One-turn AUV adaptive wireless charging device

Abstract

The present invention discloses a rotary AUV adaptive wireless charging device. The purpose is to achieve adaptive and precise alignment of the primary and secondary sides of the wireless energy transmission after the AUV enters the recovery device while keeping the structure and control as simple as possible, thereby improving the wireless charging efficiency of the rotary AUV. At the same time, the device of the present invention can further improve the efficiency of the platform releasing the AUV when the charging is completed, saving energy loss during the AUV recovery process. The device of the present invention includes an improved rotary AUV cabin, an AUV wireless charging resident cabin, a wireless energy transmission primary side adaptive adjustment device and a wireless energy transmission controller. The device integrates the AUV wireless charging resident cabin body, the wireless energy transmission primary side adaptive adjustment device and the wireless energy transmission controller into the same structural system, which can make the structure simple, the development cost low and the installation convenient in design. At the same time, the designed wireless energy transmission primary side adaptive adjustment device has no complex electrical logic control, and the adjustment method is simple, which improves the reliability of the system operation.

Description

Technical Field

[0001] The present application relates to the technical field of wireless charging for underwater robots, and in particular to a rotary AUV adaptive wireless charging device. Background Art

[0002] The ocean is the space where humanity lives and thrives, rich in resources. The exploration and development of marine resources requires advanced technology and equipment. Unmanned, cable-free, autonomous underwater vehicles (AUVs) can perform a variety of tasks, including monitoring the marine environment and sampling marine resources, playing a vital role in the utilization of marine resources.

[0003] AUVs can autonomously complete limited underwater navigation using the energy they carry. However, due to their limited energy capacity, especially those powered by lithium batteries, they require frequent recovery for energy replenishment or battery replacement. Currently, AUV recovery methods primarily include mothership recovery, underwater tank recovery, and torpedo tube recovery. For underwater tank recovery and torpedo tube recovery, the main energy recharge methods currently used are wired and wireless.

[0004] Numerous researchers are currently studying wireless energy recharge methods. Compared to wired energy recharge, wireless energy recharge offers many advantages, including increased reliability and simplicity. However, wireless charging is less efficient than wired energy recharge, and reduced alignment between the primary and secondary coils of a wireless power transmitter can further impact wireless charging efficiency. Summary of the Invention

[0005] To improve the efficiency of existing rotary AUV wireless charging, this application proposes an adaptive wireless charging device for rotary AUVs. This device enables adaptive adjustment of the primary and secondary coils of a rotary AUV's wireless charging system while minimizing structural and control complexity, improving primary and secondary alignment accuracy. Furthermore, the device can further enhance the efficiency of wireless charging for rotary AUVs and provide assistance to the AUV during its exit, further reducing energy loss during the AUV's recovery process. This represents a simple and feasible method for improving the efficiency of wireless charging for underwater rotary AUVs.

[0006] The embodiment of the present application provides a rotary AUV adaptive wireless charging device, comprising: an improved rotary AUV cabin (1), an AUV wireless charging resident cabin (2), a wireless energy transmission primary side adaptive adjustment device (3), a wireless energy transmission controller (4), and a controller fixing device (5);

[0007] The improved rotary AUV cabin (1) is designed with a wireless charging cabin (10) near the first end thereof, and a limited telescopic column (11) is designed near the first end of the wireless charging cabin (10);

[0008] The AUV wireless charging station cabin (2) is designed as a hollow cylindrical structure, and a connecting flange (20) is designed at the second end thereof for connecting to AUV recovery covers of different structural forms;

[0009] The first end of the AUV wireless charging resident cabin (2) is designed as a non-sealed structure, so that the wireless energy transmission primary side adaptive adjustment device (3) is embedded and connected to the AUV wireless charging resident cabin (2);

[0010] The wireless energy transmission controller (4) is designed and installed at the first end of the AUV wireless charging station cabin (2);

[0011] The wireless energy transmission controller (4) is installed in a control box (40), and the control box (40) is fixedly connected to the AUV wireless charging station cabin (2) through the controller fixing device (5) and bolts.

