Underwater vehicle docking device and docking method

Abstract

The invention provides an underwater vehicle docking device and docking method, and belongs to the field of underwater equipment.The underwater vehicle docking device comprises a base, a barrel, a locking piece and a liquid medium conveying assembly; a barrel and a liquid medium conveying assembly are arranged on the base; a liquid spraying flat opening is formed in the inner wall of the cylinder body, the liquid spraying flat opening is axially arranged around the cylinder body, the liquid spraying flat opening sprays annular liquid flow in the axial direction of the cylinder body, and the underwater vehicle is guided to enter the cylinder body through the annular liquid flow; the locking piece is used for locking the underwater vehicle entering the cylinder body; the liquid medium conveying assembly is used for conveying water into the barrel wall of the barrel. By utilizing the Coanda effect and the Bernoulli principle, annular liquid flow is jetted through the barrel structure, and a stable flow field can be formed in the barrel and in the surrounding environment under the action of the annular liquid flow, so that the underwater vehicle is not interfered by a disordered flow field in a water body environment when being close to the barrel for butt joint; and under the guide of the annular liquid flow, the liquid enters the cylinder body without deviation and collision.

Description

Technical Field

[0001] This invention relates to the field of underwater equipment technology, and in particular to an underwater vehicle docking device and docking method. Background Technology

[0002] Because submersibles carry limited energy, their continuous operational capability is restricted. Therefore, researchers have designed various underwater docking stations to provide energy replenishment for submersibles and extend their underwater operation time. Currently, the flow field interference intensity is high and the monitoring accuracy is low during the deployment and retrieval of submersibles. Considering the high success rate and safety requirements of the submersible recovery process, the requirements for the submersible's dynamic positioning and attitude adjustment capabilities, as well as the positioning and docking accuracy, are higher and more challenging than those for the deployment process. Therefore, submersible docking and recovery technology is one of the key technologies for achieving the long-endurance underwater operation capability of submersibles.

[0003] The main challenges in recovering submersible vehicles (UVs) lie in the fact that they are susceptible to disordered, multi-directional crossflows during docking, which can cause them to deviate from the docking platform and collide with the docking device. Therefore, UV docking faces problems such as low docking accuracy, susceptibility to interference during the docking process, and difficulty in making precise adjustments to the vehicle's position. Summary of the Invention

[0004] In view of this, the present invention proposes an underwater vehicle docking device and docking method to solve the problem that underwater vehicles are easily affected by disordered cross currents in multiple directions during docking navigation, which causes the underwater vehicles to easily deviate from the docking platform and collide with the docking device structure.

[0005] The technical solution of this invention is implemented as follows: This invention provides an underwater vehicle docking device, including a base, a cylinder, locking fasteners, and a liquid medium conveying assembly; the cylinder and the liquid medium conveying assembly are disposed on the base; a liquid spraying nozzle is provided on the inner wall of the cylinder, the nozzle is arranged axially around the cylinder, and the nozzle sprays an annular liquid flow along the axial direction of the cylinder, guiding the underwater vehicle into the cylinder through the annular liquid flow; a plurality of locking fasteners are arranged around the inner wall of the cylinder, and the locking fasteners lock the underwater vehicle that has entered the cylinder; the liquid medium conveying assembly is used to transport water into the cylinder wall.

[0006] Based on the above technical solutions, the cross-sectional shape of the cylinder wall along the cylinder axis is elliptical, streamlined, or teardrop-shaped, and the liquid injection flat nozzle is opened at the position of the cylinder near the inlet of the underwater vehicle.

[0007] Based on the above technical solution, the cylinder wall is hollow inside, and the liquid spray nozzle is connected to the inside of the cylinder wall. A partition is provided inside the cylinder wall, which divides the inner wall of the cylinder into a first cavity and a second cavity. The first cavity is connected to the liquid medium conveying component, and the second cavity is connected to the liquid spray nozzle. Several one-way flow ports are opened on the partition, which connect the first cavity and the second cavity. Water in the first cavity enters the second cavity in one direction through the one-way flow ports.

[0008] Furthermore, the sum of the unit flow rates of several unidirectional flow ports is greater than the unit flow rate of the liquid spray flat nozzle.

[0009] Based on the above technical solutions, the liquid medium conveying assembly includes a conveying pump; the conveying pump is mounted on a base; an inlet is provided on the outer wall of the cylinder, the inlet is connected to the conveying pump, and the inlet is connected between the conveying pump and the inside of the cylinder wall.

