A magnetic emergency power supply structure for a far-sea unmanned ship, an unmanned ship and an emergency charging method

Abstract

The application relates to the technical field of unmanned boats, in particular to a magnetic attraction emergency power supply structure for a far-sea unmanned boat, an unmanned boat and an emergency charging method, which comprise a power supply part arranged in a first side wing, a transmitting coil arranged in the power supply part, an electricity receiving part arranged in a second side wing, and a receiving coil arranged in the electricity receiving part. The power supply part with the built-in transmitting coil is arranged in the first side wing, and the electricity receiving part with the built-in receiving coil is arranged in the second side wing, so that the emergency power supply structure can be established when the lifeboat and the rescued boat are relatively close to each other in the side wings, and the dependence of the traditional plug-in power supply mode on high-precision interface alignment is avoided; meanwhile, the effective sizes of the transmitting coil and the receiving coil along the preset offset direction are different, so that when the two coils are relatively offset under the action of sea waves, the effective coupling can still be maintained, so that the stability and continuity in the emergency power supply process are improved.

Description

Technical Field

[0001] This invention relates to the field of unmanned surface vessel (USV) technology, and in particular to a magnetic emergency power supply structure, USV, and emergency charging method for offshore USVs. Background Technology

[0002] With the increasing demand for tasks such as long-range maritime patrol, marine monitoring, communication relay, and emergency search and rescue, unmanned surface vessels (USVs) have been widely used in long-range maritime operations due to their high maneuverability, flexible use, and suitability for unmanned operations. During long-distance or extended missions, USVs may experience reduced endurance or even lose their autonomous return capability due to power depletion, power system failures, environmental shocks, or other abnormal conditions. Therefore, providing rapid and stable emergency power to USVs at sea has become a crucial technical challenge for ensuring their continuous operational capability and improving rescue efficiency.

[0003] In existing technologies, power replenishment for surface equipment or unmanned platforms typically employs wired plug-in charging, mooring-based charging, or fixed-interface docking power supply methods. However, in open sea environments, lifeboats and rescued vessels are often subject to continuous relative drifting and positional shifts due to factors such as waves and currents. This makes it difficult for traditional plug-in interfaces to precisely dock, and problems such as collisions, detachment, or poor contact can easily occur during docking. Furthermore, conventional rigid interfaces require high positional accuracy and exhibit poor stability under continuous hull movement, hindering the rapid establishment of a reliable power connection. Additionally, when the power supply structure is located on the hull's flanks, factors such as coil docking direction, adsorption positioning, and offset compensation must be considered; otherwise, excessive relative offset in actual sea conditions can affect power transmission efficiency or even lead to power outages. Summary of the Invention

[0004] In this section, as well as in the abstract and title of this application, some simplifications or omissions may be made to avoid obscuring the purpose of this section, the abstract, and the title of this application, and such simplifications or omissions shall not be used to limit the scope of the invention.

[0005] To address the shortcomings of existing technologies, one objective of this invention is to provide a magnetic emergency power supply structure for unmanned surface vessels in the open sea.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: a magnetic emergency power supply structure for unmanned surface vessels in the open sea, comprising a power supply component disposed within a first side wing, wherein a transmitting coil is disposed within the power supply component; and a receiving component disposed within a second side wing, wherein a receiving coil is disposed within the receiving component; wherein the effective dimensions of the transmitting coil and the receiving coil are different along a preset offset direction M, the coil plane of the transmitting coil is parallel to the side surface of the first side wing, and the coil plane of the receiving coil is parallel to the side surface of the second side wing.

[0007] As a preferred embodiment of the magnetic emergency power supply structure for unmanned surface vessels (USVs) in this invention, wherein: the preset offset direction M is the length direction of the power supply component and the receiving component; the effective dimension of the transmitting coil along the preset offset direction M is L1; and the effective dimension of the receiving coil along the preset offset direction M is L2. ;in, The preset relative offset is the amount of the preset offset direction M when the power supply component and the power receiving component are connected.

[0008] As a preferred embodiment of the magnetic emergency power supply structure for offshore unmanned surface vessels described in this invention, both ends of the power supply component and the power receiving component are provided with magnetic suction components, and the length of the magnetic suction component along the preset offset direction M is L3, wherein... .

[0009] As a preferred embodiment of the magnetic emergency power supply structure for offshore unmanned surface vessels described in this invention, both ends of the power supply component and the power receiving component are provided with guides, and the side of the power supply component and the power receiving component facing the interior of the corresponding side wing continuously transitions with the end face of the guide to form a guide surface N.

[0010] To address the shortcomings of existing technologies, another objective of this invention is to provide an unmanned surface vessel for use in the open sea.

[0011] The present invention adopts the following technical solution: an unmanned surface vessel (USV) for use in the open sea, comprising a magnetic emergency power supply structure, and a deck mounted on the structural frame of the USV; a first side wing disposed on one side of the USV, wherein a power supply component is disposed within the first side wing; a second side wing disposed on the other side of the USV, wherein a power receiving component is disposed within the second side wing; and a telescopic mechanism disposed within the USV, wherein the telescopic mechanism is respectively connected to the power supply component and the power receiving component.

[0012] As a preferred embodiment of the unmanned surface vessel for open seas described in this invention, the telescopic mechanism includes a first telescopic member, one end of which is connected to the power supply member or the power receiving member; and a second telescopic member, one end of which is connected to the power supply member or the power receiving member via a rope.

[0013] As a preferred embodiment of the unmanned surface vessel for open seas described in this invention, wherein: an equipment arrangement area X1 is provided in the middle of the deck, the first telescopic member is provided in a lateral installation area X2 near the first or second wing, and the second telescopic member is provided in a compensation installation area X3 located outside the equipment arrangement area X1.

