AUV wireless charging device

Abstract

The invention belongs to the technical field of wireless power transmission, and particularly relates to an AUV wireless charging device. The architecture of the AUV wireless charging device can realize mutual decoupling among multiple loads in the full charging process, can adapt to increase and decrease of the number of the loads, and has a series of advantages of high wireless energy transmission efficiency, high stability, high flexibility and the like. The AUV wireless charging device comprises a wireless charging station, a transmitting end and an AUV equipment group, wherein the wireless charging station is composed of a DC power supply, a high-frequency inverter, a transmitting coil Lt0 and a transmitting compensation capacitor Ct0 matched with the transmitting coil Lt0; the transmitting end is composed of a plurality of middle-end transmitting units and a plurality of tail-end transmitting units which are arranged in a cascading manner; the AUV device group is composed of a plurality of independent AUV devices.

Description

Technical Field

[0001] The present invention belongs to the technical field of wireless power transmission, and in particular relates to an AUV wireless charging device. Background Art

[0002] As a hot topic in the research of underwater control equipment, autonomous underwater vehicles (AUVs) have been widely used in many aspects such as marine science research, marine resource surveys, and marine safety assurance. They can effectively improve the construction efficiency of resource exploration, environmental monitoring and protection, and underwater facility inspection and maintenance. However, the deployment of multiple AUVs in the same area inevitably brings about serious energy replenishment competition (especially underwater wireless charging). In addition, the limited underwater communication and the susceptibility of AUVs to ocean currents make it difficult to accurately control them, which further aggravates the difficulty of energy replenishment scheduling for multiple AUV groups and seriously restricts the implementation of high-standard collaborative operations of AUV groups.

[0003] In order to overcome the above technical defects, the team of Professor Marin Soljacic of MIT pioneered the magnetic coupled resonance wireless power transfer (English: Magnetic Coupled Resonance Wireless Power Transfer, abbreviated: MCR-WPT) technology in 2007, aiming to overcome the technical bottleneck of inductive non-contact energy transmission. It has technical advantages such as non-contact, high energy transmission efficiency, and long energy transmission distance, and has been widely recognized and applied in the field of single AUV wireless charging. However, after further research, the inventors found that the above existing architecture faces many technical bottlenecks and challenges when dealing with the charging needs of multiple AUV groups: for example, the series wireless charging method will face a series of problems such as doubled input impedance, limited output power, and difficult load decoupling; and although the one-to-many charging method has strong independence, its magnetic field leakage problem is more serious and the transmission efficiency is low. Therefore, it is urgent for technicians in this field to provide a new AUV wireless charging device to overcome the technical defects of difficult decoupling between loads, serious magnetic leakage, and low energy transmission efficiency in the above existing technology. Summary of the invention

[0004] The present invention provides an AUV wireless charging device, the architecture of which can achieve mutual decoupling of the full charging process between multiple loads, and can adapt to the increase and decrease of the number of loads, and has a series of advantages such as high wireless energy transmission efficiency, strong stability, high flexibility, etc.

[0005] In order to solve the above technical problems, the present invention adopts the following technical solutions: An AUV wireless charging device, comprising: Wireless charging station; wherein the wireless charging station is composed of a DC power supply, a high-frequency inverter, a transmitting coil Lt0, and a transmitting compensation capacitor Ct0 adapted to the transmitting coil Lt0; Transmitting end; wherein the transmitting end is composed of a plurality of cascaded middle-end transmitting units and a terminal transmitting unit; the middle-end transmitting unit includes a receiving coil Lrn and a receiving compensation capacitor Crn matched with the receiving coil Lrn, a conducting coil Lpn and a conducting compensation capacitor Cfn matched with the conducting coil Lpn, a transmitting coil Ltn and a transmitting compensation capacitor Ctn matched with the transmitting coil Ltn; the terminal transmitting unit includes a receiving coil LrN and a receiving compensation capacitor CrN matched with the receiving coil LrN, and a conducting coil LpN; AUV equipment group; wherein the AUV equipment group is composed of a plurality of mutually independent AUV equipment; the AUV equipment includes a receiving coil Lsn and a compensation capacitor Csn matched with the receiving coil Lsn, a rectifier filter unit and a DC / DC converter.

