AUV wireless charging device

Abstract

The present invention belongs to the technical field of wireless power transmission, and in particular, relates to an AUV wireless charging device. The architecture of the AUV wireless charging device can realize the 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, and high flexibility. An AUV wireless charging device includes: 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 cascaded middle-end transmitting units and a terminal transmitting unit; the AUV equipment 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] Autonomous underwater vehicles (AUVs), a research hotspot for underwater control equipment, have been widely used in marine science research, marine resource surveys, and marine safety assurance. They can effectively improve the efficiency of tasks such as resource exploration, environmental monitoring and protection, and underwater facility inspection and maintenance. However, the deployment of multiple AUVs in the same area inevitably leads to serious competition for energy recharge (especially underwater wireless charging). Coupled with limited underwater communications and the difficulty of precise control of AUVs due to interference from ocean currents, these challenges further exacerbate the energy recharge scheduling challenges of multiple AUV swarms, severely restricting the implementation of high-level collaborative operations by AUV swarms.

[0003] To overcome these technical limitations, MIT Professor Marin Soljacic's team pioneered magnetically coupled resonance wireless power transfer (MCR-WPT) in 2007, aiming to overcome the technical bottlenecks of inductive contactless energy transfer. MCR-WPT boasts advantages such as non-contact operation, high energy transmission efficiency, and long transmission distance, and has been widely recognized and applied in the field of wireless charging of single AUVs. However, further research revealed that these existing architectures face numerous technical bottlenecks and challenges when charging multiple AUVs. For example, serial wireless charging suffers from a series of issues such as doubled input impedance, limited output power, and difficulty in load decoupling. While one-to-many charging offers greater independence, it suffers from significant magnetic field leakage and low transmission efficiency. Therefore, a new AUV wireless charging device is urgently needed to overcome the technical limitations of existing technologies, such as the difficulty in decoupling loads, significant magnetic field leakage, and low energy transmission efficiency. 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 adaptively increase and decrease the number of loads. It has a series of advantages such as high wireless energy transmission efficiency, strong stability, and high flexibility.

[0005] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0006] An AUV wireless charging device, comprising:

[0007] 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;

[0008] Transmitter; wherein the transmitter 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 adapted for the receiving coil Lrn, a conducting coil Lpn and a conducting compensation capacitor Cfn adapted for the conducting coil Lpn, a transmitting coil Ltn and a transmitting compensation capacitor Ctn adapted for the transmitting coil Ltn; the terminal transmitting unit includes a receiving coil LrN and a receiving compensation capacitor CrN adapted for the receiving coil LrN, and a conducting coil LpN;

[0009] AUV equipment group; wherein the AUV equipment group is composed of multiple independent AUV equipment; the AUV equipment includes a receiving coil Lsn and a compensation capacitor Csn matched with the receiving coil Lsn, a rectifier and filter unit, and a DC / DC converter.

[0010] Preferably, the transmitting coil in the wireless charging station is aligned with the receiving coil in the first-stage mid-end transmitting unit;

[0011] The transmitting coil in any one-stage mid-end transmitting unit is aligned with the axis of the receiving coil in the next-stage mid-end transmitting unit.

[0012] More preferably, the transmitting coil in the last-stage middle transmitting unit is aligned with the axis of the receiving coil of the terminal transmitting unit.

[0013] 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:

[0014] Formula (1);

[0015] In formula (1), The angular frequency of the AUV wireless charging device.

[0016] Preferably, the AUV device further includes a charging controller;

[0017] 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 between 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.

[0018] 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;

[0019] When the SOC of the AUV equipment battery is 80%≤95%, the PID control module generates a constant voltage mode charging control signal;

[0020] When the SOC of the AUV equipment battery is ≥95%, the PID control module generates a trickle mode charging control signal.

