Suspension type light-weight underwater vehicle wireless energy communication connection system

Abstract

The invention provides a wireless energy communication connection system for a suspended lightweight underwater vehicle. The wireless energy communication connection system comprises a suspended seabed base station and an underwater vehicle, the suspension type seabed base station is connected with a seabed power grid through a seabed energy information system to collect electric quantity and exchange data; the suspension type seabed base station is also used for being in butt joint with an underwater vehicle to realize wireless charging and wireless communication functions; the underwater vehicle is used for executing underwater tasks and transmitting data to the suspension type seabed base station regularly. The underwater vehicle and the suspension type seabed base station adopt a capture type butt joint mode, dynamic butt joint is achieved by capturing connecting cables of the underwater vehicle and the suspension type seabed base station, wireless charging and wireless communication technologies are applied, a traditional wet plugging mode is replaced, the overall weight and complexity of the base station are further reduced, and safety risks and maintenance cost are remarkably reduced. According to the invention, the light weight of the seabed base station is realized, the system is suitable for underwater vehicles with different sizes, and the operability, universality and safety of the system are improved.

Description

Technical Field

[0001] The present invention relates to the field of ocean observation technology, and in particular to a suspended lightweight underwater vehicle wireless energy communication connection system. Background Art

[0002] At present, underwater vehicles and submarine base stations at home and abroad mainly adopt the guided docking method. Most submarine base stations are designed to sit on the bottom, equipped with guide covers and external fixed brackets to ensure that the difficulty of docking with underwater vehicles is reduced and they are placed in the submarine environment for a long time. During the docking process, the underwater vehicle enters the submarine base station through the guide cover and uses the wet plug-in method to exchange energy and data.

[0003] The existing technology has the following disadvantages: due to the presence of the guide cover and the external fixed bracket, the overall weight of the bottom-mounted submarine base station increases, which increases the difficulty of deployment and recovery operations; the bottom-mounted submarine base station can only be effectively docked with a specific type of underwater vehicle, and other types of underwater vehicles cannot use its guide cover for docking operations, which limits its versatility; the guided docking method requires high precision, the docking process is relatively complicated, and it is easily affected by environmental conditions; the wet plug-in power supply communication method has safety hazards such as leakage, and the equipment cost and maintenance cost are high. In order to solve the above problems, it is urgent to develop a suspended lightweight underwater vehicle wireless energy communication docking system. Summary of the invention

[0004] According to the above-mentioned shortcomings of the prior art, the present invention proposes a suspended lightweight underwater vehicle wireless energy and communication docking system, in which the submarine base station adopts a suspended design, eliminates the traditional guide cover and external fixing bracket, greatly reduces the weight of the base station body, and the underwater vehicle uses the method of capturing the connecting cable to achieve stable docking with the base station. At the same time, wireless charging and wireless communication technology are introduced to replace the traditional wet plug-in method, significantly reducing safety risks and maintenance costs.

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

[0006] A suspended lightweight underwater vehicle wireless energy communication docking system, comprising a suspended seabed base station and an underwater vehicle;

[0007] The suspended submarine base station is connected to the submarine power grid through the submarine energy communication system to obtain energy and transmit data, and docks with the underwater vehicle to perform wireless charging and wireless data exchange;

[0008] The underwater vehicle is used to perform underwater tasks and is connected to the suspended seabed base station in a capture-type docking manner by capturing its mooring cable.

[0009] The suspended submarine base station comprises a gravity anchor, a repeater, a mooring cable, an underwater electric swivel and a base station body;

[0010] The gravity anchor is used to be fixed at a preset seabed position;

[0011] The repeater has a lower end connected to the gravity anchor, an upper end connected to the mooring cable, and a side end connected to the submarine energy communication system, and is used for relaying and transmitting energy and data between the submarine energy communication system and the suspended submarine base station;

[0012] The mooring cable is connected to the repeater at the lower end and the underwater electric swivel at the upper end, and is used to transmit torque, energy and signals to achieve attitude control and energy information transmission of the base station body;

[0013] The underwater electric swivel is connected to the connection cable at the lower end and the base station body at the upper end, and is used for transmitting electric energy and data in an underwater environment, ensuring that the connection cable can rotate freely and release torque when rotating, so as to avoid cable entanglement or damage during operation;

[0014] The base station body is in the shape of a smooth streamlined cylinder, in which various submodules are arranged for guiding, supplying power and communicating with the underwater vehicle.

