AUV wireless fast charging system based on deep sea towed platform

Abstract

This application discloses a wireless fast charging system for AUVs based on a deep-sea towed platform, relating to the field of deep-sea exploration technology. The system includes shipboard equipment, underwater towing equipment, and an AUV battery compartment and its wireless charger. The shipboard equipment includes a deck power supply, a deck controller, and a deep-sea towing winch; the underwater towing equipment includes a deep-sea tow body, its wireless charging dock, and an optoelectronic composite towing cable. The shipboard equipment connects to the deep-sea tow body and its wireless charging dock via the optoelectronic composite towing cable, transmitting power and control signals to complete the docking process with the AUV; the deep-sea tow body and its wireless charging dock are used to convert DC power into high-frequency AC power; the AUV battery compartment and its wireless charger are used to convert high-frequency AC power into DC power to charge the AUV. This application achieves wireless fast charging of AUVs during deep-sea towing, avoiding repeated surfacing and diving; reduces docking accuracy requirements; and improves the operational continuity and deep-sea exploration efficiency of AUV swarms.

Description

Technical Field

[0001] This application relates to the field of deep-sea exploration technology, and in particular to a wireless fast charging system for an AUV based on a deep-sea towed platform. Background Technology

[0002] Autonomous Underwater Vehicles (AUVs) for deep-sea exploration have important applications in marine resource surveys, environmental monitoring, and military reconnaissance. However, their operational time is limited by the endurance of their built-in batteries, requiring periodic returns to the mother ship or surface platform for recharging. This process often involves complex recovery, surfacing, and re-diving operations, severely impacting the operational efficiency and continuity of AUVs. Especially in large-scale, long-term swarm operations, frequent energy replenishment becomes a key bottleneck restricting the overall effectiveness of the AUV system.

[0003] To address the energy replenishment problem of AUVs, underwater wireless charging technology has become a research hotspot. Currently, various wireless charging solutions based on fixed platforms (such as seabed base stations, surface buoys, or deployed docks) have been developed, but these solutions still have significant limitations: high docking accuracy requirements, limited charging power, complex system deployment, and difficulty in supporting continuous operation of mobile AUVs. Especially for AUV swarms requiring long-term, large-scale missions, existing technologies struggle to achieve efficient, flexible, and uninterrupted energy replenishment during operations. Summary of the Invention

[0004] The purpose of this application is to provide an AUV wireless fast charging system based on a deep-sea towed platform, which enables AUVs to be wirelessly and fast charged during deep-sea towing, avoiding repeated surfacing and diving; reducing docking accuracy requirements, and improving the operational continuity and deep-sea exploration efficiency of AUV clusters.

[0005] To achieve the above objectives, this application provides the following solution.

[0006] This application provides a wireless fast charging system for AUVs based on a deep-sea towed platform, including: marine equipment, underwater towed equipment, AUV battery compartment and its wireless charger.

[0007] Marine equipment includes deck power supply, deck controller and deep-tow winch.

[0008] The underwater towing equipment includes a deep-sea tow body, its wireless charging dock, and an optoelectronic composite tow cable. The deep-sea tow body and its wireless charging dock are connected to the ship's equipment via the optoelectronic composite tow cable.

[0009] The deck controller is connected to the deck power supply and the deep-sea towed body and its wireless charging dock via photoelectric composite tow cables. It is used to transmit power and control signals to the deep-sea towed body and its wireless charging dock, and to control the docking and charging process of the deep-sea towed body and its wireless charging dock with the AUV.

[0010] The deep-draft winch is connected to the photoelectric composite tow cable and is used for launching, deploying and carrying the photoelectric composite tow cable.

[0011] The deep-sea towed hull and its wireless charging dock are connected to the deck power supply to convert the DC power output from the deck power supply into high-frequency AC power, enabling docking with the AUV.