[0006] Preferably, the transmitting coil in the wireless charging station is arranged to be aligned with the axis of the receiving coil in the first-stage middle-end transmitting unit; The transmitting coil in any one-stage mid-end transmitting unit is arranged to be aligned with the axis of the receiving coil in the next-stage mid-end transmitting unit.

[0007] Preferably, the transmitting coil in the last-stage middle transmitting unit is aligned with the axis of the receiving coil in the terminal transmitting unit.

[0008] Preferably, the transmitting coil Lt0, transmitting compensation capacitor Ct0, receiving coil Lrn, receiving compensation capacitor Crn, conducting coil Lpn, conducting compensation capacitor Cfn, transmitting coil Ltn, transmitting compensation capacitor Ctn, receiving coil LrN, receiving compensation capacitor CrN, and conducting coil LpN in the end transmitting unit of the wireless charging station meet the following conditions: Formula (1); In formula (1), The angular frequency of the AUV wireless charging device.

[0009] Preferably, the AUV device also includes a charging controller; The charging controller includes: an SOC sampling unit of the AUV device battery, an ADC unit, a PID control module, and a PWM control switch; wherein the SOC sampling unit of the AUV device battery is used to collect the real-time output voltage and output current of the AUV device battery; the ADC unit is used to convert the analog signals of the real-time output voltage and output current of the AUV device battery collected by the SOC sampling unit into digital signals; the PID control module is used to generate a control signal for switching the three charging modes of the AUV device battery: constant current / constant voltage / trickle current; and the PWM control switch is used to adjust the working mode of the DC / DC converter according to the control signal provided by the PID control module.

[0010] Preferably, when the SOC of the AUV device battery is less than 80%, the PID control module generates a constant current mode charging control signal; When 80%≤SOC of the AUV equipment battery<95%, the PID control module generates a constant voltage mode charging control signal; When the SOC of the AUV equipment battery is ≥95%, the PID control module generates a trickle mode charging control signal.

[0011] The present invention provides an AUV wireless charging device. The AUV wireless charging device includes: a wireless charging station, a transmitter, and an AUV equipment group. The wireless charging station is composed of a DC power supply, a high-frequency inverter, a transmitting coil Lt0, and a transmitting compensation capacitor Ct0; the transmitting end is composed of a plurality of cascaded middle-end transmitting units and a terminal transmitting unit; the AUV equipment group is composed of a plurality of mutually independent AUV equipment; the AUV equipment includes a receiving coil Lsn, a compensation capacitor Csn, a rectifier filter unit, and a DC / DC converter. Compared with the prior art, the AUV wireless charging device with the above structural features forms an energy transfer path of "wireless charging station -> cascaded transmitting end -> AUV equipment group", and realizes the wireless charging of cascaded multiple AUV equipment. The AUV wireless charging device has high and stable charging efficiency, independent charging between group loads, load access and exit does not affect the normal charging of other AUV equipment, and has many advantages such as flexible load quantity adaptation, and shows great application potential in the field of wireless charging of marine AUV equipment groups. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the following drawings: Figure 1 A schematic diagram of the structure of an AUV wireless charging device provided by the present invention; Figure 2 for Figure 1The circuit diagram of the AUV wireless charging device shown; Figure 3 It is a structural diagram of a mid-end transmitting unit at any level in the transmitting end; Figure 4 This is a schematic diagram of the equivalent circuit topology of the AUV wireless charging device; Figure 5 It is the circuit diagram of the charging controller and DC / DC converter; Figure 6 It is the control logic diagram of PID control module; Figure 7a The coupling combination M1 formed by the transmitting coil Lt0 in the wireless charging station and the receiving coil Lr1 in the middle transmitting unit, the coupling combination M2 formed by the transmitting coil Lt1 in the middle transmitting unit and the receiving coil Lr2 in the end transmitting unit, and the coupling combination M formed by the conducting coil Lp1 in the middle transmitting unit and the receiving coil Ls1 in the AUV device #1 under different transmission gap conditions. S1 , the coupling combination M formed by the conducting coil Lp2 in the terminal transmitting unit and the receiving coil Ls2 in the AUV device #2 S2 Schematic diagram of mutual inductance change; Figure 7b Under different transmission gap conditions, the coupling combination k1 formed by the transmitting coil Lt0 in the wireless charging station and the receiving coil Lr1 in the middle transmitting unit, the coupling combination k2 formed by the transmitting coil Lt1 in the middle transmitting unit and the receiving coil Lr2 in the end transmitting unit, and the coupling combination k1 formed by the conducting coil Lp1 in the middle transmitting unit and the receiving coil Ls1 in the AUV device #1 S1 , the coupling combination k formed by the conducting coil Lp2 in the terminal transmitting unit and the receiving coil Ls2 in the AUV device #2 S2 Schematic diagram of the changes in the Euler coefficient; Figure 8a is the output voltage U of any middle-end transmitting unit under different transmission distance conditions L1 Schematic diagram of the relationship curve; Figure 8b The output voltage U of the terminal transmitting unit under different transmission distance conditions L2 Schematic diagram of the relationship curve; Figure 9a The output voltage U of the first AUV device under different transmission distance conditions L1’ Schematic diagram of the relationship curve; Figure 9b The output voltage U of the second AUV device under different transmission distance conditions L2’ Schematic diagram of the relationship curve; Fig.10aA schematic diagram of the relationship between the DC efficiency of the AUV wireless charging device and d1 and d2; Fig.10b The DC efficiency and d of the AUV wireless charging device s1 and d s2 Schematic diagram of the relationship curve; Fig.11a is a schematic diagram of an output voltage variation curve of a first AUV device; Fig.11b is a schematic diagram of the output voltage variation curve of the second AUV device; Fig.12a It is a schematic diagram of the change curve of the transmission efficiency of the AUV wireless charging device when the AUV equipment load changes; Figure 12b This is a schematic diagram of a curve showing a change in input current at the transmitter end of an AUV wireless charging device when the load of the AUV device changes.

