Underwater robot wireless charging position autonomous matching method, charging module and system

Abstract

The invention belongs to the technical field of underwater wireless charging, and particularly relates to an underwater robot wireless charging position autonomous matching method, a charging module and a system, and the method comprises the steps: obtaining the operation information of a target AUV through a position recognition unit, and the operation information comprises the horizontal offset, the vertical depth, the azimuth angle, the dynamic track, the water salinity, the temperature and the turbidity; a vector propeller of the wireless charging system is controlled to sail near the target AUV, and the real-time distance and pose deviation between the AUV and a receiving coil are calculated through visual information of a camera and magnetic field change data of a magnetic coupler; and generating a waypoint sequence based on a PID control algorithm, and adjusting the space six-degree-of-freedom motion of the propeller to enable the charging module to move to a preset attitude angle. Through designed hardware circuits of the power driving unit and the position identification unit, a communication protocol in a control system and a control algorithm, information of the position identification unit is acquired and processed, a propeller is controlled to carry out accurate matching, and autonomous matching of the position of the AUV wireless charging system is realized.

Description

Technical Field

[0001] The present invention belongs to the technical field of underwater wireless charging, and particularly relates to a method for autonomous matching of underwater robot wireless charging positions, a charging module, and a system. Background Art

[0002] For an autonomous underwater vehicle (AUV), wired charging is usually adopted. A wet pluggable power transmission interface is used to connect the underwater device and the power supply for charging. The wet pluggable interface is currently mature, but it is expensive, and the docking mechanism is complex, difficult to maintain, and has a short service life. The difficulty of wireless charging technology lies in the long position matching time. Wireless energy transmission is carried out through a magnetic coupler. The distance and orientation between the transmitting coil and the receiving coil will affect the charging speed and energy utilization rate, and precise alignment is required. When precise matching is not achieved, the charging speed is slow and the energy utilization rate is low.

[0003] Common methods on the market currently have high costs and great transformation difficulties due to structural costs and complex requirements for AUVs. Moreover, the environmental adaptability of AUVs underwater is not fully considered, such as environmental factors such as water resistance and water flow during charging, resulting in poor final application effects. Summary of the Invention

[0004] In order to overcome the deficiencies of the prior art, the present invention provides a method for autonomous matching of underwater robot wireless charging positions, a charging module, and a system, which can autonomously select the optimal charging position and frequency according to the system transmission power. The wireless charging system is divided into a control system and a charging module. The control system includes a controller unit and a thruster unit. The charging module includes a power drive unit and a position recognition unit. Through the designed hardware circuits of the power drive unit and the position recognition unit, the communication protocol and control algorithm in the control system, the information of the position recognition unit is obtained and processed, and the thruster is controlled for precise matching to achieve the autonomous matching of the position of the AUV wireless charging system.

[0005] One embodiment of the present invention provides a method for autonomous matching of underwater robot wireless charging positions, and the method includes: Obtaining the operation information of the target AUV through the position recognition unit, including the horizontal offset, vertical depth, azimuth angle, dynamic trajectory, and water salinity, temperature, and turbidity; Controlling the vector thruster of the wireless charging system to navigate near the target AUV, and calculating the real-time distance and pose deviation between the AUV and the receiving coil through the camera vision information and the magnetic field change data of the magnetic coupler; Generating a waypoint sequence based on the PID control algorithm, and adjusting the six-degree-of-freedom movement in space of the thruster to move the charging module to a preset attitude angle; Wherein, when the magnetic coupler detects that the offset exceeds 5 cm, the thruster is triggered to fine-tune in 1 cm steps until the deviation ≤ 1 cm; During the charging process, the charging frequency is dynamically adjusted to 20 - 100 kHz according to salinity data, and the change in magnetic field intensity is monitored in real time. The output of the thruster is corrected through a Kalman filter.

[0006] In one embodiment, the camera of the position recognition unit is a 2 - megapixel underwater wide - angle lens with a frame rate of 30 fps. Its surface is coated with a hydrophobic antireflection film with a thickness of ≥5 μm. The magnetic coupler uses a nanocrystalline alloy magnetic core, and the encapsulation structure is filled with silicone oil. The magnetic field detection accuracy is ±1 cm.

