Underwater energy replenishment device

Abstract

The application discloses an underwater energy supply device, comprising a main body structure, an energy module, a charging docking device, a first winch towing cable device and a satellite positioning device; the energy module is arranged in the main body structure; the charging docking device is electrically connected with the energy module; one end of the first winch towing cable device is fixed to the main body structure; the satellite positioning device is connected to the other end of the first winch towing cable device and is driven by the first winch towing cable device to approach or move away from the main body structure. In the embodiment of the application, the first winch towing cable device can release the cable, so that the satellite positioning device can reach the water surface, ensuring the communication ability between the satellite positioning device and the satellite. In addition, the first winch towing cable device can collect the cable, so that the satellite positioning device reaches the vicinity of the main body structure, avoiding the adverse consequences such as cable breakage or position exposure in some scenarios, thereby effectively improving the adaptability of the underwater energy supply device to the working environment and the reliability of the work.

Description

Technical Field

[0001] This application belongs to the field of energy supply technology, specifically relating to an underwater energy supply device. Background Technology

[0002] Currently, the development and utilization of the ocean, especially the deep sea, are receiving increasing attention. Underwater vehicles and other underwater equipment are being used more and more frequently, playing a vital role in marine environmental monitoring, seabed mapping, submarine cable laying, and security. As the tasks they undertake continue to increase, the overall energy demand of underwater equipment is constantly rising. However, due to limitations in size and weight, the energy carried by underwater equipment is relatively limited. Underwater energy replenishment equipment can effectively solve the problems of obtaining local power, energy supply, and charging for underwater equipment, expanding its working range and operating time.

[0003] In related technologies, some underwater energy replenishment equipment is equipped with satellite positioning devices. However, due to the severe attenuation of satellite signals underwater, the underwater depth of these underwater energy replenishment equipment is severely limited, making it difficult to meet the needs of deep-sea energy replenishment. Utility Model Content

[0004] This application aims to provide an underwater energy replenishment device that at least solves the problem that related underwater energy replenishment devices equipped with satellite positioning equipment are limited in their underwater operating depth and cannot meet the needs of deep-sea energy replenishment.

[0005] To solve the above-mentioned technical problems, this application is implemented as follows:

[0006] This application provides an underwater energy replenishment device, comprising:

[0007] Main structure;

[0008] The energy module is located within the main structure.

[0009] A charging docking device is electrically connected to the energy module.

[0010] The first winch cable-dragging device, one end of which is fixed to the main structure;

[0011] The satellite positioning device is connected to the other end of the first winch cable-dragging device and moves closer to or further away from the main structure under the drive of the first winch cable-dragging device.

[0012] The underwater energy replenishment equipment provided in this application embodiment can replenish the energy of underwater equipment through the setting of energy modules and charging docking devices. In addition, the underwater energy replenishment equipment includes a satellite positioning device and a first winch towing cable device. The first winch towing cable device can move the satellite positioning device closer to or further away from the main structure. Thus, on the one hand, the first winch towing cable device can release the cable to allow the satellite positioning device to reach the water surface, ensuring the communication capability between the satellite positioning device and the satellite. On the other hand, the first winch towing cable device can retrieve the cable to allow the satellite positioning device to reach the vicinity of the main structure, avoiding adverse consequences such as cable breakage or location exposure in certain scenarios. This can effectively improve the adaptability of the underwater energy replenishment equipment to the working environment and the reliability of its operation.

[0013] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0014] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0015] Figure 1 This is a schematic diagram illustrating the structure and working principle of the underwater energy replenishment device provided in the embodiments of this application;

[0016] Figure 2 This is another structural schematic diagram of the underwater energy supply device provided in the embodiments of this application.

