CN115489350A - Dynamic docking platform for AUV wireless charging - Google Patents

Dynamic docking platform for AUV wireless charging Download PDF

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Publication number
CN115489350A
CN115489350A CN202211179359.0A CN202211179359A CN115489350A CN 115489350 A CN115489350 A CN 115489350A CN 202211179359 A CN202211179359 A CN 202211179359A CN 115489350 A CN115489350 A CN 115489350A
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CN
China
Prior art keywords
main body
docking platform
auv
dynamic docking
dynamic
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Pending
Application number
CN202211179359.0A
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Chinese (zh)
Inventor
陈延礼
任方通
白桂强
胡鑫玉
周冰
曹志
王迪
张玮
单俊睿
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Jilin University
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Jilin University
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Publication date
Application filed by Jilin University filed Critical Jilin University
Priority to CN202211179359.0A priority Critical patent/CN115489350A/en
Publication of CN115489350A publication Critical patent/CN115489350A/en
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
    • B60L53/12—Inductive energy transfer
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/30—Constructional details of charging stations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/14—Control of attitude or depth
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/14—Control of attitude or depth
    • B63G8/20—Steering equipment
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/32—Waterborne vessels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/14—Plug-in electric vehicles

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Toys (AREA)

Abstract

A dynamic docking platform for AUV wireless charging belongs to the technical field of wireless charging of underwater unmanned aircrafts, and aims to solve the problems that AUV underwater operation time is short, energy supply is complex, service life is short, potential safety hazards exist, cost is high, and requirements for AUV performance are high in the prior art. The invention comprises the following steps: dynamically docking the platform body; the attitude adjusting devices are symmetrically arranged at the tail end of the dynamic docking platform main body; the connection locking structure is connected with the AUV main body and comprises a rotation centering locking device arranged on the dynamic docking platform main body and a locking bolt device arranged on the AUV main body to be charged, and the locking bolt device is matched and locked with the rotation centering locking device; a wireless charging structure; and the electric control device is arranged on the dynamic docking platform main body, and receives signals and controls the whole dynamic docking platform to act through the electric control device.

