Wireless charging connection system for supplying power to submarine infrastructure and charging method

Abstract

The invention provides a wireless charging connection system for supplying power to submarine infrastructures and a charging method. The connection system comprises modular connection nodes and an underwater vehicle. The modularized connection node is connected with a seabed infrastructure through a mooring cable and is suspended in water, the underwater vehicle serves as a mobile power supply, the mooring cable of the modularized connection node is captured and locked in a capture type butt joint mode, and wireless charging operation is carried out after butt joint is completed. And the modular connection node transmits the received electric energy provided by the underwater vehicle to the seabed infrastructure so as to meet the long-term power utilization requirement of the seabed infrastructure. The system has the advantages of low cost and high safety, can ensure that the continuous detection capability and the original monitoring position of the submarine infrastructure are not changed, realizes non-contact transmission of electric energy, and remarkably improves the safety and the reliability of the system.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater operation equipment, and in particular to a wireless charging docking system and a charging method for powering submarine infrastructure. Background Art

[0002] When submarine infrastructure performs long-term detection tasks on the seabed, it usually relies on its own batteries to provide energy. When the battery is low, it needs to be powered externally to maintain the normal operation of the detection equipment at all levels of the submarine infrastructure. The existing methods for charging submarine infrastructure and their defects are as follows:

[0003] At present, the main energy supply methods include environmental energy charging and recycling charging. Environmental energy charging uses water flow energy and tidal energy, such as underwater turbines or hydro-turbine generators, to convert water flow energy into electrical energy to achieve autonomous charging. However, this method is limited by the limited environmental energy and cannot meet the needs of long-term and efficient operation of sensors at all levels, thereby reducing the overall performance of the detection system. On the other hand, recycling charging uses wired connections to connect to surface vessels or onshore equipment after salvaging the seabed infrastructure, and uses external power sources for charging. Although this method can provide a stable energy supply, it will limit the continuous monitoring capabilities of the seabed infrastructure, increase the consumption of manpower and material resources and safety risks, and there will be deviations in the position after redeployment, which will affect the comparison of monitoring data. Summary of the invention

[0004] In view of the deficiencies in the above-mentioned technologies, the present invention provides a wireless charging docking system and charging method for powering submarine infrastructure, which is designed to solve the long-term power demand of submarine infrastructure. The present invention installs a modular docking node on the submarine infrastructure through a mooring cable, and the mooring cable is connected to the battery of the submarine infrastructure, and the underwater vehicle serves as a mobile power source. The underwater vehicle docks and wirelessly charges with the modular docking node, and the modular docking node transmits the received electrical energy to the submarine infrastructure to meet the long-term power demand of sensors at all levels, while maintaining its continuous monitoring capability and minimizing the charging cost.

[0005] To achieve the above object, the present invention adopts the following technical solutions:

[0006] A wireless charging docking system for powering submarine infrastructure, including an underwater vehicle and a modular docking node;

[0007] The modular docking node is suspended in the water and connected to the submarine infrastructure via a mooring cable to supply power to it, so that it can reside on the seabed for a long time to perform monitoring tasks;

[0008] The underwater vehicle, as an underwater mobile power source, uses a capture docking method to capture and lock the mooring cable of the modular docking node, and uses a non-contact method to perform wireless charging operations on the modular docking node.

[0009] Each submodule includes a docking end general control module, a docking end guidance and positioning module, a docking end wireless charging module and a docking end wireless communication module;

[0010] The docking end master control module is used as a controller to coordinate and control the operations of the submodules in the main cabin;

[0011] The docking end guidance and positioning module is used for the underwater vehicle to accurately dock with the modular docking node;

[0012] The docking end wireless charging module is used to receive the electric energy provided by the underwater vehicle, realize contactless electric energy transmission, and transmit the received electric energy to the seabed infrastructure;

[0013] The docking end wireless communication module is used for command interaction during the wireless charging process.

[0014] The docking end wireless charging module includes: a secondary side electromagnetic coupling mechanism and a secondary side wireless charging control module;

[0015] The secondary electromagnetic coupling mechanism is used to receive the AC signal transmitted by the primary electromagnetic coupling mechanism in the underwater vehicle and transmit it to the secondary wireless charging control module;

[0016] The secondary side wireless charging control module is used to receive the AC power signal transmitted by the secondary side electromagnetic coupling mechanism, perform resonance compensation and rectify and convert it into DC power to supply the battery of the submarine infrastructure for storage.

