Wireless electric energy transmission system for underwater unmanned vehicle and control method

Abstract

The invention provides a wireless electric energy transmission system for an unmanned underwater vehicle (UUV) and a control method. The system comprises a UUV receiving end and a mother boat power supply base station, the UUV receiving end comprises a receiving coil, a receiving end antenna, an energy receiving control box, a first battery pack and a UUV console; the mother boat power supply base station comprises a second battery pack, an energy emission control box, an emission coil, an emission end antenna and a mother boat console; in the charging process, the UUV console and the mother boat console respectively collect charging information of the first battery pack and output information of the second battery pack in real time so as to monitor abnormal conditions; in the system, the energy emission control box and the energy receiving control box do not directly establish communication with the corresponding battery packs, electromagnetic interference caused by an energy transmission circuit to a communication link is avoided, the UUV console and the mother boat console are adopted to respectively communicate with the system and perform centralized control, and the information transmission stability is ensured.

Description

Technical Field

[0001] The present invention belongs to the technical field of underwater unmanned vehicles, and in particular relates to a wireless power transmission system and a control method for underwater unmanned vehicles. Background Art

[0002] At present, unmanned underwater vehicles (UUVs) have been widely studied for their advantages of high maneuverability, good concealment, and strong environmental adaptability. The current UUVs use batteries as power sources, and their insufficient endurance makes them unable to meet the requirements of long-distance and long-duration missions. With the development of wireless power transmission (WPT) technology, mechanical contact during charging is avoided, and cable wear, leakage, corrosion, and short circuit are avoided, which can effectively overcome the shortcomings of wired power transmission. Due to its charging flexibility, setting up a wireless power supply transmitter on the seabed can effectively increase the working range of UUVs.

[0003] However, the following problems exist in the current research on UUV wireless charging:

[0004] (1) Due to the complex and changeable underwater environment, factors such as water flow cause the UUV to deviate during docking, affecting the wireless energy and information transmission effect;

[0005] (2) In the current research on wireless power transmission of UUVs, the communication between the transmitter and the receiver is only used to transmit charging instructions, and the mission data between the UUV and the mother ship requires additional communication devices;

[0006] (3) Existing studies mostly use the wireless power transmission system to directly communicate with the battery pack to complete the wireless charging process. However, the strong magnetic field generated by the energy transmission circuit causes strong interference to the communication, affecting the stability of the system.

[0007] Therefore, how to provide a wireless power transmission system and control method for underwater unmanned vehicles has become a technical problem that urgently needs to be solved in this field. Summary of the invention

[0008] The object of the present invention is to provide a wireless power transmission system and a control method for an underwater unmanned vehicle.

[0009] According to a first aspect of the present invention, there is provided a wireless power transmission system for an underwater unmanned vehicle, the system comprising: a UUV receiving terminal and a mother boat power supply base station;

[0010] The UUV receiving end includes a receiving coil, a receiving end antenna, an energy receiving control box, a first battery pack and a UUV console; the receiving coil and the receiving end antenna are both installed on the outer surface of the UUV cabin body to form an energy pickup mechanism; the energy receiving control box is installed in the UUV cabin body, and the energy receiving control box includes an energy receiving circuit and a receiving end information conversion circuit, one end of the energy receiving circuit is connected to the receiving coil, the other end of the energy receiving circuit is connected to the first battery pack, one end of the receiving end information conversion circuit is connected to the receiving end antenna, and the other end of the receiving end information conversion circuit is connected to the UUV console;

[0011] The mother boat power supply base station includes a second battery pack, an energy transmission control box, a transmitting coil, a transmitting end antenna and a mother boat control console; the transmitting coil and the transmitting end antenna are both installed on the outer surface of the mother boat cabin to form an energy transmission mechanism; the energy transmission control box includes an energy transmission circuit and a transmitting end information conversion circuit, one end of the energy transmission circuit is connected to the transmitting coil, the other end of the energy transmission circuit is connected to the second battery pack, one end of the transmitting end information conversion circuit is connected to the transmitting end antenna, and the other end of the transmitting end information conversion circuit is connected to the mother boat control console;

[0012] During the charging process, the UUV console and the mother ship console respectively collect the charging information reported by the first battery pack and the output information of the second battery pack in real time to monitor abnormal situations.

