A wireless energy and signal connection system for a suspended lightweight underwater vehicle

Abstract

The application provides a kind of wireless energy signal connection system of suspension type lightweight underwater vehicle, including suspension type seabed base station and underwater vehicle;Suspension type seabed base station is connected seabed power grid through seabed energy signal system and exchanges data;Suspension type seabed base station is also used to interface with underwater vehicle, realize wireless charging and wireless communication function;Underwater vehicle is used to execute underwater task, and regularly transmit data to suspension type seabed base station. Underwater vehicle and suspension type seabed base station adopt capture type interface mode, realize dynamic interface by capturing its connecting cable, apply wireless charging and wireless communication technology, replace traditional wet plug mode, further reduce the overall weight and complexity of base station, and significantly reduce safety risk and maintenance cost. The application realizes the lightweight of seabed base station, and can be applied to underwater vehicles of different sizes at the same time, which improves the operability, universality and safety of the system.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of ocean observation, and in particular to a wireless energy and signal connection system of a suspended lightweight underwater vehicle. BACKGROUND

[0002] Currently, underwater vehicles and seabed stations at home and abroad mainly adopt a guided docking mode. The seabed station is designed to be bottom-sitting, and is equipped with a guide cover and an external fixing support to ensure that it is stably placed on the seabed environment for a long time and to reduce the docking difficulty with the underwater vehicle. The underwater vehicle enters the interior of the seabed station through the guide cover during docking, and energy and data interaction is performed by using a wet plug-in mode.

[0003] The prior art has the following disadvantages: the bottom-sitting seabed station has an increased overall weight due to the presence of the guide cover and the external fixing support, which increases the difficulty of deployment and recovery operation; the bottom-sitting seabed station can only effectively dock with a specific type of underwater vehicle, and other types of underwater vehicles cannot use the guide cover for docking operation, which limits its versatility; the guided docking mode requires high precision, the docking process is relatively complex, and is easily affected by environmental conditions; the wet plug-in power supply and communication mode has safety hazards such as electric leakage, and the equipment cost and maintenance cost are high. To solve the above problems, it is urgent to develop a wireless energy and signal connection system of a suspended lightweight underwater vehicle. SUMMARY

[0004] In view of the above-mentioned deficiencies of the prior art, the present application provides a wireless energy and signal connection system of a suspended lightweight underwater vehicle, wherein the seabed station is designed to be suspended, the traditional guide cover and external fixing support are cancelled, the weight of the base body is greatly reduced, and the underwater vehicle realizes stable docking with the base station by using a capture connection cable. At the same time, wireless charging and wireless communication technology are introduced to replace the traditional wet plug-in mode, which significantly reduces the safety risk and maintenance cost.

[0005] To achieve the above-mentioned purpose, the following technical solutions are adopted in the present application:

[0006] A wireless energy and signal connection system of a suspended lightweight underwater vehicle, comprising a suspended seabed station and an underwater vehicle.

[0007] The suspended seabed station is connected to a seabed power grid through a seabed energy and signal system to obtain energy and transmit data, and is docked with the underwater vehicle to perform wireless charging and wireless data interaction.

[0008] The underwater vehicle is used to perform underwater tasks, and adopts a capture docking mode with the suspended seabed station to realize connection by capturing a mooring cable.

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

[0010] The gravity anchor is used for fixing at a preset seabed position.

[0011] The relay is connected with the gravity anchor at the lower end, connected with the mooring cable at the upper end, and connected with the seabed energy and information system at the side end, and is used for relaying the energy and information of the seabed energy and information system and the suspended seabed base station.

[0012] The mooring cable is connected with the relay at the lower end and connected with the underwater electric swivel at the upper end, and is used for transmitting torque, energy and signal to realize the attitude control of the base station body and the energy information transmission.

[0013] The underwater electric swivel is connected with the connecting cable at the lower end and connected with the base station body at the upper end, and is used for transmitting electric energy and data in the underwater environment, ensuring free rotation and releasing torque when the connecting cable rotates, so as to avoid cable winding or damage during operation.

[0014] The base station body adopts a smooth streamline cylinder shape, and each sub-module is arranged in the base station body, and is used for guiding, electric energy supply and communication of the underwater vehicle.

