Flexible magnetic coupling system applied to wireless charging of autonomous underwater vehicle

Abstract

The invention discloses a flexible magnetic coupling system applied to wireless charging of an autonomous underwater vehicle, which relates to the technical field of wireless power transmission and comprises an autonomous underwater vehicle, an underwater charging platform, a magnetic coupler transmitting end and a magnetic coupler receiving end. The transmitting end magnetic core is positioned on the outer side of the transmitting end coil and comprises a plurality of strip-shaped magnetic cores which are adjacently arranged on the circumference; the transmitting end shell is located on the inner side of the transmitting end coil and comprises multiple sections of arcs which are adjacently arranged on the circumference, and after the autonomous underwater vehicle enters the underwater charging platform, the multiple sections of arcs of the transmitting end shell shrink in the radial direction to wrap the autonomous underwater vehicle; when the autonomous underwater vehicle leaves the underwater charging platform, the multiple sections of arcs of the transmitting end shell expand in the radial direction, and the autonomous underwater vehicle is loosened. According to the invention, the magnetic coupling system with a flexible and adjustable structure is designed, the requirements of the autonomous underwater vehicles with various sizes are met, efficient energy supply is provided for the autonomous underwater vehicles with various models, and the universality of the charging platform is greatly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of wireless power transmission, and in particular to a flexible magnetic coupling system for wireless charging of an autonomous underwater vehicle. Background Art

[0002] With the widespread application of autonomous underwater vehicles in fields such as marine exploration, seabed resource development and marine environment monitoring, the demand for long-term and long-distance operations has become increasingly prominent.

[0003] Traditional autonomous underwater vehicles usually replace batteries by salvaging them ashore or use underwater wet plug-in interfaces for wired charging. Energy replenishment methods that rely on batteries or wired connections have problems such as complex operation, poor concealment, short service life, poor flexibility, poor autonomy, and poor safety, which limit the long-term operation capability of autonomous underwater vehicles. To solve these problems, wireless power transmission technology has become a highly-regarded solution. Wireless power transmission technology achieves the purpose of charging autonomous underwater vehicles in underwater environments by transmitting energy from underwater charging platforms to autonomous underwater vehicles, thereby extending the operating time and operating range. However, the application of wireless power on autonomous underwater vehicles requires the help of underwater charging platforms. At the current stage, the underwater pre-installed charging platform has not been perfectly combined with wireless power transmission technology. The magnetic coupler used in the wireless power transmission system of autonomous underwater vehicles has a single and fixed structure, cannot be flexibly changed in size, cannot adapt to various models of autonomous underwater vehicles, and has poor versatility. Summary of the invention

[0004] The present invention provides a flexible magnetic coupling system for wireless charging of an autonomous underwater vehicle, so as to overcome at least one technical problem existing in the prior art.

[0005] The present invention provides a flexible magnetic coupling system for wireless charging of an autonomous underwater vehicle, comprising: an autonomous underwater vehicle, an underwater charging platform, a magnetic coupler transmitting end, and a magnetic coupler receiving end;

[0006] The magnetic coupler receiving end is installed inside the autonomous underwater vehicle;

[0007] The transmitting end of the magnetic coupler is installed inside the underwater charging platform;

[0008] The transmitting end of the magnetic coupler comprises a transmitting end coil, a transmitting end magnetic core and a transmitting end shell;

[0009] The transmitting end magnetic core is located outside the transmitting end coil, and includes a plurality of bar-shaped magnetic cores arranged adjacent to each other on the circumference;

[0010] The transmitting end shell is located inside the transmitting end coil, and includes a plurality of circular arcs arranged adjacent to each other on a circumference. After the autonomous underwater vehicle enters the underwater charging platform, the plurality of circular arcs of the transmitting end shell shrink radially to wrap the autonomous underwater vehicle; when the autonomous underwater vehicle leaves the underwater charging platform, the plurality of circular arcs of the transmitting end shell expand radially to release the autonomous underwater vehicle.

[0011] Optionally, the magnetic coupler transmitting end further includes a plurality of coil fixing rods;

[0012] In the radial direction, the coil fixing rod is located between the transmitting end housing and the transmitting end coil; in the circumferential direction, the coil fixing rod is located between two adjacent arcs; the transmitting end coil contracts or expands radially along the arc.

