Full-sea-depth autonomous multi-point electromagnetic deployment device and method for wireless charging

Abstract

The invention discloses a full-sea-depth autonomous multi-point electromagnetic deployment device and method for wireless charging, and relates to the field of underwater robots. The problem that how to achieve accurate laying and load rejection tasks without a heavy and expensive protection device in deep sea extreme pressure and corrosion environments at present is solved, meanwhile, maintenance is facilitated, and the universality of the device is improved. The device comprises a shell, a function load rejection module, a laser ranging sensor module and the like. The receiving end of the wireless charging assembly, the laser distance measuring sensor module, the function load rejection module and the execution mechanism are all arranged in the shell. The laser distance measuring sensor is installed at the lowest part of the electromagnetic deployment device, and the laser distance measuring sensor module collects position information of the underwater vehicle and sends the information to the micro-control unit, and is used for processing the position information of the underwater vehicle collected by the laser distance measuring sensor module and calculating required buoyancy and position information, so that the underwater vehicle completes deployment and presetting. And the method is also suitable for the field of various underwater vehicles including bionic soft robotic fishes.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater robots, and in particular to a full-sea-depth autonomous multi-point electromagnetic deployment device and a deployment method for wireless charging. Background Art

[0002] Exploring the ocean has always been the dream of mankind. The vast ocean contains rich biological resources, mineral resources, energy resources and water resources. Exploring the ocean is of great significance to resource development and sustainable utilization, climate change research, marine ecological security, marine geology and earth evolution.

[0003] At present, human exploration of the ocean mainly relies on autonomous underwater vehicles (AUVs) and remotely operated vehicles (ROVs). However, the rigid submersibles commonly used in the prior art must be equipped with pressure vessels or pressure compensation systems when detecting sea depths between 3,000 and 11,000 meters. However, even so, there is a risk of structural damage under extreme pressure. Deep-sea exploration is still challenging. The deep-sea environment is characterized by high pressure, low temperature, darkness, and lack of communication. These conditions place extremely high demands on the materials, design, and reliability of the equipment. Deep-sea equipment must be able to withstand huge pressure and temperature changes while maintaining high-precision operating performance.

[0004] In summary, how to achieve precise deployment and jettisoning tasks in the extreme pressure and corrosive environment of the deep sea without the need for heavy and expensive protective equipment, while facilitating maintenance and improving the versatility of the equipment, has become a major focus of future deep-sea exploration. Summary of the invention

[0005] The present invention aims to solve the problem in the prior art of how to achieve precise deployment and dumping tasks in the extreme pressure and corrosive environment of the deep sea without heavy and expensive protective devices, while facilitating maintenance and improving the versatility of the device.

[0006] To solve the above technical problems, the present invention is achieved through the following technical solutions:

[0007] Solution 1: The present invention proposes a full-sea-depth autonomous multi-point electromagnetic deployment device for wireless charging, the device comprising a housing, an actuator, a functional dumping module, a receiving end of a wireless charging component, and a laser ranging sensor module;

[0008] The receiving end, laser ranging sensor module, functional load dumping module and actuator of the wireless charging component are all built into the housing;

[0009] The housing is mounted on the submersible body;

[0010] A jettison tube is provided in the shell, and the functional jettison module is vertically placed in the jettison tube of the shell;

[0011] The laser ranging sensor is installed at the bottom of the electromagnetic deployment device. The laser ranging sensor module collects the position information of the submersible and sends the position information of the submersible to the micro control unit. The micro control unit is used to process the position information of the submersible collected by the laser ranging sensor module to calculate the required buoyancy and position information, so that the submersible can complete the deployment preset.

[0012] Furthermore, a preferred embodiment is provided, wherein the full-sea-depth autonomous multi-point electromagnetic deployment device also includes a transmitting end of a wireless charging component, and the transmitting end of the wireless charging component is an independent device. When the full-sea-depth autonomous multi-point electromagnetic deployment device is removed, the transmitting end of the wireless charging component and the receiving end of the wireless charging component realize wireless charging through electromagnetic induction.