[0013] Reference numerals: 1. Wireless charging station; 2. Transmitter; 201. Mid-end transmitting unit; 202. End transmitting unit; 3. AUV equipment group; 301. First AUV equipment; 302. Second AUV equipment; 303. Nth AUV equipment 303. DETAILED DESCRIPTION

[0014] The present invention provides an AUV wireless charging device, the architecture of which can achieve mutual decoupling of the full charging process between multiple loads, and can adapt to the increase and decrease of the number of loads, and has a series of advantages such as high wireless energy transmission efficiency, strong stability, high flexibility, etc.

[0015] The present invention provides an AUV wireless charging device, such as Figure 1 As shown or Figure 2 As shown. Among them, Figure 1 This is a schematic diagram of the structure of the AUV wireless charging device. Figure 2 for Figure 1 The circuit diagram of the AUV wireless charging device shown in the figure specifically includes a wireless charging station 1, a transmitter 2 and an AUV equipment group 3. The transmitter 2 is further composed of a plurality of cascaded middle-end transmitting units 201 and a terminal transmitting unit 202, and the AUV equipment group 3 is further composed of a plurality of mutually independent AUV equipment ( Figure 2 The circuit diagram shown in the figure shows that there are three AUV devices, namely, a first AUV device 301, a second AUV device 302, and an Nth AUV device 303).

[0016] The wireless charging station 1 is composed of a DC power supply, a high-frequency inverter, a transmitting coil Lt0, and a transmitting compensation capacitor Ct0, and the transmitting coil Lt0 and the transmitting compensation capacitor Ct0 are adapted to each other. As an optional implementation, the wireless charging station can be fixed on the seabed, and the transmitting coil Lt0 can be installed on one side of the wireless charging station 1 to transmit the energy provided by the wireless charging station 1 through wireless transmission.

[0017] like Figure 3 As shown, Figure 3 The structure of the middle-end transmitting unit 201 in the transmitting end 2 is schematically shown, which specifically includes a receiving coil Lrn and a receiving compensation capacitor Crn matched with the receiving coil Lrn, a conducting coil Lpn and a conducting compensation capacitor Cfn matched with the conducting coil Lpn, and a transmitting coil Ltn and a transmitting compensation capacitor Ctn matched with the transmitting coil Ltn.

