Stern modular power docking assembly for unmanned ship and locking method

Abstract

The invention relates to the technical field of unmanned ships, and provides a stern modular power docking assembly for an unmanned ship, comprising: a wharf floating on the water surface, one side of the wharf being provided with a power supply part; the unmanned ship floats on the water surface, and the stern of the unmanned ship is provided with a power connection part; a connection member for connecting the power supply unit and the power connection unit; and a first sealing member for sealing the power supply unit and the power connection unit when the connection member connects the power supply unit and the power connection unit to each other. In the process that the unmanned ship gets close to the wharf, the power connection part gets close to the power supply part under the action of the unmanned ship, meanwhile, the power connection part is fixed to the wharf under the action of the connecting component, meanwhile, the power connection part is connected with the power supply part, the wharf can charge the unmanned ship, and in the charging process, the first sealing component is connected with the power supply part. The power supply part and the power connection part are sealed, and it is ensured that the power connection part and the power supply base are not affected by the outside in the charging process.

Description

Technical Field

[0001] This invention relates to the field of unmanned surface vessel (USV) technology, and in particular to a modular power docking assembly and locking method for the stern of an USV. Background Technology

[0002] Unmanned surface vessels (USVs) are fully automated surface robots that can navigate on water according to preset tasks without remote control, relying on precise satellite positioning and their own sensors. These intelligent surface robots integrate technologies such as shipbuilding, communication, automation, and robot control, and realize functions such as autonomous navigation, intelligent obstacle avoidance, long-distance communication, and real-time video transmission. They are being increasingly widely used in environmental monitoring, scientific research and exploration, underwater surveying, and even military fields.

[0003] Publication No. CN 215663036 U discloses an automatic charging system for a floating platform of an unmanned surface vessel (USV) used for water quality sampling. This system allows the USV to autonomously locate a charging station when its battery level is low, enabling it to operate around the clock. However, in this design, the USV's power docking point is not effectively protected. Since the USV remains on the water surface, water splashed by waves may seep into the power docking point, potentially affecting the USV's electrical system.

[0004] Therefore, a modular power docking assembly and locking method for the stern of an unmanned vessel is proposed, which can solve the technical problem that the existing solutions do not protect the power docking end, so as to ensure the stability of the unmanned vessel's power system. Summary of the Invention

[0005] In view of this, the present invention proposes a modular power docking assembly and locking method for the stern of an unmanned vessel, which can solve the technical problem that the existing solutions do not protect the power docking end, so as to ensure the stability of the unmanned vessel's power system.

[0006] This invention proposes a modular power docking assembly for the stern of an unmanned surface vessel, comprising: The dock floats on the water, and a power supply unit is installed on one side of the dock; An unmanned boat floats on the water surface, and the stern of the unmanned boat has an electrical contact unit. A connecting member for connecting the power supply unit and the power receiving unit; A first sealing member is used to seal the power supply part and the power receiving part when the connecting member connects the power supply part and the power receiving part to each other.

[0007] Based on the above technical solution, preferably, a power supply base is provided on the dock, and a charging slot for accommodating the power supply unit is provided inside the power supply base; The first sealing member includes: A flexible sealing sleeve, one end of which covers the outside of the power supply base, and the other end extends away from the power supply unit; A pressure regulator is installed on the power supply base and communicates with the inside of the charging slot to regulate the pressure inside the charging slot.

[0008] Based on the above technical solution, preferably, the air pressure regulating component is an integrated positive and negative pressure unit, used to draw the charging tank with negative pressure when the contact part extends into the charging tank, or to blow the charging tank with positive pressure when the contact part is removed from the charging tank.