[0010] Furthermore, the transfer pump uses ambient water as a water source to pump water into the interior of the cylinder wall.

[0011] Furthermore, the liquid medium conveying assembly also includes an annular main pipe; the annular main pipe is sleeved outside the cylinder and connected to the conveying pump; several water inlets are arranged axially around the cylinder on the outer wall of the cylinder, and the several water inlets are simultaneously connected to the annular main pipe.

[0012] Furthermore, it also includes sensors and controllers; the sensors are mounted on the base and located in front of the inlet end of the cylinder, which serves as the inlet of the underwater vehicle. The sensors are used to guide the underwater vehicle to identify the inlet end of the cylinder; the controller is mounted on the base and is electrically connected to the sensors and the delivery pump. The controller controls the opening and closing of the sensors, the delivery pump and the locking fasteners, as well as adjusts the power of the delivery pump.

[0013] Based on the above technical solution, it also includes movable vanes; several movable vanes are arranged around the outlet end of the cylinder, one end of the movable vane is hinged to the inner edge of the cylinder, and the other end of the movable vane rotates relative to the cylinder around the hinged connection. Several movable vanes rotate synchronously and adjust the flow direction when the annular liquid is ejected from the cylinder.

[0014] On the other hand, the present invention also provides a method for docking an underwater vehicle, using the above-mentioned underwater vehicle docking device, including the following steps: Step 1, the underwater vehicle approaches the inlet end of the cylinder; Step 2, a liquid jet is sprayed from the liquid jet nozzle along the axial direction of the cylinder, the liquid jet creates a stable flow field in the surrounding water, and the underwater vehicle navigates into the cylinder under the guidance of the liquid jet until the cylinder is fitted onto the outer side of the middle part of the underwater vehicle; Step 3, several locking fasteners lock the underwater vehicle in the cylinder.

[0015] The underwater vehicle docking device and docking method of the present invention have the following advantages over the prior art: (1) This invention utilizes the Coanda effect and Bernoulli's principle to spray annular liquid flow through the cylinder structure. Under the action of the annular liquid flow, a stable flow field can be formed in the environment around the cylinder, so that when the submersible approaches the cylinder for docking, it will not be disturbed by the disordered flow field in the water environment, and will enter the cylinder under the guidance of the annular liquid flow without deflection or collision, thus achieving effective docking.

[0016] (2) In this invention, the cross-section of the cylinder wall adopts a streamlined or teardrop-shaped airfoil design to achieve a high-lift aerodynamic profile layout of the liquid spray flow field, and the fluid dynamics are modified by the movable airfoil at the tail of the cylinder, so as to fully influence the surrounding environment to form a stable flow field.

[0017] (3) The present invention connects the conveying pump and multiple water inlets through a ring-shaped main pipe, so that the inside of the cylinder wall forms a ring-shaped multi-inlet water inlet mode, which ensures the water delivery efficiency to the inside of the cylinder wall and keeps the pressure inside the cylinder wall balanced and stable; the water inside the cylinder wall enters the second cavity from the first cavity on the outside through the one-way flow port, and then sprays out from the spray nozzle. In this structure, as long as the inlet flow rate is greater than the outlet flow rate, the second cavity can have a large water pressure, so that the spray nozzle can spray out a stable and powerful liquid flow. 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 perspective view of the docking device of the present invention; Figure 2 This is a cross-sectional view of the cylindrical body of the present invention; Figure 3 This is a rear view of the cylindrical body of the present invention; Figure 4 This is a schematic diagram of the docking device of the present invention; Figure 5 This is a schematic diagram of step one of the docking method of the present invention; Figure 6 This is a schematic diagram of step one of the docking method of the present invention; Figure 7 This is a schematic diagram of step two of the docking method of the present invention; Figure 8This is a schematic diagram of step three of the docking method of the present invention; In the diagram: 1. Base; 2. Cylinder; 21. Baffle; 22. Inlet; 200. Spray nozzle; 201. First cavity; 202. Second cavity; 203. One-way flow port; 3. Locking fastener; 4. Liquid medium conveying assembly; 41. Conveying pump; 42. Annular main pipe; 5. Sensor; 6. Controller; 7. Movable vane; 8. Damper. Detailed Implementation

[0020] 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.

[0021] 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.

[0022] 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.

[0023] 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.

[0024] 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.

[0025] 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.

