Unmanned ship power module docking mechanism and docking method

Abstract

The invention relates to the technical field of unmanned ships, and particularly discloses an unmanned ship power module docking mechanism and a docking method, the mechanism comprises a driving docking structure, a driven docking structure and a locking structure; the active butt joint structure is arranged on the power module and comprises an insertion rod, a limiting guide piece and an anti-collision piece. The driven butt joint structure is arranged on the unmanned ship and comprises a butt joint box provided with a limiting guide groove and a buffering piece. The locking structure comprises an electric driving piece, a locking pin and a triggering piece. The power module is conveyed to a butt joint position by an external auxiliary boat, anti-torsion insertion connection is achieved through cooperation of the limiting guide piece and the guide groove, double collision protection is provided by the anti-collision piece and the buffer piece, and automatic fastening connection is achieved through the trigger type locking mechanism. The problems of poor butt joint fault tolerance, easy collision and damage, unreliable connection and the like in a wave environment are solved, the butt joint success rate and the operation safety are remarkably improved, and the method is suitable for energy autonomous supplement operation of various water unmanned equipment.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned ships, in particular to an unmanned ship power module docking mechanism and docking method. BACKGROUND

[0002] As an intelligent water operation platform, unmanned ships are increasingly widely used in the fields of marine monitoring, water patrol, environmental sampling, etc. In order to prolong the operation time and improve the endurance, energy replenishment or replacement with external power modules is usually required. In open waters or wave environments, reliable docking between the unmanned ship and the power module is a key technology for realizing autonomous energy management. There are various docking solutions for unmanned ships and charging piles, energy supply buoys or mother ship power in the prior art, which attempt to solve the problem of automatic energy replenishment at sea.

[0003] Currently, the common docking operation mode mainly relies on preliminary approach and contact under the guidance of sensors. For example, some systems use visual recognition or ultra-wideband (UWB) positioning technology to guide the unmanned ship to the power module. After approaching, a simple cone-sleeve and rod type structure or an electromagnetic attraction device is used for preliminary connection. These methods attempt to compensate for certain pose deviations through the inclusiveness of mechanical structures or multi-degree-of-freedom adjustment mechanisms to complete the docking task.

[0004] However, the existing technology has significant defects in actual application, especially in wave environments. First, the relative heaving and rolling movements make it difficult for rigid docking mechanisms to quickly and accurately capture the docking point, and the docking process has poor fault tolerance, is extremely inconvenient to operate, and has a low success rate. Second, during the docking process, the shock will cause a violent collision, and the continuous impact load and alternating stress are easy to cause fatigue damage, deformation or fracture of the mechanical structure, which not only may damage the expensive unmanned ship or power module body, but also has the risk of connection failure and energy interruption, seriously restricting the reliability and practicality of the unmanned ship system in real marine environments. SUMMARY

[0005] In view of the technical problems in the prior art, the present application provides an unmanned ship power module docking mechanism and docking method, which aims to solve the problems of poor fault tolerance, easy damage by impact load, low docking success rate and insufficient connection reliability of rigid docking mechanisms in a shaking water surface environment in the prior art.

[0006] An unmanned ship power module docking mechanism, comprising a driving docking structure, a driven docking structure and a locking structure, wherein, The driving docking structure comprises a plug-in rod, a limiting guide and an anti-collision piece. The plug-in rod is arranged on one side of the power module and is perpendicular to the power module. The limiting guide is arranged on the periphery of the plug-in rod and is used for guiding during the plug-in process. The anti-collision member is arranged at the bottom of the power module and is used for replacing the power module to contact the hull of the unmanned ship when the power module shakes during the docking process. The driven docking structure comprises a docking box and a buffer member, The docking box is arranged at the stern of the unmanned ship, and a docking hole adapted to the plug-in rod is formed on one side of the docking box facing the power module. A limiting guide groove is formed in the docking hole corresponding to the limiting guide. The limiting guide groove and the limiting guide form a torsion-resistant docking during the docking process. The buffer member is arranged on one side of the docking hole of the docking box and is located on the periphery of the docking hole, which is used to avoid the plug-in rod from shaking and injuring the docking box during the docking process. The locking structure is arranged in the docking box and can extend into the docking hole, which is used to lock the plug-in rod after docking.