[0009] Based on the above technical solution, preferably, the power receiving part includes a housing and a movable power receiving head. The housing is disposed on one side of the stern of the unmanned vessel. The housing forms a through cavity along the length direction of the unmanned vessel. The movable power receiving head is disposed in the cavity. When the housing extends into the charging slot, the movable power receiving head moves toward the power supply part and is electrically connected to the power supply part. The stern modular power docking assembly for unmanned vessels also includes a second sealing member disposed within the cavity and located at one end of the outer shell near the power supply unit, for sealing one end of the cavity when the movable connector is electrically connected to the power supply unit.

[0010] Based on the above technical solution, preferably, the second sealing member is an annular airbag, and when the movable electrical connector is electrically connected to the power supply unit, the annular airbag abuts against the outer wall of the power supply unit.

[0011] Based on the above technical solution, preferably, the annular airbag is filled with inert gas.

[0012] Based on the above technical solution, preferably, the connecting member includes: A first magnetic component is disposed on the power supply base and located on the side wall at the opening of the charging slot; The second magnetic element is disposed on the outer wall of the housing. The magnetic poles of the second magnetic element and the first magnetic element are opposite on the side that are close to each other. The outer end of the flexible sealing sleeve is located between the first magnetic element and the second magnetic element.

[0013] Based on the above technical solutions, the preferred embodiment also includes: A guiding mechanism is provided at one end of the power receiving part that extends into the charging slot, for guiding the power supply part to move relative to the power receiving part.

[0014] Based on the above technical solution, preferably, the guiding mechanism includes at least a pair of guiding blocks, which are disposed opposite to each other on the outer wall of the housing, and a guiding groove is provided in the power supply base, wherein the guiding blocks are adapted to the guiding groove.

[0015] On the other hand, the present invention also provides a locking method for a modular power docking assembly at the stern of an unmanned vessel, comprising the following steps: Step 1: Before the power receiving part extends into the charging slot, the air pressure regulating member blows the charging slot with positive pressure; Step 2: The first magnetic component and the second magnetic component are attracted by opposite polarities, that is, the contact part extends into the charging slot, and the air pressure regulating component draws the charging slot under negative pressure. Step 3: Move the power connector toward the power supply unit and connect it to the power supply unit to complete the locking and power docking of the unmanned vessel.

[0016] In the above steps, an annular airbag is provided inside the electrical connection part. The annular airbag seals the space where the movable electrical connection head is electrically connected to the power supply part. The pressure of the gas inside the annular airbag is not lower than Ph, where Ph = Ps + Pc. in, ; Ph = Internal pressure of the annular airbag; Ps = Water pressure inside the charging tank; Pc = Gas pressure inside the charging tank; ρ = density of water; h = depth of water; g = Standard value is 9.8 N / kg; Vc = Volume of charging slot 1001; R = System resistance coefficient of the integrated positive and negative pressure unit; Q = the air extraction rate of the positive and negative pressure integrated machine; t = working time.

[0017] The three-dimensional intersection measurement method provided by this invention has the following advantages compared with the prior art: As the unmanned vessel approaches the dock, the charging unit moves closer to the power supply unit under the influence of the unmanned vessel. Simultaneously, the connecting component secures the charging unit to the dock. At the same time, the charging unit connects to the power supply unit, allowing the dock to charge the unmanned vessel. During charging, the first sealing component seals both the power supply unit and the charging unit, ensuring that the charging unit and power supply unit are not affected by external factors during charging. The flexible sealing sleeve covers a portion of the connecting member at one end away from the power supply unit. When the connecting member connects the power supply base and the power receiving unit, the other part of the connecting member can seal the port of the flexible sealing sleeve. When the charging slot is not connected to the electrical connector, the air pressure regulating component continuously blows positive pressure into the charging slot, and the airflow is discharged from the slot opening of the charging slot. The airflow will eventually be discharged from one end of the flexible sealing sleeve. In this way, it can be ensured that external water stains will not enter the charging slot from one end of the flexible sealing sleeve. Under the action of the annular airbag, one end of the electrical connection of the movable connector of the power supply unit will be completely sealed. Assuming there is water inside the charging tank, the annular airbag can effectively prevent water from entering the connection between the movable connector and the power supply unit. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the installation of a modular power docking assembly at the stern of an unmanned vessel according to the present invention. Figure 2 This is a cross-sectional view of a modular power docking assembly at the stern of an unmanned vessel, without electrical connection, according to the present invention. Figure 3 This is a cross-sectional view of the stern modular power docking assembly for an unmanned vessel after electrical connection, according to the present invention. Figure 4 This is a perspective sectional view of the power supply base in a modular power docking assembly at the stern of an unmanned vessel according to the present invention. Figure 5 This is a perspective sectional view of the electrical connection section in a modular power docking assembly for an unmanned vessel according to the present invention.