[0017] The secondary electromagnetic coupling mechanism includes a connection end magnetic core and a connection end coil arranged outside the connection end magnetic core;

[0018] The connection end magnetic core is an annular magnetic core and is installed outside the mooring cable at the connection point; the connection end coil is an arc-shaped coil and is closely attached to the outer periphery of the connection end magnetic core.

[0019] The underwater vehicle includes a vehicle general control module, a vehicle guidance and positioning module, a vehicle power module, a vehicle docking module, a vehicle energy module, a vehicle wireless charging module and a vehicle wireless communication module;

[0020] The aircraft master control module is used to coordinate and control the operation of each submodule;

[0021] The aircraft guidance and positioning module is used in conjunction with the docking end guidance and positioning module in the modular docking node to confirm the specific position of the modular docking node;

[0022] The vehicle power module is used to provide the underwater vehicle with the power required for navigation and attitude change;

[0023] The vehicle docking module is used to achieve docking between the underwater vehicle and the modular docking node;

[0024] The aircraft energy module is used to store and provide energy externally;

[0025] The aircraft wireless charging module transmits the electric energy output by the aircraft energy module to the modular docking node in a wireless form, thereby realizing contactless transmission of electric energy;

[0026] The aircraft wireless communication module is used for command interaction when the wireless charging module is working.

[0027] The vehicle docking module is arranged at the bow of the underwater vehicle and includes an identification sensor, a guiding mechanism and a locking mechanism;

[0028] The identification sensor includes an axial in-place sensor and a radial in-place sensor; the axial in-place sensor is arranged on the locking mechanism, and is used to detect whether the mooring cable is in place; the radial in-place sensor is arranged on the primary side coupling mechanism, and is used to drive the locking mechanism to complete the locking action when the secondary side electromagnetic coupling mechanism installed on the mooring cable is successfully identified;

[0029] The guiding mechanism is arranged on the underwater vehicle and is located at the front end of the locking mechanism, and is used to guide the mooring cable equipped with the secondary coupling mechanism into the locking mechanism;

[0030] The locking mechanism is arranged on the underwater vehicle, and is used to drive the primary coupling mechanism to open and close through the linear module arranged thereon after receiving the command from the identification sensor, so that it docks with the secondary coupling mechanism to form a magnetic circuit coupling for charging and discharging operations.

[0031] The aircraft wireless charging module includes a primary electromagnetic coupling mechanism and a primary wireless charging control module;

[0032] The primary electromagnetic coupling mechanism is an open-close structure, comprising two symmetrically arranged aircraft end magnetic cores and two aircraft end coils arranged inside the aircraft end magnetic cores, and is used to transmit the alternating current signal to the secondary electromagnetic coupling mechanism in the modular docking node in the form of a magnetic field, so as to realize contactless transmission of electric energy;

[0033] The primary wireless charging control module is used to convert the direct current output by the aircraft energy module into a stable alternating current signal through inversion and resonance compensation, and further transmit it to the primary electromagnetic coupling mechanism.

[0034] Furthermore, the two aircraft end coils are arc-shaped coils, and during wireless charging operation, the two aircraft end coils are surrounded by the outside of the docking end coil; the two aircraft end magnetic cores are arc-shaped magnetic cores, which are respectively attached to the outside of the two aircraft end coils.

[0035] Furthermore, the width of the connection end coil is less than 10 mm of the connection end magnetic core, and the connection end coil is attached to and wraps the connection end magnetic core 360 ​​degrees;

[0036] Furthermore, the aircraft end coil and the docking end coil have the same width, and the aircraft end magnetic core and the docking end magnetic core have the same width;

[0037] Furthermore, the connection end magnetic core and the spacecraft end magnetic core are both soft magnetic cores.

