CN213200059U - Docking station, docking station with AUV (autonomous Underwater vehicle), buoy with docking station and observation platform - Google Patents

Docking station, docking station with AUV (autonomous Underwater vehicle), buoy with docking station and observation platform Download PDF

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Publication number
CN213200059U
CN213200059U CN202021315725.7U CN202021315725U CN213200059U CN 213200059 U CN213200059 U CN 213200059U CN 202021315725 U CN202021315725 U CN 202021315725U CN 213200059 U CN213200059 U CN 213200059U
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China
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auv
docking station
buoy
frame
stopping
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CN202021315725.7U
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陈世哲
柴辉
刘世萱
王波
万晓正
吴玉尚
张可可
张继明
赵环宇
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Oceanographic Instrumentation Research Institute Shandong Academy of Sciences
Institute of Oceanographic Instrumentation Shandong Academy of Sciences
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Oceanographic Instrumentation Research Institute Shandong Academy of Sciences
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Abstract

The utility model relates to a docking station, a docking station with an AUV (autonomous Underwater vehicle), a buoy with the docking station and an observation platform, wherein the docking station comprises a cylindrical frame, one end of the frame is plugged, the frame is provided with a stop device and a pair of clamping devices, a docking station base is arranged above the middle part of the frame, and the center of the plugging end is provided with a travel switch; the stopping device comprises a stopping motor, a cam and a sleeve containing a spring and a stopping column. With the supporting AUV of dock, the side is equipped with one section circumference recess, has radial recess wherein. The buoy with the AUV underwater dock is provided with the dock at the bottom of the buoy. A marine environment observation platform comprises a buoy body, a docking station and an AUV. Utilize the utility model discloses not only greatly expand deep and distant sea buoy observation ability, overcome difficult problems such as AUV energy supply, data communication, rely on safe and reliable's large-scale buoy to make the AUV can avoid the harm that bad ocean weather probably caused moreover, can realize the marine environment observation of long-term sound combination.