[0020] Explanation of reference numerals in the attached drawings: 1. Connecting component; 11. First magnetic component; 12. Second magnetic component; 2. First sealing component; 21. Flexible sealing sleeve; 22. Air pressure regulating component; 3. Second sealing component; 4. Guiding mechanism; 41. Guiding block; 100. Dock; 110. Power supply base; 120. Power supply section; 1001. Charging slot; 1002. Guiding slot; 200. Unmanned boat; 210. Power receiving section; 211. Outer shell; 212. Movable power receiving head. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0022] In the description of the embodiments of the present invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of the present invention based on the specific circumstances.

[0023] In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of the present invention.

[0024] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0025] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0026] The following disclosure provides numerous different embodiments or examples for implementing various structures of the invention. To simplify the disclosure, specific examples of components and arrangements are described below. These are merely examples and are not intended to limit the invention. Furthermore, reference numerals and / or letters may be repeated in different examples. Such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. Additionally, examples of various specific processes and materials are provided in this invention; however, those skilled in the art will recognize the applicability of other processes and / or the use of other materials.

[0027] The technical solution is explained below. In the existing solution, the power docking point of the unmanned vessel is not effectively protected. Since the unmanned vessel is always on the water surface, water splashed by waves may seep into the power docking point, affecting the unmanned vessel's electrical system. Therefore, if... Figure 1 As shown, this invention proposes a modular power docking assembly for the stern of an unmanned surface vessel, comprising: The dock 100 floats on the water. One side of the dock 100 has a power supply base 110 with a charging slot 1001. The dock 100 has a power supply unit 120 in the charging slot 1001. The unmanned boat 200 floats on the water surface, and the stern of the unmanned boat 200 has an electrical receiving unit 210. The connecting member 1 has one part disposed on the power supply base 110 and located on the side wall at the opening of the charging slot 1001, and the other part disposed on the power receiving part 210, for connecting the power supply base 110 and the power receiving part 210. The first sealing member 2 has a flexible sealing part, one end of which covers the outside of the power supply base 110, and the other end extends away from the power supply part 120. When the power receiving part 210 extends into the charging tank 1001, one end of the flexible sealing part covers the power supply part 120, and the other end of the flexible sealing part covers the power receiving part 210.

[0028] As the unmanned vessel 200 approaches the dock 100, the power receiving part 210 is inserted into the charging slot 1001 inside the power supply base 110 under the action of the unmanned vessel 200. At the same time, under the action of the connecting member 1, the power receiving part 210 is fixed on the power supply base 110. The power receiving part 210 is connected to the power supply base 110, and the dock 100 can charge the unmanned vessel 200. During the charging process, one end of the first sealing member 2 covers the power supply base 110 and the other end covers the power receiving part 210, thereby achieving the purpose of sealing the charging slot 1001 and ensuring that the power receiving part 210 and the power supply base 110 are not affected by external factors during the charging process.

[0029] like Figure 2 As shown, in order to ensure that the first sealing member 2 effectively seals the charging slot 1001, the first sealing member 2 includes: The flexible sealing sleeve 21 has one end covering the outside of the power supply base 110, and the other end extending away from the power supply section 120 and covering the opening of the charging slot 1001. The air pressure regulator 22 is installed in the power supply base 110 and communicates with the inside of the charging tank 1001 to regulate the internal pressure of the charging tank 1001.

