Underwater wireless charging intelligent mother port platform for unmanned vehicle with integration of power generation, storage and charging

Abstract

The invention discloses an underwater wireless charging intelligent mother port platform for a power generation, storage and charging integrated unmanned vehicle. The underwater wireless charging intelligent mother port platform comprises a power generation system, an energy storage system and an underwater charging system, wherein the power generation system is used for generating electric energy by adopting multiple power generation modes; the energy storage system is used for storing the electric energy and providing the electric energy for the underwater charging system; the underwater charging system comprises a contactor dispatching unit and a contactor butt joint unit. The contactor scheduling unit is used for matching a cable laying type wireless charging contactor I for the unmanned aircraft; the unmanned vehicle is provided with a matched cable laying type wireless charging contactor II, and the contactor butt joint unit is used for achieving three-stage positioning butt joint of the wireless charging contactor I and the wireless charging contactor II. According to the invention, the distribution of charging resources can be optimized, the accuracy and safety of charging docking can be improved, and the unmanned underwater vehicle can be ensured to be charged quickly and safely.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater wireless charging, and more specifically to an underwater wireless charging smart home port platform for unmanned aerial vehicles with integrated power generation, storage and charging. Background Art

[0002] Unmanned Underwater Vehicles (UUVs) are increasingly used in the marine field, playing an important role in marine survey, resource exploration, facility maintenance, search and rescue, national defense and security, etc. However, the development of underwater unmanned vehicles currently faces some technical bottlenecks, including:

[0003] Existing underwater unmanned vehicles mainly rely on built-in batteries for power supply, which limits their endurance. Due to the limited battery capacity, underwater unmanned vehicles need to frequently surface or be recovered to the mother ship for charging, which is not only time-consuming and labor-intensive, but also increases the mission cost and reduces the efficiency of continuous operation. In addition, the complexity and variability of the marine environment require that the supply system have good corrosion resistance, impact resistance and pressure resistance, but the existing technology is still insufficient in meeting these requirements.

[0004] Although wireless charging technology is relatively mature in land applications, its application in underwater environments still faces many challenges, such as efficient charging and equipment protection. The high cost of existing systems also limits the widespread application and promotion of underwater wireless charging technology.

[0005] In view of the limitations and shortcomings of the above-mentioned background technology, the present invention proposes an underwater wireless charging platform for unmanned aerial vehicles. Summary of the invention

[0006] In view of this, in order to at least partially solve the above-mentioned technical problems, the present invention provides an underwater wireless charging smart home port platform for unmanned aerial vehicles with integrated power generation, storage and charging.

[0007] In order to achieve the above object, the present invention adopts the following technical solution:

[0008] An underwater wireless charging smart home port platform for unmanned aerial vehicles with integrated power generation, storage and charging, including a power generation system, an energy storage system and an underwater charging system;

[0009] A power generation system for generating electrical energy using a variety of power generation methods;

[0010] An energy storage system, used to store the electric energy and provide electric energy for the underwater charging system;

[0011] An underwater charging system, including a contactor dispatching unit and a contactor docking unit;

[0012] The contactor dispatching unit is used to match the first cable-releasing wireless charging contactor for the unmanned aerial vehicle; the unmanned aerial vehicle has a matching second cable-releasing wireless charging contactor.

[0013] The contactor docking unit is used to realize the three-level positioning docking of the wireless charging contactor 1 and the wireless charging contactor 2.

[0014] Preferably, the contactor scheduling unit comprises:

[0015] The load balancing module is used to preliminarily determine the range of available contactors based on the load conditions of the smart mother port platform;

[0016] The scheduling optimization algorithm module is used to perform a multi-objective optimization algorithm with the shortest charging time, the lowest energy consumption and the shortest sailing distance as the goals to optimize the range of available contactors;

[0017] The contactor intelligent allocation module is used to receive the power demand and estimated charging time of the unmanned aerial vehicle, and allocate contactors to the unmanned aerial vehicle based on the optimized available contactor range in combination with the contactor load condition and underwater environmental factors.

