CN112498144A - Solar driven anchor system type autonomous aircraft multifunctional docking station and docking method - Google Patents
Solar driven anchor system type autonomous aircraft multifunctional docking station and docking method Download PDFInfo
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- CN112498144A CN112498144A CN202011369372.3A CN202011369372A CN112498144A CN 112498144 A CN112498144 A CN 112498144A CN 202011369372 A CN202011369372 A CN 202011369372A CN 112498144 A CN112498144 A CN 112498144A
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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
- B60L53/30—Constructional details of charging stations
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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
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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
- B60L53/126—Methods for pairing a vehicle and a charging station, e.g. establishing a one-to-one relation between a wireless power transmitter and a wireless power receiver
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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
- B60L53/50—Charging stations characterised by energy-storage or power-generation means
- B60L53/51—Photovoltaic means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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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
- B60L2200/00—Type of vehicles
- B60L2200/32—Waterborne vessels
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- 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
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- 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
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- 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
- Y02T90/12—Electric charging stations
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- 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
Abstract
The invention discloses a multifunctional docking station and a docking method of a solar driven anchor-system autonomous aircraft, wherein a buoyancy part is arranged at the upper part of a main body support, a solar panel is arranged on the upper surface of the buoyancy part, and an antenna part is arranged at the upper part of the buoyancy part; the ASV butt joint position is arranged at the buoyancy part, the visual target is arranged above the ASV butt joint position, the ASV magnetic locking mechanism is arranged at the center of the ASV butt joint position, and the ASV wireless power transmission part is arranged on the side of the ASV butt joint position; the AUV docking station and the electronic cabin are both arranged on the bottom surface of the main body support, an acoustic beacon and an underwater lamp are arranged above the AUV docking station, and an AUV electric energy transmission coil and an AUV magnetic locking mechanism are arranged behind the AUV docking station. When the autonomous aircraft needs to be charged, the GPS and the guiding device are used for guiding the autonomous aircraft to the corresponding position, and the magnetic locking mechanism is used for fixing and carrying out non-contact electric energy transmission on the autonomous aircraft.
Description
Technical Field
The invention belongs to the technical field of autonomous aircraft, and particularly relates to a solar drive anchor system type autonomous aircraft multifunctional docking station and a docking method.
Background
In recent years, as the marine environment, resources and geology attract more and more attention, the observation of the sea bottom is more and more important in a national defense system, and the detection and development of the sea are one of the important strategies of many countries; under the background, an underwater autonomous vehicle capable of carrying a plurality of detectors is more and more important; however, due to the limitation of the electric energy provided by the battery in the cavity of the underwater autonomous vehicle, the observation range of the underwater autonomous vehicle is severely restricted, so that the design of a reasonable and reliable docking platform for docking the autonomous vehicle is also one of the research focuses. Aiming at the problems, the domestic underwater connection technology is gradually developed in recent years; in the prior art, an autonomous underwater vehicle is reliably stopped in a docking station through the guidance of a horn mouth, and the transmission of electric energy and signals with an observation network is realized. Or the orientation of the horn mouth of the underwater autonomous vehicle can be changed according to the orientation of the underwater autonomous vehicle in the process of docking the underwater autonomous vehicle, so that the success rate of docking can be greatly improved. The design of the connection system in China is longitudinal, most of the connection platforms are fixed at a certain point, so that the observation range of the underwater autonomous vehicle is greatly limited, the fixed point connection stations are usually heavy, underwater conditions cannot be mastered in real time when the fixed point connection stations are arranged and fixed on the seabed, and the operation is difficult to perform due to the heavy self weight of the fixed point connection stations in emergency, so that the danger is extremely high. The above problems also exist in the surface autonomous vehicle (ASV) and the underwater autonomous vehicle (AUV), which are generally powered by a battery, and the endurance of the surface autonomous vehicle is limited by the capacity of the battery.