[0026] like Figure 1 As shown, combined with Figure 2 , Figure 3 and Figure 4 The present invention provides an underwater vehicle docking device, comprising a base 1, a cylinder 2, a locking fastener 3, and a liquid medium conveying assembly 4.

[0027] The base 1 is equipped with a cylindrical body 2 and a liquid medium conveying assembly 4. The base 1 can be cast in the underwater environment with concrete or stably set in the underwater environment with a counterweight device. A columnar support is generally installed on the base 1 to support and fix the cylindrical body 2. In addition, a damper 8 can be installed between the tail end of the cylindrical body 2 and the base 1. The two ends of the damper 8 are respectively hinged to the tail end of the cylindrical body 2 and the upper surface of the base 1. Its function is to buffer the contact force generated on the cylindrical body 2 when the submersible enters the cylindrical body 2 for docking.

[0028] A liquid spray nozzle 200 is provided on the inner wall of the cylinder 2. The liquid spray nozzle 200 is arranged axially around the cylinder 2. The liquid spray nozzle 200 can be a complete ring or a ring structure formed by several arc segments axially. The liquid spray nozzle 200 sprays an annular liquid flow along the axial direction of the cylinder 2, and guides the underwater vehicle into the cylinder 2 through the annular liquid flow. The width of the liquid spray nozzle 10 is variable in the range of 0.5mm to 5mm. The adjustable width of the liquid spray nozzle 10 can provide the following functions: (1) prevent large particles of impurities from clogging the nozzle according to the sea area conditions; (2) adjust the width of the liquid spray nozzle 10 to adjust the flow field velocity. At the same time, depending on the operating environment, the throat design depth of the liquid spray nozzle 10 is between 2mm and 50mm, and the angle between the liquid spray direction and the axial direction of the ring can be adjusted between 0° and 25°. In this embodiment, the principle of the annular liquid flow sprayed by the nozzle 200 in the cylinder 2 is similar to that of a bladeless fan: when the liquid flows out at a high speed from the slit-shaped nozzle 200 on the inner wall of the cylinder 2, the outflowing annular liquid flow adheres to the Coanda surface of the inner wall of the cylinder 2, and at the same time, it drives the ambient water flow behind the cylinder head 2 to flow along the inner wall surface of the cylinder 2, thereby generating a large water flow pulling force, causing a large amount of water to pass through the cylinder 2, achieving the purpose of small flow induction and large flow outflow. However, in reality, because the viscosity of water is much greater than that of air, it is actually difficult for the annular liquid flow sprayed from the nozzle 200 to form a strong liquid flow channel inside the cylinder 2, or a large spraying power is required to achieve a weak and stable liquid flow channel. However, it should be noted that the principle of this embodiment is not to guide the submersible to dock through a strong and stable liquid flow channel formed inside the cylinder 2. Instead, it utilizes the annular liquid flow ejected from the liquid jet nozzle 200 to guide the water inside and around the cylinder 2 to form a stable flow field. This creates a stable flow field "dominated by the annular liquid flow and guided by the surrounding water flow," reducing the interference of external crossflows on the submersible's approach trajectory. This allows the submersible to approach and enter the cylinder 2 in a stable flow field environment to achieve docking and locking, without being affected by disordered flow fields during movement and causing deviation or collision with the cylinder 2. The principle of using the annular liquid flow ejected from the liquid jet nozzle 200 to guide the water inside and around the cylinder 2 to form a stable flow field is as follows: (See...) Figure 4Water flows out at high speed from the jet nozzle 200, and after exiting, the liquid flows along the Coanda curved surface of the inner wall of the cylinder 2. Due to the high velocity of the jet, a high-speed, low-pressure region is formed. Meanwhile, the ambient water flow at the inlet and outlet sections of the cylinder 2 forms a relatively low-speed, high-pressure region. This causes the water in the high-pressure region to surge towards the low-pressure region under the influence of the jet, and then flow along the inner surface of the cylinder 2, thus generating stable fluid motion. This motion pulls and attracts the ambient water within 3-5 meters around the cylinder 2. Simultaneously attracting water, the viscosity of water also pulls the submersible closer to the cylinder 2. Through these methods, the influence of disordered turbulence on the submersible's movement is reduced, and the docking of the submersible is guided.

[0029] Several locking fasteners 3 are arranged around the inner wall of the cylinder 2, and these fasteners 3 lock the underwater submersible that enters the cylinder 2. The fasteners 3 can be common locking devices such as mechanical grippers; alternatively, a slot or groove structure can be provided on the outer peripheral wall of the submersible, allowing the fasteners 3 to extend out and insert into the groove structure to achieve docking and locking of the submersible.