[0007] In one embodiment, the vector thruster unit includes 6 groups of thrusters with a forward - reverse paddle layout. The maximum thrust of a single thruster is 200 N, and the total thrust is 1200 N. The outer shell is a titanium - alloy cylindrical pressure vessel with a wall thickness of 10 mm, and a pressure - balancing valve is built - in to maintain the pressure difference inside and outside the shell ≤0.1 MPa.

[0008] One embodiment of the present invention provides an underwater wireless charging module, including: A power drive unit, which consists of a DC - AC inverter, a rectifier - filter circuit, and an LCL resonance network, and supports 20 - 100 kHz frequency adaptive adjustment; A position recognition unit, which integrates a waterproof camera and a double - coil magnetic coupler. The magnetic core uses nanocrystalline alloy, and the adjustable range of the coil spacing is 5 - 50 cm; The outer shell is encapsulated with IP68 waterproof. The titanium - alloy material has a tensile strength of ≥800 MPa, and its surface is sprayed with a polyurethane anti - corrosion coating with a thickness of ≥50 μm. The sealed interface is configured with a double - layer O - ring and epoxy resin sealant.

[0009] In one embodiment, the diameter of the transmitting coil of the magnetic coupler is 400 mm, the diameter of the receiving coil is 380 mm, and the effective working distance is 10 - 30 cm when the coupling coefficient k≥0.85.

[0010] One embodiment of the present invention provides an underwater wireless charging control system, including: A controller unit, which integrates a Kalman filter, collects water flow sensor data at a frequency of 20 Hz, and dynamically adjusts the thruster power; A thruster unit, which distributes 6 groups of vector thrusters according to the vertices of a regular dodecahedron to achieve six - degree - of - freedom motion control in space; An adaptive adjustment module, which performs the following operations: When the water flow speed ≥1.5 m / s, the thrust of the thruster is increased to 240 N and the charging frequency is locked at 40 - 60 kHz; When the charging efficiency drops to 85%, a combined calibration process of the magnetic coupler and the camera is triggered.

[0011] In one embodiment, when the salinity ≥ 35%, the adaptive adjustment module switches the charging frequency to 80 kHz and compensates for eddy current loss in real time through a salinity sensor.

[0012] In one embodiment, the controller unit configures a pressure balance valve to maintain the internal and external pressure difference ≤ 0.1 MPa in an environment with a water depth of 30 meters, and the emergency pressure relief device starts three-stage gradient pressure relief at a water depth of 100 meters.

[0013] One embodiment of the present invention provides an underwater robot wireless charging system, which includes the charging module and control system described in the above embodiments, as well as a wireless transmission protocol for data interaction between the magnetic coupler, camera, and thruster, with a delay ≤ 50 ms.

[0014] Compared with the prior art, the embodiments of the present invention have the following beneficial effects: 1. By fusing camera visual data with the magnetic field change of the magnetic coupler and combining the PID control algorithm to generate a waypoint sequence, a positioning accuracy of ±1 cm is achieved. When the offset exceeds 5 cm, a 1 cm step size fine adjustment is triggered, effectively solving the problem of large alignment deviation in traditional wireless charging and improving the charging efficiency.

[0015] 2. The water salinity, temperature, and turbidity are monitored in real time, and the charging frequency (20 - 100 kHz) is dynamically adjusted. When the salinity ≥ 35%, it switches to 80 kHz and combines with the eddy current compensation algorithm to reduce energy loss.

[0016] 3. Six sets of vector thrusters (total thrust 1200 N) are used to automatically increase the thrust to 240 N when the water flow velocity ≥ 1.5 m / s, and the Kalman filter is used to correct the output in real time to ensure positioning stability.

[0017] 4. The titanium alloy shell (tensile strength ≥ 800 MPa) and IP68 waterproof encapsulation, combined with the pressure balance valve (pressure difference ≤ 0.1 MPa) and polyurethane anti-corrosion coating (≥ 50 μm), can operate stably in an environment with a water depth of 100 meters and high salt corrosion, extending the equipment life.

[0018] 5. When the charging efficiency drops to 85%, the combined calibration of the magnetic coupler and camera is triggered. When the magnetic field strength is abnormal, it approaches and recovers in a circle at a speed of 0.5 cm / s, reducing the system failure rate and extending the maintenance period to 6 months / time.