[0015] The base station body includes a base station general control module, a submarine energy management module, a connection energy management module, a base station energy module and a base station guidance and positioning module;

[0016] The base station master control module acts as a controller to coordinate and manage the functions and operations of each submodule to complete various tasks;

[0017] The submarine energy communication management module is used to receive power and interact with data with the submarine energy communication system;

[0018] The connection energy and communication management module is used to supply energy and communicate with the underwater vehicle to ensure the continuous operation of the underwater vehicle during the mission execution;

[0019] The base station energy module is used to store the electric energy received from the seabed energy communication system and to provide electric energy to the underwater vehicle as a power source;

[0020] The base station guidance and positioning module is used to provide accurate position information and attitude information so that the underwater vehicle can effectively complete docking.

[0021] The connection energy management module includes a primary wireless charging module and a base station wireless communication module;

[0022] The primary wireless charging module is used for the suspended seabed base station to supply contactless power to the underwater vehicle;

[0023] The base station wireless communication module is used to receive the data set of the underwater vehicle and execute command transmission.

[0024] The primary wireless charging module includes a primary electromagnetic coupling mechanism and a primary wireless charging control module;

[0025] The primary wireless charging control module is used to invert the direct current output by the base station energy module into alternating current and perform resonance compensation, and the compensated alternating current signal is transmitted to the primary electromagnetic coupling mechanism to achieve efficient electromagnetic coupling energy transmission;

[0026] The primary electromagnetic coupling mechanism is used to transmit the alternating current signal to the underwater vehicle end based on the principle of electromagnetic induction to achieve non-contact transmission of electrical energy.

[0027] The primary electromagnetic coupling mechanism includes a connection end magnetic core and a connection end coil arranged outside the connection end magnetic core;

[0028] 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.

[0029] The underwater vehicle includes a vehicle general control module, a vehicle energy management module, a vehicle energy module, a vehicle guidance and positioning module, and a docking module;

[0030] The aircraft master control module is used as a controller to integrate and coordinate the operation of each submodule;

[0031] The vehicle energy and information management module is used to perform energy replenishment and data interaction with the suspended seabed base station to ensure the long-term autonomous operation and data return capability of the underwater vehicle;

[0032] The vehicle energy module is used to store the power source obtained from the suspended seabed base station and continuously provide power to the underwater vehicle during mission execution;

[0033] The vehicle guidance and positioning module is used in conjunction with the base station guidance and positioning module in the suspended seabed base station to accurately guide the underwater vehicle to autonomously travel to a preset docking position;

[0034] The docking module is used to capture the mooring cable in the suspended submarine base station and lock the primary electromagnetic coupling mechanism installed on the mooring cable to ensure the successful realization of the capture-type docking between the underwater vehicle and the suspended submarine base station, thereby providing necessary preparation conditions for wireless charging operations.

[0035] 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;

[0036] 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 secondary coupling mechanism, and is used to drive the locking mechanism to complete the locking action when the primary electromagnetic coupling mechanism installed on the mooring cable is successfully identified;

[0037] 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 primary side coupling mechanism into the locking mechanism;

[0038] The locking mechanism is arranged on the underwater vehicle, and is used to receive the command from the identification sensor and drive the secondary coupling mechanism to open and close through the linear module arranged thereon, so that it docks with the primary coupling mechanism to form a magnetic circuit coupling for charging and discharging operations.

[0039] The aircraft energy and communication management module includes a secondary side wireless charging module and an aircraft wireless communication module;

[0040] The secondary wireless charging module is used in conjunction with the primary wireless charging module in the suspended seabed base station to achieve contactless power transmission and provide energy for the underwater vehicle;

[0041] The vehicle wireless communication module is used to send the data set of the underwater vehicle to the base station wireless communication module and receive instructions sent by the suspended seabed base station.