[0017] Reference numerals: 102-Main structure, 104-Energy module, 106-Charging docking device, 1061-Magnetic docking plug, 1062-Magnetic coupling resonant wireless circuit, 108-First winch towing cable device, 110-Second winch towing cable device, 112-Satellite positioning equipment, 114-Hydrological detection equipment, 116-Sonar imaging equipment, 118-Rotating platform, 120-Underwater acoustic communication equipment, 122-Power unit, 124-Processor, 126-Display unit, 128-Storage unit, 202-Underwater vehicle, 204-Underwater prefabricated equipment, 300-Satellite. Detailed Implementation

[0018] The embodiments of this application will now be described in detail. Examples of these embodiments are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0019] The terms "first" and "second" in the specification and claims of this application may explicitly or implicitly include one or more of the features. In the description of this application, unless otherwise stated, "multiple" means two or more. Furthermore, "and / or" in the specification and claims indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0020] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0021] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0022] like Figure 1 and Figure 2As shown, an underwater energy replenishment device according to some embodiments of this application includes: a main structure 102, an energy module 104, a charging docking device 106, a first winch towing cable device 108, and a satellite positioning device 112; the energy module 104 is disposed in the main structure 102; the charging docking device 106 is electrically connected to the energy module 104; one end of the first winch towing cable device 108 is fixed to the main structure 102; the satellite positioning device 112 is connected to the other end of the first winch towing cable device 108 and moves closer to or further away from the main structure 102 under the drive of the first winch towing cable device 108.

[0023] The main structure 102 can serve as the supporting structure for other components of the underwater energy replenishment equipment, and can be a hull or frame, etc. The energy module 104 can include a battery module, such as a lithium battery module or a fuel cell module, etc., or it can include a nuclear energy module or an internal combustion engine energy module 104, etc. Of course, the energy module 104 can also further include other auxiliary components to meet charging requirements, such as a battery management system, power conversion circuits, etc., which will not be detailed here.

[0024] The energy module 104 can be disposed in the main structure 102, for example, fixedly or movably mounted on the main structure 102. In some embodiments, the main structure 102 may include a waterproof component, and the energy module 104 may be placed in the waterproof component, or the energy module 104 itself may have a certain waterproof capability.

[0025] The charging docking device 106 can be used to dock with underwater equipment that requires charging, such as the underwater vehicle 202 and the underwater prefabricated equipment 204. For simplicity, the following description will mainly focus on the docking of the charging docking device 106 with the underwater vehicle 202. The charging docking device 106 is connected to the energy module 104, and the underwater vehicle 202 can be charged using the electrical energy from the energy module 104.

[0026] In this embodiment, the underwater energy replenishment equipment includes a satellite positioning device 112 for acquiring its own satellite positioning information. In some scenarios, the underwater energy replenishment equipment itself can move and acquire its own positioning information through the satellite positioning device 112; while in other scenarios, the underwater vehicle 202 may not be able to autonomously acquire satellite positioning information, but can calibrate its own position information based on the satellite positioning information acquired by the underwater energy replenishment equipment's satellite positioning device 112 when it approaches and communicates with the underwater energy replenishment equipment.

[0027] In some examples, the satellite positioning device 112 can be a BeiDou positioning device, a Global Positioning System (GPS), or a Galileo positioning system, etc., without specific limitations. For simplicity, this application will primarily describe the satellite positioning device 112 as a BeiDou positioning device. In some application scenarios, underwater energy replenishment equipment can communicate with BeiDou satellites based on the BeiDou positioning device, receiving remote BeiDou commands or uploading communication information, including but not limited to timing information, location information, command information, and data information.

[0028] Because satellite signals attenuate drastically underwater, when the underwater energy supply equipment is at a certain depth, the satellite positioning device 112 may have difficulty communicating with the satellite 300. To address this, the underwater energy supply equipment in this embodiment further includes a first winch towing cable device 108. One end of the first winch towing cable device 108 is fixed to the main structure 102, and the other end is connected to the satellite positioning device 112. The release or recovery of the satellite positioning device 112 is achieved through cable retraction and extension.