Description

Dynamic docking platform for AUV wireless charging
Technical Field
The invention belongs to the technical field of wireless charging of underwater unmanned vehicles, and particularly relates to a dynamic docking platform for AUV wireless charging.
Background
With the scientific progress and the technical upgrade, the more deep development and exploration of the ocean become possible, and the Autonomous Underwater Vehicle (AUV) has irreplaceable functions in the aspects of ocean scientific research, ocean resource exploration, military patrol and the like due to the advantages of small size, high intelligence degree and strong autonomy. However, because of the volume limitation, the AUV has limited energy carrying capacity and cannot work underwater for a long time.
At present, the energy supply mode of AUV is mainly for changing the battery after retrieving, adopt wet plug connector to charge and utilize the wireless electric pile of filling of arranging in the seabed in advance to carry out wireless charging. For a replenishing mode of replacing the battery after recovery, the flow of the mode is complex and manual participation is needed; for the supply mode of charging by adopting a wet plugging connector, the butt joint mechanism is complex, potential safety hazards exist, and the service life is short; to the replenishment mode that wireless charging is carried out to the wireless electric pile that fills who utilizes to arrange in the seabed in advance, need arrange wireless electric pile that fills in advance, arrange wireless electric pile's the high cost later maintenance's of the seabed cost also higher, and require to AUV from steady performance higher.
Disclosure of Invention
The invention aims to provide a dynamic docking platform for AUV wireless charging, which solves the problems of complex energy supply, short service life, potential safety hazard, high cost and high requirements on AUV performance in AUV underwater operation time periods in the prior art, realizes AUV underwater dynamic wireless charging, improves the success rate and charging efficiency of AUV wireless charging, and effectively prolongs the operation time.
In order to achieve the above object, the present invention provides a dynamic docking platform for AUV wireless charging, including:
the dynamic docking platform main body adopts an NACA digital wing type configuration and is integrally distributed in a flying wing type;
the attitude adjusting devices are symmetrically arranged at the tail end of the dynamic docking platform main body, each attitude adjusting device at least comprises a rudder blade which is in running fit with the dynamic docking platform main body through a rudder blade shaft, and the opening and closing angle of the rudder blade relative to the dynamic docking platform main body is adjusted through the attitude adjusting devices;
the connection locking structure comprises a rotation centering locking device arranged on the dynamic docking platform main body and a locking bolt device arranged on the AUV main body to be charged, and the locking bolt device is matched and locked with the rotation centering locking device;
the wireless charging structure comprises a wireless charging transmitting coil arranged on the dynamic docking platform main body and a wireless charging receiving device arranged on the AUV main body to be charged, the wireless charging receiving device comprises a wireless charging receiving coil arranged on the AUV main body to be charged through a receiving coil mounting frame, and the wireless charging receiving coil and the wireless charging transmitting coil are matched for charging;
and the electric control device is arranged on the dynamic docking platform main body and used for receiving signals and controlling the whole dynamic docking platform to act.
The dynamic docking platform further comprises:
the ultrasonic ranging sensor is arranged at the upper end of the dynamic docking platform main body, and the distance from the ultrasonic ranging sensor to the AUV main body to be charged is measured;
the communication positioning all-in-one machine A is arranged on the dynamic docking platform main body;
the communication and positioning integrated machine B is arranged on the AUV main body to be charged;
the guide lamps are symmetrically arranged on the dynamic docking platform main body; the dynamic docking platform main body performs acousto-optic guidance on the AUV main body to be charged through the communication positioning all-in-one machine A and the guide lamp and communicates with the AUV main body through the communication positioning all-in-one machine B;
and the two channel propellers are arranged in front of and behind the AUV main body to be charged, and the AUV main body to be charged is driven to vertically move through the two channel propellers.
The dynamic docking platform further comprises:
the locking guide cover is arranged at the inlet of the rotating centering locking device;
the tail wings are symmetrically arranged on the dynamic docking platform main body and are fixed on the dynamic docking platform main body through tail wing clamping blocks;
the towing ring is arranged on the dynamic docking platform main body, a plurality of towing holes are formed in the towing ring along the traveling direction, one end of a towing cable is connected with any one towing hole in the towing ring, and the other end of the towing cable is connected with a winch on the USV main body;
and the rope biting device is arranged on the AUV main body to be charged, and the dragging cable is locked or released through the rope biting device.
The rotating centering locking device comprises:
the fixed chassis is arranged on the dynamic docking platform main body and provided with a central opening, and a plurality of radial sliding grooves are uniformly distributed on the circumference of the upper surface of the fixed chassis;
the centering push rods are respectively in sliding fit with the sliding grooves, and arc-shaped clamping blocks are arranged at the end parts of the centering push rods;
the centering ring is fixedly connected to the upper surface of the fixed chassis;
the large gear is sleeved outside the centering ring, a plurality of limiting arcs are uniformly distributed on the large gear along the circumference, and two ends of each limiting arc are positioned on two circumferences of the large gear;
one end of each limiting upright post penetrates through each limiting arc and is fixedly connected with each centering push rod;
a pinion gear engaged with the bull gear;
and the output shaft of the waterproof steering engine is in interference connection with the pinion and transmits torque through a flat key, the waterproof steering engine drives the bull gear to rotate so as to drive the centering push rods to move along the sliding grooves in a centering manner, and the locking bolts of the locking bolt device are clamped or loosened through the clamping blocks at the ends of the centering push rods.
The locking bolt assembly includes:
