A wireless charging docking system and charging method for powering subsea infrastructure

Abstract

The application provides a wireless charging connection system and a charging method for seabed infrastructure power supply, the connection system comprises a modular connection node and an underwater vehicle. The modular connection node is connected with the seabed infrastructure through a mooring cable and is suspended in water, and the underwater vehicle is used as a mobile power supply, adopts a capturing type docking mode to capture and lock the mooring cable of the modular connection node, and performs wireless charging operation after docking. The modular connection node transmits the electric energy received from the underwater vehicle to the seabed infrastructure to meet the long-term power demand thereof. The application has the advantages of low cost and high safety, can ensure the continuous detection capability of the seabed infrastructure and the original monitoring position unchanged, and realizes non-contact transmission of electric energy, thereby significantly improving the safety and reliability of the system.

Description

Technical Field

[0001] This invention relates to the field of underwater operation equipment technology, and in particular to a wireless charging connection system and charging method for powering subsea infrastructure. Background Technology

[0002] When seabed infrastructure performs long-term exploration missions, it typically relies on its own batteries for power. When the batteries are low on power, external power is required to maintain the normal operation of the various levels of exploration equipment on the seabed infrastructure. The existing charging methods for seabed infrastructure and their shortcomings are as follows:

[0003] Currently, the main energy supply methods include environmental energy charging and rechargeable charging. Environmental energy charging utilizes water flow energy and tidal energy, such as underwater turbines or hydroelectric generators, to convert the kinetic energy of water flow into electrical energy for autonomous charging. However, this method is limited by the finite amount of environmental energy and cannot meet the long-term, high-efficiency operation requirements of sensors at all levels, thus reducing the overall performance of the detection system. On the other hand, rechargeable charging involves salvaging seabed infrastructure and connecting it via wired links to surface vessels or shore-based equipment to charge it using an external power source. Although this method can provide a stable energy supply, it limits the continuous monitoring capabilities of seabed infrastructure, increases the consumption of manpower and resources, and raises safety risks. Furthermore, the repositioning after redeployment may result in location deviations, affecting the comparison of monitoring data. Summary of the Invention

[0004] To address the shortcomings of the aforementioned technologies, this invention provides a wireless charging docking system and charging method for powering subsea infrastructure, designed to solve the long-term power needs of subsea infrastructure. This invention involves installing a modular docking node on the subsea infrastructure via a mooring cable, which is connected to the infrastructure's battery. An underwater vehicle serves as a mobile power source. The underwater vehicle docks with the modular docking node for wireless charging. The modular docking node then transmits the received power to the subsea infrastructure, meeting the long-term power needs of various sensors while maintaining continuous monitoring capabilities and minimizing charging costs.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] A wireless charging docking system for powering submarine infrastructure includes an underwater vehicle and modular docking nodes;

[0007] The modular docking node is suspended in the water and connected to the subsea infrastructure via a mooring cable, which supplies it with power, enabling it to remain on the seabed for a long time to perform monitoring tasks.

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

[0009] Each sub-module includes a connection end main control module, a connection end guidance and positioning module, a connection end wireless charging module, and a connection end wireless communication module;

[0010] The main control module at the docking end acts as a controller to coordinate and control the operation of each sub-module within the main cabin.

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

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

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

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

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

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

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

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

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

[0020] The main control module of the aircraft is used to coordinate and control the operation of each sub-module;

[0021] The vehicle 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 location of the modular docking node.

[0022] The vehicle power module is used to provide the power required for the underwater vehicle to navigate and change attitude.

[0023] The vehicle docking module is used to enable the underwater vehicle to dock with the modular docking node;

[0024] The vehicle's energy module is used to store and supply energy to external systems;

[0025] The wireless charging module of the aircraft transmits the electrical energy output by the energy module of the aircraft to the modular connection node wirelessly, realizing contactless transmission of electrical energy.

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

[0027] The docking module is located at the bow of the underwater vehicle and includes an identification sensor, a guidance mechanism, and a locking mechanism.

