Solar-powered and wireless-charged multifunctional support ship for underwater vehicle

Abstract

The utility model belongs to the technical field of energy supply and matching of underwater vehicles, and particularly relates to a solar-powered and wireless-charged multifunctional support ship for an underwater vehicle, which comprises a platform main body and a solar panel arranged at the top end of the platform main body; the signal transceiving assembly is arranged at the top end of the platform main body and is used for receiving and transmitting signals; the floating driving assembly is arranged at the bottom end of the platform main body, and the floating driving assembly is used for providing buoyancy and power for the platform main body so that the platform main body can float and move on the sea surface; the cabin is fixedly arranged at the bottom end of the platform body, the cabin is used for containing the wireless charging assembly, and the wireless charging assembly is used for charging the underwater vehicle. According to the utility model, reliable and efficient energy supply is provided for the underwater vehicle, the endurance bottleneck of underwater operation is broken through, the requirements of long-time and large-range operation of the underwater vehicle in various fields of ocean development are met, and the development of ocean industry technical innovation and deep sea unmanned operation is promoted.

Description

TECHNICAL FIELD

[0001] The utility model belongs to underwater vehicle energy supply and supporting technology field especially, it relates to solar power supply and underwater vehicle multifunctional support ship of wireless charging. BACKGROUND

[0002] In modern ocean development, underwater vehicles play a key role in many fields such as marine resource exploration, ecological monitoring, underwater archaeology, military antisubmarine, etc. However, its endurance is a key factor restricting development. Underwater vehicles rely on their own limited power to work, which seriously limits the continuity of the task, making it impossible to work stably in the target area for a long time, and frequent interruptions for charging will greatly affect work efficiency; at the same time, insufficient endurance also limits the scope of work, making it difficult to work in deep sea areas far from the supply point; from the cost-effectiveness point of view, frequent charging round trips increase energy consumption and equipment wear and tear, virtually increasing the overall operating cost. In the field of solar ships, although research is constantly advancing, such as improving battery conversion efficiency, starting from material innovation, trying different material combinations and processes to improve the photoelectric conversion efficiency of solar cells; in the energy management system, it is developing towards intelligence in order to make more efficient use of solar energy. However, when applying solar power to underwater vehicle support ships, further consideration needs to be given to how to adapt to complex marine environments, such as changing light conditions, seawater corrosion, etc. Wireless charging technology in underwater equipment applications, circuit topology structure is constantly evolving, researchers are committed to optimizing transmission efficiency. However, the particularity of the underwater environment, such as the conductivity of seawater, signal attenuation, etc., makes the application of wireless charging in water face many challenges, for example, how to ensure stable and efficient charging of underwater vehicles within a certain transmission distance, is still a problem to be solved. In the field of intelligent ship navigation and obstacle avoidance, multi-sensor fusion algorithms are constantly advancing, and hardware integration is also continuously innovating. However, in the actual marine environment, faced with complex sea conditions such as wind, waves, currents, tides, etc., and various interference factors such as electromagnetic interference, multipath effect, shielding, etc., the existing navigation and obstacle avoidance system is still difficult to meet the requirements of high precision and high reliability, and there is still room for improvement in precise navigation and effective obstacle avoidance.

[0003] Therefore, it is necessary to design a solar-powered and wireless-charged underwater vehicle multifunctional support ship to solve the above problems. UTILITY MODEL CONTENT

[0004] The utility model discloses a solar power supply and wireless charging's underwater vehicle multifunctional support ship, through efficient solar energy collection, stable wireless charging transmission, accurate automatic navigation, reliable obstacle avoidance and intelligent charging docking technology, provide reliable and efficient energy supply for underwater vehicle, break through the endurance bottleneck of underwater operation, satisfy the demand of long time, large range operation of underwater vehicle in each field of ocean development, promote the development of ocean industry technology innovation and deep sea unmanned operation.