a waterproof steering engine C is arranged on the AUV main body to be charged through a steering engine mounting seat;
and one end of the locking bolt is vertically connected with the waterproof steering engine C through a spline, the other end of the locking bolt is an arrow tip, and the locking bolt is driven by the waterproof steering engine C to rotate so as to stretch out and retract the locking bolt.
The electric control device comprises:
a capsule body disposed on the dynamic docking platform body;
the sealed cabin end cover is matched with the upper end of the sealed cabin main body; a cylindrical boss is arranged on the inner surface of the sealing end cover; chamfer angle sealing and radial sealing are arranged between the sealed cabin main body and the sealed cabin end cover;
the sealing ring A and the sealing ring B are arranged at the joint of the sealed cabin main body and the sealed cabin end cover;
the electronic control system is arranged in the sealed cabin main body and comprises a direct-current lithium battery, a single chip microcomputer, a power supply management module and an electronic compass;
a depth gauge mounted on the cylindrical boss;
and the watertight connectors are arranged on the outer surface of the end cover of the sealed cabin and are connected with the ultrasonic distance measuring sensor, the waterproof steering engine A, the waterproof steering engine B and the guide lamp respectively.
Each of the posture adjustment devices further includes:
the dynamic butt joint platform comprises a dynamic butt joint platform body, a rudder blade shaft and a bearing, wherein the dynamic butt joint platform body is provided with a rudder blade shaft, the rudder blade shaft is arranged on the dynamic butt joint platform body, two ends of the rudder blade shaft are in running fit with the rudder blade through sliding bearings, one end of the rudder blade shaft is provided with a square shaft shoulder, the square shaft shoulder is in running fit with a shaft hole of a mounting hole of the rudder blade shaft on the dynamic butt joint platform body, and the square shaft shoulder is used for limiting the rudder blade shaft to rotate relative to the dynamic butt joint platform body;
and the waterproof steering engine A is arranged on the dynamic docking platform main body and drives the corresponding rudder blade to move in an opening and closing mode relative to the dynamic docking platform main body through a connecting rod transmission mechanism.
The link transmission mechanism includes:
the connecting base is fixedly connected with the rudder blade;
one end of the connecting rod is hinged with the connecting base through the adapter B;
and the swing arm is connected with the adapter A at the other end of the connecting rod in a hinged mode, and the other end of the swing arm is connected with the waterproof steering engine A.
The dynamic docking platform body includes:
the towing ring installation groove is formed in the upper end face of the dynamic docking platform main body, and the towing ring is installed in the towing ring installation groove;
the wireless charging transmitting coil mounting groove is formed in the upper end face of the dynamic docking platform main body, and the wireless charging transmitting coil is mounted in the wireless charging transmitting coil mounting groove;
waterproof steering engine A mounting grooves symmetrically arranged on two sides of the tail end of the dynamic docking platform main body, and waterproof steering engines A of the attitude adjusting device are mounted in the waterproof steering engine A mounting grooves;
the tail wing installation grooves are symmetrically formed in the tail end of the dynamic docking platform main body, and the tail wings are installed in the tail wing installation grooves;
the locking device mounting hole is formed in the lower surface of the middle position of the tail end of the dynamic docking platform main body, and a fixed chassis of the rotating centering locking device is coaxially mounted with the locking device mounting hole;
the locking guide cover is arranged at the port of the locking butt joint hole and guides a locking bolt;
the electric control cabin mounting groove is formed in the lower surface of the dynamic docking platform main body, and the electric control device is mounted in the electric control cabin mounting groove;
the guide lamp mounting grooves are symmetrically arranged on two sides of the tail end of the dynamic docking platform main body, and the guide lamps are mounted in the guide lamp mounting grooves;
and rudder blade shaft mounting holes symmetrically arranged at two sides of the tail end of the dynamic docking platform main body.
The invention has the beneficial effects that:
1. the dynamic docking platform main body adopts NACA wing type data design, is integrally in a flying wing type layout, can generate a larger voltage-resistance ratio compared with a common towing device, is favorable for tensioning a towing cable, and improves the running stability of the docking platform.
2. The attitude adjusting device provided by the invention adopts the steering engine to drive the connecting rod mechanism to control the swinging of the rudder blade, realizes the closed-loop control of the attitude and the depth of the dynamic docking platform through the feedback of the depth and the attitude information, has a simple structure, is convenient to control, can effectively resist disturbance, and improves the docking success rate.
3. The rotary centering locking device adopts gear transmission, the centering push rods are driven to perform centering motion in the sliding groove through the limiting arcs uniformly distributed on the large gear, each pair of centering push rods synchronously move, the consistency is good, the locking bolt can be well clamped, the relative position of the AUV and the butt joint platform is fixed, and the smooth completion of wireless charging is ensured.
4. According to the invention, the locking bolt is popped out when the locking bolt device on the AUV is in butt joint, the locking bolt is perpendicular to the space of the wireless charging receiving coil after being popped out, and the wireless charging receiving coil is parallel to the wireless charging transmitting coil after the AUV is locked, so that the wireless charging efficiency can be effectively ensured.
5. The invention adopts the USV to drag the dynamic docking platform, can adapt to different sea conditions, does not need manual participation and is beneficial to realizing the unmanned operation.
Drawings
Fig. 1 is an overall schematic diagram of a dynamic docking platform for AUV wireless charging according to the present invention;
fig. 2 is an isometric view of a dynamic docking platform for AUV wireless charging according to the present invention;
fig. 3 is an exploded view of a dynamic docking platform for AUV wireless charging according to the present invention;
fig. 4 is a top view of a dynamic docking platform main body in the dynamic docking platform for AUV wireless charging according to the present invention;