[0015] The base station body includes a base station total control module, a seabed energy and information management module, a docking energy and information management module, a base station energy module and a base station guiding and positioning module.

[0016] The base station total control module is used as a controller to coordinate and manage the functions and operations of each sub-module, and complete each operation.

[0017] The seabed energy and information management module is used for receiving electric energy and data interaction with the seabed energy and information system.

[0018] The docking energy and information management module is used for energy supply and communication with the underwater vehicle, and ensures the continuous operation of the underwater vehicle during task execution.

[0019] The base station energy module is used for storing the electric energy received from the seabed energy and information system, and providing electric energy to the underwater vehicle as a power supply.

[0020] The base station guiding and positioning module is used for providing accurate position information and attitude information, so that the underwater vehicle can effectively complete the docking.

[0021] The docking energy and information management module includes a primary side wireless charging module and a base station wireless communication module.

[0022] The primary side wireless charging module is used for non-contact power supply of the suspended seabed base station to the underwater vehicle.

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

[0024] The primary side wireless charging module comprises a primary side electromagnetic coupling mechanism and a primary side wireless charging control module.

[0025] The primary side wireless charging control module is configured 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 side electromagnetic coupling mechanism to realize efficient electromagnetic coupling energy transmission.

[0026] The primary side electromagnetic coupling mechanism is configured to transmit the alternating current signal to the underwater vehicle based on the principle of electromagnetic induction to realize non-contact transmission of electric energy.

[0027] The primary side electromagnetic coupling mechanism comprises a docking end magnetic core and a docking end coil arranged outside the docking end magnetic core.

[0028] The docking end magnetic core is a ring-shaped magnetic core and is installed outside the mooring cable at the docking point; the docking end coil is an arc surface type and is tightly attached to the outer periphery of the docking end magnetic core.

[0029] The underwater vehicle comprises a vehicle total control module, a vehicle energy and information management module, a vehicle energy module, a vehicle guidance and positioning module, and a docking module.

[0030] The vehicle total control module serves as a controller to integrate and coordinate the operation of each sub-module.

[0031] The vehicle energy and information management module is configured to perform energy supply 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 configured to store the power supply obtained from the suspended seabed base station and continuously provide electric energy for the underwater vehicle during task execution.

[0033] The vehicle guidance and positioning module is configured to be used in cooperation with the base station guidance and positioning module in the suspended seabed base station to accurately guide the underwater vehicle to autonomously travel to the preset docking position.

[0034] The docking module is configured to capture the mooring cable in the suspended seabed base station and lock the primary side electromagnetic coupling mechanism installed on the mooring cable to ensure the successful implementation of the underwater vehicle and the suspended seabed base station in the form of capture docking, thereby providing necessary preparation conditions for wireless charging operation.

[0035] The vehicle docking module is arranged at the bow of the underwater vehicle and comprises an identification sensor, a guidance mechanism, and a locking mechanism.

[0036] The recognition sensor includes an axial position sensor and a radial position sensor; the axial position sensor is arranged on the locking mechanism and is used for detecting whether the mooring cable is in place; the radial position sensor is arranged on the secondary side coupling mechanism and is used for driving the locking mechanism to complete the locking action after successfully recognizing the primary side electromagnetic coupling mechanism installed on the mooring cable;

[0037] The guide mechanism is arranged on the underwater vehicle and located at the front end of the locking mechanism, and is used for guiding the mooring cable provided with the primary side coupling mechanism into the locking mechanism;

[0038] The locking mechanism is arranged on the underwater vehicle and is used for driving the secondary side coupling mechanism to open and close through the linear module arranged thereon to form a magnetic circuit coupling with the primary side coupling mechanism after receiving the command of the recognition sensor, and performing charging and discharging operations.