[0007] Optionally, the limiting guide comprises at least one guide strip arranged on the surface of the plug-in rod, which extends along the axial direction of the plug-in rod and cooperates with the limiting guide groove to provide guidance and prevent torsion during the plug-in process.

[0008] Optionally, a tapered guide opening is formed at the entrance of the docking hole of the docking box.

[0009] Optionally, the anti-collision member comprises a mounting plate and a flexible anti-collision pad, wherein, The mounting plate is arranged at the bottom of the power module; The flexible anti-collision pad is arranged on the outer edge of the mounting plate and is used to reduce the collision between the mounting plate and the hull of the unmanned ship.

[0010] Optionally, it further comprises a bearing plate arranged at the bottom of the mounting plate corresponding to the stern of the unmanned ship, which is used to provide support force to the bottom of the mounting plate after the power module is docked.

[0011] Optionally, the anti-collision member further comprises a tapered guide block arranged at the bottom of the mounting plate, and a guide opening adapted to the tapered guide block is formed in the middle of the bearing plate.

[0012] Optionally, the buffer member comprises a buffer plate, a connecting rod and a buffer spring, wherein, The buffer plate is arranged on the periphery of the docking hole; The connecting rod is arranged on one side of the buffer plate corresponding to the docking box, and the connecting rod passes through the docking box and is slidably connected thereto. An active cavity is formed in the docking box corresponding to the connecting rod for limiting the sliding of the connecting rod. The buffer spring is located in the movable cavity and abuts against one end of the connecting rod located in the movable cavity, and is used to provide the connecting rod with an elastic preload force that causes the buffer plate to face outwards from the mating hole.

[0013] Optionally, the buffer also includes a guide rod, which is located on one side of the buffer plate corresponding to the docking box, and passes through the docking box and is slidably connected to it.

[0014] Optionally, the locking structure includes a driving member, a locking pin, and a trigger member, wherein, The driving component is disposed inside the docking box, and the docking box has an installation slot corresponding to the driving component. The locking pins include a plurality of pins, which are evenly distributed around the circumference of the mating hole and are radially movable in the mounting groove of the mating box and connected to the output end of the drive component; the outer surface of the plug rod is provided with a plurality of locking holes that are adapted to the locking pins. The trigger is located at the bottom of the docking hole and is signal-connected to the drive. When the plug rod is fully inserted into the docking hole, its end can abut against the trigger, thereby activating the drive to make the multiple locking pins move radially inward synchronously and lock into the corresponding locking holes.

[0015] This invention also provides a method for docking an unmanned surface vessel (USV) power module. The USV is docked with a power module using the aforementioned docking mechanism. The docking method includes: S1: Initial guidance and contact: The power module is driven by an external auxiliary vessel or towing equipment to approach the unmanned vessel. The power module is controlled to approach the unmanned vessel, so that the plug rod initially contacts and aligns with the docking hole under the guidance of the conical guide. S2: Collision-proof buffer: During the docking process, when the power module collides with the hull of the unmanned vessel due to waves, the collision-proof component replaces the power module body and contacts the hull of the unmanned vessel to avoid damage to the power module body; at the same time, the buffer absorbs the collision energy between the plug rod and the docking box to protect the docking structure. S3: Wave-assisted anti-torsion plugging: Under the combined action of external driving force and wave disturbance, the power module is continuously pushed forward, allowing the plugging rod to enter the docking hole; during this process, the relative swaying generated by the water surface fluctuations causes the limiting guide to slide into and fit into the limiting guide groove, thereby guiding the plugging rod to overcome torsion during continuous advancement and complete the anti-torsion docking. S4: Trigger Locking: When the plug rod is fully inserted into the mating hole and reaches the bottom, its end abuts against and triggers the trigger, thereby activating the drive unit; S5: Rigid connection: The driving component drives multiple locking pins to move radially inward synchronously and engage with the locking holes on the plug rod, completing the torsional rigid connection and locking between the power module and the unmanned vessel.

[0016] Compared with existing technologies, the unmanned vessel power module docking mechanism and docking method provided by this invention have the following advantages: (1) Through the synergistic effect of the conical guide port and the limiting guide groove, the relative torsional motion in the horizontal plane caused by waves is actively guided and compensated during the docking process, overcoming the problems of poor fault tolerance and inaccurate positioning caused by relying solely on mechanical inclusiveness in the existing technology, so that fast and accurate insertion alignment can be achieved even in a shaking environment.