[0013] Furthermore, a preferred embodiment is provided, wherein the full-sea-depth autonomous multi-point electromagnetic deployment device also includes a lithium battery, and the lithium battery is placed in a shell after being sealed with silicone waterproof packaging.

[0014] Furthermore, a preferred embodiment is provided, wherein the receiving end of the wireless charging component is arranged on one side of the lithium battery, and a silica gel matrix is ​​filled between the lithium battery and the receiving end of the wireless charging component for heat insulation protection.

[0015] Furthermore, a preferred embodiment is provided, wherein a jettisoning window is provided on the shell, and the jettisoning window is used for ejecting the functional jettisoning module.

[0016] Furthermore, a preferred embodiment is provided, wherein the actuator is implemented by a push rod, and the push rod is installed in an inner groove of the actuator at the lower part of the shell.

[0017] Furthermore, a preferred embodiment is provided, wherein the jettison tube is cylindrical.

[0018] Furthermore, a preferred embodiment is provided, wherein the functional load dumping module is implemented by using any one of a lead ball or at least one sensor.

[0019] Furthermore, a preferred embodiment is provided, wherein the push rod is made of silicon steel.

[0020] Solution 2: A full-sea-depth autonomous multi-point electromagnetic deployment method for wireless charging, the method comprising:

[0021] S1, the laser ranging sensor module collects the position information of the submersible and sends it to the micro control unit for processing to determine whether the functional dumping module needs to perform a dumping action;

[0022] S2. If it is determined that dumping is necessary, current is connected, and the push rod generates a horizontal force to the left. When the friction critical point with the functional dumping module is reached, the functional dumping module is pushed out to the external environment, so that the submersible body generates positive buoyancy, that is, the submersible body floats up;

[0023] S3. After the load jettisoning action is completed, the current is cut off, the push rod moves horizontally to the right, and returns to the initial state after resetting, completing the full-sea-depth autonomous multi-point electromagnetic deployment mission for wireless charging.

[0024] The present invention is beneficial in that:

[0025] The present invention discloses a full-sea-depth autonomous multi-point electromagnetic deployment device and deployment method for wireless charging. The wireless charging component, laser ranging sensor module, functional jettisoning module and actuator are all built into the shell, and the shell is fixed above the plumb line of the center of gravity of the submersible. After processing the position information of the submersible, the laser sensor module can control the electromagnet through the on-off circuit, and then launch a preset jettisoning module with specific functions at a specific sea depth. The wireless charging and modular design enable the present invention to achieve lossless charging and has high portability.

[0026] The present invention proposes a miniaturized, modular multi-point wireless charging deployment device for the precise deployment and jettisoning missions at the entire ocean depth. The device can realize autonomous buoyancy adjustment, obstacle avoidance and emergency self-rescue when the submersible performs deep-sea exploration missions. After other functional jettisoning objects are built in, a variety of micro sensors can be precisely deployed, and a detection array can be formed by multi-point deployment.

[0027] The electromagnetic device used in the present invention can be applicable to full-sea-depth load-dumping tasks. The present invention can adjust the buoyancy according to different tasks and states of the submersible. The present invention can keep the center of gravity stable when adjusting the buoyancy. The present invention uses electromagnets and mechanical push rods as actuators, which have the advantages of sophisticated structure, stability and reliability.

[0028] It is also applicable to various underwater vehicle fields including bionic soft robot fish. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 This is a schematic structural diagram of a full-sea-depth autonomous multi-point electromagnetic deployment device for wireless charging as described in Implementation Example 1.

[0030] Figure 2 This is a flow chart of a full-sea-depth autonomous multi-point electromagnetic deployment method for wireless charging as described in Implementation Method 2. DETAILED DESCRIPTION

[0031] In order to make the purpose, technical solutions and advantages of the implementation methods of the present application clearer, the technical solutions in the implementation methods of the present application will be clearly and completely described below in conjunction with the drawings in the implementation methods of the present application. Obviously, the described implementation methods are only part of the implementation methods of the present application, not all of the implementation methods.