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

[0040] The secondary side wireless charging module is used in cooperation with the primary side wireless charging module in the suspended seabed base station to realize non-contact power transmission and provide energy for the underwater vehicle;

[0041] The vehicle wireless communication module is used for sending a data set of the underwater vehicle to the base station wireless communication module and receiving an instruction 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 side electromagnetic coupling mechanism is of an open-close structure and includes two vehicle end magnetic cores arranged symmetrically and two vehicle end coils arranged inside the vehicle end magnetic cores, and is used in cooperation with the primary side electromagnetic coupling mechanism in the suspended seabed base station to receive alternating current transmitted by the primary side electromagnetic coupling mechanism through electromagnetic induction principle;

[0044] The secondary side wireless charging control module is used for rectifying the alternating current at the secondary side electromagnetic coupling mechanism into direct current after resonance compensation and transmitting the direct current to the vehicle energy module for storage.

[0045] Further, the two vehicle end coils are arc surface coils, and the two vehicle end coils surround the outside of the docking end coil during wireless charging operation; the two vehicle end magnetic cores are arc magnetic cores and are respectively attached to the outside of the two vehicle end coils.

[0046] 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.

[0047] 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;

[0048] Furthermore, both the docking end magnetic core and the vehicle end magnetic core are soft magnetic cores.

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

[0050] This invention presents a suspended, lightweight wireless power and communication docking system for underwater vehicles. In this system, the seabed base station employs an advanced suspended design, eliminating the traditional guide shield and external fixed support, significantly reducing the overall weight of the base station. The underwater vehicle achieves stable docking with the suspended seabed base station by capturing its connecting cable. This docking method is suitable for interaction between various types of underwater vehicles and the suspended seabed base station, effectively achieving efficient energy and data exchange. It has broad versatility, low requirements for docking accuracy, and is less affected by environmental factors. By applying wireless charging and wireless communication technologies to replace the traditional wet-plug method, safety risks and maintenance costs are significantly reduced, and the overall weight of the base station is further reduced. This technology not only improves the system's operational flexibility and versatility but also significantly improves the overall system's stability and reliability. This system has high application value in underwater resource observation and development. Attached Figure Description

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

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

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

[0054] Figure 4 This is a schematic diagram of the energy flow direction during wireless charging operations in a wireless energy communication connection system according to an embodiment of the present invention.

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

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

[0058] Figure 8 is a structural schematic view of an underwater capture type docking wireless charging system of an embodiment of the present application;

[0059] Figure 9 is a structural schematic view of a locking mechanism of an embodiment of the present application.

[0060] In the figure: 1, mooring cable; 2, guiding mechanism; 3, locking mechanism; 31, locking support; 32, linear module; 33, connecting rod; 34, parallel four-bar linkage; 35, locking claw; 4, primary side coupling mechanism; 41, mating end coil; 42, mating end magnetic core; 5, secondary side coupling mechanism; 51, vehicle end coil; 52, vehicle end magnetic core; 6, axial in-place sensor; 7, radial in-place sensor. DETAILED DESCRIPTION

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

[0062] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict. The present application will be described in detail below with reference to the accompanying drawings and embodiments. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments of the present application, all other embodiments obtained by a person of ordinary skill in the art without creative labor fall within the scope of protection of the present application.

[0063] Referring to Figure 1 , it is a schematic view of a suspended lightweight underwater vehicle wireless energy and information docking system of an embodiment, referring to Figure 1 , the suspended lightweight underwater vehicle wireless energy and information docking system of the embodiment 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 information system, used to obtain energy and transmit data from the seabed power grid, to provide power and interactive data for the suspended seabed base station.

[0064] The seabed energy and information system includes a seabed energy module and a seabed communication module. The seabed energy module obtains electric energy from the seabed power grid, and performs energy distribution and management, and transmits the electric energy to the suspended seabed base station through the connected water-tight cable, to ensure continuous and stable power supply for the suspended seabed base station, and further to provide power for the underwater vehicle. The seabed communication module is used to transmit the data set of the underwater vehicle collected by the suspended seabed base station to the seabed power grid, to ensure timely processing of the data. The cooperative work of the two modules ensures that the underwater vehicle can stay and work in the underwater environment for a long time.

[0065] The underwater vehicle and the suspended seabed base station adopt a capture type docking mode, and the capture type docking is realized by the docking module at the bow of the underwater vehicle and the mooring cable 1 of the suspended seabed base station. Compared with the traditional guide type docking, the docking mode is more universal, and can adapt to the docking requirements between underwater vehicles and suspended seabed base stations of different types.