[0017] (2) A dual protection mechanism of anti-collision components and buffer components is set up; the anti-collision components replace the expensive power module body to withstand the collision with the hull, while the buffer components effectively absorb the impact energy between the plug rod and the docking box, fundamentally solving the problem of structural deformation, fatigue damage or equipment damage caused by violent collisions in existing docking mechanisms, and greatly reducing maintenance costs and operating risks.

[0018] (3) A radial locking method with multiple locking pins evenly distributed around the circumference and cooperating with the annular locking groove is adopted. Combined with trigger-type automatic control, a rigid connection with uniform force can be quickly formed after the insertion is completed. It can effectively resist the alternating stress and torsional torque under the continuous action of waves, greatly improve the mechanical strength and stability of the connection, avoid the risk of loosening or failure of the connection point, and ensure the continuity and safety of the energy replenishment process.

[0019] (4) From initial guidance, anti-collision buffer, anti-torsion insertion to final triggering and locking, the entire docking process is smooth and continuous, requiring no manual intervention, which significantly improves the level of autonomy of unmanned vessel operations and provides reliable technical support for extending the endurance of unmanned vessels and realizing long-term water operations. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of the unmanned vessel power module docking mechanism after docking is completed according to the present invention; Figure 2 This is a schematic diagram of the disassembled structure of a docking mechanism for a power module of an unmanned vessel according to the present invention. Figure 3 This is a schematic diagram of the active docking structure and buffer structure of the unmanned vessel power module docking mechanism of the present invention; Figure 4 for Figure 1 Sectional view along line AA; Figure 5 for Figure 1 Sectional view along the BB direction; Figure 6 for Figure 1 C-axis sectional view; Figure 7 This is a flowchart illustrating the steps of a method for docking a power module of an unmanned vessel according to the present invention.

[0021] In the diagram: 1. Active docking structure; 100. Power module; 101. Locking hole; 11. Connecting rod; 12. Limiting guide; 121. Guide strip; 13. Anti-collision component; 131. Mounting plate; 132. Flexible anti-collision pad; 133. Conical guide block; 2. Driven docking structure; 201. Docking hole; 202. Limiting guide groove; 203. Conical guide opening; 204. Movable cavity; 205. Mounting groove; 21. Docking box; 22. Buffer component; 221. Buffer plate; 222. Connecting rod; 223. Buffer spring; 224. Guide rod; 3. Locking structure; 31. Driving component; 32. Locking pin; 33. Trigger component; 4. Bearing plate; 401. Guide opening. Detailed Implementation

[0022] 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.

[0023] 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.

[0024] 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.

[0025] 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.

[0026] 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.

[0027] 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.

[0028] Please see Figures 1-6 The present application proposes an unmanned vessel power module docking mechanism, which includes an active docking structure 1, a passive docking structure 2, and a locking structure 3.

[0029] like Figures 1-3 As shown, the active docking structure 1 includes a plug-in rod 11, a limiting guide 12, and a collision avoidance component 13; the plug-in rod 11 is located on one side of the power module 100 and is set perpendicular to the power module 100; the limiting guide 12 is located around the plug-in rod 11 and is used for guidance during the plug-in process; the collision avoidance component 13 is located at the bottom of the power module 100 and is used to replace the power module 100 in contact with the hull of the unmanned vessel when shaking occurs during the docking process; The driven docking structure 2 includes a docking box 21 and a buffer 22. The docking box 21 is located at the stern of the unmanned vessel. The docking box 21 has a docking hole 201 on the side facing the power module 100, which is adapted to the plug-in rod 11. A limit guide groove 202 is provided in the docking hole 201 corresponding to the limit guide 12. The limit guide groove 202 forms an anti-torsion docking with the limit guide 12 during the docking process. The buffer 22 is located on one side of the docking hole 201 of the docking box 21 and is located on the periphery of the docking hole 201. It is used to prevent the plug-in rod 11 from shaking during the docking process and accidentally damaging the docking box 21. The locking structure 3 is located inside the docking box 21 and can extend into the docking hole 201 to lock the plug rod 11 after docking.