[0018] The above modules work together to achieve efficient and intelligent contactor allocation and management.

[0019] Preferably, the contactor scheduling unit further comprises:

[0020] The docking sequence dynamic adjustment module is used to dynamically adjust the docking sequence of the unmanned aerial vehicles and the allocated contactors when allocating contactors to multiple unmanned aerial vehicles at the same time, according to the mission priority, power criticality and access time window of the unmanned aerial vehicles, to ensure that multiple unmanned aerial vehicles can dock with the cable-release wireless charging contactors efficiently and orderly.

[0021] Preferably, the unmanned aerial vehicle has a built-in vehicle status monitoring module for monitoring the power status, estimated charging time and mission priority of each aircraft in real time, and generating charging requirements based on this information.

[0022] Preferably, the contactor scheduling unit further comprises:

[0023] Load feedback and intelligent optimization module, used to monitor contactor load data in real time to judge abnormalities, and automatically adjust the power output of the contactor to balance the overall load and avoid local overload;

[0024] Data analysis and optimization decision support module, which is used to accumulate and analyze data during the charging process, optimize the scheduling strategy, reduce the waiting time of unmanned aerial vehicles and improve charging efficiency;

[0025] Platform feedback and self-learning module: used to optimize the scheduling algorithm based on historical data and real-time feedback data to adapt to different environments, UAV types and mission modes.

[0026] The above modules together ensure the efficient operation and continuous improvement of the system.

[0027] Preferably, the contactor docking unit comprises:

[0028] A position sending module is used to receive the contactor information assigned by the contactor dispatching unit and then broadcast the position of the smart home port platform through radio waves to facilitate the preliminary positioning of the unmanned aerial vehicle;

[0029] The sea area monitoring module is used to send instructions to obtain the identity information of the unmanned aerial vehicle when the unmanned aerial vehicle enters the monitored sea area;

[0030] The first identity verification module stores the aircraft database internally and is used to compare the identity information of the unmanned aircraft and verify the docking authority. After the verification is passed, the contactor location information assigned by the contactor scheduling unit is sent to the unmanned aircraft;

[0031] The aircraft sensing module is used to monitor and sense the unmanned aircraft. When the unmanned aircraft is sensed, it sends a command to the unmanned aircraft to release the cable and obtain the identity information of the unmanned aircraft again, and wakes up the identity authentication module 2 at the same time;

[0032] Identity verification module 2 is used to perform secondary docking authority verification on the identity information of the unmanned aerial vehicle. After the verification is passed, the contactor position information assigned by the current contactor scheduling unit is sent to the unmanned aerial vehicle to complete the docking.

[0033] Preferably, the three-level positioning docking process of the wireless charging contactor 1 and the wireless charging contactor 2 includes:

[0034] At the first level, after the contactor docking unit receives the wireless charging contactor information assigned by the contactor scheduling unit, it sends the location of the smart home port platform through radio waves to achieve the initial positioning of the unmanned aerial vehicle on the smart home port platform;

[0035] In the second level, when the unmanned vehicle enters the sea area of ​​the platform, the contactor docking unit sends a command to the unmanned vehicle, causing the unmanned vehicle to send identity information for verification; after the verification is passed, the contactor docking unit sends the location information of the wireless charging contactor 1 to guide the unmanned vehicle to the wireless charging contactor 1;

[0036] At the third level, when the contactor docking unit senses that the unmanned aerial vehicle has arrived near wireless charging contactor 1, it sends a command to make the unmanned aerial vehicle release the cable and send the identity information again. After the verification is passed, the contactor docking unit sends the precise positioning of the current wireless charging contactor 1, and guides the navigation of the unmanned aerial vehicle to achieve the docking of wireless charging contactor 1 and wireless charging contactor 2.