[0038] A charging method for a wireless charging docking system for powering submarine infrastructure comprises the following steps:

[0039] Through the synergy of the vehicle guidance and positioning module in the underwater vehicle and the docking end guidance and positioning module in the modular docking node, the underwater vehicle is guided to autonomously travel to the vicinity of the modular docking node;

[0040] When the underwater vehicle approaches the modular docking node, the guiding mechanism in the vehicle docking module at the bow is deployed to capture the mooring cable and guide it into the opening at the bow of the underwater vehicle;

[0041] The locking mechanism receives the driving signal of the identification sensor and locks the mooring cable;

[0042] After locking, start the aircraft wireless communication module to shake hands with the docking end wireless communication module to confirm the relative position of the primary electromagnetic coupling mechanism and the secondary electromagnetic coupling mechanism to ensure that it is within the range allowed by efficient wireless power transmission;

[0043] If an abnormal situation occurs during the above steps, the underwater vehicle position is fine-tuned through the vehicle power module for re-docking;

[0044] After successful communication, the primary wireless charging control module of the underwater vehicle is started, and the vehicle energy module outputs and provides contactless power to the modular docking node. The docking-end wireless charging module of the modular docking node converts the received electrical energy into stable direct current and transmits it to the battery of the seabed infrastructure for storage. The charging status is monitored regularly during the charging process, and wireless charging is stopped if any abnormality occurs in the charging system.

[0045] The locking mechanism receives a driving signal from the identification sensor to lock the mooring line; comprising:

[0046] The axial position sensor in the spacecraft docking module identifies the mooring cable and sends a command to the locking mechanism for preliminary locking after successful identification;

[0047] After initially locking the mooring cable, the underwater vehicle slowly floats up under the action of the vehicle power module, and the radial position sensor identifies the secondary electromagnetic coupling mechanism installed on the mooring cable. After successful identification, it sends a command to the locking mechanism for secondary locking.

[0048] Compared with the prior art, the present invention has the following advantages:

[0049] The wireless charging docking system for powering submarine infrastructure provided by the present invention can solve the long-term power supply demand of submarine infrastructure, effectively improve the energy supply reliability of submarine infrastructure, and is suitable for long-term applications in various marine environments. Compared with existing power supply technologies, the present invention has the significant advantages of low cost and high safety, and can ensure the concealment of submarine infrastructure, maintain continuous monitoring capabilities and ensure that the original position remains unchanged. The modular docking node of the present invention is easy to install, minimizes the modification of the structure of the submarine infrastructure, and only requires the mooring cable in the modular docking node to connect the battery interface in the submarine infrastructure, using modular applications. This system adopts advanced wireless charging technology, and the contactless power transmission between the underwater vehicle and the modular docking node effectively avoids the safety hazards such as aging, wear and tear and short circuit caused by traditional circuits, greatly improves safety and reliability, and reduces equipment costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] 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. The drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0051] Figure 1 is a schematic diagram of a wireless charging docking system according to an embodiment of the present invention;

[0052] Figure 2is a schematic diagram of the structure of a modular docking node in a wireless charging docking system according to an embodiment of the present invention;

[0053] Figure 3 is a schematic diagram of the structure of an underwater vehicle in a wireless charging docking system according to an embodiment of the present invention;

[0054] Figure 4 is a structural schematic diagram of a capture-type docking between an aircraft docking module and a modular docking node according to an embodiment of the present invention;

[0055] Figure 5 It is a structural schematic diagram of a coupling mechanism for capture-type docking wireless charging according to an embodiment of the present invention;

[0056] Figure 6 It is a schematic diagram of the wireless charging operation state of the coupling mechanism of the capture-type docking wireless charging according to an embodiment of the present invention;

[0057] Figure 7 is an axonometric view of a connection end magnetic core of an embodiment of the present invention;

[0058] Figure 8 Schematic diagram of the structure of the locking mechanism of the embodiment of the present invention.

[0059] Fig. 9 It is a working flow chart of the charging method of the wireless charging docking system according to an embodiment of the present invention.

[0060] In the figure: 1. mooring cable; 2. guiding mechanism; 3. locking mechanism; 31. locking bracket; 32. linear module; 33. connecting rod; 34. parallelogram linkage; 35. locking claw; 4. secondary coupling mechanism; 41. connecting end coil; 42. connecting end magnetic core; 5. primary coupling mechanism; 51. spacecraft end coil; 52. spacecraft end magnetic core; 6. axial position sensor; 7. radial position sensor. DETAILED DESCRIPTION

[0061] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0062] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments. 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 making creative work are within the scope of protection of the present invention.

[0063] Figure 1 A schematic diagram of a wireless charging docking system for powering submarine infrastructure, see Figure 1The wireless charging docking system for powering submarine infrastructure in this embodiment includes a modular docking node and an underwater vehicle, and the modular docking node is connected to the submarine infrastructure.