[0021] The present invention provides an AUV wireless charging device. This AUV wireless charging device includes a wireless charging station, a transmitter, and an AUV equipment cluster. 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 transmitter is composed of multiple cascaded mid-end transmitting units and a terminal transmitting unit; the AUV equipment cluster is composed of multiple independent AUV devices; and the AUV devices include receiving coils Lsn, compensation capacitors Csn, rectifier and filter units, and DC / DC converters. Compared to existing technologies, the AUV wireless charging device with the above structural features forms an energy transfer path from "wireless charging station -> cascaded transmitter -> AUV equipment cluster," enabling wireless charging of multiple cascaded AUV devices. This AUV wireless charging device offers numerous advantages, including high and stable charging efficiency, independent charging between group loads, load entry and exit without affecting the normal charging of other AUV devices, and flexible load quantity adaptation. It demonstrates great application potential in the field of wireless charging of marine AUV equipment clusters. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] 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:

[0023] Figure 1 A schematic structural diagram of an AUV wireless charging device provided by the present invention;

[0024] Figure 2 for Figure 1 The circuit diagram of the AUV wireless charging device shown;

[0025] Figure 3 It is a structural diagram of a mid-end transmitting unit at any level in the transmitting end;

[0026] Figure 4 This is a schematic diagram of the equivalent circuit topology of the AUV wireless charging device;

[0027] Figure 5 This is a circuit diagram of the charging controller and DC / DC converter;

[0028] Figure 6 This is the control logic diagram of the PID control module;

[0029] 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;

[0030] 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 k 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;

[0031] Figure 8a The output voltage U of any middle-end transmitting unit under different transmission distance conditions L1 Schematic diagram of the relationship curve;

[0032] Figure 8b The output voltage U of the terminal transmitting unit under different transmission distance conditions L2 Schematic diagram of the relationship curve;

[0033] Figure 9a The output voltage U of the first AUV device under different transmission distance conditions L1’ Schematic diagram of the relationship curve;

[0034] Figure 9b The output voltage U of the second AUV device under different transmission distance conditions L2’ Schematic diagram of the relationship curve;

[0035] Figure 10a Schematic diagram of the relationship between the DC efficiency of the AUV wireless charging device and d1 and d2;

[0036] Figure 10b The DC efficiency and d of the AUV wireless charging device s1 and d s2 Schematic diagram of the relationship curve;

[0037] Figure 11a Schematic diagram of the output voltage change curve of the first AUV device;

[0038] Figure 11b Schematic diagram of the output voltage change curve of the second AUV device;

[0039] Figure 12a Schematic diagram of the curve showing the change in transmission efficiency of the AUV wireless charging device when the AUV equipment load changes;

[0040] Figure 12b This is a schematic diagram of the change curve of the input current at the transmitter end of the AUV wireless charging device when the load of the AUV equipment changes.

[0041] Reference numerals:

[0042] 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

[0043] 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 adaptively increase and decrease the number of loads. It has a series of advantages such as high wireless energy transmission efficiency, strong stability, and high flexibility.

[0044] 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 1The 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 end-end transmitting units 202, and the AUV equipment group 3 is further composed of a plurality of independent AUV equipment ( Figure 2 The circuit diagram shown in the figure shows three AUV devices, namely a first AUV device 301 , a second AUV device 302 , and an Nth AUV device 303 .

[0045] The wireless charging station 1 comprises a DC power supply, a high-frequency inverter, a transmitting coil Lt0, and a transmitting compensation capacitor Ct0, which are mutually compatible. Alternatively, the wireless charging station can be fixed to the seabed, with the transmitting coil Lt0 mounted on one side of the wireless charging station 1 to transmit the energy provided by the wireless charging station 1 wirelessly.

[0046] like Figure 3 As shown, Figure 3 2 is a schematic diagram of the structure of the mid-end transmitting unit 201 in the transmitting end 2, which specifically includes a receiving coil Lrn and a receiving compensation capacitor Crn adapted to the receiving coil Lrn, a transmitting coil Lpn and a transmitting compensation capacitor Cfn adapted to the transmitting coil Lpn, and a transmitting coil Ltn and a transmitting compensation capacitor Ctn adapted to the transmitting coil Ltn.

[0047] In addition, references such as Figure 2 As shown, the terminal transmitting unit 202 in the transmitting end 2 includes a receiving coil LrN, a receiving compensation capacitor CrN adapted for receiving coil LrN, and a conducting coil LpN. Furthermore, any AUV device includes a receiving coil Lsn, a compensation capacitor Csn adapted for receiving coil Lsn, a rectifier and filter unit, and a DC / DC converter. It should be noted that the rectifier and filter unit in the AUV device can optionally consist of four diodes and a filter capacitor, specifically used to rectify and filter the conducted (current) energy received by the receiving coil Lsn.

