A wave energy robot for charging and exchanging data for underwater autonomous vehicles

Abstract

The utility model discloses a wave energy robot for underwater autonomous vehicle charging and exchanging data belongs to underwater autonomous vehicle technical field, solves the problem of AUV endurance ability limited, it includes robot main part. The robot main part of the utility model charges for battery cabin through wave energy power generation cabin, then utilizes the cooperation of guide cabin, ballast water cabin and propulsion cabin and moves to the deep sea and is close to AUV, after that, utilizes the electric energy wireless transmission of docking structure in battery cabin to AUV, provides the endurance ability for AUV, prolongs target AUV watch time, realizes the normal patrol of target sea area. Meanwhile, the robot main part carries out wireless data communication with AUV through docking structure, and the robot main part is used as data transmission medium, and data is transmitted between satellite and AUV, avoids exposing due to target AUV upwelling communication, and it is helpful to improve the survival ability of existing AUV in military confrontation sea area.

Description

Technical Field

[0001] This utility model relates to the field of underwater autonomous vehicle technology, specifically to a wave energy robot for charging and exchanging data for underwater autonomous vehicles. Background Technology

[0002] Autonomous Underwater Vehicles (AUVs) are a vital force in marine engineering equipment, playing a crucial role in marine defense and the economy. AUVs possess advantages such as unmanned operation, autonomy, intelligence, high flexibility, and strong stealth capabilities. Compared to divers, towed vehicles, or tethered remotely operated underwater vehicles (ROVs), AUVs offer significant advantages in terms of underwater operation range, depth, environment, modes, and flexibility.

[0003] When facing special working conditions and complex tasks, existing AUVs still exhibit serious limitations. Due to the lack of a charging device for AUVs, their endurance is limited, resulting in short range and flight time, which severely restricts the large-scale application of AUVs in deep sea. Utility Model Content

[0004] To address the aforementioned problems in the prior art, this invention provides a wave-energy robot for charging and exchanging data with an autonomous underwater vehicle (AUV), thus solving the problem of limited endurance for AUVs.

[0005] To achieve the above objectives, the technical solution adopted by this utility model is as follows:

[0006] A wave-energy robot for charging and exchanging data with an underwater autonomous vehicle is provided. The robot body includes a cabin, which, from top to bottom, includes a guide cabin for guiding the robot body's movement, a wave energy power generation cabin, a ballast water cabin, a propulsion cabin, a battery cabin, and a docking equipment cabin. The docking equipment cabin includes an equipment cabin, and the bottom of the equipment cabin is provided with a docking structure for wireless charging and wireless communication with the AUV.

[0007] In this scheme, the robot first charges its battery compartment at sea using a wave-powered generator. Then, through the coordinated movement of the guidance module, ballast tanks, and propulsion module, it moves to deep water and approaches the AUV. Afterward, it wirelessly transmits power from the battery compartment to the AUV via a docking structure, providing the AUV with extended endurance and extending its monitoring time, enabling routine patrols of the target area. Simultaneously, the robot communicates wirelessly with the AUV via the docking structure, acting as a data transmission medium between the robot and the satellite, preventing the AUV from being exposed due to surface communication and thus improving the survivability of existing AUVs in maritime areas of military confrontation.

[0008] Furthermore, the guidance cabin includes a glass enclosure, within which a guidance device and a satellite communication device are installed. The guidance device guides the movement of the robot body, while the satellite communication device serves as a data transmission medium, transmitting data between the satellite and the AUV.

[0009] Furthermore, the wave energy generation compartment is equipped with a wave energy generation device that is electrically connected to the battery compartment. The wave energy generation device converts ocean wave energy into electrical energy and stores it in the battery compartment, reducing dependence on external charging and extending the AUV's operating time.

[0010] Furthermore, the ballast water tank includes a water tank body, the bottom of which is connected to a pump compartment. The pump compartment houses a water pump, which is connected to both a drain pipe and an inlet pipe. By controlling the water flow in and out of the ballast water tank using the pump, the robot's buoyancy and attitude are adjusted to adapt to different water depths, improving its flexibility and stability during diving and surfacing.

[0011] Furthermore, the propulsion compartment includes a servo compartment containing multiple circumferentially evenly distributed servos. The output end of each servo is connected to a rotating arm located outside the servo compartment, and each rotating arm has a propeller thruster mounted on its free end. Multiple servos drive the circumferentially distributed propeller thrusters, enabling multi-directional propulsion and precise steering, enhancing underwater maneuverability and adapting to complex ocean current environments.