[0019] 6. Through the wireless transmission protocol (delay ≤ 50 ms), the thrusters, sensors, and control unit are integrated, supporting trajectory prediction (2-second prediction) and disturbance rejection mode switching, shortening the matching time under complex working conditions. Description of the Drawings

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on the structures shown in these drawings.

[0021] Figure 1 The method flow of the present invention Figure 1 ; Figure 2 The method flow of the present invention Figure 2 ; Figure 3 The layout diagram of the vector thruster of the present invention; Figure 4 The block diagram of the power drive unit of the present invention; Figure 5 The block diagram of the position recognition unit of the present invention; Figure 6 The overall block diagram of the system of the present invention. Specific embodiments

[0022] In order to enable those skilled in the art to better understand the solution of the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0023] The terms "first", "second", etc. in the specification and claims of the present invention and the above drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, device, product or terminal that includes a series of steps or units is not limited to the listed steps or units, but optionally further includes steps or units not listed, or optionally further includes other steps or units inherent to these processes, methods, products or terminals.

[0024] Referring to "embodiment" herein means that a specific feature, structure or characteristic described in connection with the embodiment can be included in at least one embodiment of the present invention. The phrase appears in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art explicitly and implicitly understand that the embodiments described herein can be combined with other embodiments.

[0025] The present invention discloses an autonomous matching method, charging module and system for the wireless charging position of an underwater robot. The method can autonomously select the optimal charging position and frequency according to the system transmission power. The wireless charging system is divided into a control system and a charging module. The control system includes a controller unit and a thruster unit. The charging module includes a power drive unit and a position identification unit. Through the designed hardware circuits of the power drive unit and the position identification unit, the communication protocol and the control algorithm in the control system, the information of the position identification unit is obtained and processed, and the thruster is controlled for precise matching, thereby realizing autonomous matching of the position of the AUV wireless charging system.

[0026] like Figures 1-6 As shown, one embodiment of the present invention provides a method for autonomously matching wireless charging positions of underwater robots, the method comprising: The target AUV's operational information is obtained through the position identification unit, including horizontal offset, vertical depth, azimuth, dynamic trajectory, and water salinity, temperature, and turbidity; The vector thrusters of the wireless charging system are controlled to navigate to the vicinity of the target AUV. The real-time distance and posture deviation between the AUV and the receiving coil are calculated using the visual information from the camera and the magnetic field change data from the magnetic coupler. Generate a waypoint sequence based on the PID control algorithm and adjust the thruster's six-degree-of-freedom motion to move the charging module to a preset attitude angle; When the magnetic coupler detects that the offset exceeds 5 cm, it triggers the thruster to fine-tune in 1 cm steps until the deviation is ≤ 1 cm. During the charging process, the charging frequency is dynamically adjusted to 20-100kHz according to the salinity data, and the changes in magnetic field strength are monitored in real time, and the thruster output is corrected through the Kalman filter.

[0027] In one embodiment, the camera of the position recognition unit is a 2-megapixel underwater wide-angle lens with a frame rate of 30fps, the surface is coated with a ≥5μm hydrophobic anti-reflection film, the magnetic coupler uses a nanocrystalline alloy core, the packaging structure is filled with silicone oil, and the magnetic field detection accuracy is ±1cm.

