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

Abstract

An all - sea - depth autonomous multi - point electromagnetic deployment device and method for wireless charging, which relates to the field of underwater robots. It solves the problem of how to achieve precise deployment and throwing tasks in the extreme pressure and corrosion environment of the deep sea without using heavy and expensive protection devices, while facilitating maintenance and improving the versatility of the device. The device includes a housing, a functional throwing module, a laser ranging sensor module, etc.; the receiving end of the wireless charging component, the laser ranging sensor module, the functional throwing module and the actuator are all built in the housing; the laser ranging sensor is installed at the bottom of the electromagnetic deployment device, and the laser ranging sensor module collects the position information of the submersible and sends the information to the micro - control unit, which is used to calculate the required buoyancy and position information by processing the position information collected by the laser ranging sensor module, so that the submersible can complete the pre - deployment. It is also applicable to various underwater vehicle fields including bionic soft robotic fish.

Description

Technical Field

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

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

[0003] At present, humans mainly rely on submersibles such as autonomous underwater vehicles (AUVs) and remotely operated vehicles (ROVs) to explore the ocean. However, in the prior art, rigid submersibles usually need to be equipped with pressure vessels or pressure compensation systems when detecting depths between 3000 meters and 11000 meters. However, even so, there is still a risk of structural damage under extreme pressures. Deep-sea exploration remains challenging. The deep-sea environment has characteristics such as high pressure, low temperature, darkness, and lack of communication. These conditions pose extremely high requirements for the materials, design, and reliability of 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 placement and throwing tasks without heavy and expensive protection devices in the deep-sea extreme pressure and corrosion environment, while being convenient for maintenance and improving the versatility of the device, has become a major concern for 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 placement and throwing tasks without heavy and expensive protection devices in the deep-sea extreme pressure and corrosion environment, while being convenient for maintenance and improving the versatility of the device.

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

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

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

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

[0010] A throwing tube is arranged inside the housing, and the functional throwing module is vertically placed in the throwing tube of the housing;

[0011] The laser ranging sensor is installed at the bottommost part 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 completes the pre-laying.

[0012] Further, a preferred embodiment is provided. The full-depth autonomous multi-point electromagnetic deployment device further includes a transmitting end of a wireless charging component. The transmitting end of the wireless charging component is an independent device. When the full-depth autonomous multi-point electromagnetic deployment device is disassembled, the transmitting end of the wireless charging component and the receiving end of the wireless charging component achieve wireless charging through electromagnetic induction.

[0013] Further, a preferred embodiment is provided. The full-depth autonomous multi-point electromagnetic deployment device further includes a lithium battery, and the lithium battery is placed in the housing after being encapsulated with silicone for waterproofing.

[0014] Further, a preferred embodiment is provided. The receiving end of the wireless charging component is arranged on one side of the lithium battery, and a silicone matrix is filled between the lithium battery and the receiving end of the wireless charging component for heat insulation protection.

[0015] Further, a preferred embodiment is provided. A throwing window is further arranged on the housing, and the throwing window is used to throw out the functional throwing module.

[0016] Further, a preferred embodiment is provided. The actuator is implemented by a push rod, and the push rod is installed in the inner groove of the actuator at the lower part of the housing.

[0017] Further, a preferred embodiment is provided. The throwing tube is cylindrical.

[0018] Further, a preferred embodiment is provided. The functional throwing module is implemented by any one of a lead ball or at least one sensor.

[0019] Further, a preferred embodiment is provided. The material of the push rod is silicon steel material.

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

[0021] S1. The laser ranging sensor module sends the collected position information of the submersible to the microcontroller unit for processing, and determines whether the functional payload module needs to perform a payload action;

[0022] S2. If it is determined that a payload is required, current is applied, and the push rod generates a force horizontally to the left. When the friction critical point with the functional payload module is reached, the functional payload module is pushed out into the external environment, generating a positive buoyancy force on the submersible body, i.e., causing the submersible body to float;

[0023] S3. After the payload action is completed, the current is cut off, the push rod moves horizontally to the right, and after returning to the initial state after reset, the all - sea - depth autonomous multi - point electromagnetic deployment task for wireless charging is completed.