[0037] Preferably, it also includes a base station module and a communication module;

[0038] The communication module communicates with the ground control station or the unmanned aerial vehicle through the base station module.

[0039] Preferably, the power generation system comprises a photovoltaic power generation unit, a wind power generation unit, a tidal power generation unit, a wave power generation unit and / or a gas power generation unit.

[0040] Preferably, the energy storage system includes a lithium battery, a lithium titanate energy storage system and a high-efficiency energy density supercapacitor.

[0041] Through the above technical solutions, it can be known that the present invention discloses an underwater wireless charging smart home port platform for unmanned aerial vehicles with integrated power generation, storage and charging, which can extend the battery life of the unmanned aerial vehicle and improve operating efficiency; that is, through this application, the unmanned aerial vehicle can achieve continuous energy replenishment, thereby extending its underwater operating time, reducing the number of charging times, and improving mission continuity and operating efficiency.

[0042] Compared with the prior art, the beneficial effects of this application include:

[0043] (1) Through the intelligent scheduling system, the allocation of charging resources can be optimized, the overall efficiency and reliability of the charging platform can be improved, and the underwater unmanned vehicle can be charged quickly and safely.

[0044] (2) A comprehensive three-level underwater positioning method is adopted, combining multiple positioning technologies, such as sonar and satellite positioning, to achieve accurate positioning and navigation of underwater vehicles, improve the accuracy and safety of charging and docking, and adapt to the complex and changeable marine environment.

[0045] Through the design and implementation of an underwater wireless charging platform, this application effectively overcomes the technical bottlenecks of existing underwater unmanned vehicles, improves operational efficiency, reduces costs, enhances data transmission capabilities, and improves system reliability and safety, providing strong support for the application of underwater unmanned vehicles in the marine field. It has broad application prospects and significant technical advantages. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0047] Figure 1 This is a structural schematic diagram of the underwater wireless charging smart home port platform for unmanned aerial vehicles with integrated power generation, storage and charging according to the present invention.

[0048] Figure 2 It is a schematic diagram of the structure of the contactor scheduling unit of the present invention.

[0049] Figure 3 It is a schematic diagram of the structure of the contactor docking unit of the present invention. DETAILED DESCRIPTION

[0050] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0051] The embodiment of the present invention discloses an underwater wireless charging smart home port platform for unmanned aerial vehicles with integrated power generation, storage and charging. Through systematic design, energy replenishment and comprehensive management of surface and underwater unmanned aerial vehicles based on underwater wireless charging technology are realized. Combined with green energy power generation, storage and charging technology, energy and data support for long-term stable operation of underwater vehicles is provided.

[0052] Furthermore, through a comprehensive three-level underwater positioning system, using advanced underwater and surface positioning technologies, including sonar, satellite positioning and other positioning methods, it is ultimately possible to achieve accurate positioning and navigation of underwater vehicles in a trusted environment, thereby improving the accuracy and safety of underwater operations.

[0053] This application realizes the intelligent management of underwater charging network through the close cooperation of multiple core modules, and improves the charging efficiency and system stability. This embodiment combines the integrated architecture of "generation-storage-charging", three-level underwater positioning and intelligent management, and solves the key problems of energy supply, positioning navigation and system management under the safety precautions of underwater unmanned vehicles, which is significantly innovative and practical.

[0054] In one embodiment, referring to Figure 1 , Figure 1For this application, a schematic diagram of the structure of the underwater wireless charging smart home port platform for unmanned aerial vehicles with integrated storage and charging is issued;

[0055] In this embodiment, the smart home port platform includes a power generation system, an energy storage system, and an underwater charging system;

[0056] A power generation system for generating electrical energy using a variety of power generation methods;

[0057] An energy storage system, used to store the electric energy and provide electric energy for the underwater charging system;

[0058] An underwater charging system, including a contactor dispatching unit and a contactor docking unit, is used to ensure efficient, safe and reliable charging efficiency;

[0059] The contactor dispatching unit is used to match the first cable-releasing wireless charging contactor for the unmanned aerial vehicle; the unmanned aerial vehicle has a matching second cable-releasing wireless charging contactor.