[0028] The identification sensor includes an axial positioning sensor and a radial positioning sensor; the axial positioning sensor is mounted on the locking mechanism and is used to detect whether the mooring cable is in position; the radial positioning sensor is mounted on the primary side coupling mechanism and is used to drive the locking mechanism to complete the locking action after successfully identifying the secondary side electromagnetic coupling mechanism installed on the mooring cable.

[0029] The guidance mechanism is mounted on the underwater vehicle and located at the front end of the locking mechanism. The guidance mechanism is used to guide the mooring cable with the secondary side coupling mechanism installed into the locking mechanism.

[0030] The locking mechanism, installed on the underwater vehicle, is used to receive commands from the identification sensor and drive the primary side coupling mechanism to open and close via a linear module mounted on it, so that it docks with the secondary side coupling mechanism to form a magnetic circuit coupling for charging and discharging operations.

[0031] The wireless charging module for the aircraft includes a primary-side electromagnetic coupling mechanism and a primary-side wireless charging control module.

[0032] The primary side electromagnetic coupling mechanism is an open and close structure, including two symmetrically arranged vehicle end magnetic cores and two vehicle end coils arranged inside the vehicle end magnetic cores, which are used to transmit AC signals to the secondary side electromagnetic coupling mechanism in the modular connection node through the form of magnetic field, so as to realize non-contact transmission of electrical energy.

[0033] The primary-side wireless charging control module is used to convert the DC power output by the vehicle's energy module into a stable AC signal through inversion and resonant compensation, and then transmit it to the primary-side electromagnetic coupling mechanism.

[0034] Furthermore, the two vehicle-end coils are arc-shaped coils, and during wireless charging operations, the two vehicle-end coils surround the outside of the connector coil; the two vehicle-end magnetic cores are arc-shaped magnetic cores, respectively attached to the outside of the two vehicle-end coils.

[0035] Furthermore, the width of the connector coil is 10mm smaller than that of the connector core, and the connector coil is attached to and wraps around the connector core 360 ​​degrees.

[0036] Furthermore, the width of the vehicle-end coil is the same as that of the docking-end coil, and the width of the vehicle-end magnetic core is the same as that of the docking-end magnetic core;

[0037] Furthermore, both the docking end magnetic core and the vehicle end magnetic core are soft magnetic cores.

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

[0039] Through the coordinated action of the underwater vehicle guidance and positioning module and the docking end guidance and positioning module in the modular docking node, the underwater vehicle is guided to autonomously navigate to the vicinity of the modular docking node.

[0040] When the underwater vehicle approaches the modular docking node, the guidance mechanism in the docking module at the bow deploys, captures the mooring cable, and guides it into the opening at the bow of the underwater vehicle.

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

[0042] After locking, the vehicle's wireless communication module is activated to handshake with the docking terminal's wireless communication module to confirm the relative positions of the primary side electromagnetic coupling mechanism and the secondary side electromagnetic coupling mechanism, ensuring that it is within the range allowed for efficient wireless power transmission.

[0043] If any abnormality occurs during the above steps, the underwater vehicle's position can be finely adjusted via the vehicle's power module to re-dock.

[0044] After successful communication, the primary wireless charging control module of the underwater vehicle is activated, and the vehicle's energy module outputs power to the modular docking node in a contactless manner. The wireless charging module at the docking end of the modular docking node converts the received electrical energy into stable DC power and transmits it to the battery of the seabed infrastructure for storage. During the charging process, the charging status is monitored periodically, and wireless charging is stopped if any abnormality occurs in the charging system.

[0045] The locking mechanism receives a drive signal from the identification sensor to lock the mooring cable; including:

[0046] The axial positioning sensor in the docking module of the aircraft identifies the mooring cable, and after successful identification, sends a command to the locking mechanism to perform initial locking.

