Deep-sea wireless power supply conversion system and method for underwater autonomous operating robot

Abstract

The application discloses a deep-sea wireless power supply conversion system and a power supply method for an underwater autonomous operating robot. The system comprises a resonant magnetic coupling wireless charging coil, a coil sealing device, a mechanism guiding device and the like. The resonant magnetic coupling wireless power supply conversion system is designed based on a planar bipolar coil structure, the magnetic flux density of system interaction coupling is improved, the nuclear loss and nuclear mass are reduced, and the magnetic coupling efficiency is maximized. The structure, external shielding and layout of the system are optimized, the mechanism guiding device is used to ensure that the underwater autonomous operating robot completes the charging process. Based on the coil sealing device, the size, weight and shape of the system are optimized in view of the factors such as the streamlined energy-saving navigation, the charging docking position, the gravity center arrangement of the underwater operating robot, the lightened mass, the insulation and sealing and the like, and a series of problems caused by the high-pressure environment are deeply researched and solved.

Description

Technical Field

[0001] This invention belongs to the field of wireless charging technology, specifically relating to a deep-sea wireless power conversion system and power supply method for an underwater autonomous operation robot. Background Technology

[0002] The ocean is rich in mineral resources, serving as a crucial material foundation for my country's sustainable development strategy. With the rapid expansion of marine resource development and utilization areas, extending into the deep and open seas, modern marine equipment is required to possess deep-sea and open-sea operational capabilities. Furthermore, the continuous innovation in deep-sea science and technology places higher demands on deep-sea exploration tools. Underwater robots mainly include remotely operated underwater vehicles (ROVs) and autonomous underwater vehicles (AUVs). ROVs are significantly limited in their range of motion by the tether, require mother ship support, and are expensive; additionally, prolonged multi-screen interaction by operators can lead to fatigue. However, when AUVs are operating in the deep sea, frequent surfacing for energy replenishment from a mother ship or surface support platform consumes substantial energy and time, disrupting operational continuity. AUVs, by connecting to an underwater recovery platform for energy replenishment, data upload, and download, can achieve continuous operation. Connecting to an underwater recovery system enables timely energy replenishment and data exchange, providing an effective way to achieve large-scale, deep-sea, and long-term continuous operations.

[0003] Chinese Patent Application No. 201811075071.2 (publication date: January 11, 2019) discloses a "Magnetic Coupling Structure for Wireless Charging of Autonomous Underwater Vehicles and Autonomous Underwater Vehicle System," which provides a magnetic coupling structure for wireless charging of autonomous underwater vehicles and an autonomous underwater vehicle system. Although the application belongs to the same technical field as this patent, there are significant differences between the two. Summary of the Invention

[0004] The purpose of this invention is to provide a deep-sea wireless power supply conversion system and power supply method for an underwater autonomous operation robot.

[0005] The objective of this invention is achieved through the following technical solution:

[0006] A deep-sea wireless power conversion system for an underwater autonomous robot includes a resonant magnetic coupling wireless charging coil, a coil sealing device, and a mechanical guiding device. The resonant magnetic coupling wireless charging coil is embedded in the center of the bottom of the underwater autonomous robot. The coil sealing device is placed directly below the resonant magnetic coupling wireless charging coil and is connected to the underwater autonomous robot. The mechanical guiding device is placed around the deep-sea charging pile.

[0007] Furthermore, the resonant magnetic coupling wireless charging coil is a bipolar planar right-angle coil structure, including a bipolar planar right-angle main coil and an iron core structure; the iron core structure is a passive magnetic shielding structure, the main body of which includes a ferrite block and a metal plate on the back of the ferrite block; the bipolar planar right-angle main coil is a single-layer square, the main body of which is symmetrically spliced ​​from two small square right-angle coils, and the winding of the bipolar planar right-angle main coil is a distributed winding composed of multiple strands of enameled copper wire; the tray on the back is connected to the aluminum metal plate on the back of the iron core structure, fixing the bipolar planar right-angle main coil inside the iron core structure.

[0008] Furthermore, the coil sealing device includes two streamlined, water-resistant, pressure-bearing magnetic material plates (left and right), a hook-type connecting rod, and two sets of pulleys. The two streamlined, water-resistant, pressure-bearing magnetic material plates are interconnected by embedded magnetic poles within the sealing device. The embedded magnetic poles on the left plate are concave, while those on the right plate are convex, with opposite magnetic poles. They form a closed structure through mutual magnetic attraction. The embedded magnetic poles have grooves inside to prevent surrounding water from rapidly entering and corroding the wireless charging coil due to water pressure when the sealing device is opened and closed. The two streamlined, water-resistant, pressure-bearing magnetic material plates serve as the main body of the sealing device, as shown in the table below. The surface features a streamlined design with two sets of pulleys mounted on its upper surface. The lower movable pulley of the two sets of pulleys interacts with the two streamlined, water-resistant, pressure-bearing magnetic material plates on the left and right sides to ensure that the coil sealing device can be rotated and adjusted by 90°. The left and right outer surfaces of the two sets of pulleys are equipped with hook-shaped connecting rods. The combined action of the two sets of pulleys and the hook-shaped connecting rods allows the sealing device to retract inward within a 90° range. The ends of the hook-shaped connecting rods are designed with an elliptical protruding arc-shaped structure for tight connection with the underwater autonomous robot, ensuring a stable connection between the coil sealing device and the underwater autonomous robot.