[0042] The secondary side wireless charging module includes a secondary side electromagnetic coupling mechanism and a secondary side wireless charging control module;

[0043] The secondary 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 in conjunction with the primary electromagnetic coupling mechanism in the suspended seabed base station to receive the alternating current transmitted by the primary electromagnetic coupling mechanism through the electromagnetic induction principle;

[0044] The secondary side wireless charging control module is used to rectify the alternating current at the secondary side electromagnetic coupling mechanism into direct current after resonance compensation, and transmit it to the aircraft energy module for storage.

[0045] 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.

[0046] Furthermore, the width of the connecting end coil is less than 10 mm of the connecting end magnetic core, and the connecting end coil is attached to and wraps the connecting end magnetic core 360 ​​degrees;

[0047] 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;

[0048] Furthermore, the connection end magnetic core and the spacecraft end magnetic core are both soft magnetic cores.

[0049] Compared with the prior art, the present invention has the following advantages:

[0050] The present invention designs a suspended lightweight underwater vehicle wireless energy and communication docking system. In this system, the submarine base station adopts an advanced suspended design, abandons the traditional guide cover and external fixed bracket, and significantly reduces the overall weight of the base station. The underwater vehicle achieves stable docking with the base station by capturing the connecting cable of the suspended submarine base station. This docking method is suitable for the interaction between various types of underwater vehicles and the suspended submarine base station, thereby effectively realizing efficient energy and data interaction, having wide versatility, and not requiring high docking accuracy, and being less affected by the environment. By applying wireless charging and wireless communication technology to replace the traditional wet plug-in method, the safety risks and operation and maintenance costs are significantly reduced, and the overall weight of the base station is further reduced. This technology not only improves the operational flexibility and versatility of the system, but also significantly improves the stability and reliability of the overall system. The system has a high value of promotion and application in application fields such as underwater resource observation and development. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0052] Figure 2 It is a schematic diagram of the composition of a suspended submarine base station in a wireless energy communication connection system according to an embodiment of the present invention;

[0053] Figure 3 It is a schematic diagram of the overall structure of the wireless energy communication connection system according to an embodiment of the present invention;

[0054] Figure 4 Schematic diagram of energy flow direction of wireless charging operation of the wireless energy communication docking system according to an embodiment of the present invention.

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

[0059] Fig. 9 Schematic diagram of the structure of the locking mechanism of the 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. primary coupling mechanism; 41. connecting end coil; 42. connecting end magnetic core; 5. secondary 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] See also Figure 1 FIG. 1 is a schematic diagram of a suspended lightweight underwater vehicle wireless energy communication docking system according to an embodiment of the present invention. Figure 1 In this embodiment, a suspended lightweight underwater vehicle wireless energy and communication docking system includes a suspended seabed base station and an underwater vehicle. The suspended seabed base station is connected to a seabed power grid through a seabed energy and communication system, which is used to obtain energy and transmit data from the seabed power grid, and provide power and interactive data for the suspended seabed base station.

[0064] The submarine energy and communication system includes a submarine energy module and a submarine communication module. The submarine energy module obtains electricity from the submarine power grid, distributes and manages energy, and transmits electricity to the suspended submarine base station through the connected watertight cable to ensure its continuous and stable power supply, thereby providing power for the underwater vehicle. The submarine communication module is used to transmit the underwater vehicle data set collected by the suspended submarine base station to the submarine power grid to ensure timely data processing. The collaborative work of the two modules ensures that the underwater vehicle can stay and operate in the underwater environment for a long time.

[0065] The underwater vehicle and the suspended seabed base station adopt a capture docking method, which is achieved by the docking module located at the bow of the underwater vehicle and the mooring cable 1 of the suspended seabed base station. This docking method is more versatile than the traditional guided docking and can meet the docking requirements between different models of underwater vehicles and suspended seabed base stations.