[0005] In order to realize the above-mentioned purpose, the utility model provides the following scheme: solar power supply and wireless charging's underwater vehicle multifunctional support ship, including

[0006] Platform main part, top end is provided with solar panel;

[0007] Signal transceiver assembly is set up in platform main part top end, and signal transceiver assembly is used to receive and emit signal;

[0008] Floating drive assembly is set up in platform main part bottom end, and floating drive assembly is used to provide buoyancy and power for platform main part, so that platform main part floats and moves on the sea surface;

[0009] Cabin is fixedly set up in platform main part bottom end, and cabin is used to accommodate wireless charging assembly, and wireless charging assembly is used to charge underwater vehicle.

[0010] Based on the solar power supply and wireless charging's underwater vehicle multifunctional support ship of the utility model, the wireless charging assembly includes waterproof cable, one end of the waterproof cable is electrically connected with the solar panel, the other end of the waterproof cable is electrically connected with the wireless charging device, and the power assembly and the clamping assembly are arranged on the wireless charging device.

[0011] Based on the solar power supply and wireless charging's underwater vehicle multifunctional support ship of the utility model, the power assembly includes a plurality of motor supports, a plurality of motor supports are fixedly connected with the wireless charging device and are arranged at equal intervals along the circumference of the wireless charging device, a first waterproof motor and a second waterproof motor are fixedly embedded in each motor support, the output shafts of the first waterproof motor and the second waterproof motor are fixedly connected with the fan blades, and the rotation directions of the fan blades on the first waterproof motor and the second waterproof motor are spatially perpendicular.

[0012] Based on the solar power supply and wireless charging's underwater vehicle multifunctional support ship of the utility model, the clamping assembly includes a plurality of mechanical claw connecting shafts, a plurality of mechanical claw connecting shafts are fixedly connected with the wireless charging device and are arranged at equal intervals along the circumference of the wireless charging device, and each mechanical claw connecting shaft is hingedly connected with a mechanical claw.

[0013] The utility model discloses a solar power supply and wireless charging's underwater vehicle multifunctional support ship, the floating drive subassembly includes drive part and a plurality of first ship body support, the first ship body support fixed setting at the platform main part bottom end, a plurality of first ship body support interval setting, a plurality of first ship body support bottom end common fixed connection has two pontoons, two floating pontoons symmetry sets up at platform main part both sides, two floating pontoons between fixed connection has a plurality of second ship body support, drive part fixed setting at platform main part bottom end.

[0014] The utility model discloses a solar power supply and wireless charging's underwater vehicle multifunctional support ship, drive part includes underwater propeller, underwater propeller fixed setting at platform main part bottom end.

[0015] The utility model discloses a solar power supply and wireless charging's underwater vehicle multifunctional support ship, signal transceiver subassembly includes GPS antenna and two signal receiving antennas, GPS antenna with signal receiving antenna all fixed setting at platform main part top one end, two signal receiving antennas symmetry sets up at GPS antenna both sides.

[0016] The utility model discloses a solar power supply and wireless charging's underwater vehicle multifunctional support ship, platform main part top other end still fixed connection has first camera.

[0017] Compared with the prior art, the utility model has the following advantages and technical effects:

[0018] The solar panel can be efficiently and stably powered, and can stably operate under different seasons, weather and ship body posture changes, effectively reduces the energy collection fluctuation caused by unstable attention, guarantees the continuous energy supply, the wireless charging assembly greatly improves the energy supply efficiency, enhances the endurance of the underwater vehicle, the signal transceiver assembly makes the support ship can accurately steer to the position of the underwater vehicle, reduces the search time and energy consumption caused by navigation deviation, improves the task execution efficiency, the first camera greatly improves the navigation safety and reliability of the support ship in the complex marine environment, the clamping assembly can stably grab the underwater vehicle, effectively prevents the charging interruption caused by ocean current impact, guarantees the smooth progress of the charging process. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical scheme in the embodiments of the utility model or prior art, the following will briefly introduce the drawings needed to be used in the embodiments, and obviously, the drawings in the following description are only some embodiments of the utility model, and those skilled in the art can obtain other drawings according to these drawings without creating creative labor.