[0009] Furthermore, the mechanical guidance device includes binocular vision, a guide light source, a locking mechanism, and a magnetic slide. The magnetic slide is designed with the characteristic that the magnetic distribution of the entire slide increases as it approaches the charging position, and the surface of the slide is designed with the same streamlined structure as the underwater autonomous robot. The binocular vision is placed directly below the front crossbeam of the device, and one guide light source is placed on each side of the front crossbeam of the device, with one placed directly above the binocular vision. The locking mechanism is placed at the connection point between the rear end of the device and the charging pile, and the magnetic slide is placed directly above the locking mechanism. The locking mechanism uses an electromagnet and a hydraulic locking device to lock the support rod and the underwater autonomous robot and its guide rod.

[0010] A power supply method for a deep-sea wireless power conversion system for an underwater autonomous robot is disclosed. During power supply, a mechanical guidance device guides the underwater autonomous robot to a charging pile. As the robot enters the designated charging position, the coil sealing device receives magnetic thrust from the mechanical guidance device and autonomously opens. Upon reaching the charging position, the internally protected resonant magnetically coupled wireless charging coil performs rapid underwater charging of the underwater autonomous robot through magnetic resonance with the secondary coil on the charging pile, thus enabling the deep-sea wireless power conversion system to wirelessly charge the underwater autonomous robot.

[0011] Furthermore, in the underwater autonomous operation robot's underwater wireless charging, both the bipolar planar right-angle main coil and the secondary coil on the charging pile are in a resonant state. The high-frequency electric field energy generated by the secondary coil on the charging pile is converted from electrical energy to magnetic energy. Then, the alternating electric field converts the magnetic energy into electrical energy at the bipolar planar right-angle main coil, realizing magnetic coupling wireless energy transmission.

[0012] The wavelength of the electromagnetic wave is λ, and the range of the near-field region is... The range of the far field region is To ensure the system's energy transfer efficiency, the spacing between the primary and secondary coils should be within a certain range. Power transmission efficiency can be expressed as:

[0013]

[0014] Where p1 is the power absorbed by the secondary coil, which is the transmitting coil; p2 is the power received by the main coil, which is the receiving coil; p l η is the power delivered to the electrical load resistor connected to the receiving coil; η is the power transfer efficiency.

[0015] The coupling coefficient between the secondary coil and the primary coil is k, μ1 is the inherent attenuation rate due to absorption loss, and μ2 is due to radiation loss and μ l The resonant width is caused by the load resistance connected to the receiver coil, and the power transfer efficiency is expressed as:

[0016]

[0017] For the same transmitting and receiving coils, μ1 = μ2 = μ3; therefore, the power transfer efficiency of the resonant magnetic coupling wireless charging system composed of the same transmitting and receiving coils is as follows:

[0018]

[0019] The beneficial effects of this invention are as follows:

[0020] This invention improves the charging efficiency of the I-AUV by designing a resonant magnetic coupling wireless charging coil at the bottom of the streamlined I-AUV and a corresponding sealing device, thereby shortening the charging time and ensuring the I-AUV's endurance in deep-sea operations, enabling efficient long-term deep-sea operations. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the structure of the present invention;

[0022] Figure 2 This is a diagram of the resonant magnetic coupling coil of the present invention;

[0023] Figure 3 The present invention is a bipolar planar right-angle main coil.

[0024] Figure 4 This is a diagram of the sealing structure of the present invention;

[0025] Figure 5 This is a front view of the sealing structure of the present invention;

[0026] Figure 6 This is a side view of the sealing structure of the present invention;

[0027] Figure 7 This is the mechanical guidance diagram of the present invention;

[0028] Figure 8 This is a design drawing of the insulation and sealing of the present invention;

[0029] Figure 9 This is a schematic diagram of the coil spacing of the present invention;

[0030] Figure 10 This is a schematic diagram illustrating the variation of the magnetic field strength between coils as a function of the coil spacing in this invention.

[0031] Figure 11 This is a schematic diagram of the magnetic field strength between the coils of the present invention. Detailed Implementation

[0032] The present invention will now be further described with reference to the accompanying drawings.