[0013] Optionally, in a direction away from the center of the circle, the bar magnetic core is aligned with the circular arc, and the bar magnetic core expands or contracts in the radial direction along with the circular arc.

[0014] Optionally, the transmitting end of the magnetic coupler further includes a slot;

[0015] The grooves correspond to the circular arcs one by one, and the grooves extend outwardly in the radial direction and are evenly arranged on the circumference. The circular arcs can move on the grooves in a direction away from the center of the circle or in a direction close to the center of the circle.

[0016] Optionally, the transmitting end of the magnetic coupler further includes fixing bolts, and the fixing bolts correspond to the circular arcs one by one;

[0017] The arc includes a side portion and a bottom portion. After the autonomous underwater vehicle enters the underwater charging platform, the side portion wraps the autonomous underwater vehicle; the bottom is provided with a through hole, and the fixing bolt fixes the bottom of the arc to the groove through the through hole.

[0018] Optionally, the groove and the fixing bolt are made of non-metallic material.

[0019] Optionally, the transmitter housing is made of nylon.

[0020] Optionally, the receiving end of the magnetic coupler includes a receiving end coil and a receiving end magnetic core.

[0021] The innovative features of the embodiments of the present invention include:

[0022] 1. In this embodiment, in order to solve the problems that the existing magnetic couplers used in the wireless power transmission system of underwater autonomous vehicles have a single and fixed structure, cannot be flexibly changed in size, cannot adapt to various types of autonomous underwater vehicles, and have poor versatility, a magnetic coupler with a flexible and adjustable structure is designed, which is one of the innovations of the embodiments of the present invention.

[0023] 2. In this embodiment, the space between the transmitter housing and the autonomous underwater vehicle is changed by contracting or expanding the transmitter housing radially, thereby satisfying autonomous underwater vehicles of various sizes and providing efficient energy supply for autonomous underwater vehicles of various models, which greatly increases the versatility of the charging platform and is one of the innovative points of the embodiment of the present invention.

[0024] 3. In this embodiment, before the autonomous underwater vehicle enters the charging platform, the transmitter housing maintains its initial state and is in a segmented arc, so as to reserve enough space for the autonomous underwater vehicle to enter smoothly. When the autonomous underwater vehicle enters the underwater charging platform, the multiple arcs of the transmitter housing shrink radially until they fit the housing of the autonomous underwater vehicle. In this state, the optimal charging state is achieved, and the autonomous underwater vehicle can be efficiently supplied with energy, which is one of the innovative points of the embodiment of the present invention.

[0025] 4. In this embodiment, after the autonomous underwater vehicle is charged, when it needs to leave the underwater charging platform, the multiple arcs of the transmitter shell expand radially to restore it to its initial state. That is, the transmitter shell is a segmented arc, and there is enough space between the autonomous underwater vehicle and the transmitter shell, so that the autonomous underwater vehicle can smoothly leave the underwater charging platform. This is one of the innovative points of the embodiment of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0027] Figure 1 A schematic diagram of a three-dimensional structure of a magnetic coupling system provided in an embodiment of the present invention;

[0028] Figure 2 A side view of a magnetic coupling system provided by an embodiment of the present invention;

[0029] Figure 3 A front view of a magnetic coupling system provided by an embodiment of the present invention;

[0030] Figure 4 A schematic diagram of the structure of a transmitting end of a magnetic coupler provided in an embodiment of the present invention;

[0031] Figure 5 Another structural schematic diagram of a transmitting end of a magnetic coupler provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0032] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0033] It should be noted that the terms "including" and "having" and any variations thereof in the embodiments of the present invention and the accompanying drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device including a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products or devices.

[0034] The embodiment of the present invention discloses a flexible magnetic coupling system for wireless charging of an autonomous underwater vehicle, which is described in detail below.