fig. 5 is a bottom view of a dynamic docking platform main body in the dynamic docking platform for AUV wireless charging according to the present invention;
fig. 6 is an exploded view of an attitude adjustment apparatus in a dynamic docking platform for AUV wireless charging according to the present invention;
fig. 7 is an exploded view of a rotational centering locking device in a dynamic docking platform for AUV wireless charging according to the present invention;
fig. 8 is an exploded view of an electric control device in a dynamic docking platform for AUV wireless charging according to the present invention;
fig. 9 is a schematic diagram of an electric control system in a dynamic docking platform for AUV wireless charging according to the present invention;
fig. 10 is a bottom view of an end cover of a hermetic cabin in a dynamic docking platform for AUV wireless charging according to the present invention;
fig. 11 is a schematic view illustrating an installation of a partial structure of a dynamic docking platform for AUV wireless charging according to the present invention on an AUV structure;
wherein, 1, a dynamic docking platform body, 101, a towing ring mounting groove, 102, a wireless charging transmitting coil mounting groove, 103, a waterproof steering engine A mounting groove, 104, an empennage mounting groove, 105, a locking docking hole, 106, an electric control cabin mounting groove, 107, a locking device mounting hole, 108, a guide lamp mounting groove, 109, a rudder blade shaft mounting hole, 2, an ultrasonic distance measuring sensor, 3, a towing ring, 4, a communication positioning integrated machine A,5, an attitude adjusting device, 501, a waterproof steering engine A,502, a connecting rod transmission mechanism, 5021, a swing arm, 5022, an adapter A,5023, a connecting rod, 5024, an adapter B,5025, a connecting base, 503, a rudder blade shaft, 504, a sliding bearing, 505, a rudder blade, 6, a rotating centering locking device, 601, a waterproof B,602, a pinion, 603, a flat key, 604, a limiting upright post, 605, a centering circular ring, 606, a big gear, 6061, a limiting circular arc, 607, a centering push rod, 608, a fixed chassis, 6081, a sliding chute, 7, an electric control device, 701, a sealed cabin main body, 702, a sealing ring A,703, a sealing ring B,704, a sealed cabin end cover, 7041, a cylindrical boss, 705, an electric control system, 7051, a direct current lithium battery, 7052, a single chip microcomputer, 7053, a power supply management module, 7054, an electronic compass, 706, a depth gauge, 707, a watertight connector, 8, a wireless charging transmitting coil, 9, a guide lamp, 10, a tail, 11, a tail clamping block, 12, a locking guide cover, 13, a towing cable, 14, a USV main body, 15, a winch, 16, a rope biting device, 17, an AUV main body, 18, a communication positioning integrated machine B,19, a channel thruster, 20, a bolt locking device, 2001, a locking bolt, 2002, a waterproof steering engine C,2003, a steering engine mounting seat, 21, a wireless charging receiving coil, 2101 and wireless charging receiving coil, 2102. a receive coil mounting bracket.
Detailed Description
The following further describes embodiments of the present invention with reference to the drawings.
Referring to fig. 1 to 11, a dynamic docking platform for AUV wireless charging according to the present invention includes:
the dynamic docking platform comprises a dynamic docking platform main body 1, wherein the dynamic docking platform main body 1 adopts an NACA digital wing type configuration and is integrally distributed in a flying wing type manner;
the attitude adjusting devices 5 are symmetrically arranged at the tail end of the dynamic docking platform main body 1, each attitude adjusting device 5 at least comprises a rudder blade shaft 503 arranged on the dynamic docking platform main body 1 and a rudder blade 505 in rotating fit with the rudder blade shaft 503, and the opening and closing angle of the rudder blade 505 relative to the dynamic docking platform main body 1 is adjusted through the attitude adjusting devices 5;
the device comprises a connecting and locking structure, wherein the connecting and locking structure comprises a rotating centering locking device 6 arranged on the dynamic docking platform main body 1 and a locking bolt device 20 arranged on an AUV main body 17 to be charged, and the locking bolt device 20 is matched and locked with the rotating centering locking device 6;
the wireless charging structure comprises a wireless charging transmitting coil 8 arranged on the dynamic docking platform main body 1 and a wireless charging receiving device 21 arranged on an AUV main body 17 to be charged, wherein the wireless charging receiving device 21 comprises a wireless charging receiving coil 2101 arranged on the AUV main body 17 to be charged through a receiving coil mounting frame 2102, and the wireless charging receiving coil 2101 is matched with the wireless charging transmitting coil 8 for charging;
and the electric control device 7 is arranged on the dynamic docking platform main body 1, and receives signals and controls the whole dynamic docking platform to act through the electric control device 7.
The dynamic docking platform further comprises:
the ultrasonic ranging sensor 2 is arranged at the upper end of the dynamic docking platform main body 1, and the distance from the ultrasonic ranging sensor 2 to the AUV main body 17 to be charged is measured;
the communication positioning integrated machine A4 is arranged on the dynamic docking platform main body 1;
a communication and positioning integrated machine B18 arranged on the AUV main body 17 to be charged; the communication and positioning integrated machine B18 is used for the AUV main body 17 to acquire the position and posture information of the dynamic docking platform main body 1;
the guide lamps 9 are symmetrically arranged on the dynamic docking platform main body 1; the dynamic docking platform main body 1 conducts acousto-optic guidance on an AUV main body 17 to be charged through a communication positioning all-in-one machine A4 and a guide lamp 9 and communicates with the AUV main body through a communication positioning all-in-one machine B18;
the two channel propellers 19 are arranged in front of and behind the AUV main body 17 to be charged, and the AUV main body 17 to be charged is driven to vertically move through the two channel propellers 19; the channel thruster 19 provides the AUV body 17 with vertical drive capability.
The dynamic docking platform further comprises:
a locking guide cover 12 arranged at the inlet of the rotary centering locking device 6; the locking guide cover 12 is arranged in the locking butt joint hole 105, so that the butt joint range is further expanded;
the tail wings 10 are symmetrically arranged on the dynamic docking platform main body 1, and the tail wings 10 are fixed on the dynamic docking platform main body 1 through tail wing clamping blocks 11; the tail 10 can increase the stability of the operation of the dynamic docking platform; the tail wing 10 is arranged in a tail wing installation groove 104 on the butt joint platform main body and is fixed through three groups of tail wing clamping blocks 11 which are symmetrical on two sides;