[0060] The contactor docking unit is used to realize the three-level positioning docking of the wireless charging contactor 1 and the wireless charging contactor 2.

[0061] In this embodiment, wireless charging contactor 1 and wireless charging contactor 2 use electromagnetic induction or resonance wireless charging technology to achieve wireless power transmission between the underwater unmanned vehicle and the charging platform, avoiding short circuit in water during contact charging.

[0062] The charging process in this application includes:

[0063] Power dispatching, including the storage of power from the power generation end into the energy storage system, the distribution of power from the energy storage system to the charging piles, and the charging power of the charging piles, to ensure the smooth and efficient operation of the entire process;

[0064] And docking charging, that is, through the information transmission and aircraft identity information and verification of the home port communication network, the security and confidentiality of the home port information is ensured, and the risk of being destroyed is reduced. In addition, the platform can also monitor the operation of various equipment in the home port, so as to facilitate regular operation and maintenance inspections to ensure the normal operation of the home port.

[0065] In one embodiment, if Figure 2 As shown, the contactor dispatching unit includes:

[0066] The load balancing module is used to preliminarily determine the range of available contactors based on the load conditions of the smart home port platform, including the number of available charging piles and the status of the charging piles, so as to achieve a reasonable allocation of charging pile resources and avoid overloading or idleness of some charging piles;

[0067] As a preferred embodiment, the present application provides a power monitoring module for monitoring and managing power generation, energy storage and charging processes, thereby providing the load balancing module with the load status of the smart mother port platform;

[0068] The scheduling optimization algorithm module is used to perform a multi-objective optimization algorithm with the shortest charging time, the lowest energy consumption and the shortest sailing distance as the goals, and dynamically optimize the available contactor range;

[0069] The contactor intelligent allocation module is used to receive the power demand and estimated charging time of the unmanned aerial vehicle, and intelligently allocate contactors to the unmanned aerial vehicle based on the optimized available contactor range, in combination with the contactor load condition and underwater environmental factors.

[0070] In one embodiment, a vehicle status monitoring module is built into the unmanned vehicle for monitoring the power status, estimated charging time, and mission priority of each vehicle in real time, and generating charging requirements based on the information.

[0071] In this embodiment, the aircraft status monitoring module collects the following data at regular intervals (e.g., 1 minute):

[0072] Power status: Get the current power percentage and battery life through the battery management system (BMS);

[0073] Estimated charging time: The charging time is calculated based on the current power level and the mission characteristics of the aircraft, combined with the battery charging characteristic curve.

[0074] In one embodiment, the smart home port platform further includes a base station module and a communication module;

[0075] The communication module transmits and communicates data with the unmanned aerial vehicle through the base station module, and communicates with the ground control station at the same time to achieve remote monitoring and management. As a preferred embodiment, a data encryption and authentication mechanism is deployed in the communication module to ensure communication security.

[0076] In this embodiment, the power status, estimated charging time and task information are regularly uploaded to the smart home port platform through a communication module (such as 5GHz Wi-Fi or low-power Bluetooth).

[0077] Wireless communication is applicable to vessels within the home port. For underwater vessels that are far away or have limited wireless signals, a hydroacoustic communication system is used to collect data. Hydroacoustic communication uses the transmission characteristics of sound waves underwater to achieve long-distance communication. The home port platform receives the status information of the vessel by deploying multiple hydroacoustic repeaters.

[0078] In one embodiment, a sensor is built into the wireless charging contactor of the unmanned aerial vehicle to monitor the current load condition of the unmanned aerial vehicle, including data such as charging power, current, voltage, and accumulated working time, and upload it to the home port platform;

[0079] The contactor intelligent allocation module stores and analyzes long-term unmanned aerial vehicle load data to predict future load conditions. As a preferred solution, it uses time series prediction algorithms such as (LSTM long short-term memory network) to predict the load trend of each contactor in a specified period of time, thereby optimizing the allocation strategy.