[0012] The AUV battery compartment and its wireless charger are used to convert high-frequency AC power into DC power to charge the AUV; the AUV battery compartment and its wireless charger are part of the AUV.

[0013] Optionally, the deep-sea towed body and its wireless charging dock include: a towed body structure, an underwater docking cabin structure, an underwater electromagnetic gripper group, an underwater high-precision proximity switch group, an underwater docking controller, a coupled resonant transmitting coil controller, a coupled resonant transmitting coil main circuit, an underwater coupled resonant transmitting coil group, and an underwater charging control cabin structure.

[0014] The tow body structure is the main body of the deep-sea tow body, which is used to provide a depth- and attitude-stable working platform for the various underwater devices of the deep-sea towing system.

[0015] The underwater docking compartment is equipped with a conical guide shield at the stern to guide the AUV into the water.

[0016] The underwater electromagnetic gripper assembly is located in the middle section of the underwater docking compartment structure and is used to lock the AUV.

[0017] The underwater high-precision proximity switch assembly is located inside the underwater docking compartment structure and is used to detect the relative position of the AUV and the underwater docking compartment structure.

[0018] The underwater docking controller is connected to the underwater high-precision proximity switch group and the underwater electromagnetic gripper group respectively, and is used to control the underwater electromagnetic gripper group to lock or release the AUV according to the signal of the underwater high-precision proximity switch group.

[0019] The coupled resonant transmitting coil controller is connected to the main circuit of the coupled resonant transmitting coil and is used to send current conversion commands to the main circuit of the coupled resonant transmitting coil.

[0020] The main circuit of the coupled resonant transmitting coil is connected to the underwater coupled resonant transmitting coil group, which is used to convert the DC power output from the deck power supply into high-frequency AC power based on the current conversion command.

[0021] The underwater coupled resonant transmitting coil group is a ring structure located in the middle section of the underwater docking compartment structure, and is used to transmit high-frequency magnetic field excitation signals based on high-frequency alternating current.

[0022] The underwater charging control cabin structure is located inside the towing body structure. It is connected to the underwater high-precision proximity switch group, the underwater electromagnetic clamp group, and the underwater coupled resonant transmitting coil group via watertight cables. It is used to install the underwater docking controller, the main circuit of the coupled resonant transmitting coil, and the coupled resonant transmitting coil controller.

[0023] Optionally, the underwater high-precision proximity switch assembly includes two sets of redundant proximity switches installed at the head of the underwater docking module structure.

[0024] Optionally, the underwater electromagnetic gripper assembly includes several sets of evenly distributed electromagnetic grippers in a ring, controlled by an underwater docking controller, which lock when power is lost and release when power is restored.

[0025] Optionally, the deep-sea towed hull and its wireless charging dock also include a fiber optic switch, which is installed inside the underwater charging control cabin structure and is used to issue commands and upload operational status data.

[0026] Optionally, the AUV battery compartment and its wireless charger include: an underwater coupled resonant receiving coil assembly and a coupled resonant receiving coil main circuit.

[0027] The underwater coupled resonant receiving coil group has a ring structure and works in conjunction with the underwater coupled resonant transmitting coil group to receive high-frequency magnetic field excitation signals and convert them into high-frequency AC output.

[0028] The main circuit of the coupled resonant receiving coil is connected to the underwater coupled resonant receiving coil group and is used to convert high-frequency AC power into DC power and output it after voltage regulation.

[0029] Optionally, the underwater coupled resonant receiving coil group is a ring structure that cooperates with the underwater coupled resonant transmitting coil group; when the AUV is locked inside the docking compartment structure, the underwater coupled resonant transmitting coil group and the underwater coupled resonant receiving coil group are axially aligned.

[0030] Optionally, the AUV battery compartment and its wireless charger also include a lithium-ion battery pack charging controller and a lithium-ion battery pack.

[0031] The lithium-ion battery pack charging controller is connected to the main circuit of the coupled resonant receiving coil and the lithium-ion battery pack, respectively, and is used to manage the charging of the lithium-ion battery pack, which is used to provide power for the AUV.