the towing ring 3 is arranged on the dynamic docking platform main body 1, a plurality of towing holes are formed in the towing ring 3 along the traveling direction, one end of a towing cable 13 is connected with any one towing hole in the towing ring 3, and the other end of the towing cable is connected with a winch 15 on the USV main body 14; the towing ring 3 is provided with towing holes at different positions, so that the towing ring can adapt to different working conditions;
and a rope biting device 16 arranged on the AUV main body 17 to be charged, and the towing cable 13 is locked or released through the rope biting device 16. The rope biting device 16 captures the trailing cable 13 after the locking latch 2001 is clamped, further limiting the relative movement between the AUV body 17 and the dynamic docking platform body 1 and limiting the rotation of the AUV body 17.
The rope biting device 16 used in the present embodiment adopts a structure disclosed in a rope catching mechanism for an autonomous recovery underwater robot disclosed in chinese patent publication No. CN 111409796B.
The rotating centering locking device 6 comprises:
a fixed chassis 608 with a central opening and mounted on the dynamic docking platform main body 1, wherein a plurality of radial sliding grooves 6081 are uniformly distributed on the circumference of the upper surface of the fixed chassis 608;
the centering push rods 607 are respectively in sliding fit with the sliding grooves 6081, and arc-shaped clamping blocks are arranged at the end parts of the centering push rods 607;
a centering ring 605 fixedly connected to an upper surface of the fixed base plate 608;
a bull gear 606 sleeved outside the centering ring 605, wherein a plurality of limiting arcs 6061 are uniformly distributed on the circumference of the bull gear 606, and two ends of the limiting arcs 6061 are positioned on two circumferences of the bull gear 606;
one end of each of the limiting upright columns 604 penetrates through each of the limiting arcs 6061 and is fixedly connected with each of the centering push rods 607;
a pinion 602 engaged with the bull gear 606;
the output shaft of the waterproof steering engine is in interference connection with the pinion 602 and transmits torque through a flat key 603, the waterproof steering engine drives the bull gear 606 to rotate so as to drive the centering push rods 607 to move along the sliding grooves 6081 in a centering manner, and the locking bolts 2001 of the locking bolt device 20 are clamped or loosened through the clamping blocks at the ends of the centering push rods 607.
The fixed chassis 608 of the rotary centering locking device 6 is installed in the locking device installation hole 107 of the dynamic docking platform main body 1, the centering push rod 607 is installed in a sliding groove 6081 of the fixed chassis 608, the centering ring 605 is fixedly connected to the upper surface of the fixed chassis 608, the large gear 606 is sleeved outside the centering ring 605, the limiting upright column 604 is fixedly connected with the centering push rod 607, the small gear 602 is meshed with the large gear 606, is in interference connection with the output shaft of the waterproof steering engine B601 and transmits torque through the flat key 603; the small gear 602 rotates to drive the large gear 606 to rotate, the limiting upright columns 604 in the limiting arcs 6061 of the large gear 606 move synchronously, the centering push rod 607 is driven to move in a centering mode along the sliding grooves 6081, and clamping or loosening of the locking bolt 2001 is achieved.
The locking bolt assembly 20 includes:
a waterproof steering engine C2002 arranged on the AUV main body 17 to be charged through a steering engine mounting seat 2003;
and one end of the locking bolt 2001 is vertically connected with the waterproof steering engine C2002 through a spline, the other end of the locking bolt 2001 is an arrow tip, the locking bolt 2001 is driven to rotate through the waterproof steering engine C2002, the locking bolt 2001 extends out and retracts, the locking bolt 2001 rotates to be perpendicular to the AUV when needing to be locked, namely extends out, rotates to be parallel to the AUV when needing to be locked, namely retracts, and rotates to be perpendicular to the axis of the AUV main body 17 when needing to be locked.
The conical head of the locking bolt 2001 can reduce the requirement on the butt joint precision and improve the butt joint success rate;
the electric control device 7 includes:
a capsule main body 701 disposed on the dynamic docking platform main body 1;
a capsule end cover 704 which is matched with the upper end of the capsule main body 701; the outer surface of the sealing end cover is provided with a cylindrical boss 7041; chamfer sealing and radial sealing are arranged between the sealed cabin main body 701 and the sealed cabin end cover 704;
a sealing ring A702 and a sealing ring B703 which are arranged at the joint of the sealed cabin main body 701 and the sealed cabin end cover 704;
the electric control system 705 is arranged inside the sealed cabin main body 701, and the electric control system 705 comprises a direct-current lithium battery 7051, a single chip microcomputer 7052, a power management module 7053 and an electronic compass 7054; the electronic control system 705 controls the attitude adjusting device 5, controls the swinging of the rudder blade 505 to ensure the stability of the attitude angle of the docking platform, and after receiving the signal of the ultrasonic ranging sensor 2, the electronic control system 705 controls the rotating centering locking device 6 to clamp and lock the bolt 2001;
a depth gauge 706 mounted on the cylindrical boss 7041;
and the watertight connectors 707 are arranged on the outer surface of the sealed cabin end cover 704, and the watertight connectors 707 are respectively connected with the ultrasonic distance measuring sensor 2, the waterproof steering engine A501, the waterproof steering engine B601 and the guide lamp 9.
Each of the posture adjustment devices 5 further includes:
the dynamic docking platform comprises a rudder blade shaft 503 installed on the dynamic docking platform body 1, wherein two ends of the rudder blade shaft 503 are in running fit with the rudder blade 505 through sliding bearings 504, one end of the rudder blade shaft 503 is provided with a square shaft shoulder, the square shaft shoulder is in shaft hole fit with a rudder blade shaft installation hole 109 in the dynamic docking platform body 1, and the square shaft shoulder is used for limiting the rudder blade shaft 503 to rotate relative to the dynamic docking platform body 1;
and the waterproof steering engine A501 is arranged on the dynamic docking platform main body 1, and the waterproof steering engine A501 drives the corresponding rudder blade 505 to move relative to the dynamic docking platform main body 1 in an opening and closing manner through a connecting rod 5023 transmission mechanism 502.