[0014] As a preferred embodiment of the unmanned surface vessel for open sea use described in this invention, the power supply component and the power receiving component are respectively connected to the deck via corresponding first telescopic components. The two ends of the first telescopic components are respectively provided with a first rotating component and a second rotating component. The power supply component and the power receiving component are respectively connected to the structural frame via corresponding ropes and second telescopic components. The top of the deck is provided with a fixed pulley that is in close contact with the ropes.

[0015] To address the shortcomings of existing technologies, another objective of this invention is to provide an emergency charging method for unmanned surface vessels in the open ocean.

[0016] This invention adopts the following technical solution: an emergency charging method for unmanned surface vessels (USVs) in the open ocean, comprising the following steps: As the lifeboat approaches the rescued vessel, the second telescopic component of the lifeboat is controlled to release at a preset rate, while the first telescopic component continuously outputs elastic restoring force to drive the power supply component to move away from the first wing. At the same time, the second telescopic component is kept taut during its extension. Simultaneously, the power supply component of the rescued vessel is extended.

[0017] When the power supply component and the power receiving component are displaced by a first distance V1, the first distance V1 is less than the depth V2 of the corresponding power supply component or power receiving component along the extension direction, so that the power supply component and the power receiving component are still in the limiting state of the first side wing and the second side wing, respectively. In this state, the lifeboat is driven to approach the rescue boat, so that the magnetic attraction component on the power supply component and the power receiving component attract each other.

[0018] After the magnetic attraction component is activated, the second telescopic component of the lifeboat and the rescued boat is released, causing the power supply component to move out of the first wing and the power receiving component to move out of the second wing. This allows the power supply component and the power receiving component to be in a floating compensation state relative to the lifeboat and the rescued boat during the charging process.

[0019] After charging is complete, the second telescopic component is retracted so that the power supply component and the power receiving component are retracted into the first and second side wings.

[0020] In a preferred embodiment of the emergency charging method for unmanned surface vessels (USVs) of the present invention, during the retraction of the power supply component and the power receiving component into the first and second side wings, the rope pulls back the power supply component and the power receiving component; when there is a positional deviation between the power supply component and the power receiving component and the first and second side wings, the guide surface N formed by the power supply component and the power receiving component toward the inner side of the corresponding side wing guides the vertical deviation of the power supply component and the power receiving component into the corresponding side wing, and the guide surface N of the guide guides the horizontal deviation of the power supply component and the power receiving component into the corresponding side wing.

[0021] The beneficial effects of this invention are as follows: By setting a power supply component with a built-in transmitting coil in the first wing and a power connector with a built-in receiving coil in the second wing, this invention enables an emergency power supply structure to be established when the lifeboat and the rescued boat are relatively close to each other on the wing, avoiding the dependence on high-precision interface alignment of traditional plug-in power supply methods. At the same time, the effective dimensions of the transmitting coil and the receiving coil along the preset offset direction are different, so that when the two are relatively offset under the action of waves, they can still maintain effective coupling, thereby improving the stability and continuity of the emergency power supply process. Attached Figure Description

[0022] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. 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.

[0023] Figure 1 This is a schematic diagram of the power supply component and the power connection component of the present invention.

[0024] Figure 2 This is a schematic diagram of the transmitting coil and receiving coil of the present invention.

[0025] Figure 3 This is a schematic diagram showing the effective dimensions of the transmitting coil and receiving coil of the present invention.

[0026] Figure 4 This is a schematic diagram showing the length of the magnetic suction component of the present invention.

[0027] Figure 5 This is a schematic diagram of the structure of the guide component of the present invention.

[0028] Figure 6 This is a schematic diagram of the internal structure of the power supply component of the present invention.

[0029] Figure 7 This is a schematic diagram of the overall structure of an unmanned surface vessel for use in the open sea according to the present invention.

[0030] Figure 8 This is a schematic diagram of the structural frame of the present invention.

[0031] Figure 9 This is a schematic diagram of the telescopic mechanism of the present invention.

[0032] Figure 10 This is a schematic diagram showing the distribution of the equipment layout area, the lateral installation area, and the compensation installation area of ​​the present invention.

[0033] Figure 11 This is a schematic diagram of the structure of the first telescopic component of the present invention.

[0034] Figure 12 This is a schematic diagram of the structure of the second telescopic component of the present invention.

[0035] Figure 13 This is a schematic diagram showing the first displacement distance between the power supply component and the power receiving component of the present invention.

[0036] Figure 14 This is a schematic diagram of the connection between the power supply component and the power receiving component of the present invention.

[0037] Figure 15 This is a schematic diagram showing the deviation of the power supply component and the power receiving component in the vertical direction.

[0038] Figure 16 This is a schematic diagram showing the horizontal deviation between the power supply component and the power receiving component of the present invention.

[0039] In the diagram: 100, power supply component; 101, transmitting coil; 200, power receiving component; 201, receiving coil; 300, first side wing; 400, second side wing; 500, magnetic component; 600, guide component; 700, deck; 800, structural frame; 900, telescopic mechanism; 901, first telescopic component; 901a, first rotating component; 901b, second rotating component; 902, second telescopic component; 903, rope; 903a, fixed pulley.

[0040] M is the preset offset direction, N is the guide surface, L1 is the effective size of the transmitting coil along the preset offset direction, L2 is the effective size of the receiving coil along the preset offset direction, L3 is the length of the magnetic suction component along the preset offset direction, X1 is the equipment layout area, X2 is the lateral mounting area, X3 is the compensation mounting area, V1 is the first distance, and V2 is the depth of the power supply component or the connection component along the extension direction. Detailed Implementation

[0041] To enable those skilled in the art to better understand the present invention, the present invention will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0042] The terminology used in this invention is that which is currently widely used in the art in consideration of the function of the invention; however, these terms may vary according to the intent of those skilled in the art, precedent, or new technology in the art. Furthermore, specific terms may be chosen by the applicant, and in such cases, their detailed meanings will be described in the detailed description of the invention. Therefore, the terms used in this specification should not be construed as simple names, but rather based on their meanings and the overall description of the invention.