[0064] The submarine infrastructure includes detection equipment and batteries. The detection equipment contains various sensors such as temperature, salinity and pressure, which are used to measure and collect data on the underwater environment. The batteries provide continuous power to the sensors at various levels in the detection equipment to ensure that the sensors at various levels continue to operate and monitor at different depths and in different marine environmental conditions.

[0065] In specific implementation, the underwater vehicle acts as a mobile power source, autonomously sails to the submarine infrastructure that needs power supply, and docks with the modular docking node using a capture docking method. After successful docking, the underwater vehicle transmits power to the modular docking node, and the modular docking node acts as a power relay node, transmitting the received power to the submarine infrastructure connected to it to complete the power supply.

[0066] The modular docking node includes a streamlined main cabin and a mooring cable 1. The streamlined main cabin is loaded with various modules and components, and is suspended in the water through the mooring cable 1. Preferably, the streamlined main cabin shape can minimize water resistance by using a streamlined design to ensure stability in a complex marine environment. One end of the mooring cable 1 is connected to the streamlined main cabin, and the other end is connected to the battery of the submarine infrastructure, transmitting the received electrical energy to the battery to support the continuous operation of sensors at all levels in the submarine infrastructure.

[0067] Figure 2 This is a schematic diagram of the structure of a modular docking node in a wireless charging docking system for powering submarine infrastructure according to the present invention, with reference to Figure 2 The streamlined main cabin includes a docking end general control module, a docking end guidance and positioning module, a docking end wireless charging module and a docking end wireless communication module. The docking end general control module is used to coordinate and control the operation of each submodule in the main cabin to ensure its stable and reliable operation; the docking end guidance and positioning module uses an ultra-short baseline transponder and is used in conjunction with the underwater vehicle end guidance and positioning module to accurately guide the underwater vehicle to autonomously drive to the vicinity of the modular docking node to achieve precise docking; the docking end wireless charging module is used in conjunction with the underwater vehicle end wireless charging module to achieve contactless power transmission, and as the receiving end of power, it receives the power transmitted by the underwater vehicle and transmits it to the seabed infrastructure; the docking end wireless communication module uses a WiFi module and is used in conjunction with the underwater vehicle end wireless communication module for command interaction during wireless charging, including data modulation and demodulation functions to ensure stable and reliable transmission of commands via wireless.

[0068] The wireless charging module at the docking end includes a secondary electromagnetic coupling mechanism 4 and a secondary wireless charging control module. The secondary electromagnetic coupling mechanism 4 is responsible for receiving the AC signal transmitted by the primary electromagnetic coupling mechanism 5 in the underwater vehicle and transmitting it to the secondary wireless charging control module, which performs resonance compensation and rectification on the AC signal to convert it into DC power to supply the battery of the submarine infrastructure for storage.

[0069] Figure 3 This is a schematic diagram of the structure of an underwater vehicle in a wireless charging docking system for powering submarine infrastructure according to the present invention, with reference to Figure 3 , the underwater vehicle includes: a vehicle general control module, a vehicle guidance and positioning module, a vehicle power module, a vehicle docking module, a vehicle energy module, a vehicle wireless charging module and a vehicle wireless communication module. The vehicle general control module is responsible for coordinating and controlling the operation of each submodule to ensure the overall stability of the underwater vehicle under various operation requirements. The vehicle guidance and positioning module is used in conjunction with the guidance and positioning module in the modular docking node to confirm the position of the modular docking node relative to itself to ensure accurate docking; preferably, the guidance and positioning module uses an ultra-short baseline for positioning, an interrogator and a receiver are installed at the underwater vehicle end, and a transponder is installed at the modular docking node. During the guidance process, the underwater vehicle continuously sends ultrasonic waves to calculate the distance and angle with the modular docking node in real time, and feedback is given to the vehicle general control module to adjust the position of the underwater vehicle itself. The vehicle power module is a propeller, which provides the power support required for navigation, docking, hovering and floating operations during the operation of the underwater vehicle. The vehicle docking module is used to effectively connect the underwater vehicle with the modular docking node to create favorable conditions for wireless charging operations. The vehicle energy module ensures a stable energy supply when each module of the underwater vehicle is working, and provides reliable power transmission for the seabed infrastructure; preferably, the vehicle energy module is a lithium battery. The vehicle wireless charging module transmits the power output by the vehicle energy module to the modular docking node by wireless means, realizing non-contact transmission of power. The vehicle wireless communication module is used for command interaction between the underwater vehicle and the modular docking node during wireless charging operations.