[0047] After the initial locking of the mooring cable, the underwater vehicle slowly rises under the action of the vehicle's power module. The radial positioning 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 subsea infrastructure provided by this invention can solve the long-term power supply needs of subsea infrastructure, effectively improve the reliability of energy supply to subsea infrastructure, and is suitable for long-term applications in various marine environments. Compared with existing power supply technologies, this invention has significant advantages in terms of low cost and high security, while ensuring the concealment of subsea infrastructure, maintaining continuous monitoring capabilities, and ensuring that the original position remains unchanged. The modular docking nodes of this invention are easy to install, minimizing changes to the structure of the subsea infrastructure. Only the mooring cable in the modular docking node needs to be connected to the battery interface inside the subsea infrastructure, utilizing modular application. This system adopts advanced wireless charging technology. The non-contact power transmission between the underwater vehicle and the modular docking nodes effectively avoids the safety hazards such as aging, wear, and short circuits caused by traditional circuits, greatly improving safety and reliability while reducing equipment costs. Attached Figure Description

[0050] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. The drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

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

[0052] Figure 2This is a schematic diagram of the modular connection node in the wireless charging connection system of this invention.

[0053] Figure 3 This is a schematic diagram of the underwater vehicle in the wireless charging docking system of this invention.

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

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

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

[0057] Figure 7 This is an isometric view of the connector magnetic core according to an embodiment of the present invention;

[0058] Figure 8 This is a schematic diagram of the locking mechanism according to an embodiment of the present invention.

[0059] Figure 9 This is a flowchart illustrating the charging method of the wireless charging connection system according to an embodiment of the present invention.

[0060] In the diagram: 1. Mooring cable; 2. Guiding mechanism; 3. Locking mechanism; 31. Locking bracket; 32. Linear module; 33. Linkage rod; 34. Parallel four-bar linkage; 35. Locking claw; 4. Secondary side coupling mechanism; 41. Connecting end coil; 42. Connecting end magnetic core; 5. Primary side coupling mechanism; 51. Vehicle end coil; 52. Vehicle end magnetic core; 6. Axial positioning sensor; 7. Radial positioning sensor. Detailed Implementation

[0061] The present invention will now be further described with reference to the accompanying drawings and embodiments.

[0062] It should be noted that, unless otherwise specified, the embodiments and features described in this invention can be combined with each other. The invention will now be described in detail with reference to the accompanying drawings and embodiments. Obviously, the described embodiments are merely a part of the embodiments of this invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

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

[0064] Submarine infrastructure includes detection equipment and batteries. The detection equipment contains sensors at various levels, such as temperature, salinity, and pressure, used to measure and collect data on the underwater environment. The batteries continuously power the sensors at various levels within the detection equipment, ensuring that they can operate and monitor continuously at different depths and under different marine environmental conditions.

[0065] In practice, the underwater vehicle acts as a mobile power source, autonomously navigating to the seabed infrastructure requiring power replenishment and docking with the modular docking node using a capture-type docking method. After successful docking, the underwater vehicle transmits power to the modular docking node, which then acts as a power relay node, transmitting the received power to the connected seabed infrastructure to complete the power supply.

[0066] The modular docking node comprises a streamlined main hull and a mooring cable 1. The various modules and components are housed within the streamlined main hull, which is suspended in the water by the mooring cable 1. Preferably, the streamlined design of the main hull minimizes water resistance, ensuring stability in complex marine environments. One end of the mooring cable 1 connects to the streamlined main hull, and the other end connects to the battery of the subsea infrastructure, transmitting received electrical energy to the battery to support the continuous operation of sensors at various levels within the subsea infrastructure.

[0067] Figure 2 This is a schematic diagram of a modular connection node in a wireless charging connection system for powering submarine infrastructure according to the present invention. (Refer to...) Figure 2 The streamlined main hull includes a docking-end master control module, a docking-end guidance and positioning module, a docking-end wireless charging module, and a docking-end wireless communication module. The master control module coordinates and controls the operation of each sub-module within the main hull to ensure stable and reliable operation. The docking-end guidance and positioning module, employing an ultra-short baseline transponder, works in conjunction with the underwater vehicle's guidance and positioning module to precisely guide the underwater vehicle to the vicinity of the modular docking node for accurate docking. The docking-end wireless charging module, working in conjunction with the underwater vehicle's wireless charging module, enables contactless power transfer, receiving power from the underwater vehicle and transmitting it to the seabed infrastructure. The docking-end wireless communication module, using a WiFi module, works in conjunction with the underwater vehicle's wireless communication module for command interaction during the wireless charging process, including data modulation and demodulation functions to ensure stable and reliable command transmission wirelessly.