Disclosure of Invention
In view of the above, the present invention provides a solar powered anchor-based autonomous vehicle multi-function docking station comprising a main body frame, a buoyancy section, a propeller, an ASV docking station, an AUV docking station, an electronics pod, an antenna, a solar panel, and a cable, wherein,
the buoyancy part is arranged at the upper part of the main body support, the solar panel is arranged on the upper surface of the buoyancy part, and the antenna part is arranged at the upper part of the buoyancy part; the ASV butt joint position is arranged at the buoyancy part, the visual target is arranged above the ASV butt joint position, the ASV magnetic locking mechanism is arranged at the center of the ASV butt joint position, and the ASV wireless power transmission part is arranged on the side of the ASV butt joint position; the AUV docking station and the electronic cabin are both arranged on the bottom surface of the main body bracket, an acoustic beacon and an underwater lamp are arranged above the AUV docking station, and an AUV electric energy transmission coil and an AUV magnetic locking mechanism are arranged behind the AUV docking station; the two propellers are respectively arranged at the two ends of the rear side of the bottom of the main body bracket; the electronic cabin provides circuit control and electric energy; one end of the mooring rope is connected with the bottom of the main body support, and the other end of the mooring rope is connected with the anchor.
Preferably, a lithium battery, a main control circuit, an AUV docking station control circuit, an ASV docking station control circuit, an attitude sensor, a motor control circuit, a GPS (global positioning system), an iridium satellite communication circuit and a WiFi (wireless fidelity) communication circuit are arranged in the electronic cabin, the system comprises a main control circuit, an AUV docking station control circuit, an ASV docking station control circuit, an attitude sensor, a motor control circuit, a GPS, an iridium satellite communication circuit and a WiFi communication circuit which are connected respectively, the motor control circuit is further connected with the AUV docking station control circuit and a propeller, the AUV docking station control circuit is connected with an acoustic beacon, an underwater lamp, an AUV electric energy transmission coil and an AUV magnetic locking mechanism, the ASV docking station control circuit is connected with an ASV wireless electric energy transmission part and the ASV magnetic locking mechanism, the GPS positions the docking station, the attitude sensor acquires attitude information, and the position and attitude information is transmitted to an operating station on the shore and an autonomous robot to be docked through the iridium satellite communication circuit or the WiFi communication circuit.
Preferably, the antenna part includes a GPS antenna, an iridium antenna, and a WiFi antenna.
Preferably, the ASV wireless power transmission part includes a contactless power transmission coupler.
Preferably, the AUV docking station is horn shaped.
Based on the above object, the present invention further provides a docking method of the docking station, comprising the following steps:
s10, the multifunctional docking station of the solar driven anchor system type autonomous aircraft is arranged on a task route of an AUV and/or an ASV, the docking station charges a lithium battery through a solar panel, energy is stored, and state information of the docking station is updated to an onshore control station through an iridium communication circuit and an iridium antenna;
s20, navigating the AUV and/or the ASV to the position near the docking station through GPS positioning, and operating the docking program;
s30, the docking station receives the docking request and starts to prepare for docking, wherein the docking request comprises the steps of starting an AUV (autonomous underwater vehicle) magnetic locking mechanism and/or an ASV (automatic switched vehicle) magnetic locking mechanism, opening a guiding device and maintaining the orientation by using a propeller;
s40, the AUV and/or the ASV enter the docking station through the acoustic beacon or the visual target and are fixed by the AUV magnetic locking mechanism and/or the ASV magnetic locking mechanism;
s50, the docking station charges the ASV and/or AUV through the ASV wireless power transmission part and/or the AUV power transmission coil, and collects data through the WiFi communication circuit;
s60, the docking station transmits the real-time information to the control station and receives the control command of the control station;
s70, charging the AUV and/or the ASV, closing the AUV magnetic locking mechanism and/or the ASV magnetic locking mechanism by the main control circuit, moving the AUV and/or the ASV out of the docking station, and continuing moving to the next docking station or the next path point;
and S80, the docking station supplements electric energy for the lithium battery through the solar panel, and waits for the docking request of the next aircraft.