[0070] Figure 4 FIG. 1 is a schematic diagram of the capture docking of the aircraft docking module and the mooring cable 1 of the modular docking node of the present invention. In order to facilitate the description of the internal structure, the capture section fairing is hidden. Figure 4 The vehicle docking module is located at the bow of the underwater vehicle, and includes an axial position sensor 6, a radial position sensor 7, a guiding mechanism 2 and a locking mechanism 3. Preferably, the vehicle docking module is in the capture section of the bow of the underwater vehicle and is designed for capture docking. During the capture docking process, the vehicle docking module needs to guide, identify and lock the mooring cable 1 of the modular docking node.

[0071] The wireless charging module of the vehicle has a bidirectional charging function, which can be connected to the submarine base station as a power receiving end to supply itself with power, and as a power transmitting end to provide power for submarine infrastructure. It includes a primary electromagnetic coupling mechanism 5 and a primary wireless charging control module. The primary electromagnetic coupling mechanism 5 transmits the AC signal to the secondary electromagnetic coupling mechanism 4 in the form of a magnetic field. This process realizes non-contact transmission of power. The primary wireless charging control module converts the DC output of the lithium battery in the underwater vehicle into stable AC through inversion and resonance compensation, and further transmits it to the primary electromagnetic coupling mechanism 5.

[0072] See also Figures 5 to 7 As shown, an embodiment of the present invention provides a coupling mechanism for underwater capture docking wireless charging, including a secondary coupling mechanism 4 and a primary coupling mechanism 5; the secondary coupling mechanism 4 includes a docking end magnetic core 42 and a docking end coil 41 arranged on the outside of the docking end magnetic core 42; the aircraft end coupling mechanism 5 is an open-and-close structure, including two symmetrically arranged aircraft end magnetic cores 52 and two aircraft end coils 51 arranged on the inner side of the aircraft end magnetic core 52; the primary coupling mechanism 5 is surrounded by the outside of the docking end coupling mechanism 4 to realize a bidirectional power transmission function.

[0073] See also Figures 5 to 7 As shown, in the embodiment of the present invention, the docking end magnetic core 42 is a ring-shaped magnetic core, and is installed around the outside of the docking point mooring cable 1; the docking end coil 41 is a curved surface design, and is closely attached to the outer periphery of the docking end magnetic core 42. The two aircraft end coils 51 are curved surface coils, and the two aircraft end coils 51 surround the outside of the docking end coil 41 during the wireless charging operation; the two aircraft end magnetic cores 52 are arc-shaped magnetic cores, which are respectively attached to the outside of the two aircraft end coils 51.

[0074] Furthermore, the width of the docking end coil 41 is smaller than the docking end magnetic core 42 by 10 mm, and the docking end coil 41 is attached to and 360 degrees wraps the docking end magnetic core 42; the aircraft end coil 51 is the same width as the docking end coil 41, and the arc of the two separate coils of the aircraft end coil 51 is half of the corresponding diameter circle; the aircraft end magnetic core 52 is the same width as the docking end magnetic core 42, and the two aircraft end magnetic cores 52 are respectively attached to the outside of the two aircraft end coils 51, and the arc length of the aircraft end magnetic core 52 is half of the corresponding diameter size.

[0075] Specifically, the connection end magnetic core 42 and the spacecraft end magnetic core 52 are both highly flexible and bendable soft magnetic cores. The soft magnetic core material is nanocrystalline, has good flexibility, can be bent and fit, and has the advantages of high magnetic permeability and light weight.

[0076] In the embodiment of the present invention, the docking end coupling mechanism 4 is arranged at the docking node mooring cable 1, and the primary side coupling mechanism 5 is arranged at the locking mechanism 3 of the underwater vehicle, and the underwater vehicle and the docking node adopt a capture docking method. The docking end coupling mechanism 4 and the primary side coupling mechanism 5 are both connected to the wireless charging control module. When the docking end coupling mechanism 4 is used as the transmitting end, the primary side coupling mechanism 5 is used as the receiving end; or, when the primary side coupling mechanism 5 is used as the transmitting end, the secondary side coupling mechanism 4 is used as the receiving end. When the capture docking is successfully completed and the wireless charging operation is started, the overall structure is as follows: Figure 2 As shown, from inside to outside are the mooring cable 1, the connection end magnetic core 42, the connection end coil 41, the spacecraft end coil 51, the spacecraft end magnetic core 52 and the locking mechanism 3.