[0033] according to Figures 1 to 7 A deep-sea wireless power conversion system for an underwater autonomous robot includes a resonant magnetic coupling wireless charging coil 1, a bipolar planar right-angle main coil 2, an iron core structure 3, a sealing device 4, two water-resistant and pressure-bearing magnetic material plates 5, embedded magnetic poles 6, a hook-type connecting rod 7, two sets of pulleys 8, a mechanical guidance mechanism 9, binocular vision 10, a guiding light source 11, a locking mechanism 12, and a magnetic slide 13. To improve the system's charging efficiency, the magnetic coupling charging coil is insulated and corrosion-resistant.

[0034] The resonant magnetic coupling charging coil is designed as a bipolar planar right-angle coil structure, comprising a bipolar planar right-angle main coil 2 and an iron core structure 3. This design allows the bipolar planar right-angle main coil 2 to be adapted for underwater robots, while minimizing the overall space occupied by the structure, yet providing greater magnetic flux and accelerating charging. The bipolar planar right-angle main coil 2 is made of iron nanocrystalline soft magnetic material, which has higher saturation magnetic density, permeability, and less core loss than ordinary ferromagnetic materials, reducing energy loss and shortening charging time. As the energy receiving coil in the deep-sea wireless power conversion system, the resonant magnetic coupling wireless charging coil 1 requires fewer complex parts, a simplified overall design, and reduced current intensity and magnetic field leakage.

[0035] The bipolar planar right-angle main coil 2 structure differs from the common circular design. The planar right-angle coil is a single-layer square, composed of two smaller square right-angle coils symmetrically joined together. Considering the high-frequency current issue that occurs during I-AUV charging, the coil winding uses distributed winding composed of multiple strands of enameled copper wire. A tray is added to the back of the coil to connect with the iron core structure 3. Designing the coil as a symmetrical planar right-angle structure not only increases the overall contact area of ​​the coil but also ensures stability during charging. As the coil approaches the charging position, the mutual inductance between the coils in the same direction increases continuously through this structure, while the mutual inductance between the coils in the opposite direction decreases, keeping the overall structure in the same mutual inductance state. This reduces the frequency splitting phenomenon between the main and auxiliary coils, which affects charging efficiency. The inclusion of a large-volume, large-area coil in the bipolar planar right-angle main coil 2 structure helps to increase the transmission distance and facilitate impedance matching adjustment, achieving maximum energy transmission efficiency for the system. Meanwhile, the iron core structure 3, as the magnetic shielding device for the coil, is designed as a passive magnetic shielding structure. Composed of a ferrite block and an aluminum plate on its back, this structure forms a chamber to house the coil, placed behind the coil windings. The aluminum plate serves as magnetic shielding. The ferrite block increases the permeability of the bipolar planar right-angle main coil ferrite, improving the coupling coefficient k and the quality factor Q of the coupled coil. This, in turn, increases the self-inductance and coupling degree of the main and auxiliary coils, contributing to improved system energy transfer efficiency. The main calculation formulas are as follows:

[0036]

[0037]

[0038] Where L is the coil's self-inductance, w is the system's angular frequency, and R... L L1 is the equivalent AC resistance of the coil, M is the mutual inductance, and L1 and L2 are the self-inductances of the transmitting and receiving coils, respectively.

