanned vessel, effectively improving the endurance and operational efficiency of the unmanned vessel, and meeting the needs of long-term and large-scale patrol missions.

[0025] The floating shore layer 1 is a dock base that can float on water. It consists of several pontoons, and one side of the outer quadrilateral is hollowed out to form a trapezoidal unmanned vessel storage area. It is equipped with a lifting mechanism 11, a magnetic fixing module 12, and a charging layer 3 connection module. The lifting mechanism 11 controls the lifting and lowering of the bottom plate layer 2. The magnetic fixing module 12 is limited by the attraction between the female quadrangular frustum electromagnet that can move up and down and the male electromagnet of the unmanned vessel. The charging layer 3 connection module is used to ensure that the relative height between the floating shore layer 1 and the charging layer 3 remains unchanged.

[0026] When the bottom plate layer 2 is at the bottom of its movement stroke, the vertical distance between it and the floating shore layer 1 should be greater than the draft of the unmanned vessel, so as to ensure that the unmanned vessel can smoothly enter and exit the warehouse without being restricted by the height of the lifting plate.

[0027] The floating plate has floating holes, which are fitted onto the fixed rod 4. The upper and lower ends of the fixed rod 4 are respectively fixed to the reservoir dam bridge railing and the bottom of the water.

[0028] Two fixed rods 4 are placed side-by-side parallel to the dam bridge wall. The floating holes on the floating plate engage with the fixed rods 4, allowing the entire dock structure to move up and down guided by the fixed rods 4. The upper and lower ends of the fixed rods 4 are fixed to the reservoir dam bridge railing and the water bottom, respectively, restricting the dock's horizontal movement and rotation, preventing it from drifting away from its designated position or rotating around the rods. The fixed rods 4 provide stable support and guidance for the dock, ensuring that it can float up and down with changes in the reservoir water level, always maintaining a suitable relative position to the water surface. This ensures that the unmanned vessel can dock and charge smoothly at different water levels, enhancing the dock's adaptability to the environment.

[0029] The charging slot is a trapezoidal notch 100, with the outer end longer than the inner end, forming a structure that is wider at the outside and narrower at the inside. This structure provides natural guidance when the unmanned vessel enters, allowing it to gradually approach the designated position along the trapezoidal hypotenuse, thus reducing the requirements for navigation accuracy. The floating hole is a circular notch 101, matching the shape of the cylindrical fixed rod 4, making the dock float up and down along the fixed rod 4 more smoothly.

[0030] Two lifting motors 111 are respectively fixed to the outside of the inclined side of the trapezoidal notch 100 by screws. The line connecting the two fixed points is parallel to the upper and lower bottom of the trapezoidal notch, so as to facilitate the synchronous lifting of the two lifting motors.

[0031] The lifting mechanism 11 includes a lifting motor 111, a lead screw 112, and a connecting rod 113. The lead screw 112 is fixed on the floating plates on both sides of the charging slot and arranged vertically. The lifting motor 111 is mounted on the lead screw 112. The upper end of the connecting rod 113 is connected to the lifting motor 111, and the lower end of the connecting rod 113 is connected to the lifting plate 21.

[0032] The lead screw 112 is fixed on the floating plates on both sides of the charging slot and arranged vertically, providing a fixed track for the lifting motion; the lifting motor 111 is installed on the lead screw 112 and engages with the lead screw 112 through the internal screw sleeve, converting the rotational motion into vertical lifting motion; the connecting rod 113 transmits the motion of the lifting motor 111 to the lifting plate 21, realizing the synchronous motion of the lifting plate 21.

[0033] In the lifting mechanism 11, the length of the lead screw 112 limits the vertical travel of the lifting motor 111, the fixed rod 4 connecting the lifting plate, and the lifting plate 21. The motion trajectory of the three is the same as that of the floating electromagnet during the lifting and lowering process.