Compared with the prior art, the multifunctional docking station and the docking method of the solar driven anchor system type autonomous aircraft disclosed by the invention at least have the following beneficial effects:
1. the invention provides an anchor system type docking station which can be arranged on a route of an autonomous aircraft, and the anchor system type docking station can collect and store solar energy and realize self energy supply and energy storage;
2. the device is simultaneously suitable for an autonomous underwater vehicle (ASV) and an Autonomous Underwater Vehicle (AUV), and the ASV and the AUV are charged in a non-contact electric energy transmission mode, so that the cruising ability of the autonomous vehicle is infinitely improved;
3. the whole docking station is small and portable in size, and the steering and orientation maintaining of the docking station can be realized by controlling the propeller;
4. the visual target is arranged for the ASV, and the acoustic beacon and the underwater lamp are arranged for the AUV, so that effective and reliable guidance is provided.
Drawings
In order to make the object, technical scheme and beneficial effect of the invention more clear, the invention provides the following drawings for explanation:
FIG. 1 is a schematic structural view of a solar driven mooring-type autonomous aircraft multifunctional docking station in accordance with an embodiment of the present invention;
FIG. 2 is a schematic view of another embodiment of a solar driven mooring autonomous aircraft multifunctional docking station of the present invention;
FIG. 3 is a schematic diagram of the electronic cabin circuitry of the solar driven mooring autonomous vehicle multi-functional docking station of an embodiment of the present invention;
fig. 4 is a flowchart illustrating steps of a method for multifunctional docking of a solar-driven anchor-based autonomous vehicle according to an embodiment of the present invention.
Detailed Description
Preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
Docking station embodiment referring to fig. 1-3, comprising a body support 11, buoyancy 12, thruster 13, ASV docking station 21, AUV docking station 31, electronics compartment 36, antenna, solar panel 42 and cable 43, wherein,
the buoyancy part 12 is arranged at the upper part of the main body support 11, the solar panel 42 is arranged on the upper surface of the buoyancy part 12, and the antenna part 41 is arranged at the upper part of the buoyancy part 12; the ASV docking position 21 is arranged at the buoyancy part 12, the visual target 24 is arranged above the ASV docking position 21, the ASV magnetic locking mechanism 22 is arranged at the center of the ASV docking position 21, and the ASV wireless power transmission part 23 is arranged at the side of the ASV docking position 21; the AUV docking station 31 and the electronic cabin 36 are both arranged on the bottom surface of the main body bracket 11, the acoustic beacon 35 and the underwater lamp 34 are arranged above the AUV docking station 31, and the AUV power transmission coil 33 and the AUV magnetic locking mechanism 32 are arranged behind the AUV docking station 31; two propellers 13 are arranged and are respectively arranged at the two ends of the rear side of the bottom of the main body bracket 11; the electronics compartment 36 provides circuit control and power; the cable 43 is connected at one end to the bottom of the body support 11 and at the other end to the anchor.
Referring to fig. 3, a lithium battery, a main control circuit 61, an AUV docking station control circuit 64, an ASV docking station control circuit 63, an attitude sensor 65, a motor control circuit 62, a GPS66, an iridium communication circuit 67, and a WiFi communication circuit 68 are disposed in the electronic cabin 36, wherein the main control circuit 61 is connected to the AUV docking station control circuit 64, the ASV docking station control circuit 63, the attitude sensor 65, the motor control circuit 62, a GPS66, the iridium communication circuit 67, and the WiFi communication circuit 68, respectively, the motor control circuit 62 is further connected to the AUV docking station control circuit 64 and the propeller 13, the AUV docking station control circuit 64 is connected to the acoustic beacon 35, the underwater light 34, the AUV power transmission coil 33, and the AUV magnetic locking mechanism 32, the ASV docking station control circuit 63 is connected to the ASV wireless power transmission unit 23 and the ASV magnetic locking mechanism 22, the GPS66 locates the docking station, and the attitude sensor 65 collects attitude information, and the position and attitude information is transmitted to an onshore control station and the autonomous robot to be docked through an iridium communication circuit 67 or a WiFi communication circuit 68. The antenna portion 41 includes a GPS66 antenna, an iridium antenna, and a WiFi antenna.