[0032] Optionally, the AUV wireless fast charging system based on the deep-sea towed platform also includes a backup AUV rotation mechanism, specifically including: at least one backup AUV is pre-installed in the deep-sea towed body and its wireless charging dock; the deck controller is also used to control the backup AUV to take over and continue to perform the exploration mission when an AUV is scheduled to be charged.

[0033] Optionally, the deck controller integrates an underwater acoustic communication unit, which is used to exchange status data and commands with the AUV cluster; the optoelectronic composite towing cable is an optoelectronic composite cable with a metal outer armor, used to transmit power and control signals simultaneously, and to withstand the towing force of the underwater towing equipment.

[0034] According to the specific embodiments provided in this application, this application has the following technical effects.

[0035] This application provides an AUV wireless fast charging system based on a deep-sea towed platform. Through the coordinated operation of shipboard equipment, underwater towing equipment, and AUV terminal equipment, the deck controller transmits power and control signals to the deep-sea towed body and its wireless charging dock via a photoelectric composite tow cable. This enables mobile wireless charging of the AUV during deep-sea towing, avoiding repeated surfacing and diving for charging, significantly improving operational efficiency and energy replenishment flexibility. It also reduces the difficulty and precision requirements of autonomous docking of the AUV, enhancing the reliability and practicality of the system. Attached Figure Description

[0036] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0037] Figure 1 This is a schematic diagram of the composition of an AUV wireless fast charging system based on a deep-sea towed platform, provided as an embodiment of this application.

[0038] Figure 2 This is a spatial layout diagram of an AUV wireless fast charging system based on a deep-sea towed platform, provided as an embodiment of this application.

[0039] Figure 3 for Figure 2 A partially enlarged schematic diagram of the docking structure of the middle dock.

[0040] Figure 4 The schematic diagram of the main circuit of the coupled resonant transmitting and receiving coil provided in the embodiments of this application.

[0041] Reference numerals: 1-Deck power supply; 2-Deck controller; 3-Deep-sea towing winch; 4-Optical-electric composite towing cable; 5-Deep-sea towed body and its wireless charging dock; 6-AUV battery compartment and its wireless charger; 7-Towed body structure; 8-Underwater docking compartment structure; 9-Underwater electromagnetic gripper assembly; 10-Underwater high-precision proximity switch assembly; 11-Underwater docking controller; 12-Underwater coupled resonant transmitting coil assembly; 13-Coupled resonant transmitting coil main circuit; 14-Coupled resonant transmitting coil controller; 15-Underwater charging control compartment structure; 16-Fiber optic switch; 17-Underwater coupled resonant receiving coil assembly; 18-Coupled resonant receiving coil main circuit; 19-Lithium-ion battery pack charging controller; 20-Lithium-ion battery pack. Detailed Implementation

[0042] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0043] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0044] This application provides a wireless fast charging system for AUVs based on a deep-sea towed platform, including marine equipment, underwater towed equipment, and an AUV battery compartment and its wireless charger.

[0045] like Figure 1 , Figure 2 , Figure 3 As shown, Figure 1 This is a schematic diagram illustrating the composition of an AUV wireless fast charging system based on a deep-sea towed platform, as provided in an embodiment of this application. Figure 2 This is a spatial layout diagram of an AUV wireless fast charging system based on a deep-sea towed platform, provided in an embodiment of this application. Figure 3 for Figure 2 A partially enlarged schematic diagram of the docking structure of the mid-dock. The shipboard equipment includes a deck power supply 1, a deck controller 2, and a deep-sea towing winch 3; the underwater towing equipment includes a deep-sea tow body and its wireless charging dock 5, as well as an optoelectronic composite towing cable 4; the AUV battery compartment and its wireless charger 6 are part of the deep-sea exploration autonomous vehicle (AUV).