[0029] In some embodiments, the satellite positioning device 112 can be fixed to a buoyancy platform. When the first winch towing cable device 108 releases the cable, the buoyancy platform, under the action of buoyancy, transports the satellite positioning device 112 to the water surface in a direction away from the main structure 102, facilitating communication between the satellite positioning device 112 and the satellite 300. The information communicated between the two can be transmitted via cable to other electronic circuits located in the main structure 102, such as the central processing unit 124, microprocessor 124, and other control processing devices. In other embodiments, the first winch towing cable can also be used in conjunction with a telescopic rod or folding rod or similar structure to lift the satellite positioning device 112 to the water surface.

[0030] In situations with harsh hydrological conditions, or when the underwater energy supply equipment is autonomously navigating underwater, or when the underwater energy supply equipment reaches sensitive waters, it may be necessary to retrieve the satellite positioning device 112 to or near the main structure 102 to avoid adverse consequences such as cable breakage or location exposure. In some cases, the first winch towing cable device 108 can retrieve the cable, causing the satellite positioning device 112 to move closer to the main structure 102 until it is retrieved to or near the main structure 102.

[0031] The underwater energy replenishment equipment provided in this application embodiment can replenish the energy of underwater equipment through the setting of energy module 104 and charging docking device 106. In addition, the underwater energy replenishment equipment includes a satellite positioning device 112 and a first winch towing cable device 108. The first winch towing cable device 108 can move the satellite positioning device 112 closer to or further away from the main structure 102. Thus, on the one hand, the first winch towing cable device 108 can release the cable so that the satellite positioning device 112 can reach the water surface, ensuring the communication capability between the satellite positioning device 112 and the satellite 300. On the other hand, the first winch towing cable device 108 can retrieve the cable so that the satellite positioning device 112 can reach the vicinity of the main structure 102, avoiding adverse consequences such as cable breakage or location exposure in certain scenarios. This can effectively improve the adaptability of the underwater energy replenishment equipment to the working environment and the reliability of its operation.

[0032] In some embodiments, the underwater energy supply device further includes a second winch towing cable device 110, and the charging docking device 106 is connected to the energy module 104 via the second winch towing cable device 110.

[0033] Using some examples, the second winch towing cable device 110 may include a winch and a cable. The winch rotates to release and retract the cable. The charging docking device 106 may be connected to the cable. As the second winch towing cable device 110 releases the cable, the charging docking device 106 can move away from the main structure 102, facilitating docking of the underwater vehicle 202. After the underwater vehicle 202 docks with the charging docking device 106, it can be charged through the energy module 104, the cable in the second winch towing cable device 110, and the pathway of the charging docking device 106. When the second winch towing cable device 110 retracts the cable, it can retract the charging docking device 106 into or near the main structure 102.

[0034] There can be one second winch towing cable device 110. The end of the second winch towing cable device 110 away from the main structure 102 can be connected to one or more charging docking devices 106. When there are multiple charging docking devices 106, the second winch towing cable device 110 can branch out multiple cables, and each charging docking device 106 is connected to the corresponding cable to achieve parallel connection. In this way, the underwater energy supply equipment can simultaneously meet the charging needs of multiple underwater vehicles 202.

[0035] In some embodiments, there can be multiple second winch towing cable devices 110 and charging docking devices 106, which are connected one-to-one. Each charging docking device 106 can be deployed and retracted through the corresponding second winch towing cable device 110. On the one hand, it can meet the charging needs of multiple underwater vehicles 202 at the same time. On the other hand, it can also effectively avoid mutual interference between the charging docking devices 106 in terms of position, making it easier to dock with the underwater vehicle 202.

[0036] In some embodiments, the charging docking device 106 includes a magnetic docking plug 1061 and a magnetically coupled resonant wireless circuit 1062. When the magnetic docking plug 1061 approaches and attaches to the power receiving module of the powered underwater vehicle 202, it is fixed and transmits electrical energy through the magnetically coupled resonant wireless circuit 1062.