[0039] The wireless charging of the resonant magnetic coupling wireless charging coil 1 in this system is as follows: The bipolar right-angle main coil 2 on the I-AUV and the secondary coil at the charging position on the charging pile maintain the same fixed frequency. The secondary coil on the charging pile is driven using the system frequency, which is the same as the coil's fixed frequency. At this time, the high-frequency AC power supply generates a high-density, high-energy alternating magnetic field in the secondary coil on the charging pile. This magnetic field resonates with the alternating magnetic field of the bipolar right-angle main coil 2, generating electrical energy that is then transferred to the I-AUV. Throughout the charging process, both the main and secondary coils are in a resonant state. Through resonance, the electrical energy on the charging pile is converted into a magnetic field, thus forming an electromagnetic energy transmission channel between the main and secondary coils. The main and secondary coils accumulate a large amount of energy around them through multiple resonances, which is then converted into electrical energy via the magnetic field to achieve wireless charging of the I-AUV. Specifically, when the bipolar right-angle main coil on the I-AUV resonates, the electric field energy generated by the capacitor in the main coil and the magnetic field energy generated by the inductor continuously exchange energy, ultimately transferring it to the I-AUV. In resonant magnetic coupling wireless charging, the resonant coupling between the primary and secondary coils is the core of energy transfer. The primary and secondary coils have the strongest ability to generate and receive alternating magnetic fields when operating at the same resonant frequency, thus achieving high transmission efficiency. The alternating magnetic field, acting as the energy propagation medium between the primary and secondary coils, is generated by the conversion of high-frequency electric field energy generated by the secondary coil on the charging station into electrical energy. Then, the alternating electric field converts the magnetic energy into electrical energy at the primary coil, realizing magnetic coupling wireless energy transfer. According to Maxwell's classical electromagnetic theory, a changing electric field generates a magnetic field, and a changing magnetic field generates an electric field. The magnetic field strength generated by a changing electric field increases as the distance from the center of the helix decreases. Therefore, the magnetic field is generally divided into a near-field region and a far-field region. When the wavelength of the electromagnetic wave is defined as λ, the range of the near-field region is... The range of the far field region is Studies have shown that in the near-field region, the energy of the electromagnetic field flows periodically back and forth between the primary and secondary coils; in the far-field region, the electromagnetic field intensity decreases rapidly with increasing distance. Therefore, to ensure the energy transfer efficiency of the system, the spacing between the primary and secondary coils should be within a certain range. Therefore, magnetic coupling resonant wireless charging achieves optimal transmission performance in the near-field region of the electromagnetic field. The stronger magnetic field in the near-field region allows for periodic energy transfer between the secondary coil (transmitting coil) and the primary coil (receiving coil), enabling energy flow within the coil. Furthermore, the near-field region exhibits excellent energy retention due to radiation, making it suitable for placing receiving devices. Simultaneously, the magnetic coupling phenomenon during charging is a key indicator for achieving wireless charging performance. Magnetic coupling refers to the generation of a magnetic field between coils through a changing current, with the current and magnetic field mutually converting. The alternating current and magnetic field of the secondary coil (transmitting coil) influence the induced electromotive force in the primary coil (receiving coil). The magnetic coupling transmission efficiency determines the overall system efficiency, where the magnetic flux linkage of the coils is equal to the algebraic sum of the mutual inductance and self-inductance. In isotropic magnetic media, the magnetic flux linkage is proportional to the induced current. Let the current and voltage of the coupled coils be i1, i2, u1, u2, respectively, L1, L2 be the inductances of the coupled coils and take one vector as the reference direction, and M be the mutual inductance value. Then the relationship between the coupled inductors and voltages is:

[0040]

[0041]

[0042] The degree of coupling between two coupled coils is represented by k, and is defined as the coupling factor, as shown in the expression: The value of k depends on the relative positions of the two coils and the surrounding magnetic field medium. The resonant frequency between the coils also has a certain influence on the magnetic coupling phenomenon. When the main and auxiliary coils operate at the same resonant frequency, the entire wireless charging system is in a strongly coupled resonant state. In this state, the energy transfer efficiency is the highest, and the energy transfer is stable.

[0043] To ensure the energy transmission efficiency of the resonant magnetic coupling wireless charging system, the spacing between the main and auxiliary coils should be within a certain range. To achieve optimal efficiency, the distance between the primary and secondary coils will be further refined. Based on coupled-mode theory, the energy exchange between the two resonant coils in a strongly coupled wireless power transmission system is analyzed. The power transmission efficiency primarily depends on the power absorbed by the secondary coil (transmitting coil), the power received by the primary coil (receiving coil), and the power transmitted to the electrical load resistor connected to the receiving coil. Therefore, the efficiency of the resonant magnetic coupling wireless charging system is the ratio of the output power to the total power supplied by the system. That is, the ratio of the power transmitted to the load resistor connected through the receiving coil to the total power transmitted from the power source to the transmission system. The power transmission efficiency can then be expressed as:

[0044]

[0045] The power absorbed by the secondary coil (transmitting coil) is p1; the power received by the primary coil (receiving coil) is p2; and the power supplied to the electrical load resistor connected to the receiving coil is p. l The power transmission efficiency is η. The coupling coefficient between the secondary coil (transmitting coil) and the primary coil (receiving coil) is defined as k, μ1 is the inherent attenuation rate due to absorption loss, and μ2 is due to radiation loss and μ... l The resonant width is caused by the load resistance connected to the receiver coil, so the power transfer efficiency can be expressed as:

[0046]

[0047] For identical transmitting and receiving coils, μ1 = μ2 = μ3. Therefore, the power transfer efficiency of the resonant magnetic coupling wireless charging system composed of identical transmitting and receiving coils is as follows:

[0048]