[0013] Optionally, the receiving end antenna is an antenna placed at the center of the energy pickup mechanism, and the transmitting end antenna includes a plurality of antennas evenly arranged inside the energy transmitting mechanism.

[0014] Optionally, the area of ​​the transmitting coil is larger than the area of ​​the receiving coil.

[0015] Optionally, the receiving coil and the transmitting coil are respectively wound on a receiving end rectangular curved surface mold and a transmitting end rectangular curved surface mold, and the receiving end antenna and the transmitting end antenna are respectively arranged in the receiving end rectangular curved surface mold and the transmitting end rectangular curved surface mold.

[0016] Optionally, the energy receiving circuit includes a secondary side compensation topology, a rectifier circuit, a filter circuit and a DC / DC conversion circuit connected in sequence, the secondary side compensation topology is connected to the receiving coil via a watertight cable, and the DC / DC conversion circuit is connected to the first battery pack.

[0017] Optionally, the energy transmitting circuit includes a high-frequency inverter circuit and a primary compensation topology connected in sequence, the high-frequency inverter circuit is connected to the transmitting coil, and the primary compensation topology is connected to the second battery pack.

[0018] Optionally, during the charging process, when the UUV console determines that charging is completed or charging is abnormal based on the charging information, the energy receiving circuit is controlled to be disconnected to cut off the wireless energy transmission link, and at the same time, the charging information is reported to the mother boat console through the receiving end information conversion circuit and the receiving end antenna;

[0019] The mother boat console controls the power output of the energy transmitting circuit in real time according to the charging demand or the charging information reported by the UUV console, and when the mother boat console determines that charging is completed or charging is abnormal based on the charging information or the output information, controls the energy transmitting circuit to disconnect, so as to cut off the wireless energy transmission link.

[0020] Optionally, when the current mission of the underwater unmanned vehicle is completed, the UUV console transmits the collected data of this mission to the mother ship console through the receiving end information conversion circuit and the receiving end antenna, and at the same time, the mother ship console transmits the planning data of the next mission to the UUV console through the transmitting end information conversion circuit and the transmitting end antenna.

[0021] Optionally, the system further comprises a heat dissipation mechanism, wherein an upper surface of the heat dissipation mechanism is in contact with a power device of the energy receiving circuit, and a lower surface of the heat dissipation mechanism is in contact with an inner surface of the UUV cabin.

[0022] According to a second aspect of the present invention, there is provided a wireless power transmission control method for an underwater unmanned vehicle, based on any one of the wireless power transmission systems for an underwater unmanned vehicle described above; the method comprises:

[0023] S1. When the underwater unmanned vehicle is docked to the mother ship charging area, the UUV console sends a handshake message to the mother ship console, and the mother ship console replies to the UUV console to establish normal communication;

[0024] S2, the UUV console obtains the charging requirement and sends the charging requirement to the mother boat console;

[0025] S3, the UUV console connects the energy receiving circuit and sends a command to close the charging contactor of the first battery pack;

[0026] S4, after receiving the charging demand, the mother boat console turns on the energy transmitting circuit and sends a command to close the discharge contactor of the second battery pack;

[0027] S6, the mother boat console controls the energy transmitting circuit to output corresponding power according to the charging demand;

[0028] S7. During the charging process, the UUV console and the mother ship console respectively collect the charging information reported by the first battery pack and the output information reported by the second battery pack in real time;

[0029] S8. When the UUV console determines that charging is completed or charging is abnormal according to the charging information, the energy receiving circuit is controlled to be disconnected to cut off the wireless energy transmission link, and the charging information is reported to the mother boat console at the same time;

[0030] S9, the mother boat console controls the power output of the energy transmitting circuit in real time according to the output information or the charging information, and when the mother boat console determines that charging is completed or charging is abnormal according to the charging information or the output information, controls the energy transmitting circuit to disconnect, so as to cut off the wireless energy transmission link;

[0031] S10. When the current mission of the underwater unmanned vehicle is completed, the UUV console transmits the collected data of this mission to the mother ship console through the receiving antenna, and at the same time, the mother ship console transmits the planning data of the next mission to the UUV console.