[0037] In this embodiment, the magnetic docking plug 1061 can quickly connect to the power receiving module of the underwater vehicle 202 through magnetic force. At the same time, the magnetic coupling resonant wireless circuit 1062 can charge the underwater vehicle 202 even when the magnetic docking plug 1061 is connected to the power receiving module. The alignment requirements between the magnetic docking plug 1061 and the power receiving module are low. Therefore, the charging docking device 106 can complete the docking and charging of the underwater vehicle 202 more quickly, reducing the difficulty of charging.

[0038] In some possible implementations, the underwater energy supply device or underwater vehicle 202 may be equipped with a robotic arm, which uses the robotic arm to grip the charging docking device 106 to complete the docking with the power receiving module.

[0039] In some application scenarios, underwater equipment can also be underwater prefabricated devices 204. These underwater prefabricated devices 204 may be fixed in a certain underwater location and require periodic charging. The underwater energy supply device provided in the embodiments of this application can, in some implementations, be towed to the location of the underwater prefabricated device 204 by a surface vehicle or an underwater vehicle 202 and charge the underwater prefabricated device 204.

[0040] In other embodiments, the underwater energy replenishment equipment may also include a power unit 122, which is mounted on the main structure 102 and used to drive the underwater energy replenishment equipment. In other words, the underwater energy replenishment equipment can have the ability to navigate autonomously. In the application scenarios described above, the underwater energy replenishment equipment can autonomously navigate to the vicinity of the underwater prefabricated equipment 204 and charge the underwater prefabricated equipment 204. In some application scenarios, the underwater energy replenishment equipment can also actively approach the underwater vehicle 202 through the power unit 122 to deal with problems such as insufficient power of the underwater vehicle 202.

[0041] The underwater energy supply equipment carries an energy module 104, which can be used to provide energy to the power unit 122 so that the power unit 122 can work.

[0042] In some embodiments, the underwater energy supply equipment may also include a hydrological detection device 114, which is disposed on the main structure 102.

[0043] The first winch cable-dragging device 108 is communicatively connected to the hydrological monitoring equipment 114, and the first winch cable-dragging device 108 is used to drive the satellite positioning equipment 112 away from the main structure 102 based on the hydrological information collected by the hydrological monitoring equipment 114.

[0044] The hydrological monitoring device 114 can collect hydrological information, such as parameters like temperature, depth, salinity, and flow velocity. In this embodiment, the hydrological monitoring device 114 can be communicatively connected to the first winch towing cable device 108, so that the first winch towing cable device 108 can select whether to release or retract the satellite positioning device 112 based on the hydrological information.

[0045] For example, when hydrological information shows that the water flow is too fast, it may put a large tension on the cable in the first winch towing device 108, or cause the satellite positioning device 112 to shake violently. In this case, the first winch towing device 108 can retract the satellite positioning device 112. Conversely, when hydrological information shows that the water is only calm, the first winch towing device 108 can release the satellite positioning device 112.

[0046] The above-described process can be implemented using existing methods. For example, the underwater energy replenishment equipment includes a processor 124, which is connected to the first winch towing cable device 108 and the hydrological monitoring device 114. The processor 124 can transmit data or instructions to each other. The processor 124 has a logic operation module that can control the first winch towing cable device 108 based on the detection results of the hydrological monitoring device 114. Alternatively, the underwater energy replenishment equipment can include logic gate circuits that, when hydrological information meets specific conditions, output corresponding control signals to the first winch towing cable device 108 to control it to release or retract the satellite positioning device 112.

[0047] In other words, this application provides a hardware platform for an underwater energy replenishment device. On this hardware platform, combined with existing hardware structures or software platforms, the cooperative operation of the first winch towing cable device 108 and the hydrological monitoring equipment 114 can be realized without involving any improvement to the software method. Similarly, the cooperative operation of multiple components in the underwater energy replenishment device described below may also be implemented based on similar existing hardware structures or software platforms, and will not be repeated here.