[0043] Example 1

[0044] Reference Figure 1 and Figure 2This embodiment provides a magnetic emergency power supply structure for an unmanned surface vessel (USV) in the open ocean, including a power supply component 100 disposed in a first side wing 300 and a power receiving component 200 disposed in a second side wing 400. When the USV is used as a lifeboat to perform rescue missions, its power supply component 100 is used to provide power to the outside; when the USV is used as a rescue vessel, its power receiving component 200 is used to receive emergency power from the outside. Preferably, both the power supply component 100 and the power receiving component 200 can be arranged as an elongated shell structure to conform to the spatial constraints of the USV's side wings and reduce additional obstruction to water flow when extended.

[0045] The power supply unit 100 contains a transmitting coil 101, and the receiving unit 200 contains a receiving coil 201. The effective dimensions of the transmitting coil 101 and the receiving coil 201 are different along a preset offset direction M. This preset offset direction M is preferably the direction in which relative floating displacement is most likely to occur after the lifeboat and the rescued boat are laterally docked. By designing the transmitting coil 101 and the receiving coil 201 to have different effective dimensions along the preset offset direction M, an electromagnetic coupling link can be established when the two coils are perfectly aligned. Even when a certain relative displacement occurs along the preset offset direction M due to waves, wind currents, or hull attitude fluctuations, sufficient coupling coverage is maintained, thus preventing power loss on the receiving side due to instantaneous displacement. Compared to conventional plug-in power supply schemes that require high-precision port alignment, this embodiment is more suitable for rapid, fault-tolerant emergency power replenishment in offshore environments.

[0046] Furthermore, the coil plane of the transmitting coil 101 is parallel to the side of the first wing 300, and the coil plane of the receiving coil 201 is parallel to the side of the second wing 400. The coil coupling surface faces outward toward the hull, rather than toward the top of the deck or the bottom of the hull. With this arrangement, the lifeboat and the rescued boat only need to keep their wing areas close to each other and perform lateral horizontal docking during operations to ensure that the transmitting coil 101 and the receiving coil 201 are in a relative position. This arrangement reduces the requirements for longitudinal and pitch attitude accuracy and facilitates automatic adsorption and positioning with the magnetic chuck 500, thus improving the success rate of establishing emergency power supply connections in offshore conditions.

[0047] In this embodiment, the power supply component 100 and the power receiving component 200 can be connected to the power supply circuit and power receiving circuit inside the hull, respectively. The hull where the power supply component 100 is located can output power as a lifeboat, and the hull where the power receiving component 200 is located can receive power as a rescued boat. When two unmanned surface vessels with identical structures switch roles at different mission stages, the above two functions can also be interchanged. Therefore, this embodiment is not only applicable to dedicated lifeboat and rescued boat scenarios, but also to mutual rescue and power replenishment scenarios between multiple homogeneous unmanned surface vessels, and has good engineering versatility.

[0048] Example 2

[0049] Reference Figure 3 The following further explains the preset offset direction M and the dimensional relationship between the transmitting coil 101 and the receiving coil 201. The preset offset direction M is the length direction of the power supply component 100 and the receiving component 200. The reason for preferably using the length direction of the power supply component 100 and the receiving component 200 as the preset offset direction M is that after the two vessels approach each other laterally, due to the influence of wave undulation, rolling, and drift, the most common relative displacement is a forward and backward misalignment along the extension direction of the power supply component 100 and the receiving component 200, rather than a complete separation perpendicular to their length direction. Therefore, setting the main tolerance direction as the length direction better reflects the offset characteristics under actual sea conditions.

[0050] The effective size of the transmitting coil 101 along the preset offset direction M is L1, and the effective size of the receiving coil 201 along the preset offset direction M is L2, and satisfies the following conditions: ,in, This refers to the preset relative offset along a preset offset direction M when the power supply component 100 and the receiving component 200 are connected. The effective size here is the effective coupling coverage length of the coil in the corresponding direction, that is, the projected size that can participate in stable energy transmission. This is achieved by setting... This allows the smaller coil to be positively offset. Or reverse offset At that time, it still falls within the coupling coverage of the larger coil, so that the effective overlapping area of ​​the coils does not disappear quickly due to the short-term offset caused by the waves.

[0051] For example, when the effective size L1 of the transmitting coil 101 is greater than the effective size L2 of the receiving coil 201, it can be understood that the transmitting coil 101 provides a wider coupling window, and the receiving coil 201 has a certain slip tolerance within this window; conversely, when the effective size L2 of the receiving coil 201 is greater than the effective size L1 of the transmitting coil 101, it can be understood that the receiving side has expanded the receiving coverage area of ​​the transmitting side.

[0052] Preferably, The determination can be made based on the statistical offset under the target sea state, the effective adsorption and holding range of the magnetic accumulator 500, and the minimum allowable coupling efficiency of the system. In other words, It is not arbitrarily set, but rather a design tolerance value that comprehensively considers mechanical adsorption capacity and electromagnetic coupling capacity. By establishing a clear functional relationship between the coil size difference and the preset relative offset, the coupling structure, which traditionally relies on experience-based adjustments, can be parameterized and formulated, thereby facilitating engineering design and subsequent performance verification.