[0077] The coupling mechanism for underwater capture-type docking wireless charging provided by the present invention breaks through the limitation that the existing wireless charging technology is only applicable to guided docking, allows underwater vehicles of different sizes to dock with the same docking node, and improves the versatility of the wireless charging system.

[0078] See also Figure 4 As shown, another embodiment of the present invention provides a system for underwater capture-type docking wireless charging, comprising an underwater vehicle, a guide mechanism 2, a locking mechanism 3 and a coupling mechanism as in the above embodiment; wherein the locking mechanism 3 is arranged on the underwater vehicle, the primary coupling mechanism 5 is arranged on the locking mechanism 3, and is opened and closed by the driving of the locking mechanism 3; the guide mechanism 2 is arranged on the vehicle body and is located at the front end of the locking mechanism 3, the guide mechanism 2 is used to guide the mooring cable 1 equipped with the secondary coupling mechanism 4 into the locking mechanism 3, the primary coupling mechanism 5 is docked with the secondary coupling mechanism 4 by the driving of the locking mechanism 3, to form a magnetic circuit coupling, and perform charging and discharging operations.

[0079] Furthermore, the locking mechanism 3 is provided with an axial in-place sensor 6 for detecting whether the mooring cable 1 is in place; the primary side coupling mechanism 5 is provided with a radial in-place sensor 7 for identifying the secondary side coupling mechanism 4; after successful identification, the radial in-place sensor 7 drives the locking mechanism 3 to complete the locking action, so that the primary side coupling mechanism 5 tightly embraces the secondary side coupling mechanism 4, thereby realizing the docking of the underwater vehicle and the mooring cable 1.

[0080] See also Figure 8As shown, in an embodiment of the present invention, the locking mechanism 3 includes a locking bracket 31, a linear module 32, a connecting rod 33, a parallelogram 34 and a locking claw 35, wherein the locking bracket 31 is connected to the underwater vehicle, and the two sides of the front end of the locking bracket 31 are respectively hinged to the two groups of parallelograms 34, and the ends of the two groups of parallelograms 34 are respectively connected to the two locking claws 35, and the opening and closing parts of the two sides of the primary side coupling mechanism 5 are installed on the two locking claws 35; the linear module 32 is arranged on the locking bracket 31, and the output end is hinged to one end of the two connecting rods 33, and the other ends of the two connecting rods 33 are respectively hinged to the two groups of parallelograms 34, and the linear module 32 provides power for the opening and closing of the primary side coupling mechanism 5.

[0081] Specifically, the guiding mechanism 2 includes two guiding rods that can be opened and closed, and the two guiding rods are arranged in a trumpet shape when opened.

[0082] Another embodiment of the present invention provides a system for underwater capture docking wireless charging, wherein the specific docking process is as follows:

[0083] The underwater vehicle autonomously drives to the lower end of the mooring cable 1 through the sound and light combined system, and deploys the guiding mechanism 2 to capture the mooring cable 1. After passing through the guiding mechanism 2, the mooring cable 1 slides into the vehicle capture section and is identified by the axial in-place sensor 6, which drives the guiding mechanism 2 to close to prevent the mooring cable 1 from slipping out. Subsequently, the underwater vehicle floats up as a whole, and identifies the secondary coupling mechanism 4 through the radial in-place sensor 7. After successful identification, the locking mechanism 3 is driven to complete the locking, ensuring that the primary coupling mechanism 5 tightly embraces the secondary coupling mechanism 4, and finally realizes the stable docking of the underwater vehicle and the mooring cable 1. After the docking process is completed, the wireless charging operation begins. The secondary coupling mechanism 4 and the primary coupling mechanism 5 can be used as the receiving end and the transmitting end of electric energy respectively to realize the two-way transmission of electric energy.

[0084] Fig. 9 The present invention is a charging method workflow diagram of a wireless charging docking system for powering submarine infrastructure, comprising the following steps:

[0085] S1: Through the coordinated action of the vehicle guidance and positioning module in the underwater vehicle and the docking end guidance and positioning module in the modular docking node, the underwater vehicle is guided to autonomously travel to the vicinity of the modular docking node.

[0086] S2: When the underwater vehicle approaches the modular docking node, the guiding mechanism 2 in the vehicle docking module at the bow of the underwater vehicle is deployed to capture the mooring cable 1 and guide it into the opening at the bow of the underwater vehicle.