[0024] The advantages of the present invention are as follows:

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

[0026] The present invention proposes a miniaturized and modular multi - point wireless charging deployment device for the precise placement and payload tasks in the all - sea - depth. When the submersible performs deep - sea exploration tasks, it can realize autonomous buoyancy adjustment, obstacle avoidance and emergency self - rescue. After installing other functional payloads, it can realize the precise placement of a variety of micro - sensors, and a detection array can be formed through multi - point deployment.

[0027] The electromagnetic device used in the present invention is applicable to the payload tasks in the all - sea - depth. The present invention can adjust the buoyancy according to different tasks and states of the submersible. When the present invention adjusts the buoyancy, it can maintain the stability of the center of gravity. The present invention uses an electromagnet and a mechanical push rod as the actuator, with the advantages of delicate structure, stability and reliability.

[0028] It is also applicable to various underwater vehicle fields including bionic soft robotic fish. Description of the Drawings

[0029] Figure 1 It is a structural schematic diagram of an all - sea - depth autonomous multi - point electromagnetic deployment device for wireless charging described in Embodiment 1.

[0030] Figure 2 It is a flowchart of an all - sea - depth autonomous multi - point electromagnetic deployment method for wireless charging described in Embodiment 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 further limits a full-depth autonomous multi-point electromagnetic deployment device for wireless charging described in Embodiment 1. A throw-off window 10 is further provided on the housing 1, and the throw-off window 10 is used to throw out the functional throw-off module 2.

[0040] Embodiment 6. This embodiment further limits a full-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 inner groove of the actuator at the lower part of the housing 1.

[0041] Embodiment 7. This embodiment further limits a full-depth autonomous multi-point electromagnetic deployment device for wireless charging described in Embodiment 1. The throw-off tube is cylindrical.

[0042] Embodiment 8. This embodiment further limits a full-depth autonomous multi-point electromagnetic deployment device for wireless charging described in Embodiment 1. The functional throw-off module is implemented by any one of lead balls or at least one sensor.

[0043] Embodiment 9. This embodiment further limits a full-depth autonomous multi-point electromagnetic deployment device for wireless charging described in Embodiment 5. The material of the push rod 6 is silicon steel material.

[0044] Embodiment 10. This embodiment proposes a full-depth autonomous multi-point electromagnetic deployment method for wireless charging. The method includes:

[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 judges whether the functional throw-off module 2 needs to perform a throw-off action.

[0046] S2. If it is determined that a throw-off is required, then an electric current is connected, and the push rod 6 generates a force horizontally to the left. When reaching the friction critical point with the functional throw-off module 2, the functional throw-off module 2 is pushed out into the external environment, causing a positive buoyancy on the submersible body, that is, making the submersible body float.

[0047] S3. After the throw-off action is completed, the electric current is cut off, the push rod 6 moves horizontally to the right, and after returning to the initial state after reset, the full-depth autonomous multi-point electromagnetic deployment task for wireless charging is completed.

[0048] Embodiment 11. This embodiment proposes an example, and the example is used to explain the above Embodiments 1 to 10. The example is specifically as follows:

[0049] See Figures 1 to 2Description of this embodiment: This embodiment is a fully submersible autonomous multi-point electromagnetic deployment device with wireless charging function. The device includes a housing 1, a functional throw-off 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 housing 9, a throw-off window 10, a wireless charging transmitting component 11, and a micro control unit 12. The introduction of each part is as follows:

[0050] Housing 1: The housing 1 is the overall outer shell, which is a complete rectangular housing.

[0051] Functional throw-off module 2: Circular balls, vertically placed in the cylindrical throw-off tube of the housing 1, and designed to place 6 balls.

[0052] Lithium battery 3: A rectangular lithium battery, which is placed in the housing 1 after being encapsulated with silicone for waterproofing. Specifically, it is installed behind the throw-off 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, actually installed on the left side of component 3. As shown in the figure, there is a certain distance from the lithium battery, and the middle is filled with silicone matrix for heat insulation protection.