[0032] Embodiment 1: This embodiment provides a full-sea-depth autonomous multi-point electromagnetic deployment device for wireless charging, the device comprising a shell 1, an actuator, a functional load-dumping module 2, a receiving end 4 of a wireless charging component, and a laser ranging sensor module 8.

[0033] The receiving end 4, the laser ranging sensor module 8, the functional dumping module 2 and the actuator of the wireless charging component are all built into the shell 1, and the shell 1 is installed on the submersible body.

[0034] A jettison pipe is disposed in the housing 1 , and the functional jettison module 2 is vertically placed in the jettison pipe of the housing 1 .

[0035] The laser ranging sensor 8 is installed at the bottom of the electromagnetic deployment device. The laser ranging sensor module 8 collects the position information of the submersible and sends the position information of the submersible to the micro control unit 12. The micro control unit 12 is used to process the position information of the submersible collected by the laser ranging sensor module 8 to calculate the required buoyancy and position information, so that the submersible can complete the deployment preset.

[0036] Embodiment 2. This embodiment is a further limitation of the full-sea-depth autonomous multi-point electromagnetic deployment device for wireless charging described in embodiment 1. The full-sea-depth autonomous multi-point electromagnetic deployment device also includes a transmitting end 11 of a wireless charging component. The transmitting end 11 of the wireless charging component is an independent device. When the full-sea-depth autonomous multi-point electromagnetic deployment device is removed, the transmitting end 11 of the wireless charging component and the receiving end 4 of the wireless charging component realize wireless charging through electromagnetic induction.

[0037] Implementation method three. This implementation method is a further limitation of the full-sea-depth autonomous multi-point electromagnetic deployment device for wireless charging described in implementation method one. The full-sea-depth autonomous multi-point electromagnetic deployment device also includes a lithium battery 3, and the lithium battery 3 is placed in the shell 1 after being sealed with silicone waterproof packaging.

[0038] Embodiment 4. This embodiment is a further limitation of the full-sea-depth autonomous multi-point electromagnetic deployment device for wireless charging described in Embodiment 3. The receiving end 4 of the wireless charging component is arranged on one side of the lithium battery 3, and the lithium battery 3 and the receiving end 4 of the wireless charging component are filled with a silicone matrix for heat insulation protection.

[0039] Embodiment 5. This embodiment is a further limitation of the full-sea-depth autonomous multi-point electromagnetic deployment device for wireless charging described in Embodiment 1. A jettisoning window 10 is also provided on the shell 1, and the jettisoning window 10 is used to eject the functional jettisoning module 2.

[0040] Embodiment 6. This embodiment is a further limitation of the full-sea-depth autonomous multi-point electromagnetic deployment device for wireless charging described in Embodiment 1. The actuator is implemented by a push rod 6, and the push rod 6 is installed in the actuator inner groove at the lower part of the shell 1.

[0041] Embodiment 7: This embodiment further limits the full-sea-depth autonomous multi-point electromagnetic deployment device for wireless charging described in embodiment 1, and the jettisoning tube is cylindrical.

[0042] Embodiment 8. This embodiment further limits the full-sea-depth autonomous multi-point electromagnetic deployment device for wireless charging described in embodiment 1, and the functional loading module is implemented by using any one of a lead ball or at least one sensor.

[0043] Embodiment 9: This embodiment is a further limitation of the full-sea-depth autonomous multi-point electromagnetic deployment device for wireless charging described in Embodiment 9, and the material of the push rod 6 is silicon steel.

[0044] Embodiment 10: This embodiment proposes a full-sea-depth autonomous multi-point electromagnetic deployment method for wireless charging, the method comprising:

[0045] S1, the laser ranging sensor module 8 sends the collected position information of the submersible to the micro control unit 12 for processing, and determines whether the functional dumping module 2 needs to perform a dumping action;

[0046] S2. If it is determined that dumping is required, current is connected, and the push rod 6 generates a horizontal force to the left. When the friction critical point with the functional dumping module 2 is reached, the functional dumping module 2 is pushed out to the external environment, so that the submersible body generates positive buoyancy, that is, the submersible body floats up;

[0047] S3. After the load jettisoning action is completed, the current is cut off, and the push rod 6 moves horizontally to the right. After resetting, it returns to the initial state, completing the full-sea-depth autonomous multi-point electromagnetic deployment task for wireless charging.