[0012] Furthermore, the battery compartment houses multiple battery groups electrically connected to the wave energy generation compartment. The circular layout of these multiple battery groups optimizes space utilization, provides redundant power support, and ensures that the system can continue to operate even if a single battery group fails, thereby improving reliability.

[0013] Furthermore, multiple battery sets are ring-shaped and fixed to battery mounting posts. These posts slide within the battery compartment, and their central sections are threadedly connected to a vertically positioned lead screw. This lead screw is then connected to the output of a center-of-gravity motor. The lead screw and motor work together to adjust the height of the battery mounting posts, dynamically adjusting the center of gravity position and, in conjunction with the ballast water tank, enhancing the AUV's snorkeling maneuvers.

[0014] Furthermore, the docking structure includes mechanical grippers for clamping and docking with the AUV. The gripping ends of the mechanical grippers are equipped with a wireless charging module and a wireless communication module, which are used for wireless charging and wireless communication with the AUV, respectively. The mechanical grippers integrate wireless charging and communication modules, enabling automatic clamping and contactless energy / data transmission of the AUV, avoiding the risks of underwater insertion and removal, and improving docking safety.

[0015] Furthermore, the equipment compartment is equipped with a drive motor for extending and retracting the mechanical grippers. The drive motor precisely controls the extension and retraction of the mechanical grippers, ensuring the stability and fault tolerance of the docking process and adapting to the interface requirements of different AUV models.

[0016] Furthermore, a central controller is installed within the equipment compartment. This central controller is connected to the drive motor, wireless charging module, wireless communication module, guidance compartment, ballast water tank, propulsion compartment, and battery compartment. The central controller centrally manages the collaborative operation of each module (such as charging, communication, and propulsion), enabling intelligent control and fault monitoring, and improving the overall system efficiency and response speed.

[0017] This utility model discloses a wave-energy robot for charging and exchanging data in underwater autonomous vehicles, which has the following advantages:

[0018] The robot body of this invention charges its battery compartment via a wave energy generation chamber. Then, through the coordinated movement of the guidance compartment, ballast water tank, and propulsion compartment, it moves to the deep sea and approaches the AUV. Afterwards, it wirelessly transmits power from the battery compartment to the AUV via a docking structure, providing the AUV with extended endurance and extending its monitoring time, enabling routine patrols of the target sea area. Simultaneously, the robot body engages in wireless data communication with the AUV via the docking structure. The robot body acts as a data transmission medium, transmitting data between the satellite and the AUV, avoiding exposure due to the AUV surfacing for communication, and contributing to improving the survivability of existing AUVs in military confrontation sea areas. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the wave energy robot.

[0020] Figure 2 This is a schematic diagram of the internal structure of a wave energy robot.

[0021] Figure 3 This is a schematic diagram of the movement trajectory of the wave energy robot.

[0022] The components are as follows: 1. Guiding compartment; 2. Wave power generation compartment; 3. Ballast water compartment; 4. Pump compartment; 5. Propeller; 6. Rotating arm; 7. Battery compartment; 8. Bulkhead compartment; 9. Docking equipment compartment; 10. Mechanical gripper; 11. Glass cover; 12. Wave power generation device; 13. Water tank body; 14. Threaded structure; 15. Pump; 16. Inlet pipe; 17. Drain pipe; 18. Steering gear; 19. Battery; 20. Battery mounting post; 21. Lead screw; 22. Center of gravity motor; 23. Drive motor; 24. Screw. Detailed Implementation

[0023] The specific embodiments of this utility model are described below to enable those skilled in the art to understand this utility model. However, it should be understood that this utility model is not limited to the scope of the specific embodiments. For those skilled in the art, as long as various changes are within the spirit and scope of this utility model as defined and determined by the appended claims, these changes are obvious. All utility model creations utilizing the concept of this utility model are within the scope of protection.

[0024] This embodiment provides a wave-energy robot for charging and exchanging data with an autonomous underwater vehicle (AUV), which addresses the problem of limited endurance of AUVs. It is shown in detail below.

[0025] refer to Figure 1 and Figure 2 A wave energy robot for charging and exchanging data for an underwater autonomous vehicle includes a robot body, which includes a cabin. The cabin, from top to bottom, includes a guidance cabin 1, a wave energy power generation cabin 2, a ballast water cabin 3, a propulsion cabin, a battery cabin 7, and a docking equipment cabin 9.

[0026] Specifically, the guidance cabin 1 is used to guide the movement of the robot body. The guidance cabin 1 includes a glass cover 11, inside which a guidance device and a satellite communication device are installed. The guidance device can guide the movement of the robot body, and the satellite communication device can serve as a data transmission medium to transmit data between the satellite and the AUV.