[0018] In addition, references such as Figure 2 As shown, the terminal transmitting unit 202 in the transmitting end 2 includes a receiving coil LrN and a receiving compensation capacitor CrN matched with the receiving coil LrN, and a conducting coil LpN. Also, any AUV device includes a receiving coil Lsn and a compensation capacitor Csn matched with the receiving coil Lsn, a rectifying and filtering unit, and a DC / DC converter. It should be noted that the rectifying and filtering unit in the AUV device can be composed of four diodes and a filtering capacitor, which is specifically used to rectify and filter the conduction (current) energy received by the receiving coil Lsn.

[0019] As a further preferred embodiment of the present invention, the transmitting coil ( Figure 2 The first-stage receiving coil ( Figure 2 The transmitting coil of any level in the middle-end transmitting unit 201 is aligned with the receiving coil of the middle-end transmitting unit of the next level. The transmitting coil of the last level in the middle-end transmitting unit 201 and the receiving coil of the end transmitting unit 202 ( Figure 2 The figure is marked as LrN) axis alignment setting.

[0020] The purpose of such arrangement is to respectively establish a coil coupling relationship between the transmitting coil in the wireless charging station 1 and the first-stage receiving coil Lr1 in the middle-end transmitting unit 201, the transmitting coil of any stage in the middle-end transmitting unit 201 and the receiving coil of the middle-end transmitting unit of the next stage, and the transmitting coil of the last stage in the middle-end transmitting unit 201 and the receiving coil of the terminal transmitting unit 202. This provides technical support for the construction of the energy transfer path of "wireless charging station -> cascade transmitting end -> AUV equipment group".

[0021] In addition, when configuring the structural units in the AUV wireless charging device provided by the present invention, it is preferred that the transmitting coil Lt0, the transmitting compensation capacitor Ct0, the receiving coil Lrn, the receiving compensation capacitor Crn, the conducting coil Lpn, the conducting compensation capacitor Cfn, the transmitting coil Ltn, the transmitting compensation capacitor Ctn, the receiving coil LrN, the receiving compensation capacitor CrN, and the conducting coil LpN in the wireless charging station 1, the middle transmitting unit 201, the terminal transmitting unit 202, the receiving coil LrN, the receiving compensation capacitor CrN, and the conducting coil LpN satisfy the following conditions: Formula (1); In formula (1), The angular frequency of the AUV wireless charging device.

[0022] In order to facilitate those skilled in the art to understand the present invention, Figure 2 The voltage conduction process and input and output power of an AUV wireless charging device provided by the present invention are deduced as follows: The voltage conduction process of the transmitting end including the first-stage middle-end transmitting unit 201 and the terminal transmitting unit 202 is taken as an example for explanation. Based on this, the circuit of the AUV wireless charging device is selected for equivalent topological operation processing, referring to Figure 4 The equivalent circuit topology diagram of the AUV wireless charging device is shown in Figure 1. In this process, the resonance condition must be met and the influence of the coil parasitic resistance must be ignored.

[0023] Specifically, the voltage provided by the DC power supply is (After series resonance) it is loaded on the transmitting coil Lt0 (whose equivalent impedance is Zt0). At this time, the middle-end transmitting unit 201 generates a constant current. .

[0024] Among them, the current satisfy: Formula (2); Further research revealed that, due to the influence of current clamping, the input voltage in the middle-end transmitting unit 201 Also remains constant and satisfies: Formula (3); According to Norton's theorem, the output voltage in the middle-end transmitting unit 201 can be further calculated as satisfy: Formula (4); It is worth noting that the output voltage After the resonance process, all the voltage is applied to the transmitting coil Lt1 (whose equivalent impedance is Zt1) in the middle transmitting unit 201, thereby causing the end transmitting unit 202 to generate a constant current. Among them, the current satisfy: Formula (5); The current Further clamping affects the input voltage of the end transmitting unit 202 ,satisfy: Formula (6).

[0025] At this point, the voltage provided by the DC power supply of the AUV wireless charging device provided by the present invention is transmitted in two stages through the middle transmitting unit 201 and the end transmitting unit 202. Among them, the input power and output power of the AUV wireless charging device meet the following requirements: Formula (7); When the internal resistance of the coil is ignored, Zp0 can be calculated by (8).