[0035] Figure 1 A schematic diagram of a three-dimensional structure of a magnetic coupling system provided in an embodiment of the present invention, Figure 2 A side view of a magnetic coupling system provided by an embodiment of the present invention, Figure 3 A front view of a magnetic coupling system provided by an embodiment of the present invention, Figure 4 For a structural diagram of a magnetic coupler transmitting end provided in an embodiment of the present invention, please refer to Figure 1-Figure 4 , the flexible magnetic coupling system 100 for wireless charging of an autonomous underwater vehicle provided by an embodiment of the present invention comprises: an autonomous underwater vehicle 10, an underwater charging platform 20, a magnetic coupler transmitting end 30, and a magnetic coupler receiving end 40;

[0036] The magnetic coupler receiving end 40 is installed inside the autonomous underwater vehicle 10;

[0037] The magnetic coupler transmitting end 30 is installed inside the underwater charging platform 20;

[0038] The magnetic coupler transmitting end 30 includes a transmitting end coil, a transmitting end magnetic core and a transmitting end shell;

[0039] The transmitting end magnetic core is located outside the transmitting end coil, and includes a plurality of bar-shaped magnetic cores arranged adjacent to each other on the circumference;

[0040] The transmitting end housing is located inside the transmitting end coil, and includes multiple circular arcs arranged adjacent to each other on the circumference. After the autonomous underwater vehicle 10 enters the underwater charging platform 20, the multiple circular arcs of the transmitting end housing shrink radially to wrap the autonomous underwater vehicle 10; when the autonomous underwater vehicle 10 leaves the underwater charging platform 20, the multiple circular arcs of the transmitting end housing expand radially to release the autonomous underwater vehicle 10.

[0041] Specifically, please refer to Figure 1 , Figure 2 and Figure 3 The flexible magnetic coupling system 100 for wireless charging of an autonomous underwater vehicle 10 provided in an embodiment of the present invention comprises an autonomous underwater vehicle 10 and an underwater charging platform 20. The autonomous underwater vehicle 10 is replenished with energy by docking on the charging platform underwater. According to different docking methods, the current charging platforms are divided into inclusive type, capture type and platform type. The use of an inclusive charging platform for charging hardly changes the appearance structure of the autonomous underwater vehicle 10. Therefore, the present invention uses an inclusive charging platform for charging.

[0042] Please refer to Figure 1-Figure 3 The underwater charging platform 20 provided in the embodiment of the present invention includes a base and a cage that are interconnected. When the autonomous underwater vehicle 10 needs to be charged, it enters the cage. The cage is made of metal composite materials. Therefore, during the charging process, the cage can also protect the autonomous underwater vehicle 10 to prevent the autonomous underwater vehicle 10 from being hit by the sea water fluctuations, causing damage to the autonomous underwater vehicle 10.

[0043] Please refer to Figure 1-Figure 3 The flexible magnetic coupling system 100 for wireless charging of an autonomous underwater vehicle 10 provided in an embodiment of the present invention also includes a magnetic coupler transmitting end 30 and a magnetic coupler receiving end 40. The magnetic coupler receiving end 40 is installed inside the autonomous underwater vehicle 10, and the magnetic coupler transmitting end 30 is installed inside the underwater charging platform 20. In the entire wireless power transmission system, the alternating current is output as a high-frequency alternating current of a certain frequency after a certain processing, and then a high-frequency alternating magnetic field is generated by the magnetic coupler transmitting end 30 and received by the magnetic coupler receiving end 40. At the coupler receiving end, the received high-frequency alternating current is converted into direct current that can be used by the load through processing, thereby charging the autonomous underwater vehicle 10.

[0044] It should be noted that Figure 1 , Figure 2 and Figure 3 The structure of the magnetic coupling system is only for schematic illustration, including the autonomous underwater vehicle 10, the underwater charging platform 20, the magnetic coupler transmitting end 30, and the magnetic coupler receiving end 40, and does not represent the actual structure of each component. Figure 1 In order to illustrate the positions of the magnetic coupler transmitting end 30 and the magnetic coupler receiving end 40 , a transmitting end coil and a receiving end coil are illustrated to represent the magnetic coupler transmitting end 30 and the magnetic coupler receiving end 40 , respectively.

[0045] Please refer to Figure 4 The transmitting end 30 of the magnetic coupler includes a transmitting end magnetic core 31, a transmitting end coil 32 and a transmitting end shell 33. The transmitting end magnetic core 31 is located outside the transmitting end coil 32, and the transmitting end shell 33 is located inside the transmitting end coil 32. The transmitting end magnetic core 31 includes a plurality of bar magnetic cores 310 arranged adjacent to each other around the center of the circle, and the transmitting end shell 33 includes a plurality of arcs 330 arranged adjacent to each other around the center of the circle. The plurality of bar magnetic cores 310 of the transmitting end magnetic core 31 and the plurality of arcs 330 of the transmitting end shell 33 correspond to each other one by one.