[0048] In some embodiments, the underwater energy supply device may further include a sonar imaging device 116, which is disposed on the main structure 102.

[0049] In some application scenarios, the sonar imaging device 116 can search for underwater vehicles 202 or underwater prefabricated equipment 204 near the underwater energy supply device, and assist in docking the power receiving module of the underwater equipment of the charging docking device 106, thereby improving docking efficiency.

[0050] When the underwater energy replenishment equipment is able to communicate with the underwater equipment, it can use the sonar imaging equipment 116 to determine the location of the underwater equipment and guide the underwater equipment to the vicinity of the underwater energy replenishment equipment for charging.

[0051] The underwater energy supply equipment can be equipped with a power unit 122. During autonomous navigation, it can detect the underwater environment based on the sonar imaging equipment 116 in order to avoid obstacles.

[0052] In some embodiments, the underwater energy supply equipment further includes a rotating platform 118, through which the sonar imaging device 116 is mounted on the main structure 102 and rotates relative to the main structure 102 with the rotating platform 118.

[0053] By rotating the platform 118, the sonar imaging device 116 can rotate, allowing it to search for underwater equipment from multiple directions, thus effectively expanding the search range.

[0054] In some embodiments, the underwater energy supply device further includes an underwater acoustic communication device 120, which is disposed on the main structure 102.

[0055] The underwater energy replenishment equipment can communicate with other underwater equipment through the underwater acoustic communication device 120, thereby enabling more collaborative work functions.

[0056] In some examples, underwater equipment can transmit the data it collects to an underwater power supply device via an underwater acoustic communication device 120. The underwater power supply device stores the data in its own storage unit 128. This stored data can be retrieved from the shore-based terminal after the underwater power supply device is salvaged, or it can be transmitted directly to the shore-based terminal via a remote communication module or satellite communication module carried by the underwater power supply device.

[0057] In other examples, such as those shown above, underwater power supply equipment can guide underwater vehicle 202 to dock with charging docking device 106 by means of underwater acoustic communication equipment 120 and sonar imaging equipment 116.

[0058] In other examples, the underwater vehicle 202 may not have its own satellite positioning function and will determine its position through an inertial unit or similar device. However, the inertial unit may have accumulated errors, and the underwater vehicle 202 needs to periodically update its position using satellite positioning. The underwater energy replenishment device provided in this embodiment includes a satellite positioning device 112 and an underwater acoustic communication device 120. Satellite positioning information can be obtained through the satellite positioning device 112. When the underwater vehicle 202 arrives near the underwater energy replenishment device, the underwater energy replenishment device can send its acquired satellite positioning information to the underwater vehicle 202 through the underwater acoustic communication device 120, so that the underwater vehicle 202 can update its position.

[0059] The above are some examples of the functions that underwater energy supply equipment can achieve by communicating with underwater equipment through underwater acoustic communication equipment 120. In practical applications, underwater energy supply equipment and underwater equipment can also exchange other types of data, such as time information, mission information, etc., and achieve corresponding functions. These will not be illustrated one by one here.

[0060] In some embodiments, the first winch towing cable device 108 is communicatively connected to the charging docking device 106, and the first winch towing cable device 108 is used to drive the satellite positioning device 112 away from the main structure 102 when the charging docking device 106 is docked with the underwater equipment.

