CN113697068B - Multifunctional underwater connection base station capable of being spliced and folded - Google Patents
Multifunctional underwater connection base station capable of being spliced and folded Download PDFInfo
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- CN113697068B CN113697068B CN202110925861.0A CN202110925861A CN113697068B CN 113697068 B CN113697068 B CN 113697068B CN 202110925861 A CN202110925861 A CN 202110925861A CN 113697068 B CN113697068 B CN 113697068B
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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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Abstract
The invention discloses a foldable multifunctional underwater connection base station which comprises a base station body, wherein the side edge of the base station body is hinged with a foldable structure, and the foldable structure is connected with the base station body through a hydraulic telescopic structure, so that the connection and folding functions of the base station body and the foldable structure are realized. The underwater autonomous connection system, the foldable and spliceable structure and the underwater autonomous moving system are adopted, and the defects that the traditional underwater connection base station is single in operation function, incapable of autonomously moving and incapable of adapting to multi-AUV cluster operation are overcome.
Description
Technical Field
The invention belongs to the technical field of underwater vehicle connection, and particularly relates to a multifunctional underwater connection base station capable of being spliced.
Background
With the entrance of ocean research, the requirements on the continuity of observation data for the breadth and depth of an ocean observation technology are higher and higher, and an autonomous underwater unmanned vehicle (abbreviated as AUV) is used as one of important carrying platforms for ocean observation, and the requirements on the depth, breadth and duration of an operation range are higher and higher, so that in order to meet the requirements, many research institutions are dedicated to research in the fields of multi-AUV cluster operation technology, underwater connection technology, underwater wireless charging, underwater wireless communication, underwater navigation technology and the like. The underwater connection base station solves the problem of limited AUV duration, and can be used as a device arranged on the seabed for parking the AUV and charging and transmitting information of the AUV; such as the AUV docking station disclosed in patent application publication No. CN 110203358A.
However, existing underwater docking base stations have some disadvantages: at present, a conventional underwater connection base station is designed for a single AUV, the cost for putting multiple AUVs by the conventional base station is high, and information sharing can not be realized by information transmission of multiple AUVs in the same base station, for example, the AUV flexible connection base station provided by the patent application with the publication number of CN 112937804A; the conventional base station has a single function and is mainly responsible for connecting the AUV, and the conventional base station is idle at ordinary times and has no any operation task at the seabed, so that the utilization rate is low; when the electric quantity of the AUV cannot be returned to the base station, the conventional base station can only be fixed at the original position and cannot reach the position close to the AUV to complete the connection and charging of the AUV, and if manual treatment is adopted, the cost is very high; and the conventional base station can only be fixed at the original position, and the AUV can only operate within the range allowed by the electric quantity, so that the observation range of the AUV is limited.
Disclosure of Invention
The invention aims to provide a foldable multifunctional underwater connection base station aiming at the defects of the traditional underwater connection base station, and the multifunctional underwater connection base station can realize the functions that a single base station carries a plurality of operation task loads and stops other AUVs, a plurality of base stations are spliced and carry a plurality of AUVs, and the base stations move autonomously.
In order to achieve the purpose, the invention adopts the following specific technical scheme:
the utility model provides a can piece together multi-functional basic station of plugging into under water of book, includes the basic station body, the side of basic station body articulates there is the structure that can piece together, can piece together and be connected through hydraulic telescoping structure between structure and the basic station body, realize basic station body and can piece together the structure be connected and folding function.
The invention utilizes the splicing structure of the base station body and the side edge hinge joint to realize three working modes of the base station: a working mode, a sport mode and a protection mode.
Under the operation mode, the splicing structure is unfolded at the periphery of the base station body and is in a tiled state with the base station body, and the splicing structure can be used for carrying a corresponding operation device and can also be used for connecting an underwater vehicle or serving as a storage platform.
Under the motion mode, the splicing structure is closed and forms a polyhedral structure with the base station body, so that internal components are protected in the moving process, and water impact is blocked.
Under the protection mode, the splicing structure is closed, an AUV which is stopped in the base station is protected, and the AUV is prevented from being separated from the base station and lost.
Preferably, the splicing structure is triangular, and forms a polyhedral structure with the base station body after being folded; the said structure can be pieced together and expanded the body of base station after spreading.