[0034] During the lifting and lowering motion, the two lead screws remain stationary, and only the motor is powered on. The meshing action between the internal thread of the sleeve and the thread of the lead screw converts the rotational motion into the lifting and lowering motion of the motor along the vertical direction of the lead screw.

[0035] The distance between the two fixed rods 4 connecting the lifting plate 21 and the lifting motor 111 must be greater than the width of the hull but less than the width of the trapezoidal notch 100 at the location. This ensures that the unmanned vessel can smoothly enter and exit the storage area without being obstructed by the fixed rods 4, and that the lifting plate can smoothly lift and lower the unmanned vessel without being limited by the width of the hypotenuse of the trapezoidal notch 100. The top of the bottom plate layer 2's travel distance must be appropriately higher than the floating shore layer 1 to ensure that after the lifting plate carries the unmanned vessel to the charging height, the unmanned vessel leaves the water surface, preventing water splashes from affecting the charging process in windy or wavey conditions.

[0036] like Figure 2 As shown, the lifting plate 21 is a rectangle with two hollowed-out corners, and the hollowed-out area 22 consists of two rectangles, the size of which matches the vertical projection size of the two thrusters of the unmanned vessel.

[0037] The structure that fits snugly against the bottom of the unmanned vessel enhances the stability of the lifting platform 21 in supporting the vessel, ensuring that the unmanned vessel will not shift or sway due to structural interference during lifting. At the same time, the reasonable hollow design reduces the weight of the lifting platform 21, lowers the load on the lifting mechanism 11, extends the service life of the equipment, and further optimizes the working performance of the dock.

[0038] like Figure 1 As shown, the fixing frame 13 has an inverted L-shaped structure, including a vertical rod and a horizontal rod. One end of the horizontal rod is fixed to the top of the vertical rod, and the other end of the horizontal rod protrudes towards the charging slot. The floating electromagnet 121 is slidably mounted on the vertical rod, and the fixed magnetic charging head 31 is fixed to the end of the horizontal rod.

[0039] The vertical rod provides a platform for the installation and movement of the floating electromagnet 121, while the horizontal rod extends towards the charging slot, allowing the fixed magnetic charging head 31 to be accurately aligned with the charging position of the unmanned vessel. The floating electromagnet 121 is slidably mounted on the vertical rod, and the fixed magnetic charging head 31 is fixed to the end of the horizontal rod. The positional distribution of both is adapted to the positions of the unmanned vessel's onboard electromagnet 51 and onboard magnetic charging head 52.

[0040] The inverted L-shaped structure makes full use of space, ensuring a constant relative height between the floating shore layer 1 and the charging layer 3, and guaranteeing that the floating electromagnet 121 and the fixed magnetic charging head 31 can precisely engage with their respective components on the unmanned surface vessel (USV). The sliding motion of the floating electromagnet 121 on the vertical rod adapts to the raising and lowering of the USV, while the fixed position of the magnetic charging head 31 ensures accurate charging docking. Their combined effect enhances the reliability of the fixing and charging processes, reducing problems caused by docking deviations. The width of the extended end of the horizontal rod should be less than the width between the antennas on both sides of the USV to prevent the antennas from hitting the magnetic charging head when the USV is raised.

[0041] A slide rail 122 is provided on the side of the vertical rod facing the charging slot. The slide rail 122 is arranged in a vertical direction. A floating rod 123 is slidably installed on the slide rail 122. The floating electromagnet 121 is installed on the end of the floating rod 123 facing the charging slot.

[0042] The vertical slide rail 122, facing the charging slot opening, provides a motion guide for the floating rod 123. The floating rod 123 drives the floating electromagnet 121 to slide up and down along the slide rail 122. The arrangement of the slide rail 122 ensures that the movement trajectory of the floating electromagnet 121 is a straight line and always faces the charging slot opening. In addition, when the floating electromagnet is at the bottom of the slide rail, it should be higher than the floating shore layer 1, and the movement stroke of the lifting mechanism 11 is the same as the movement stroke of the floating electromagnet.