[0020] Fig. 1 It is the whole schematic view of the utility model;

[0021] Fig. 2 It is the bottom schematic view of the utility model.

[0022] 1, platform main body; 2, solar panel; 3, signal receiving antenna; 4, GPS antenna; 5, first camera; 6, first ship body support; 7, float; 8, waterproof cable; 9, wireless charging device; 10, mechanical claw connecting shaft; 11, mechanical claw; 12, motor support; 13, first waterproof motor; 14, second waterproof motor; 15, second ship body support; 16, underwater propeller; 17, cabin; 18, second camera. DETAILED DESCRIPTION

[0023] The technical solutions in the embodiments of the utility model will be described clearly and completely below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the utility model.

[0024] In order to make the above-mentioned purposes, features and advantages of the utility model more apparent, obvious and easy to understand, the utility model will be further described in detail below with reference to the drawings and specific embodiments.

[0025] Referring to Figs. 1-2 The utility model provides solar power supply and wireless charging's underwater vehicle multifunctional support ship, including

[0026] Platform main body 1, top end is provided with solar panel 2;

[0027] Signal transceiver assembly, be set up in platform main body 1 top end, and signal transceiver assembly is used to receive and emit signal;

[0028] Float driving assembly, be set up in platform main body 1 bottom end, and float driving assembly is used to provide buoyancy and power for platform main body 1, so that platform main body 1 floats and moves on the sea surface;

[0029] Cabin 17, fixedly set up in platform main body 1 bottom end, and cabin 17 is used to accommodate wireless charging assembly, and wireless charging assembly is used to charge underwater vehicle.

[0030] The utility model comprehensively considers the illumination, heat, seasonal change of ship navigation area, combines the ship structure and cost benefit, uses quantitative evaluation model to compare monocrystalline silicon, polycrystalline silicon, thin film battery and perovskite battery etc., according to the actual operation sea area illumination big data, selects the solar cell that is adapted to. Meanwhile, according to the energy storage demand, the different types of energy storage devices such as lithium ion battery, super capacitor are evaluated. Considering the energy storage density, charge-discharge efficiency, cycle life and safety factors, the appropriate energy storage device is selected to provide buffer for the stable energy supply of the system. For example, in the scene needing frequent short-time high-power discharge, super capacitor is matched, and lithium ion battery works cooperatively to meet the instantaneous high-power demand and prolong the service life of the battery.

[0031] MPPT algorithm is selected and improved from classical algorithm to adapt to the situation of illumination mutation, shadow change and load change when the support ship sails. The key components of BOOST circuit are selected, and the power MOSFET switch tube drive protection circuit is designed. At the same time, a special energy storage management system hardware is designed. BMS is responsible for monitoring the voltage, current and temperature of the energy storage device, implementing overcharge, overdischarge, overcurrent and overheat protection, balancing the power of each single battery in the battery pack, and ensuring the safe and efficient operation of the energy storage device. On the PCB layout, the electrical performance, heat dissipation and electromagnetic compatibility of the solar charging circuit, energy storage management circuit and other system circuits are considered, and the electrical performance is optimized through circuit simulation software.

[0032] MPPT and energy storage management software system is constructed based on high-performance embedded platform. MPPT software collects solar cell voltage and current signals in real time, and after interrupt program processing, the PWM duty cycle is accurately controlled by intelligent adaptive algorithm core function calculation, realizing solar maximum power point tracking. The energy storage management software monitors the state of the energy storage device in real time, and controls the charging and discharging process according to the preset strategy. The experimental platform simulating ocean illumination and sailing conditions is built to compare the system performance under the conditions of MPPT intervention and different energy storage management strategies, analyze the error and introduce compensation algorithm to ensure the stable and efficient operation of solar power supply and energy storage system.