[0080] In one embodiment, underwater environmental factors include water currents, ocean weather, and obstacles;

[0081] The velocity and direction of the water flow are monitored in real time by water flow sensors (such as Doppler current meters) arranged around the home port, and the data is uploaded through the communication module. The aircraft can also provide supplementary data during the voyage through its own sensors.

[0082] Marine meteorological information is connected to the regional meteorological monitoring system (such as underwater meteorological station) through the home port, and environmental data such as water temperature, salinity, and pressure are collected in real time, and future change trends are obtained in combination with external meteorological forecast systems.

[0083] Obstacle detection uses sonar sensors, lidar and other equipment to scan the location and distribution of obstacles in the area around the home port in real time. The detected obstacle information is integrated through the home port system and fed back to the contactor allocation module for path planning.

[0084] In order to further optimize the above technical solution, the contactor dispatching unit also includes:

[0085] The docking sequence dynamic adjustment module is used to allocate contactors to multiple unmanned aerial vehicles at the same time. It dynamically adjusts the docking sequence of the unmanned aerial vehicles and the allocated contactors according to the mission priority, power criticality and access time window of the unmanned aerial vehicles to ensure efficient use of resources.

[0086] The mission priority of the unmanned vehicle is obtained and uploaded by the vehicle status monitoring module;

[0087] For the critical power level, a power monitoring module is built into the unmanned aerial vehicle to monitor and upload the current battery power (such as the remaining power percentage and the endurance time) in real time, and the home port system, such as the docking sequence dynamic adjustment module, evaluates the critical power level based on the received data; in one embodiment,

[0088] When the battery level is lower than a preset threshold (e.g., 20%), it is marked as high criticality;

[0089] When the charge is above the threshold but below 50%, it is marked as medium critical;

[0090] When the charge is above 50%, it is marked as low critical.

[0091] Or the weight of the power criticality can be dynamically adjusted based on the urgency of the task (such as a rescue mission or a detection mission). For example, an emergency task may still be marked as having a high criticality even when the battery is in a higher state.

[0092] For the access time window: it is based on the current position of the vehicle and path planning: using the underwater environmental information (such as water flow velocity, water flow direction) and the current position of the vehicle, the path planning algorithm (such as Dijkstra algorithm or A* algorithm) is used to calculate the shortest time for the vehicle to reach the allocated contactor, and use it as its access time window.

[0093] Further, after assigning contactors, queue estimation is performed:

[0094] If multiple aircraft need to use a contactor at the same time, the expected waiting time of each aircraft is estimated through queuing theory (such as the M / M / 1 model), and the access time window is adjusted based on its flight time.

[0095] The access time window in this application can be dynamically updated according to real-time environmental changes (such as water flow changes, obstacles, etc.). For example, if a certain aircraft is delayed due to detouring around an obstacle, its time window will be automatically extended, and the system will adjust the order of other aircraft at the same time.

[0096] In order to further optimize the above technical solution, the contactor dispatching unit also includes:

[0097] Load feedback and intelligent optimization module, used to monitor contactor load data (including charging status, voltage, current, etc.) in real time to make abnormal judgments, and automatically adjust the power output of the contactor to balance the overall load and avoid local overload;

[0098] Data analysis and optimization decision support module, which is used to accumulate and analyze data during the charging process, optimize the scheduling strategy, reduce the waiting time of unmanned aerial vehicles and improve charging efficiency;

[0099] Platform feedback and self-learning module: used for self-learning capability based on the deep deterministic policy gradient (DDPG) algorithm, optimizing the scheduling algorithm according to historical data and real-time feedback data to adapt to different environments, unmanned vehicle types and mission modes, thereby improving resource utilization and system adaptability.