[0030] Specifically, this infrastructure provides a complete solution to the problems in the background technology through the synergistic effect of three core components: First, the cooperation between the limiting guide 12 and the limiting guide groove 202 forms an anti-torsional docking during the dynamic insertion process, solving the problem of difficulty in quickly and accurately capturing the docking point in a wave environment, and significantly improving the docking success rate and fault tolerance; Second, the anti-collision component 13 and the buffer component 22 constitute a dual protection system. The anti-collision component 13 avoids direct collision between the power module 100 and the hull, and the buffer component 22 absorbs the collision energy between the insertion rod 11 and the docking box 21, effectively solving the problem of structural damage caused by collision due to vibration during docking; Finally, the locking structure 3 ensures the stability of the connection after docking and resists the continuous load in the wave environment; The entire solution realizes the transportation and driving of the power module 100 through external auxiliary unmanned surface vessel, forming a complete automated docking technology chain, fundamentally solving the reliability problem of existing technologies in actual wave environments.

[0031] In some embodiments, such as Figures 3-4 As shown, the limiting guide 12 includes at least one guide bar 121, which is disposed on the surface of the plug rod 11 and extends axially along the plug rod 11 to cooperate with the limiting guide groove 202 to provide guidance and prevent torsion during the plugging process.

[0032] Specifically, the core innovation of this solution in addressing torsion issues in wave environments lies in the use of a guide bar 121 parallel to the axis, working in conjunction with the limiting guide groove 202. During dynamic insertion, violent yaw movements can cause the insertion rod 11 to tend to rotate circumferentially. At this point, as long as the side of the guide bar 121 contacts the wall of the limiting guide groove 202, the torsion is immediately prevented, and the insertion rod 11 is forcibly guided to the correct circumferential angle, thus achieving "anti-torsion docking." This is fundamentally different from solutions that only prevent torsion after docking is complete, significantly increasing the probability of successful docking in a real wave environment on the first attempt.

[0033] In some embodiments, such as Figure 2 , Figures 5-6 As shown, the docking box 21 has a tapered guide port 203 at the entrance of the docking hole 201.

[0034] Specifically, the conical guide port 203 constitutes the "first line of defense" in the docking process. In the initial contact stage, due to the large relative positional deviation between the unmanned vessel and the power module 100 caused by waves, the wide conical opening space of the conical guide port 203 provides a huge lateral fault tolerance, which can initially capture and align the swaying plug rod 11, laying the foundation for its subsequent entry into the precision-fit docking hole 201 and the limiting guide groove 202, effectively reducing the difficulty of the initial docking.

[0035] In some embodiments, such as Figures 2-3 As shown, the anti-collision component 13 includes a mounting plate 131 and a flexible anti-collision pad 132. The mounting plate 131 is located at the bottom of the power module 100; the flexible anti-collision pad 132 is located on the outer edge of the mounting plate 131 and is used to mitigate the collision between the mounting plate 131 and the hull of the unmanned vessel.

[0036] Specifically, the design of the anti-collision component 13 constitutes the first layer of the "dual protection" system, used to protect the power module 100 and the unmanned vessel body; the mounting plate 131, as a robust sacrificial structure, first bears the impact, avoiding direct damage to the expensive housing of the power module 100; the flexible anti-collision pad 132 covering its outer edge can effectively absorb the impact energy generated by the collision through its own elastic deformation, transforming the violent rigid impact into a gentle flexible contact, greatly reducing the peak load at the moment of collision, and protecting the structural integrity of both devices.

[0037] In some embodiments, such as Figures 1-2 As shown, the unmanned vessel power module docking mechanism also includes a support plate 4, which is located at the bottom of the mounting plate 131 at the stern of the unmanned vessel. The support plate 4 provides support to the bottom of the mounting plate 131 after the power module 100 is docked.

[0038] Specifically, the addition of the support plate 4 improves the support system after docking. After docking is completed and locked, the weight of the power module 100 and part of the wave load are finally transferred to the support plate 4 through the mounting plate 131 and borne by the hull of the unmanned vessel. This avoids the weight of the power module 100 being entirely borne by the plug rod 11 and the locking structure 3, significantly reducing the static fatigue and deformation risk of the core docking components. It is especially suitable for long-term, heavy power module 100 docking scenarios, improving the reliability of the entire system for long-term use.

[0039] In some embodiments, such as Figures 2-3 As shown, the anti-collision component 13 also includes a conical guide block 133. The conical guide block 133 is located at the bottom of the mounting plate 131, and a guide opening 401 that matches the conical guide block 133 is opened in the middle of the bearing plate 4.