[0026] Formula (8); From (3) and (6), we can see that the ratio of the two-stage conduction output voltage can be referred to as shown in the following formula (9): Formula (9); It can be found that it is obvious Depends only on M1 and M s1 ,and Depends only on M2, M1 and M s2 Importantly, and None of them are affected by R eq1 and R eq2 That is to say, the AUV wireless charging device provided by the present invention has an inherent constant voltage characteristic and a (conduction) output voltage that is independent of the load. Therefore, the technicians can further choose to adjust the isolation distance between each middle-end transmitting unit and the end transmitting unit of the transmitting end, so as to ensure that the (conduction) voltages of each middle-end transmitting unit and the end transmitting unit are independent of each other and do not affect each other.

[0027] In addition, as a more preferred embodiment, the AUV device of the AUV wireless charging device provided by the present invention also includes a charging controller. Figure 5 As shown, the charging controller further includes: an SOC sampling unit of the AUV equipment battery, an ADC unit, a PID control module, and a PWM control switch.

[0028] Specifically, Figure 5 The DC / DC converter shown in the figure is composed of a switch tube, a diode, a capacitor, and an inductor; through the switching control of the charging controller, the three charging modes of constant current / constant voltage / trickle current of the AUV device can be switched. Among them, the SOC sampling unit of the AUV device battery is used to collect the real-time output voltage and output current of the AUV device battery. The ADC unit is used to convert the analog signals of the real-time output voltage and output current of the AUV device battery collected by the SOC sampling unit into digital signals. The PID control module is used to generate control signals for switching the three charging modes of constant current / constant voltage / trickle current of the AUV device battery. The PWM control switch is used to control the on and off of the switch tube in the DC / DC converter according to the control signal provided by the PID control module, so as to adjust the working mode of the DC / DC converter.

[0029] In this process, preferably, the control process of the PID control module can refer to the following: Figure 6 As shown: when the SOC of the AUV equipment battery is less than 80%, the PID control module generates a constant current mode charging control signal; when 80%≤the SOC of the AUV equipment battery is less than 95%, the PID control module generates a constant voltage mode charging control signal; when the SOC of the AUV equipment battery is greater than or equal to 95%, the PID control module generates a trickle mode charging control signal.

[0030] Finally, a set of specific implementation methods is provided to verify the working process and specific use effect of the AUV wireless charging device provided by the present invention. Among them, each coil in the transmitting end is wound by Litz wire with a diameter of 0.04mm and 1200 turns. It should be supplemented that there is a certain distance between the two pairs of coils that cooperate with each other (that is, the corresponding coupled transmitting coil and receiving coil) and are arranged at an angle of 90°, and the cross-coupling effect can be ignored here. The specific parameters used in this embodiment are shown in Table 1; ; According to the analysis process in the previous article, mutual inductance is a key factor affecting the output characteristics of the AUV wireless charging device provided by the present invention. After the various structural units of the AUV wireless charging device are determined, the mutual inductance is only related to the transmission distance d between the (mutually coupled and adapted) transmitting coil and receiving coil. Therefore, studying the relationship between mutual inductance and the output characteristics of the AUV wireless charging device can be equivalent to studying the relationship between the transmission distance d and the output characteristics. After further research, it was found that the relationship between the mutual inductance, the Euler coefficient and the transmission distance d between each transmitting coil and receiving coil combination in the prototype can be referred to as follows Figure 7a , 7b shown.

[0031] On the one hand, the analysis results of the mutual inductance change on the output performance are as follows: First, set the input voltage to 24V, R L1 =R L1 =5ohms, the transmission distance between the transmitting coil Lt0 and the receiving coil Lr1 is d1, and the transmission distance between the transmitting coil Lt1 and the receiving coil Lr2 is d2. When the transmission distance between the transmitting coil Lt0 and the receiving coil Lr1, and between the transmitting coil Lt1 and the receiving coil Lr2 changes, the output voltage U L1 , U L2 The change curves of Figure 8a and Figure 8b As shown. Figure 8a It can be seen that when d1 and d2 are small, the output voltage U of the middle-end transmitting unit 201 is L1 The size of U is mainly related to d1, but has little to do with d2. When d1 and d2 are large, U L1 In contrast, the output voltage U of the terminal transmitting unit 202 is L2 The size of is more obviously affected by d2, and is also affected by d1 in the entire range, such as Figure 8b This is because in the AUV wireless charging device provided by the present invention, the end transmitting unit 202 obtains energy through the middle transmitting unit 201. Therefore, when applied to AUV wireless charging, attention should be paid to the coupling state between the transmitting coil Lt0 and the receiving coil Lr1, and between the transmitting coil Lt1 and the receiving coil Lr2, and the coupling of the two sets of coils must be kept stable.