[0100] In one embodiment, if Figure 3 As shown, the contactor docking unit includes:

[0101] A position sending module, which is used to broadcast the position of the smart home port platform via radio waves after receiving the contactor information assigned by the contactor scheduling unit, so as to facilitate the preliminary positioning of the unmanned aerial vehicle; in this embodiment, the broadcast is performed by radio waves in the 5GHz frequency band;

[0102] The sea area monitoring module is used to send a command to obtain the identity information of the unmanned aerial vehicle when the unmanned aerial vehicle enters the sea area under monitoring; in this embodiment, the module determines the sea area monitoring range in combination with satellite positioning, and realizes monitoring in combination with the positioning module in the unmanned aerial vehicle;

[0103] The first identity verification module stores the aircraft database internally and is used to compare the identity information of the unmanned aircraft and verify the docking authority. After the verification is passed, the contactor location information assigned by the contactor scheduling unit is sent to the unmanned aircraft;

[0104] The aircraft sensing module is used to monitor and sense the unmanned aircraft. When the unmanned aircraft is sensed, the module sends a command to instruct the unmanned aircraft to release the cable, obtain the identity information of the unmanned aircraft again, and wake up the identity authentication module 2 at the same time;

[0105] Identity verification module 2 is used to perform secondary docking authority verification on the identity information of the unmanned aerial vehicle. After the verification is passed, the contactor position information assigned by the current contactor scheduling unit is sent to the unmanned aerial vehicle to complete the docking.

[0106] In this embodiment, the three-level positioning docking process of the wireless charging contactor 1 and the wireless charging contactor 2 includes:

[0107] At the first level, after the contactor docking unit receives the wireless charging contactor information assigned by the contactor scheduling unit, it sends the location of the smart home port platform through radio waves to achieve the initial positioning of the unmanned aerial vehicle on the smart home port platform;

[0108] In the second level, when the unmanned vehicle enters the sea area of ​​the platform, the contactor docking unit sends a command to the unmanned vehicle, causing the unmanned vehicle to send identity information for verification; after the verification is passed, the contactor docking unit sends the location information of the wireless charging contactor 1 to guide the unmanned vehicle to the wireless charging contactor 1;

[0109] At the third level, when the contactor docking unit senses that the unmanned aerial vehicle has arrived near wireless charging contactor 1, it sends a command to make the unmanned aerial vehicle release the cable and send the identity information again. After the verification is passed, the contactor docking unit sends the precise positioning of the current wireless charging contactor 1, and guides the navigation of the unmanned aerial vehicle to achieve the docking of wireless charging contactor 1 and wireless charging contactor 2.

[0110] In this embodiment, the unmanned aerial vehicle relies on its own position and the position of the wireless charging contactor 1 sent by the contactor docking unit, and uses sonar positioning and inertial navigation technology to perform precise path planning to drive to the designated contactor position; at the same time, the unmanned aerial vehicle uses sonar sensors to scan the surrounding environment, avoid obstacles or other potential risk areas, and approach the wireless charging contactor 1 safely and efficiently.

[0111] The present application uses three-level positioning to continuously calibrate the unmanned aerial vehicle and the assigned wireless charging contactor 1, which can ensure the accurate docking of the two contactors. At the same time, the contactor docking module of the present application is in a low-energy dormant state when no docking request is received, and does not actively send signals to save energy and avoid long-term exposure or interference.

[0112] In one embodiment, the power generation system includes a photovoltaic power generation unit, a wind power generation unit, a tidal power generation unit, a wave power generation unit and / or a gas power generation unit.

[0113] This application integrates multiple offshore power generation methods such as wind energy, light energy, and wave energy to achieve efficient energy collection; in an exemplary embodiment,

[0114] Photovoltaic power generation technology: Use water-surface solar photovoltaic panels, high-efficiency silicon-based photovoltaic cells or flexible photovoltaic films to maximize the conversion of solar radiation into electrical energy; and consider using solar tracking systems to improve the energy output efficiency of photovoltaic panels;

[0115] Wind power generation: using wind turbines at sea to convert offshore wind energy into electrical energy;

[0116] Tidal power generation: bidirectional turbines or hull vibration power generation devices are used to fully utilize tidal energy. Further optimization designs can be made for different tidal conditions to improve power generation efficiency.