[0033] Through the accurate selection and adaptation of solar panel 2, combined with the optimized MPPT technology, in the typical operation sea area, the system can realize the photovoltaic conversion efficiency improvement of 8.24% compared with the traditional unoptimized system. For example, under the condition of 800W / ㎡ of illumination intensity, through testing, the actual output power of each square meter of solar panel 2 can reach 240W by using improved MPPT algorithm and selected high-efficiency solar panel 2, which is increased by 19.78W compared with the traditional scheme. At the same time, under the conditions of different seasons, weather and ship posture changes, the system can stably run, effectively reduces the energy collection fluctuation caused by unstable illumination, and guarantees the continuous energy supply.

[0034] The equipped energy storage device, such as a high-performance lithium ion battery, reaches 180 Wh / kg in energy storage density, and meets the power buffering demand of a support ship and an underwater vehicle. In terms of wireless charging, through circuit simulation optimization and actual testing, the transmission efficiency of the wireless charging system reaches 85% within a set standard transmission distance, which is 4% higher than the efficiency of a traditional underwater charging method. In a typical charging scene of an underwater vehicle, the time for the vehicle equipped with the charging system of the utility model to be fully charged from low power is shortened by 30% compared with a traditional recovery charging method, which greatly improves the energy supply efficiency and enhances the endurance of the underwater vehicle.

[0035] Further, the wireless charging assembly includes a waterproof cable 8, one end of which is electrically connected with the solar panel 2, and the other end of which is electrically connected with a wireless charging device 9, and the wireless charging device 9 is provided with a power assembly and a clamping assembly.

[0036] The wireless charging device 9 is fixed at the bottom end with a second positioning camera 18 for visual positioning.

[0037] The wireless charging device 9 quantifies the influence of parameters such as frequency and coupling coefficient on power transmission according to the basic mathematical model of electromagnetic induction wireless charging. By comparing the performance of mainstream circuit topologies such as series-series and series-parallel under different input voltages, output currents, transmission distances and load variation conditions, and combining with the charging demand of the underwater vehicle, the optimal topology is selected to ensure the charging power, efficiency and stability.

[0038] According to the selected topology, key circuits such as full-bridge inverter, rectification filter and resonance compensation are built. Power devices are selected according to electrical parameters, switching speed and other factors, and a drive circuit is designed. A high-precision model is built using professional circuit simulation software to simulate the charging current, voltage waveform and transmission efficiency curve under different conditions. Through parameter scanning and optimization algorithm, the optimal circuit parameters are determined to improve the performance of the wireless charging system.

[0039] Further, the power assembly includes a plurality of motor supports 12, which are fixedly connected with the wireless charging device 9 and are arranged equidistantly along the circumference of the wireless charging device 9. The first waterproof motor 13 and the second waterproof motor 14 are fixedly embedded in each motor support 12. The output shafts of the first waterproof motor 13 and the second waterproof motor 14 are fixedly connected with fan blades, and the rotation directions of the fan blades on the first waterproof motor 13 and the second waterproof motor 14 are spatially perpendicular.

[0040] Further, the clamping assembly includes a plurality of mechanical claw connecting shafts 10, which are fixedly connected with the wireless charging device 9 and are arranged equidistantly along the circumference of the wireless charging device 9. Each mechanical claw connecting shaft 10 is hingedly connected with a mechanical claw 11.

[0041] A special mechanical claw device is designed. The mechanical claw 11 is made of high-strength and corrosion-resistant materials, and has sufficient grabbing force and flexible joint movement ability. The joint drive of the mechanical claw 11 adopts high-precision motor and transmission mechanism to ensure accurate and reliable action. Based on the charging target position and attitude information obtained by visual positioning, a mechanical claw 11 motion control model is constructed, and adaptive PID, fuzzy logic control and other algorithms are used to generate mechanical claw 11 motion control instructions to realize accurate grabbing and fixing of the underwater vehicle by the mechanical claw 11. During the grabbing process of the mechanical claw 11, the grabbing force and attitude of the mechanical claw 11 are monitored in real time, and the control strategy is adjusted through the feedback data of the force sensor and the attitude sensor to ensure stable grabbing in complex environments such as ocean currents.