[0066] Referring to Figure 2 As shown in the figure, it is a schematic diagram of the composition of a suspended seabed base station in a wireless energy and information connection system of a suspended lightweight underwater vehicle of the embodiment, referring to Figure 2 The suspended seabed base station includes a gravity anchor, a repeater, a mooring cable 1, an underwater electric rotating ring and a base body. The gravity anchor is located on the seabed and is fixed at a predetermined position, resists natural forces such as water flow, and ensures the stability of the suspended seabed base station. The repeater is connected to the top of the gravity anchor through a water-tight cable, and is connected to the side end of the seabed energy and information system, and serves as a relay transmission node of electric energy and data, ensuring stable and reliable energy and information connection between the suspended seabed base station and the seabed energy and information system. The mooring cable 1 is connected to the top of the repeater, and is used for transmitting power, energy and signals, realizing attitude control of the base body and energy information transmission. The top of the mooring cable 1 is connected to the underwater electric rotating ring, which is used for transmitting electric energy and data in the underwater environment, ensuring that the mooring cable 1 can rotate freely and release torque when rotating, so as to avoid cable winding or damage during operation. The base body is connected to the upper end of the underwater electric rotating ring, and is used for guiding, electric energy supply and communication of the underwater vehicle.

[0067] It should be noted that the base body of the suspended seabed base station of the present application is different from the traditional bottom-sitting base station, and the guide cover and the outer fixed support are cancelled, and the base body is suspended in the water in a single-point suspended form. The design is aimed at reducing the interference of water flow on the position and attitude of the base body, and reducing the water resistance. Preferably, the base body is in the shape of a smooth streamlined cylinder.

[0068] Referring to Figure 3 As shown in the figure, it is a schematic diagram of the composition of a suspended seabed base station in a wireless energy and information connection system of a suspended lightweight underwater vehicle of the embodiment, referring to Figure 3The suspended subsea base station comprises a main control module, a subsea 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 main control module is connected to each submodule and coordinates and controls their respective functions. The subsea energy and communication management module is indirectly connected to the subsea energy module and subsea communication module within the subsea energy and communication system via an underwater electrical swivel, mooring cable 1, and repeater equipment, enabling power reception and data exchange between the base station and the subsea energy and communication system. Power received by the subsea 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 support docking, charging, and data transmission for underwater vehicles, and work in conjunction with the vehicle's energy and communication management module and guidance and positioning module.

[0069] The connection and communication management module includes a primary-side wireless charging module and a base station wireless communication module. The primary-side wireless charging module works in conjunction with the secondary-side wireless charging module inside the underwater vehicle to achieve contactless power supply to the underwater vehicle from the suspended seabed base station. The base station wireless communication module receives data sets transmitted by the vehicle's wireless communication module inside the underwater vehicle. The suspended seabed base station then transmits the received underwater vehicle data sets to the seabed power grid for timely analysis and processing. Simultaneously, the vehicle's wireless communication module sends a series of commands to the underwater vehicle. Preferably, the wireless communication method between the base station wireless communication module and the vehicle's wireless communication module is radio frequency communication to ensure high-speed data transmission.

[0070] The primary-side wireless charging module includes a primary-side electromagnetic coupling mechanism and a primary-side wireless charging control module. When the suspended seabed base station charges the underwater vehicle, the base station's energy module outputs DC power. The inverter in the primary-side wireless charging control module converts the DC power into AC power and performs resonance compensation. The compensated AC power signal is then transmitted to the primary-side electromagnetic coupling mechanism. Based on the principle of electromagnetic induction, the primary-side electromagnetic coupling mechanism converts the AC power into a magnetic field. The secondary-side electromagnetic coupling mechanism in the underwater vehicle receives this magnetic field and converts it back into AC power. This process enables contactless power transmission.

[0071] Preferably, the primary electromagnetic coupling mechanism is integrated with the mooring cable 1 and installed at a specific location outside the mooring cable 1 to accommodate the capture-type docking method used by the suspended seabed base station and the underwater vehicle. Docking is completed when the underwater vehicle's docking module captures and locks the primary electromagnetic coupling mechanism installed on the mooring cable 1. Preferably, the secondary electromagnetic coupling is installed at the capture mechanism of the underwater vehicle; wireless charging can only be performed after docking is complete.