[0043] The charging dock is used to charge the unmanned vessel. The stern of the unmanned vessel is equipped with a shipborne electromagnet 51 that docks with the floating electromagnet 121, and the top of the unmanned vessel is equipped with a shipborne magnetic charging head 52 that docks with the fixed magnetic charging head 31.

[0044] like Figure 3 , Figure 4As shown, the shipborne electromagnet 51 at the stern of the unmanned surface vessel (USV) is adapted to the floating electromagnet 121 on the floating shore layer 1, and the shipborne magnetic charging head 52 on the top of the USV is adapted to the fixed magnetic charging head 31 on the charging layer 3. The attraction between the shipborne electromagnet 51 and the floating electromagnet 121 fixes the USV's position, while the contact between the shipborne magnetic charging head 52 and the fixed magnetic charging head 31 enables power transfer. These two components correspond to the fixing and charging functions respectively, forming a complete cooperative relationship. This ensures the continuity and accuracy of the fixing and charging processes, reduces malfunctions caused by component mismatch, improves the efficiency of the entire charging process, and provides a foundation for automated charging.

[0045] The floating electromagnet is a female-shaped truncated pyramid, with its smaller end facing the trapezoidal notch 100 at a suitable angle. This is used to engage and fix the male-shaped truncated pyramid electromagnet at the rear of the unmanned vessel, thus fixing the unmanned vessel's position and posture and achieving a better limiting effect. The floating electromagnet of the floating shore layer 1 and the fixed magnetic charging head of the charging layer 3 can be demagnetized by switching on and off the power.

[0046] The shipborne electromagnet 51 is fixed at a suitable height at the stern of the unmanned vessel 5 via an "L"-shaped bracket. The shipborne electromagnet 51 is shaped like a frustum, specifically a male frustum, with its small end extending away from the unmanned vessel 5. The suitable height refers to the height at which the male frustum shipborne electromagnet 51 can smoothly pair with the female frustum floating electromagnet 121 located at the bottom of the slide rail 122 after the unmanned vessel 5 enters the trapezoidal gap 100. The shipborne magnetic charging head 52 is fixed to the top rear of the unmanned vessel 5. In this embodiment, it is mounted on the top of the rear hatch and passes through the hatch to connect to the power supply in the rear hatch.

[0047] Example 2 This embodiment provides a charging method for an autonomous charging dock for a patrol unmanned surface vessel 5 as described above, including: the unmanned surface vessel enters the charging slot guidance area of ​​the dock and docks; the floating electromagnet 121 on the floating shore layer 1 is energized and magnetized, attracting the shipborne electromagnet 51 at the stern of the unmanned surface vessel to fix its position; the lifting mechanism 11 raises the lifting plate 21, causing the unmanned surface vessel to rise with the lifting plate 21 to leave the water surface; the shipborne magnetic charging head 52 on the top of the unmanned surface vessel contacts and attracts the fixed magnetic charging head 31 on the charging layer 3 to charge the unmanned surface vessel.

[0048] The unmanned vessel (UAV) enters the guidance area, the floating electromagnet 121 engages and secures with the shipborne electromagnet 51, the lifting mechanism 11 elevates the UAV, and the charging head docks for charging, forming a continuous automated charging process. The UAV is guided into the designated position by the charging slot, magnetic fixation ensures the stability of the hull, the lifting mechanism raises the UAV off the water surface, and finally the charging is completed.

[0049] The entire process requires no human intervention, automating the charging process. Once the unmanned vessel leaves the water, it avoids the influence of waves, debris, and other factors, improving the stability and efficiency of charging, reducing charging preparation time, and solving the problems of existing technologies that require more human intervention and are susceptible to water surface factors, thus enhancing the unmanned vessel's endurance.