[0048] Implementation eleven: This implementation provides an example, which is used to explain the above implementations one to ten. The specific example is as follows:

[0049] See also Figure 1 to Figure 2The present embodiment is described. The present embodiment is a wirelessly rechargeable full-sea-depth autonomous multi-point electromagnetic deployment device. The device includes a housing 1, a functional jettisoning module 2, a lithium battery 3, a wireless charging receiving component 4, a spring 5, a silicon steel push rod 6, a brass coil 7, a laser ranging sensor 8, a silicon steel inner shell 9, a jettisoning window 10, a wireless charging transmitting component 11, and a micro control unit 12. The various parts are described as follows:

[0050] Shell 1: Shell 1 is an integral outer shell, which is a complete rectangular shell.

[0051] Functional jettisoning module 2: A round ball is placed vertically in the cylindrical jettisoning tube of the shell 1, and is designed to hold 6 balls.

[0052] Lithium battery 3: A rectangular lithium battery, which is placed in the housing 1 after being waterproofed with silicone, and is specifically installed behind the jettison tube of the housing, occupying the main space of the rear cavity of the housing.

[0053] Wireless charging receiving component 4: The receiving end of the wireless charging component is actually installed on the left side of component 3, as shown in the figure. It is separated from the lithium battery by a certain distance and filled with a silicone matrix in the middle for heat insulation protection.

[0054] Spring 5: The spring is installed in the inner groove of the actuator at the lower part of the housing, and cooperates with the push rod 6 and the silicon steel inner shell 9.

[0055] Push rod 6: Silicon steel push rod, installed in the inner groove of the actuator at the lower part of the housing, cooperates with the component spring 5, brass coil 7, and silicon steel inner shell 9.

[0056] Brass coil 7: Brass coil, installed in the inner groove of the actuator at the lower part of the shell, cooperates with the push rod 6 and the silicon steel inner shell 9.

[0057] Laser distance sensor 8: The laser distance measurement module is installed at the bottom of the housing and is in direct contact with the external environment.

[0058] Silicon steel inner shell 9: The silicon steel inner shell is installed in the inner groove of the actuator at the lower part of the shell, and cooperates with the spring 5, the push rod 6, and the brass coil 7.

[0059] Jetting window 10: The jettisoning window, from which the functional jettisoning module 2 is jettisoned. After being jettisoned, there is no structure at the bottom and it falls directly into the sea. The jettisoning window is essentially still a part of the shell of integrated design. For the convenience of description, it is named as the jettisoning window.

[0060] Wireless charging transmitter component 11: The transmitter end of the wireless charging component, which is an independent device. When the entire module is disassembled, the wireless charging transmitter component 11 is used in conjunction with the wireless charging receiving component 4 to achieve wireless charging using the principle of electromagnetic induction.

[0061] The microcontroller unit 12 is a single chip microcomputer, which is installed inside the housing 1 after being waterproofed with silicone, specifically in front of the jettisoning tube of the housing, and occupies the main space of the front cavity of the housing.

[0062] The connection relationship is as follows: the fixed shell 1 is installed on the submersible body, the jettisoning window 10 is in contact with the external environment, the laser ranging sensor 8 is installed at the bottom of the electromagnetic deployment module, the entire device is fixed on the plumb line of the local bottom center of gravity of the submersible, and the remaining components are all built into the fixed shell 1. The electromagnetic jettisoning device and the setting of the jettisoning position are controlled by the cooperation of sensors and circuits, and lossless charging is achieved through the cooperation of the wireless charging receiving and transmitting modules.