[0049] Therefore, to achieve efficient wireless power transfer, the system must operate within a strongly coupled region, i.e., k / η >> 1 and as large as possible. Efficiency can be maximized by maximizing the coupling loss ratio (k / η). Based on the above, simulation calculations show that the near-field region is defined as the distance between the main and auxiliary coils within the range [0, 60] (in mm), at which point the energy transfer efficiency of the resonant magnetic coupling wireless charging system is optimal. Specifically, when the distance between the main and auxiliary coils is 20 mm, the coupling loss ratio k / η reaches its maximum value, and the resonant magnetic coupling wireless charging system achieves its maximum energy transfer efficiency. The magnetic permeability of seawater is almost similar to that of air, and its electrical conductivity is approximately 30-56 mS / cm; the relative magnetic permeability of the iron box is 4000. Figure 11 As shown in the figure, the horizontal axis represents the distance between the primary and secondary coils, and the vertical axis represents the magnetic field strength. When the distance is greater than 60mm, there are significant fluctuations and the magnetic field strength is weak, indicating that the region has entered the far-field region and cannot achieve good energy transfer efficiency. When the distance is 20mm, the magnetic field is at its maximum value, which is the optimal position in the near-field region, achieving the best energy transfer efficiency. Figure 10 This is a schematic diagram of the positions of the main and auxiliary coils when the spacing between the main and auxiliary coils is 20mm.

[0050] The coil sealing device 4 is a closed structure with built-in magnetic poles. It adopts the same streamlined design as the I-AUV and is placed below the wireless charging device, complementing the overall structure of the I-AUV. By embedding the sealing device 4, the I-AUV reduces underwater resistance and unnecessary energy loss during deep-sea operations, improving the underwater robot's endurance. The sealing device 4 consists of two streamlined, water-resistant, pressure-bearing magnetic material plates 5, a hook-shaped connecting rod 7, and two sets of pulleys 8. The two water-resistant, pressure-bearing magnetic material plates 5 are connected to each other via embedded magnetic poles 6 in the sealing device 4. The embedded magnetic pole 6 on the left plate is concave, while that on the right plate is convex, with opposite magnetic poles that attract each other to form a closed structure. The embedded magnetic pole 6 has a groove structure inside to prevent surrounding water from rapidly entering and corroding the wireless charging coil when the sealing device 4 is opened and closed. The sealing device 4 is connected to the I-AUV via the hook-shaped connecting rod 7 above. The inverted hook-type connecting rod 7 incorporates an arc angle at the connection point to prevent scratching of other internal devices of the I-AUV when the sealing device 4 is opened and closed, and also optimizes the placement space of the overall sealing device, improving space utilization. Two sets of pulleys 8 are installed on the sealing device 4 to ensure a 90° rotation range and a 90° retraction range with the inverted hook-type connecting rod 7, allowing the sealing device 4 to complete the wireless charging process by adjusting its spatial position during charging.

[0051] The mechanical guidance mechanism 9 is designed with binocular vision 10, a guide light source 11, a locking mechanism 12, and a magnetic slide 13. A buffer device is also incorporated to reduce impact during docking, and the buffer mechanism restricts the degrees of freedom in the longitudinal and yaw directions. The locking mechanism 12 uses an electromagnet and hydraulic locking device to lock the support rod and the I-AUV and its guide rod, ensuring accurate alignment and reliable charging of the main and auxiliary coils. A magnetic slide is also added to the mechanical guidance structure 9 for compatibility with the sealing device 4, allowing the sealing device 4 to open and close autonomously under the action of the magnetic poles. The mechanical guidance mechanism 9 and the wireless power conversion subsystem have precise dimensional relationships, helping the I-AUV to complete power positioning and alignment during docking.

[0052] The resonant magnetic coupling charging coil 1 is insulated and corrosion-resistant. Insulation treatment is applied to the charging and power supply systems based on the charging voltage provided by the wireless power conversion system. To improve power transmission efficiency, the main and auxiliary coils of the magnetic coupling charging system are insulated and corrosion-resistant, ensuring good insulation and heat dissipation from the external environment. This eliminates the need for loss through the sealed outer shell between the main and auxiliary coils, enabling direct underwater strong magnetic charging. The wireless power transmission drive and control circuits are sealed with oil. Insulation treatment is applied to the charging and power supply systems based on the charging voltage, and deep-sea pressure compensation is implemented to cope with the high-pressure environment of the deep sea, achieving sealing and heat dissipation, and optimizing the heat dissipation and insulation of the battery system. This prevents oil-filled medium breakdown and system overheating. Simultaneously, considerations are given to underwater high-pressure insulation and the possibility of overheating in the underwater charging system. Oil-filled space compensation is used to improve system heat dissipation and insulation, or other related measures such as water cooling are adopted. To reduce electromagnetic interference, the battery compartment and the wireless power conversion system are arranged separately, minimizing the placement of electronic components near the wireless power conversion system.