[0053] Example 3

[0054] Reference Figure 4 and Figure 6 The focus is on explaining the arrangement of the magnetic component 500 and its relative offset from the preset value. The relationship between the power supply component 100 and the power receiving component 200 is as follows: Both ends of the power supply component 100 and the power receiving component 200 are provided with magnetic suction components 500. The length of the magnetic suction component 500 along the preset offset direction M is L3, and L3 > 1. More specifically, the magnetic attracting elements 500 at both ends of the power supply component 100 and the magnetic attracting elements 500 at both ends of the power receiving component 200 are attracted to each other when they are brought together laterally, forming a double-ended magnetic positioning structure. The transmitting coil 101 and the receiving coil 201 are preferably disposed in the area between the two magnetic attracting elements 500, so as to obtain a relatively stable coil center area after the double-ended magnetic positioning is completed.

[0055] Placing the magnetic chuck 500 at both ends of the power supply component 100 and the receiving component 200 has at least three advantages. First, the magnetic chuck 500 can quickly establish a mechanical positioning relationship when the two vessels approach each other, reducing the reliance of operators or automatic control systems on precise alignment. Second, the two-end magnetic attraction method can form a relatively stable geometric constraint, suppressing the rotational wobble of the power supply component 100 and the receiving component 200 after docking, and maintaining good parallelism of the coil coupling surfaces. Third, the double-end magnetic attraction structure can place the transmitting coil 101 and the receiving coil 201 in a relatively protected central area, thereby reducing the impact of local impacts on the coil housing.

[0056] Regarding L3 and Regarding the relationship, the preferred condition given in this embodiment is L3 > Essentially, the magnetic holding length of the magnetic component 500 along the preset offset direction M must be greater than the relative offset allowed by the system. If the length of the magnetic chuck 500 is insufficient, even if the transmitting coil 101 and the receiving coil 201 theoretically still have geometric overlap, the power supply component 100 and the receiving component 200 may disengage prematurely due to the excessively short magnetic holding area. In this case, the offset tolerance provided by the coil size difference becomes meaningless. Therefore, the holding capability of the magnetic chuck 500 should cover or even slightly exceed the requirements of the coil tolerance design. Preferably, L3 can be taken as... The size is between 1.1 and 2 times larger, so as to ensure that the magnetic parts are not easily detached while taking into account the size of the magnetic parts and the installation space.

[0057] Regarding the specific material selection, the magnetic chuck 500 can be made of permanent magnets, rare-earth magnets, magnetic composites, or magnetic modules with magnetic guidance structures. The magnetic chuck 500 can also be used in conjunction with soft magnetic guide sheets to enhance local magnetic concentration and improve adsorption stability. For long-term marine applications, the magnetic chuck 500 is preferably equipped with an anti-corrosion encapsulation layer to prevent degradation of the magnetic material caused by salt spray and seawater environments. Through the above design, this embodiment can balance adsorption positioning capability and electromagnetic coupling tolerance without significantly increasing the size of the power supply component 100 and the connection component 200.

[0058] Example 4

[0059] Reference Figure 5 This section focuses on explaining the formation and guiding function of the guide member 600 and the guide surface N. Both ends of the power supply member 100 and the power receiving member 200 are equipped with guide members 600. The side of the power supply member 100 and the power receiving member 200 facing the corresponding inner side wing continuously transitions with the end face of the guide member 600 to form the guide surface N. On the inward-facing side of the power supply member 100 and the power receiving member 200, their main surface is not abruptly disconnected, but rather forms a smooth, transitional envelope shape through the guide member 600. When the power supply member 100 and the power receiving member 200 retract into their corresponding side wing after charging is complete, even with a certain directional positional deviation, they can achieve self-correction and re-entry with the help of the guide surface N.

[0060] Specifically, the guide surface N preferably includes two guiding functions. First, the outer surface guide section formed by the power supply component 100 and the power receiving component 200 facing the inner side of the wing is mainly used to correct vertical deviations. For example, under the action of waves, the power supply component 100 and the power receiving component 200 may rise or sink relative to the wing opening. At this time, the guide section can guide the power supply component 100 and the power receiving component 200 back to the allowable range of the opening through contact sliding. Second, the end face guide section of the guide component 600 itself is mainly used to correct horizontal deviations. For example, when the power supply component 100 and the power receiving component 200 are misaligned to the left or right relative to the opening during the recovery process, the inclined surface, arc surface, or rounded corner surface of the guide component 600 can guide them into the center area of ​​the opening, thereby avoiding rigid collision jamming.

[0061] Preferably, the guide 600 can be configured as an arc-shaped transition block, a wedge-shaped guide block, a rounded boss, or a composite curved surface transition component. The guide 600, power supply component 100, and power connection component 200 can be integrally molded or assembled. When assembled, the guide 600 is preferably located near the end region of the magnetic suction component 500 so that it participates in guidance from the initial stage of retrieval. The radius of curvature, inclination angle, and surface roughness of the guide surface N can be determined based on the side wing opening size, retrieval speed, and allowable impact force to balance smooth guidance and structural strength.

[0062] By using the guide 600 and guide surface N, this embodiment can significantly improve the recovery reliability of the power supply unit 100 and the power receiving unit 200 under complex sea conditions. Even if there is residual drift between the lifeboat and the rescued boat at the moment of recovery, the guide surface N can transform the hard contact that might otherwise cause jamming or collision into a soft guiding contact, thereby reducing the risk of mechanical damage and improving the reusability of the entire machine.