[0063] In this embodiment, the functional dumping module 2 is a round lead dumping load. In the initial state, the spring 5 is in its original state, and the silicon steel push rod 6 stays on the inside of the dumping window. When the sample collected by the submersible becomes heavier and generates negative buoyancy or needs to float up to cross the seabed obstacle, the submersible micro control unit 12 processes the data collected by the laser ranging sensor 8. If it is determined that the buoyancy needs to be increased to float up, the brass coil 7 is connected to the current. At this time, the silicon steel push rod 6 generates a horizontal left force under the action of the Maxwell force, and the force is greater than the deformation force generated by the spring 5 and the resistance that needs to be overcome to push out the round lead preset dumping load 2. When the friction critical point with the preset dumping load 2 is reached, the silicon steel push rod 6 is pushed to the left. When the boundary point is reached, the preset dumping load 2 is thrown out from the dumping window 10 into the external environment, and the entire dumping load module generates positive buoyancy, thereby causing the submersible body to generate positive buoyancy, causing the submersible body to float up. After the dumping is completed, the current of the brass coil 7 is cut off. At this time, the silicon steel push rod 6 moves horizontally to the right due to the deformation force of the spring 5, and returns to the initial state after resetting. The microcontroller unit 12 carried by the submersible can also calculate the required buoyancy and position information based on the data collected by the sensor, and realize precise dumping by controlling the multiple on and off of the current, so that the submersible has a specific floating state and accurately deploys the preset functional components to complete various diving tasks.

[0064] The wireless charging receiving component 4, wireless charging transmitting component 11, laser ranging sensor module 8, functional jettisoning module 2 and actuator described in this embodiment are all built into the shell 1, and the shell is fixed above the plumb line of the center of gravity of the submersible. After processing the position information of the submersible, the laser sensor module can control the electromagnet through the on-off circuit, and then launch a preset jettisoning module with specific functions at a specific sea depth. The wireless charging and modular design enable the present invention to achieve lossless charging and has high portability.

[0065] When the functional jettisoning module 2 is a lead ball, the electromagnetic device used in the present invention can be applicable to jettisoning tasks at full sea depth. The present invention can adjust the buoyancy according to different tasks and states of the submersible. The present invention can maintain a stable center of gravity when adjusting the buoyancy. The present invention uses electromagnets and mechanical push rods as actuators, which have the advantages of sophisticated structure, stability and reliability, and can be applicable to a variety of underwater vehicles including bionic soft robot fish.

[0066] When the functional jettisoning module 2 is other small functional modules, such as magnetic field sensors, single-field sensors, blue-green active / passive lasers, chemical substance detectors or deep-sea light sources, the electromagnetic device used in the present invention can be applicable to full-sea depth deployment tasks, with precise and flexible deployment, and can form a three-dimensional multi-level deployment in breadth and vertical scale directions.

[0067] Figure 2 Any process or method description in the flowchart described in or otherwise described herein can be understood as representing a module, fragment or portion of a code including one or N executable instructions for implementing the steps of a custom logic function or process, and the scope of the preferred embodiment of the present invention includes other implementations, in which the functions may not be performed in the order shown or discussed, including in a substantially simultaneous manner or in a reverse order according to the functions involved, which should be understood by a person skilled in the art of the technical field to which the embodiments of the present invention belong. The logic and / or steps represented in the flowchart or described in other ways herein illustrate the possible implementation architecture, functions and operations of the apparatus and methods according to various embodiments of the present disclosure. In this regard, each box in the flowchart or block diagram may represent a module, a program segment or a portion of a code, and the above-mentioned module, program segment or a portion of a code contains one or more executable instructions for implementing the specified logic function. It should also be noted that in some alternative implementations, the functions marked in the box may also occur in an order different from that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in reverse order, depending on the functions involved. It is also noted that each block in the block diagram or flowchart, and the combination of blocks in the block diagram or flowchart, may be implemented by a dedicated hardware-based system that performs the specified function or operation, or may be implemented by a combination of dedicated hardware and computer instructions. For example, it may be considered as an ordered list of executable instructions for implementing a logical function, which may be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus, such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions, or used in conjunction with such instruction execution systems, devices or apparatuses.

[0068] Those skilled in the art will appreciate that the above are only preferred embodiments of the present invention, and the various embodiments of the present disclosure and / or the features described in the claims may be combined or combined in various ways, even if such combinations or combinations are not explicitly described in the present disclosure. It is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art may still modify the technical solutions described in the aforementioned embodiments, or perform equivalent substitutions on some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention shall be included in the protection scope of the present invention.