[0028] In one embodiment, the vector thruster unit includes six groups of thrusters in a forward and reverse propeller layout, with a maximum thrust of 200N for each thruster and a total thrust of 1200N. The outer shell is a titanium alloy cylindrical pressure vessel with a wall thickness of 10mm and a built-in pressure balancing valve to maintain a pressure difference between the inside and outside of the shell of ≤0.1MPa; One embodiment of the present invention provides an underwater wireless charging module, comprising: The power drive unit consists of a DC-AC inverter, a rectifier filter circuit, and an LCL resonant network, and supports 20-100kHz frequency adaptive adjustment; A position recognition unit, integrating a waterproof camera and a dual-coil magnetic coupler, with a nanocrystalline alloy magnetic core and an adjustable coil spacing range of 5 - 50 cm; The housing is encapsulated with IP68 waterproofing, made of titanium alloy with a tensile strength ≥ 800 MPa, and sprayed with a ≥ 50 μm polyurethane anti-corrosion coating on the surface. The sealed interface is configured with a double-layer O-ring and epoxy resin sealant; The transmitting coil of the magnetic coupler has a diameter of 400 mm, the receiving coil has a diameter of 380 mm, and the effective working distance is 10 - 30 cm when the coupling coefficient k ≥ 0.85; One embodiment of the present invention provides an underwater wireless charging control system, including: A controller unit, integrating a Kalman filter, collecting water flow sensor data at a frequency of 20 Hz, and dynamically adjusting the thruster power; A thruster unit, with 6 groups of vector thrusters distributed at the vertices of a regular dodecahedron to achieve spatial six-degree-of-freedom motion control; An adaptive adjustment module, performing the following operations: When the water flow speed ≥ 1.5 m / s, increase the thruster thrust to 240 N and lock the charging frequency at 40 - 60 kHz; When the charging efficiency drops to 85%, trigger the joint calibration process of the magnetic coupler and the camera; The adaptive adjustment module switches the charging frequency to 80 kHz when the salinity ≥ 35% and compensates for eddy current losses in real time through a salinity sensor; The controller unit is configured with a pressure balance valve to maintain the internal and external pressure difference ≤ 0.1 MPa in a 30-meter water depth environment, and the emergency pressure relief device starts a three-stage gradient pressure relief at a 100-meter water depth; One embodiment of the present invention provides an underwater robot wireless charging system, including the charging module and control system described in the above embodiment, as well as a wireless transmission protocol for data interaction between the magnetic coupler, camera, and thruster, with a delay ≤ 50 ms.

[0029] In the embodiment of the present invention, for the special working conditions of the underwater environment, the power drive unit and the position recognition unit: the hardware circuit is encapsulated with IP68 waterproofing, the housing material is selected as titanium alloy (tensile strength ≥ 800 MPa), the internal sealed interface is configured with a double-layer O-ring and epoxy resin sealant to ensure no leakage at a 100-meter water depth (about 10 MPa pressure). The surface of all exposed components is sprayed with a polyurethane anti-corrosion coating (thickness ≥ 50 μm), the key connectors are made of 316L stainless steel, and a regular maintenance program is set to check the coating integrity every 6 months; The controller unit is mainly used to store relevant calculation programs and run relevant programs to implement this method. The thruster unit consists of a set of contra-rotating vector thrusters (No. 1 and 2) placed at the front end of the system, a set of co-rotating vector thrusters (No. 3 and 4) placed at the end of the system, and a set of vector thrusters placed vertically in the middle of the system (the contra-rotating and co-rotating thrusters are opposite, No. 5 is a co-rotating thruster, and No. 6 is a contra-rotating thruster). The layout is as Figure 3 shown; The thruster unit is mainly used to provide a power source for the wireless charging system. Through this layout, 6-degree-of-freedom motion in space is achieved, and it cooperates with the control system and other units to enable the system to follow the AUV's motion and achieve real-time positioning with the AUV; Thruster unit: The outer shell is designed as a cylindrical pressure vessel (wall thickness 10mm), and a pressure balance valve is adopted inside to make the internal and external pressure difference ≤ 0.1 MPa, ensuring stable operation in a 30-meter water depth environment; Magnetic coupler: The magnetic core uses nanocrystalline alloy material, and the encapsulation structure is filled with silicone oil to buffer the impact of external water pressure; Thruster performance parameters: The maximum thrust of a single thruster is 200 N, the total thrust is 1200 N, and a positioning accuracy of ±1 cm can be achieved in water flow with a velocity ≤ 2 m / s; Adaptive control algorithm: The control system integrates a Kalman filter, real-time collects data from the water flow sensor (update frequency 20 Hz), and dynamically adjusts the output power of the thruster (linear adjustment from 0% to 100%); The power drive unit mainly includes an inverter, a rectifier filter circuit, and an inverter circuit. Its function is to select an appropriate frequency according to the position information to enable the AUV to perform wireless charging at the optimal frequency; The position recognition unit mainly includes relevant components such as a camera and a magnetic coupler. Its function is to calculate the distance between the AUV and the receiving coil based on the input of the camera visual information, and to judge the deviation between the current position of the AUV and the preset position. Through the visual positioning model, the AUV is positioned accordingly to assist in determining whether the current position of the AUV matches. The magnetic coupler is mainly responsible for transmitting electric energy and calculating the transmitted voltage and current. Since there is a certain distance between the receiving coil and the transmitting coil, when the magnetic field changes, it will cause a change in the current, and the current will in turn affect the magnetic coupling device. As the core part of the position recognition unit, the magnetic coupler judges the distance between the receiving coil and the transmitting coil by obtaining the working state between the magnetic circuit and the circuit, and sends the position information to the control system through the wireless transmission module, and finally completes the recognition of the AUV's position.