[0072] Continue to refer to Figure 3, the underwater vehicle includes a vehicle general control module, a vehicle energy and information 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 sub-module, to ensure the stability and reliability of the underwater vehicle during operation. The vehicle energy and information management module is used to receive and manage the power provided by the suspended seabed base station, and to 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 through the vehicle energy and information management module, to ensure the long-term residence of the underwater vehicle on the seabed and continuous power supply. The vehicle guidance and positioning module is used in cooperation with the base station guidance and positioning module to accurately guide the vehicle to travel to the pre-docking position for docking. During the docking process, the docking module of the underwater vehicle identifies the mooring cable 1 through the built-in sensor, and after successful identification, the locking mechanism in the docking module locks the original side electromagnetic coupling mechanism installed on the mooring cable 1, completing the docking process and providing necessary preparation conditions for wireless charging operation.

[0073] The vehicle energy and information management module includes a secondary side wireless charging module and a vehicle wireless communication module. The secondary side wireless charging module is used to receive the alternating current transmitted by the original side wireless charging module in the suspended seabed base station, and convert it into direct current to transmit to the vehicle energy module for storage. The vehicle wireless communication module transmits the data set of the underwater vehicle to the base station wireless communication module, and receives the instructions issued through the base station wireless communication module.

[0074] The secondary side wireless charging module includes a secondary side electromagnetic coupling mechanism and a secondary side wireless charging control module. The secondary side electromagnetic coupling mechanism receives the magnetic field of the original side electromagnetic coupling mechanism in the suspended seabed base station and induces an alternating current signal, which is transmitted to the secondary side wireless charging control module. Inside the module, the alternating current is converted into stable direct current through the resonance compensation and rectifier processing of capacitors, inductors and other components, for storage by the vehicle energy module.

[0075] Referring to Figure 4 Fig. 1 is a schematic diagram of the energy flow direction of the wireless charging operation of a suspended lightweight underwater vehicle wireless energy and information docking system according to an embodiment, and Figure 4After the underwater vehicle and the suspended seabed base station successfully perform the capture type docking, the wireless charging operation is started. The suspended seabed base station outputs the direct current to the primary side wireless charging control module through the energy module built in the base station body. In the primary side 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 side electromagnetic coupling mechanism through the underwater electric transmission ring. The primary side electromagnetic coupling mechanism and the secondary side electromagnetic coupling mechanism in the underwater vehicle are electromagnetically coupled, the secondary side electromagnetic coupling mechanism induces an alternating current signal, transmits the alternating current signal to the secondary side wireless charging control module for resonance compensation and rectifier rectification processing, and converts the processed direct current signal into the underwater vehicle energy module for storage. When the battery in the energy module reaches a sufficient state, the system stops the wireless charging operation.

[0076] Referring to FIG. 1, another embodiment of the present application provides a coupling mechanism applied to underwater capture type docking wireless charging, which comprises a primary side coupling mechanism 4 and a secondary side coupling mechanism 5. Figures 5 to 7 The primary side coupling mechanism 4 comprises a docking end magnetic core 42 and a docking end coil 41 arranged outside the docking end magnetic core 42. The secondary side coupling mechanism 5 is of an open-close structure and comprises two vehicle end magnetic cores 52 arranged symmetrically and two vehicle end coils 51 arranged inside the vehicle end magnetic cores 52. The secondary side coupling mechanism 5 can realize bidirectional electric energy transmission function after being wrapped outside the primary side coupling mechanism 4.

[0077] Referring to FIG. 1, another embodiment of the present application provides a coupling mechanism applied to underwater capture type docking wireless charging, which comprises a primary side coupling mechanism 4 and a secondary side coupling mechanism 5. Figures 5 to 7 In the embodiment of the present application, the docking end magnetic core 42 is a ring-shaped magnetic core and is wrapped outside the docking point mooring cable 1. The docking end coil 41 is designed in an arc surface type and is tightly attached to the outer periphery of the docking end magnetic core 42. The two vehicle end coils 51 are arc surface type coils and are wrapped outside the docking end coil 41 during the wireless charging operation. The two vehicle end magnetic cores 52 are arc-shaped magnetic cores and are respectively attached to the outside of the two vehicle end coils 51.