[0046] Among them, the deck power supply 1 is the energy source; the deck controller 2 is the shipborne monitoring equipment, which is connected to the deck power supply 1 and the deep-sea towed body and its wireless charging dock 5 via the photoelectric composite tow cable 4. It transmits AUV status data and interacts with the AUV cluster through its own underwater acoustic communication device. It is used to transmit power and control signals to the deep-sea towed body and its wireless charging dock 5, and to control the docking and charging process of the deep-sea towed body and its wireless charging dock 5 with the AUV; the deep-sea towing winch 3 is the shipborne auxiliary equipment, which is connected to the photoelectric composite tow cable 4. It is the main load-bearing end of the underwater towing of the system and is used to retrieve and carry the photoelectric composite tow cable 4; the photoelectric composite tow cable 4 is a photoelectric composite cable with a metal outer armor, which is used to transmit power and control signals, and also to bear the towing force of the underwater towing equipment.

[0047] The deep-sea towed hull and its wireless charging dock 5 are connected to the ship's equipment and the deck power supply 1 via an optoelectronic composite tow cable 4. The cable converts the DC power output from the deck power supply 1 into high-frequency AC power to enable docking with the AUV. The specific structure of the deep-sea towed hull and its wireless charging dock 5 includes: a towed hull structure 7, an underwater docking cabin structure 8, an underwater electromagnetic gripper group 9, an underwater high-precision proximity switch group 10, an underwater docking controller 11, an underwater coupled resonant transmitting coil group 12, a coupled resonant transmitting coil main circuit 13, a coupled resonant transmitting coil controller 14, an underwater charging control cabin structure 15, and a fiber optic switch 16.

[0048] The tow body structure 7 is the main body of the deep-sea tow body, providing a depth- and attitude-stable working platform for the various underwater devices of the deep-sea towing system. The underwater docking compartment structure 8 is located at the stern of the tow body structure 7. The main body of the underwater docking compartment structure 8 is a cylindrical cavity with a diameter slightly larger than the outer diameter of the AUV. Therefore, a conical guide shield is provided at the stern of the underwater docking compartment structure 8 to guide the AUV in. The underwater electromagnetic gripper assembly 9 is located in the middle section of the underwater docking compartment structure 8 to lock the AUV in place. This assembly mainly includes 1... Two sets of underwater electromagnetic grippers (divided into two groups, front and rear, with six sets evenly distributed in a ring in each group) are controlled by the underwater docking controller 11. They are released when energized and locked when de-energized. They are energized during non-charging processes. This "de-energized locking" safety design ensures that the AUV can still be reliably fixed even in the event of a sudden power outage. The underwater high-precision proximity switch group 10 is located inside the underwater docking compartment structure 8 and includes two sets of underwater high-precision proximity switches, which are redundant and used to detect the relative position of the AUV and the underwater docking compartment structure 8.

[0049] The underwater docking controller 11 is installed inside the underwater charging control cabin structure 15 and is connected to the underwater high-precision proximity switch group 10 and the underwater electromagnetic gripper group 9 respectively. Based on the feedback signal of the underwater high-precision proximity switch group 10, the relative position of the AUV and the underwater docking cabin structure 8 is determined, thereby controlling the underwater electromagnetic gripper group 9 to lock it when de-energized, or receiving the control command of the deck controller 2 to control the underwater electromagnetic gripper group 9 to be energized and in the released state.

[0050] The coupled resonant transmitting coil controller 14 is installed inside the underwater charging control cabin structure 15, controlled by the deck controller 2, and connected to the coupled resonant transmitting coil main circuit 13. It is used to send current conversion commands to the coupled resonant transmitting coil main circuit 13. The coupled resonant transmitting coil main circuit 13 is installed inside the underwater charging control cabin structure 15 and connected to the underwater coupled resonant transmitting coil group 12. It is used to convert the DC power output from the deck power supply 1 into high-frequency AC power based on the current conversion commands.