[0042] Considering the underwater light propagation characteristics, a high-resolution, high-frame-rate, low-illumination CMOS camera and a high-power LED illumination module with a specific wavelength are selected. According to the principles of optical imaging, the parameters such as lens focal length and aperture are balanced to ensure clear capture of the charging target. The optical window material of the underwater pressure-resistant protective shell is carefully selected, and the aspheric processing technology, anti-bioadhesion coating treatment and optical sealing technology are adopted to ensure the accuracy of visual positioning.

[0043] Through image gray scale stretching, adaptive median filter denoising, edge detection optimization of deep learning, and feature extraction and matching of fused context semantic information, image data is processed. Relying on the underwater vehicle charging interface image sample library, high-robustness recognition models are trained using transfer learning and small-sample learning techniques. The recognition accuracy, recall rate and other indicators of the model under different light, turbidity and target attitude are analyzed to improve the target recognition accuracy.

[0044] Combined with visual positioning and mechanical claw 11 control, a complete charging docking control strategy is constructed. First, the mechanical claw 11 is guided to approach the underwater vehicle through visual positioning. When the distance is appropriate, the mechanical claw 11 starts the grabbing action. After grabbing and fixing, the wireless charging system is calibrated and connected, and the charging process begins. A series of docking experiments are carried out in a pool and open water to simulate various initial docking conditions. The docking success rate, docking accuracy and mechanical claw 11 grabbing stability are recorded. The control strategy parameters are optimized to achieve efficient and stable charging docking.

[0045] The customized visual hardware system combined with advanced image processing and target recognition algorithms has a recognition accuracy of up to 98% for the underwater vehicle charging interface under different light and turbidity conditions. Based on this, the lateral accuracy of the charging docking can reach ±2cm, the longitudinal accuracy can reach ±3cm, and the angle deviation can be controlled within ±5°, ensuring accurate docking of the charging coil and improving the stability and efficiency of wireless charging.

[0046] The designed mechanical claw 11 has a success rate of more than 86% in complex ocean current environment by virtue of high-strength corrosion-resistant materials and precise control algorithms. In the simulated ocean current with a water flow speed of 1 m / s, the mechanical claw 11 can stably grasp the underwater vehicle, and the grasping force is maintained at more than 50 N, effectively preventing the interruption of charging due to ocean current impact and ensuring the smooth progress of the charging process.

[0047] Further, the floating driving assembly includes a driving part and a plurality of first hull supports 6, the first hull supports 6 are fixedly arranged at the bottom end of the platform body 1, the plurality of first hull supports 6 are arranged at equal intervals, the bottom ends of the plurality of first hull supports 6 are fixedly connected with two pontoons 7, the two pontoons 7 are symmetrically arranged on the two sides of the platform body 1, a plurality of second hull supports 15 are fixedly connected between the two pontoons 7, and the driving part is fixedly arranged at the bottom end of the platform body 1.

[0048] Further, the driving part includes an underwater thruster 16 fixedly arranged at the bottom end of the platform body 1.

[0049] Further, the signal transceiving assembly includes a GPS antenna 4 and two signal receiving antennas 3, the GPS antenna 4 and the signal receiving antennas 3 are both fixedly arranged at one end of the top of the platform body 1, and the two signal receiving antennas 3 are symmetrically arranged on the two sides of the GPS antenna 4.

[0050] The navigation hardware matrix is constructed by fusing GPS L5 band, Beidou-3 and high-precision fiber-optic gyroscope IMU. The accuracy and stability of each module under different satellite signal coverage, motion states and environmental interference are compared, the sensor installation position is optimized, the signal conditioning circuit is designed, the noise interference is eliminated, the signal integrity and anti-interference ability are enhanced, and the hardware support is provided for accurate navigation.

[0051] The extended Kalman filter, unscented Kalman filter and particle filter algorithms are used for multi-sensor data fusion positioning. Through algorithm processing of satellite signal loss, IMU drift and data association and other problems, combined with differential GPS, high-precision total station and other benchmark measurement equipment, the positioning accuracy is evaluated, the error compensation mechanism is established, and the navigation system accuracy is improved.

