Methods, charging modules and systems for autonomous wireless charging of underwater robots

Abstract

This invention belongs to the field of underwater wireless charging technology, specifically relating to an autonomous matching method, charging module, and system for wireless charging of underwater robots. The method includes: acquiring operational information of the target AUV (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 to the vicinity of the target AUV; calculating the real-time distance and pose deviation between the AUV and the receiving coil using camera visual information and magnetic field change data from the magnetic coupler; generating a waypoint sequence based on a PID control algorithm; adjusting the six-degree-of-freedom spatial motion of the thruster to move the charging module to a preset attitude angle. Through the designed hardware circuits of the power drive unit and position recognition unit, the communication protocol in the control system, and the control algorithm, the information from the position recognition unit is acquired and processed, and the thruster is controlled to perform precise matching, achieving autonomous position matching of the AUV wireless charging system.

Description

Technical Field

[0001] This invention belongs to the field of underwater wireless charging technology, specifically relating to an autonomous matching method, charging module, and system for wireless charging of underwater robots. Background Technology

[0002] For underwater robots (AUVs), wired charging is typically used, employing a wet-plug power connector to connect the underwater device to the power source for charging. While wet-plug connectors are mature, they are expensive, have complex connection mechanisms, are difficult to maintain, and have a short lifespan. Wireless charging technology faces the challenge of long positioning and matching times. Wireless energy transfer is achieved through magnetic couplers, and the distance and orientation between the transmitting and receiving coils affect charging speed and energy efficiency. Precise alignment is crucial; otherwise, charging is slow and energy efficiency is low.

[0003] The common methods currently available on the market are costly and difficult to modify due to their complex structure and requirements for underwater robots. They also fail to fully consider the adaptability of underwater robots to underwater environments, such as water resistance and water flow during charging, resulting in poor final application results. Summary of the Invention

[0004] To overcome the shortcomings of existing technologies, this invention provides an autonomous location matching method, charging module, and system for wireless charging of underwater robots. This system can autonomously select the optimal charging location and frequency based on the system's 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, while 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 in the control system, and the control algorithm, the system acquires and processes information from the position recognition unit, controls the thruster for precise matching, and achieves autonomous location matching for the AUV wireless charging system.

[0005] One embodiment of the present invention provides a method for autonomously matching the wireless charging location of an underwater robot, the method comprising:

[0006] The target AUV's operational information, including horizontal offset, vertical depth, azimuth, dynamic trajectory, and water salinity, temperature, and turbidity, is obtained through the position recognition unit.

[0007] The vector thruster of the wireless charging system is controlled to navigate to the vicinity of the target AUV, and the real-time distance and pose deviation between the AUV and the receiving coil are calculated by using visual information from the camera and magnetic field change data from the magnetic coupler.

[0008] The waypoint sequence is generated based on the PID control algorithm, and the six-degree-of-freedom spatial motion of the thruster is adjusted so that the charging module moves to the preset attitude angle.

[0009] When the magnetic coupler detects an offset exceeding 5cm, it triggers the thruster to make fine adjustments in 1cm increments until the deviation is ≤1cm.

[0010] During the charging process, the charging frequency is dynamically adjusted to 20-100kHz based on salinity data, and the magnetic field strength change is monitored in real time. The thruster output is corrected through a Kalman filter.

[0011] In one embodiment, the camera of the location recognition unit is a 2-megapixel underwater wide-angle lens with a frame rate of 30fps, and the surface is coated with a ≥5μm hydrophobic antireflective film. The magnetic coupler uses a nanocrystalline alloy magnetic core, the encapsulation structure is filled with silicone oil, and the magnetic field detection accuracy is ±1cm.

[0012] In one embodiment, the vector thruster unit includes six sets of thrusters with a positive and negative propeller layout. The maximum thrust of a single thruster is 200N, and the total thrust is 1200N. The outer shell is a cylindrical pressure vessel of titanium alloy with a wall thickness of 10mm and a built-in pressure balancing valve to maintain the pressure difference between the inside and outside of the shell ≤0.1MPa.

[0013] One embodiment of the present invention provides an underwater wireless charging module, comprising:

[0014] The power drive unit consists of a DC-AC inverter, a rectifier filter circuit, and an LCL resonant network, and supports adaptive frequency adjustment from 20 to 100 kHz.

[0015] The location recognition unit integrates a waterproof camera and a dual-coil magnetic coupler. The magnetic core is made of nanocrystalline alloy, and the coil spacing is adjustable from 5 to 50 cm.

[0016] The outer shell is IP68 waterproof, the titanium alloy material has a tensile strength of ≥800MPa, the surface is coated with a ≥50μm polyurethane anti-corrosion coating, and the sealing interface is equipped with double O-rings and epoxy resin sealant.

[0017] In one embodiment, the transmitting coil of the magnetic coupler has a diameter of 400mm, the receiving coil has a diameter of 380mm, and the effective working distance is 10-30cm when the coupling coefficient k≥0.85.