Can piece together the shape of structure and the shape of basic station body and want the cooperation, preferably adopt triangle-shaped, folding back triangle-shaped can piece together the sharp portion of structure and draw close each other, constitute a polyhedral structure with the basic station body, can piece together the structure after the expansion and tile with the basic station body for further extension basic station body's function.
In order to realize the folding action of the splicing structure, preferably, the hydraulic telescopic structure comprises two hydraulic telescopic rods which are respectively hinged on the splicing structure and the base station body, and a hydraulic driving device arranged on the base station body.
Preferably, the base station body has a bottom plate in a triangular, quadrangular or polygonal shape, and a plurality of supporting devices are arranged at the edge of the base station body.
The base station body in the invention can be triangular, quadrangular or polygonal, and in addition, the base station body can be spliced and structured, is not limited to be triangular, and can also be polygonal or other irregular shapes, such as the shape similar to petals.
Preferably, every strutting arrangement includes the support frame that is connected to the base station body middle part by the edge of base station body, and the support frame is including vertical section, support section, first slope section, second slope section and the linkage segment that connects gradually, and the edge of base station body is connected to vertical section, and the linkage segment is connected in the middle part of the base station body.
Preferably, a reinforced diagonal rod is connected between the vertical section and the first inclined section, the reinforced diagonal rod is flush with the edge of the splicing structure in a folded state, and an underwater shaftless propeller with horizontal power is installed on the reinforced diagonal rod; and the support section is provided with an acoustic communication and positioning device.
The plurality of supporting devices act simultaneously to realize the support of the base station for connection underwater, and the vertical section is still outside the base station when the splicing structure is closed, so that the shaftless propeller, the acoustic communication and the positioning device on the supporting frame can be completely exposed outside, and the normal work of the propeller, the acoustic communication and the positioning device in the horizontal direction is ensured.
Preferably, the middle part of the base station body is provided with a falling plate, and the periphery of the falling plate is provided with a plurality of optical guide lamps and a plurality of underwater cameras in the vertical direction and the horizontal direction;
the device comprises a landing plate and a control system, wherein a wired charging coil and underwater WIFI are arranged on the landing plate, and a locking mechanism used for fixing an underwater vehicle is arranged at the edge of the landing plate.
Preferably, the base station body is provided with a main control cabin, a battery cabin for power supply and a plurality of underwater shaftless propellers in the vertical direction.
In order to enable the water body in the base station to circulate, preferably, the bottom plate of the splicing structure is provided with a flow through port so as to ensure the normal work of the propeller in the vertical direction.
Preferably, the middle part of the bottom plate of the splicing structure is provided with a load carrying platform for carrying operation devices such as an ocean monitoring instrument, a submarine organism catcher and the like or a storage platform as a component part of a base station.
The underwater autonomous connection system, the foldable and spliceable structure and the underwater autonomous moving system are adopted, and the defects that the traditional underwater connection base station is single in operation function, incapable of autonomously moving and incapable of adapting to multi-AUV cluster operation are overcome.