[0061] Based on the example above where the underwater vehicle 202 updates its position using the satellite positioning device 112 included in the underwater energy replenishment equipment, in this embodiment, by communicating the first winch towing cable device 108 with the charging docking device 106, when the charging docking device 106 docks with underwater equipment such as the underwater vehicle 202, the first winch towing cable device 108 releases the satellite positioning device 112 away, facilitating the satellite positioning device 112 to surface, acquire satellite positioning information, and transmit it to the underwater equipment. On one hand, when the underwater equipment docks with the charging docking device 106, it is relatively close to the underwater energy replenishment equipment, and the satellite positioning information acquired by the underwater energy replenishment equipment can effectively represent the position of the underwater equipment. On the other hand, when the underwater energy replenishment equipment does not require satellite positioning information, it retrieves the satellite positioning device 112, greatly improving the stealth of the underwater energy replenishment equipment.

[0062] In some examples, the first winch towing cable device 108 and the charging docking device 106 can be connected to the processor 124 or logic gate circuits included in the underwater energy supply equipment to achieve data communication and interaction. For example, the charging docking device 106 can determine whether to dock with the underwater equipment based on existing technology. During docking, combined with simple logic gate circuits, it can output control signals to the first winch towing cable device 108 to control the first winch towing cable device 108 to release the satellite positioning device 112. That is to say, on the hardware platform of the underwater energy supply equipment provided in this application, combined with existing hardware structures or software platforms, the cooperative operation process of the charging docking device 106 and the first winch towing cable device 108 can be realized, and this operation process does not necessarily depend on the improvement of software methods.

[0063] In some embodiments, the underwater power supply equipment may also include other electronic units, such as a display unit 126, an interface unit, and a storage unit 128. The display unit 126 can serve as a human-machine interface, primarily displaying sonar images, operational data, etc.

[0064] The underwater energy supply equipment provided in this application embodiment is a structural or hardware platform. Further hardware or software development based on this platform can achieve the following working process.

[0065] S1: According to mission requirements, underwater energy replenishment equipment is deployed to the target sea area along with underwater vehicle 202;

[0066] S2: The internal equipment of the underwater energy supply equipment is in standby mode, with only the underwater acoustic communication equipment 120 turned on, ready to receive the supply request from the underwater vehicle 202.

[0067] S3: The underwater vehicle 202 arrives at the designated sea area and begins its mission. Before the power consumption reaches the upper limit, the underwater acoustic communication module is turned off. After the power consumption reaches the upper limit, the underwater acoustic communication module is turned on to establish communication with the underwater energy supply equipment. The underwater acoustic communication module can be understood as the underwater acoustic communication equipment included in the underwater vehicle 202. Different names are used to distinguish the underwater acoustic communication equipment 120 included in the underwater energy supply equipment.

[0068] S4: After receiving a power request, the underwater acoustic communication device 120 on the underwater energy supply equipment initially determines the distance between itself and the underwater vehicle 202. Based on factors such as the remaining power of the underwater vehicle 202, whether the underwater energy supply equipment is supplying other underwater vehicles 202, and hydrological conditions, it then calculates and determines the rendezvous point. At the same time, it activates the sonar imaging device 116 and performs a search and imaging based on the approximate location and distance obtained interactively from the underwater acoustic communication device 120.

[0069] S5: After the underwater vehicle 202 approaches, the processor 124 of the underwater energy supply equipment controls the second winch towing cable device 110 to release the charging docking device 106, and guides the charging docking device 106 to dock and charge through the imaging of the sonar imaging device 116.

[0070] S6: Based on the hydrological conditions collected by the hydrological monitoring equipment 114, the processor 124 controls the first winch towing cable device 108 to release the satellite positioning device 112 and establish a BeiDou satellite link. The processor 124 acquires the latest coordinate parameter data, BeiDou time data, and new mission command data, and sends them to the underwater vehicle 202 through the underwater acoustic communication equipment 120 to calibrate the time, coordinate information, and mission information.

[0071] S7: After the underwater vehicle 202 has completed charging and data interaction, the processor 124 controls the first winch towing device 108 and the second winch towing device 110 to retrieve the charging docking device 106 and the satellite positioning device 112, shuts down the sonar imaging device 116, completes the charging, data acquisition and mission update of the underwater vehicle 202, and returns to step S2.