[0117] Wave kinetic energy: Use a water kinetic energy conversion device, such as a turbine or turbine, to convert the kinetic energy of water into electrical energy; in this embodiment, a buoy-type or bottom-mounted wave power generation device can also be combined to capture the kinetic energy of waves. Or use a multi-stage hydraulic conversion system to improve energy conversion efficiency;

[0118] Gas-fired power generation: Offshore oil production platforms use gas-fired generator sets to meet their power needs; these generator sets use gas as fuel to generate electricity through internal combustion engines or gas turbines.

[0119] In a preferred embodiment, an energy management system is provided to realize comprehensive scheduling and control of various energy replenishment modes and improve energy collection and utilization efficiency.

[0120] In one embodiment, the energy storage system includes a lithium battery, a lithium titanate energy storage system and a high-efficiency energy density supercapacitor; through complementarity, the performance of the energy storage system can be optimized and the reliability of the energy storage system can be improved.

[0121] Lithium battery or lithium titanate energy storage system: used to store the electrical energy generated by the power generation device to ensure the continuous power supply of underwater unmanned vehicles; specifically, lithium batteries, as the main power source of the energy storage system, provide higher energy density for long-term energy supply, and lithium titanate energy storage systems are used as a supplement to lithium batteries, especially in applications that require high safety and long life;

[0122] High-efficiency energy density supercapacitors: provide additional energy support during instantaneous high power demand, such as fast start, rapid maneuvering or high peak load operation. It can be used to absorb and release large amounts of electrical energy to balance rapidly changing load demands and protect batteries from excessive cycling stress.

[0123] The present invention combines the integrated architecture of "generation-storage-charging", three-level underwater positioning and intelligent management, which can solve the key problems of energy supply, positioning navigation and system management under the safety precautions of underwater unmanned vehicles, and has significant innovation and practicality.

[0124] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0125] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An underwater wireless charging smart home port platform for unmanned aerial vehicles with integrated power generation, storage and charging, characterized in that: Including power generation system, energy storage system and underwater charging system; A power generation system for generating electrical energy using a variety of power generation methods; An energy storage system, used to store the electric energy and provide electric energy for the underwater charging system; An underwater charging system, including a contactor dispatching unit and a contactor docking unit; The contactor dispatching unit is used to match the cable-release wireless charging contactor 1 for the unmanned aerial vehicle; The unmanned aerial vehicle has a matching cable-type wireless charging contactor 2, The contactor docking unit is used to realize the three-level positioning docking of the wireless charging contactor 1 and the wireless charging contactor 2.

2. The unmanned vehicle underwater wireless charging smart home port platform according to claim 1 is characterized in that: The contactor dispatching unit includes: The load balancing module is used to preliminarily determine the range of available contactors based on the load conditions of the smart mother port platform; The scheduling optimization algorithm module is used to perform a multi-objective optimization algorithm with the shortest charging time, the lowest energy consumption and the shortest sailing distance as the goals to optimize the range of available contactors; The contactor intelligent allocation module is used to receive the power demand and estimated charging time of the unmanned aerial vehicle, and allocate contactors to the unmanned aerial vehicle based on the optimized available contactor range in combination with the contactor load condition and underwater environmental factors.

3. The unmanned vehicle underwater wireless charging smart home port platform according to claim 2 is characterized in that: The contactor dispatch unit also includes: The docking sequence dynamic adjustment module is used to dynamically adjust the docking sequence of the unmanned aerial vehicles and the allocated contactors when contactors are allocated to multiple unmanned aerial vehicles at the same time according to the mission priority, power criticality and access time window of the unmanned aerial vehicles.