Drawings
FIG. 1 is a structural diagram of a multifunctional underwater docking station which can be spliced according to the present invention;
in the figure: 1-a base station body, 2-a landing plate, 3-a base station support frame, 4-a locking mechanism, 5-a wireless charging coil, 6-underwater WIFI, 7-a main control cabin, 8-a battery cabin, 9-an underwater camera (in the vertical direction), 10-an underwater camera (in the horizontal direction), 11-an acoustic communication and navigation device, 12-an underwater shaftless propeller (in the horizontal direction), 13-an underwater shaftless propeller (in the vertical direction), 14-an optical guidance lamp, 15-a hydraulic telescopic device, 16-a base station splicing structure, 17-a load carrying platform, 18-an overflow port and 19-supporting legs;
FIG. 2 is a close-up view of the base station folding mechanism configuration;
in the figure: 201-hydraulic telescopic rod, 202-detachable hinge base (splicing structure end), 203-detachable hinge base (base station body end), 204-detachable hinge, 205-hydraulic driving device, 206-supporting foot, 207-base station bottom plate, 208-splicing structure bottom plate;
FIG. 3 is an expanded state view of the base station folding mechanism configuration;
FIG. 4 is a diagram illustrating an operation mode of the fully unfolded collapsible structure;
in the figure: 1-base station body, 2-landing plate, 3-base station support frame, 4-locking mechanism, 5-wireless charging coil, 6-underwater WIFI, 7-main control cabin, 8-battery cabin, 9-underwater camera (vertical direction), 10-underwater camera (horizontal direction), 11-acoustic communication and navigation device, 12-underwater shaftless propeller (horizontal direction), 13-underwater shaftless propeller (vertical direction), 14-optical guidance lamp, 15-hydraulic telescopic device, 16-base station splicing structure, 17-load carrying platform, 18-overflow port, 19-supporting foot
FIG. 5 is a diagram of a movement pattern of the fully closed state of the puzzle;
in the figure: 501-base station support structure (base station body part), 502-base station spliceable structure, 503-flow port, 504-shaftless propeller (vertical direction), 505-shaftless propeller (horizontal direction), 506-acoustic communication and navigation device;
FIG. 6 is a schematic diagram of a dual-base-station spliced unfolding state;
in the figure: 601-multifunctional foldable base station, 602-multifunctional foldable base station, 603-base station detachable expansion structure;
FIG. 7 is a schematic diagram of a closed state after splicing of two base stations;
in the figure: 701-multifunctional foldable base station body, 702-multifunctional foldable base station body, 703-detachable extension structure of base station, 704-shaftless propeller (horizontal direction, base station 2), 705-shaftless propeller (horizontal direction, base station 1), 706-shaftless propeller (vertical direction), 707-acoustic communication and navigation device;
FIG. 8 is a schematic structural diagram of a base station support frame;
in the figure: 801-section 1 of base station support frame, 802-section 2 of base station support frame, 803-section 3 of base station support frame, 804-section 4 of base station support frame, 805-section 5 of base station support frame, 806-reinforced diagonal rod of base station support frame, and 807-underwater shaftless propeller (horizontal direction);
fig. 9 is a schematic structural view of the base station support frame when the splittable structure is closed;
in the figure: 901-base station support frame, 902-underwater shaftless propeller (horizontal direction), 903-underwater shaftless propeller (vertical direction), 904-acoustic communication and positioning device, 905-splicing structure, 906-flow through port.
Detailed Description
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and thus the present invention is not limited to the specific embodiments disclosed below. The terms "upper", "lower", "left" and "right" as used herein are set forth with reference to the accompanying drawings, and it is understood that the presence of the terms does not limit the scope of the present invention.
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
As shown in fig. 1, a multifunctional underwater docking base station capable of being spliced comprises a base station body 1, an underwater docking system, a splicing system and an autonomous movement system.
The base station body 1 consists of a bottom plate in an equilateral triangle shape arranged in the horizontal direction, a base station support frame 3 arranged in the vertical direction, a descending plate 2 and support legs 19 and is used for bearing the weight of the whole base station body, components and an underwater unmanned vehicle.
The underwater connection system is arranged on a base station body and comprises a base station support frame 3, a base station bottom plate, a landing plate 2, a locking mechanism 4, a wireless charging coil 5, underwater WIFI6, an underwater camera (comprising an underwater camera 9 in the vertical direction and an underwater camera 10 in the horizontal direction), an optical guiding lamp 14, an acoustic communication and navigation device 11, a main control cabin 7 and a battery cabin 8. The underwater vehicle is guided to enter a base station through the acoustic communication and navigation device 11, the underwater camera and the optical guiding lamp 14, the underwater vehicle is fixed with the base station through the locking mechanism 4 and the underwater camera, the underwater WIFI6 and the wireless charging coil 5 perform signal transmission and power transmission with the underwater vehicle, and the main control cabin 7 and the battery cabin 8 respectively control the whole system and supply power to the system.