[0030] The liquid medium delivery assembly 4 is used to deliver water into the interior of the cylinder wall of the cylinder 2, thereby providing a continuous and sufficient water flow to the spray nozzle 200.

[0031] In addition, the types of underwater vehicles applicable to this embodiment are not limited to cylindrical or ellipsoidal underwater vehicles, but can also be winged UAVs or other types of underwater vehicles. Theoretically speaking, as long as a stable flow field can be formed around the cylinder 2, any type of underwater vehicle can approach and enter the cylinder 2 to achieve docking and locking.

[0032] To verify the feasibility of the principle in this case, this embodiment uses a cylinder 2 with an inner diameter of 600mm and a spray nozzle 200 with a width of 4mm inside. When the spray speed is ≥1.8m / s, it is found that a highly uniform axial mainstream with FUI>0.92 can be formed inside the cylinder 2, which can effectively shield the interference of the external 0.6m / s transverse flow. The induction efficiency of the annular liquid flow can reach 3.7 times, which confirms that "small flow rate induces large flow rate" is feasible in water medium.

[0033] exist Figure 2In one embodiment shown, the cross-sectional shape of the cylinder wall along the axial direction of the cylinder 2 is elliptical, streamlined, or teardrop-shaped. Specifically, the cross-section of the cylinder 2 can adopt an Eppler 473 airfoil design or a similar high-lift aerodynamic profile layout, modified for hydrodynamics. The leading edge features a rounded corner design to minimize water flow impact at the inlet, and the inner surface of the trailing edge needs to have a Coanda curvature (i.e., R≈25mm) to form a 7-degree diffusion angle. The liquid injection nozzle 200 is located on the cylinder 2 near the inlet of the underwater vehicle, allowing the jet flow to be effectively affected by the Coanda effect. Furthermore, the inner diameter of the cylinder 2 is approximately 600mm, allowing it to accommodate a standard medium-sized underwater vehicle (e.g., Bluefin-12, REMUS-600, with a diameter of 350mm) with a 125mm radial clearance. The clearance ranges from 100 to 150mm; this radial clearance is crucial to prevent the "piston effect," where the underwater vehicle obstructs water flow and increases drag. To resist corrosion and biofouling, the lip of the spray nozzle 200 can be made of a copper-nickel alloy (CuNi90 / 10). The main body of the cylinder 2 can be made of a glass fiber reinforced plastic (GRP) coated synthetic foam material to maintain its neutral buoyancy in water.

[0034] exist Figure 2 In one embodiment shown, the inner wall of the cylinder 2 is hollow, and the spray nozzle 200 is connected to the inner wall of the cylinder 2. A partition 21 is provided inside the cylinder wall of the cylinder 2, which divides the inner wall of the cylinder into a first cavity 201 and a second cavity 202. The first cavity 201 is connected to the liquid medium conveying assembly 4, and the second cavity 202 is connected to the spray nozzle 200. A plurality of one-way flow ports 203 are provided on the partition 21, which connect the first cavity 201 and the second cavity 202. Water in the first cavity 201 enters the second cavity 202 unidirectionally through the one-way flow ports 203. The first chamber 201 serves as the main water storage area, while the second chamber 202 serves as the pressurized spraying area. The two chambers are separated by a partition 21 and connected by a one-way port. This design ensures that the spray nozzle 200 provides sufficient water while maintaining a high initial velocity and stable jet flow. Furthermore, guide vanes and baffles can be installed in the first chamber 201 and the second chamber 202 to ensure a uniform jet velocity distribution across the entire circumference of the spray nozzle 200.

[0035] exist Figure 2In one embodiment shown, the sum of the unit flow rates of several unidirectional flow ports 203 is greater than the unit flow rate of the spray nozzle 200, thereby maintaining a high internal water pressure within the second cavity 202, enabling the ejection of a high-velocity and stable jet stream. The width of the spray nozzle 200 is approximately 1.8 mm. Theoretical studies indicate that finer openings (e.g., 1.2 mm) in air can provide a higher discharge ratio. However, in seawater, the presence of particles such as sand and algae necessitates larger openings to prevent clogging. Therefore, designing the width of the spray nozzle 200 to approximately 1.8 mm ensures both efficiency and reliability. Research shows that when the ratio of the replenishment flow rate (the sum of the unit flow rates of several unidirectional flow ports 203) to the jet flow rate of the spray nozzle 200 is less than 1.0, the pressure fluctuation inside the cylinder 2 intensifies, leading to jet interruption and a drop in FUI below 0.79. The optimal range is 1.3 to 1.7, where the FUI reaches above 0.93 and energy consumption is lowest. Therefore, this device needs to have adaptive replenishment capability to adjust the replenishment flow rate in real time. While maintaining the jet, the flow on the upstream side is automatically increased, and the flow on the downstream side is reduced, so as to effectively deal with disturbances.