[0087] S3: The radial position sensor 7 in the spacecraft docking module identifies the mooring cable 1. Once successfully identified, it sends a command to the locking mechanism 3 to perform a preliminary locking operation.

[0088] S4: After the mooring cable 1 is initially locked, the underwater vehicle slowly floats up under the action of the vehicle power module, and the radial position sensor 7 identifies the secondary electromagnetic coupling mechanism 4 installed on the mooring cable 1. After successful identification, it sends a command to the locking mechanism 3 again for secondary locking.

[0089] S5: After completing the secondary locking, the wireless communication module of the underwater vehicle is started to handshake with the wireless communication module of the docking end to confirm the relative position of the primary electromagnetic coupling mechanism 5 and the secondary electromagnetic coupling mechanism 4 to ensure that it is within the range allowed by efficient wireless power transmission.

[0090] S6: If an abnormal situation occurs in steps S1-S5, the position of the underwater vehicle can be fine-tuned through the vehicle power module to ensure re-docking, thereby ensuring high efficiency and reliability of the wireless charging operation.

[0091] S7: After the communication handshake is successful, the primary wireless charging control module of the underwater vehicle is started, and the energy module of the vehicle outputs power to provide contactless power to the modular docking node. The docking end wireless charging module of the modular docking node converts the received power into stable direct current and transmits it to the battery of the seabed infrastructure for storage. The charging status is monitored regularly during the charging process, and the wireless charging operation is stopped immediately if there is an abnormality in the charging system.

[0092] The specific embodiments described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A wireless charging docking system for powering submarine infrastructure, characterized in that: Includes underwater vehicles and modular docking nodes; The modular docking node is suspended in the water and connected to the seabed infrastructure via a mooring cable (1) to supply power to it, so that it can reside on the seabed for a long time to perform monitoring tasks; The underwater vehicle, as an underwater mobile power source, uses a capture docking method to capture and lock the mooring cable (1) of the modular docking node, and uses a non-contact method to perform wireless charging operations on the modular docking node.

2. A wireless charging docking system for powering submarine infrastructure according to claim 1, characterized in that: Each submodule includes a docking end general control module, a docking end guidance and positioning module, a docking end wireless charging module and a docking end wireless communication module; The docking end master control module is used as a controller to coordinate and control the operations of the submodules in the main cabin; The docking end guidance and positioning module is used for the underwater vehicle to accurately dock with the modular docking node; The docking end wireless charging module is used to receive the electric energy provided by the underwater vehicle, realize contactless electric energy transmission, and transmit the received electric energy to the seabed infrastructure; The docking end wireless communication module is used for command interaction during the wireless charging process.

3. A wireless charging docking system for powering submarine infrastructure according to claim 2, characterized in that: The docking end wireless charging module comprises: a secondary side electromagnetic coupling mechanism (4) and a secondary side wireless charging control module; The secondary electromagnetic coupling mechanism (4) is used to receive the alternating current signal transmitted by the primary electromagnetic coupling mechanism (4) in the underwater vehicle, and transmit it to the secondary wireless charging control module; The secondary side wireless charging control module is used to receive the alternating current signal transmitted by the secondary side electromagnetic coupling mechanism (4), perform resonance compensation and rectify and convert it into direct current, so as to supply the battery of the submarine infrastructure for storage.

4. A wireless charging docking system for powering submarine infrastructure according to claim 2, characterized in that: The secondary electromagnetic coupling mechanism (4) comprises a connection end magnetic core (42) and a connection end coil (41) arranged outside the connection end magnetic core (42); The connection end magnetic core (42) is an annular magnetic core and is installed outside the connection point mooring cable (1); the connection end coil (41) is an arc-shaped and is closely attached to the outer periphery of the connection end magnetic core (42).

5. A wireless charging docking system for powering submarine infrastructure according to claim 1, characterized in that: The underwater vehicle includes a vehicle general control module, a vehicle guidance and positioning module, a vehicle power module, a vehicle docking module, a vehicle energy module, a vehicle wireless charging module and a vehicle wireless communication module; The aircraft master control module is used to coordinate and control the operation of each submodule; The aircraft guidance and positioning module is used in conjunction with the docking end guidance and positioning module in the modular docking node to confirm the specific position of the modular docking node; The vehicle power module is used to provide the underwater vehicle with the power required for navigation and attitude change; The vehicle docking module is used to achieve docking between the underwater vehicle and the modular docking node; The aircraft energy module is used to store and provide energy externally; The aircraft wireless charging module transmits the electric energy output by the aircraft energy module to the modular docking node in a wireless form, thereby realizing contactless transmission of electric energy; The aircraft wireless communication module is used for command interaction when the wireless charging module is working.