[0069] Although preferred embodiments of the present invention have been described, additional changes and modifications may be made to these embodiments by those skilled in the art once the basic inventive concepts are known. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention. Obviously, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A full-sea-depth autonomous multi-point electromagnetic deployment device for wireless charging, characterized in that: The device comprises a housing (1), an actuator, a functional load dumping module (2), a receiving end of a wireless charging component (4), and a laser distance measuring sensor module (8); The receiving end (4) of the wireless charging component, the laser ranging sensor module (8), the functional load dumping module (2) and the actuator are all built into the housing (1); the housing (1) is mounted on the submersible body; A jettison tube is provided in the housing (1), and the functional jettison module (2) is vertically placed in the jettison tube of the housing (1); The laser ranging sensor (8) is installed at the bottom of the electromagnetic deployment device. The laser ranging sensor module (8) collects the position information of the submersible and sends the position information of the submersible to the micro control unit (12). The micro control unit (12) is used to process the position information of the submersible collected by the laser ranging sensor module (8) to calculate the required buoyancy and position information, so that the submersible completes the deployment preset.

2. The full-sea-depth autonomous multi-point electromagnetic deployment device for wireless charging according to claim 1 is characterized in that: The full-sea-depth autonomous multi-point electromagnetic deployment device also includes a transmitting end (11) of a wireless charging component. The transmitting end (11) of the wireless charging component is an independent device. When the full-sea-depth autonomous multi-point electromagnetic deployment device is removed, the transmitting end (11) of the wireless charging component and the receiving end (4) of the wireless charging component realize wireless charging through electromagnetic induction.

3. The full-sea-depth autonomous multi-point electromagnetic deployment device for wireless charging according to claim 1 is characterized in that: The full-sea-depth autonomous multi-point electromagnetic deployment device also includes a lithium battery (3), and the lithium battery (3) is placed in the housing (1) after being sealed with silicone waterproof packaging.

4. The full-sea-depth autonomous multi-point electromagnetic deployment device for wireless charging according to claim 3 is characterized in that: The receiving end (4) of the wireless charging component is arranged on one side of the lithium battery (3), and a silica gel matrix is ​​filled between the lithium battery (3) and the receiving end (4) of the wireless charging component for heat insulation protection.

5. The full-sea-depth autonomous multi-point electromagnetic deployment device for wireless charging according to claim 1 is characterized in that: The housing (1) is also provided with a jettison window (10), and the jettison window (10) is used to eject the functional jettison module (2).

6. The full-sea-depth autonomous multi-point electromagnetic deployment device for wireless charging according to claim 1 is characterized in that: The actuator is implemented by a push rod (6), and the push rod (6) is installed in an actuator inner groove at the lower part of the housing (1).

7. The full-sea-depth autonomous multi-point electromagnetic deployment device for wireless charging according to claim 1 is characterized in that: The jettison tube is cylindrical.

8. The full-sea-depth autonomous multi-point electromagnetic deployment device for wireless charging according to claim 1 is characterized in that: The functional load dumping module (2) is implemented by using any one of a lead ball or at least one sensor.

9. The full-sea-depth autonomous multi-point electromagnetic deployment device for wireless charging according to claim 5 is characterized in that: The push rod (6) is made of silicon steel.

10. A full-sea-depth autonomous multi-point electromagnetic deployment method for wireless charging, characterized in that: The method comprises: S1, the laser distance measuring sensor module (8) sends the collected position information of the submersible to the micro control unit (12) for processing, and determines whether the functional dumping module (2) needs to perform a dumping action; S2. If it is determined that dumping is required, current is connected, and the push rod (6) generates a horizontal force to the left. When the friction critical point with the functional dumping module (2) is reached, the functional dumping module (2) generates positive buoyancy, so that the submersible body generates positive buoyancy, that is, the submersible body floats up; S3. After the load jettisoning action is completed, the current is cut off, and the push rod (6) moves horizontally to the right. After the reset is completed, it returns to the initial state, completing the full-sea-depth autonomous multi-point electromagnetic deployment task for wireless charging.

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