[0032] The beneficial effects brought by the present invention are as follows:

[0033] It can be seen from the above scheme that the embodiments of the present invention provide a wireless power transmission system and control method for an underwater unmanned vehicle, which have the following beneficial effects:

[0034] The present invention discloses a wireless power transmission system and control method for UUV. In the system, no direct communication is established between an energy transmitting control box, an energy receiving control box and corresponding battery packs, so as to avoid electromagnetic interference of the energy transmission circuit to the communication link. The UUV control console and the mother ship control console are used to communicate and centrally control the two boxes respectively, so as to ensure the stability of information transmission. In addition, the receiving coil adopts a rectangular curved surface structure and can be directly embedded in the UUV cabin. The area of ​​the transmitting coil is larger than that of the receiving coil, so that the receiving coil is still fully aligned with the transmitting coil in an offset state, so as to ensure the stability of energy transmission. The transmitting end adopts multiple antennas, and the receiving end antenna adopts one antenna, and adopts a many-to-one mode transmission to ensure the stability of information transmission in an offset state. In addition to transmitting charging and power-off instructions and battery status information, the transmitting end and the receiving end are also used to transmit mission information between the mother ship and the UUV through the antenna, without adding additional information transmission devices, so as to reduce the complexity of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1A schematic diagram of the structure of a wireless power transmission system for an underwater unmanned vehicle provided according to an embodiment;

[0036] Figure 2 A topological diagram of a wireless power transmission system for an underwater unmanned vehicle provided according to an embodiment;

[0037] Figure 3 An energy pickup mechanism installation and lead diagram for a wireless power transmission system for an underwater unmanned vehicle provided according to an embodiment;

[0038] Figure 4 A top view of an energy transmitting mechanism of a wireless power transmission system for an underwater unmanned vehicle provided according to an embodiment;

[0039] Figure 5 A side view of an energy transmitting mechanism of a wireless power transmission system for an underwater unmanned vehicle provided according to an embodiment;

[0040] Figure 6 An installation diagram of an energy receiving control box of a wireless power transmission system for an underwater unmanned vehicle provided according to an embodiment;

[0041] Figure 7 An installation diagram of an energy transmitting mechanism and an energy picking mechanism of a wireless power transmission system for an underwater unmanned vehicle provided according to an embodiment;

[0042] Figure 8 A schematic diagram of a wireless power transmission control method for an underwater unmanned vehicle according to an embodiment Figure 1 ;

[0043] Fig. 9 A schematic diagram of a wireless power transmission control method for an underwater unmanned vehicle according to an embodiment Figure 2 .

[0044] Description of reference numerals:

[0045] 100-Wireless power transmission system for underwater unmanned vehicles;

[0046] 1-UUV receiving end; 2-mother boat power supply base station; 3-UUV cabin; 4-mother boat cabin;

[0047] 11-receiving coil; 12-receiving end antenna; 13-energy receiving control box; 14-first battery pack; 15-UUV console;

[0048] 16-receiving end rectangular curved surface mold; 17-receiving coil lead wire; 18-cabin penetration cable; 131-energy receiving circuit; 132-receiving end information conversion circuit;

[0049] 21-second battery pack 21; 22-energy transmission control box; 23-transmitting coil; 24-transmitting end antenna 24; 25-mother boat control console; 26-transmitting end rectangular curved surface mold; 27-transmitting coil lead wire; 221-energy transmission circuit; 222-transmitting end information conversion circuit. DETAILED DESCRIPTION

[0050] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution in the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiment of the present invention. Obviously, the described embodiment is a part of the embodiment of the present invention, not all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0051] Embodiment 1: According to the first aspect of the present invention, a wireless power transmission system 100 for an underwater unmanned vehicle is provided. Figure 1-7 As shown, the system 100 includes: a UUV receiving terminal 1 and a mother boat power supply base station 2;