[0030] One end of the flexible sealing sleeve 22 covers the power supply base 110, and the other end covers the opening of the charging slot 1001. When the power receiving part 210 extends into the charging slot 1001, the power receiving part 210 can be normally inserted into the charging slot 1001. Moreover, when the power receiving part 210 is located inside the charging slot 1001, the air pressure regulating member 22 can draw the internal pressure of the charging slot 1001, making the inside of the charging slot 1001 a negative pressure state, which can improve the sealing performance of the flexible sealing sleeve 22 on the charging slot 1001. In addition, the end of the flexible sealing sleeve 21 away from the power supply part 120 covers a part of the connecting member 1. When the connecting member 1 connects the power supply base 110 and the power receiving part 210, the other part of the connecting member 1 can seal the port of the flexible sealing sleeve 21.

[0031] Specifically, the air pressure regulating component 22 can also be used to purge with positive pressure to prevent external water stains. The air pressure regulating component 22 is an integrated positive and negative pressure unit, used to draw the charging tank 1001 with negative pressure when the power receiving part 210 is inserted into the charging tank 1001, or to purge the charging tank 1001 with positive pressure when the power receiving part 210 is removed from the charging tank 1001.

[0032] Since the charging slot 1001 is not always connected to the power connector 210, when the power connector 210 is not connected, the air pressure regulating member 22 continuously blows positive pressure into the charging slot 1001. The airflow is discharged outward from the opening of the charging slot 1001, and the airflow eventually discharges outward from one end of the flexible sealing sleeve 22. In this way, it can be ensured that external water stains will not enter the charging slot 1001 through one end of the flexible sealing sleeve 22. Therefore, regardless of whether the power connector 210 is present in the charging slot 1001, the first sealing member 2 can always ensure that water stains will not enter the charging slot 1001.

[0033] like Figure 3 As shown, the movable contact head 212 of the power receiving part 210 can move toward the power supply part 120 and be electrically connected to the power supply part 120. The power receiving part 210 includes a housing 211 and a movable contact head 212. The housing 211 is disposed on one side of the stern of the unmanned vessel 200. The housing 211 forms a through cavity along the length of the unmanned vessel 200. The movable contact head 212 is disposed inside the housing 211 and is located inside the cavity. When the housing 211 extends into the charging slot 1001, the movable contact head 212 moves toward the power supply part 120 and is electrically connected to the power supply part 120. The stern modular power docking assembly for unmanned vessels also includes a second sealing member 3, which is disposed on the inner wall of the outer shell 211 and located at one end of the outer shell 211 near the power supply unit 120, for sealing one end of the cavity when the movable connector 212 is electrically connected to the power supply unit 120.

[0034] Specifically, the movable power connector 212 is located at the drive end of the linear motion unit. In this embodiment, the linear motion unit is configured as an electric push rod, which can directly connect the movable power connector 212 to the power supply unit 120 to complete the charging of the unmanned vessel 200.

[0035] Specifically, when the power receiving part 210 is located inside the charging tank 1001, a second sealing member 3 is provided inside the outer casing 211. The second sealing member can seal one end of the cavity. In this way, when the movable power receiving head 212 moves toward the power supply part 120 and is electrically connected to the power supply part 120, external water stains will not enter the connection between the movable power receiving head 212 and the power supply part 120.

[0036] like Figure 3 and Figure 4 As shown, in order to effectively seal the gap between the power supply unit 120 and the outer casing 211, the second sealing member 3 is an annular airbag. When the movable connector 212 is electrically connected to the power supply unit 120, the annular airbag abuts against the outer wall of the power supply unit 120.