[0027] In this embodiment, the guidance device can be an optical guidance device, an acoustic guidance device, and a visual guidance light connected to the central controller. The optical guidance device can employ a camera and work in conjunction with the visual guidance light for visual guidance, suitable for short-range guidance. The acoustic guidance device can be based on sonar principles, detecting the AUV's location and distance by emitting / receiving ultrasonic signals, suitable for long-range guidance. The optical guidance device, acoustic guidance device, visual guidance light, and guidance device are all existing technologies, and their specific working principles and connections will not be elaborated upon in this embodiment.

[0028] Specifically, the wave energy generation compartment 2 is equipped with a wave energy generation device 12 that is electrically connected to the battery compartment 7. The wave energy generation device 12 converts ocean wave energy into electrical energy and stores it in the battery compartment 7, reducing dependence on external charging and extending the AUV's operating time.

[0029] Specifically, the ballast water tank 3 includes a water tank body 13. The bottom of the water tank body 13 is sealed and connected to the water pump chamber 4 through a threaded structure 14 and a sealing structure. The water pump chamber 4 is equipped with a water pump 15, which is connected to a drain pipe 17 and a water inlet pipe 16. The water pump 15 controls the water inlet and outlet of the ballast water tank 3, adjusting the buoyancy and attitude of the robot body to adapt to different water depth requirements and improve the flexibility and stability of diving or surfacing.

[0030] Specifically, the propulsion compartment includes a servo compartment containing multiple circumferentially distributed servos 18. The output end of each servo 18 is connected to a rotating arm 6 located outside the servo compartment, and each rotating arm 6 has a propeller thruster 5 mounted on its free end. The multiple servos 18 drive the circumferentially distributed propeller thrusters 5, achieving multi-directional propulsion and precise steering, enhancing underwater maneuverability, and adapting to complex ocean current environments.

[0031] Specifically, the battery compartment 7 houses multiple sets of batteries 19 that are electrically connected to the wave energy generation compartment 2. The circular layout of the multiple sets of batteries 19 optimizes space utilization, provides redundant power support, and ensures that the system can continue to operate even if a single set of batteries 19 fails, thereby improving reliability.

[0032] In this embodiment, multiple battery sets 19 are ring-shaped and fixed on battery fixing posts 20. The battery fixing posts 20 are slidably disposed within the battery compartment 7, and the middle part of the battery fixing posts 20 is threadedly connected to a vertically arranged lead screw 21. The lead screw 21 is drivenly connected to the output end of the center of gravity motor 22. The lead screw 21 and the center of gravity motor 22 work together to adjust the height of the water tank fixing posts 20, dynamically adjusting the center of gravity position, and cooperating with the ballast water tank 3 to improve the snorkeling movement of the AUV.

[0033] Specifically, the docking equipment compartment 9 includes an equipment compartment, the top of which is connected to the battery compartment 7 via a partition compartment 8, and the bottom of which is provided with a docking structure for wireless charging and wireless communication of the AUV.

[0034] The docking structure includes mechanical grippers 10 for docking and holding the AUV. The gripping ends of the mechanical grippers 10 are equipped with a wireless charging module and a wireless communication module, which are used for wireless charging and wireless communication with the AUV, respectively. The mechanical grippers 10 integrate wireless charging and communication modules, enabling automatic gripping and contactless energy / data transmission of the AUV, avoiding the risks of underwater insertion and removal, and improving docking safety.

[0035] The equipment compartment is equipped with a drive motor 23 for extending and retracting the mechanical gripper 10. The drive motor 23 drives the screw 24 on the mechanical gripper 10 to achieve extension and retraction. A central controller is also located within the equipment compartment. The central controller is connected to the drive motor 23, the wireless charging module, the wireless communication module, the guidance compartment 1, the ballast water tank 3, the propulsion compartment, and the battery compartment 7. The central controller centrally manages the collaborative work of each module (such as charging, communication, and propulsion), achieving intelligent control and fault monitoring, and improving the overall system efficiency and response speed.

[0036] In this embodiment, detection equipment and energy management equipment can also be installed inside the equipment compartment. The detection equipment, energy management equipment, wireless charging module, wireless communication module and central controller are all existing technologies. The specific working principles and connection relationships of these components will not be described in detail in this embodiment.

[0037] In summary, for reference Figure 3 The working principle of this solution is as follows:

[0038] S1. The robot body floats up and charges the battery compartment 7 through the wave energy power generation compartment 2, and transmits data with the satellite through the satellite communication device.