[0063] Example 5

[0064] Reference Figure 7 and Figure 8 This embodiment provides an unmanned surface vessel (USV) for use in the open sea. The USV includes the aforementioned magnetic emergency power supply structure, and further includes a deck 700, a structural frame 800, a first side wing 300, a second side wing 400, and a telescopic mechanism 900. The deck 700 is mounted on the structural frame 800 of the USV. The first side wing 300 is located on one side of the USV and houses a power supply component 100. The second side wing 400 is located on the other side of the USV and houses a power receiving component 200. The telescopic mechanism 900 is located inside the USV and is connected to both the power supply component 100 and the power receiving component 200.

[0065] In this embodiment, the first wing 300 and the second wing 400 are preferably arranged at opposite positions on both sides of the unmanned surface vessel (USV) hull, so that when two USVs approach each other laterally, the power supply unit 100 on one side of the rescue vessel can move toward the power receiving unit 200 on the side of the rescued vessel, thereby forming a lateral docking relationship. By housing the power supply unit 100 and the power receiving unit 200 inside the two wings, the power supply structure can be protected under normal navigation conditions, reducing the impact of exposed components on navigation resistance and collision risk, and can also be quickly pushed to the working position when emergency power replenishment is needed. Compared with the solution of fixing the power supply structure to the outer surface of the hull, this embodiment is more suitable for long-term operation scenarios in the open sea.

[0066] The deck 700 and the structural frame 800 together form the internal mounting base. The structural frame 800 can support systems such as batteries, controllers, navigation components, communication equipment, and mission payloads, while the deck 700 serves as the mounting surface for multiple structural components. A telescopic mechanism 900 is located inside the unmanned surface vessel (USV) and connects to the power supply unit 100 and the power receiving unit 200, enabling the power supply unit 100 and the power receiving unit 200 to move from their retracted position to their operational position. Since the two USVs can adopt an isomorphic design, either USV can act as a lifeboat when it has surplus power, or as a vessel receiving recharge when its power is insufficient, thus significantly enhancing the self-rescue and mutual rescue capabilities of the fleet-type USV system.

[0067] Furthermore, the power supply component 100 and the power receiving component 200 correspond to the onboard power supply circuit and the onboard power receiving circuit, respectively. During power supply, the power supply component 100 can connect to the emergency power management unit, outputting electrical energy from the main battery pack or emergency power supply to the transmitting coil 101. During power receiving, the power receiving component 200 can connect to the rectifier and voltage regulator module, the emergency bus, and the critical load circuit, ensuring that the electrical energy received by the receiving coil 201 is preferentially supplied to the communication, navigation, positioning, and main control standby units. Therefore, this embodiment not only provides a structural integration method but also establishes a practically usable emergency power supply and receiving platform for offshore unmanned surface vessel systems.

[0068] It should be noted that the first wing 300 and the second wing 400 in this embodiment are not limited to having a completely symmetrical geometric shape. As long as they can form a space for accommodating and extending the power supply component 100 and the power receiving component 200 on both sides of the hull, and enable the two vessels to dock when they approach each other laterally, they can be used. For example, the wings can be the outer expansion area of ​​the hull, the side protrusion area, the internal space of the fairing, or an independent installation compartment. For unmanned surface vessels of different tonnages and mission types, the position and opening size of the wings can be adjusted according to the hull size, the density of internal equipment, and the risk of collision at sea. By combining the power supply structure with the arrangement on both sides of the hull, this invention can complete the addition of emergency power supply function without changing the existing main layout of the unmanned surface vessel as much as possible, thus having good adaptability to modification.

[0069] Example 6

[0070] Reference Figure 9 The composition of the telescopic mechanism 900 is further explained below. The telescopic mechanism 900 includes a first telescopic member 901 and a second telescopic member 902. One end of the first telescopic member 901 is connected to the power supply member 100 or the power receiving member 200; one end of the second telescopic member 902 is connected to the power supply member 100 or the power receiving member 200 via a rope 903. Preferably, the first telescopic member 901 mainly undertakes the functions of outward support and elastic recovery, while the second telescopic member 902 mainly undertakes the functions of stroke release, pull-back constraint, and extension amount control.

[0071] In a preferred embodiment, the first telescopic member 901 can be a gas spring, spring rod, damped telescopic rod, elastic link, or other mechanism with continuous outward thrust. During operation, it continuously outputs elastic restoring force, causing the power supply component 100 or the receiving component 200 to naturally move outward to its working position after unlocking or releasing. The second telescopic member 902 can be a rope reel, electric telescopic module, winding mechanism, linear actuator, or flexible cable, etc., and precisely controls the outward movement of the power supply component 100 or the receiving component 200 by controlling the release and retraction lengths of the rope 903. Thus, the first telescopic member 901 provides an active outward movement tendency, and the second telescopic member 902 provides controlled constraint; their cooperation ensures that the power supply component 100 or the receiving component 200 will neither suddenly swing out nor fail to complete docking due to insufficient outward movement.

[0072] Rope 903 is preferably a flexible, high-strength traction component, which can be made of steel cable, Kevlar rope, synthetic fiber rope, or sheathed cable. By setting rope 903 between the second telescopic component 902 and the power supply component 100 or the power receiving component 200, long-distance traction and pullback can be achieved without occupying a large amount of rigid mechanism space in the middle of the deck.

[0073] By combining the first telescopic member 901 and the second telescopic member 902 into a dual telescopic path, this embodiment enables phased control: In the initial stage, the second telescopic member 902 is released, and the first telescopic member 901 pushes the power supply member 100 or the receiving member 200 outwards but is still limited by the side wings; after successful adsorption, the second telescopic member 902 is released again, causing the power supply member 100 or the receiving member 200 to move further out of the side wings and enter a free compensation state; after charging is completed, the second telescopic member 902 is used to reel in the rope 903 for retrieval. This mechanism scheme can better balance stability, fault tolerance, and retrieval reliability than a single push rod or a single rope reel scheme.