[0037] Under the action of the annular airbag, one end of the movable connector 212 of the power supply unit 120 is completely sealed. Assuming there is water inside the charging tank 1001, the annular airbag can effectively prevent water from entering the connection between the movable connector 212 and the power supply unit 120. Therefore, the annular airbag can play a secondary sealing role, further improving the stability of the movable connector 212 and the power supply unit 120 during charging.

[0038] To further ensure stable charging of the movable connector 212 and the power supply unit 120, the annular airbag is filled with inert gas.

[0039] like Figure 2 As shown, the connecting member 1 includes: The first magnetic element 11 is disposed on the power supply base 110 and located on the side wall at the opening of the charging slot 1001; The second magnetic element 12 is disposed on the outer wall of the housing 211. The magnetic poles of the second magnetic element 12 and the first magnetic element 11 are different on the side that are close to each other. The outer end of the flexible sealing sleeve 21 is located between the first magnetic element 11 and the second magnetic element 12.

[0040] The power supply base 110 and the power receiving part 210 can be stably and quickly connected by the magnetic attraction of the magnetic components, so that the unmanned boat 200 can be quickly fixed to the dock 100.

[0041] In order to quickly separate the power supply base 110 from the power receiving part 210, the magnetic poles of the first magnetic element 11 or the second magnetic element 12 are adjustable.

[0042] Specifically, the first magnetic component 11 is configured as an electromagnet with adjustable magnetic poles. When the first magnetic component 11 and the second magnetic component 12 need to be connected together, their magnetic poles are made different so that they can be connected quickly. When the first magnetic component 11 and the second magnetic component 12 need to be separated, their magnetic poles are made the same so that they can be separated quickly.

[0043] like Figure 4 and Figure 5 As shown, in order to ensure that the power receiving part 210 can be smoothly inserted into the charging slot 1001, the aforementioned stern modular power docking assembly for unmanned vessels also includes: The guide mechanism 4 is located at one end of the power receiving part 210 that extends into the charging slot 1001, and is used to guide the power supply part 120 to move relative to the power receiving part 210.

[0044] The guiding mechanism 4 includes a pair of guide blocks 41, which are disposed opposite to each other on the outer wall of the housing 211. Correspondingly, a guide groove 1002 is provided in the power supply base 110, wherein the guide groove 1002 is arranged along the length direction of the power supply base 110 and the guide groove 1002 is adapted to the guide blocks 41. The guide groove 1002 is staggered with the air pressure regulating component 22 to ensure that the power receiving part 210 can smoothly extend into the power supply base 110. When the power receiving part 210 extends into the charging slot 1001, the guide blocks 41 are correspondingly located inside the guide groove 1002.

[0045] On the other hand, the present invention also provides a locking method for a modular power docking assembly at the stern of an unmanned vessel, comprising the following steps: Step 1: Before the power receiving part 210 extends into the charging slot 1001, the air pressure regulating member 22 blows the charging slot 1001 with positive pressure. By blowing with positive pressure from the positive and negative pressure integrated machine, it can be ensured that the inside of the charging slot 100 is dry before the power receiving part 210 is inserted into the charging slot 1001. In addition, before the power receiving part 210 approaches the power supply base 110, a predetermined gap can be maintained between the power receiving part 210 and the power supply base 110. The power receiving part 210 can also be blown with the airflow exhausted from the positive pressure integrated machine.

[0046] Step 2: The first magnetic component 11 and the second magnetic component 12 attract each other due to their opposite polarities, that is, the energizing part 210 extends into the charging tank 1001, and the air pressure regulating component 22 draws the charging tank 1001 under negative pressure. By adjusting the magnetic poles of the first magnetic component 11, the energizing part 210 is connected to the power supply base 110. At this time, the flexible sealing sleeve is located between the first magnetic component 11 and the second magnetic component 12. While connecting the energizing part 210 to the power supply base 110, the first magnetic component 11 and the second magnetic component 12 also seal one end of the flexible sealing sleeve. In this way, when the air pressure regulating component 22 draws the charging tank 1001 under negative pressure, it can be ensured that the charging tank 1001 is in a sealed negative pressure state. Before the first magnetic component 11 and the second magnetic component 12 are separated, the charging tank 1001 is always in a negative pressure state.