The docking station floats on the sea surface through the anchor base, through the buoyant section 12, the upper surface of the buoyant section 12 is lined with solar panels 42, capable of collecting solar energy, and stored in the lithium battery pack of the electronics compartment 36. The buoyancy portion 12 is further provided with an antenna portion 41, and a GPS66 antenna, an Iridium antenna and a WiFi antenna are arranged inside the antenna portion. The electronic cabin 36 adopts a waterproof design, wherein besides a lithium battery, a main control circuit 61, an AUV docking station control circuit 64, an ASV docking control circuit 63, a contact type power transmission transmitting circuit, an attitude sensor 65, a motor control circuit 62 and the like are arranged, the docking station can carry out accurate positioning through a GPS66, and position and attitude information is transmitted to an onshore control station and an autonomous robot to be docked through an iridium communication circuit 67 and an iridium antenna. To minimize the effect of sea conditions during docking, the docking station is also equipped with two propellers 13, controlled by the motor control circuit 62 in the electronics compartment 36, enabling steering and orientation maintenance of the docking station.
The ASV docking station 21 can dock ASVs, and both the size and the number of the ASVs can be customized according to actual conditions. The ASV docking station 21 has a visual target 24 for guiding the ASV. In addition, an ASV magnetic locking mechanism 22 is provided on the ASV docking station 21 for securing the ASV. And a non-contact power transmission coupler is arranged, so that the ASV can be wirelessly charged. The data from the ASV may also be transmitted to the docking station via WiFi communication circuitry 68 and a WiFi antenna.
The AUV docking station 31 is positioned below the water surface and is suitable for AUV docking with a specified diameter, and the size and the number of the AUV docking stations can be customized according to actual conditions. The AUV docking station 31 consists of a bell mouth and a main body part, the bell mouth is provided with guiding devices such as underwater lamps 34 and acoustic beacons 35, and the AUV enters the docking station through the guiding action of the bell mouth. The main body portion is fitted with an AUV magnetic locking mechanism 32 for securing the AUV. After the AUV enters the AUV docking station 31, the coil and the antenna mounted on the AUV docking station are aligned with the AUV power transmission coil 33 and the WiFi antenna arranged on the AUV docking station 31, and wireless charging and high-speed WiFi communication can be achieved.
An embodiment of the docking method, see fig. 4, comprises the following steps:
s10, the multifunctional docking station of the solar driven anchor system type autonomous aircraft is arranged on a task route of an AUV and/or an ASV, the docking station charges a lithium battery through a solar panel, energy is stored, and state information of the docking station is updated to an onshore control station through an iridium communication circuit and an iridium antenna;
s20, navigating the AUV and/or the ASV to the position near the docking station through GPS positioning, and operating the docking program;
s30, the docking station receives the docking request and starts to prepare for docking, wherein the docking request comprises the steps of starting an AUV (autonomous underwater vehicle) magnetic locking mechanism and/or an ASV (automatic switched vehicle) magnetic locking mechanism, opening a guiding device and maintaining the orientation by using a propeller;
s40, the AUV and/or the ASV enter the docking station through the acoustic beacon or the visual target and are fixed by the AUV magnetic locking mechanism and/or the ASV magnetic locking mechanism;
s50, the docking station charges the ASV and/or AUV through the ASV wireless power transmission part and/or the AUV power transmission coil, and collects data through the WiFi communication circuit;
s60, the docking station transmits the real-time information to the control station and receives the control command of the control station;
s70, charging the AUV and/or the ASV, closing the AUV magnetic locking mechanism and/or the ASV magnetic locking mechanism by the main control circuit, moving the AUV and/or the ASV out of the docking station, and continuing moving to the next docking station or the next path point;
and S80, the docking station supplements electric energy for the lithium battery through the solar panel, and waits for the docking request of the next aircraft.
The method embodiment refers to the docking station embodiment and is not described again.