[0052] The UUV receiving end 1 includes a receiving coil 11, a receiving end antenna 12, an energy receiving control box 13, a first battery pack 14 and a UUV control console 15; the receiving coil 11 and the receiving end antenna 12 are both installed on the outer surface of the UUV cabin 3 to form an energy picking mechanism; the energy receiving control box 13 is installed in the UUV cabin 3, and the energy receiving control box 13 includes an energy receiving circuit 131 and a receiving end information conversion circuit 132, one end of the energy receiving circuit 131 is connected to the receiving coil 11, the other end of the energy receiving circuit 131 is connected to the first battery pack 14, one end of the receiving end information conversion circuit 132 is connected to the receiving end antenna 12, and the other end of the receiving end information conversion circuit 132 is connected to the UUV control console 15;

[0053] The mother boat power supply base station 2 includes a second battery pack 21, an energy transmission control box 22, a transmitting coil 23, a transmitting end antenna 24 and a mother boat control console 25; the transmitting coil 23 and the transmitting end antenna 24 are both installed on the outer surface of the mother boat cabin 4 to form an energy transmission mechanism; the energy transmission control box 22 includes an energy transmission circuit 221 and a transmitting end information conversion circuit 222, one end of the energy transmission circuit 221 is connected to the transmitting coil 23, the other end of the energy transmission circuit 221 is connected to the second battery pack 21, one end of the transmitting end information conversion circuit 222 is connected to the transmitting end antenna 24, and the other end of the transmitting end information conversion circuit 222 is connected to the mother boat control console 25;

[0054] During the charging process, the UUV console 15 and the mother ship console 25 respectively collect the charging information reported by the first battery pack 14 and the output information of the second battery pack 21 in real time to monitor abnormal conditions.

[0055] Optionally, in the wireless power transmission system 100 for underwater unmanned vehicles of an embodiment of the present invention, the receiving antenna 12 is an antenna placed at the center of the energy pickup mechanism, and the transmitting antenna 24 includes multiple antennas evenly arranged inside the energy transmitting mechanism.

[0056] It should be noted that in this embodiment, one receiving antenna is used and placed at the center of the energy pickup mechanism, and multiple transmitting antennas are used, for example, two antennas are evenly placed on both sides of the energy transmitting mechanism, and WiFi is used to transmit information between the transmitting antenna and the receiving antenna.

[0057] Preferably, in the wireless power transmission system 100 for underwater unmanned vehicles according to the embodiment of the present invention, the area of ​​the transmitting coil 23 is larger than the area of ​​the receiving coil 11 .

[0058] Alternatively, see Figure 3-Figure 5 As shown, in the wireless power transmission system 100 for underwater unmanned vehicles according to the embodiment of the present invention, the receiving coil 11 and the transmitting coil 23 are respectively wound on the receiving end rectangular curved surface mold 16 and the transmitting end rectangular curved surface mold 26, and the receiving end antenna 12 and the transmitting end antenna 24 are respectively arranged in the receiving end rectangular curved surface mold 16 and the transmitting end rectangular curved surface mold 26. It should be noted that the receiving coil is connected to the energy receiving control box through the cabin penetration cable 18, and the receiving end antenna is led out through the receiving coil lead-out wire 17, and the transmitting end antenna is led out through the transmitting coil lead-out wire 27.

[0059] Specifically, in this embodiment, the receiving coil and the transmitting coil are respectively wound in the rectangular curved molds of the receiving end and the transmitting end, and a layer of magnetic core is laid on the lower surface of the coil to reduce the overall weight. It should be noted that in this embodiment, nanocrystalline soft magnetic materials are used to achieve the excitation effect. The receiving coil can be designed with an opening angle of 58.5° and a length of 120mm. The transmitting coil can be designed with an opening angle of 80° and a length of 180mm. Of course, it can also be designed to Kia opening angle values ​​and length values, which are not listed here one by one. By designing a larger opening angle, the impact of the underwater unmanned vehicle offset can be reduced to a certain extent, and the coil and the magnetic core are arranged and vulcanized to meet the pressure resistance requirements.