[0040] Specifically, the combination of the conical guide block 133 and the guide opening 401 constitutes a "secondary guide system" in the collision avoidance process. When a collision occurs, it can not only guide the mounting plate 131 to make smooth contact with the bearing plate 4 through the conical surface to avoid jamming, but more importantly, it can guide the collision force to the center and distribute it evenly, preventing the mounting plate 131 from deforming due to local stress concentration. In addition, during the final support, the conical guide block 133 is embedded in the guide opening 401, which can also provide a certain limiting effect, help resist horizontal sliding, and further enhance the overall stability after docking.

[0041] In some embodiments, such as Figure 3 , Figure 5 As shown, the buffer component 22 includes a buffer plate 221, a connecting rod 222, and a buffer spring 223. The buffer plate 221 is located around the docking hole 201. The connecting rod 222 is located on one side of the buffer plate 221 corresponding to the docking box 21. The connecting rod 222 passes through the docking box 21 and is slidably connected to it. A movable cavity 204 is provided in the docking box 21 corresponding to the connecting rod 222 for limiting its sliding. The buffer spring 223 is located in the movable cavity 204 and abuts against one end of the connecting rod 222 located in the movable cavity 204. It is used to provide the connecting rod 222 with an elastic preload force that causes the buffer plate 221 to move outward toward the docking hole 201.

[0042] Specifically, the buffer 22 is the second layer in the "dual protection" system, specifically designed to protect the precision docking box 21 and the plug rod 11. Its core functions are twofold: First, during docking, when the plug rod 11 impacts the buffer plate 221 due to shaking, the impact force pushes the buffer plate 221 to compress the buffer spring 223. The deformation of the spring converts the impact kinetic energy into elastic potential energy and releases it slowly, thus mitigating the hard impact and protecting the docking structure. Second, when the power module 100 needs to be replaced, after the locking structure 3 is released, the compressed buffer spring 223 releases energy, pushing the buffer plate 221 outward, thus providing a gentle "push" to the power module 100, assisting it in detaching from the docking box 21. This solves the problem of detachment difficulties that may be caused by vacuum adsorption or jamming, making the replacement operation smoother and more reliable.

[0043] In some embodiments, such as Figure 3 , Figure 6 As shown, the buffer 22 also includes a guide rod 224, which is located on one side of the buffer plate 221 corresponding to the docking box 21. The guide rod 224 passes through the docking box 21 and is slidably connected to it.

[0044] Specifically, the addition of guide rod 224 greatly improves the stability and reliability of buffer component 22 during operation; it prevents buffer plate 221 from tilting or jamming under eccentric load impact or spring force, ensuring that it always moves smoothly back and forth in the correct direction, thereby ensuring the consistency and effectiveness of the buffer function and extending the service life of the buffer component.

[0045] In some embodiments, such as Figures 4-6As shown, the locking structure 3 includes a driving member 31, a locking pin 32, and a trigger member 33. The driving member 31 is located inside the docking box 21, and the docking box 21 has a mounting groove 205 corresponding to the driving member 31. The locking pin 32 includes multiple pins, which are evenly distributed along the circumference of the docking hole 201 and are radially movable in the mounting groove 205 of the docking box 21, and are connected to the output end of the driving member 31. The outer surface of the plug rod 11 is provided with multiple locking holes 101 that are adapted to the locking pins 32. The trigger member 33 is located at the bottom of the docking hole 201 and is signal connected to the driving member 31. When the plug rod 11 is fully inserted into the docking hole 201, its end can abut against the trigger member 33, thereby activating the driving member 31 to make the multiple locking pins 32 move radially inward synchronously and lock into the corresponding locking holes 101.

[0046] Specifically, this locking mechanism achieves complete automation and high reliability in the docking process. Its workflow is as follows: after the plug rod 11 is fully inserted and the trigger 33 is pressed firmly, the drive 31 is activated, driving multiple locking pins 32 to move radially inward synchronously and precisely engage in the locking hole 101. Here, the drive 31 drives the locking pins 32 using electromagnetic locking pins, and the trigger 33 uses a pressable button, which triggers the drive by pressing the button. This multi-point radial locking method forms a strong mechanical interlock, effectively resisting pull-out forces and torsional torques from all directions, ensuring absolute stability of the connection in wavy environments. Simultaneously, the trigger design avoids accidental locking during incomplete connections; it only triggers when fully engaged, ensuring safety and reliability. Furthermore, the drive 31 has a built-in power supply and a wireless information receiving module, facilitating locking triggering and unlocking by external control devices, and making it easy to replace the power module 100.