[0051] The underwater coupled resonant transmitting coil group 12 is a ring structure located in the middle section of the underwater docking compartment structure 8, and is used to transmit high-frequency magnetic field excitation signals based on high-frequency alternating current.

[0052] The underwater charging control cabin structure 15 is located inside the towing structure 7 and is connected to the underwater high-precision proximity switch group 10, the underwater electromagnetic clamp group 9 and the underwater coupled resonant transmitting coil group 12 via watertight cables. It is used to install the underwater docking controller 11, the coupled resonant transmitting coil main circuit 13 and the coupled resonant transmitting coil controller 14.

[0053] The fiber optic switch 16 is installed inside the underwater charging control cabin structure 15 and is used for issuing commands (such as status information interaction, handshake information, battery management commands, etc.) and transmitting and uploading working status data (such as charging current, voltage, underwater clamping status and underwater proximity switch status, etc.).

[0054] The AUV battery compartment and its wireless charger 6 are part of the AUV and are used to convert high-frequency AC power into DC power to charge the AUV. The structure of the AUV battery compartment and its wireless charger specifically includes: an underwater coupled resonant receiving coil group 17, a coupled resonant receiving coil main circuit 18, a lithium-ion battery pack charging controller 19, and a lithium-ion battery pack 20.

[0055] Among them, the underwater coupled resonant receiving coil group 17 is a ring structure, which is set inside the middle section of the deep-sea exploration autonomous vehicle (AUV) and is axially aligned with the underwater coupled resonant transmitting coil group 12. It is used to receive high-frequency magnetic field excitation signals and convert the high-frequency magnetic field excitation signals into high-frequency AC output.

[0056] The main circuit 18 of the coupled resonant receiving coil is installed inside the midsection of the deep-sea exploration autonomous vehicle (AUV) and connected to the underwater coupled resonant receiving coil group 17. It is used to convert high-frequency AC power into DC power and output it after voltage regulation.

[0057] The lithium-ion battery pack charging controller 19 is connected to the coupled resonant receiving coil main circuit 18 and the lithium-ion battery pack 20, and is used to manage the charging of the lithium-ion battery pack 20, which is used to provide power for the AUV.

[0058] In this embodiment, as Figure 4 As shown, Figure 4 The schematic diagram of the main circuit of the coupled resonant transmitting and receiving coil provided in the embodiments of this application.

[0059] The main circuit connection of the coupled resonant transmitting coil is as follows: the input terminal IN1 is connected to the anode of diode Q1 and resistor R. c The input terminal of diode Q1 is connected to the cathode resistor R. c The output terminal has a resistor R. c The output terminal is connected to capacitor C In The input terminal, capacitor C In The output terminal of the voltmeter is connected to the input terminal IN2, and the input terminal of the voltmeter V0 is connected to the resistor R. c The input terminal of the voltmeter V0 is connected to the output terminal of the capacitor C. In The output terminal.

[0060] resistor R c The output terminal is connected to the input terminal of test point T1 and the input terminal of test point T3. The output terminal of test point T1 is connected to the input terminal of test point T2, and the output terminal of test point T3 is connected to the input terminal of test point T4.

[0061] The output terminal of test point T1 is connected to the anode of diode Q2, the cathode of diode Q2 is connected to the input terminal of test point T1, the input terminal of capacitor C1 is connected to the cathode of diode Q2, and the input terminal of capacitor C1 is connected to the anode of diode Q2.

[0062] The output terminal of test point T2 is connected to the anode of diode Q3, the cathode of diode Q3 is connected to the input terminal of test point T2, the input terminal of capacitor C2 is connected to the cathode of diode Q3, and the input terminal of capacitor C2 is connected to the anode of diode Q3.

[0063] The output terminal of test point T3 is connected to the anode of diode Q4, the cathode of diode Q4 is connected to the input terminal of test point T3, the input terminal of capacitor C3 is connected to the cathode of diode Q4, and the input terminal of capacitor C3 is connected to the anode of diode Q4.