[0066] See also Figure 2 FIG. 1 is a schematic diagram of a suspended submarine base station in a suspended lightweight underwater vehicle wireless energy communication docking system according to an embodiment of the present invention, with reference to FIG. Figure 2 The suspended submarine base station includes a gravity anchor, a repeater, a mooring cable 1, an underwater electric swivel and a base station body. The gravity anchor is located on the seabed and fixed at a preset position to resist natural forces such as water flow to ensure the stability of the suspended submarine base station. The repeater is connected to the top of the gravity anchor through a watertight cable, and the side end is connected to the submarine energy communication system, serving as a relay transmission node for power and data, ensuring a stable and reliable energy communication connection between the suspended submarine base station and the submarine energy communication system. The mooring cable 1 is connected to the top of the repeater for transmitting power, energy and signals to achieve attitude control and energy information transmission of the base station body. The top of the mooring cable 1 is connected to the underwater electric swivel for transmitting power and data in an underwater environment, ensuring that the mooring cable 1 can rotate freely and release torque when it rotates, so as to avoid cable entanglement or damage during operation. The base station body is connected to the upper end of the underwater electric swivel for guiding, power supply and communication of underwater vehicles.

[0067] It should be noted that the base station body of the suspended submarine base station of the present invention is different from the traditional bottom-mounted base station. The guide cover and the external fixed bracket are cancelled, and it floats underwater in the form of single-point suspension. This design aims to reduce the interference of water flow on the position and posture of the base station body and reduce water resistance. Preferably, the base station body is shaped like a smooth streamlined cylinder.

[0068] See also Figure 3 FIG. 1 is a schematic diagram of the overall structure of a suspended lightweight underwater vehicle wireless energy communication docking system according to an embodiment of the present invention. Figure 3The base station body in the suspended submarine base station includes a base station general control module, a submarine energy and communication management module, a docking energy and communication management module, a base station energy module and a base station guidance and positioning module. The base station general control module is connected to each submodule respectively, and is used to coordinate and control the functional operation of each submodule. The submarine energy and communication management module is indirectly connected to the submarine energy module and the submarine communication module in the submarine energy and communication system through the underwater electric swivel, the mooring cable 1 and the repeater equipment, so as to realize the power reception and data interaction between the base station body and the submarine energy and communication system. The electric energy received by the submarine energy and communication management module is transmitted to the base station energy module for storage. The docking energy and communication management module and the base station guidance and positioning module are used to support the docking, charging and data set transmission operations of underwater vehicles, and are used in conjunction with the vehicle energy and communication management module and the vehicle guidance and positioning module on the underwater vehicle side.

[0069] The docking energy management module includes a primary wireless charging module and a base station wireless communication module. The primary wireless charging module is used in conjunction with the secondary wireless charging module in the underwater vehicle to realize non-contact power supply of the underwater vehicle by the suspended seabed base station. The base station wireless communication module is used to receive the data set transmitted by the vehicle wireless communication module in the underwater vehicle. The suspended seabed base station transmits the received underwater vehicle data set to the seabed power grid for timely analysis and processing. At the same time, the vehicle wireless communication module will send a series of instructions to the underwater vehicle. Preferably, the wireless communication method between the base station wireless communication module and the vehicle wireless communication module is radio frequency communication to ensure high-speed data transmission.

[0070] The primary wireless charging module includes a primary electromagnetic coupling mechanism and a primary wireless charging control module. When the suspended seabed base station charges the underwater vehicle, the base station energy module outputs direct current, and the inverter in the primary wireless charging control module converts the direct current into alternating current and performs resonance compensation. The compensated alternating current signal is transmitted to the primary electromagnetic coupling mechanism. The primary electromagnetic coupling mechanism converts alternating current into a magnetic field based on the principle of electromagnetic induction. The secondary electromagnetic coupling mechanism in the underwater vehicle receives and converts the magnetic field into alternating current. This process realizes contactless transmission of electrical energy.