[0052] The laser radar, multi-beam sonar, millimeter wave radar and other sensors are selected, and the obstacle avoidance algorithm based on data layer fusion or feature layer fusion is designed. The Gazebo, V-Rep and other simulation environments are used to simulate the obstacle and water flow interference scene, and the obstacle avoidance decision logic is optimized. The obstacle avoidance test is carried out on the physical ship, the response time, safety distance, trajectory smoothness and energy consumption and other indicators are recorded, and the performance of the obstacle avoidance system is evaluated.

[0053] Further, the first camera 5 is further fixedly connected to the other end of the top of the platform body 1.

[0054] The navigation system fuses multi-satellite system and high-precision fiber-optic gyroscope IMU, and positioning accuracy is significantly improved in complex sea conditions. Lake and offshore test data show that when sailing in a straight line, the positioning error can be controlled within ±2 m; when turning in a curve, the error can also be stabilized at ±3 m, which is 50% higher than the accuracy of a single satellite navigation system. This enables the support ship to accurately sail to the location of the underwater vehicle, reducing search time and energy consumption caused by navigation deviation, and improving task execution efficiency.

[0055] The obstacle avoidance system uses multi-sensor fusion and advanced obstacle avoidance algorithms, and performs well in different obstacle scenarios and water flow interference. Simulation and actual testing show that the obstacle avoidance response time is shortened to within 0.5 s, the minimum safe distance can be controlled at 1 m, effectively avoiding collision with obstacles, and the obstacle avoidance success rate is more than 93%, greatly improving the navigation safety and reliability of the support ship in complex marine environments.

[0056] The utility model reinforces the ship body structure, optimizes equipment installation layout, ensures that each system hardware mechanical installation is stable, electrical connection is normal, software integration is smooth, realizes seamless communication and collaborative work between systems. Deploy and calibrate environmental monitoring equipment in the test site, draw a test layout map, and provide basic conditions for system testing.

[0057] The design covers comprehensive test schemes for automatic navigation-obstacle avoidance linkage, wireless charging-vision positioning-mechanical claw docking coordination, and energy storage device charging and discharging management. Simulate the whole process of underwater vehicle operation, such as calling for power consumption, support ship searching, mechanical claw grabbing and fixing, stable charging, and vehicle full-blood endurance, etc. Record the key state data of each system in different test stages, present the system interaction logic in time sequence chart, and comprehensively test the system function and cooperativity.

[0058] Quantitative evaluation of system performance from core dimensions such as energy supply efficiency, navigation reliability, charging docking accuracy and stability, and energy storage device performance. For the short board and bottleneck exposed by the test, such as charging efficiency decay with distance, navigation fluctuation in complex sea conditions, vision positioning obstruction failure, and mechanical claw grabbing instability, etc., hardware upgrade, software algorithm iteration and multi-system fusion strategy optimization direction are proposed to continuously improve system performance.

[0059] The utility model mainly relies on solar energy power supply. It will select suitable solar cell to collect energy according to the light and temperature condition of different seasons, weather, latitude under navigation area and the ship body own condition. The energy collected by these batteries is converted into electric energy stably and efficiently through specific control device, and the excess electric energy is stored. When the underwater vehicle needs to be charged, the support ship will receive the signal, and then open the navigation function. With the help of various satellite positioning systems and inertial navigation equipment, the position is accurately determined, and the direction of the underwater vehicle is advanced. In the advancing process, various detection devices on the ship will monitor the surrounding environment at all times, and once the obstacle is found, the ship will change the direction in time, avoid the obstacle and guarantee the navigation safety. When the support ship approaches the underwater vehicle, the wireless charging module is released, the attitude of the module is controlled according to the camera on the module, the receiving device of the vehicle is docked, and then the mechanical claw on the module will play the fixing role, prevent the influence of ocean current and realize the efficiency of electric energy transmission, and supplement the electric quantity. In the whole working process, various devices on the ship will collect data constantly, such as energy consumption, charging condition, navigation track etc. According to these data, the staff can improve the support ship, and the working efficiency is higher and the performance is better.