[0050] When the unmanned vessel is in standby mode and has not received mission instructions, the power level of the unmanned vessel is continuously monitored. If the power level is lower than the set threshold, the fixed magnetic charging head 31 is kept powered on to continue charging. If the power level reaches the set threshold, the power level of the fixed magnetic charging head 31 is disconnected, while the power level of the floating electromagnet 121 is kept on to fix the position of the unmanned vessel.

[0051] When the unmanned surface vessel (USV) is in standby mode and has no mission instructions, the system continuously monitors the battery level and controls its charging and stationary states based on set thresholds. Charging continues when the battery level falls below the threshold, and stops when the threshold is reached, but the system remains stationary, ensuring the USV is always ready to perform missions. This allows the USV to automatically adjust its state based on battery level, maintaining optimal standby capability without manual intervention. This ensures the USV has sufficient power when needed while avoiding overcharging that could damage the battery, extending battery life and further enhancing the USV's continuous operation and responsiveness.

[0052] like Figure 5 As shown, the system is controlled by an intelligent autonomous charging dock control system: the unmanned vessel 5 initially enters a normal standby state. When a mission command is received, the intelligent control system accurately determines whether the battery is sufficient. If the battery is sufficient, the dock's bottom layer 2 performs a lowering operation, smoothly sending the unmanned vessel 5 to the water surface. The unmanned vessel 5 then departs to perform the mission. After the mission is completed, it accurately returns to the dock location using its own navigation system, causing the unmanned vessel to perform a series of operations to enter standby mode. If the battery is insufficient, the fixed magnetic charging head 31 on the charging layer 3 is powered on, and energy is replenished according to an optimized charging strategy until the battery is fully charged. Afterward, the fixed magnetic charging head 31 is de-energized, the dock stops charging the unmanned vessel, and the unmanned vessel enters standby mode.

[0053] The series of operations from the docking of the unmanned vessel 5 to its entry into standby mode are as follows: The intelligent control system energizes and magnetizes the magnetic fixing module 12. Guided by the trapezoidal notch 100, the stern is brought close to the magnetic fixing module 12 on the floating shore layer 1, pairing the male truncated quadrangular electromagnet 51 with the female truncated quadrangular floating electromagnet 121, thus limiting the movement of the hull. See the schematic diagram of the male and female electromagnet pairing. Figure 4After the intelligent control system determines that the limit is successfully set, it sends a command to the lifting mechanism 11. The lifting motor 111 drives the bottom plate layer 2 to lift the unmanned boat 5 away from the water surface until the onboard magnetic charging head 52 on the unmanned boat 5 is aligned and in contact with the fixed magnetic charging head 31 on the charging layer 3. The unmanned boat 5 then enters the standby state.

[0054] When the unmanned vessel 5 is in standby mode, if it does not receive mission instructions, the intelligent control system will determine if the battery is full. If the battery is not full, it will power on the fixed magnetic charging head 31 to start the charging process. When fully charged, it will remain in standby mode and respond to subsequent mission instructions at any time.

[0055] When the system is in the standby state, the bottom plate layer 2, the lifting motor 111, the floating electromagnet 121 and the unmanned boat 5 are all at the top of their respective vertical movement strokes. At this time, the floating electromagnet 121 is in contact with the shipborne electromagnet 51 on the unmanned boat 5 and is energized, maintaining the magnetic attraction. Similarly, the fixed magnetic charging head 31 is in contact with the shipborne magnetic charging head 52 on the unmanned boat 5 but is not energized. At this time, the dock does not charge the unmanned boat.

[0056] Whether the power supply is sufficient during the process is determined by the intelligent control system based on an estimate of the power required for the task, and is not an absolute full-charge state.

[0057] While the specific embodiments of the present invention have been described above in conjunction with the accompanying drawings, this is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art without creative effort based on the technical solutions of the present invention are still within the scope of protection of the present invention.