6. A wireless charging docking system for powering submarine infrastructure according to claim 5, characterized in that: The vehicle docking module is arranged at the bow of the underwater vehicle and includes an identification sensor, a guiding mechanism and a locking mechanism; The identification sensor comprises an axial in-place sensor (6) and a radial in-place sensor (7); the axial in-place sensor (6) is arranged on the locking mechanism (3) and is used to detect whether the mooring cable (1) is in place; the radial in-place sensor (7) is arranged on the primary coupling mechanism (5) and is used to drive the locking mechanism (3) to complete the locking action when the secondary electromagnetic coupling mechanism (4) installed on the mooring cable (1) is successfully identified; The guiding mechanism is arranged on the underwater vehicle and is located at the front end of the locking mechanism (3). The guiding mechanism (2) is used to guide the mooring cable (1) equipped with the secondary coupling mechanism (4) into the locking mechanism (3); The locking mechanism (3) is arranged on the underwater vehicle and is used to drive the primary coupling mechanism (5) to open and close through the linear module (32) arranged thereon after receiving the command from the identification sensor, so that it can dock with the secondary coupling mechanism (4) to form magnetic circuit coupling and perform charging and discharging operations.

7. A wireless charging docking system for powering submarine infrastructure according to claim 6, characterized in that: The aircraft wireless charging module comprises a primary electromagnetic coupling mechanism (5) and a primary wireless charging control module; The primary electromagnetic coupling mechanism (5) is an open-close structure, comprising two symmetrically arranged aircraft end magnetic cores (52) and two aircraft end coils (51) arranged inside the aircraft end magnetic cores (52), and is used to transmit an alternating current signal to the secondary electromagnetic coupling mechanism (4) in the modular docking node in the form of a magnetic field, so as to realize non-contact transmission of electric energy; The primary wireless charging control module is used to convert the direct current output by the aircraft energy module into a stable alternating current signal through inversion and resonance compensation, and further transmit it to the primary electromagnetic coupling mechanism (5).

8. A charging method for a wireless charging docking system for powering submarine infrastructure according to any one of claims 1 to 7, characterized in that: The steps include: Through the synergy of the vehicle guidance and positioning module in the underwater vehicle and the docking end guidance and positioning module in the modular docking node, the underwater vehicle is guided to autonomously travel to the vicinity of the modular docking node; When the underwater vehicle approaches the modular docking node, the guiding mechanism in the vehicle docking module at the bow is deployed to capture the mooring cable (1) and guide it into the opening at the bow of the underwater vehicle; The locking mechanism (3) receives a driving signal from the identification sensor to lock the mooring cable (1); After locking, start the aircraft wireless communication module to shake hands with the docking end wireless communication module to confirm the relative position of the primary electromagnetic coupling mechanism and the secondary electromagnetic coupling mechanism to ensure that it is within the range allowed by efficient wireless power transmission; If an abnormal situation occurs during the above steps, the position of the underwater vehicle is fine-tuned through the vehicle power module for re-docking; After successful communication, the primary wireless charging control module of the underwater vehicle is started, and the vehicle energy module outputs and provides contactless power to the modular docking node. The docking-end wireless charging module of the modular docking node converts the received electrical energy into stable direct current and transmits it to the battery of the seabed infrastructure for storage. The charging status is monitored regularly during the charging process, and wireless charging is stopped if any abnormality occurs in the charging system.

9. A wireless charging docking system for powering submarine infrastructure according to claim 8, characterized in that: The locking mechanism (3) receives a driving signal from the identification sensor to lock the mooring cable (1); comprising: The axial position sensor in the spacecraft docking module identifies the mooring cable (1), and after successful identification, sends a command to the locking mechanism for preliminary locking; After the mooring cable (1) is initially locked, the underwater vehicle slowly floats up under the action of the vehicle power module, and the radial position sensor (7) identifies the secondary electromagnetic coupling mechanism installed on the mooring cable (1). After successful identification, it sends a command to the locking mechanism (3) for secondary locking.

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