[0053] Based on the overall structural configuration of a deep-sea wireless power conversion system for an autonomous underwater vehicle (I-AUV), this scheme assumes that after autonomous operation in the deep sea, the I-AUV detects that its own power is insufficient to support subsequent tools. It then approaches the charging station based on the prior location of the charging station and the seabed topography map. As the I-AUV gradually approaches the charging station, the binocular vision system 10 in the mechanical guidance mechanism 9 detects the I-AUV and guides it through the guide light source 11 within the mechanical guidance mechanism, assisting the I-AUV in completing power positioning and alignment during docking. When the I-AUV enters the mechanical guidance mechanism 9, it is secured by the locking mechanism 12 at the mechanical guidance mechanism 9. The locking mechanism 12 uses an electromagnet and hydraulic locking device to lock the support rod, the I-AUV, and its guide rod, ensuring accurate alignment of the main and auxiliary coils and reliable charging. When the I-AUV moves to the designated position on the magnetic slide 13, wireless power supply is immediately activated, initiating the wireless charging process for the I-AUV.

[0054] Based on the aforementioned magnetic slide 13, magnetic poles are distributed from far to near using magnetic material, with the magnetism becoming stronger closer to the charging position. During the movement of the I-AUV along the magnetic slide 13, the sealing device 4 comes into contact with the magnetic slide 13. Utilizing the characteristic that the magnetism of the slide 13 becomes stronger closer to the charging position, the two water-proof and pressure-bearing magnetic material plates 5 on the left and right sides of the sealing device 4 are slowly pushed apart using the principle of like magnets repelling each other. Until the I-AUV moves to the designated charging position, the sealing device is fully opened, and wireless charging of the I-AUV begins.

[0055] Based on the above, under the action of the magnetic pole counterforce of the magnetic slide 13, as the I-AUV gradually approaches the charging position, the two water-resistant and pressure-bearing magnetic material plates 5 on the left and right sides of the sealing device 4 gradually open. During the opening process, the embedded magnetic poles 6 begin to gradually separate. Because the embedded magnetic poles 6 have a groove structure inside, the opening speed of the two water-resistant and pressure-bearing magnetic material plates 5 can be slowed down. This prevents a large amount of seawater from rapidly entering the I-AUV during the separation process, thus avoiding the impact of seawater and local water pressure on other I-AUV devices, including the resonant magnetic coupling wireless charging coil 1. This ensures the normal operation of the resonant magnetic coupling wireless charging coil 1 and prevents potential charging failures due to seawater impact. Simultaneously, it effectively reduces the risk of corrosion of the resonant magnetic coupling wireless charging coil 1 by seawater, ensuring the entire wireless power conversion system can be used multiple times and extending its service life. During the opening of the two waterproof and pressure-bearing magnetic material plates 5 on the left and right sides, the hook-type connecting rod 7 in the sealing device 4 will also move synchronously, ensuring that the sealing device 4 can deliver the resonant magnetic coupling wireless charging coil 1 to the designated charging position at the specified angle and direction.

[0056] Based on the above, the end of the hook-shaped connecting rod 7 in the sealing device 4 is curved at the connection point with the I-AUV, allowing for a wider extension angle during the opening of the sealing device 4. This reduces excessive wear on other parts of the I-AUV caused by the opening of the sealing device 4, preventing damage to the I-AUV's interior. The movement of the hook-shaped connecting rod 7 simultaneously drives the two sets of pulleys 8 on the sealing device 4 to move together. Through the movement of the movable and fixed pulleys in the two sets of pulleys 8, the sealing device 4 can freely contract and extend within a 90° range into the I-AUV, ensuring that the resonant magnetic coupling wireless charging coil 1 is exposed at the specified angle and position, while optimizing the internal space of the I-AUV and improving space utilization. As the two sets of pulleys 8 drive the sealing device 4 to move into the I-AUV, the two water-resistant and pressure-bearing magnetic material plates 5 in the sealing device are also driven by the two sets of pulleys 8. Under the interaction of the moving and fixed pulleys, the two water-resistant and pressure-bearing magnetic material plates 5 can rotate freely within a 90° range. During the movement of the I-AUV on the slide, the angle of the two water-resistant and pressure-bearing magnetic material plates 5 can be continuously adjusted to shorten the contact time and contact area between the protected resonant magnetic coupling wireless charging coil 1 and the seawater, reducing energy loss and potential risks during the charging docking preparation stage of the I-AUV, and ensuring the smooth charging of the I-AUV. With the magnetic pole force generated by the contact between the sealing device 4 and the magnetic slide 13, and the combined action of the embedded magnetic poles 6, the hook-type connecting rod 7, and the two sets of pulleys 8 in the sealing device 4, the protected resonant magnetic coupling wireless charging coil 1 can reach the designated position to wirelessly charge the I-AUV.