[0072] In the above example of the working process, the underwater energy replenishment equipment can be deployed to a designated water area to recharge and replenish the energy of the underwater vehicle 202 in the nearby sea area, unload collected data, correct coordinate positions, improve its autonomous navigation accuracy, increase its endurance, and enable it to operate continuously. This reduces the number of deployments and recoveries of the underwater vehicle 202, further improving stealth and safety, reducing deployment difficulty, increasing reusability, and reducing overall costs. The underwater energy replenishment equipment can replenish energy for multiple underwater vehicles 202. In normal scenarios, the underwater vehicle 202 approaches the underwater energy replenishment equipment based on its positioning underwater, rather than the underwater energy replenishment equipment approaching the underwater vehicle 202. This allows more underwater vehicles 202 to be served, further improving stealth and safety. The underwater energy replenishment equipment has data unloading and storage functions, can recover data from multiple underwater vehicles 202, and can transmit data to the shore-based terminal for processing according to command requirements, improving the timeliness of data processing. After the underwater energy supply equipment is deployed, it first enters standby mode. It then enters listening mode after detecting working instructions from external devices or according to preset timed power-on instructions, or is woken up by the underwater vehicle 202. After completing one or more tasks such as charging, navigation correction, and data unloading, it enters standby mode again, which helps to further improve stealth.

[0073] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0074] Although embodiments of this application have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the claims and their equivalents.

Claims

1. An underwater energy replenishment device, characterized in that, include: Main structure (102); An energy module (104) is disposed in the main structure (102); A charging docking device (106) is electrically connected to the energy module (104); A first winch cable-dragging device (108) is provided, with one end of the first winch cable-dragging device (108) fixed to the main structure (102); A satellite positioning device (112) is connected to the other end of the first winch cable device (108) and moves closer to or further away from the main structure (102) under the drive of the first winch cable device (108).

2. The underwater energy replenishment device according to claim 1, characterized in that, It also includes a second winch cable device (110), and the charging docking device (106) is connected to the energy module (104) through the second winch cable device (110).

3. The underwater energy replenishment device according to claim 2, characterized in that, There are multiple second winch cable towing devices (110) and multiple charging docking devices (106), and the multiple second winch cable towing devices (110) and multiple charging docking devices (106) are connected one-to-one.

4. The underwater energy replenishment device according to claim 1, characterized in that, It also includes hydrological monitoring equipment (114), which is installed on the main structure (102); The first winch towing cable device (108) is communicatively connected to the hydrological detection equipment (114), and the first winch towing cable device (108) is used to drive the satellite positioning equipment (112) to move closer to or further away from the main structure (102) based on the hydrological information collected by the hydrological detection equipment (114).

5. The underwater energy replenishment device according to claim 1, characterized in that, It also includes a sonar imaging device (116), which is mounted on the main structure (102).

6. The underwater energy replenishment device according to claim 5, characterized in that, It also includes a rotating platform (118), through which the sonar imaging device (116) is mounted on the main structure (102) and rotates relative to the main structure (102) with the rotating platform (118).

7. The underwater energy replenishment device according to claim 1, characterized in that, It also includes an underwater acoustic communication device (120), which is mounted on the main structure (102).

8. The underwater energy replenishment device according to claim 1, characterized in that, The first winch towing cable device (108) is communicatively connected to the charging docking device (106), and the first winch towing cable device (108) is used to drive the satellite positioning device (112) away from the main structure (102) when the charging docking device (106) is docked with the underwater equipment.

9. The underwater energy replenishment device according to claim 1, characterized in that, The charging docking device (106) includes a magnetic docking plug (1061) and a magnetically coupled resonant wireless circuit (1062).

10. The underwater energy replenishment device according to claim 1, characterized in that, It also includes a power unit (122), which is mounted on the main structure (102) and is used to drive the underwater energy supply equipment to navigate.

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