[0060] It should be noted that in this embodiment, the antenna is connected to the corresponding rectangular curved surface mold through a flange.

[0061] Alternatively, see Figure 1 and Figure 2As shown, the energy receiving circuit 131 in the wireless power transmission system 100 for an underwater unmanned vehicle in an embodiment of the present invention includes a secondary side compensation topology, a rectifier circuit, a filter circuit and a DC / DC conversion circuit connected in sequence, the secondary side compensation topology is connected to the receiving coil 11 through a watertight cable, and the DC / DC conversion circuit is connected to the first battery group 14.

[0062] Alternatively, see Figure 1 and Figure 2 As shown, the energy transmitting circuit 221 in the wireless power transmission system 100 for an underwater unmanned vehicle in an embodiment of the present invention includes a high-frequency inverter circuit and a primary compensation topology connected in sequence, the high-frequency inverter circuit is connected to the transmitting coil 23, and the primary compensation topology is connected to the second battery group 21.

[0063] For details, see Figure 1 and Figure 2 As shown, the energy receiving circuit in this embodiment includes a secondary side compensation topology, a rectifier circuit, a filter circuit and a DC / DC conversion circuit connected in sequence. The secondary side compensation adopts series compensation. One end of the energy receiving circuit is connected to the receiving coil through a watertight cable, and the other end is connected to the first battery pack. One end of the receiving end information conversion circuit is connected to the receiving end antenna through a watertight cable, and the other end is connected to the UUV console; Cs is a secondary side compensation capacitor, and the rectifier circuit adopts a full-bridge uncontrolled rectifier, wherein D1-D4 are fast recovery diodes, model STTH12012TV, Cdc is a filter capacitor, and the DC / DC converter adopts a Buck-boost circuit, which can achieve boost or buck according to demand. The energy transmitting circuit includes a high-frequency inverter circuit and a primary-side compensation topology connected in sequence. The high-frequency inverter adopts a full-bridge inverter circuit, in which Qp1-Qp4 are MOSFET devices with model CAB011M12FM3. The primary-side compensation adopts an LCC compensation topology, which forms an LCC-S compensation network with the secondary side and has the characteristics of constant voltage output, in which L1 is a resonant inductor, C1 is a parallel compensation capacitor, and C2 is a series compensation capacitor. In addition, Lp is the self-inductance of the transmitting coil, Ls is the self-inductance of the receiving coil, and M is the mutual inductance.

[0064] Optionally, during the charging process of the wireless power transmission system 100 for an underwater unmanned vehicle according to an embodiment of the present invention, when the UUV console 15 determines that charging is completed or charging is abnormal based on the charging information, the energy receiving circuit 131 is controlled to be disconnected to cut off the wireless energy transmission link, and at the same time, the charging information is reported to the mother ship console 25 through the receiving end information conversion circuit 132 and the receiving end antenna 12;

[0065] The mother boat console 25 controls the power output of the energy transmitting circuit 221 in real time according to the charging demand or charging information reported by the UUV console 15, and when the mother boat console 25 determines that the charging is completed or the charging is abnormal based on the charging information or output information, the energy transmitting circuit 221 is controlled to disconnect to cut off the wireless energy transmission link.

[0066] It should be noted that, in this embodiment, the UUV console adopts a system based on the x86 architecture, the receiving end information conversion circuit in the energy receiving control box can adopt a fiber-to-Ethernet module, and the UUV console communicates with the energy receiving control box and the first battery pack using a UDP network. The UUV console can collect the charging information reported by the first battery pack in real time during the charging process, monitor abnormal conditions, cut off the wireless energy transmission link when charging is completed or an abnormal condition occurs, and report the charging information to the mother boat console through the receiving end antenna.

[0067] The mother boat console also uses a system based on x86 architecture, and the transmitting end information conversion circuit also uses a fiber-optic to Ethernet module. The mother boat console communicates with the energy emission control box and the second battery pack using UDP network. After the mother boat console receives the charging information, it can send instructions to the energy emission control box in real time according to the charging information or charging needs, adjust the power output, and collect the output information reported by the second battery pack in real time to monitor abnormal conditions.