The adapter a5022 and the adapter B5024 of the posture adjusting device 5 are fixedly connected to two ends of a connecting rod 5023 respectively and hinged to a swing arm 5021 and a connecting base 5025 respectively; the rudder blade shaft 503 is installed in the rudder blade shaft installation hole 109 of the docking platform main body, and a square shaft shoulder on the rudder blade shaft is matched with the shaft hole to limit the rudder blade shaft to rotate; the rudder blade 505 is sleeved on the rudder blade shaft 503 and fixedly connected with the connecting base 5025; the sliding bearings 504 are respectively installed at both ends of the rudder blade 505 and are sleeved on the rudder blade shaft 503 together with the rudder blade 505.
The link 5023 transmission mechanism 502 comprises:
a connecting base 5025 fixedly connected with the rudder blade 505;
a connecting rod 5023 with one end hinged with the connecting base 5025 through an adapter B5024;
and a swing arm 5021 hinged with an adapter a5022 connected to the other end of the connecting rod 5023, wherein the other end of the swing arm 5021 is connected with the waterproof steering engine a 501.
The dynamic docking platform body 1 includes:
the towing ring installing groove 101 is arranged on the upper end face of the dynamic docking platform main body 1, and the towing ring 3 is installed in the towing ring installing groove 101;
the wireless charging transmitting coil mounting groove 102 is formed in the upper end face of the dynamic docking platform main body 1, and the wireless charging transmitting coil 8 is mounted in the wireless charging transmitting coil mounting groove 102;
the waterproof steering engine A mounting grooves 103 are symmetrically formed in two sides of the tail end of the dynamic docking platform main body 1, and the waterproof steering engine A501 of the attitude adjusting device 5 is mounted in the waterproof steering engine A mounting grooves 103;
the tail wing installation grooves 104 are symmetrically arranged at the tail end of the dynamic docking platform main body 1, and the tail wings 10 are installed in the tail wing installation grooves 104;
the locking device mounting hole 107 is arranged on the lower surface of the middle position of the tail end of the dynamic docking platform main body 1, and the fixing chassis 608 of the rotating centering locking device 6 is coaxially mounted with the locking device mounting hole 107;
a locking butt joint hole 105 arranged on the upper surface of the tail end of the dynamic butt joint platform body 1, the locking butt joint hole 105 and the locking device installation hole 107 are coaxially arranged and communicated, and a locking guide cover 12 is arranged at the port of the locking butt joint hole 105 to guide a locking bolt 2001;
an electric control cabin installation groove 106 arranged on the lower surface of the dynamic docking platform main body 1, wherein the electric control device 7 is installed in the electric control cabin installation groove 106;
the guide lamp mounting grooves 108 are symmetrically arranged on two sides of the tail end of the dynamic docking platform main body 1, and the guide lamps 9 are mounted in the guide lamp mounting grooves 108;
and rudder blade shaft mounting holes 109 symmetrically arranged at two sides of the tail end of the dynamic docking platform main body 1.
The ultrasonic ranging sensor 2, the communication and positioning integrated machine A4 and the communication and positioning integrated machine B18 are well-known technologies in the field and are commercially available products.
The working process of the dynamic docking platform for AUV wireless charging provided by the invention is as follows:
1. the USV main body 14 drags the dynamic docking platform main body 1 through the dragging cable 13 to operate at a set depth, the electronic compass 7054 feeds measured attitude information back to the single chip microcomputer 7052 in the operation process, and the single chip microcomputer 7052 controls the attitude adjusting device 5 to perform corresponding actions, so that the stable operation of the dynamic docking platform main body 1 is realized;
2. the USV main body 14 and the AUV main body 17 are positioned through a GPS and an inertial navigation system respectively, and the AUV main body 17 initially approaches the USV main body 14 through positioning;
3. after the AUV main body 17 enters the acoustic guidance range, the position of the dynamic docking platform is sent to a communication positioning all-in-one machine B18 on the AUV main body 17 through a communication positioning all-in-one machine A4, and the AUV main body 17 navigates to be close to the dynamic docking platform through acoustic guidance;
4. when the AUV main body 17 navigates to the optical guidance range, the guidance lamp 9 on the dynamic docking platform is turned on, and the optical guidance camera on the AUV main body 17 tracks the light of the guidance lamp 9 to be close to the dynamic docking platform;
5. when the AUV main body 17 enters the lamplight guide blind area, the attitude and position information of the dynamic docking platform is sent to a communication and positioning integrated machine B18 on the AUV main body 17 through a communication and positioning integrated machine A4, an ultrasonic ranging sensor 2 on the dynamic docking platform is started, the AUV main body 17 starts a vertical channel propeller 19 to sail above the dynamic docking platform and pop up a locking bolt 2001;
6. the AUV main body 17 controls the locking bolt 2001 to align with the locking butt joint hole 105 behind the dynamic butt joint platform through the main push and the two vertical channel thrusters 19 and gradually descends, the locking bolt is inserted into the locking butt joint hole 105 through the locking guide cover 12, the ultrasonic ranging sensor 2 measures the distance between the dynamic butt joint platform and the AUV main body 17, when the distance between the dynamic butt joint platform and the AUV main body 17 reaches a set distance, the distance between the wireless charging transmitting coil 8 and the wireless charging receiving coil 2101 is located at a set fixed charging distance, and at the moment, the locking bolt 2001 is clamped by the rotating centering locking device 6;
7. after the locking bolt 2001 is clamped, the AUV main body 17 and the channel thruster 19 are flamed out, the rope biting device 16 at the front end of the AUV main body 17 acts to capture and lock the trailing cable 13, and then the wireless charging is started;
8. after the wireless charging of the AUV main body 17 is completed, the rope biting device 16 loosens the dragging cable 13, the centering locking device 6 rotates reversely to loosen the locking bolt 2001, the AUV main body 17 drives away from the dynamic docking platform and retracts the locking bolt 2001, and the task is continuously executed.