[0047] This invention also provides a method for docking the power module of an unmanned vessel, such as... Figure 7 As shown, the unmanned vessel is connected to the power module via the aforementioned unmanned vessel power module docking mechanism. The docking method includes: S1: Initial guidance and contact: The power module is driven by an external auxiliary vessel or towing equipment to approach the unmanned vessel. The power module is controlled to approach the unmanned vessel, so that the plug rod initially contacts and aligns with the docking hole under the guidance of the conical guide. S2: Collision-proof buffer: During the docking process, when the power module collides with the hull of the unmanned vessel due to waves, the collision-proof component replaces the power module body and contacts the hull of the unmanned vessel to avoid damage to the power module body; at the same time, the buffer absorbs the collision energy between the plug rod and the docking box to protect the docking structure. S3: Wave-assisted anti-torsion plugging: Under the combined action of external driving force and wave disturbance, the power module is continuously pushed forward, allowing the plugging rod to enter the docking hole; during this process, the relative swaying generated by the water surface fluctuations causes the limiting guide to slide into and fit into the limiting guide groove, thereby guiding the plugging rod to overcome torsion during continuous advancement and complete the anti-torsion docking. S4: Trigger Locking: When the plug rod is fully inserted into the mating hole and reaches the bottom, its end abuts against and triggers the trigger, thereby activating the drive unit; S5: Rigid connection: The driving component drives multiple locking pins to move radially inward synchronously and engage with the locking holes on the plug rod, completing the torsional rigid connection and locking between the power module and the unmanned vessel.

[0048] This method describes a complete technology chain, clarifies the method of transporting and driving the power module through an externally assisted unmanned surface vessel, fills the gap in the claims, and forms a closed-loop solution from transportation and docking to locking. The method makes full use of wave energy to assist torsional correction and mitigates its hazards through anti-collision buffering, transforming adverse environmental factors into usable conditions, demonstrating the intelligence and adaptability of the system. The fully automated design requires no human intervention, which greatly improves the autonomy and endurance of unmanned surface vessel swarm operations.

[0049] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A docking mechanism for a power module of an unmanned surface vessel, characterized in that, It includes an active docking structure (1), a passive docking structure (2), and a locking structure (3), among which, The active docking structure (1) includes a plug rod (11), a limiting guide (12), and a collision protection component (13). The plug-in rod (11) is located on one side of the power module and is perpendicular to the power module; The limiting guide (12) is located around the insertion rod (11) and is used for guidance during the insertion process; The anti-collision component (13) is located at the bottom of the power module (100) and is used to replace the power module (100) in contact with the hull of the unmanned vessel when shaking occurs during the docking process. The driven docking structure (2) includes a docking box (21) and a buffer (22). The docking box (21) is located at the stern of the unmanned vessel. The docking box (21) has a docking hole (201) on the side facing the power module (100) that is compatible with the plug rod (11). A limit guide groove (202) is provided in the docking hole (201) corresponding to the limit guide (12). The limit guide groove (202) forms an anti-torsion docking with the limit guide (12) during the docking process. The buffer (22) is located on one side of the specific docking hole (201) of the docking box (21) and is located on the periphery of the docking hole (201) to prevent the plug rod (11) from shaking during docking and accidentally damaging the docking box (21). The locking structure (3) is located inside the docking box (21) and can extend into the docking hole (201) to lock the plug rod (11) after docking.

2. The unmanned surface vessel power module docking mechanism according to claim 1, characterized in that, The limiting guide (12) includes at least one guide strip (121) disposed on the surface of the plug rod (11) and extending along the axial direction of the plug rod (11) for cooperating with the limiting guide groove (202) to provide guidance and prevent torsion during the plugging process.

3. The unmanned surface vessel power module docking mechanism according to claim 2, characterized in that, The docking box (21) has a tapered guide opening (203) at the entrance of the docking hole (201).