[0071] Preferably, the primary electromagnetic coupling mechanism is designed to be integrated with the mooring cable 1 and installed at a specific position outside the mooring cable 1 to adapt to the capture docking method adopted by the suspended seabed base station and the underwater vehicle. When the underwater vehicle docking module captures and locks the mooring cable 1 to install the primary electromagnetic coupling mechanism, the docking is completed. Preferably, the secondary electromagnetic coupling is installed at the capture mechanism of the underwater vehicle, and the wireless charging operation can be carried out only after the docking is completed.

[0072] Continue to refer Figure 3, the underwater vehicle includes a vehicle general control module, a vehicle energy management module, a vehicle energy module, a vehicle guidance and positioning module and a docking module. The vehicle general control module is used to integrate and coordinate the operation of each submodule to ensure the stability and reliability of the underwater vehicle during operation. The vehicle energy management module is used to receive and manage the power provided by the suspended seabed base station, and transmit the data set of the underwater vehicle back to the suspended seabed base station. The power provided by the suspended seabed base station is transmitted to the vehicle energy module for storage via the vehicle energy management module to ensure that the underwater vehicle can be continuously powered for a long time on the seabed. The vehicle guidance and positioning module is used in conjunction with the base station guidance and positioning module to accurately guide the vehicle to the pre-docking position for docking. During the docking process, the docking module of the underwater vehicle identifies the mooring cable 1 through a built-in sensor. After successful identification, the locking mechanism in the docking module locks the primary electromagnetic coupling mechanism installed on the mooring cable 1 to complete the docking process, providing the necessary preparation conditions for wireless charging operations.

[0073] The vehicle energy management module includes a secondary wireless charging module and a vehicle wireless communication module. The secondary wireless charging module is used to receive the AC power transmitted by the primary wireless charging module in the suspended seabed base station, and convert it into DC power and transmit it to the vehicle energy module for storage. The vehicle wireless communication module transmits the underwater vehicle data set to the base station wireless communication module, and receives the instructions issued through the base station wireless communication module.

[0074] The secondary wireless charging module includes a secondary electromagnetic coupling mechanism and a secondary wireless charging control module. The secondary electromagnetic coupling mechanism receives the magnetic field of the primary electromagnetic coupling mechanism in the suspended submarine base station and induces an AC signal, which is transmitted to the secondary wireless charging control module. After resonance compensation and rectifier processing of components such as capacitors and inductors inside the module, the AC is converted into stable DC for storage in the vehicle energy module.

[0075] See also Figure 4 FIG. 1 is a schematic diagram of the energy flow direction of a wireless charging operation of a suspended lightweight underwater vehicle wireless energy communication docking system according to an embodiment of the present invention, with reference to FIG. Figure 4After the underwater vehicle successfully captures and docks with the suspended seabed base station, the wireless charging operation begins. The suspended seabed base station outputs direct current to the primary wireless charging control module through the energy module built into the base station body. Inside the primary wireless charging control module, the electric energy is converted into an alternating current signal through resonance compensation and an inverter, and is transmitted to the primary electromagnetic coupling mechanism through an underwater electric swivel. The primary electromagnetic coupling mechanism is electromagnetically coupled with the secondary electromagnetic coupling mechanism in the underwater vehicle. The secondary electromagnetic coupling mechanism senses an alternating current signal and transmits it to the secondary wireless charging control module for resonance compensation and rectifier rectification. After processing, it is converted into a direct current signal and transmitted to the energy module of the underwater vehicle for storage. When the battery power in the energy module reaches a sufficient state, the system will stop the wireless charging operation.

[0076] See also Figures 5 to 7 As shown, another embodiment of the present invention provides a coupling mechanism for underwater capture docking wireless charging, including a primary coupling mechanism 4 and a secondary coupling mechanism 5; the primary 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 secondary coupling mechanism 5 is an open-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 secondary coupling mechanism 5 is surrounded by the outside of the primary coupling mechanism 4 to realize a bidirectional power transmission function.

[0077] 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.

[0078] 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.

[0079] 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.