[0074] Example 7

[0075] Reference Figure 10 This embodiment corresponds to claim 7, focusing on the partitioned arrangement of the first telescopic member 901 and the second telescopic member 902 within the hull. An equipment installation area X1 is located in the middle of the deck 700. The first telescopic member 901 is located in a lateral installation area X2 near the first wing 300 or the second wing 400, and the second telescopic member 902 is located in a compensation installation area X3 outside the equipment installation area X1. This arrangement is based on the reality that the internal space of the unmanned surface vessel is limited in height, and the middle of the deck 700 is already occupied by core equipment.

[0076] Equipment layout area X1 is typically used for storing UAVs. It also houses battery boxes, main control cabinets, communication modules, navigation modules, power converters, and other mission payloads. These components occupy a significant portion of the space in the middle of deck 700. If the main outward movement mechanism were still located in the middle, it would not only easily cause spatial interference but also increase maintenance difficulty. Therefore, in this embodiment, the first telescopic member 901, which provides rigid support, is placed in the lateral mounting area X2 near the two side wings, making it as close as possible to the outward movement paths of the power supply unit 100 and the power receiving unit 200 to shorten the force transmission chain and improve support stability. Simultaneously, the second telescopic member 902 is placed in the compensation mounting area X3 outside equipment layout area X1, which fully utilizes the remaining space above or below deck 700 to complete the layout of the rope release and retrieval mechanism.

[0077] Through this partitioned arrangement, the first telescopic component 901 and the second telescopic component 902 no longer compete for valuable equipment space in the middle of the deck 700. The first telescopic component 901 provides near-end support, directly offering outward support to the power supply component 100 or the power receiving component 200; the second telescopic component 902 provides far-end release and pullback, utilizing rope 903 and fixed pulley 903a to achieve force transfer through a loop. In this way, even with densely packed equipment inside the vessel, the integration of a magnetic emergency power supply structure can still be achieved without significantly increasing the vessel's size.

[0078] Furthermore, the separation of the lateral installation area X2 and the compensation installation area X3 facilitates maintenance and functional isolation. If the first telescopic component 901 experiences mechanical wear, it can be disassembled and reassembled from the lateral area; if the second telescopic component 902, its winding mechanism, and the rope 903 require maintenance, they can be operated independently within the compensation installation area X3, without directly affecting the core electronic equipment in the equipment layout area X1. This layout balances space utilization, assembly accessibility, and long-term maintenance convenience.

[0079] Example 8

[0080] Reference Figure 8 , Figure 9 , Figure 11 and Figure 12 This section further explains the specific connection relationships between the power supply component 100, the power receiving component 200, the first telescopic component 901, the second telescopic component 902, the rope 903, and the fixed pulley 903a. The power supply component 100 and the power receiving component 200 are respectively connected to the deck 700 via corresponding first telescopic components 901. The first telescopic component 901 has a first rotating component 901a and a second rotating component 901b at both ends. The power supply component 100 and the power receiving component 200 are respectively connected to the structural frame 800 via corresponding ropes 903 and the second telescopic component 902. A fixed pulley 903a, in close contact with the rope 903, is located at the top of the deck 700.

[0081] The purpose of providing rotating parts at both ends of the first telescopic member 901 is to allow the power supply member 100 or the power receiving member 200 to extend not only in a roughly horizontal direction during outward movement, but also to allow for a certain range of swaying and angle compensation when disturbed by sea waves. The first rotating part 901a is preferably located at one end of the power supply member 100 or the power receiving member 200, and the second rotating part 901b is preferably located on one side of the deck 700, thus forming a rotatable linkage support for the first telescopic member 901. When the power supply member 100 or the power receiving member 200 is attracted to the opposite magnetic suction member 500 and is affected by relative hull drift, the first telescopic member 901 can produce a moderate angle change with the cooperation of the rotating parts, without causing damage to the power supply member 100, the power receiving member 200, or the side structure due to excessive rigidity.

[0082] The second telescopic component 902 is connected to the power supply component 100 or the power receiving component 200 via a rope 903, and the direction of force is changed by a fixed pulley 903a, so that the traction direction of the rope 903 coordinates with the main support direction of the first telescopic component 901. The fixed pulley 903a is located at the top of the deck 700, which facilitates the use of the space above the deck 700 for guiding the rope 903, and also allows the second telescopic component 902 to be positioned in the obstacle avoidance equipment arrangement area X1 without affecting the pullback effect. Through the cooperation of the rope 903 and the fixed pulley 903a, the smooth release of the extension stroke of the power supply component 100 and the power receiving component 200 and the smooth pullback during the retrieval process can be achieved.

[0083] Furthermore, the aforementioned connection method endows the power supply component 100 and the power receiving component 200 with at least two degrees of freedom of compensated motion. The first degree of freedom can be expressed as the angular adjustment caused by the rotation of the first telescopic component 901, and the second degree of freedom can be expressed as the displacement compensation allowed by the rope 903 within a certain range. With the help of this combined support method, the power supply component 100 and the power receiving component 200 are no longer rigidly fixed to the hull after magnetic docking, but are connected to the interior of the hull in a controllable and compliant manner, thus making them more suitable for floating coupled power supply in offshore environments.

[0084] Example 9

[0085] Reference Figure 13 and Figure 14 This embodiment provides an emergency charging method for unmanned surface vessels (USVs) in the open ocean. First, the lifeboat approaches the vicinity of the vessel to be rescued. The second telescopic member 902 of the lifeboat is controlled to release at a preset rate, while the first telescopic member 901 continuously outputs elastic restoring force to drive the power supply unit 100 to move away from the first wing 300. At the same time, the second telescopic member 902 is kept taut during the extension process. Simultaneously, the power receiving unit 200 of the vessel to be rescued is extended.