[0078] Further, the width of the docking end coil 41 is less than 210 mm, the docking end coil 41 is attached to and wrapped around the docking end magnetic core 42 by 360 degrees. The width of the vehicle end coil 51 is the same as that of the docking end coil 41, the two separated coil arcs of the vehicle end coil 51 are each half of a corresponding diameter circle. The width of the vehicle end magnetic core 52 is the same as that of the docking end magnetic core 42, 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 of a corresponding diameter size.

[0079] Specifically, the docking end magnetic core 42 and the vehicle end magnetic core 52 are both soft magnetic core of high flexibility and can be bent. The soft magnetic core material is nanocrystalline, has good flexibility, can be bent and attached, has high magnetic permeability, light weight and other advantages.

[0080] In the embodiment of the present application, the primary side coupling mechanism 4 is arranged at the docking node mooring cable 1, the secondary side coupling mechanism 5 is arranged at the locking mechanism 3 of the underwater vehicle, and the underwater vehicle and the docking node adopt a capture type docking manner. The primary side coupling mechanism 4 and the secondary side coupling mechanism 5 are connected with the wireless charging control module. When the docking end coupling mechanism 4 is used as the transmitting end and the secondary side coupling mechanism 5 is used as the receiving end, or when the secondary side coupling mechanism 5 is used as the transmitting end and the secondary side coupling mechanism 4 is used as the receiving end, the capture type docking is successfully completed, and the wireless charging operation is started. As shown in Figure 2 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 from inside to outside.

[0081] The coupling mechanism for underwater capture type docking wireless charging provided by the present application breaks through the limitation of the existing wireless charging technology which is only applicable to the guided type docking, allows underwater vehicles of different sizes to dock with the same docking node, and improves the universality of the wireless charging system.

[0082] Referring to Figure 8 As shown in the drawings, another embodiment of the present application provides a system for underwater capture type docking wireless charging, which comprises an underwater vehicle, a guiding mechanism 2, a locking mechanism 3 and the coupling mechanism in the above embodiment. The locking mechanism 3 is arranged on the underwater vehicle, the secondary side coupling mechanism 5 is arranged on the locking mechanism 3, and the opening and closing of the secondary side coupling mechanism 5 is realized by the driving of the locking mechanism 3. The guiding mechanism 2 is arranged on the vehicle body and located at the front end of the locking mechanism 3. The guiding mechanism 2 is used to guide the mooring cable 1 provided with the primary side coupling mechanism 4 into the locking mechanism 3. The secondary side coupling mechanism 5 is docked with the primary side coupling mechanism 4 through the driving of the locking mechanism 3 to form a magnetic circuit coupling and perform charging and discharging operations.

[0083] Further, the locking mechanism 3 is provided with an axial position sensor 6 for detecting whether the mooring cable 1 is in place. The secondary side coupling mechanism 5 is provided with a radial position sensor 7 for identifying the secondary side coupling mechanism 4. After the radial position sensor 7 successfully identifies, the locking mechanism 3 is driven to complete the locking action, so that the secondary side coupling mechanism 5 tightly holds the primary side coupling mechanism 4, and the underwater vehicle is docked with the mooring cable 1.

[0084] Referring to Figure 9As shown, in the embodiment of the present application, the locking mechanism 3 comprises a locking bracket 31, a linear module 32, connecting rods 33, parallel four-bar linkages 34 and locking claws 35, wherein the locking bracket 31 is connected with the underwater vehicle, the front ends of the locking bracket 31 are respectively hinged with two groups of parallel four-bar linkages 34, the ends of the two groups of parallel four-bar linkages 34 are respectively connected with two locking claws 35, and the two locking claws 35 are respectively installed with the opening and closing parts of the primary side coupling mechanism 5; the linear module 32 is arranged on the locking bracket 31, and the output end is hinged with one end of the two connecting rods 33, and the other end of the two connecting rods 33 is respectively hinged with the two groups of parallel four-bar linkages 34, and the linear module 32 provides power for the opening and closing of the secondary side coupling mechanism 5.