[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 from the primary electromagnetic coupling mechanism 5 in the underwater vehicle and transmitting it to the secondary wireless charging control module. The secondary wireless charging control module performs resonance compensation and rectification on the AC signal to convert it into DC power to supply the batteries of the subsea infrastructure for storage.

[0069] Figure 3 This is a schematic diagram of an underwater vehicle in a wireless charging connection system for powering submarine infrastructure according to the present invention. (Refer to...) Figure 3 The underwater vehicle comprises: a main control module, a guidance and positioning module, a power module, a docking module, an energy module, a wireless charging module, and a wireless communication module. The main control module coordinates and controls the operation of each submodule, ensuring the overall stability of the underwater vehicle under various operational requirements. The guidance and positioning module works 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, ensuring accurate docking. Preferably, the guidance and positioning module uses an ultra-short baseline for positioning. An interrogator and receiver are installed on the underwater vehicle, and a transponder is installed on the modular docking node. During guidance, the underwater vehicle continuously transmits ultrasonic waves to calculate the distance and angle with the modular docking node in real time, feeding back to the main control module for position adjustments. The power module is a propulsion system that provides the power required for navigation, docking, hovering, and surfacing during underwater operations. The docking module effectively connects the underwater vehicle to the modular docking node, creating favorable conditions for wireless charging operations. The underwater vehicle's energy module ensures a stable energy supply for all modules during operation and provides reliable power delivery to seabed infrastructure; preferably, the energy module is a lithium battery. The wireless charging module transmits the electrical energy output from the energy module to the modular docking node wirelessly, achieving contactless power transfer. The wireless communication module is used for command interaction between the underwater vehicle and the modular docking node during wireless charging operations.

[0070] Figure 4 This is a schematic diagram of the capture-type docking of the docking module of the aircraft and the modular docking node of the present invention using mooring cable 1. For ease of explanation of the internal structure, the fairing of the capture section is concealed. (Refer to...) Figure 4 The underwater vehicle docking module is located at the bow of the underwater vehicle and includes an axial positioning sensor 6, a radial positioning sensor 7, a guidance mechanism 2, and a locking mechanism 3. Preferably, the underwater vehicle docking module is located within the capture section at the bow of the underwater vehicle and is designed for capture-type docking. During capture-type docking, the underwater vehicle docking module needs to guide, identify, and lock the mooring cable 1 of the modular docking node.

[0071] The underwater vehicle's wireless charging module has bidirectional charging capabilities, allowing it to connect to an underwater base station as a power receiver to replenish its own power, and also as a power transmitter to provide power to underwater infrastructure. It includes a primary-side electromagnetic coupling mechanism 5 and a primary-side wireless charging control module. The primary-side electromagnetic coupling mechanism 5 transmits AC signals to the secondary-side electromagnetic coupling mechanism 4 via a magnetic field, achieving contactless power transmission. The primary-side wireless charging control module converts the DC power output from the lithium battery in the underwater vehicle into stable AC power through inversion and resonant compensation, further transmitting it to the primary-side electromagnetic coupling mechanism 5.

[0072] See Figures 5 to 7 As shown, an embodiment of the present invention provides a coupling mechanism for underwater capture-type 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 disposed outside the docking end magnetic core 42; the vehicle end coupling mechanism 5 is an openable structure, including two symmetrically arranged vehicle end magnetic cores 52 and two vehicle end coils 51 disposed inside the vehicle end magnetic cores 52; the primary coupling mechanism 5, after surrounding the outside of the docking end coupling mechanism 4, can realize bidirectional power transmission function.