The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. A solar driven anchor-system type autonomous aircraft multifunctional docking station is characterized by comprising a main body bracket, a buoyancy part, a propeller, an ASV docking station, an AUV docking station, an electronic cabin, an antenna, a solar panel and a cable, wherein,
the buoyancy part is arranged at the upper part of the main body support, the solar panel is arranged on the upper surface of the buoyancy part, and the antenna part is arranged at the upper part of the buoyancy part; the ASV butt joint position is arranged at the buoyancy part, the visual target is arranged above the ASV butt joint position, the ASV magnetic locking mechanism is arranged at the center of the ASV butt joint position, and the ASV wireless power transmission part is arranged on the side of the ASV butt joint position; the AUV docking station and the electronic cabin are both arranged on the bottom surface of the main body bracket, an acoustic beacon and an underwater lamp are arranged above the AUV docking station, and an AUV electric energy transmission coil and an AUV magnetic locking mechanism are arranged behind the AUV docking station; the two propellers are respectively arranged at the two ends of the rear side of the bottom of the main body bracket; the electronic cabin provides circuit control and electric energy; one end of the mooring rope is connected with the bottom of the main body support, and the other end of the mooring rope is connected with the anchor.
2. The docking station of claim 1, wherein the electronic compartment houses a lithium battery, a main control circuit, an AUV docking station control circuit, an ASV docking station control circuit, an attitude sensor, a motor control circuit, a GPS, an Iridium communication circuit, and a WiFi communication circuit, wherein the main control circuit is connected to the AUV docking station control circuit, the ASV docking station control circuit, the attitude sensor, the motor control circuit, the GPS, the Iridium communication circuit, and the WiFi communication circuit, respectively, the motor control circuit is further connected to the AUV docking station control circuit and the propeller, the AUV docking station control circuit is connected to the acoustic beacon, the underwater light, the AUV power transmission coil, and the AUV magnetic locking mechanism, the ASV docking station control circuit is connected to the ASV wireless power transmission unit and the ASV magnetic locking mechanism, the GPS locates the docking station, the attitude sensor collects attitude information, and transmits the position and attitude information to an upper control station and an autonomous control station to be docked via the Iridium communication circuit or the WiFi communication circuit A robot.
3. The docking station of claim 1, wherein the antenna portion comprises a GPS antenna, an iridium antenna, and a WiFi antenna.
4. The docking station of claim 1, wherein the ASV wireless power transfer includes a contactless power transfer coupler.
5. The docking station of claim 1, wherein the AUV docking station is horn shaped.
6. A method of docking a docking station as claimed in any of claims 1 to 5, comprising the steps of:
s10, the multifunctional docking station of the solar driven anchor system type autonomous aircraft is arranged on a task route of an AUV and/or an ASV, the docking station charges a lithium battery through a solar panel, energy is stored, and state information of the docking station is updated to an onshore control station through an iridium communication circuit and an iridium antenna;
s20, navigating the AUV and/or the ASV to the position near the docking station through GPS positioning, and operating the docking program;
s30, the docking station receives the docking request and starts to prepare for docking, wherein the docking request comprises the steps of starting an AUV (autonomous underwater vehicle) magnetic locking mechanism and/or an ASV (automatic switched vehicle) magnetic locking mechanism, opening a guiding device and maintaining the orientation by using a propeller;
s40, the AUV and/or the ASV enter the docking station through the acoustic beacon or the visual target and are fixed by the AUV magnetic locking mechanism and/or the ASV magnetic locking mechanism;
s50, the docking station charges the ASV and/or AUV through the ASV wireless power transmission part and/or the AUV power transmission coil, and collects data through the WiFi communication circuit;
s60, the docking station transmits the real-time information to the control station and receives the control command of the control station;
s70, charging the AUV and/or the ASV, closing the AUV magnetic locking mechanism and/or the ASV magnetic locking mechanism by the main control circuit, moving the AUV and/or the ASV out of the docking station, and continuing moving to the next docking station or the next path point;
and S80, the docking station supplements electric energy for the lithium battery through the solar panel, and waits for the docking request of the next aircraft.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114013612A (en) * | 2021-11-09 | 2022-02-08 | 中国船舶科学研究中心 | Folding type underwater charging platform and use method thereof |
| CN115848606A (en) * | 2023-03-01 | 2023-03-28 | 自然资源部第一海洋研究所 | Deep sea long-term-residence type AUV detection system and method |
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| CN114013612B (en) * | 2021-11-09 | 2022-08-30 | 中国船舶科学研究中心 | Folding type underwater charging platform and use method thereof |
| CN115848606A (en) * | 2023-03-01 | 2023-03-28 | 自然资源部第一海洋研究所 | Deep sea long-term-residence type AUV detection system and method |
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