Claims

1. An autonomous charging dock for coordinated patrol unmanned surface vessels, characterized in that, include: Floating shore layer, bottom plate layer and charging layer; The floating shore layer has a floating plate that floats on the water surface. A charging slot is opened on one side of the floating plate. A lifting mechanism is provided on the floating plates on both sides of the charging slot. A fixing frame is provided on the floating plate at the inner end of the charging slot. The base plate includes a lifting plate, which is located at the charging slot of the floating plate, and the lifting mechanism is drivenly connected to the lifting plate. The charging layer includes a floating electromagnet and a fixed magnetic charging head. The floating electromagnet is slidably mounted on a fixed frame along the vertical direction, and the fixed magnetic charging head is fixed to the end of the fixed frame.

2. The autonomous charging dock for coordinated patrol unmanned vessels as described in claim 1, characterized in that, The floating plate has floating holes, which are fitted onto a fixed rod. The upper and lower ends of the fixed rod are respectively fixed to the reservoir dam bridge railing and the bottom of the water.

3. The autonomous charging dock for coordinated patrol unmanned vessels as described in claim 2, characterized in that, The charging slot is a trapezoidal notch, with the length of the outer end of the trapezoidal notch being greater than the length of the inner end, and the floating hole is a circular notch.

4. The autonomous charging dock for coordinated patrol unmanned vessels as described in claim 1, characterized in that, The lifting mechanism includes a lifting motor, a lead screw, and a connecting rod. The lead screw is fixed to floating plates on both sides of the charging slot and arranged vertically. The lifting motor is mounted on the lead screw. The upper end of the connecting rod is connected to the lifting motor, and the lower end of the connecting rod is connected to the lifting plate.

5. The autonomous charging dock for coordinated patrol unmanned vessels as described in claim 4, characterized in that, The lifting plate is a rectangle with two hollowed-out corners, and the hollowed-out area consists of two rectangles. Its size matches the vertical projection size of the two thrusters of the unmanned vessel.

6. The autonomous charging dock for coordinated patrol unmanned vessels as described in claim 1, characterized in that, The mounting bracket has an inverted L-shaped structure, including a vertical rod and a horizontal rod. One end of the horizontal rod is fixed to the top of the vertical rod, and the other end of the horizontal rod protrudes towards the charging slot. The floating electromagnet is slidably mounted on the vertical rod, and the fixed magnetic charging head is fixed to the end of the horizontal rod.

7. The autonomous charging dock for coordinated patrol unmanned vessels as described in claim 6, characterized in that, A slide rail is provided on the side of the vertical rod facing the charging slot. The slide rail is arranged vertically, and a floating rod is slidably installed on the slide rail. The floating electromagnet is installed on the end of the floating rod facing the charging slot.

8. The autonomous charging dock for joint patrol unmanned vessels as described in claim 1, characterized in that, The charging dock is used to charge the unmanned vessel. The unmanned vessel is equipped with a shipborne electromagnet at the stern that docks with the floating electromagnet, and a shipborne magnetic charging head at the top of the unmanned vessel that docks with the fixed magnetic charging head.

9. A charging method for an autonomous charging dock for a coordinated patrol unmanned surface vessel as described in any one of claims 1-8, characterized in that, include: The unmanned boats were guided into the charging slot area of ​​the dock and moored. The floating electromagnets on the floating shore layer are energized and magnetized, attracting the shipborne electromagnets at the stern of the unmanned vessel to fix its position and attitude. The lifting mechanism raises the lifting platform, causing the unmanned vessel to rise with the lifting platform until it leaves the water surface; The shipborne magnetic charging head on the top of the unmanned vessel contacts and engages with the fixed magnetic charging head on the charging layer to charge the unmanned vessel.

10. The charging method as described in claim 9, characterized in that: When the unmanned vessel is in standby mode and has not received mission instructions, the battery level of the unmanned vessel is continuously monitored; If the battery level is lower than the set threshold, the magnetic charging head will remain powered on to continue charging. If the battery level reaches the set threshold, the power supply to the fixed magnetic charging head will be disconnected, while the power supply to the floating electromagnet will be maintained to fix the position of the unmanned vessel.

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