Description

Docking station, docking station with AUV (autonomous Underwater vehicle), buoy with docking station and observation platform
Technical Field
The utility model relates to a marine environment monitors the field, especially relates to a dock, configuration AUV's the dock of berthing, take buoy and observation platform of berthing.
Background
The marine environment observation has important significance for marine environment forecast, disaster prevention and reduction, marine development, marine defense safety, marine scientific research and the like, and along with the implementation of the national marine strong national strategy, higher requirements are provided for large-area long-term real-time observation in deep open sea, flexible and concealed observation in sensitive areas and the like.
At present, the observation of the ocean environment of deep and far seas can be mainly divided into two types of fixed platform observation and mobile platform observation, the fixed platform mainly comprises satellite observation and anchoring buoy observation, the satellite observation area is wide, but the precision is low, and the remote sensing observation of the surface layer of seawater is basically performed. The anchoring buoy observation is anchored at sea, can carry out fixed-point long-term continuous observation on the sea area of an anchoring point, but cannot carry out large-area maneuvering observation on the distributed sea area. The observation of the moving platform mainly comprises air-based aircraft observation, ship-based observation, underwater moving platform observation and the like, wherein the air-based aircraft observation and the ship-based observation need the aircraft and the ship to sail to a preset sea area for observation, the cost is high, the influence of ocean weather conditions is large, and severe weather cannot be carried out. The underwater mobile platform is provided with a high driving speed, such as an AUV (autonomous underwater vehicle), can only be transported to a preset sea area along with a mother ship due to limited energy, the AUV is distributed, the AUV carries out autonomous motion observation, and after the autonomous motion observation is finished, the AUV is recovered by the mother ship and then is transported to a loop; the other low-speed moving platform driven by wave energy and oil bags, such as an underwater glider, a wave glider and the like, can carry out moving observation in a large area, but has very low moving speed, a moving path is greatly influenced by wind and wave current movement, observation parameters are few, and the platform is very easy to damage under severe sea conditions such as typhoon and the like.
Disclosure of Invention
The utility model provides a docking station, configuration AUV's docking station, take docking station's buoy and observation platform can realize that deep open sea anchoring buoy lays the sea area and becomes more meticulous long-term safe and reliable on a large scale and conceals the observation, overcomes traditional anchoring buoy and can only observe the limitation of this station position data to and deep open sea AUV observes difficult problems such as energy supply, communication, safety.
An AUV underwater docking station is characterized by comprising a horizontally arranged cylindrical framework for accommodating an AUV, wherein one end of the framework is a plugging end, the other end of the framework is an access end, the framework is provided with a stop device and a pair of clamping devices, a docking station base is further arranged above the middle part of the framework, and a travel switch is arranged in the center of the plugging end of the framework;
the stopping device comprises a stopping motor, a cam driven by the stopping motor, and a sleeve containing a spring and a stopping column, wherein the stopping column is also connected with a top plate, the cam is rotated to jack the top plate, so that the top plate drives the stopping column to move up and down in the sleeve, the stopping column moves along the radial direction of the cylindrical frame, and the spring provides axial elastic force for the stopping column; the lower end of the stop column is also provided with a proximity switch;
the pair of clamping devices are oppositely arranged on two sides of the frame and comprise a fastening motor, a bidirectional screw rod driven by the fastening motor and an upper clamping block and a lower clamping block which are arranged on the bidirectional screw rod.
And the in-out end of the frame is also provided with a horn-shaped guard ring.
And a guide probe is arranged on the horn-shaped retainer and used for guiding the AUV to dock.
The utility model provides a configuration AUV's dock, its characterized in that includes aforementioned dock, still includes an AUV, and this AUV's side is equipped with one section circumference recess along circumference corresponding to detent's position, and is equipped with a radial recess at circumference recess middle part, just the distance of circumference recess to AUV front end equals the distance of locking post to travel switch.
A method for fixing an AUV entering an underwater dock is characterized in that the method adopts the dock with the AUV, and comprises the following steps: when the AUV is docked and touches the travel switch, the stop motor is used for driving the cam to reset, the stop rod falls into the circumferential groove on the AUV under the action of the spring, and the AUV cannot move back and forth at the moment and can only rotate along the self axial direction; when the stop rod falls into the radial groove, the movement of the AUV relative to the docking station is completely limited, and docking positioning is completed;
when the proximity switch at the lower end of the stop rod senses that the distance between the proximity switch and the radial groove is smaller than a preset value, the fastening motor is triggered to rotate, the fastening motor drives the bidirectional screw rod to rotate, and then the two clamping blocks of the screw rod are driven to move up and down to finish the fastening of the AUV.
The buoy with the docking station comprises a buoy body and is characterized by further comprising any one of the docking stations, and the docking station is fixed to the bottom of the buoy body through the base.
The marine environment observation platform comprises a buoy body and is characterized by further comprising a docking station configured with an AUV, wherein the docking station of the AUV is fixed at the bottom of the buoy body through a base.
The frame's discrepancy end still is equipped with the tubaeform protective shroud, install the guide probe on the tubaeform protective shroud for guide AUV is docked, and this AUV front end is equipped with the search probe that can send the sound wave.
AUV upper portion is equipped with secondary terminal, is equipped with primary terminal in the base, and AUV fixed back of docking, primary terminal is located secondary terminal's top.
Underwater charging and data exchange between the AUV5 and the docking station can be realized by wet plug wired plugs or short-distance wireless coupling transmission. The primary terminal of the plug or coupling transmission is located in the docking station base and the secondary terminal is located in the middle of the AUV. After the AUV is docked and positioned, the central lines of the primary terminal and the secondary terminal are superposed, so that power transmission and data exchange between the AUV and the docking station are facilitated.