[0012] The control box (40) can be used to house the wireless energy transmission controller, and can also be used to maintain the circumferential position of the wireless energy transmission primary coil fixed during the adjustment process of the wireless energy transmission primary adaptive adjustment device (3).

[0013] The wireless energy transmission primary side adaptive adjustment device (3) drives the wireless energy transmission primary side coil to move back and forth longitudinally along the AUV wireless charging resident cabin (2) through an adaptive adjustment spring, and cooperates with the improved rotary AUV cabin (1) to achieve alignment of the primary and secondary side coils of the wireless charging system;

[0014] After charging is completed and the AUV locking device is released, the spring contraction force can assist the AUV to exit the AUV wireless charging station cabin (2).

[0015] In some embodiments, the wireless charging cabin (10) contains a wireless charging secondary coil, and the limiting telescopic column (11) is designed on a side close to the wireless charging cabin (10) away from the first end of the improved rotary AUV cabin (1). The limiting telescopic column (11) can be controlled to extend or retract through the AUV control system, so that the limiting telescopic column extends out of or retracts into the improved rotary AUV cabin (1).

[0016] In some embodiments, the AUV wireless charging station cabin (2) is a hollow round structure, the hollow holes (21) are arranged along the circumferential direction of the AUV wireless charging station cabin (2) and extend longitudinally to both ends of the AUV wireless charging station cabin (2), and the width of the hollow holes (21) is smaller than the diameter of the limiting telescopic column (11);

[0017] The first end of the AUV wireless charging station cabin (2) is a non-sealed structure, and a threaded hole (24) is designed along the circumferential direction at the end of the first end to facilitate fixed installation with the wireless energy transmission primary side adaptive adjustment device (3);

[0018] The second end of the AUV wireless charging station cabin (2) is designed with a circular fixing flange (20), and the fixing flange (20) is designed with a threaded hole (23) to facilitate the connection of the AUV wireless charging station cabin (2) with different AUV recovery covers;

[0019] A long strip hollow structure (22) is designed on the side of the AUV wireless charging station cabin (2), wherein the length of the long strip hollow structure (22) extends from the first end to the second end, and the width is greater than the diameter of the limiting telescopic column (11);

[0020] The long strip hollow structure (22) is used for fixed installation in conjunction with the control box (40).

[0021] In some embodiments, the wireless energy transmission primary side adaptive adjustment device (3) includes a wireless energy transmission primary side coil (32), an adaptive adjustment spring (31) and a fixed baffle (30);

[0022] One end of the adaptive adjustment spring (31) is connected to the wireless energy transmission primary coil (32), and the other end is connected to the fixed baffle (30).

[0023] In some embodiments, the wireless energy transmission primary coil (32) includes a wireless energy transmission coil uniformly wound inside a wireless energy transmission round-edge coil housing (320);

[0024] A triangular groove (321) is designed on the upper portion of the wireless energy transmission primary coil housing (320), and the triangular groove (321) is installed in cooperation with the triangular convex structure at the bottom of the control box (40) to limit the wireless energy transmission primary coil (32) to be fixed in the circumferential direction;

[0025] The wireless energy transmission primary coil (32) is movably placed inside the AUV wireless charging resident cabin (2), and the triangular groove (321) on its upper part is located in the middle of the width of the long strip hollow structure (22) of the AUV wireless charging resident cabin, and is free to move forward and backward longitudinally.

[0026] In some embodiments, the fixed baffle (30) has threaded holes (34) evenly distributed along the edge thereof, for fixedly connecting the fixed baffle (30) to the edge of the first end of the AUV wireless charging station cabin (2);

[0027] A travel switch (33) is installed at the center of the first end surface of the fixed baffle (30) for detecting the position of the AUV;

[0028] The fixed baffle (30) is fixedly connected to the first end edge of the AUV wireless charging station cabin (2) by means of bolts.

[0029] In some embodiments, one end of the adaptive adjustment spring (31) is connected to the outer edge of the wireless energy transmission round-edge coil housing (320) and is evenly distributed along the circumference of the wireless energy transmission round-edge coil housing (320);

[0030] The other end is connected to the fixed baffle (30) near the outer edge and is evenly distributed in the circumferential direction at the same position as the outer edge of the wireless energy transmission circular edge coil housing (320).