[0048] As a further preferred embodiment of the present invention, the transmitting coil ( Figure 2 The reference numeral Lt0 in the figure and the first-stage receiving coil in the middle-end transmitting unit 201 ( Figure 2 The transmitting coils of any level in the middle transmitting unit 201 are aligned with the receiving coils of the middle transmitting unit in the next level. The transmitting coils of the last level in the middle transmitting unit 201 and the receiving coils of the end transmitting unit 202 ( Figure 2The figure is marked as LrN) axis alignment setting.

[0049] This setup is designed to establish coil coupling relationships between the transmitting coil in wireless charging station 1 and the first-stage receiving coil Lr1 in mid-end transmitting unit 201, between the transmitting coil in any stage of mid-end transmitting unit 201 and the receiving coil in the next-stage mid-end transmitting unit, and between the transmitting coil in the last stage of mid-end transmitting unit 201 and the receiving coil in the terminal transmitting unit 202. This provides technical support for establishing an energy transfer path from "wireless charging station -> cascaded transmitting terminal -> AUV equipment group."

[0050] In addition, when configuring the various 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 mid-end 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:

[0051] Formula (1);

[0052] In formula (1), The angular frequency of the AUV wireless charging device.

[0053] 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:

[0054] The voltage conduction process of the transmitting end including the first-stage middle transmitting unit 201 and the terminal transmitting unit 202 is used as an example to illustrate. Based on this, the circuit of the AUV wireless charging device is processed by equivalent topology operation, referring to Figure 4 The equivalent circuit topology diagram of the AUV wireless charging device is shown in Figure 2. In this process, the resonance condition must be met while the influence of the coil parasitic resistance is ignored.

[0055] Specifically, the voltage provided by the DC power supply (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. .

[0056] Among them, the current satisfy: Formula (2);

[0057] After further investigation, it was found that due to the influence of current clamping, the equivalent input voltage in the first AUV device 301 Also remains constant and satisfies:

[0058] Formula (3);

[0059] According to Norton's theorem, the equivalent input voltage in the middle-end transmitting unit 201 can be further calculated as: satisfy:

[0060] Formula (4);

[0061] It is worth noting that the equivalent input 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:

[0062] Formula (5);

[0063] The current This further clamps the equivalent input voltage of the Nth AUV device 303. ,satisfy:

[0064] Formula (6).

[0065] 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:

[0066] Formula (7);

[0067] When the internal resistance of the coil is neglected, Zp0 can be calculated using (8).

[0068] Formula (8);

[0069] From (3) and (6), we can see that the ratio of the two-stage conduction output voltage can be referred to the following formula (9): Formula (9);

[0070] It can be seen that it is obvious Depends only on M1 and M s1 ,and Depends only on M2, M1 and M s2 The important thing is, and Are not affected by R eq1 and R eq2 This means that the AUV wireless charging device provided by the present invention has an inherent constant voltage characteristic, independent of the load (conduction) output voltage. Therefore, technicians can further adjust the isolation distance between the mid-end and end-end transmitting units on the transmitter side to ensure that the (conduction) voltages of each mid-end and end-end transmitting unit are independent of each other and do not affect each other.

[0071] 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.

[0072] Specifically, Figure 5 The DC / DC converter shown in the figure consists of a switching tube, a diode, a capacitor, and an inductor. Through the switching control of the charging controller, the three charging modes of the AUV device can be switched: constant current, constant voltage, and trickle charging. 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 the control signal for switching the three charging modes of the AUV device battery: constant current, constant voltage, and trickle charging. The PWM control switch is used to control the on and off of the switching tube in the DC / DC converter according to the control signal provided by the PID control module, thereby adjusting the working mode of the DC / DC converter.

[0073] 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.