[0036] exist Figure 2 In one embodiment shown, the liquid medium conveying assembly 4 includes a conveying pump 41; the conveying pump 41 is mounted on the base 1; an inlet 22 is provided on the outer wall of the cylinder 2, the inlet 22 is connected to the conveying pump 41, and the inlet 22 communicates between the conveying pump 41 and the inside of the cylinder wall of the cylinder 2.

[0037] exist Figure 2 In one embodiment shown, the transfer pump 41 pumps ambient water as a source into the interior of the cylinder 2. The transfer pump 41 can be powered by a submersible centrifugal pump to accelerate and pressurize the fluid. Installing the transfer pump 41 on the base 1 on the seabed, rather than on the cylinder 2, minimizes vibration and magnetic interference to the submersible. Additionally, an inlet filter can be installed at the inlet end of the transfer pump 41. The filter uses a 1mm slit to protect the pump; the filter is a wedge-shaped wire mesh with a self-cleaning function, utilizing the Coanda effect on the inlet side to scrape impurities from the filter surface.

[0038] exist Figure 3 In one embodiment shown, the liquid medium conveying assembly 4 further includes an annular main pipe 42; the annular main pipe 42 is sleeved on the outside of the cylinder 2 and is connected to the conveying pump 41; a plurality of water inlets 22 are axially arranged around the outer wall of the cylinder 2, and the plurality of water inlets 22 are simultaneously connected to the annular main pipe 42.

[0039] exist Figure 1In one embodiment shown, the system further includes a sensor 5 and a controller 6. The sensor 5 is mounted on the base 1, located in front of the inlet end of the cylinder 2, serving as the underwater vehicle's inlet. The sensor 5 guides the underwater vehicle to identify the inlet end of the cylinder 2. The controller 6 is mounted on the base 1 and electrically connected to the sensor 5 and the delivery pump 41. The controller 6 controls the opening and closing of the sensor 5, the delivery pump 41, and the locking fastener 3, and adjusts the power of the delivery pump 41. The sensor 5 can be a USBL or optical sensor for identification and positioning by the underwater vehicle. The controller 6 is a combination of components such as a control chip, control circuit, transformer, and power supply. The controller 6 can dynamically adjust the power of the delivery pump 41 based on the signal from the sensor 5.

[0040] exist Figure 2 In one embodiment shown, the system further includes movable winglets 7; a plurality of movable winglets 7 are arranged around the outlet end of the cylinder, one end of each movable winglet 7 is hinged to the inner edge of the cylinder, and the other end of each movable winglet 7 rotates relative to the cylinder 2 around the hinged connection. The plurality of movable winglets 7 rotate synchronously and adjust the flow direction of the annular liquid jet as it exits the cylinder 2. The structure composed of the plurality of movable winglets 7 is similar to the movable tail nozzle structure of a jet fighter.

[0041] like Figure 1 As shown, combined with Figures 4 to 8 The present invention provides a method for docking an underwater vehicle, using the underwater vehicle docking device of any of the above embodiments, comprising the following steps: Step 1, the underwater vehicle approaches the inlet end of the cylinder 2; Step 2, the liquid spray nozzle 200 sprays an annular liquid flow along the axial direction of the cylinder 2, the annular liquid flow creates a stable flow field in the surrounding water of the cylinder 2, and the underwater vehicle navigates into the cylinder 2 under the guidance of the annular liquid flow until the cylinder 2 is fitted onto the outer side of the middle part of the underwater vehicle; Step 3, a plurality of locking fasteners 3 lock the underwater vehicle inside the cylinder 2.