[0047] Step 3: Move the power connector 212 toward the power supply unit 120 and connect it to the power supply unit 120 to complete the locking and power docking of the unmanned vessel.

[0048] Specifically, in step 3, an annular airbag is provided inside the power receiving part 210. The annular airbag seal can seal the annular gap between the power supply part 120 and the outer shell 211 to ensure that the movable power receiving head 212 and the power supply part 120 are in a sealed space. The pressure of the gas inside the annular airbag is not lower than Ph, where Ph=Ps+Pc.

[0049] Specifically, ; Ph = Internal pressure of the annular airbag; Ps = Water pressure inside charging tank 1001; Pc = Gas pressure inside charging tank 1001; ρ = density of water; h = depth of water; g = Standard value is 9.8 N / kg; Vc = Volume of charging slot 1001; R = System resistance coefficient of the integrated positive and negative pressure unit; Q = the air extraction rate of the positive and negative pressure integrated machine; t = working time; Specifically, to illustrate, let's take the volume of charging slot 1001 as Vc = 0.05m³. 3 The system drag coefficient R = 1.8; the pumping speed Q = 0.002 m / s. 3 Taking a working time of t=2.5s as an example, first calculate the negative pressure inside the charging tank 1001. :

[0050] The water depth ρ is taken as 1g / cm. 3 Taking h as 0.1m as an example, Therefore, even if some water enters the charging tank 1001, the annular airbag can still prevent water from entering the electrical connection between the movable connector 212 and the power supply unit 120. Furthermore, during normal use, the pressure inside the annular airbag is generally greater than the normal atmospheric pressure. Therefore, when there is a negative pressure inside the charging tank 1001, the annular airbag can expand further, thereby ensuring that the annular airbag seals the annular gap between the power supply unit 120 and the outer shell 211.

[0051] More specifically, since the annular airbag is filled with inert gas, if the temperature of the connector 212 and the power supply unit 120 is too high, and the connector 212 and the power supply unit 120 may burn, if necessary, the annular airbag can be ruptured by the overload negative pressure of the positive and negative pressure integrated machine. The positive and negative pressure integrated machine will make the electrical connection area between the connector 212 and the power supply unit 120 a negative pressure vacuum state, so as to prevent the connector 212 and the power supply unit 120 from catching fire.

[0052] It should be noted that, since the charging tank 1001 is sealed inside, once the negative pressure inside the charging tank 1001 reaches the preset value, the positive and negative pressure integrated machine can work intermittently to maintain the stability of the negative pressure inside the charging tank 1001.

[0053] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A modular power docking assembly for the stern of an unmanned surface vessel, characterized in that, include: A dock (100) floats on the water, and a power supply unit (120) is provided on one side of the dock (100). An unmanned boat (200) floats on the water surface, and the stern of the unmanned boat (200) has an electrical contact unit (210). A connecting member (1) is used to connect the power supply unit (120) and the power receiving unit (210). The first sealing member (2) is used to seal the power supply part (120) and the power receiving part (210) when the connecting member (1) connects the power supply part (120) and the power receiving part (210) to each other.

2. The stern modular power docking assembly for unmanned vessels as described in claim 1, characterized in that, A power supply base (110) is provided on the dock (100), and a charging slot (1001) for accommodating the power supply unit (12) is provided in the power supply base (110). The first sealing member (2) includes: A flexible sealing sleeve (21) has one end covering the outside of the power supply base (110) and the other end extending away from the power supply unit (120); A pressure regulator (22) is disposed on the power supply base (110) and communicates with the inside of the charging tank (1001) for adjusting the internal pressure of the charging tank (1001).