[0030] It should be noted that there is a certain coupling relationship between the position recognition unit, the power drive unit, and the control system. Therefore, data interaction among the three is completed through wireless transmission. For specific reference, see Figure 6 ; The components of the power drive unit are as follows: Inverter: Converts direct current into alternating current; Rectifier filter circuit: Rectifies and filters the alternating current to obtain relatively stable direct current; Inversion circuit: Converts the direct current into alternating current again to provide a suitable charging power supply for the AUV; Working principle of the power drive unit: According to the position information provided by the control system, the power drive unit selects an appropriate frequency so that the AUV can perform wireless charging at the optimal frequency. Its working process can be expressed by the following formula: Input direct current: Inverter outputs alternating current: , where is the amplitude, is the angular frequency, is the time, is the initial phase; After passing through the rectifier filter circuit: , where is the filtering coefficient, is the effective value of the alternating current, and the inversion circuit converts the direct current into alternating current again to provide a suitable charging power supply for the AUV; Inversion circuit output: , where is the amplitude, is the new angular frequency, is the initial phase.

[0031] The principle block diagram of the drive unit is as shown in Figure 4 shown; The components of the position recognition unit are as follows: Camera: Provides visual information input; Magnetic coupler: The core component, responsible for transmitting electric energy and calculating the transmitted voltage and current; After passing through the rectifier filter circuit: where is the filtering coefficient and is the effective value of the alternating current; the inversion circuit converts the direct current into alternating current again to provide a suitable charging power supply for the AUV Working principle of the position recognition unit: Based on the visual information input from the camera and the data of the magnetic coupler, the position recognition unit is used to calculate the distance between the AUV and the receiving coil, and to judge the deviation between the current position of the AUV and the preset position. The AUV is positioned accordingly through the visual positioning model to assist in determining whether the current position of the AUV matches; As the core part of the position recognition module, the magnetic coupler realizes the judgment of the distance between the receiving coil and the transmitting coil by obtaining the working state between the magnetic circuit and the circuit. Since there is a certain distance between the receiving coil and the transmitting coil, when the magnetic field changes, it will cause a change in current, and the current will in turn affect the magnetic coupling device. Their relationship can be expressed by the following formula: Magnetic field change amount: Induced electromotive force: , where is the number of turns of the coil, is the magnetic flux; Current change amount: , where is the circuit resistance; The magnetic coupler sends the position information to the control system through the wireless transmission module, and finally completes the recognition of the AUV position; The principle block diagram of the position recognition unit is as shown in Figure 5 shown.

[0032] Furthermore, it includes a unit cooperation mechanism: 1. Real-time position feedback and dynamic adjustment: Data acquisition frequency: The position recognition unit obtains the AUV position data in real time through the camera (frame rate 30fps) and the magnetic coupler (sampling rate 10Hz), and the transmission delay to the control system is ≤50ms; Deviation processing: When the AUV position offset exceeds the preset threshold (default 5cm), the control system generates a waypoint sequence based on the PID algorithm, and the thruster unit makes fine adjustments in 1cm steps until the deviation ≤1cm; 2. Dynamic charging parameter optimization: Frequency adaption: The power drive unit dynamically adjusts the charging frequency (20kHz - 100kHz) according to the current fluctuation (ΔI) feedback by the magnetic coupler and the water quality conductivity (monitored in real time by the salinity sensor). For example, in an environment with high salinity (≥35%), it switches to 80kHz to reduce eddy current loss; Power regulation: During the charging process, if the offset exceeds the threshold, the power drive unit automatically reduces the output power to 50%, and resumes to 100% after the position is matched; 3. Predictive navigation strategy: Trajectory prediction model: The control system combines the AUV movement speed (0 - 1m / s) and the attitude angle (pitch / roll ≤15°), and predicts the position in the next 2 seconds through the second-order motion equation to plan the thruster actions in advance; Multi-modal control: In a complex water flow environment, the system switches to the "disturbance rejection mode", the thruster thrust is increased by 20%, and at the same time the charging frequency is locked to the anti-interference frequency band (40kHz - 60kHz); 4. Charging offset processing: Offset detection: The magnetic coupler monitors the change of the induced electromotive force (E) in real time. If ΔE≥10% (corresponding to a displacement ≥5 cm) is detected continuously for 3 times, an emergency charging pause command is triggered.