[0080] In the embodiment of the present invention, the primary coupling mechanism 4 is arranged at the mooring cable 1 of the docking node, and the secondary 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-type docking method. The primary coupling mechanism 4 and the secondary coupling mechanism 5 are both connected to the wireless charging control module. When the docking end coupling mechanism 4 acts as a transmitter, the secondary coupling mechanism 5 acts as a receiver; or, when the secondary coupling mechanism 5 acts as a transmitter, the secondary coupling mechanism 4 acts as a receiver. When the capture-type 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.

[0081] 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.

[0082] See also Figure 8 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, and the secondary coupling mechanism 5 is arranged on the locking mechanism 3, and is opened and closed by driving 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, and the guide mechanism 2 is used to guide the mooring cable 1 equipped with the primary coupling mechanism 4 into the locking mechanism 3, and the secondary coupling mechanism 5 is docked with the primary coupling mechanism 4 by driving the locking mechanism 3 to form a magnetic circuit coupling to perform charging and discharging operations.

[0083] 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 secondary 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 secondary side coupling mechanism 5 tightly embraces the primary side coupling mechanism 4, thereby realizing the docking of the underwater vehicle and the mooring cable 1.

[0084] See also Fig. 9As 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 secondary side coupling mechanism 5.

[0085] 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.

[0086] Another embodiment of the present invention provides a system for underwater capture docking wireless charging, wherein the specific docking process is as follows:

[0087] The underwater vehicle autonomously drives to the lower end of the mooring cable 1 through the sound and light combined system, and deploys the guide mechanism 2 to capture the mooring cable 1. After passing through the guide mechanism 2, the mooring cable 1 slides into the vehicle capture section and is identified by the axial position sensor 6, which drives the guide 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 primary coupling mechanism 4 through the radial position sensor 7. After successful identification, the locking mechanism 3 is driven to complete the locking, ensuring that the secondary coupling mechanism 5 tightly embraces the primary 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 primary coupling mechanism 4 and the secondary 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.

[0088] 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 suspended lightweight underwater vehicle wireless energy communication docking system, characterized in that: Includes suspended seafloor base stations and underwater vehicles; The suspended submarine base station is connected to the submarine power grid through the submarine energy communication system to obtain energy and transmit data, and docks with the underwater vehicle to perform wireless charging and wireless data exchange; The underwater vehicle is used to perform underwater tasks and is connected to the suspended seabed base station in a capture-type docking manner by capturing its mooring cable (1).

2. A wireless energy communication connection system for a suspended lightweight underwater vehicle according to claim 1, characterized in that: The suspended submarine base station comprises a gravity anchor, a repeater, a mooring cable (1), an underwater electric swivel and a base station body; The gravity anchor is used to be fixed at a preset seabed position; The repeater has a lower end connected to the gravity anchor, an upper end connected to the mooring cable (1), and a side end connected to the seabed energy communication system, and is used for relaying energy and data between the seabed energy communication system and the suspended seabed base station; The mooring cable (1) is connected to the repeater at its lower end and to the underwater electric swivel at its upper end, and is used to transmit torque, energy and signals to achieve attitude control and energy information transmission of the base station body; The underwater electric swivel is connected to the connection cable at the lower end and the base station body at the upper end, and is used for transmitting electric energy and data in an underwater environment, ensuring that the connection cable can rotate freely and release torque when rotating, so as to avoid cable entanglement or damage during operation; The base station body is in the shape of a smooth streamlined cylinder, in which various submodules are arranged for guiding, supplying power and communicating with the underwater vehicle.

3. A wireless energy communication connection system for a suspended lightweight underwater vehicle according to claim 2, characterized in that: The base station body includes a base station general control module, a submarine energy management module, a connection energy management module, a base station energy module and a base station guidance and positioning module; The base station master control module acts as a controller to coordinate and manage the functions and operations of each submodule to complete various tasks; The submarine energy communication management module is used to receive power and interact with data with the submarine energy communication system; The connection energy and communication management module is used to supply energy and communicate with the underwater vehicle to ensure the continuous operation of the underwater vehicle during the mission execution; The base station energy module is used to store the electric energy received from the seabed energy communication system and to provide electric energy to the underwater vehicle as a power source; The base station guidance and positioning module is used to provide accurate position information and attitude information so that the underwater vehicle can effectively complete docking.