[0031] In some embodiments, the control box (40) is designed as a rectangular parallelepiped structure, with edge extension frames (42) designed on both sides, and threaded through holes (43) are designed on both sides of the edge extension frames (42);

[0032] A triangular convex structure (41) is designed in the middle of the bottom of the control box (40), and the triangular convex structure (41) is designed to extend from the front end surface of the control box (40) through the center bottom of the shell to the rear end surface of the control box (40).

[0033] In some embodiments, the control box (40) is designed to be placed at the upper end of the AUV wireless charging residence cabin (2), and the placement position allows the triangular convex structure (41) to pass through the long strip hollow structure (22) of the AUV wireless charging residence cabin, and is located in the middle position of the long strip hollow structure (22) along the width direction, and at the same time cooperates with the triangular groove (321), and is embedded in the triangular groove (321) so that the wireless energy transmission round edge coil housing can move freely along the front and rear directions of the triangular convex structure (41).

[0034] In some embodiments, the controller fixing device (5) is designed to be semicircular in shape, the inner diameter of which is designed to be the same as the outer diameter of the AUV wireless charging station cabin (2), and the two ends of the semicircle are designed with connecting extension terminals (50);

[0035] The upper end surfaces of the left and right extension terminals (50) are respectively designed with two U-shaped through holes (51) for the bolts to pass through.

[0036] In some embodiments, the controller fixing device (5) is designed with two sets on the left and right sides, which are respectively installed on the left and right sides of the bottom of the AUV wireless charging station cabin (2) and are connected to the outer arc;

[0037] The left end surface of the fixing device (5) on the left side is in the same plane as the left end surface of the housing of the control box (40), and the right end surface of the fixing device (5) on the right side is in the same plane as the right end surface of the housing of the control box (40);

[0038] The U-shaped through hole (51) and the threaded through hole (43) are on the same vertical plane, and a bolt can pass through the threaded through hole (43) to the U-shaped through hole (51) to fix the control box (40) and the controller fixing device (5) together.

[0039] The beneficial effects of the above embodiments of the present application include:

[0040] The improved rotary AUV cabin is adopted. The limiting telescopic column can not only assist the wireless energy transmission primary and secondary sides to accurately position, but also hide the limiting telescopic column in the AUV cabin during the mission to avoid affecting the AUV's dynamic characteristics.

[0041] The wireless energy transmission primary side adaptive adjustment device, combined with the limited telescopic column, can achieve accurate positioning of the primary and secondary coils of the wireless energy transmission system, effectively improving the wireless charging efficiency;

[0042] A wireless energy transmission primary side adaptive adjustment device is adopted, in which the spring-type limited movement method can provide auxiliary assistance to the AUV when exiting the AUV wireless charging cabin through the spring rebound force after the AUV is charged. This can improve the movement efficiency of the AUV when exiting the charging cabin and the energy utilization rate of the AUV at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The accompanying drawings illustrate generally, by way of example and not limitation, various embodiments discussed herein.

[0044] Figure 1 This is an outline diagram of a rotary AUV adaptive wireless charging device of the present invention;

[0045] Figure 2 This is a structural diagram of the improved rotary AUV cabin of a rotary AUV adaptive wireless charging device according to the present invention;

[0046] Figure 3A and Figure 3B This is a structural diagram of the AUV wireless charging resident cabin of a rotary AUV adaptive wireless charging device of the present invention;

[0047] Figure 4This is a structural diagram of the wireless energy transmission primary side adaptive adjustment device of a rotary AUV adaptive wireless charging device of the present invention;

[0048] Figure 5 This is a structural diagram of the primary coil of the wireless energy transmission device of a rotary AUV adaptive wireless charging device of the present invention;

[0049] Figure 6 This is a structural diagram of the fixed baffle of the wireless energy transmission primary side adaptive adjustment device of a rotary AUV adaptive wireless charging device of the present invention;

[0050] Figure 7 This is a structural diagram of the wireless energy transfer controller of a rotary AUV adaptive wireless charging device of the present invention;

[0051] Figure 8 This is a structural diagram of the controller fixing device of a rotary AUV adaptive wireless charging device of the present invention;

[0052] Figure 9 This is a schematic diagram of the installation position of a rotary AUV adaptive wireless charging device;

[0053] Figure 10 Schematic diagram of the improved rotary AUV cabin for inventing a rotary AUV adaptive wireless charging device;

[0054] Figure 11 Schematic diagram of the AUV entering the charging cabin for the invention of a rotary AUV adaptive wireless charging device;

[0055] Figure 12 Schematic diagram of the AUV exiting the charging chamber.