[0064] The output terminal of test point T4 is connected to the anode of diode Q5, the cathode of diode Q5 is connected to the input terminal of test point T4, the input terminal of capacitor C4 is connected to the cathode of diode Q5, and the input terminal of capacitor C4 is connected to the anode of diode Q5.

[0065] The output terminal of test point T1 is connected to resistor R. p The input terminal, resistor R p The output terminal is connected to the induction coil L p The input terminal of the test point T3 is connected to capacitor C; the output terminal of the test point T3 is connected to capacitor C. p The input terminal, capacitor C p The output terminal is connected to the positive terminal of ammeter A, and the negative terminal of ammeter A is connected to the induction coil L. p The output terminal.

[0066] Connection relationship of the main circuit of the coupled resonant receiving coil: Induction coil L s The input terminal is connected to a resistor R. s The input terminal of the induction coil L s The output terminal is connected to capacitor C s Input terminal; resistor R s The output terminal is connected to the anode of diode Q6, and the cathode of diode Q6 is connected to coil L. f The input terminal and diode Q 10 The anode of the diode Q 10 Cathode connection resistor R p The input terminal and capacitor C r The input terminal, resistor R p The output terminal is connected to the output terminal OUT1, and the coil L f The output terminal is connected to the output terminal OUT1, and the capacitor C r The output terminal of diode Q7 is connected to the anode of diode Q7, and the cathode of diode Q7 is connected to the anode of diode Q6.

[0067] Capacitor C s The output terminal is connected to the anode of diode Q8, and the cathode of diode Q8 is connected to coil L. f The input terminal of diode Q 10 Cathode connection capacitor C f The input terminal, capacitor C f The output terminal of the capacitor is connected to the anode of diode Q9, and the cathode of diode Q9 is connected to the anode of diode Q8; capacitor C out Input terminal connected resistor R p At the output terminal, capacitor C out The output terminal is connected to the anode of diode Q7.

[0068] In this embodiment, the AUV wireless fast charging system based on a deep-sea towed platform also includes a backup AUV rotation mechanism. At least one backup AUV is pre-installed within the deep-sea towed body and its wireless charging dock 5. The deck controller 2 is also used to control the backup AUV to take over the exploration mission when an AUV is scheduled for charging. The backup AUV rotation process includes: the AUV cluster performs exploration missions and reports its power level to the deck controller in real time; the deck controller determines that an AUV needs charging and schedules it to return to the towed dock; simultaneously, it instructs the backup AUV in the dock to depart and replace the AUV to continue operations; the AUV enters the dock to charge; after charging is complete, the AUV becomes the new backup AUV. The backup AUV rotation mechanism ensures that the AUV cluster performs its missions uninterruptedly during charging operations, significantly improving the continuity and overall efficiency of cluster operations.

[0069] In this embodiment, when the AUV cluster performs a detection mission, the deep-sea towed body and its wireless charging dock 5 work together with the AUV cluster (which is equipped with the AUV battery compartment and its wireless charger 6 of this application), and the workflow is as follows.

[0070] During deep-sea AUV cluster detection operations, a backup AUV is pre-installed in the deep-sea towed body and its wireless charging dock 5; when the remaining AUVs perform detection tasks according to instructions, they monitor their remaining power in real time and report to the deck controller 2 periodically through their own underwater acoustic communication devices.

[0071] According to the working status of each AUV, the deck controller 2 schedules the AUV cluster to perform charging operations in sequence. The deck controller 2 sends a charging command to the AUV to be charged through the underwater acoustic communication device, and the AUV to be charged then heads towards the deep-sea towed body and its wireless charging dock 5. At the same time, the deck controller 2 sends a command to the deep-sea towed body, its wireless charging dock 5 and the standby AUV through the optical fiber composite cable, so that the standby AUV heads towards the AUV to be charged and takes its place to continue the exploration operation.