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

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

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

[0076] In this embodiment of the invention, the docking end coupling mechanism 4 is located at the docking node mooring cable 1, and the primary side coupling mechanism 5 is located at the underwater vehicle's locking mechanism 3. The underwater vehicle and the docking node adopt a capture-type docking method. Both the docking end coupling mechanism 4 and the primary side coupling mechanism 5 are connected to the wireless charging control module. When the docking end coupling mechanism 4 acts as the transmitter, the primary side coupling mechanism 5 acts as the receiver; or, when the primary side coupling mechanism 5 acts as the transmitter, the secondary side coupling mechanism 4 acts as the receiver. When the capture-type docking is successfully completed and the wireless charging operation begins, the overall structure is as follows: Figure 2 As shown, from the inside out are the mooring cable 1, the docking end magnetic core 42, the docking end coil 41, the vehicle end coil 51, the vehicle end magnetic core 52, and the locking mechanism 3.

[0077] The present invention provides a coupling mechanism for underwater capture-type docking wireless charging, which breaks through the limitation of existing wireless charging technology that is only applicable to guided docking, allowing underwater vehicles of different sizes to dock with the same docking node, thereby improving the versatility of the wireless charging system.

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

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

[0080] See 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 parallel four-bar linkage 34, and locking claws 35. The locking bracket 31 is connected to the underwater vehicle. The front ends of the locking bracket 31 are respectively hinged to two sets of parallel four-bar linkages 34. The ends of the two sets of parallel four-bar linkages 34 are respectively connected to two locking claws 35. The opening and closing portions of the primary-side coupling mechanism 5 are installed on the two locking claws 35. The linear module 32 is disposed on the locking bracket 31, and its output end is hinged to one end of the two connecting rods 33. The other ends of the two connecting rods 33 are respectively hinged to the two sets of parallel four-bar linkages 34. The linear module 32 provides power for the opening and closing of the primary-side coupling mechanism 5.

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

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

[0083] The underwater vehicle autonomously navigates to the lower end of mooring cable 1 using a combined acoustic and optical system. It then deploys guidance mechanism 2 to capture mooring cable 1. After passing through guidance mechanism 2, mooring cable 1 slides into the vehicle's capture section and is identified by axial positioning sensor 6, which drives guidance mechanism 2 to close, preventing mooring cable 1 from slipping out. Subsequently, the underwater vehicle surfaces and identifies secondary coupling mechanism 4 via radial positioning sensor 7. Upon successful identification, locking mechanism 3 is activated to lock the secondary coupling mechanism 4, ensuring that primary coupling mechanism 5 tightly engages with secondary coupling mechanism 4, ultimately achieving stable docking between the underwater vehicle and mooring cable 1. After docking, wireless charging begins. Secondary coupling mechanism 4 and primary coupling mechanism 5 can serve as the receiver and transmitter of electrical energy, respectively, enabling bidirectional power transmission.

[0084] Figure 9 The flowchart of a charging method for a wireless charging connection system for powering submarine infrastructure according to the present invention includes the following steps:

[0085] S1: Through the coordinated action of the underwater 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 navigate to the vicinity of the modular docking node.

[0086] S2: When the underwater vehicle approaches the modular docking node, the guidance mechanism 2 in the docking module at the bow of the underwater vehicle unfolds, captures the mooring cable 1, and guides it into the opening at the bow of the underwater vehicle.

[0087] S3: The radial positioning sensor 7 in the docking module of the aircraft 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 initial locking of mooring cable 1, the underwater vehicle slowly rises under the action of the vehicle's power module. The radial positioning sensor 7 identifies the secondary side electromagnetic coupling mechanism 4 installed on mooring cable 1. After successful identification, it sends a command to the locking mechanism 3 for secondary locking.

[0089] S5: After completing the secondary locking, start the wireless communication module of the underwater vehicle to handshake with the wireless communication module of the docking end to confirm the relative position of the primary side electromagnetic coupling mechanism 5 and the secondary side electromagnetic coupling mechanism 4, and 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 finely adjusted through the vehicle's power module to ensure re-docking and guarantee the high efficiency and reliability of the wireless charging operation.