[0046] Before the autonomous underwater vehicle 10 enters the charging platform, the transmitter housing 33 maintains the initial state, which is a segmented arc 330, so as to reserve enough space for the autonomous underwater vehicle 10 to enter smoothly. After the autonomous underwater vehicle 10 enters the underwater charging platform 20, the multiple arcs 330 of the transmitter housing 33 shrink radially. Figure 4 The middle dotted line indicates an arrow until it fits the shell of the autonomous underwater vehicle 10. At this time, the segmented arcs 330 of the transmitting end are just merged into a circle, wrapping the autonomous underwater vehicle 10. In this state, the best charging state is achieved, and the autonomous underwater vehicle 10 can be efficiently supplied with energy.

[0047] After the autonomous underwater vehicle 10 is charged, it needs to leave the underwater charging platform 20. At this time, the autonomous underwater vehicle 10 is wrapped by the transmitting end shell 33 and cannot leave the underwater charging platform 20. In order to enable the autonomous underwater vehicle 10 to smoothly leave the underwater charging platform 20, the multiple arcs 330 of the transmitting end shell 33 are radially expanded to restore it to its initial state, that is, the transmitting end shell 33 is a segmented arc 330, and there is enough space between the autonomous underwater vehicle 10 and the transmitting end shell 33, so that the autonomous underwater vehicle 10 can smoothly leave the underwater charging platform 20.

[0048] The flexible magnetic coupling system 100 for wireless charging of an autonomous underwater vehicle 10 provided in an embodiment of the present invention is designed to solve the problem that the existing magnetic coupler used in the wireless power transmission system for underwater autonomous vehicles has a single and fixed structure, cannot be flexibly changed in size, cannot adapt to various types of autonomous underwater vehicles 10, and has poor versatility. By contracting or expanding the transmitter housing 33 in the radial direction, the space between the transmitter housing 33 and the autonomous underwater vehicle 10 is changed, thereby meeting the needs of autonomous underwater vehicles 10 of various models and sizes, providing efficient energy supply for autonomous underwater vehicles 10 of various models and sizes, and greatly increasing the versatility of the charging platform.

[0049] Optionally, refer to Figure 4 The transmitting end 30 of the magnetic coupler also includes a plurality of coil fixing rods 34; along the radial direction, the coil fixing rods 34 are located between the transmitting end housing 33 and the transmitting end coil 32; along the circumferential direction, the coil fixing rods 34 are located between two adjacent arcs 330; the transmitting end coil 32 contracts or expands radially along the arc 330.

[0050] Specifically, please refer to Figure 3 , when the multiple arcs 330 of the transmitter housing 33 shrink or expand along the radial direction, the transmitter coil 32 also shrinks or expands accordingly. In order to avoid the disorderly winding of the transmitter coil 32 when the size of the magnetic coupler transmitter 30 changes, the magnetic coupler transmitter 30 provided in this embodiment also includes a plurality of coil fixing rods 34. In the radial direction, the coil fixing rod 34 is located between the transmitter housing 33 and the transmitter coil 32; in the circumferential direction, the coil fixing rod 34 is located between two adjacent arcs 330. In this way, when the size of the magnetic coupler transmitter 30 changes, the position of the transmitter coil 32 corresponding to the coil fixing rod 34 can be fixed by the coil fixing rod 34, thereby avoiding the problem of disorderly winding of the coil winding due to coil shrinkage.

[0051] Optionally, refer to Figure 4 In the direction away from the center of the circle, the strip core 310 is aligned with the arc 330, and the strip core 310 expands or contracts in the radial direction along with the arc 330. For details, please refer to Figure 4 In the radial direction, the strip magnetic core 310 corresponds to the circular arc 330 one by one. Thus, when the multiple circular arcs 330 of the transmitting end housing 33 shrink along the radial direction, the strip magnetic core 310 can also shrink along with the circular arc 330, thereby completing the energy replenishment of the autonomous underwater vehicle 10; when the multiple circular arcs 330 of the transmitting end housing 33 expand along the radial direction, the strip magnetic core 310 can also expand along with the circular arc 330, thereby enabling the autonomous underwater vehicle 10 to smoothly leave the underwater charging platform 20.