3. The stern modular power docking assembly for unmanned vessels as described in claim 2, characterized in that, The air pressure regulating component (22) is a positive and negative pressure integrated unit, used to draw the charging tank (1001) with negative pressure when the power receiving part (210) extends into the charging tank (1001), or to blow the charging tank (1001) with positive pressure when the power receiving part (210) is removed from the charging tank (1001).

4. The stern modular power docking assembly for unmanned vessels as described in claim 2, characterized in that, The power receiving part (210) includes a housing (211) and a movable power receiving head (212). The housing (211) is located on one side of the stern of the unmanned vessel (200). The housing (211) forms a through cavity along the length of the unmanned vessel (200). The movable power receiving head (212) is located in the cavity. When the housing (211) extends into the charging slot (1001), the movable power receiving head (212) moves toward the power supply part (120) and is electrically connected to the power supply part (120). The stern modular power docking assembly for unmanned vessels also includes a second sealing member (3), which is disposed in the cavity and located at one end of the outer shell (211) near the power supply unit (120), for sealing one end of the cavity when the movable connector (212) is electrically connected to the power supply unit (120).

5. The stern modular power docking assembly for unmanned vessels as described in claim 4, characterized in that, The second sealing member (3) is an annular airbag. When the movable electrical connector (212) is electrically connected to the power supply unit (120), the annular airbag abuts against the outer wall of the power supply unit (120).

6. The stern modular power docking assembly for unmanned vessels as described in claim 5, characterized in that, The annular airbag is filled with inert gas.

7. The stern modular power docking assembly for unmanned vessels as described in claim 4, characterized in that, The connecting member (1) includes: The first magnetic element (11) is disposed on the power supply base (110) and located on the side wall at the opening of the charging slot (1001); The second magnetic element (12) is disposed on the outer wall of the outer shell (211). The magnetic poles of the second magnetic element (12) and the first magnetic element (11) are different on the side that are close to each other. The outer end of the flexible sealing sleeve (21) is located between the first magnetic element (11) and the second magnetic element (12).

8. The stern modular power docking assembly for unmanned vessels as described in claim 4, characterized in that, Also includes: A guiding mechanism (4) is provided at one end of the power receiving part (210) that extends into the charging slot (1001) for guiding the power supply part (120) to move relative to the power receiving part (210).

9. The stern modular power docking assembly for an unmanned vessel as described in claim 8, characterized in that, The guiding mechanism (4) includes at least one pair of guiding blocks (41) which are disposed opposite to each other on the outer wall of the housing (211). A guiding groove (1002) is provided on the power supply base (110), and the guiding blocks (41) are adapted to the guiding groove (1002).

10. A locking method for a modular power docking assembly at the stern of an unmanned surface vessel, characterized in that, Includes the following steps: Step 1: Before the power receiving part (210) extends into the charging tank (1001), the air pressure regulating member (22) blows the charging tank (1001) with positive pressure. Step 2: The first magnetic component (11) and the second magnetic component (12) attract each other due to their opposite polarities, that is, the electrical contact part (210) extends into the charging tank (1001), and the air pressure regulating component (22) draws the charging tank (1001) with negative pressure. Step 3: Move the electrical connector (212) toward the power supply unit (120) and connect it to the power supply unit (120) to complete the locking and power docking of the unmanned vessel; In step 3, an annular airbag is provided inside the electrical receiving part (210). The annular airbag seals the space where the movable electrical receiving head (212) is electrically connected to the power supply part (120). The pressure of the gas inside the annular airbag is not lower than Ph, where Ph = Ps + Pc. in, ; Ph = Internal pressure of the annular airbag; Ps = Water pressure inside the charging tank (1001); Pc = Gas pressure inside the charging tank (1001); ρ = density of water; h = depth of water; g = Standard value is 9.8 N / kg; Vc = Volume of charging slot 1001; R = System resistance coefficient of the integrated positive and negative pressure unit; Q = the air extraction rate of the positive and negative pressure integrated machine; t = working time.

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