[0032] Then, set the input voltage to 24V, R L1 =R L1 =5ohms, the transmission distance between the conducting coil Lp1 and the receiving coil Ls1 is d s1 , the transmission distance between the conducting coil Lp2 and the receiving coil Ls2 is d s2 When the transmission distance between the receiving coil Ls1 and the conducting coil Lp1 of the first AUV device 301 and the receiving coil Ls2 and the conducting coil Lp2 of the second AUV device 302 changes, the output voltage U of the first AUV device 301 and the second AUV device 302 L1’ , U L2’ The change curves of Figure 9a and Figure 9b As shown. According to the calculation results, d s1 and ds2 The effect on the output voltage is almost independent of U L1 Only with d s1 Related to d s2 The relationship between L2 Only with d s2 Related to d s1 The relationship between the entry and exit of a single AUV device (the entry of the AUV device can be equivalent to the transmission distance d) is very small. This result shows that when applied to AUV wireless charging, the entry and exit of a single AUV device (the entry of the AUV device can be equivalent to the transmission distance d s The decrease in the exit can be considered as the transmission distance d s The increase of ) does not affect the charging process of other AUVs.

[0033] Finally, if Fig.10a , Fig.10b As shown, Fig.10a The relationship between the DC efficiency of the AUV wireless charging device and d1 and d2. It can be found that with the increase of d1 and d2, the DC efficiency of the AUV wireless charging device has dropped significantly. In the case of the longest transmission distance, the efficiency of the system is only 51%, while in the case of the minimum transmission distance, the efficiency of the system is as high as 83%. This shows that during the operation of the AUV wireless charging device, attention should be paid to the coupling state between the transmitting coil Lt0, the receiving coil Lr1, and the transmitting coil Lt1 and the receiving coil Lr2.

[0034] like Fig.10b As shown, Fig.10b The DC efficiency of the AUV wireless charging device is shown as a function of d s1 and d s2 Relationship. Fig.10b It can be seen that the change in the transmission distance of a certain level of AUV equipment will not affect the charging efficiency of other levels of AUV equipment, but will affect the charging efficiency of the AUV equipment of this level. s1 and d s2 When both are minimum, the DC efficiency of the AUV wireless charging device is the lowest, about 62%. This also shows again that the entry and exit of a single AUV device (the entry of the AUV device can be equivalent to the transmission distance d s The decrease in the exit can be considered as the transmission distance d s The increase of ) does not affect the charging process of other AUVs.

[0035] A set of specific embodiment data is further supplemented, and the influence of load change on output performance is analyzed as follows: First, set the input voltage to 36V, M1=12μH(d2=7mm), M2=18μH(d2=7mm), M s1 =10.2μH(d s1=0mm), M s2 =3.2μH(d s2 =0mm), and when the two-stage load resistance changes from 5ohms to 50ohms, the output voltage change curves of the first AUV device 301 and the second AUV device 302 are respectively as follows: Fig.11a and Fig.11b As shown. Fig.11a and Fig.11b As can be seen from the figure, with the load R of the two-stage AUV equipment L1 and R L2 The output voltage U L1 and U L2 For the first AUV device 301, its output voltage U L1 Affected by R L1 The influence is more obvious, and the second AUV device 302 is affected by its R L2 The impact is small; for the second AUV device 302, its output voltage U L2 Affected by R L2 The influence of R L1 This shows that when applied to AUV wireless charging, the fluctuation of the equivalent internal resistance of a single AUV device will not affect the normal charging of other AUV devices.

[0036] When the AUV equipment load changes, the efficiency of the AUV wireless charging device and the change of the input current at the transmitter are respectively as follows: Fig.12a and Figure 12b As shown. Within the range of AUV equipment load variation, the total efficiency of the AUV wireless charging device first increases and then decreases, with a minimum of 76.67% and a maximum of 83.25%. The load at the optimal efficiency is: R L1 =10ohms, R L2 =30ohms. Current of wireless charging station It gradually decreases with the increase of the load of the two AUV equipment.