[0085] Specifically, the guide mechanism 2 comprises two guide rods capable of opening and closing, and the two guide rods are arranged in a horn shape after being opened.

[0086] Another embodiment of the present application provides a system applied to underwater capture type docking wireless charging, and the specific docking process is as follows:

[0087] The underwater vehicle drives to the lower end of the mooring line 1 through the sound and light combined system, expands the guide mechanism 2 to capture the mooring line 1, the mooring line 1 slides into the vehicle capture section through the guide mechanism 2 and is recognized by the axial to-position sensor 6, the guide mechanism 2 is driven to close, and the mooring line 1 is prevented from sliding out. Then, the underwater vehicle is entirely floated up, the primary side coupling mechanism 4 is recognized through the radial to-position sensor 7, the locking mechanism 3 is driven to complete locking after successful recognition, the secondary side coupling mechanism 5 is ensured to tightly hold the primary side coupling mechanism 4, and finally the stable docking of the underwater vehicle and the mooring line 1 is realized. After the docking process is completed, the wireless charging operation is started. The primary side coupling mechanism 4 and the secondary side coupling mechanism 5 can be respectively used as the receiving end and the transmitting end of electric energy, and the bidirectional transmission of electric energy is realized.

[0088] The above specific embodiments further illustrate the purpose, technical solutions and advantages of the present application, and it should be understood that the above description is only a specific embodiment of the present application and is not used to limit the present application, and any modification, equivalent replacement, etc. within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A wireless communication system for a suspended lightweight underwater vehicle, characterized in that, The application relates to a suspension type seabed base station and an underwater vehicle. The suspension type seabed base station is connected with a seabed power transmission system to obtain energy and transmit data, and is connected with the underwater vehicle to wirelessly charge and wirelessly interact with the underwater vehicle. The suspension type seabed 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 for fixing at a preset seabed position. The repeater is connected with the gravity anchor at the lower end, connected with the mooring cable (1) at the upper end and connected with the seabed power transmission system at the side end, and is used for relaying transmission of energy and data of the seabed power transmission system and the suspension type seabed base station. The mooring cable (1) is connected with the repeater at the lower end and connected with the underwater electric swivel at the upper end, and is used for transmitting torque, energy and signals to realize attitude control and energy information transmission of the base station body. The underwater electric swivel is connected with a connecting cable at the lower end and connected with the base station body at the upper end, and is used for transmitting electric energy and data in an underwater environment, and ensures that the connecting cable rotates freely and releases torque when rotating, so that cable winding or damage is avoided during operation. The base station body adopts a smooth streamline cylindrical shape, and each sub-module is arranged in the base station body and is used for guiding, electric energy supply and communication of the underwater vehicle. The base station total control module is used as a controller to coordinate and manage functions and operations of each sub-module and complete each operation. The seabed power transmission management module is used for receiving electric energy and interacting with data of the seabed power transmission system. The connection power transmission management module is used for energy supply and communication with the underwater vehicle, and ensures continuous operation of the underwater vehicle during task execution. The base station energy module is used for storing electric energy received from the seabed power transmission system and providing electric energy to the underwater vehicle as a power supply. The base station guiding and positioning module is used for providing accurate position information and attitude information, so that the underwater vehicle can effectively complete docking. The connection power transmission management module comprises a primary side wireless charging module and a base station wireless communication module. The primary side wireless charging module comprises a primary side electromagnetic coupling mechanism (4) and a primary side wireless charging control module. The underwater vehicle is used for executing underwater tasks, and adopts a capturing type docking mode with the suspension type seabed base station to realize connection by capturing the mooring cable (1). The underwater vehicle comprises a vehicle total control module, a vehicle power transmission management module, a vehicle energy module, a vehicle guiding and positioning module and a docking module. The vehicle total control module is used as a controller to integrate and coordinate operation of each sub-module. The vehicle power transmission management module is used for energy supply and data interaction with the suspension type seabed base station, and ensures long-time autonomous operation and data return capability of the underwater vehicle. The vehicle energy module is used for storing power obtained from the suspension type seabed base station and continuously providing electric energy to the underwater vehicle during task execution. The vehicle guiding and positioning module is used in cooperation with a base station guiding 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 for capturing the mooring cable (1) in the suspended seabed base station and locking the original side electromagnetic coupling mechanism (4) installed on the mooring cable (1), so as to ensure the successful implementation of the underwater vehicle and the suspended seabed base station in the form of capture docking and provide necessary preparation conditions for wireless charging operation. The vehicle energy management module comprises a secondary side wireless charging module and a vehicle wireless communication module. The secondary side wireless charging module comprises a secondary side electromagnetic coupling mechanism and a secondary side wireless charging control module. The docking module is arranged at the bow of the underwater vehicle and comprises an identification sensor, a guiding mechanism and a locking mechanism. The identification sensor comprises an axial alignment sensor (6) and a radial alignment sensor (7). The axial alignment sensor (6) is arranged on the locking mechanism (3) and is used for detecting whether the mooring cable (1) is in place. The radial alignment sensor (7) is arranged on the secondary side electromagnetic coupling mechanism (5) and is used for driving the locking mechanism (3) to complete the locking action after successfully identifying the original side electromagnetic coupling mechanism (4) installed on the mooring cable (1). The guiding mechanism is arranged on the underwater vehicle and located at the front end of the locking mechanism (3). The guiding mechanism (2) is used for guiding the mooring cable (1) provided with the original side electromagnetic coupling mechanism (4) into the locking mechanism (3). The locking mechanism (3) is arranged on the underwater vehicle and is used for receiving the command of the identification sensor and driving the secondary side electromagnetic coupling mechanism (5) to open and close through the linear module (32) arranged thereon, so that the secondary side electromagnetic coupling mechanism (5) is docked with the original side electromagnetic coupling mechanism (4) to form a magnetic circuit coupling and perform charging and discharging operation.