4. The unmanned surface vessel power module docking mechanism according to claim 1, characterized in that, The anti-collision component (13) includes a mounting plate (131) and a flexible anti-collision pad (132), wherein, The mounting plate (131) is located at the bottom of the power module (100); The flexible anti-collision pad (132) is located on the outer edge of the mounting plate (131) to mitigate the collision between the mounting plate (131) and the hull of the unmanned vessel.

5. The unmanned surface vessel power module docking mechanism according to claim 4, characterized in that, It also includes a support plate (4), which is located at the bottom of the mounting plate (131) at the stern of the unmanned vessel, and is used to provide support for the bottom of the mounting plate (131) after the power module (100) is connected.

6. The unmanned surface vessel power module docking mechanism according to claim 5, characterized in that, The anti-collision component (13) also includes a conical guide block (133), which is located at the bottom of the mounting plate (131). The bearing plate (4) has a guide opening (401) in the middle corresponding to the conical guide block (133).

7. The unmanned surface vessel power module docking mechanism according to claim 1, characterized in that, The buffer component (22) includes a buffer plate (221), a connecting rod (222), and a buffer spring (223), wherein, The buffer plate (221) is located around the docking hole (201); The connecting rod (222) is located on one side of the buffer plate (221) corresponding to the docking box (21). The connecting rod (222) passes through the docking box (21) and is slidably connected to it. The docking box (21) has a movable cavity (204) for limiting its sliding, corresponding to the connecting rod (222). The buffer spring (223) is located in the movable cavity (204) and abuts against one end of the connecting rod (222) located in the movable cavity (204), and is used to provide the connecting rod (222) with an elastic preload force that causes the buffer plate (221) to face outward toward the docking hole (201).

8. The unmanned surface vessel power module docking mechanism according to claim 7, characterized in that, The buffer (22) also includes a guide rod (224), which is located on one side of the buffer plate (221) corresponding to the docking box (21). The guide rod (224) passes through the docking box (21) and is slidably connected to it.

9. The unmanned surface vessel power module docking mechanism according to claim 1, characterized in that, The locking structure (3) includes a driving member (31), a locking pin (32), and a trigger member (33), wherein, The driving component (31) is located inside the docking box (21), and the docking box (21) has an installation slot (205) corresponding to the driving component (31). The locking pins (32) include a plurality of pins, which are evenly distributed around the circumference of the mating holes (201) and are radially movable in the mounting groove (205) of the mating box (21) and connected to the output end of the driving member (31); the outer surface of the plug rod (11) is provided with a plurality of locking holes (101) that are adapted to the locking pins (32). The trigger (33) is located at the bottom of the docking hole (201) and is signal-connected to the drive (31). When the plug rod (11) is fully inserted into the docking hole (201), its end can abut against the trigger (33), thereby activating the drive (31) to make the multiple locking pins (32) move radially inward synchronously and lock into the corresponding locking hole (101).

10. A method for docking power modules of an unmanned surface vessel, characterized in that, The unmanned vessel power module docking mechanism as described in any one of claims 1-9 is used to dock the unmanned vessel with the power module, and the docking method includes: S1: Initial guidance and contact: The power module is driven by an external auxiliary vessel or towing equipment to approach the unmanned vessel. The power module is controlled to approach the unmanned vessel, so that the plug rod initially contacts and aligns with the docking hole under the guidance of the conical guide. S2: Collision-proof buffer: During the docking process, when the power module collides with the hull of the unmanned vessel due to waves, the collision-proof component replaces the power module body and contacts the hull of the unmanned vessel to avoid damage to the power module body; at the same time, the buffer absorbs the collision energy between the plug rod and the docking box to protect the docking structure. S3: Wave-assisted anti-torsion plugging: Under the combined action of external driving force and wave disturbance, the power module is continuously pushed forward, allowing the plugging rod to enter the docking hole; during this process, the relative swaying generated by the water surface fluctuations causes the limiting guide to slide into and fit into the limiting guide groove, thereby guiding the plugging rod to overcome torsion during continuous advancement and complete the anti-torsion docking. S4: Trigger Locking: When the plug rod is fully inserted into the mating hole and reaches the bottom, its end abuts against and triggers the trigger, thereby activating the drive unit; S5: Rigid connection: The driving component drives multiple locking pins to move radially inward synchronously and engage with the locking holes on the plug rod, completing the torsional rigid connection and locking between the power module and the unmanned vessel.

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