[0052] Optionally, Figure 5 For another structural schematic diagram of the magnetic coupler transmitting end 30 provided in an embodiment of the present invention, please refer to Figure 5 The magnetic coupler transmitting end 30 also includes a groove 35; the groove 35 corresponds to the arc 330 one by one, and the groove 35 extends radially outward and is evenly arranged on the circumference. The arc 330 can move on the groove 35 away from the center of the circle or close to the center of the circle.

[0053] Specifically, please refer to Figure 5 In this embodiment, the magnetic coupler transmitting end 30 further includes a groove 35, the groove 35 corresponds to the arc 330 one by one, and the groove 35 extends radially outward and is evenly arranged on the circumference. In this way, when the autonomous underwater vehicle 10 needs to be charged and enters the underwater charging platform 20, each arc 330 can be contracted radially on the corresponding groove 35, such as Figure 5 The right side of the figure shows the state after contraction, until it fits the shell of the autonomous underwater vehicle 10 and reaches the best charging state, which can efficiently supply energy to the autonomous underwater vehicle 10. When the autonomous underwater vehicle 10 is fully charged and needs to leave the underwater charging platform 20, each arc 330 can expand radially on the corresponding groove 35, such as Figure 5 The figure on the left side in the middle shows the expanded state, which is restored to the initial state. In this way, there is enough space between the autonomous underwater vehicle 10 and the transmitting end housing 33, so that the autonomous underwater vehicle 10 can smoothly leave the underwater charging platform 20.

[0054] Optionally, refer to Figure 5 The magnetic coupler transmitting end 30 also includes a fixing bolt 36, and the fixing bolt 36 corresponds to the arc 330 one by one; the arc 330 includes a side portion 331 and a bottom portion 332, and after the autonomous underwater vehicle 10 enters the underwater charging platform 20, the side portion 331 wraps the autonomous underwater vehicle 10; the bottom 332 is provided with a through hole 333, and the fixing bolt 36 fixes the bottom 332 of the arc 330 to the groove 35 through the through hole 333.

[0055] Specifically, please refer to Figure 5 In order to fix the arc 330 and the groove 35 to prevent displacement during charging, in this embodiment, the magnetic coupler transmitting end 30 also includes a fixing bolt 36 corresponding to the arc 330. The arc 330 includes a side portion 331 and a bottom portion 332 connected to each other. Figure 5In the top view shown, the bottom 332 is provided with a through hole 333, so that the fixing bolt 36 can fix the bottom 332 of the arc 330 and the groove 35 through the through hole 333, thereby fixing the arc 330 and the groove 35 to avoid displacement during charging. When the autonomous underwater vehicle 10 enters the underwater charging platform 20, the side 331 of the arc 330 wraps the autonomous underwater vehicle 10, so that the autonomous underwater vehicle 10 is in the best charging state, thereby performing efficient energy replenishment.

[0056] Optionally, refer to Figure 5 , the groove 35 and the fixing bolt 36 are made of non-metallic materials. Specifically, since there is electromagnetic field conversion during wireless power transmission, if metal materials such as iron, alloy, etc. are used, there will be certain interference with electromagnetic propagation. Therefore, please refer to Figure 5 In this embodiment, the groove 35 and the fixing bolt 36 are both made of non-metallic materials, so as to avoid interference with electromagnetic propagation and ensure the normal operation of the wireless power transmission system.

[0057] Optionally, refer to Figure 4 , the transmitter housing 33 is made of nylon. Specifically, since there is electromagnetic field conversion during wireless power transmission, if metal materials such as iron, alloy, etc. are used, there will be certain interference to electromagnetic propagation. Therefore, please refer to Figure 4 In this embodiment, the transmitter housing 33 is made of nylon, so as to avoid interference with electromagnetic propagation and ensure the normal operation of the wireless power transmission system.

[0058] It should be noted that, in order to prevent the interference of metal materials on electromagnetic propagation, the coil fixing rod 34 in the present invention is also made of non-metallic material.

[0059] Optionally, refer to Figure 1 The magnetic coupler receiving end 40 includes a receiving end coil and a receiving end magnetic core.