[0039] S2. The main body of the mobile robot moves to the deep sea and approaches the target AUV through the coordination between the guide cabin 1, the ballast water tank 3 and the propulsion cabin, and then docks with the target AUV using the docking structure.

[0040] S3. Wirelessly transmit the electrical energy in the battery compartment 7 to the target AUV and exchange data with the target AUV.

[0041] S4. After charging is complete, the robot body separates from the target AUV. The target AUV continues to perform its task. After updating the target AUV, the robot body returns to step S1.

[0042] This solution provides AUVs with extended endurance, increasing their monitoring time and enabling routine patrols of target sea areas. Simultaneously, the robot body communicates wirelessly with the AUV via a docking structure, acting as a data transmission medium between the satellite and the AUV. This avoids exposure caused by the target AUV surfacing for communication, thus improving the survivability of existing AUVs in maritime areas of military confrontation.

[0043] Although the specific embodiments of the utility model have been described in detail with reference to the accompanying drawings, this should not be construed as limiting the scope of protection of this patent. Various modifications and variations that can be made by those skilled in the art without inventive effort within the scope described in the claims still fall within the scope of protection of this patent.

Claims

1. A wave-energy robot for charging and exchanging data in an underwater autonomous vehicle, characterized in that, The robot body includes a cabin, which includes, from top to bottom, a guide cabin (1), a wave energy generation cabin (2), a ballast water cabin (3), a propulsion cabin, a battery cabin (7), and a docking equipment cabin (9) connected in sequence for guiding the robot body to move. The docking equipment cabin (9) includes an equipment cabin, and the bottom of the equipment cabin is provided with a docking structure for wireless charging and wireless communication of the AUV.

2. The wave-energy robot for charging and exchanging data of an underwater autonomous vehicle according to claim 1, characterized in that, The guidance cabin (1) includes a glass cover (11), and a guidance device and a satellite communication device are installed inside the glass cover (11).

3. The wave-energy robot for charging and exchanging data of an underwater autonomous vehicle according to claim 1, characterized in that, The wave energy power generation chamber (2) is equipped with a wave energy power generation device (12) that is electrically connected to the battery chamber (7).

4. The wave-energy robot for charging and exchanging data of an underwater autonomous vehicle according to claim 1, characterized in that, The ballast water tank (3) includes a water tank body (13), the bottom of which is connected to a water pump chamber (4). A water pump (15) is installed in the water pump chamber (4), and the water pump (15) is connected to a drain pipe (17) and a water inlet pipe (16) respectively.

5. The wave-energy robot for charging and exchanging data of an underwater autonomous vehicle according to claim 1, characterized in that, The propulsion compartment includes a servo compartment, in which multiple servos (18) are evenly distributed in the circumference. The output end of each servo (18) is connected to a rotating arm (6) located outside the servo compartment. Each rotating arm (6) has a propeller thruster (5) on its free end.

6. The wave-energy robot for charging and exchanging data of an underwater autonomous vehicle according to claim 1, characterized in that, The battery compartment (7) is equipped with multiple sets of batteries (19) that are electrically connected to the wave energy generation compartment (2).

7. The wave-energy robot for charging and exchanging data of an underwater autonomous vehicle according to claim 6, characterized in that, Multiple sets of batteries (19) are fixed in a ring on a battery fixing post (20). The battery fixing post (20) is slidably disposed in the battery compartment (7). The middle part of the battery fixing post (20) is threadedly connected to a vertically arranged lead screw (21). The lead screw (21) is connected to the output end of the center of gravity motor (22).

8. The wave-energy robot for charging and exchanging data of an underwater autonomous vehicle according to claim 1, characterized in that, The docking structure includes a mechanical gripper (10) for docking and clamping with the AUV. The gripping end of the mechanical gripper (10) is provided with a wireless charging module and a wireless communication module. The wireless charging module and the wireless communication module are used for wireless charging and wireless communication with the AUV, respectively.

9. The wave-energy robot for charging and exchanging data of an underwater autonomous vehicle according to claim 8, characterized in that, The equipment compartment is equipped with a drive motor (23) for driving the mechanical gripper (10) to extend and retract.

10. The wave-energy robot for charging and exchanging data of an underwater autonomous vehicle according to claim 9, characterized in that, The equipment compartment is equipped with a central controller, which is connected to the drive motor (23), the wireless charging module, the wireless communication module, the guide compartment (1), the ballast water tank (3), the propulsion compartment and the battery compartment (7) respectively.

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