[0091] S7: After a successful communication handshake, the primary-side wireless charging control module of the underwater vehicle is activated. The vehicle's energy module outputs power to provide contactless power to the modular docking nodes. The wireless charging module at the docking end of the modular docking node converts the received power into stable DC power and transmits it to the batteries of the seabed infrastructure for storage. During the charging process, the charging status is monitored periodically, and if any abnormality occurs in the charging system, the wireless charging operation is immediately stopped.

[0092] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above descriptions are merely specific embodiments of the present invention and are 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 within the protection scope of the present invention.

Claims

1. A charging method for a wireless charging docking system for powering submarine infrastructure, the wireless charging docking system for powering submarine infrastructure includes an underwater vehicle 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, enabling it to remain 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 wirelessly charge the modular docking node. The modular docking node includes the following sub-modules: docking end main control module, docking end guidance and positioning module, docking end wireless charging module, and docking end wireless communication module; the underwater vehicle includes the vehicle main control module, vehicle guidance and positioning module, vehicle power module, vehicle docking module, vehicle energy module, vehicle wireless charging module, and vehicle wireless communication module. The wireless charging module at the connection end includes a secondary side electromagnetic coupling mechanism (4) and a secondary side wireless charging control module; the secondary side electromagnetic coupling mechanism (4) is used to receive the AC signal transmitted by the primary side electromagnetic coupling mechanism (5) in the underwater vehicle and transmit it to the secondary side wireless charging control module; the secondary side wireless charging control module is used to receive the AC signal transmitted by the secondary side electromagnetic coupling mechanism (4), perform resonance compensation and rectification to convert it into DC power, so as to supply the battery of the seabed infrastructure for storage; The wireless charging module for the aircraft includes a primary side electromagnetic coupling mechanism (5) and a primary side wireless charging control module. The primary side electromagnetic coupling mechanism (5) is used to transmit AC signals to the secondary side electromagnetic coupling mechanism (4) in the modular connection node through a magnetic field to achieve contactless transmission of electrical energy. The primary side wireless charging control module is used to convert the DC power output by the aircraft energy module into a stable AC signal through inverter and resonant compensation, and further transmit it to the primary side electromagnetic coupling mechanism (5). The docking module of the underwater vehicle is located at the bow and includes an identification sensor, a guidance mechanism, and a locking mechanism. The identification sensor includes an axial positioning sensor (6) and a radial positioning sensor (7). The axial positioning sensor (6) is located on the locking mechanism (3) and is used to detect whether the mooring cable (1) is in position. The radial positioning sensor (7) is located on the primary side electromagnetic coupling mechanism (5) and is used to drive the locking mechanism (3) to complete the locking action after successfully identifying the secondary side electromagnetic coupling mechanism (4) installed on the mooring cable (1). The guidance mechanism is located on the underwater vehicle and at the front end of the locking mechanism (3). The guidance mechanism (2) is used to guide the mooring cable (1) with the secondary side electromagnetic coupling mechanism (4) installed into the locking mechanism (3). The locking mechanism (3) is located on the underwater vehicle and is used to receive the command from the identification sensor and pass through the linear module (32) located on it. The primary side electromagnetic coupling mechanism (5) is driven to open and close, so that it docks with the secondary side electromagnetic coupling mechanism (4) to form a magnetic circuit coupling and perform charging and discharging operations; the locking mechanism (3) includes a locking bracket (31), a linear module (32), a connecting rod (33), a parallel four-bar linkage (34) and a locking claw (35), wherein the locking bracket (31) is connected to the underwater vehicle, the front ends of the locking bracket (31) are respectively hinged to two sets of parallel four-bar linkages (34), the ends of the two sets of parallel four-bar linkages (34) are respectively connected to two locking claws (35), and the opening and closing parts of the primary side electromagnetic coupling mechanism (5) are installed on the two locking claws (35); the linear module (32) is set on the locking bracket (31), and its output end is hinged to one end of the two connecting rods (33), the other end of the two connecting rods (33) is respectively hinged to the two sets of parallel four-bar linkages (34), and the linear module (32) provides power for the opening and closing of the primary side electromagnetic coupling mechanism (5); Its features are, The charging method includes the following steps: Through the coordinated action of the underwater vehicle guidance and positioning module and the docking end guidance and positioning module in the modular docking node, the underwater vehicle is guided to autonomously navigate to the vicinity of the modular docking node. When the underwater vehicle approaches the modular docking node, the guidance mechanism in the docking module at the bow of the vehicle unfolds, captures the mooring cable (1) and guides it into the opening at the bow of the underwater vehicle. The locking mechanism (3) receives the drive signal from the identification sensor and locks the mooring cable (1); After locking, the vehicle's wireless communication module is activated to handshake with the docking terminal's wireless communication module to confirm the relative positions of the primary side electromagnetic coupling mechanism and the secondary side electromagnetic coupling mechanism, ensuring that it is within the range allowed for efficient wireless power transmission. If any abnormality occurs during the above steps, the underwater vehicle's position can be finely adjusted via the vehicle's power module to re-dock. After successful communication, the primary wireless charging control module of the underwater vehicle is activated, and the vehicle's energy module outputs power to the modular docking node in a non-contact manner. The wireless charging module at the docking end of the modular docking node converts the received electrical energy into stable DC power and transmits it to the battery of the seabed infrastructure for storage. During the charging process, the charging status is monitored periodically, and wireless charging is stopped if the charging system malfunctions. The locking mechanism (3) receives a drive signal from the identification sensor to lock the mooring cable (1); it includes: The axial positioning sensor in the docking module of the aircraft identifies the mooring cable (1), and after successful identification, sends a command to the locking mechanism for initial locking; After the initial locking of the mooring cable (1), the underwater vehicle slowly rises under the action of the vehicle's power module. The radial positioning sensor (7) identifies the secondary side electromagnetic coupling mechanism installed on the mooring cable (1). After successful identification, it sends a command to the locking mechanism (3) for secondary locking.