[0074] Finally, a set of specific implementations is provided to demonstrate the operating process and specific performance of the AUV wireless charging device provided by this invention. Each coil in the transmitter is wound with 1200 turns of Litz wire with a diameter of 0.04 mm. It should be noted that the two pairs of coils (i.e., the corresponding coupled transmitting and receiving coils) are spaced apart and arranged at a 90° angle, so the cross-coupling effect can be ignored. The specific parameters used in this embodiment are shown in Table 1.

[0075] ;

[0076] 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.

[0077] On the one hand, the analysis results of the mutual inductance change on the output performance are as follows:

[0078] 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. Among them, 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 8bThis is because, in the AUV wireless charging device provided by the present invention, the end transmitting unit 202 obtains energy from the middle transmitting unit 201. Therefore, when applied to AUV wireless charging, special attention should be paid to the coupling between the transmitting coil Lt0 and the receiving coil Lr1, and between the transmitting coil Lt1 and the receiving coil Lr2, ensuring that the coupling between the two sets of coils remains stable.

[0079] 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 first AUV device 301 receiving coil Ls1, the transmission coil Lp1, and the second AUV device 302 receiving coil Ls2, the transmission coil Lp2 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 d s2 The effect on the output voltage is almost independent of U L1 Only with d s1 Related to d s2 The relationship is very small; L2 Only with d s2 Related to d s1 The results show 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.

[0080] Finally, if Figure 10a 、 Figure 10b As shown, Figure 10a Figure 2 shows the relationship between the DC efficiency of the AUV wireless charging device and d1 and d2. It can be seen that as d1 and d2 increase, the DC efficiency of the AUV wireless charging device decreases significantly. At the maximum transmission distance, the system efficiency is only 51%, while at the minimum transmission distance, the system efficiency reaches a maximum of 83%. This indicates that during the operation of the AUV wireless charging device, special attention should be paid to the coupling between the transmitting coil Lt0 and the receiving coil Lr1, and between the transmitting coil Lt1 and the receiving coil Lr2.

[0081] like Figure 10b As shown, Figure 10b The DC efficiency of the AUV wireless charging device is shown as a function of d s1 and d s2 By Figure 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.

[0082] Further supplementing a set of specific embodiment data, the effect of load change on output performance is analyzed as follows:

[0083] 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: Figure 11a and Figure 11b As shown. Figure 11a and Figure 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 influence of the second AUV device 302 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 equivalent internal resistance fluctuation of a single AUV device will not affect the normal charging of other AUV devices.

[0084] When the load of the AUV equipment changes, the efficiency of the AUV wireless charging device and the change of the input current of the transmitter are respectively as follows: Figure 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.

[0085] The present invention provides an AUV wireless charging device. This AUV wireless charging device includes a wireless charging station, a transmitter, and an AUV equipment cluster. 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 transmitter is composed of multiple cascaded mid-end transmitting units and a terminal transmitting unit; the AUV equipment cluster is composed of multiple independent AUV devices; and the AUV devices include receiving coils Lsn, compensation capacitors Csn, rectifier and filter units, and DC / DC converters. Compared to existing technologies, the AUV wireless charging device with the above structural features forms an energy transfer path from "wireless charging station -> cascaded transmitter -> AUV equipment cluster," enabling wireless charging of multiple cascaded AUV devices. This AUV wireless charging device offers numerous advantages, including high and stable charging efficiency, independent charging between group loads, load entry and exit without affecting the normal charging of other AUV devices, and flexible load quantity adaptation. It demonstrates great application potential in the field of wireless charging of marine AUV equipment clusters.

[0086] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection 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; Among them, the receiving coil Lrn, the receiving compensation capacitor Crn, the conduction compensation capacitor Cfn, and the conduction coil Lpn in the middle-end transmitting unit of the same level are sequentially connected in series; the transmitting compensation capacitor Ctn in the middle-end transmitting unit of the same level is connected in series with the transmitting coil Ltn, and then connected in parallel with the conduction compensation capacitor Cfn; the receiving coil LrN, the receiving compensation capacitor CrN, and the conduction coil LpN in the terminal transmitting unit are sequentially connected in series; 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; Among them, the receiving coil Lsn in the AUV equipment forms a one-to-one coupling relationship with the conducting coil Lpn of the middle transmitting unit or the conducting coil LpN in the terminal transmitting unit; 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 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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