Advantages of the invention
To the demand that the profound ocean essence of china refines observation, the concealed safe observation of sensitive area, the utility model provides an with the observation method of anchoring buoy fixed platform and quick AUV moving platform "sound" combination, add tubaeform AUV on the buoy and berth, establish the basis for subsequent research and development. Based on the hardware of the utility model, when the buoy is arranged at a deep and far sea station, the AUV is hidden in the buoy, according to certain observation conditions set on the buoy and the AUV, time sequence control or when the buoy receives an instruction sent by a shore-based central station, the AUV automatically drives out from the buoy docking station, sails autonomously according to task requirements, flexibly and concealably develops large-area refined marine environment observation in the sea area around the deep and far sea buoy, when the AUV automatically judges the observation task is finished or other special conditions, the AUV automatically returns to the buoy station, can automatically align the buoy according to a positioning guide mark on a large horn mouth, automatically drives into the docking station on the buoy, fixes the AUV in the docking station through an automatic fastening device, then utilizes the energy on the buoy for charging supply, utilizes a communication system on the buoy to realize data communication and equipment health state monitoring and maintenance with the buoy and the land shore-based central station, therefore, the deep and far sea buoy observation capability is greatly expanded, the problems of AUV energy supply, data communication and the like are solved, the AUV can avoid the damage possibly caused by severe ocean weather by means of the safe and reliable large buoy body, and long-term dynamic and static combined ocean environment observation can be realized.
The utility model provides a dock and relevant AUV and a marine environment observation platform based on large-scale anchoring buoy and AUV, for realizing that deep open sea anchoring buoy lays the sea area and becomes more meticulous long-term safe and reliable on a large scale and conceal the observation and provide probably, utilize this platform can overcome traditional anchoring buoy and can only observe difficult problems such as the limitation of this station data.
Drawings
Figure 1 a perspective view of a docking station of the present invention.
Fig. 2 is a perspective view of the docking station after the AUV is driven into the docking station.
Fig. 3 illustrates the AUV of the present invention.
Fig. 4 is a schematic view of the locking device of the present invention.
The circumferential grooves and radial grooves of the AUV of fig. 5 are shown in partial schematic.
Fig. 6 is a schematic view of a primary terminal of the present invention.
Fig. 7 the utility model discloses a marine environment observation platform schematic diagram.
In the figure: 1. a retainer; 2. guiding the probe; 3. a docking station base; 4. a stopper rod; 5. AUV; 6. fastening a motor; 7. a top plate; 8. searching a probe; 9. a travel switch; 10. a spring sleeve; 11. a secondary terminal; 12. stopping the motor; 13. a bidirectional lead screw; 14. a clamping block; 15. a spring; 16. a cam; 17. a circumferential groove; 18. a radial groove; 19. a primary terminal; 20. proximity switch, 21, communication satellite; 22. a shore-based data receiving station; 23. docking the docking station; 24. an anchor; 25. anchoring; 26. a float.
Detailed Description
As shown in fig. 1-6, the lower part of the buoy is designed to be docked, and the docking station is connected to the buoy via a base 3. Docking structure as shown in fig. 3, the front open end is a flared retainer 1 and the rear is a cylindrical docking base 3. The guard ring 1 is provided with a guide probe 2 which is an acoustic transponder, a search probe 8 on the AUV sends sound waves, a transponder array of the guide probe 2 arranged on the horn-shaped guard ring sends a response signal, and the AUV judges the position of a horn mouth through the response signal and is used for guiding the AUV5 to dock.
In the present invention, the retainer 1 may be made of rigid material, such as aluminum alloy, or non-rigid material, such as carbon fiber. Or metal material covered with non-metal material such as rubber, etc., and the spring 15 is a compression spring
As shown in fig. 1 and 2, a magnetic induction travel switch 9 is installed at the center of the rear end of the docking station, after the AUV5 is docked to trigger the travel switch 9, the stop motor 12 drives the cam 16 to reset, the stop rod 4 falls into a circumferential groove 17 on the AUV5 under the action of the spring 15, and at this time, the AUV cannot move back and forth and only can rotate along the self axial direction. When the stop lever 4 falls into the radial groove 18, the movement of the AUV relative to the docking station is completely restricted, completing the docking station.
As shown in fig. 6, the underwater charging and data exchange between the AUV and the docking station can be performed by wet plugging and unplugging wired plugs or short-distance wireless coupling transmission. The primary terminal 19 of the plug or coupling transmission is located within the docking station base 3 and the secondary terminal 11 is located in the middle of the AUV. After the positioning of the AUV is completed, the centerlines of primary terminal 19 and secondary terminal 11 coincide for power transfer and data exchange between the AUV and the docking station.
The AUV moves along with the buoy body after being docked, the static state of the AUV relative to the docking station is difficult to guarantee only by the stop rod, and in order to improve the stability of the AUV after being docked relative to the docking station in the charging and data exchange processes, an automatic fastening device is installed at the middle section of the docking station. The automatic fastening device consists of a fastening motor 6, a bidirectional screw 13 and a clamping block 14. When the AUV is in a stop state, the proximity switch 20 at the lower end of the stop rod 4 enters the AUV radial groove 18, the proximity switch 20 triggers the fastening motor 6 to rotate after sensing the distance from the AUV radial groove 18, and the fastening motor 6 drives the bidirectional screw rod to rotate so as to drive the clamping block 14 to move up and down to finish automatic fastening of the AUV.
As shown in fig. 7, the system mainly comprises a large anchoring buoy and an AUV, wherein the large buoy is provided with a docking station, a positioning guide mark, an underwater charging interface, a data communication interface and an automatic fastening device are arranged in the docking station, the AUV automatically drives into and out of the docking station through the positioning guide mark, when the AUV safely drives into the docking station, the automatic fastening device firmly fixes the AUV in the buoy docking station after the AUV is safely docked, and the charging interface, the data communication interface and the corresponding interfaces on the AUV on the buoy are in butt joint for energy supply and data communication. And when a driving-out command is received, the charging interface and the data communication interface are disconnected, the fastening device is loosened, and the AUV automatically and safely drives out of the dock according to the guide mark to carry out an observation task.