[0056] Explanation of symbols:

[0057] 1-Improved rotary AUV cabin; 2-AUV wireless charging resident cabin; 3-Wireless energy transmission primary adaptive adjustment device; 4-Wireless energy transmission controller; 5-Controller fixing device; 10-Wireless charging cabin; 11-Limited telescopic column; 20-Connecting flange; 21-Hollow hole; 22-Long strip hollow structure; 23-Fixed flange threaded hole; 24-Threaded hole on the first end face of the resident cabin; 30-Fixed baffle; 31-Adaptive adjustment spring; 32-Wireless energy transmission primary coil; 320-Wireless energy transmission primary coil housing; 321-Triangular groove; 33-Travel switch; 34-Fixed baffle edge threaded hole; 40-Wireless energy transmission control box; 41-Triangular convex structure; 42-Controller housing edge extension frame; 43-Edge extension frame threaded through hole; 50-Extension terminal; 51-U-shaped through hole. DETAILED DESCRIPTION

[0058] In order to enable a more detailed understanding of the features and technical contents of the embodiments of the present application, the implementation of the embodiments of the present application is described in detail below with reference to the accompanying drawings. The attached drawings are for reference only and are not used to limit the embodiments of the present application.

[0059] In the description of the embodiments of this application, it should be noted that, unless otherwise specified and limited, the term "connection" should be understood in a broad sense. For example, it can be an electrical connection, or it can be the internal connection between two components. It can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meaning of the above terms can be understood according to the specific circumstances.

[0060] It should be noted that the terms "first, second, and third" in the embodiments of the present application are merely used to distinguish similar objects and do not represent a specific ordering of the objects. It is understood that the terms "first, second, and third" can be interchanged to represent a specific order or precedence where permitted. It should be understood that the objects distinguished by "first, second, and third" can be interchanged where appropriate, such that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein.

[0061] The specific embodiments of the present invention will be described below with reference to the accompanying drawings.

[0062] The embodiment of the present application provides a rotary AUV adaptive wireless charging device, such as Figures 1 to 9 As shown, the device includes:

[0063] The improved rotary AUV cabin (1) is composed of an AUV wireless charging resident cabin (2), a wireless energy transmission primary side adaptive adjustment device (3), a wireless energy transmission controller (4), and a controller fixing device (5).

[0064] Combine Figure 1 The improved rotary AUV cabin (1) is designed with a wireless charging cabin (10) near the front end of the AUV, and a limited telescopic column (11) is designed near the first end of the AUV wireless charging cabin.

[0065] The AUV wireless charging resident cabin (2) is designed as a hollow cylindrical structure, and its second end is designed with a connecting flange (20) for connecting AUV recovery covers of different structural forms. The first end of the cabin is designed as a non-sealed structure, which facilitates the wireless energy transmission primary side adaptive adjustment device (3) to be embedded and connected to the AUV wireless charging resident cabin (2). A wireless energy transmission controller (4) is designed and installed on the top of the AUV wireless charging resident cabin (2). The wireless energy transmission controller (4) is installed in the control box (40), and the control box (40) is fixedly connected to the AUV wireless charging resident cabin (2) through the controller fixing device (5) and the bolts. On the one hand, the control box (40) can place the wireless energy transmission controller, and on the other hand, it can maintain the circumferential position of the wireless energy transmission primary side coil fixed during the adjustment process of the wireless energy transmission primary side adaptive adjustment device (3). The wireless energy transmission primary side adaptive adjustment device (3) drives the wireless energy transmission primary side coil to move back and forth longitudinally along the AUV wireless charging resident cabin (2) through the adaptive adjustment spring, and cooperates with the improved rotary AUV cabin (1) to achieve precise alignment of the primary and secondary side coils of the wireless charging system, thereby improving the energy supply efficiency of the wireless energy transmission. At the same time, after charging is completed and the AUV locking device is released, the spring contraction elastic force can help the AUV exit the AUV wireless charging resident cabin (2), thereby improving the AUV exit efficiency.