4. The unmanned vehicle underwater wireless charging smart home port platform according to claim 2 is characterized in that: The unmanned aerial vehicle has a built-in vehicle status monitoring module, which is used to monitor the power status, estimated charging time and mission priority of each vehicle in real time, and generate charging requirements.

5. The unmanned vehicle underwater wireless charging smart home port platform according to claim 2 is characterized in that: The contactor dispatch unit also includes: Load feedback and intelligent optimization module, used to monitor contactor load data in real time to judge abnormalities, and automatically adjust the power output of the contactor to balance the overall load and avoid local overload; Data analysis and optimization decision support module, which is used to accumulate and analyze data during the charging process, optimize the scheduling strategy, reduce the waiting time of unmanned aerial vehicles and improve charging efficiency; Platform feedback and self-learning module: used to optimize the scheduling algorithm based on historical data and real-time feedback data to adapt to different environments, UAV types and mission modes.

6. The unmanned vehicle underwater wireless charging smart home port platform according to claim 1, characterized in that: The contactor docking unit consists of: A position sending module is used to receive the contactor information assigned by the contactor dispatching unit and then broadcast the position of the smart home port platform through radio waves to facilitate the preliminary positioning of the unmanned aerial vehicle; The sea area monitoring module is used to send instructions to obtain the identity information of the unmanned aerial vehicle when the unmanned aerial vehicle enters the monitored sea area; The first identity verification module stores the aircraft database internally and is used to compare the identity information of the unmanned aircraft and verify the docking authority. After the verification is passed, the contactor location information assigned by the contactor scheduling unit is sent to the unmanned aircraft; The aircraft sensing module is used to monitor and sense the unmanned aircraft. When the unmanned aircraft is sensed, the aircraft sensing module sends a command to instruct the unmanned aircraft to release the cable, obtain the identity information of the unmanned aircraft again, and wake up the identity authentication module 2 at the same time; Identity verification module 2 is used to perform secondary docking authority verification on the identity information of the unmanned aerial vehicle. After the verification is passed, the contactor position information assigned by the current contactor scheduling unit is sent to the unmanned aerial vehicle to complete the docking.

7. The unmanned vehicle underwater wireless charging smart home port platform according to claim 1, characterized in that: The three-level positioning docking process of wireless charging contactor 1 and wireless charging contactor 2 includes: At the first level, after the contactor docking unit receives the wireless charging contactor information assigned by the contactor scheduling unit, it sends the location of the smart home port platform through radio waves to achieve the initial positioning of the unmanned aerial vehicle on the smart home port platform; In the second level, when the unmanned vehicle enters the sea area of ​​the platform, the contactor docking unit sends a command to the unmanned vehicle, causing the unmanned vehicle to send identity information for verification; after the verification is passed, the contactor docking unit sends the location information of the wireless charging contactor 1 to guide the unmanned vehicle to the wireless charging contactor 1; At the third level, when the contactor docking unit senses that the unmanned aerial vehicle has arrived near wireless charging contactor 1, it sends a command to make the unmanned aerial vehicle release the cable and send the identity information again. After the verification is passed, the contactor docking unit sends the precise positioning of the current wireless charging contactor 1, and guides the navigation of the unmanned aerial vehicle to achieve the docking of wireless charging contactor 1 and wireless charging contactor 2.

8. The unmanned vehicle underwater wireless charging smart home port platform according to claim 1, characterized in that: Also includes a base station module and a communication module; The communication module communicates with the ground control station or the unmanned aerial vehicle through the base station module.

9. The unmanned vehicle underwater wireless charging smart home port platform according to claim 1, characterized in that: The power generation system includes a photovoltaic power generation unit, a wind power generation unit, a tidal power generation unit, a wave power generation unit and / or a gas power generation unit.

10. The unmanned vehicle underwater wireless charging smart home port platform according to claim 1, characterized in that: The energy storage system includes lithium batteries, lithium titanate energy storage systems and high-efficiency energy density supercapacitors.

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