[0033] Recovery mechanism: The thruster unit executes an "approaching" strategy, moving around the AUV at a speed of 0.5 cm / s until the magnetic field strength recovers to more than 95% of the optimal value.

[0034] Furthermore, the wireless charging system of the present invention is divided into a control system, a thruster unit, a power drive unit, and a position recognition unit. Each unit works together to achieve autonomous matching of the charging position, which is different from the traditional single - structure design.

[0035] The present invention combines camera vision information with the transmission of electric energy by the magnetic coupler and the calculation of voltage and current to comprehensively judge the distance and position deviation between the AUV and the receiving coil, realizing precise positioning, which is different from the method of relying only on a single sensor for positioning.

[0036] In the present invention, data interaction between the position recognition module, the power drive module and the control system is carried out through a wireless transmission method, reducing wiring interference and improving the flexibility of the system, which is different from the wired connection method.

[0037] The system of the present invention itself has the ability to move, combines relevant designs, obtains information, and adjusts itself in real time to ensure that it is always in the most efficient charging state; Waypoint spacing calculation: According to the AUV movement speed v (m / s) and the sampling period T = 0.1 s, the step size ΔL = v*T; Archimedean spiral approximation algorithm: When the deviation > 5 cm, a compensation path is generated according to the Archimedean spiral equation r = aθ, where a = 0.5 cm / rad; The above - mentioned thrust requirement calculation formula is ; Among them, ρ = 1025 kg / m³ is the seawater density, Cd = 0.8 is the drag coefficient, A = 0.2 m² is the projected area. When v = 1.5 m / s, the fluid drag calculation formula is: , and the calculated fluid drag F≈184 N. Referring to the parameter configuration in claim 3, m = 1986 kg is the nominal mass of the system, and m*a is the inertial compensation; Through ANSYS Fluent simulation, under a total thrust of 1200 N, the system can quickly complete the displacement compensation of ±10 cm in the X / Y / Z three - axis, and the steady - state error ≤1 cm; When the magnetic field strength is continuously lower than 50 μT for 5 seconds, start the backup acoustic positioning system and switch to the UHF band (400 - 450 kHz) for position compensation.

[0038] The device embodiments described above are merely illustrative. The modules described as separate components may or may not be physically separated. The components shown as modules may or may not be physical modules, that is, they may be located in one place or distributed to multiple network modules. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. A person of ordinary skill in the art can understand and implement it without creative work.

[0039] Through the above specific descriptions of the embodiments, those skilled in the art can clearly understand that each implementation manner can be realized by means of software plus a necessary general hardware platform, and of course, it can also be realized by hardware. Based on such an understanding, the above technical solution, in essence, or the part that contributes to the prior art can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, and the storage medium includes read-only memory (ROM), random access memory (RAM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), one-time programmable read-only memory (OTPROM), electrically-erasable programmable read-only memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc memories, magnetic disk memories, tape memories, or any other computer-readable medium that can be used to carry or store data.