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

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

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

[0057] Laser ranging sensor 8: A laser ranging module, installed at the bottom of the housing, directly contacting the external environment.

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

[0059] Throw-off window 10: The throw-off window, through which the functional throw-off module 2 is thrown out. After being thrown out, there is no structure at the bottom and it directly falls into the sea. The throw-off window is still essentially a part of the integrally designed housing. For the convenience of description, it is named the throw-off window.

[0060] Wireless charging transmitting component 11: The transmitting end of the wireless charging component. This is an independent device. When the entire module is disassembled, the wireless charging transmitting component 11 is used in cooperation with the wireless charging receiving component 4, and wireless charging can be realized by using the principle of electromagnetic induction.

[0061] Microcontroller Unit 12: A single-chip microcomputer, which is waterproofed with silicone and installed inside the housing 1. Specifically, it is installed in front of the ejection tube of the housing, occupying the main space of the front cavity of the housing.

[0062] The connection relationship is as follows: The fixed housing 1 is installed on the submersible body. The ejection window 10 is in contact with the external environment. The laser range finder sensor 8 is installed at the bottom of the electromagnetic deployment module. The whole device is fixed on the vertical line of the center of gravity at the bottom of the submersible. The rest of the components are all built into the fixed housing 1. The electromagnetic ejection device and the ejection position are controlled through the cooperation of sensors and circuit on-off. Lossless charging is achieved through the cooperation of the wireless charging receiving and transmitting modules.

[0063] In this embodiment, the functional ejection module 2 is a circular lead ejection. In the initial state, the spring 5 is in its original state, and the silicon steel push rod 6 stays inside the ejection window. When the submersible becomes heavier due to sample collection and generates negative buoyancy or needs to float over a seabed obstacle, after the microcontroller unit 12 of the submersible processes the data collected by the laser range finder sensor 8, if it is determined that buoyancy needs to be increased to float, the brass coil 7 is connected to an electric current. At this time, the silicon steel push rod 6 generates a horizontal leftward force under the action of the Maxwell force, and this force is greater than the deformation force generated by the spring 5 and the resistance that needs to be overcome to push out the circular lead preset ejection 2. When reaching the friction critical point with the preset ejection 2, the preset ejection 2 is ejected from the ejection window 10 to the external environment. The whole ejection module generates positive buoyancy, so that the submersible body generates positive buoyancy, causing the submersible body to float. After the ejection 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 reset; the microcontroller unit 12 carried by the submersible can also calculate the required buoyancy and position information according to the data collected by the sensors, and achieve precise ejection by controlling the on-off of the current multiple times, enabling the submersible to have a specific floating state and precisely deploy the preset functional components to complete various submersible tasks.

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

[0065] When the functional jettison module 2 is a lead ball, the electromagnetic device used in the present invention can be applicable to the jettison task at the full ocean depth. The present invention can adjust the buoyancy according to different tasks and different states of the submersible. When the present invention adjusts the buoyancy, it can maintain the stability of the center of gravity. The present invention uses an electromagnet and a mechanical push rod as the actuating mechanism, which has the advantages of delicate structure and stable reliability, and can be applicable to various underwater vehicles including bionic soft robotic fish.

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

[0067] Figure 2 Any process or method description shown in the flowchart or described in other ways herein can be understood to represent a module, segment, or portion of code including one or N executable instructions for implementing a customized logical function or process. The scope of the preferred embodiments of the present invention includes additional implementations, where the functions may be executed in a substantially simultaneous manner or in the reverse order according to the involved functions, rather than in the order shown or discussed. This should be understood by those skilled in the art 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 architectures, functions, and operations of the devices and methods according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagram may represent a module, a program segment, or a part of code, and the above-mentioned module, program segment, or part of code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than marked in the drawings. For example, two consecutive blocks shown may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the involved functions. It should also be noted that each block in the block diagram or flowchart, and the combination of blocks in the block diagram or flowchart, can be implemented by a dedicated hardware-based system for performing the specified functions or operations, or by a combination of dedicated hardware and computer instructions. For example, a defined sequence list that can be considered as executable instructions for implementing a logical function can be specifically implemented in any computer-readable medium for use by an instruction execution system, apparatus, or device such as a computer-based system, a system including a processor, or other systems that can fetch and execute instructions from the instruction execution system, apparatus, or device, or in combination with these instruction execution systems, apparatus, or devices.