[0066] Combine Figure 2 The improved rotary AUV cabin (1) is designed with a wireless charging cabin (10) near the first end of the AUV, which contains a wireless charging secondary coil. A limited telescopic column (11) is designed on the side of the AUV wireless charging cabin (10) away from the first end of the AUV. The limited telescopic column can be controlled to extend or retract through the AUV control system, so that the limited telescopic column extends out or retracts into the AUV cabin.

[0067] Combine Figure 3A and Figure 3BThe AUV wireless charging resident cabin (2) is a hollow circular structure, and the hollow holes (21) are arranged along the circumferential direction of the AUV wireless charging resident cabin (2) and are longitudinally extended to both ends of the cabin, and their width is less than the diameter of the AUV cabin upper limit telescopic column (11). The first end face of the AUV wireless charging resident cabin (2) is a non-sealed structure, and a threaded hole (24) is designed along the circumferential direction of the first end face to facilitate fixed installation with the wireless energy transmission primary side adaptive adjustment device (3). The second end of the AUV wireless charging resident cabin (2) is designed with a circular fixing flange (20), and the fixing flange (20) is designed with a threaded hole (23) to facilitate the connection of the AUV wireless charging resident cabin (2) with different AUV recovery covers. A long strip hollow structure (22) is designed on the upper end face of the AUV wireless charging station cabin (2). The length of the long strip hollow structure (22) extends from the first end face to the second end face, and the width must be greater than the diameter of the AUV cabin limit telescopic column (11). The long strip hollow structure (22) is mainly used to cooperate with the wireless energy transmission control box (40) for fixed installation.

[0068] Combine Figure 4 , wireless energy transmission primary coil (32), adaptive adjustment spring (31) and fixed baffle (30). The number of adaptive adjustment springs can be flexibly determined according to different AUV types and different application scenarios, and no specific restrictions are made here. One end of the adaptive adjustment spring is connected to the wireless energy transmission primary coil (32) and the other end is connected to the fixed baffle (30).

[0069] Combine Figure 4 、 Figure 5 and Figure 9 The wireless energy transmission coil is evenly wound inside the wireless energy transmission circular coil housing (320). A triangular groove (321) is designed on the upper portion of the wireless energy transmission primary coil housing (320). The triangular groove (321) and the triangular convex structure at the bottom of the wireless energy transmission control box (40) are installed in conjunction with each other to restrict the wireless energy transmission primary coil (32) from being fixed in the circumferential direction. The wireless energy transmission primary coil (32) is movably placed inside the AUV wireless charging resident cabin (2), and its upper triangular groove (321) is located in the middle of the width of the long strip hollow structure (22) of the AUV wireless charging resident cabin, allowing for free longitudinal movement forward and backward.

[0070] Combine Figure 4 、 Figure 6 and Figure 9 The fixed baffle (30) has threaded holes (34) evenly distributed along the edge thereof, for fixing the fixed baffle (30) to the edge of the first end of the AUV wireless charging station cabin (2). A travel switch (33) is installed at the center of the first end face of the fixed baffle (30) for detecting the position of the AUV. The fixed baffle (30) is fixedly connected to the edge of the first end of the AUV wireless charging station cabin (2) by bolts.

[0071] Combine Figure 4 One end of the adaptive adjustment spring (31) is connected to the outer edge of the wireless energy transmission round-edge coil housing (320) and is evenly distributed along the circumference of the wireless energy transmission round-edge coil housing (320). The other end is connected to the fixed baffle (30) near the outer edge and is evenly distributed circumferentially at the same position as the outer edge of the wireless energy transmission round-edge coil housing (320).