[0057] Based on the above, when the I-AUV arrives at the designated location of the charging pile, the resonant magnetic coupling wireless charging coil 1 wirelessly charges the I-AUV above the designated location of the charging pile. The main structure of the resonant magnetic coupling wireless charging coil 1 is a bipolar planar right-angle coil 2, which includes a bipolar planar right-angle main coil 2 and an iron core structure 3, allowing the coil to have a larger magnetic flux. Simultaneously, the coil as a whole is embedded inside the I-AUV with minimal footprint, optimizing the internal space utilization of the I-AUV. The aforementioned resonant magnetic coupling wireless charging coil 1 continuously increases the mutual inductance between coils wound in the same direction and decreases the mutual inductance between coils wound in opposite directions through the bipolar planar right-angle coil structure, ensuring that the overall system maintains the same mutual inductance, reducing the impact of frequency splitting on charging efficiency, and improving energy transmission capability in the strong coupling region. Furthermore, to improve power transmission efficiency, the main and auxiliary coils of the magnetic coupling charging are insulated and corrosion-resistant, and good insulation and heat dissipation from the outside environment are ensured. Specifically, as follows... Figure 9As shown, the wireless power transmission drive and control circuits are sealed with oil. Insulation is applied to the charging and power supply systems based on the charging voltage, and deep-sea pressure compensation is implemented to cope with the high-pressure environment of the deep sea and to achieve sealing and heat dissipation. The heat dissipation and insulation of the battery system are optimized. Insulation and heat dissipation tests are conducted on the underwater wireless power transmission process to analyze the breakdown of the oil-filled medium and system overheating, and an oil-filled space compensation device is established. An underwater high-voltage insulation and temperature monitoring system is designed to detect leakage current, charging temperature, and insulation resistance. Monitoring and fault alarms are provided for overheating and insulation status of the underwater charging system, thereby improving system heat dissipation and insulation or implementing other related measures such as water cooling in conjunction with oil-filled space compensation. To reduce electromagnetic interference, the battery compartment and the wireless power conversion system are arranged separately, minimizing the placement of electronic components near the wireless power conversion system. The I-AUV with the resonant magnetic coupling wireless charging coil 1 will automatically disconnect after charging and enter the stage of exiting the wireless power conversion system.

[0058] Based on the above, during the process of the I-AUV exiting the wireless power conversion system, the sealing device 4 begins to close. As the I-AUV exits the magnetic slide 13, the magnetic force on the slide 13 gradually weakens, and the same magnetic force on the two waterproof and pressure-bearing magnetic material plates 5 on the left and right sides weakens, causing them to slowly move closer together. Due to the force, under the combined action of the hook-type connecting rod 7 and the two sets of pulleys 8, the two waterproof and pressure-bearing magnetic material plates 5 begin to retract in their original retraction and rotation direction. Simultaneously, the embedded magnetic poles 6 of the two waterproof and pressure-bearing magnetic material plates 5 gradually approach each other, attracting each other until they finally close. This achieves the autonomous opening and closing of the sealing device 4 as the wireless power conversion system approaches the designated charging position. Until the I-AUV completely exits the magnetic slide 13 and leaves the mechanical guide mechanism 9, the sealing device 4 is completely closed, and the streamlined arc at the bottom of the two waterproof and pressure-bearing magnetic material plates 5 is fully in contact with the I-AUV, completing the secondary protection of the resonant magnetic coupling wireless charging coil 1. At this point, the deep-sea wireless power conversion system for the underwater autonomous operation robot has completed the charging process for the streamlined I-AUV, allowing the I-AUV to continue performing relevant operational tasks in the deep sea.

[0059] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A deep-sea wireless power supply conversion system for an underwater autonomous operation robot, characterized in that: It includes a resonant magnetic coupling wireless charging coil (1), a coil sealing device (4), and a mechanical guiding device (9); the resonant magnetic coupling wireless charging coil (1) is embedded in the center of the bottom of the underwater autonomous operation robot; the coil sealing device (4) is placed directly below the resonant magnetic coupling wireless charging coil (1), and its main body is connected to the underwater autonomous operation robot; the mechanical guiding device (9) is placed on the periphery of the deep-sea charging pile. The mechanical guidance device (9) includes binocular vision (10), a guide light source (11), a locking mechanism (12), and a magnetic slide (13). The magnetic slide (13) is designed with the characteristic that the magnetic distribution of the entire slide is stronger as it gets closer to the charging position. The surface of the slide is designed with the same streamlined structure as the underwater autonomous robot. The binocular vision (10) is placed under the front crossbeam of the device. The guide light source (11) is placed on the left and right sides of the front crossbeam of the device, and one is placed directly above the binocular vision. The locking mechanism (12) is placed at the connection between the rear end of the device and the charging pile. The magnetic slide (13) is placed directly above the locking mechanism. The locking mechanism (12) locks the support rod and the underwater autonomous robot and its guide rod by means of an electromagnet and a hydraulic locking device.