[0086] Subsequently, when the power supply component 100 and the power receiving component 200 are displaced by a first distance V1, the first distance V1 is less than the depth V2 of the corresponding power supply component 100 or power receiving component 200 along the extension direction, so that the power supply component 100 and the power receiving component 200 are still in the limited state of the first side wing 300 and the second side wing 400, respectively. In this state, although the power supply component 100 and the power receiving component 200 have partially extended, they have not completely escaped the constraint of the side wing openings, thus having good attitude stability. At this time, the lifeboat is driven to move closer to the rescued boat, so that the magnetic attraction component 500 on the power supply component 100 and the power receiving component 200 attract each other. The strategy of partially extending first and then magnetically docking can significantly reduce the problem of difficult alignment in a completely free state and improve the docking success rate.

[0087] After the magnetic chuck 500 attracts the lifeboat and the rescued boat, the second telescopic component 902 of the lifeboat and the boat being rescued is released, causing the power supply component 100 to move out of the first side wing 300 and the power receiving component 200 to move out of the second side wing 400. At this time, since the two are connected by the magnetic chuck 500, and the first telescopic component 901 and the second telescopic component 902 jointly provide compliant support, the power supply component 100 and the power receiving component 200 are in a floating compensation state relative to the lifeboat and the rescued boat during the charging process. In other words, when the two boats float relative to each other due to waves, the power supply component 100 and the power receiving component 200 can absorb this relative displacement through local compensation, so as not to directly transmit all the fluctuations to the coil coupling interface, thereby maintaining a relatively stable power supply relationship.

[0088] After charging is complete, the second telescopic component 902 retracts, allowing the power supply component 100 and the power receiving component 200 to retract into the first side wing 300 and the second side wing 400. The recovery process can be automatically triggered based on remaining battery power, a charging completion command, or a coupling status monitoring signal, or it can be initiated by a remote control command. Through this phased extension, adsorption, release, compensation, and recovery process, this embodiment achieves an emergency charging procedure suitable for unmanned surface vessels in offshore environments.

[0089] In practical applications, the preferred approach path for the lifeboat to the rescued boat is a slow, lateral approach, reducing relative speed before entering the adsorption range of the magnetic chuck 500 to minimize contact impact. The control system can determine the relative position of the power supply unit 100 and the receiving unit 200 through visual recognition, millimeter-wave radar, laser ranging, ultrasonic ranging, or proximity sensor signals near the magnetic chuck 500. When it is determined that the two have entered a suitable adsorption distance range, the current release state can be maintained and the boat handling actions can be further refined to prioritize the establishment of an adsorption relationship by the dual-end magnetic chuck 500. After adsorption is completed, the establishment of a non-contact power supply link can be confirmed by monitoring the coupling voltage, current, or mutual inductance changes between the transmitting coil 101 and the receiving coil 201 before switching to the formal power supply mode to further improve the safety and reliability of the emergency power replenishment process.

[0090] Example 10

[0091] Reference Figure 15 and Figure 16 This section further explains the guidance and correction process during the recovery phase. During the retraction of the power supply component 100 and the power receiving component 200 into the first wing 300 and the second wing 400, the rope 903 pulls the power supply component 100 and the power receiving component 200 back. Due to the effects of waves and the inertia of the hull, the power supply component 100 and the power receiving component 200 may still have vertical and horizontal positional deviations relative to the first wing 300 and the second wing 400 at the moment of recovery. Without guidance correction, this deviation may cause the edges of the power supply component 100 and the power receiving component 200 to directly impact the wing openings, resulting in jamming, wear, or even failure to recover successfully.

[0092] Therefore, in this embodiment, the guide surface N formed on the side of the corresponding wing interior of the power supply component 100 and the power receiving component 200 is used to guide the vertical deviation of the power supply component 100 and the power receiving component 200 into the corresponding wing. Specifically, when the power supply component 100 or the power receiving component 200 floats or sinks slightly relative to the wing opening, the guide surface N on its outer surface first contacts the edge of the opening. Under the continuous pull-back action of the rope 903, the contact point slides along the guide surface N, and the power supply component 100 or the power receiving component 200 is gradually pressed back into the vertical range allowed by the opening. This guiding action transforms a hard impact into controlled slippage, thereby reducing structural impact.

[0093] Meanwhile, the guide surface N of the guide 600 is used to guide the power supply component 100 and the power receiving component 200 into the corresponding side wing despite horizontal deviations. When the power supply component 100 or the power receiving component 200 is misaligned with the side wing opening during retraction, the inclined, rounded, or arc-shaped surfaces at both ends of the guide 600 first contact the edge of the opening and, under the action of the pull-back force, guide the power supply component 100 or the power receiving component 200 to the center area of ​​the opening. Since the guide 600 is located at both ends, it is not only effective against horizontal misalignment but also, to a certain extent, suppresses the oblique insertion phenomenon caused by the end getting stuck first.

[0094] Preferably, the recovery speed of the second telescopic member 902 during the recovery process should match the return trend of the first telescopic member 901 to avoid excessively rapid pullback causing impact. If necessary, damping control or a segmented recovery procedure can also be set in the second telescopic member 902, that is, a lower recovery speed is used in the initial stage of guide contact, and the recovery speed is increased after the power supply member 100 and the power receiving member 200 enter the side wing opening. Through the pullback of the rope 903 and the coordinated cooperation of the guide surface N and the guide member 600, this embodiment can achieve stable recovery even with residual position deviation, thus forming a complete closed loop for the entire emergency charging method.

[0095] Finally, it should be noted that the methods and devices described in detail above are merely embodiments, and those skilled in the art can modify these embodiments in different ways as long as they do not depart from the scope of the present invention.