[0072] Combine Figure 7 The wireless energy transmission controller (4) is placed in the wireless energy transmission controller housing (40). The wireless energy transmission controller housing (40) is designed as a rectangular parallelepiped structure, and edge extension frames (42) are designed on the left and right sides. Threaded through holes (43) are designed on both sides of each edge extension frame (42) to facilitate the passage of bolts. A triangular convex structure (41) is designed in the middle of the bottom of the wireless energy transmission controller housing (40). The triangular convex structure (41) is designed to extend from the front face of the wireless energy transmission controller housing (40) through the center bottom of the housing to the rear face of the wireless energy transmission controller housing (40).

[0073] Combine Figure 7 and Figure 9 The wireless energy transmission controller housing (40) is designed to be placed at the upper end of the AUV wireless charging residence cabin (2). The placement position makes its triangular convex structure (41) pass through the long strip hollow structure (22) of the AUV wireless charging residence cabin, and is located in the middle position of the hollow structure (22) along the width direction. At the same time, it cooperates with the triangular groove (321) of the wireless energy transmission round-edge coil housing and is embedded in the triangular groove (321) so that the wireless energy transmission round-edge coil housing can only move freely along the front and rear directions of the triangular convex structure (41).

[0074] Combine Figure 8 The shape is designed to be semicircular, and the inner diameter is designed to be the same as the outer diameter of the AUV wireless charging station cabin (2). The two ends of the semicircle are designed with connecting extension terminals (50). The upper end surfaces of the left and right extension terminals (50) are respectively designed with two U-shaped through holes (51) for the bolts to pass through.

[0075] Combine Figure 9The fixing device (5) is designed with two sets, which are respectively installed on the bottom of the AUV wireless charging station cabin (2) and connected to the outer arc. The left end face of the left fixing device (5) and the left end face of the wireless energy transmission controller housing (40) are on the same plane, and the right end face of the right fixing device (5) and the right end face of the wireless energy transmission controller housing (40) are on the same plane. The U-shaped through hole (51) of the fixing device and the threaded through hole (43) of the wireless energy transmission controller housing are designed to be on the same vertical plane, so that the bolts can pass through the threaded through hole (43) of the wireless energy transmission controller housing to the U-shaped through hole (51) of the fixing device, thereby fixing the wireless energy transmission controller housing (40) and the controller fixing device (5).

[0076] Combine Figures 10-12 In this embodiment, the specific working mode of the rotary AUV adaptive wireless charging device is as follows:

[0077] Step 1: During the mission execution of the rotary AUV, the limiting telescopic column (11) is retracted into the AUV cabin (1), as shown in FIG. Figure 10 shown.

[0078] Step 2: When the rotary AUV needs to be recharged, when the AUV enters the wireless energy transmission station cabin, the limiting telescopic column (11) extends out of the AUV cabin (1), as shown in FIG. Figure 2 shown.

[0079] Step 3: After the AUV enters the cabin (2), it continues to move forward under the action of the propeller. When the limit telescopic column (11) touches the wireless energy transmission primary coil (32), the AUV controls the propeller to stop working. The AUV continues to move forward along the AUV station cabin (2) by inertia.

[0080] Step 4: After the AUV limit telescopic column (11) touches the wireless energy transmission primary side structure (32), it pushes the primary side forward along the longitudinal direction of the AUV station cabin (2). Due to the action of the limit telescopic column (11), the wireless energy transmission primary side (32) can be kept aligned with the wireless energy transmission secondary side (10). At the same time, the limit adjustment spring (31) is gradually compressed.

[0081] Step 5: When the front end of the AUV touches the baffle upper limit switch (33), the AUV locking device is activated to lock the AUV. Since the locking device is not within the scope of the present invention, a standard locking method is adopted here. At this time, the limit adjustment spring (31) is compressed to the tightest, and because the limit telescopic column (11) pushes the primary coil structure (32) to move, the wireless charging primary and secondary coils (10) can be kept aligned. Therefore, the charging efficiency of the AUV during wireless charging is improved.