[0042] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A docking device for an underwater submersible, characterized in that: It includes a base (1), a cylinder (2), a locking fastener (3), and a liquid medium conveying assembly (4); The base (1) is provided with a cylinder (2) and a liquid medium conveying assembly (4). The inner wall of the cylinder (2) is provided with a liquid spraying flat nozzle (200), which is arranged axially around the cylinder (2). The liquid spraying flat nozzle (200) sprays an annular liquid flow along the axial direction of the cylinder (2), and guides the underwater vehicle into the cylinder (2) through the annular liquid flow. A plurality of locking fasteners (3) are arranged around the inner wall of the cylinder (2), and the plurality of locking fasteners (3) lock the underwater submersible that enters the cylinder (2); The liquid medium delivery assembly (4) is used to deliver water into the interior of the cylinder wall of the cylinder (2).

2. The underwater vehicle docking device according to claim 1, characterized in that: The cross-sectional shape of the cylinder wall along the axial direction of the cylinder (2) is elliptical, streamlined, or teardrop-shaped, and the liquid spray nozzle (200) is opened at the position of the cylinder (2) near the inlet of the underwater vehicle.

3. The underwater vehicle docking device according to claim 1, characterized in that: The inner wall of the cylinder (2) is hollow, and the spray nozzle (200) is connected to the inner wall of the cylinder (2). A partition (21) is provided inside the cylinder wall of the cylinder (2), and the partition (21) divides the inner wall of the cylinder into a first cavity (201) and a second cavity (202). The first cavity (201) is connected to the liquid medium delivery assembly (4), and the second cavity (202) is connected to the liquid spray nozzle (200); The partition (21) is provided with a plurality of one-way flow ports (203), which are connected between the first cavity (201) and the second cavity (202). The water in the first cavity (201) enters the second cavity (202) through the one-way flow ports (203).

4. The underwater vehicle docking device according to claim 3, characterized in that: The sum of the unit flow rates of the various unidirectional flow ports (203) is greater than the unit flow rate of the liquid spray flat nozzle (200).

5. The underwater vehicle docking device according to claim 1, characterized in that: The liquid medium delivery assembly (4) includes a delivery pump (41); The delivery pump (41) is mounted on the base (1); The outer wall of the cylinder (2) is provided with a water inlet (22), which is connected to the delivery pump (41). The water inlet (22) is connected between the delivery pump (41) and the inside of the cylinder wall of the cylinder (2).

6. The underwater vehicle docking device according to claim 5, characterized in that: The delivery pump (41) pumps the ambient water as a water source into the interior of the cylinder wall (2).

7. The underwater vehicle docking device according to claim 5, characterized in that: The liquid medium delivery assembly (4) also includes an annular main pipe (42); The annular main pipe (42) is sleeved outside the cylinder (2), and the annular main pipe (42) is connected to the delivery pump (41); The outer wall of the cylinder (2) is provided with a plurality of water inlets (22) axially around the cylinder (2), and the plurality of water inlets (22) are simultaneously connected to the annular main pipe (42).

8. The underwater vehicle docking device according to claim 5, characterized in that: It also includes a sensor (5) and a controller (6); The sensor (5) is mounted on the base (1). The sensor (5) is located on the cylinder (2) in front of the inlet end of the underwater vehicle. The sensor (5) is used to guide the underwater vehicle to identify the inlet end of the cylinder (2). The controller (6) is mounted on the base (1). The controller (6) is electrically connected to the sensor (5) and the delivery pump (41). The controller (6) controls the opening and closing of the sensor (5), the delivery pump (41) and the fastener (3) and adjusts the power of the delivery pump (41).

9. The underwater vehicle docking device according to claim 1, characterized in that: It also includes movable vanes (7); several movable vanes (7) are arranged around the outlet end of the cylinder. One end of the movable vane (7) is hinged to the inner edge of the cylinder. The other end of the movable vane (7) rotates relative to the cylinder (2) around the hinge connection. Several movable vanes (7) rotate synchronously and adjust the flow direction when the annular liquid flow is ejected from the cylinder (2).

10. A docking method for an underwater submersible, characterized in that: The underwater vehicle docking device according to any one of claims 1 to 9 includes the following steps: Step 1: The underwater vehicle approaches the inlet end of the cylinder (2); Step 2: The spray nozzle (200) sprays an annular liquid flow along the axial direction of the cylinder (2). The annular liquid flow creates a stable flow field in the surrounding water of the cylinder (2). The underwater vehicle navigates into the cylinder (2) under the guidance of the annular liquid flow until the cylinder (2) is fitted onto the outer side of the middle part of the underwater vehicle. Step 3: Several of the locking fasteners (3) lock the underwater vehicle inside the cylinder (2).

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