[0072] After the AUV to be charged sails to the stern of the deep-sea towed body and its wireless charging dock 5, it automatically navigates into the underwater docking compartment structure 8 using its own sensing system. The conical dome structure significantly reduces the difficulty of automatic control of the AUV. During the process of the AUV entering the underwater docking compartment structure 8, the underwater high-precision proximity switch group 10 senses the positional relationship between the underwater docking compartment structure 8 and the AUV in real time. At this time, the underwater electromagnetic gripper group 9 remains in the energized and released state. When the position between the underwater docking compartment structure 8 and the AUV meets the requirements, the underwater docking controller 11 controls the underwater electromagnetic gripper group 9 to de-energize and lock the AUV, fixing the relative position.

[0073] Subsequently, the deck controller 2 controls the coupled resonant transmitting coil controller 14 to start working and charge the lithium-ion battery pack 20 on the AUV to be charged; during the charging process, the deck controller 2 continuously monitors the charger status and the power of the AUV to be charged; after charging is completed, the system automatically stops charging; at this time, the fully charged AUV becomes a backup AUV, which can be used to replace other AUVs that need to be charged.

[0074] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0075] This document uses specific examples to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of this application. Furthermore, those skilled in the art will recognize that, based on the ideas of this application, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A wireless fast charging system for an AUV based on a deep-sea towed platform, characterized in that, The AUV wireless fast charging system based on a deep-sea towed platform includes: marine equipment, underwater towed equipment, AUV battery compartment and its wireless charger. The marine equipment includes deck power supply, deck controller and deep-tow winch; The underwater towing equipment includes a deep-sea towing body, its wireless charging dock, and an optoelectronic composite towing cable. The deep-sea towing body and its wireless charging dock are connected to the marine equipment via the optoelectronic composite towing cable. The deck controller is connected to the deck power supply and the deep-sea towed body and its wireless charging dock via the photoelectric composite tow cable. It is used to transmit power and control signals to the deep-sea towed body and its wireless charging dock, and to control the docking and charging process of the deep-sea towed body and its wireless charging dock with the AUV. The deep-draft winch is connected to the optoelectronic composite tow cable and is used to retrieve, deploy, and carry the optoelectronic composite tow cable. The deep-sea towed body and its wireless charging dock are connected to the deck power supply to convert the DC power output by the deck power supply into high-frequency AC power, thereby enabling docking with the AUV. The AUV battery compartment and its wireless charger are used to convert the high-frequency AC power into DC power to charge the AUV; the AUV battery compartment and its wireless charger are part of the AUV.

2. The wireless fast charging system for AUVs based on a deep-sea towed platform according to claim 1, characterized in that, The deep-sea towed body and its wireless charging dock include: a towed body structure, an underwater docking cabin structure, an underwater electromagnetic gripper group, an underwater high-precision proximity switch group, an underwater docking controller, a coupled resonant transmitting coil controller, a coupled resonant transmitting coil main circuit, an underwater coupled resonant transmitting coil group, and an underwater charging control cabin structure. The towing structure is the main body of the deep-sea towing body, which is used to provide a depth- and attitude-stable working platform for each underwater device of the deep-sea towing system. The underwater docking compartment structure is equipped with a conical guide shield at the stern to guide the AUV into the water; The underwater electromagnetic gripper assembly is located in the middle section of the underwater docking compartment structure and is used to lock the AUV. The underwater high-precision proximity switch group is located inside the underwater docking tank structure and is used to detect the relative position of the AUV and the underwater docking tank structure. The underwater docking controller is connected to the underwater high-precision proximity switch group and the underwater electromagnetic gripper group respectively, and is used to control the underwater electromagnetic gripper group to lock or release the AUV according to the signal of the underwater high-precision proximity switch group. The coupled resonant transmitting coil controller is connected to the main circuit of the coupled resonant transmitting coil and is used to send current conversion commands to the main circuit of the coupled resonant transmitting coil. The main circuit of the coupled resonant transmitting coil is connected to the underwater coupled resonant transmitting coil group and is used to convert the DC power output from the deck power supply into high-frequency AC power based on the current conversion command. The underwater coupled resonant transmitting coil group is a ring structure, located in the middle section of the underwater docking compartment structure, and is used to transmit high-frequency magnetic field excitation signals based on the high-frequency alternating current. The underwater charging control cabin structure is located inside the towed body structure and is connected to the underwater high-precision proximity switch group, the underwater electromagnetic gripper group and the underwater coupled resonant transmitting coil group via watertight cables. It is used to install the underwater docking controller, the main circuit of the coupled resonant transmitting coil and the coupled resonant transmitting coil controller.