[0082] Step 6: When the AUV is fully charged, the locking device is released. Since the limit adjustment spring (31) is in a compressed state at this time, when the locking device is released, the limit adjustment spring (31) pulls the AUV outward, providing initial assistance for the AUV to exit the AUV residence cabin, thereby improving the AUV exit efficiency and further saving the AUV energy.

[0083] Step 7: After the AUV exits the AUV residence cabin, the limiting telescopic column (11) is retracted into the AUV cabin (2) under the control of the AUV, and the AUV begins to perform its work task.

[0084] The technical solutions described in the embodiments of this application can be combined arbitrarily unless there is any conflict.

[0085] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A rotary AUV adaptive wireless charging device, characterized by: include: Improved rotary AUV cabin (1), AUV wireless charging resident cabin (2), wireless energy transmission primary side adaptive adjustment device (3), wireless energy transmission controller (4) and controller fixing device (5); The improved rotary AUV cabin (1) is designed with a wireless charging cabin (10) near the first end thereof, and a limited telescopic column (11) is designed near the first end of the wireless charging cabin (10); The AUV wireless charging station cabin (2) is designed as a hollow cylindrical structure, and a connecting fixing flange (20) is designed at the second end thereof for connecting to AUV recovery covers of different structural forms; The first end of the AUV wireless charging resident cabin (2) is designed as a non-sealed structure, so that the wireless energy transmission primary side adaptive adjustment device (3) is embedded and connected to the AUV wireless charging resident cabin (2); The wireless energy transmission controller (4) is designed and installed at the first end of the AUV wireless charging resident cabin (2); The wireless energy transmission controller (4) is installed in a control box (40), and the control box (40) is fixedly connected to the AUV wireless charging resident cabin (2) through the controller fixing device (5) and bolts. The control box (40) can, on the one hand, house the wireless energy transmission controller, and, on the other hand, can maintain the circumferential position of the wireless energy transmission primary coil fixed during the adjustment process of the wireless energy transmission primary adaptive adjustment device (3); The wireless energy transmission primary side adaptive adjustment device (3) drives the wireless energy transmission primary side coil to move back and forth longitudinally along the AUV wireless charging resident cabin (2) through the adaptive adjustment spring, and cooperates with the improved rotary AUV cabin (1) to achieve alignment of the primary and secondary side coils of the wireless charging system; After charging is completed and the AUV locking device is released, the spring contraction force can assist the AUV to exit the AUV wireless charging station cabin (2).

2. The rotary AUV adaptive wireless charging device according to claim 1, characterized in that: The wireless charging cabin (10) contains a wireless charging secondary coil, and the limiting telescopic column (11) is designed on a side close to the wireless charging cabin (10) and away from the first end of the improved rotary AUV cabin (1). The limiting telescopic column (11) can be controlled to extend or retract through the AUV control system, so that the limiting telescopic column extends out of or retracts into the improved rotary AUV cabin (1).

3. The rotary AUV adaptive wireless charging device according to claim 1, characterized in that: The AUV wireless charging station cabin (2) is a hollowed-out circular structure, the hollow holes (21) are arranged along the circumferential direction of the AUV wireless charging station cabin (2) and extend longitudinally to both ends of the AUV wireless charging station cabin (2), and the width of the hollow holes (21) is smaller than the diameter of the limiting telescopic column (11); The first end of the AUV wireless charging station cabin (2) is a non-sealed structure, and a threaded hole (24) is designed along the circumferential direction at the end of the first end to facilitate fixed installation with the wireless energy transmission primary side adaptive adjustment device (3); The second end of the AUV wireless charging station cabin (2) is designed with a circular fixing flange (20), and the fixing flange (20) is designed with a threaded hole (23) to facilitate the connection of the AUV wireless charging station cabin (2) with different AUV recovery covers; A long strip hollow structure (22) is designed on the side of the AUV wireless charging station cabin (2), wherein the length of the long strip hollow structure (22) extends from the first end to the second end, and the width is greater than the diameter of the limiting telescopic column (11); The long strip hollow structure (22) is used for fixed installation in conjunction with the control box (40).