The system capable of being spliced consists of a splicing structure 16 adopting an equilateral triangle, a supporting leg 19, a hydraulic telescopic device 15 and a load carrying platform 17. Can piece together structure and this body coupling of basic station through removable hinge base on the hydraulic telescoping device 17, can realize through hydraulic telescoping rod is flexible can piece together structure and basic station body and folding. Meanwhile, by means of the characteristics of equilateral triangles, the three sides of the base station body can be provided with the foldable mechanisms, the bottom plate of the base station body and the included angle of the splicing structure are controlled through the hydraulic telescopic device, and the splicing of a plurality of base stations can be realized, so that the base station is suitable for carrying a plurality of underwater vehicles or meeting the needs of cluster operation activities of a plurality of underwater vehicles.
The underwater autonomous movement system consists of 3 shaftless propellers arranged on a base station support frame and 3 shaftless propellers arranged on a base station bottom plate, a main control cabin and a battery cabin. The floating and sinking motions and the transverse and longitudinal inclination posture adjustment of the base station are realized, so that the underwater six-degree-of-freedom autonomous motion function of the base station is realized.
In this embodiment, the base station body mainly has three systems to realize the functions of underwater autonomous connection, splicing and folding, and underwater autonomous movement.
(1) Autonomous underwater docking function
The main part that realizes plugging into to unmanned underwater vehicle in the base station body includes that base station support frame 3, base station bottom plate (being base station body 1), board 2, locking mechanism 4, wireless charging coil 5, WIFI6 under water, underwater camera (including camera 9 and 10 under water), optics guide lamp 14, acoustics communication and positioner 11, main control cabin 7 and battery compartment 8 constitute.
The base plate of the base station body 1 is in an equilateral triangle shape, the rigid frame of the base station is formed by the base plate, three vertical support frames which are distributed at 120-degree included angles at three top angles above the base plate, three support legs which are distributed at 120-degree included angles at three top angles below the base plate and 3 landing plates in the center of the vertical support frames, and the rigid frame is responsible for bearing the gravity of the whole base station frame, all the components and the underwater unmanned vehicle which is parked on the landing plates.
The total number of the acoustic communication and positioning devices 11 is 3, and the acoustic communication and positioning devices are respectively fixed above the three vertical supporting frames, so that acoustic signals sent and received by other structures of the base station can be prevented from being shielded, and the acoustic communication and positioning devices are mainly responsible for carrying out remote communication positioning with an underwater vehicle and guiding the underwater vehicle to be close to the base station.
The underwater camera and the optical guide lamp 14 form an optical guide connection system of the base station, the total number of the optical guide lamps is 4, one of the optical guide lamps is arranged at the center of the landing plate, and the other three optical guide lamps are arranged around the landing plate at included angles of 120 degrees. When the distance between the base station and the underwater vehicle is short, the optical guide lamp is turned on and is responsible for providing a calibrated light source mark for a visual navigation device of the underwater vehicle, the visual navigation device of the underwater vehicle calculates the relative position of the visual navigation device and a base station landing plate in real time and slowly lands on the landing plate, and the underwater cameras in the vertical direction and the horizontal direction through water can observe the actual relative position of the underwater vehicle and the base station, so that measures can be taken for accidents and dangerous behaviors.
The locking mechanism 4 is arranged at the edge of the falling plate, when the underwater vehicle falls to the falling plate, whether the underwater vehicle is safely stopped or not can be observed from the horizontal direction camera, if yes, the locking mechanism is started to lock the base of the underwater vehicle stopped on the falling plate, and meanwhile, the horizontal direction underwater camera also detects whether the locking mechanism is really locked or not, so that the underwater vehicle is prevented from being lost or damaged due to collision with the base station in the hanging and releasing process of the base station or under the condition of overlarge sea current.
The wireless charging coil 5 and the underwater WIFI6 are arranged on the landing plate, when the underwater vehicle successfully lands on the landing plate and is locked by the locking mechanism, the wireless charging coil is electrified to be used as a wireless charging transmitting end to transmit electric energy to a wireless charging receiving end of the underwater vehicle, so that a wireless charging function is realized, and meanwhile, the underwater WIFI is started and can be used as a transmitting end or a receiving end to perform information transmission with the underwater vehicle.
The main control cabin is provided with a control module, a data acquisition and storage module and a power distribution module of the whole connection system, and can realize power supply, control and data acquisition and storage of a locking mechanism, a wireless charging coil, underwater WIFI, an underwater camera, an optical guiding lamp and an acoustic communication and positioning device in the underwater connection system to complete an autonomous connection task of the AUV.