3. The wireless fast charging system for AUVs based on a deep-sea towed platform according to claim 2, characterized in that, The underwater high-precision proximity switch group includes two sets of redundant proximity switches installed at the head of the underwater docking compartment structure.

4. The wireless fast charging system for AUVs based on a deep-sea towed platform according to claim 2, characterized in that, The underwater electromagnetic gripper assembly includes several sets of evenly distributed electromagnetic grippers in a ring. It is controlled by the underwater docking controller, and locks when power is lost and releases when power is restored.

5. The wireless fast charging system for AUVs based on a deep-sea towed platform according to claim 2, characterized in that, The deep-sea towed body and its wireless charging dock also include a fiber optic switch, which is installed inside the underwater charging control cabin structure and is used to issue commands and upload operational status data.

6. The wireless fast charging system for AUVs based on deep-sea towed platforms according to claim 2, characterized in that, The AUV battery compartment and its wireless charger include: an underwater coupled resonant receiving coil group and a coupled resonant receiving coil main circuit; The underwater coupled resonant receiving coil group has a ring structure and cooperates with the underwater coupled resonant transmitting coil group to receive the high-frequency magnetic field excitation signal and convert the high-frequency magnetic field excitation signal into high-frequency AC output. The main circuit of the coupled resonant receiving coil is connected to the underwater coupled resonant receiving coil group, and is used to convert the high-frequency AC power into DC power and output it after voltage regulation.

7. The wireless fast charging system for AUVs based on a deep-sea towed platform according to claim 6, characterized in that, The underwater coupled resonant receiving coil group is a ring structure that cooperates with the underwater coupled resonant transmitting coil group; when the AUV is locked inside the underwater docking compartment structure, the underwater coupled resonant transmitting coil group and the underwater coupled resonant receiving coil group are axially aligned.

8. The wireless fast charging system for AUVs based on a deep-sea towed platform according to claim 6, characterized in that, The AUV battery compartment and its wireless charger also include a lithium-ion battery pack charging controller and a lithium-ion battery pack. The lithium-ion battery pack charging controller is connected to the main circuit of the coupled resonant receiving coil and the lithium-ion battery pack, respectively, and is used to manage the charging of the lithium-ion battery pack, which is used to provide power for the AUV.

9. The wireless fast charging system for AUVs based on a deep-sea towed platform according to claim 1, characterized in that, The wireless fast charging system for AUVs based on deep-sea towed platforms also includes a backup AUV rotation mechanism, specifically including: The deep-sea towed body and its wireless charging dock are pre-loaded with at least one backup AUV. The deck controller is also used to control the backup AUV to take over the detection mission when an AUV is scheduled to be charged.

10. The AUV wireless fast charging system based on a deep-sea towed platform according to claim 1, characterized in that, The deck controller integrates an underwater acoustic communication device, which is used to exchange status data and commands with the AUV cluster; the optoelectronic composite towing cable is an optoelectronic composite cable with a metal outer armor, used to transmit power and control signals simultaneously, and to withstand the towing force of the underwater towing equipment.

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