2. The wireless power and data transfer system for a suspended lightweight underwater vehicle of claim 1, wherein, The original side wireless charging module is used for non-contact power supply of the suspended seabed base station to the underwater vehicle. The base station wireless communication module is used for receiving a data set of the underwater vehicle and performing instruction transmission.

3. The wireless power and data transfer system for a suspended lightweight underwater vehicle of claim 2, wherein, The original side wireless charging control module is used for inverting direct current output by the base station energy module into alternating current and performing resonance compensation. The compensated alternating current signal is transmitted to the original side electromagnetic coupling mechanism (4) to realize efficient electromagnetic coupling energy transmission. The original side electromagnetic coupling mechanism (4) is used for transmitting the alternating current signal to the underwater vehicle based on the principle of electromagnetic induction to realize non-contact transmission of electric energy.

4. The wireless power and data transfer system for a suspended lightweight underwater vehicle of claim 3, wherein, The original side electromagnetic coupling mechanism (4) comprises a docking end magnetic core (42) and a docking end coil (41) arranged outside the docking end magnetic core (42). The docking end magnetic core (42) is a ring-shaped magnetic core and is installed outside the docking point mooring cable (1). The docking end coil (41) is an arc surface type and closely adheres to the outer periphery of the docking end magnetic core (42).

5. The wireless power and data transfer system for a suspended lightweight underwater vehicle of claim 1, wherein, The secondary side wireless charging module is used in cooperation with the original side wireless charging module in the suspended seabed base station to realize non-contact electric energy transmission and provide energy for the underwater vehicle. The vehicle wireless communication module is configured to send a data set of the underwater vehicle to the base station wireless communication module and receive instructions sent by the suspended seabed base station.

6. The wireless power and data transfer system for a suspended lightweight underwater vehicle of claim 5, wherein, The secondary side electromagnetic coupling mechanism (5) is an open-close structure, comprising two vehicle end magnetic cores (52) arranged symmetrically and two vehicle end coils (51) arranged on the inner side of the vehicle end magnetic cores (52), and is used in cooperation with the primary side electromagnetic coupling mechanism (4) in the suspended seabed base station to receive alternating current transmitted by the primary side electromagnetic coupling mechanism (4) through electromagnetic induction principle. The secondary side wireless charging control module is configured to rectify alternating current at the secondary side electromagnetic coupling mechanism (5) into direct current after resonance compensation, and transmit the direct current to the vehicle energy module for storage.

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