4. A suspended lightweight underwater vehicle wireless energy communication docking system according to claim 3, characterized in that: The connection energy management module includes a primary wireless charging module and a base station wireless communication module; The primary wireless charging module is used for the suspended seabed base station to supply contactless power to the underwater vehicle; The base station wireless communication module is used to receive the data set of the underwater vehicle and execute command transmission.

5. A wireless energy communication connection system for a suspended lightweight underwater vehicle according to claim 4, characterized in that: The primary wireless charging module comprises a primary electromagnetic coupling mechanism (4) and a primary wireless charging control module; The primary wireless charging control module is used to invert the direct current output by the base station energy module into alternating current and perform resonance compensation, and the compensated alternating current signal is transmitted to the primary electromagnetic coupling mechanism (4) to achieve efficient electromagnetic coupling energy transmission; The primary electromagnetic coupling mechanism (4) is used to transmit the alternating current signal to the underwater vehicle end based on the electromagnetic induction principle, so as to realize non-contact transmission of electric energy.

6. A wireless energy communication connection system for a suspended lightweight underwater vehicle according to claim 5, characterized in that: The primary 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).

7. The wireless energy communication connection system for a suspended lightweight underwater vehicle according to claim 1 is characterized in that: The underwater vehicle includes a vehicle general control module, a vehicle energy management module, a vehicle energy module, a vehicle guidance and positioning module, and a docking module; The aircraft master control module is used as a controller to integrate and coordinate the operation of each submodule; The vehicle energy and information management module is used to perform energy replenishment and data interaction with the suspended seabed base station to ensure the long-term autonomous operation and data return capability of the underwater vehicle; The vehicle energy module is used to store the power source obtained from the suspended seabed base station and continuously provide power to the underwater vehicle during mission execution; The vehicle guidance and positioning module is used in conjunction with the base station guidance and positioning module in the suspended seabed base station to accurately guide the underwater vehicle to autonomously travel to a preset docking position; The docking module is used to capture the mooring cable (1) in the suspended seabed base station and lock the primary electromagnetic coupling mechanism (4) installed on the mooring cable (1), thereby ensuring the successful realization of the capture-type docking between the underwater vehicle and the suspended seabed base station, and providing necessary preparation conditions for the wireless charging operation.

8. A wireless energy communication connection system for a suspended lightweight underwater vehicle according to claim 7, 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 secondary coupling mechanism (5) and is used to drive the locking mechanism (3) to complete the locking action when the primary 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 primary side coupling mechanism (4) into the locking mechanism (3); The locking mechanism (3) is arranged on the underwater vehicle and is used to drive the secondary 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 primary coupling mechanism (4) to form magnetic circuit coupling and perform charging and discharging operations.

9. The wireless energy communication connection system for a suspended lightweight underwater vehicle according to claim 7, characterized in that: The aircraft energy and communication management module includes a secondary side wireless charging module and an aircraft wireless communication module; The secondary wireless charging module is used in conjunction with the primary wireless charging module in the suspended seabed base station to achieve contactless power transmission and provide energy for the underwater vehicle; The vehicle wireless communication module is used to send the data set of the underwater vehicle to the base station wireless communication module and receive instructions sent by the suspended seabed base station.

10. A wireless energy communication connection system for a suspended lightweight underwater vehicle according to claim 9, characterized in that: The secondary side wireless charging module includes a secondary side electromagnetic coupling mechanism and a secondary side wireless charging control module; The secondary 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 in conjunction with the primary electromagnetic coupling mechanism (4) in the suspended seabed base station to receive alternating current transmitted by the primary electromagnetic coupling mechanism (4) through the electromagnetic induction principle; The secondary side wireless charging control module is used to rectify the alternating current at the secondary side electromagnetic coupling mechanism (5) into direct current after resonance compensation, and transmit it to the aircraft energy module for storage.

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