4. The rotary AUV adaptive wireless charging device according to claim 3, characterized in that: The wireless energy transmission primary side adaptive adjustment device (3) comprises a wireless energy transmission primary side coil (32), an adaptive adjustment spring (31) and a fixed baffle (30); One end of the adaptive adjustment spring (31) is connected to the wireless energy transmission primary coil (32), and the other end is connected to the fixed baffle (30).

5. The rotary AUV adaptive wireless charging device according to claim 4, characterized in that: The wireless energy transmission primary coil (32) comprises a wireless energy transmission coil uniformly wound inside a wireless energy transmission circular coil housing (320); A triangular groove (321) is designed on the upper portion of the wireless energy transmission primary coil housing (320), and the triangular groove (321) is mounted in cooperation with the triangular convex structure at the bottom of the control box (40) to restrict the wireless energy transmission primary coil (32) from being fixed in a circumferential direction; The wireless energy transmission primary coil (32) is movably placed inside the AUV wireless charging resident cabin (2), and the triangular groove (321) on its upper portion is located in the middle of the width of the long strip hollow structure (22) of the AUV wireless charging resident cabin, and is free to move forward and backward longitudinally.

6. The rotary AUV adaptive wireless charging device according to claim 5, characterized in that: The fixed baffle (30) has threaded holes (34) evenly distributed along the edge thereof, for fixedly connecting the fixed baffle (30) to the edge of the first end of the AUV wireless charging station cabin (2); A travel switch (33) is installed at the center of the first end surface of the fixed baffle (30) for detecting the position of the AUV; The fixed baffle (30) is fixedly connected to the first end edge of the AUV wireless charging station cabin (2) via bolts.

7. The rotary AUV adaptive wireless charging device according to claim 5, characterized in that: One end of the adaptive adjustment spring (31) is connected to the outer edge of the wireless energy transmission round-edge coil housing (320) and is evenly distributed along the circumference of the wireless energy transmission round-edge coil housing (320); The other end is connected to the fixed baffle (30) near the outer edge and is evenly distributed in the circumferential direction at the same position as the outer edge of the wireless energy transmission circular edge coil housing (320).

8. The rotary AUV adaptive wireless charging device according to claim 5, characterized in that: The control box (40) is designed as a rectangular parallelepiped structure, with edge extension frames (42) designed on both sides, and threaded through holes (43) are designed on both sides of the edge extension frames (42); A triangular convex structure (41) is designed in the middle of the bottom of the control box (40), and the triangular convex structure (41) is designed to extend from the front end surface of the control box (40) through the center bottom of the shell to the rear end surface of the control box (40).

9. The rotary AUV adaptive wireless charging device according to claim 8, characterized in that: The control box (40) is designed to be placed at the upper end of the AUV wireless charging station cabin (2), and the placement position allows the triangular convex structure (41) to pass through the long strip hollow structure (22) of the AUV wireless charging station cabin, and is located in the middle position of the long strip hollow structure (22) along the width direction, and at the same time cooperates with the triangular groove (321), and is embedded in the triangular groove (321) so that the wireless energy transmission round edge coil shell can move freely along the front and rear directions of the triangular convex structure (41).

10. The rotary AUV adaptive wireless charging device according to claim 8, characterized in that: The controller fixing device (5) is designed to be semicircular in shape, with an inner diameter designed to be the same as the outer diameter of the AUV wireless charging station cabin (2), and connecting extension terminals (50) are designed at both ends of the semicircle; The upper end surfaces of the left and right extension terminals (50) are respectively designed with two U-shaped through holes (51) for facilitating the passage of bolts.

11. The rotary AUV adaptive wireless charging device according to claim 10, characterized in that: The controller fixing device (5) is designed with two sets on the left and right, which are respectively installed on the left and right sides of the bottom of the AUV wireless charging station cabin (2) and are connected to the outer arc; The left end surface of the fixing device (5) on the left side is in the same plane as the left end surface of the housing of the control box (40), and the right end surface of the fixing device (5) on the right side is in the same plane as the right end surface of the housing of the control box (40); The U-shaped through hole (51) and the threaded through hole (43) are on the same vertical plane, and a bolt can pass through the threaded through hole (43) to the U-shaped through hole (51) to securely connect the control box (40) and the controller fixing device (5).

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