[0018] One embodiment of the present invention provides an underwater wireless charging control system, comprising:

[0019] The controller unit integrates a Kalman filter to acquire water flow sensor data at a frequency of 20Hz and dynamically adjust the thruster power.

[0020] The thruster unit consists of six sets of vector thrusters distributed according to the vertices of a regular dodecahedron, enabling six-degree-of-freedom motion control in space.

[0021] The adaptive adjustment module performs the following operations:

[0022] When the water flow velocity is ≥1.5m / s, increase the thruster thrust to 240N and lock the charging frequency to 40-60kHz;

[0023] When the charging efficiency drops to 85%, the joint calibration process of the magnetic coupler and camera is triggered.

[0024] In one embodiment, the adaptive adjustment module switches the charging frequency to 80kHz when the salinity is ≥35%, and compensates for eddy current losses in real time through a salinity sensor.

[0025] In one embodiment, the controller unit is equipped with a pressure balancing valve to maintain an internal and external pressure difference of ≤0.1MPa in a water depth of 30 meters, and the emergency pressure relief device activates a three-stage gradient pressure relief at a water depth of 100 meters.

[0026] 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 embodiment, as well as a wireless transmission protocol for data interaction between the magnetic coupler, camera and thruster, with a latency of ≤50ms.

[0027] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0028] 1. By fusing camera visual data with magnetic field changes of the magnetic coupler and combining it with PID control algorithm to generate waypoint sequence, a positioning accuracy of ±1cm is achieved. When the offset exceeds 5cm, a 1cm step size fine adjustment is triggered, which effectively solves the problem of large alignment deviation in traditional wireless charging and improves charging efficiency.

[0029] 2. Real-time monitoring of water salinity, temperature and turbidity, dynamically adjusting the charging frequency (20-100kHz), switching to 80kHz when salinity ≥35% and combining with eddy current compensation algorithm to reduce energy loss.

[0030] 3. Six sets of vector thrusters (total thrust 1200N) are used to automatically increase the thrust to 240N when the water flow velocity is ≥1.5m / s. The output is corrected in real time with a Kalman filter to ensure positioning stability.

[0031] 4. The titanium alloy shell (tensile strength ≥800MPa) and IP68 waterproof enclosure, combined with the pressure balancing valve (pressure difference ≤0.1MPa) and polyurethane anti-corrosion coating (≥50μm), enable stable operation in water depths of up to 100 meters and high-salt corrosion environments, thus extending the equipment's lifespan.

[0032] 5. When the charging efficiency drops to 85%, the magnetic coupler and camera are jointly calibrated. When the magnetic field strength is abnormal, it is restored by circling and approaching at 0.5cm / s. The system failure rate is reduced and the maintenance cycle is extended to 6 months / time.

[0033] 6. The thruster, sensor and control unit are integrated through wireless transmission protocol (latency ≤50ms), supporting trajectory prediction (2-second prediction) and anti-interference mode switching, which shortens the matching time under complex working conditions. Attached Figure Description

[0034] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0035] Figure 1 The method flow of the present invention Figure 1 ;

[0036] Figure 2 The method flow of the present invention Figure 2 ;

[0037] Figure 3 This is a layout diagram of the vector thruster of the present invention;

[0038] Figure 4 This is a block diagram of the power drive unit of the present invention;

[0039] Figure 5 This is a block diagram of the location recognition unit of the present invention;

[0040] Figure 6 This is a system overall block diagram of the present invention. Detailed Implementation

[0041] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0042] The terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this invention are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, apparatus, product, or end that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or ends.

[0043] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0044] This invention discloses an autonomous location matching method, charging module, and system for wireless charging of underwater robots. It enables the robot to autonomously select the optimal charging location and frequency based on the system's 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, while the charging module includes a power drive unit and a location recognition unit. Through the designed hardware circuits of the power drive unit and the location recognition unit, the communication protocol in the control system, and the control algorithm, the information from the location recognition unit is acquired and processed, and the thruster is controlled to perform precise matching, thus achieving autonomous location matching for the AUV wireless charging system.

[0045] like Figures 1-6 As shown, one embodiment of the present invention provides an autonomous matching method for wireless charging location of an underwater robot, the method comprising:

[0046] The target AUV's operational information, including horizontal offset, vertical depth, azimuth, dynamic trajectory, and water salinity, temperature, and turbidity, is obtained through the position recognition unit.

[0047] The vector thruster of the wireless charging system is controlled to navigate to the vicinity of the target AUV, and the real-time distance and pose deviation between the AUV and the receiving coil are calculated by using visual information from the camera and magnetic field change data from the magnetic coupler.

[0048] The waypoint sequence is generated based on the PID control algorithm, and the six-degree-of-freedom spatial motion of the thruster is adjusted so that the charging module moves to the preset attitude angle.

[0049] When the magnetic coupler detects an offset exceeding 5cm, it triggers the thruster to make fine adjustments in 1cm increments until the deviation is ≤1cm.

[0050] During the charging process, the charging frequency is dynamically adjusted to 20-100kHz based on salinity data, and the magnetic field strength change is monitored in real time. The thruster output is corrected through a Kalman filter.