2. The charging method for a wireless charging connection system for powering submarine infrastructure according to claim 1, characterized in that, The main control module at the connection end acts as a controller to coordinate and control the operation of each sub-module; The docking end guidance and positioning module is used for precise docking of the underwater vehicle with the modular docking node; The wireless charging module at the docking end is used to receive electrical energy provided by the underwater vehicle, realize contactless power transmission, and transmit the received power energy to the seabed infrastructure. The wireless communication module at the connection end is used for command interaction during wireless charging.

3. The charging method for a wireless charging connection system for powering submarine infrastructure according to claim 1, characterized in that, The secondary side electromagnetic coupling mechanism (4) includes a connection end magnetic core (42) and a connection end coil (41) disposed outside the connection end magnetic core (42); The connecting end magnetic core (42) is a ring-shaped magnetic core and is installed on the outside of the connecting point mooring cable (1); the connecting end coil (41) is arc-shaped and is closely attached to the outer periphery of the connecting end magnetic core (42).

4. The charging method for a wireless charging connection system for powering submarine infrastructure according to claim 1, characterized in that, The main control module of the aircraft is used to coordinate and control the operation of each sub-module; The vehicle 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 location of the modular docking node. The vehicle power module is used to provide the power required for the underwater vehicle to navigate and change attitude. The vehicle docking module is used to enable the underwater vehicle to dock with the modular docking node; The vehicle's energy module is used to store and supply energy to external systems; The wireless charging module of the aircraft transmits the electrical energy output by the energy module of the aircraft to the modular connection node wirelessly, realizing contactless transmission of electrical energy. The vehicle's wireless communication module is used for command interaction when the wireless charging module is working.

5. A charging method for a wireless charging connection system for powering submarine infrastructure according to claim 1, characterized in that, The primary side electromagnetic coupling mechanism (5) is an open and close structure, including two symmetrically arranged vehicle end magnetic cores (52) and two vehicle end coils (51) arranged inside the vehicle end magnetic cores (52).

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