Claims

1. A magnetic emergency power supply structure for unmanned surface vessels in the open ocean, characterized in that: include, A power supply unit (100) is disposed within the first side wing (300), and a transmitting coil (101) is disposed within the power supply unit (100). A power receiving element (200) is disposed within the second side wing (400), and a receiving coil (201) is disposed within the power receiving element (200). The effective dimensions of the transmitting coil (101) and the receiving coil (201) along the preset offset direction M are different. The coil plane of the transmitting coil (101) is parallel to the side of the first side wing (300), and the coil plane of the receiving coil (201) is parallel to the side of the second side wing (400).

2. The magnetic emergency power supply structure for unmanned surface vessels in the open ocean as described in claim 1, characterized in that: The preset offset direction M is the length direction of the power supply component (100) and the power receiving component (200). The effective dimension of the transmitting coil (101) along the preset offset direction M is L1, and the effective dimension of the receiving coil (201) along the preset offset direction M is L2. ; in, The preset relative offset is the amount of the preset offset direction M when the power supply component (100) and the power receiving component (200) are connected.

3. The magnetic emergency power supply structure for unmanned surface vessels in the open ocean as described in claim 2, characterized in that: Both ends of the power supply component (100) and the power receiving component (200) are provided with magnetic suction components (500), and the length of the magnetic suction component (500) along the preset offset direction M is L3, wherein, .

4. The magnetic emergency power supply structure for unmanned surface vessels in the open ocean as described in any one of claims 1 to 3, characterized in that: Both ends of the power supply component (100) and the power receiving component (200) are provided with guides (600), and the side of the power supply component (100) and the power receiving component (200) facing the interior of the corresponding side wings continuously transitions with the end face of the guide (600) to form a guide surface (N).

5. An unmanned surface vessel for use in the open sea, characterized in that: Including magnetic emergency power supply structure, and also, The deck (700) is mounted on the structural frame (800) of the unmanned surface vessel; A first side wing (300) is disposed on one side of the unmanned surface vessel, and a power supply unit (100) is disposed inside the first side wing (300). The second side wing (400) is located on the other side of the unmanned vessel, and an electrical connector (200) is provided inside the second side wing (400). The telescopic mechanism (900) is installed inside the unmanned surface vessel and is connected to the power supply component (100) and the power receiving component (200).

6. The unmanned surface vessel for open seas as described in claim 5, characterized in that: The telescopic mechanism (900) includes, The first telescopic member (901) has one end connected to the power supply member (100) or the power receiving member (200); The second telescopic component (902) is connected at one end to the power supply component (100) or the power receiving component (200) via a rope (903).

7. The unmanned surface vessel for open seas as described in claim 6, characterized in that: The deck (700) has an equipment arrangement area (X1) in the middle, the first telescopic member (901) is located in the lateral installation area (X2) near the first wing (300) or the second wing (400), and the second telescopic member (902) is located in the compensation installation area (X3) outside the equipment arrangement area (X1).

8. The unmanned surface vessel for open sea use as described in claim 6 or 7, characterized in that: The power supply component (100) and the power receiving component (200) are respectively connected to the deck (700) through corresponding first telescopic components (901). The first telescopic component (901) has a first rotating component (901a) and a second rotating component (901b) at both ends. The power supply component (100) and the power receiving component (200) are respectively connected to the structural frame (800) through corresponding ropes (903) and second telescopic components (902). The top of the deck (700) is provided with a fixed pulley (903a) that is in close contact with the rope (903).

9. An emergency charging method for unmanned surface vessels (USVs) in the open ocean, characterized in that: Includes the following steps: As the lifeboat approaches the rescued boat, the second telescopic component (902) of the lifeboat is controlled to release at a preset rate, and the first telescopic component (901) is continuously output with elastic restoring force to drive the power supply component (100) to move away from the first wing (300). At the same time, the second telescopic component (902) is kept taut during the extension process; the power supply component (200) of the rescued boat is extended simultaneously. When the power supply component (100) and the power receiving component (200) are displaced by a first distance V1, the first distance V1 is less than the depth V2 of the corresponding power supply component (100) or power receiving component (200) along the extension direction, so that the power supply component (100) and the power receiving component (200) are still in the limiting state of the first side wing (300) and the second side wing (400), respectively. In this state, the lifeboat is driven to approach the rescued boat, so that the power supply component (100) and the magnetic suction component (500) on the power receiving component (200) attract each other. After the magnetic suction component (500) is attracted, the second telescopic component (902) of the lifeboat and the rescued boat is controlled to perform a release action, so that the power supply component (100) moves out of the first side wing (300) and the power receiving component (200) moves out of the second side wing (400), so that the power supply component (100) and the power receiving component (200) are in a floating compensation state relative to the lifeboat and the rescued boat during the charging process; After charging is completed, the second telescopic member (902) is controlled to retract so that the power supply member (100) and the power receiving member (200) are retracted into the first side wing (300) and the second side wing (400).

10. The emergency charging method for unmanned surface vessels in the open ocean as described in claim 9, characterized in that: During the process of the power supply component (100) and the power receiving component (200) being retracted into the first side wing (300) and the second side wing (400), the rope (903) pulls back the power supply component (100) and the power receiving component (200); when there is a positional deviation between the power supply component (100) and the power receiving component (200) and the first side wing (300) and the second side wing (400), the guide surface (N) formed by the power supply component (100) and the power receiving component (200) towards the inner side of the corresponding side wing guides the vertical deviation of the power supply component (100) and the power receiving component (200) into the corresponding side wing, and the guide surface (N) of the guide component (600) guides the horizontal deviation of the power supply component (100) and the power receiving component (200) into the corresponding side wing.

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