[0060] Specifically, please refer to Figure 1 The magnetic coupler receiving end 40 includes a receiving end coil and a receiving end magnetic core. In the entire wireless power transmission system, the alternating current is output as a high-frequency alternating current of a certain frequency after a certain processing, and then a high-frequency alternating magnetic field is generated through the magnetic coupler transmitting end 30 and received by the magnetic coupler receiving end 40. At the coupler receiving end, the received high-frequency alternating current is converted into direct current that can be used by the load through processing, thereby charging the autonomous underwater vehicle 10.

[0061] It should be noted that the present invention mainly improves the transmitting end of the magnetic coupler, and the specific structure of the receiving end of the magnetic coupler can refer to the prior art, which will not be described in detail here.

[0062] Those skilled in the art can understand that the accompanying drawings are only schematic diagrams of an embodiment, and the modules or processes in the accompanying drawings are not necessarily required to implement the present invention.

[0063] Those skilled in the art can understand that the modules in the device in the embodiment can be distributed in the device in the embodiment according to the description of the embodiment, or can be changed accordingly and located in one or more devices different from the embodiment. The modules in the above embodiment can be combined into one module, or can be further divided into multiple sub-modules.

[0064] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A flexible magnetic coupling system for wireless charging of an autonomous underwater vehicle, characterized in that: include: Autonomous underwater vehicle, underwater charging platform, magnetic coupler transmitter, magnetic coupler receiver; The magnetic coupler receiving end is installed inside the autonomous underwater vehicle; The transmitting end of the magnetic coupler is installed inside the underwater charging platform; The transmitting end of the magnetic coupler comprises a transmitting end coil, a transmitting end magnetic core and a transmitting end shell; The transmitting end magnetic core is located outside the transmitting end coil, and includes a plurality of bar-shaped magnetic cores arranged adjacent to each other on the circumference; The transmitting end shell is located inside the transmitting end coil, and includes a plurality of circular arcs arranged adjacent to each other on a circumference. After the autonomous underwater vehicle enters the underwater charging platform, the plurality of circular arcs of the transmitting end shell shrink radially to wrap the autonomous underwater vehicle; when the autonomous underwater vehicle leaves the underwater charging platform, the plurality of circular arcs of the transmitting end shell expand radially to release the autonomous underwater vehicle.

2. The flexible magnetic coupling system for wireless charging of autonomous underwater vehicles according to claim 1, characterized in that: The magnetic coupler transmitting end also includes a plurality of coil fixing rods; In the radial direction, the coil fixing rod is located between the transmitting end housing and the transmitting end coil; in the circumferential direction, the coil fixing rod is located between two adjacent arcs; the transmitting end coil contracts or expands radially along the arc.

3. The flexible magnetic coupling system for wireless charging of autonomous underwater vehicles according to claim 2, characterized in that: In a direction away from the center of the circle, the strip-shaped magnetic core is aligned with the circular arc, and the strip-shaped magnetic core expands or contracts in the radial direction along with the circular arc.

4. The flexible magnetic coupling system for wireless charging of autonomous underwater vehicles according to claim 1, characterized in that: The transmitting end of the magnetic coupler also includes a slot; The grooves correspond to the circular arcs one by one, and the grooves extend outwardly in the radial direction and are evenly arranged on the circumference. The circular arcs can move on the grooves in a direction away from the center of the circle or in a direction close to the center of the circle.

5. The flexible magnetic coupling system for wireless charging of autonomous underwater vehicles according to claim 4, characterized in that: The transmitting end of the magnetic coupler further comprises fixing bolts, and the fixing bolts correspond to the circular arcs one by one; The arc includes a side portion and a bottom portion. After the autonomous underwater vehicle enters the underwater charging platform, the side portion wraps the autonomous underwater vehicle; the bottom is provided with a through hole, and the fixing bolt fixes the bottom of the arc to the groove through the through hole.

6. The flexible magnetic coupling system for wireless charging of autonomous underwater vehicles according to claim 5, characterized in that: The groove and the fixing bolt are made of non-metallic material.

7. The flexible magnetic coupling system for wireless charging of autonomous underwater vehicles according to claim 1, characterized in that: The transmitting end housing is made of nylon.

8. The flexible magnetic coupling system for wireless charging of autonomous underwater vehicles according to claim 1, characterized in that: The receiving end of the magnetic coupler includes a receiving end coil and a receiving end magnetic core.

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