[0068] Those skilled in the art can understand that the above is only the preferred embodiment of the present invention. The features described in various embodiments and / or claims of the present disclosure can be combined or combined in various ways, even if such combinations or combinations are not explicitly recorded in the present disclosure. It is not used to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or equivalently replace some of the technical features. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

[0069] Although the preferred embodiments of the present invention have been described, those skilled in the art can make additional changes and modifications once they know the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present invention. Obviously, those skilled in the art can make various changes and variations 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 equivalent technologies, the present invention is also intended to include these modifications and variations.

Claims

1. An all - sea - depth autonomous multi - point electromagnetic deployment device for wireless charging, characterized in that, The device includes a housing (1), an actuator, a functional jettison module (2), a receiving end (4) of a wireless charging component, and a laser ranging sensor module (8). The receiving end (4) of the wireless charging component, the laser ranging sensor module (8), the functional jettison module (2), and the actuator are all built into the housing (1); the housing (1) is installed on the submersible body. A jettison tube is arranged inside the housing (1), and the functional jettison module (2) is vertically placed in the jettison tube of the housing (1). The laser ranging sensor module (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 pre-set deployment.

2. The full-ocean-depth autonomous multi-point electromagnetic deployment device for wireless charging according to claim 1, characterized in that, The all-sea-depth autonomous multi-point electromagnetic deployment device further 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 all-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 achieve wireless charging through electromagnetic induction.

3. The full-ocean-depth autonomous multi-point electromagnetic deployment device for wireless charging according to claim 1, wherein The all-sea-depth autonomous multi-point electromagnetic deployment device further includes a lithium battery (3). The lithium battery (3) is placed in the housing (1) after being encapsulated with silicone for waterproofing.

4. The full-ocean-depth autonomous multi-point electromagnetic deployment device for wireless charging according to claim 3, wherein The receiving end (4) of the wireless charging component is arranged on one side of the lithium battery (3), and a silicone 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-ocean-depth autonomous multi-point electromagnetic deployment device for wireless charging according to claim 1, characterized in that A jettison window (10) is further arranged on the housing (1), and the jettison window (10) is used to jettison the functional jettison module (2).

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

7. The full-ocean-depth autonomous multi-point electromagnetic deployment device for wireless charging according to claim 1, wherein The jettison tube is cylindrical.

8. The full-ocean-depth autonomous multi-point electromagnetic deployment device for wireless charging according to claim 1, wherein The functional jettison module (2) is realized by using a lead ball or at least one sensor.

9. The full-ocean-depth autonomous multi-point electromagnetic deployment device for wireless charging according to claim 6, characterized in that The material of the push rod (6) is silicon steel material.

10. A full-sea-depth autonomous multi-point electromagnetic deployment method for wireless charging, characterized in that, The method is realized based on the device described in claim 6. The method includes: S1. The laser ranging sensor module (8) sends the collected position information of the submersible to the micro control unit (12) for processing, and judges whether the functional jettison module (2) needs to perform a jettison action. S2. If it is determined that a jettison is required, then current is connected, and the push rod (6) generates a force horizontally to the left. When reaching the friction critical point with the functional jettison module (2), the functional jettison module (2) generates positive buoyancy, so that the submersible body generates positive buoyancy, that is, the submersible body floats up. S3. After the jettison action is completed, the current is cut off, the push rod (6) moves horizontally to the right, and after returning to the initial state after reset, the all-sea-depth autonomous multi-point electromagnetic deployment task for wireless charging is completed.

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