Claims (9)

1. A dynamic docking platform for AUV wireless charging, comprising:
the dynamic docking platform comprises a dynamic docking platform main body (1), wherein the dynamic docking platform main body (1) adopts an NACA digital airfoil configuration and is integrally distributed in a flying wing manner;
the attitude adjusting devices (5) are symmetrically arranged at the tail end of the dynamic docking platform main body (1), each attitude adjusting device (5) at least comprises a rudder blade (505) which is in running fit with the dynamic docking platform main body (1) through a rudder blade shaft (503), and the opening and closing angle of the rudder blade (505) relative to the dynamic docking platform main body (1) is adjusted through the attitude adjusting devices (5);
the connection locking structure comprises a rotation centering locking device (6) arranged on the dynamic docking platform main body (1) and a locking bolt device (20) arranged on an AUV main body (17) to be charged, wherein the locking bolt device (20) is matched and locked with the rotation centering locking device (6);
the wireless charging structure comprises a wireless charging transmitting coil (8) arranged on the dynamic docking platform main body (1) and a wireless charging receiving device (21) arranged on an AUV main body (17) to be charged, wherein the wireless charging receiving device (21) comprises a wireless charging receiving coil (2101) arranged on the AUV main body (17) to be charged through a receiving coil mounting frame (2102), and the wireless charging receiving coil (2101) and the wireless charging transmitting coil (8) are matched for charging;
and the electric control device (7) is arranged on the dynamic docking platform main body (1), and receives signals and controls the whole dynamic docking platform to act through the electric control device (7).
2. The dynamic docking platform for wireless charging of an AUV of claim 1, further comprising:
the ultrasonic ranging sensor (2) is arranged at the upper end of the dynamic docking platform main body (1), and the distance from the ultrasonic ranging sensor (2) to the AUV main body (17) to be charged is measured;
the communication positioning all-in-one machine A (4) is arranged on the dynamic docking platform main body (1);
a communication positioning integrated machine B (18) arranged on the AUV main body (17) to be charged;
the guide lamps (9) are symmetrically arranged on the dynamic docking platform main body (1); the dynamic docking platform main body (1) conducts acousto-optic guidance on an AUV main body (17) to be charged through a communication positioning all-in-one machine A (4) and a guide lamp (9) and communicates with the AUV main body through a communication positioning all-in-one machine B (18);
and two channel propellers (19) arranged in front of and behind the AUV main body (17) to be charged, and the AUV main body (17) to be charged is driven to vertically move through the two channel propellers (19).
3. The dynamic docking platform for AUV wireless charging of claim 2, further comprising:
the locking guide cover (12) is arranged at the inlet of the rotating centering locking device (6);
the tail wings (10) are symmetrically arranged on the dynamic docking platform main body (1), and the tail wings (10) are fixed on the dynamic docking platform main body (1) through tail wing clamping blocks (11);
the towing ring (3) is arranged on the dynamic docking platform main body (1), a plurality of towing holes are formed in the towing ring (3) along the traveling direction, one end of a towing cable (13) is connected with any one towing hole in the towing ring (3), and the other end of the towing cable is connected with a winch (15) on the USV main body (14);
and a rope biting device (16) arranged on the AUV main body (17) to be charged, wherein the towing cable (13) is locked or released through the rope biting device (16).
4. The dynamic docking platform for AUV wireless charging according to any claim 1-3, wherein the rotating centering locking device (6) comprises:
a fixed chassis (608) with a central opening and mounted on the dynamic docking platform main body (1), wherein a plurality of radial sliding grooves (6081) are uniformly distributed on the circumference of the upper surface of the fixed chassis (608);
the centering push rods (607) are respectively in sliding fit with the sliding grooves (6081), and arc-shaped clamping blocks are arranged at the end parts of the centering push rods (607);
a centering ring (605) fixedly connected to the upper surface of the fixed chassis (608);
the large gear (606) is sleeved outside the centering ring (605), a plurality of limiting arcs (6061) are uniformly distributed on the large gear (606) along the circumference, and two ends of each limiting arc (6061) are positioned on two circumferences of the large gear (606);
one end of each limiting upright column (604) penetrates through each limiting arc (6061) and is fixedly connected with each centering push rod (607);
a pinion gear (602) engaged with the bull gear (606);
and an output shaft of the waterproof steering engine is in interference connection with the small gear (602) and transmits torque through a flat key (603), the waterproof steering engine B (601) drives the large gear (606) to rotate so as to drive the centering push rods (607) to move along a sliding groove (6081) in a centering manner, and the locking bolt (2001) of the locking bolt device (20) is clamped or loosened through clamping blocks at the end parts of the centering push rods (607).
5. The dynamic docking platform for AUV wireless charging as claimed in any of claims 1-3, wherein the locking latch device (20) comprises:
a waterproof steering engine C (2002) which is arranged on the AUV main body (17) to be charged through a steering engine mounting seat (2003);
and one end of the locking bolt (2001) is vertically connected with the waterproof steering engine C (2002) through a spline, the other end of the locking bolt (2001) is an arrow tip, and the locking bolt (2001) is driven to rotate by the waterproof steering engine C (2002) so as to extend and retract the locking bolt (2001).
6. The dynamic docking platform for AUV wireless charging according to any one of claims 1-3, wherein the electric control device (7) comprises:
a capsule body (701) disposed on the dynamic docking platform body (1);