[0068] Optionally, when the current mission of the underwater unmanned vehicle in the wireless power transmission system 100 of the embodiment of the present invention is completed, the UUV console 15 transmits the collected data of this mission to the mother ship console 25 through the receiving end information conversion circuit 132 and the receiving end antenna 12, and at the same time, the mother ship console 25 transmits the planning data of the next mission to the UUV console 15 through the transmitting end information conversion circuit 222 and the transmitting end antenna 24.

[0069] It should be noted that in this embodiment, when the current mission of the underwater unmanned vehicle is completed and it returns to the mother ship to complete the docking, the UUV console transmits the detection, hydrological and other data collected in this mission to the mother ship console through the receiving antenna. At the same time, the mother ship console transmits the planning data for the next mission to the UUV console, so that a set of communication devices can transmit both charging instructions and status and mission information, without the need to add additional communication devices.

[0070] Optionally, the wireless power transmission system 100 for an underwater unmanned vehicle of an embodiment of the present invention further includes a heat dissipation mechanism, the upper surface of the heat dissipation mechanism is in contact with the power device of the energy receiving circuit 131 , and the lower surface of the heat dissipation mechanism is in contact with the inner surface of the UUV cabin 3 .

[0071] Preferably, the heat dissipation mechanism in this embodiment includes multiple heat dissipation blocks, which are made of aluminum alloy. The upper surface of the heat dissipation block is in contact with the power device of the energy receiving circuit, and the lower surface is set to an arc shape to be in contact with the inner surface of the UUV cabin. Since the outside of the cabin is in direct contact with seawater when the underwater unmanned vehicle is working, the heat dissipation mechanism can quickly conduct heat to the water.

[0072] It should be noted that, in this embodiment, the heat dissipation mechanism may also adopt a heat dissipation film or other heat dissipation materials, which are not listed one by one here for illustration.

[0073] Embodiment 2: According to the second aspect of the present invention, a wireless power transmission control method for an underwater unmanned vehicle is provided. Based on the wireless power transmission system for an underwater unmanned vehicle described in any one of Embodiment 1, see Figure 8 As shown, the method includes:

[0074] S1. When the underwater unmanned vehicle is docked to the mother ship charging area, the UUV console sends a handshake message to the mother ship console, and the mother ship console replies to the UUV console to establish normal communication;

[0075] S2, the UUV console obtains the charging requirements and sends the charging requirements to the mother ship console;

[0076] S3, the UUV console connects the energy receiving circuit and sends a command to close the charging contactor of the first battery pack;

[0077] S4, after receiving the charging request, the mother ship console turns on the energy transmission circuit and sends a command to close the discharge contactor of the second battery pack;

[0078] S5, the mother ship console controls the energy transmitting circuit to output corresponding power according to the charging demand;

[0079] S6. During the charging process, the UUV console and the mother ship console respectively collect the charging information reported by the first battery pack and the output information reported by the second battery pack in real time;

[0080] S7. When the UUV console determines that charging is complete or abnormal based on the charging information, the energy receiving circuit is controlled to be disconnected to cut off the wireless energy transmission link, and the charging information is reported to the mother ship console at the same time;

[0081] S8. The mother boat console controls the power output of the energy transmitting circuit in real time according to the output information or the charging information, and when the mother boat console determines that the charging is completed or the charging is abnormal according to the charging information or the output information, the energy transmitting circuit is controlled to be disconnected to cut off the wireless energy transmission link;

[0082] S9. When the current mission of the underwater unmanned vehicle is completed, the UUV console transmits the collected data of this mission to the mother ship console through the receiving antenna, and the mother ship console transmits the planning data of the next mission to the UUV console.