[0060] In the description of the utility model, it is understood that the orientation or position relation indicated by the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like is the orientation or position relation shown in the drawings, and is only for the convenience of describing the utility model, and does not indicate or imply that the device or element indicated must have a particular orientation, be constructed and operated in a particular orientation, therefore, it can not be understood as the limitation of the utility model.

[0061] The above-mentioned embodiment is only the preferred mode of the utility model, and does not limit the scope of the utility model, and various deformations and improvements of the technical scheme of the utility model made by the ordinary skill in the art without departing from the design spirit of the utility model should fall into the protection scope of the utility model.

Claims

1. A solar-powered and wirelessly-charged underwater vehicle multi-functional support ship, characterized in that, Including platform body (1), top end is provided with solar panel (2); Signal transceiver assembly, provided at the top end of the platform body (1), the signal transceiver assembly is used for receiving and transmitting signals; Floating drive assembly, provided at the bottom end of the platform body (1), the floating drive assembly is used for providing buoyancy and power for the platform body (1), so that the platform body (1) floats and moves on the sea surface; The cabin (17) is fixedly arranged at the bottom end of the platform body (1), and the cabin (17) is used for accommodating a wireless charging assembly for charging underwater vehicles.

2. The solar powered and wirelessly charged underwater vehicle mothership of claim 1, wherein, The wireless charging assembly includes a waterproof cable (8), one end of the waterproof cable (8) is electrically connected with the solar panel (2), and the other end of the waterproof cable (8) is electrically connected with a wireless charging device (9), and the wireless charging device (9) is provided with a power assembly and a clamping assembly.

3. The solar-powered and wirelessly charged underwater vehicle multi-support ship according to claim 2, wherein, The power assembly includes a plurality of motor supports (12), a plurality of the motor supports (12) are fixedly connected with the wireless charging device (9) and are arranged at equal intervals along the circumference of the wireless charging device (9), a first waterproof motor (13) and a second waterproof motor (14) are fixedly embedded in each of the motor supports (12), output shafts of the first waterproof motor (13) and the second waterproof motor (14) are fixedly connected with fan blades, and the rotating directions of the fan blades on the first waterproof motor (13) and the second waterproof motor (14) are spatially perpendicular.

4. The solar powered and wirelessly charged underwater vehicle mothership of claim 2, wherein, The clamping assembly includes a plurality of mechanical claw connecting shafts (10), a plurality of the mechanical claw connecting shafts (10) are fixedly connected with the wireless charging device (9) and are arranged at equal intervals along the circumference of the wireless charging device (9), and each of the mechanical claw connecting shafts (10) is hingedly connected with a mechanical claw (11).

5. The solar powered and wirelessly charged underwater vehicle mothership of claim 1, wherein, The floating drive assembly includes a driving part and a plurality of first hull supports (6), the first hull supports (6) are fixedly arranged at the bottom end of the platform body (1), a plurality of the first hull supports (6) are arranged at equal intervals, two floating cylinders (7) are fixedly connected at the bottom end of a plurality of the first hull supports (6), the two floating cylinders (7) are symmetrically arranged on both sides of the platform body (1), a plurality of second hull supports (15) are fixedly connected between the two floating cylinders (7), and the driving part is fixedly arranged at the bottom end of the platform body (1).

6. The solar-powered and wirelessly charged underwater vehicle multi-support ship according to claim 5, wherein, The driving part includes an underwater propeller (16), and the underwater propeller (16) is fixedly arranged at the bottom end of the platform body (1).

7. The solar powered and wirelessly charged underwater vehicle mothership of claim 1, wherein, The signal transceiver assembly includes a GPS antenna (4) and two signal receiving antennas (3), the GPS antenna (4) and the signal receiving antennas (3) are fixedly arranged at one end of the top of the platform body (1), and the two signal receiving antennas (3) are symmetrically arranged on both sides of the GPS antenna (4).

8. The solar powered and wirelessly charged underwater vehicle mothership of claim 1, wherein, The other end of the top of the platform body (1) is also fixedly connected with a first camera (5).

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