2. The deep-sea wireless power supply conversion system for an underwater autonomous operation robot as described in claim 1, characterized in that: The resonant magnetic coupling wireless charging coil (1) is a bipolar planar right-angle coil structure, including a bipolar planar right-angle main coil (2) and an iron fence core structure (3); the iron fence core structure (3) is a passive magnetic shielding structure, the main body of which includes a ferrite block and a metal plate on the back of the ferrite block; the bipolar planar right-angle main coil (2) is a single-layer square, the main body of which is symmetrically spliced ​​from two small square right-angle coils, and the winding of the bipolar planar right-angle main coil is a distributed winding composed of multiple strands of enameled copper wire; the tray on the back is connected to the aluminum metal plate on the back of the iron fence core structure (3) to fix the bipolar planar right-angle main coil (2) inside the iron fence core structure (3).

3. The deep-sea wireless power supply conversion system for an underwater autonomous operation robot as described in claim 1, characterized in that: The coil sealing device (4) includes two streamlined water-resistant and pressure-bearing magnetic material plates (5) on the left and right, a hook-type connecting rod (7), and two sets of pulleys (8); the two streamlined water-resistant and pressure-bearing magnetic material plates (5) on the left and right are connected to each other through the embedded magnetic poles (6) of the sealing device. The embedded magnetic pole (6) on the left is concave, and the embedded magnetic pole (6) on the right is convex. The magnetic poles on the left and right are opposite and form a closed structure by mutual magnetic attraction; the embedded magnetic pole (6) has a groove structure inside, so that the surrounding water flow is prevented from rushing in and corroding the wireless charging coil due to water pressure when the sealing device is opened and closed; the two streamlined water-resistant and pressure-bearing magnetic material plates (5) on the left and right serve as the main body of the sealing device, and the lower surface For a streamlined design, two sets of pulleys (8) are installed on its upper surface; the lower movable pulley of the two sets of pulleys (8) interacts with the two streamlined water-proof and pressure-bearing magnetic material plates (5) on the left and right to ensure that the coil sealing device can be rotated and adjusted by 90°; the left and right outer surfaces of the two sets of pulleys (8) are equipped with hook-type connecting rods (7), and the two sets of pulleys (8) and the hook-type connecting rods (7) work together to make the sealing device retract inward within a range of 90°; the end of the hook-type connecting rod (7) is designed with an elliptical protruding arc angle structure to be tightly connected with the underwater autonomous operation robot, so that the coil sealing device (4) is stably connected to the underwater autonomous operation robot.

4. A power supply method for a deep-sea wireless power conversion system for an underwater autonomous robot as described in any one of claims 1-3, characterized in that: When the deep-sea wireless power supply conversion system supplies power, the mechanical guidance device (9) guides the underwater autonomous robot to the charging pile. During the process of the underwater autonomous robot entering the designated charging position, the coil sealing device (4) obtains magnetic thrust from the mechanical guidance device (9) and completes autonomous opening. After the internally protected resonant magnetic coupling wireless charging coil (1) reaches the charging position, it performs magnetic coupling wireless underwater fast charging on the underwater autonomous robot through magnetic resonance with the secondary coil on the charging pile, thereby realizing the underwater wireless charging of the underwater autonomous robot by the deep-sea wireless power supply conversion system.

5. The power supply method for a deep-sea wireless power supply conversion system for an underwater autonomous robot according to claim 4, characterized in that: In the underwater autonomous operation robot, both the bipolar planar right-angle main coil (2) and the secondary coil on the charging pile are in a resonant state during underwater wireless charging. The high-frequency electric field energy generated by the secondary coil on the charging pile is converted from electrical energy to magnetic energy. Then, the alternating electric field converts the magnetic energy into electrical energy at the bipolar planar right-angle main coil (2), realizing magnetic coupling wireless energy transmission. The wavelength of electromagnetic waves is The range of the near field is The range of the far field region is To ensure the system's energy transmission efficiency, the spacing between the main and auxiliary coils should be within a certain range. Power transmission efficiency can be expressed as: in, The power absorbed by the secondary coil, which is the transmitting coil; The power received by the main coil is the power received by the receiving coil. The power delivered to the electrical load resistor connected to the receiving coil; For power transmission efficiency; The coupling coefficient between the secondary coil and the primary coil is , It is the inherent decay rate caused by absorption loss. The resonance width is caused by radiation loss. For the same transmitting and receiving coils, Therefore, the power transfer efficiency of a resonant magnetic coupling wireless charging system composed of identical transmitting and receiving coils is as follows: 。

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