The battery cabin is internally provided with a high-capacity lithium battery which provides sufficient electric energy for the whole system.
(2) Base station splicing and folding function
1. Folding function
As shown in fig. 2 and 3, the foldable structure of the base station mainly comprises a splicing structure, supporting legs 206, a hydraulic telescopic device, and a load carrying platform.
By means of the characteristic that the base station body adopts an equilateral triangle, the base plate of the base station splicing structure is also designed into the equilateral triangle with the same size, the base station base plate 207 and the splicing structure base plate 208 are connected together through the detachable hinge 204 to realize the relative rotation of the base station base plate and the splicing structure base plate, then the base station body and the splicing structure base plate are connected through the detachable hinge bases (202 and 203) at two ends of the hydraulic telescopic rod 201 in the hydraulic telescopic device respectively arranged on the base station base plate 207 and the splicing structure base plate 208, and the hydraulic drive device 205 in the hydraulic telescopic device can control the telescopic motion of the hydraulic telescopic rod to realize the rotation of the splicing structure to a given angle.
Moreover, with the help of equilateral triangle's characteristics, can all adopt such folding mechanism on the three limit of base station body, through the bottom plate of hydraulic telescoping device control base station body and the contained angle that can piece together the structure, can realize the three mode of operation of basic station: working mode, motion mode, protection mode.
An operation mode: as shown in fig. 4, when the 3 foldable structures are fully unfolded at the same time, the load platform above the foldable structures can be used for different tasks, for example, the load platform can be used for connecting another underwater vehicle as well as the body, can also be used for carrying some working devices such as ocean monitoring instruments and submarine biological traps, and can also be used as a storage platform of a base station component.
And (3) motion mode: as shown in fig. 5, when the 3 foldable structures are completely closed at the same time, the three base station splicing structures 502 can form a regular tetrahedron structure with the base station body, the part of the 3 vertical supporting frames (i.e. the base station supporting structure 501) of the base station body for installing the acoustic communication and positioning device 506 and the shaftless propeller (including 504 and 505) is just kept outside, and the splicing structures are also provided with the flow through ports 503, so that the water flow inside the base station is convenient, and the realization of the base station autonomous movement function and the acoustic communication and positioning function is not influenced. Meanwhile, when the base station needs to move, the foldable structure can be closed, regular tetrahedron shape motion with better water power performance in an operation mode is realized, and impact of water flow on internal components of the base station in the moving process of the base station can be resisted.
Protection mode: when the AUV is parked in the base station and is hoisted to the seabed, the 3 folding structures can be completely closed, the AUV can be prevented from being separated from the base station and being lost, and the impact force of seawater in the process can be prevented from damaging the components on the base station.
2. Splicing function:
as shown in fig. 6 and 7, in the case of splicing two base stations, two base stations respectively detach a foldable structure, and the left side can be spliced with another base station body by using the hydraulic telescopic device in fig. 3, so on, by using the structural characteristics of equilateral triangles of both the base station body and the foldable structure, splicing of a plurality of base stations can be realized, and the base station is suitable for the requirements of carrying a plurality of underwater vehicles or the requirements of cluster operation activities of a plurality of underwater vehicles, and the splicing structure does not affect the realization of other functions.
(3) Autonomous underwater movement function
The underwater autonomous moving system mainly comprises a base station body, an underwater shaftless propeller, a main control cabin and a battery cabin.
As shown in fig. 1 and 4, there are 6 total underwater shaftless thrusters, wherein 3 thrusting directions are vertical directions, and are arranged on an angular bisector of a base station base plate vertex angle at an included angle of 120 degrees and fixed on the base plate, when 3 thrusters output the same power, ascending or descending motion can be generated for the base station, and the posture adjustment of transverse inclination and longitudinal inclination can be realized through respective power control of the 3 thrusters; in addition, 3 propulsion directions are horizontal directions, and are respectively fixed on 3 vertical supporting frames of the base station through welding with high strength, and the base station can move forwards, backwards and turn by changing the propulsion directions and the output power of the 3 propellers. The electromagnetic cabin and the main control cabin are connected with the underwater shaftless propeller through watertight cables, the battery cabin is responsible for providing electric energy, and the six propellers are controlled by the autonomous control system in the main control cabin, so that the underwater autonomous moving function with six degrees of freedom of the base station can be realized.