a sealed cabin end cover (704) matched with the upper end of the sealed cabin main body (701); the inner surface of the sealing end cover (704) is provided with a cylindrical boss (7041); chamfer sealing and radial sealing are arranged between the sealed cabin main body (701) and the sealed cabin end cover (704);
a sealing ring A (702) and a sealing ring B (703) which are arranged at the joint of the sealed cabin main body (701) and the sealed cabin end cover (704);
the electric control system (705) is arranged inside the sealed cabin main body (701), and the electric control system (705) comprises a direct-current lithium battery (7051), a single chip microcomputer (7052), a power supply management module (7053) and an electronic compass (7054);
a depth gauge (706) mounted on the cylindrical boss (7041);
and the watertight connectors (707) are arranged on the outer surface of the sealed cabin end cover (704), and the watertight connectors (707) are respectively connected with the ultrasonic ranging sensor (2), the waterproof steering engine A (501), the waterproof steering engine B (601) and the guide lamp (9).
7. The dynamic docking platform for AUV wireless charging according to any claim 1-3, wherein each attitude adjusting device (5) further comprises:
the dynamic butt joint platform comprises a rudder blade shaft (503) installed on a dynamic butt joint platform body (1), wherein two ends of the rudder blade shaft (503) are in running fit with rudder blades (505) through sliding bearings (504), one end of the rudder blade shaft (503) is provided with a square shaft shoulder, the square shaft shoulder is matched with a shaft hole of a rudder blade shaft installation hole (109) in the dynamic butt joint platform body (1), and the square shaft shoulder is used for limiting the rudder blade shaft (503) to rotate relative to the dynamic butt joint platform body (1);
and the waterproof steering engine A (501) is arranged on the dynamic docking platform main body (1), and the waterproof steering engine A (501) drives the corresponding rudder blade (505) to move relative to the dynamic docking platform main body (1) in an opening and closing mode through the connecting rod transmission mechanism (502).
8. The dynamic docking platform for AUV wireless charging as claimed in claim 7, wherein the link transmission mechanism (502) comprises:
a connecting base (5025) fixedly connected with the rudder blade (505);
a connecting rod (5023) with one end hinged with the connecting base (5025) through an adapter B (5024);
and a swing arm (5021) which is hinged with an adapter A (5022) and connected to the other end of the connecting rod (5023), wherein the other end of the swing arm (5021) is connected with the waterproof steering engine A (501).
9. A dynamic docking platform for AUV wireless charging according to any of claims 1-3, characterized in that the dynamic docking platform body (1) comprises:
the towing ring installing groove (101) is formed in the upper end face of the dynamic docking platform main body (1), and the towing ring (3) is installed in the towing ring installing groove (101);
the wireless charging transmitting coil mounting groove (102) is formed in the upper end face of the dynamic docking platform main body (1), and the wireless charging transmitting coil (8) is mounted in the wireless charging transmitting coil mounting groove (102);
waterproof steering engine A mounting grooves (103) symmetrically arranged on two sides of the tail end of the dynamic docking platform main body (1), and waterproof steering engines A (501) of the attitude adjusting device (5) are mounted in the waterproof steering engine A mounting grooves (103);
the tail wing mounting grooves (104) are symmetrically arranged at the tail ends of the dynamic docking platform main bodies (1), and tail wings (10) are mounted in the tail wing mounting grooves (104);
the locking device mounting hole (107) is formed in the lower surface of the middle position of the tail end of the dynamic docking platform main body (1), and a fixed chassis (608) of the rotating centering locking device (6) is coaxially mounted with the locking device mounting hole (107);
a locking butt joint hole (105) arranged on the upper surface of the tail end of the dynamic butt joint platform body (1), the locking butt joint hole (105) and the locking device installation hole (107) are coaxially arranged and communicated, and a locking guide cover (12) is arranged at the port of the locking butt joint hole (105) and guides a locking bolt (2001);
the electric control cabin mounting groove (106) is formed in the lower surface of the dynamic docking platform main body (1), and the electric control device (7) is mounted in the electric control cabin mounting groove (106);
the guide lamp mounting grooves (108) are symmetrically arranged on two sides of the tail end of the dynamic docking platform main body (1), and the guide lamps (9) are mounted in the guide lamp mounting grooves (108);
and rudder blade shaft mounting holes (109) symmetrically arranged at two sides of the tail end of the dynamic docking platform main body (1).
CN202211179359.0A 2022-09-27 2022-09-27 Dynamic docking platform for AUV wireless charging Pending CN115489350A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202211179359.0A CN115489350A (en) 2022-09-27 2022-09-27 Dynamic docking platform for AUV wireless charging

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202211179359.0A CN115489350A (en) 2022-09-27 2022-09-27 Dynamic docking platform for AUV wireless charging

Publications (1)

Publication Number Publication Date
CN115489350A true CN115489350A (en) 2022-12-20

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN202211179359.0A Pending CN115489350A (en) 2022-09-27 2022-09-27 Dynamic docking platform for AUV wireless charging

Country Status (1)

Country Link
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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116639232A (en) * 2023-07-27 2023-08-25 国家深海基地管理中心 Seating type docking platform for AUV underwater charging and data interaction and method thereof

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116639232A (en) * 2023-07-27 2023-08-25 国家深海基地管理中心 Seating type docking platform for AUV underwater charging and data interaction and method thereof
CN116639232B (en) * 2023-07-27 2023-10-27 国家深海基地管理中心 Seating type docking platform for AUV underwater charging and data interaction and method thereof

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