Claims (4)

1. A docking station is characterized by comprising a horizontally arranged cylindrical frame for accommodating an AUV (autonomous Underwater vehicle), wherein one end of the frame is a blocking end, the other end of the frame is an access end, the frame is provided with a stop device and a pair of clamping devices, a docking station base (3) is further arranged above the middle part of the frame, and a travel switch (9) is arranged in the center of the blocking end of the frame;
the stopping device comprises a stopping motor (12), a cam (16) driven by the stopping motor (12) and a sleeve (10) containing a spring (15) and a stopping column (4), wherein the stopping column (4) is also connected with a top plate (7), the cam (16) jacks up the top plate (7) through rotation, so that the top plate (7) drives the stopping column (4) to move up and down in the sleeve (10), the stopping column (4) moves along the radial direction of the cylindrical frame, and the spring (15) provides axial elastic force for the stopping column (4); the lower end of the stop column (4) is also provided with a proximity switch (20);
the pair of clamping devices are oppositely arranged on two sides of the frame and comprise a fastening motor (6), a bidirectional screw rod (13) driven by the fastening motor (6) and an upper clamping block and a lower clamping block (14) which are arranged on the bidirectional screw rod (13).
2. A docking station equipped with an AUV, characterized in that it comprises the docking station of claim 1, and an AUV, and the lateral surface of the AUV is provided with a circumferential groove (17) along the circumferential direction corresponding to the position of the stop means, and a radial groove (18) is provided in the middle of the circumferential groove (17), and the distance from the circumferential groove (17) to the front end of the AUV (5) is equal to the distance from the stop post (4) to the travel switch (9).
3. A docked buoy comprising a buoy body, characterized in that it further comprises any one of the docks of claims 1-2, said dock being secured to the bottom of the buoy body by said base (3).
4. A marine environment observation platform comprising a buoy body, characterized by further comprising the docking station provided with an AUV (5) according to claim 2, wherein the docking station of the AUV (5) is fixed at the bottom of the buoy body through the base (3).
CN202021315725.7U 2020-07-08 2020-07-08 Docking station, docking station with AUV (autonomous Underwater vehicle), buoy with docking station and observation platform Active CN213200059U (en)

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CN202021315725.7U CN213200059U (en) 2020-07-08 2020-07-08 Docking station, docking station with AUV (autonomous Underwater vehicle), buoy with docking station and observation platform

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CN202021315725.7U CN213200059U (en) 2020-07-08 2020-07-08 Docking station, docking station with AUV (autonomous Underwater vehicle), buoy with docking station and observation platform

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111874194A (en) * 2020-07-08 2020-11-03 山东省科学院海洋仪器仪表研究所 AUV underwater docking station and marine environment observation platform based on buoy and AUV

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111874194A (en) * 2020-07-08 2020-11-03 山东省科学院海洋仪器仪表研究所 AUV underwater docking station and marine environment observation platform based on buoy and AUV
CN111874194B (en) * 2020-07-08 2022-08-09 山东省科学院海洋仪器仪表研究所 AUV underwater docking station and marine environment observation platform based on buoy and AUV

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