In order to avoid the influence on the realization of the underwater autonomous movement function caused by the structural change of the base station due to the foldable structure and the splicing structure of the base station, the frame structure of the base station is specially designed. As shown in fig. 8 and 9, there are 5 segments on the base station support frame and a reinforced diagonal rod in the middle, wherein the angle between the reinforced diagonal rod and the base station body bottom plate is the angle between one side of the regular tetrahedron and the opposite side (about 55 degrees through geometric calculation), when the splittable structure is closed, it can be ensured that the outward space of the vertical reinforced diagonal rod is outside the base station after being completely closed, that is, it means that the shaftless propeller and the acoustic communication and positioning device on the base station support frame can be completely exposed outside, thereby ensuring the normal operation of the propeller and the acoustic communication and positioning device in the horizontal direction, and meanwhile, the split structure bottom plate is provided with an overflow port, so that the water in the base station can circulate, thereby ensuring the normal operation of the propeller in the vertical direction.
The above description is only exemplary of the preferred embodiments of the present invention, and is not intended to limit the present invention, and any modifications, equivalents, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. A multifunctional underwater connection base station capable of being spliced comprises a base station body and is characterized in that the side edge of the base station body is hinged with a splicing structure, and the splicing structure is connected with the base station body through a hydraulic telescopic structure, so that the connection and folding functions of the base station body and the splicing structure are realized;
the splicing structure is triangular and forms a polyhedral structure with the base station body after being folded; the said structure can be pieced together and expanded the body of base transceiver station after spreading;
the hydraulic telescopic structure comprises two hydraulic telescopic rods which are respectively hinged on the splicing structure and the base station body, and a hydraulic driving device arranged on the base station body;
the edge of the base station body is provided with a plurality of supporting devices, and each supporting device is provided with an underwater shaftless propeller with horizontal power; the base station body is provided with a main control cabin, a battery cabin for power supply and a plurality of underwater shaftless propellers in the vertical direction;
when two adjacent basic stations splice, two basic stations are dismantled a structure of piecing together separately, and the hydraulic pressure flexible with another basic station body after the dismantlement splices to realize the concatenation of a plurality of basic stations.
2. The multifunctional foldable underwater docking base station according to claim 1, wherein the base plate of the base station body is triangular, quadrangular or polygonal.
3. The multifunctional splicing and folding underwater connection base station as claimed in claim 2, wherein each supporting device comprises a supporting frame connected to the middle part of the base station body through the edge of the base station body, the supporting frame comprises a vertical section, a supporting section, a first inclined section, a second inclined section and a connecting section which are connected in sequence, the vertical section is connected with the edge of the base station body, and the connecting section is connected to the middle part of the base station body.
4. The multifunctional split-folding underwater docking base station according to claim 3, wherein a reinforcing diagonal bar is connected between the vertical section and the first inclined section, the reinforcing diagonal bar is flush with the edge of the split-folding structure in a folded state, and an underwater shaftless propeller with horizontal power is mounted on the reinforcing diagonal bar; and the support section is provided with an acoustic communication and positioning device.
5. The multifunctional splicing and folding underwater connection base station according to claim 4, wherein a falling plate is arranged in the middle of the base station body, and a plurality of optical guide lamps and a plurality of underwater cameras in the vertical direction and the horizontal direction are arranged on the periphery of the falling plate;
the underwater vehicle landing device is characterized in that a wired charging coil and underwater WIFI are arranged on the landing plate, and a locking mechanism used for fixing an underwater vehicle is arranged at the edge of the landing plate.
6. The multifunctional foldable underwater docking base station as claimed in claim 1, wherein the bottom plate of the foldable structure is provided with a flow port.
7. The multifunctional split-folding underwater docking base station as claimed in claim 1, wherein a load carrying platform is arranged in the middle of the bottom plate of the split-folding structure.
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| CN202110925861.0A CN113697068B (en) | 2021-08-12 | 2021-08-12 | Multifunctional underwater connection base station capable of being spliced and folded |
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Citations (8)
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