[0083] Specific, combined Fig. 9 Specifically, the UUV is connected to the mother ship charging area, the UUV console sends a handshake message to the mother ship console, and the mother ship console replies to the UUV console to establish normal communication; the UUV console reads the status information of the first battery pack, obtains the charging requirements, including the voltage and current required for charging, and sends the charging requirements to the mother ship console; the UUV console connects the energy receiving circuit and sends an instruction to close the charging contactor of the first battery pack; after receiving the charging requirement, the mother ship console connects the energy transmitting circuit and sends an instruction to close the discharge contactor of the second battery pack; the mother ship console sends an instruction to the energy transmitting control box according to the charging requirement to make it output the required power; during the charging process, the UUV console collects the charging information reported by the first battery pack in real time, monitors the abnormal situation, and disconnects the energy receiving circuit when the charging is completed or the abnormal situation occurs; the mother ship console adjusts the charging power in real time according to the charging information, monitors the abnormal situation, and disconnects the energy transmitting circuit when the charging is completed or the abnormal situation occurs; the UUV console and the mother ship console exchange information, the UUV console sends the detection, hydrological and other data collected in this mission to the mother ship console, and the mother ship console sends the next mission planning data to the UUV console.

[0084] In summary, an embodiment of the present invention provides a wireless power transmission system and control method for UUV, in which no direct communication is established between the energy transmitting control box, the energy receiving control box and the corresponding battery pack, so as to avoid electromagnetic interference of the energy transmission circuit to the communication link, and the UUV control console and the mother ship control console are used to communicate and centrally control them respectively, thereby ensuring the stability of information transmission; in addition, the receiving coil adopts a rectangular curved surface structure and can be directly embedded in the UUV cabin, and the area of ​​the transmitting coil is larger than that of the receiving coil, so that the receiving coil is still completely aligned with the transmitting coil in the offset state, thereby ensuring the stability of energy transmission; the transmitting end adopts multiple antennas, and the receiving end antenna adopts one antenna, and adopts a many-to-one mode of transmission to ensure the stability of information transmission in the offset state; in addition to transmitting charging and power-off instructions and battery status information, the transmitting end and the receiving end are also used to transmit mission information between the mother ship and the UUV through the antenna, without adding additional information transmission devices, thereby reducing the complexity of the system.

[0085] The above are preferred embodiments of the present invention. It should be pointed out that, for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as within the scope of protection of the present invention.

Claims

1. A wireless power transmission system for underwater unmanned vehicles, characterized in that: The system comprises: a UUV receiving end and a mother ship power supply base station; The UUV receiving end includes a receiving coil, a receiving end antenna, an energy receiving control box, a first battery pack and a UUV console; the receiving coil and the receiving end antenna are both installed on the outer surface of the UUV cabin body to form an energy pickup mechanism; the energy receiving control box is installed in the UUV cabin body, and the energy receiving control box includes an energy receiving circuit and a receiving end information conversion circuit, one end of the energy receiving circuit is connected to the receiving coil, the other end of the energy receiving circuit is connected to the first battery pack, one end of the receiving end information conversion circuit is connected to the receiving end antenna, and the other end of the receiving end information conversion circuit is connected to the UUV console; The mother boat power supply base station includes a second battery pack, an energy transmission control box, a transmitting coil, a transmitting end antenna and a mother boat control console; the transmitting coil and the transmitting end antenna are both installed on the outer surface of the mother boat cabin to form an energy transmission mechanism; the energy transmission control box includes an energy transmission circuit and a transmitting end information conversion circuit, one end of the energy transmission circuit is connected to the transmitting coil, the other end of the energy transmission circuit is connected to the second battery pack, one end of the transmitting end information conversion circuit is connected to the transmitting end antenna, and the other end of the transmitting end information conversion circuit is connected to the mother boat control console; During the charging process, the UUV console and the mother ship console respectively collect the charging information reported by the first battery pack and the output information of the second battery pack in real time to monitor abnormal situations.

2. The wireless power transmission system for underwater unmanned vehicles according to claim 1, characterized in that: The receiving end antenna is an antenna placed at the center of the energy pickup mechanism, and the transmitting end antenna includes a plurality of antennas evenly arranged inside the energy transmitting mechanism.

3. The wireless power transmission system for underwater unmanned vehicles according to claim 1, characterized in that: The area of ​​the transmitting coil is larger than the area of ​​the receiving coil.