[0040] Finally, it should be noted that: the underwater robot wireless charging position autonomous matching method, charging module and system disclosed in the embodiments of the present invention only disclose the preferred embodiments of the present invention, which are only used to illustrate the technical solutions of the present invention and are not intended to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An underwater robot wireless charging position autonomous matching method, characterized in that The method includes: Obtaining the operation information of the target AUV through a position recognition unit, including horizontal offset, vertical depth, azimuth angle, dynamic trajectory, and water salinity, temperature, and turbidity; Controlling the vector thruster of the wireless charging system to navigate near the target AUV, and calculating the real-time distance and pose deviation between the AUV and the receiving coil through the visual information of the camera and the magnetic field change data of the magnetic coupler; Generating a waypoint sequence based on the PID control algorithm, and adjusting the six-degree-of-freedom movement in space of the thruster to move the charging module to a preset attitude angle; Among them, when the magnetic coupler detects that the offset exceeds 5 cm, the thruster is triggered to fine-tune in 1 cm steps until the deviation ≤ 1 cm; During the charging process, the charging frequency is dynamically adjusted to 20 - 100 kHz according to the salinity data, and the change of the magnetic field intensity is monitored in real time, and the output of the thruster is corrected through a Kalman filter.

2. The underwater robot wireless charging position autonomous matching method according to claim 1, characterized in that The camera of the position recognition unit is a 2 million pixel underwater wide-angle lens with a frame rate of 30 fps, and its surface is coated with a hydrophobic antireflection film with a thickness of ≥ 5 μm. The magnetic coupler uses a nanocrystalline alloy magnetic core, and the encapsulation structure is filled with silicone oil, and the magnetic field detection accuracy is ± 1 cm.

3. The underwater robot wireless charging position autonomous matching method according to claim 1, characterized in that The vector thruster unit includes 6 groups of thrusters with a forward and reverse paddle layout. The maximum thrust of a single thruster is 200 N, and the total thrust is 1200 N. The outer shell is a titanium alloy cylindrical pressure vessel with a wall thickness of 10 mm, and a pressure balance valve is built in to maintain the pressure difference inside and outside the shell ≤ 0.1 MPa.

4. An underwater wireless charging module, characterized in that, It includes the hardware unit corresponding to the method according to claim 1: A power drive unit, which consists of a DC-AC inverter, a rectifier filter circuit, and an LCL resonance network, and supports frequency adaptive adjustment of 20 - 100 kHz; A position recognition unit, which integrates a waterproof camera and a double-coil magnetic coupler. The magnetic core uses a nanocrystalline alloy, and the adjustable range of the coil spacing is 5 - 50 cm; The outer shell is encapsulated with IP68 waterproof. The titanium alloy material has a tensile strength ≥ 800 MPa, and its surface is sprayed with a polyurethane anti-corrosion coating ≥ 50 μm. The sealed interface is configured with a double-layer O-ring and epoxy resin sealant.

5. The underwater wireless charging module according to claim 4, characterized in that The diameter of the transmitting coil of the magnetic coupler is 400 mm, the diameter of the receiving coil is 380 mm, and the effective working distance is 10 - 30 cm when the coupling coefficient k ≥ 0.

85.

6. An underwater wireless charging control system, characterized in that, It includes those that work in coordination with the module according to claim 4: A controller unit, which integrates a Kalman filter, collects water flow sensor data at a frequency of 20 Hz, and dynamically adjusts the power of the thruster; A thruster unit, which distributes 6 groups of vector thrusters according to the vertices of a regular dodecahedron to achieve six-degree-of-freedom motion control in space; An adaptive adjustment module, which performs the following operations: When the water flow velocity ≥ 1.5 m / s, the thrust of the thruster is increased to 240 N and the charging frequency is locked at 40 - 60 kHz.

7. The control system according to claim 6, characterized in that When the charging efficiency drops to 85%, a joint calibration process of the magnetic coupler and the camera is triggered.

8. The control system according to claim 6, wherein when the salinity ≥ 35%, the adaptive adjustment module switches the charging frequency to 80 kHz and compensates for eddy current losses in real time through the salinity sensor.

9. The control system according to claim 6, wherein the controller unit configures a pressure balance valve to maintain the internal and external pressure difference ≤ 0.1 MPa in an environment of 30 meters water depth, and the emergency pressure relief device starts three-stage gradient pressure relief at 100 meters water depth.

10. An underwater robot wireless charging system, characterized in that, Comprising: the charging module of claim 4; the control system of claim 6; and a wireless transmission protocol for data interaction among the magnetic coupler, camera, and thruster; wherein the system operating parameters meet the positioning accuracy requirements of claim 1.

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