[0037] The present invention provides an AUV wireless charging device. The AUV wireless charging device includes: a wireless charging station, a transmitter, and an AUV equipment group. The wireless charging station is composed of a DC power supply, a high-frequency inverter, a transmitting coil Lt0, and a transmitting compensation capacitor Ct0; the transmitting end is composed of a plurality of cascaded middle-end transmitting units and a terminal transmitting unit; the AUV equipment group is composed of a plurality of mutually independent AUV equipment; the AUV equipment includes a receiving coil Lsn, a compensation capacitor Csn, a rectifier filter unit, and a DC / DC converter. Compared with the prior art, the AUV wireless charging device with the above structural features forms an energy transfer path of "wireless charging station -> cascaded transmitting end -> AUV equipment group", and realizes the wireless charging of cascaded multiple AUV equipment. The AUV wireless charging device has high and stable charging efficiency, independent charging between group loads, load access and exit does not affect the normal charging of other AUV equipment, and has many advantages such as flexible load quantity adaptation, and shows great application potential in the field of wireless charging of marine AUV equipment groups.

[0038] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. An AUV wireless charging device, characterized in that: Included are: Wireless charging station; wherein the wireless charging station is composed of a DC power supply, a high-frequency inverter, a transmitting coil Lt0, and a transmitting compensation capacitor Ct0 adapted to the transmitting coil Lt0; Transmitting end; wherein the transmitting end is composed of a plurality of cascaded middle-end transmitting units and a terminal transmitting unit; the middle-end transmitting unit includes a receiving coil Lrn and a receiving compensation capacitor Crn matched with the receiving coil Lrn, a conducting coil Lpn and a conducting compensation capacitor Cfn matched with the conducting coil Lpn, a transmitting coil Ltn and a transmitting compensation capacitor Ctn matched with the transmitting coil Ltn; the terminal transmitting unit includes a receiving coil LrN and a receiving compensation capacitor CrN matched with the receiving coil LrN, and a conducting coil LpN; AUV equipment group; wherein the AUV equipment group is composed of a plurality of mutually independent AUV equipment; any AUV equipment includes a receiving coil Lsn and a compensation capacitor Csn matched with the receiving coil Lsn, a rectifier filter unit and a DC / DC converter; The transmitting coil in the wireless charging station is aligned with the receiving coil in the first-stage mid-end transmitting unit; The transmitting coil in any one-stage mid-end transmitting unit is arranged to be aligned with the receiving coil axis of the next-stage mid-end transmitting unit; The transmitting coil in the last-stage middle transmitting unit is arranged to be aligned with the receiving coil of the terminal transmitting unit.

2. The AUV wireless charging device according to claim 1, characterized in that: The transmitting coil Lt0, transmitting compensation capacitor Ct0, receiving coil Lrn, receiving compensation capacitor Crn, conducting coil Lpn, conducting compensation capacitor Cfn, transmitting coil Ltn, transmitting compensation capacitor Ctn, receiving coil LrN, receiving compensation capacitor CrN, and conducting coil LpN in the wireless charging station are satisfied: Formula (1); In formula (1), The angular frequency of the AUV wireless charging device.

3. The AUV wireless charging device according to claim 1, characterized in that: The AUV device also includes a charging controller; the charging controller includes: an SOC sampling unit of the AUV device battery, an ADC unit, a PID control module, and a PWM control switch; Among them, the SOC sampling unit of the AUV equipment battery is used to collect the real-time output voltage and output current of the AUV equipment battery; the ADC unit is used to convert the analog signals of the real-time output voltage and output current of the AUV equipment battery collected by the SOC sampling unit into digital signals; the PID control module is used to generate a control signal for switching the three charging modes of the AUV equipment battery: constant current / constant voltage / trickle current; the PWM control switch is used to adjust the working mode of the DC / DC converter according to the control signal provided by the PID control module.

4. The AUV wireless charging device according to claim 3, characterized in that: When the SOC of the AUV equipment battery is less than 80%, the PID control module generates a constant current mode charging control signal; When 80%≤SOC of the AUV equipment battery<95%, the PID control module generates a constant voltage mode charging control signal; When the SOC of the AUV equipment battery is ≥95%, the PID control module generates a trickle mode charging control signal.

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