4. The wireless power transmission system for underwater unmanned vehicles according to claim 1, characterized in that: The receiving coil and the transmitting coil are respectively wound on a receiving end rectangular curved surface mold and a transmitting end rectangular curved surface mold, and the receiving end antenna and the transmitting end antenna are respectively arranged in the receiving end rectangular curved surface mold and the transmitting end rectangular curved surface mold.

5. The wireless power transmission system for underwater unmanned vehicles according to claim 1, characterized in that: The energy receiving circuit includes a secondary side compensation topology, a rectifier circuit, a filter circuit and a DC / DC conversion circuit connected in sequence. The secondary side compensation topology is connected to the receiving coil through a watertight cable, and the DC / DC conversion circuit is connected to the first battery pack.

6. The wireless power transmission system for underwater unmanned vehicles according to claim 1, characterized in that: The energy transmitting circuit includes a high-frequency inverter circuit and a primary compensation topology connected in sequence, the high-frequency inverter circuit is connected to the transmitting coil, and the primary compensation topology is connected to the second battery pack.

7. The wireless power transmission system for underwater unmanned vehicles according to claim 1, characterized in that: During the charging process, when the UUV console determines that charging is complete or abnormal based on the charging information, the energy receiving circuit is controlled to be disconnected to cut off the wireless energy transmission link, and at the same time, the charging information is reported to the mother ship console through the receiving end information conversion circuit and the receiving end antenna; The mother boat console controls the power output of the energy transmitting circuit in real time according to the charging demand or the charging information reported by the UUV console, and when the mother boat console determines that charging is completed or charging is abnormal based on the charging information or the output information, controls the energy transmitting circuit to disconnect, so as to cut off the wireless energy transmission link.

8. The wireless power transmission system for underwater unmanned vehicles according to claim 7, characterized in that: When the current mission of the underwater unmanned vehicle is completed, the UUV console transmits the collected data of this mission to the mother ship console through the receiving end information conversion circuit and the receiving end antenna, and at the same time, the mother ship console transmits the planning data of the next mission to the UUV console through the transmitting end information conversion circuit and the transmitting end antenna.

9. The wireless power transmission system for underwater unmanned vehicles according to any one of claims 1 to 8, characterized in that: The system further comprises a heat dissipation mechanism, the upper surface of which is in contact with the power device of the energy receiving circuit, and the lower surface of which is in contact with the inner surface of the UUV cabin.

10. A wireless power transmission control method for an underwater unmanned vehicle, characterized in that: A wireless power transmission system for an underwater unmanned vehicle according to any one of claims 1 to 9; The method comprises: S1. When the underwater unmanned vehicle is docked to the mother ship charging area, the UUV console sends a handshake message to the mother ship console, and the mother ship console replies to the UUV console to establish normal communication; S2, the UUV console obtains the charging requirement and sends the charging requirement to the mother boat console; S3, the UUV console connects the energy receiving circuit and sends a command to close the charging contactor of the first battery pack; S4, after receiving the charging demand, the mother boat console turns on the energy transmitting circuit and sends a command to close the discharge contactor of the second battery pack; S6, the mother boat console controls the energy transmitting circuit to output corresponding power according to the charging demand; S7. During the charging process, the UUV console and the mother ship console respectively collect the charging information reported by the first battery pack and the output information reported by the second battery pack in real time; S8. When the UUV console determines that charging is completed or charging is abnormal according to the charging information, the energy receiving circuit is controlled to be disconnected to cut off the wireless energy transmission link, and the charging information is reported to the mother boat console at the same time; S9, the mother boat console controls the power output of the energy transmitting circuit in real time according to the output information or the charging information, and when the mother boat console determines that charging is completed or charging is abnormal according to the charging information or the output information, controls the energy transmitting circuit to disconnect, so as to cut off the wireless energy transmission link; S10. When the current mission of the underwater unmanned vehicle is completed, the UUV console transmits the collected data of this mission to the mother ship console through the receiving antenna, and at the same time, the mother ship console transmits the planning data of the next mission to the UUV console.

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