[0051] In one embodiment, the camera of the location recognition unit is a 2-megapixel underwater wide-angle lens with a frame rate of 30fps, and the surface is coated with a ≥5μm hydrophobic antireflective film. The magnetic coupler uses a nanocrystalline alloy magnetic core, the encapsulation structure is filled with silicone oil, and the magnetic field detection accuracy is ±1cm.

[0052] In one embodiment, the vector thruster unit includes 6 sets of thrusters with a positive and negative propeller layout, with a maximum thrust of 200N per thruster and a total thrust of 1200N. The outer shell is a cylindrical pressure vessel of titanium alloy with a wall thickness of 10mm and a built-in pressure balancing valve to maintain the pressure difference between the inside and outside of the shell ≤0.1MPa.

[0053] One embodiment of the present invention provides an underwater wireless charging module, comprising:

[0054] The power drive unit consists of a DC-AC inverter, a rectifier filter circuit, and an LCL resonant network, and supports adaptive frequency adjustment from 20 to 100 kHz.

[0055] The location recognition unit integrates a waterproof camera and a dual-coil magnetic coupler. The magnetic core is made of nanocrystalline alloy, and the coil spacing is adjustable from 5 to 50 cm.

[0056] The outer shell is IP68 waterproof encapsulation, the titanium alloy material has a tensile strength of ≥800MPa, the surface is sprayed with a ≥50μm polyurethane anti-corrosion coating, and the sealing interface is equipped with double O-rings and epoxy resin sealant.

[0057] The magnetic coupler has a transmitting coil diameter of 400mm, a receiving coil diameter of 380mm, and an effective working distance of 10-30cm when the coupling coefficient k≥0.85.

[0058] One embodiment of the present invention provides an underwater wireless charging control system, comprising:

[0059] The controller unit integrates a Kalman filter to acquire water flow sensor data at a frequency of 20Hz and dynamically adjust the thruster power.

[0060] The thruster unit consists of six sets of vector thrusters distributed according to the vertices of a regular dodecahedron, enabling six-degree-of-freedom motion control in space.

[0061] The adaptive adjustment module performs the following operations:

[0062] When the water flow velocity is ≥1.5m / s, increase the thruster thrust to 240N and lock the charging frequency to 40-60kHz;

[0063] When the charging efficiency drops to 85%, the joint calibration process of the magnetic coupler and camera is triggered;

[0064] The adaptive adjustment module switches the charging frequency to 80kHz when the salinity is ≥35%, and compensates for eddy current loss in real time through the salinity sensor.

[0065] The controller unit is equipped with a pressure balancing valve to maintain an internal and external pressure difference of ≤0.1MPa in a water depth of 30 meters. The emergency pressure relief device activates a three-stage gradient pressure relief at a water depth of 100 meters.

[0066] 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 embodiment, as well as a wireless transmission protocol for data interaction between the magnetic coupler, camera and thruster, with a latency of ≤50ms.

[0067] In this embodiment of the invention, for the special working conditions of the underwater environment, the power drive unit and the position recognition unit: the hardware circuit adopts IP68 waterproof encapsulation, the shell material is titanium alloy (tensile strength ≥800MPa), the internal sealing interface is equipped with double O-rings and epoxy resin sealant to ensure no leakage at a water depth of 100 meters (approximately 10MPa pressure), all exposed parts are sprayed with polyurethane anti-corrosion coating (thickness ≥50μm), key connectors are made of 316L stainless steel, and a regular maintenance procedure is set up to check the integrity of the coating every 6 months;

[0068] The controller unit is mainly used to store and run relevant calculation programs to implement this method. The thruster unit consists of a set of counter-rotating vector thrusters (1 and 2) placed at the front of the system, a set of normal-rotating vector thrusters (3 and 4) placed at the rear of the system, and a set of vector thrusters placed vertically in the middle of the system (the normal and counter-rotating thrusters are opposite, 5 is a normal-rotating thruster, and 6 is a counter-rotating thruster). The layout is as follows: Figure 3 As shown;

[0069] The thruster unit is mainly used to provide power to the wireless charging system. This layout enables 6-DOF motion in space. In conjunction with the control system and other units, the system can follow the movement of the AUV and achieve real-time positioning with the AUV.

[0070] Thruster unit: The outer shell is designed as a cylindrical pressure vessel (10mm wall thickness), and the internal pressure balance valve is used to ensure that the pressure difference between the inside and outside is ≤0.1MPa, so as to ensure stable operation in a water depth of 30 meters;

[0071] Magnetic Coupler: The magnetic core is made of nanocrystalline alloy material, and the encapsulation structure is filled with silicone oil to buffer external water pressure impact;

[0072] Thruster performance parameters: Maximum thrust of a single thruster is 200N, total thrust is 1200N, and it can achieve a positioning accuracy of ±1cm in water flow with a velocity ≤2m / s;

[0073] Adaptive control algorithm: The control system integrates a Kalman filter, collects water flow sensor data in real time (update frequency 20Hz), and dynamically adjusts the thruster output power (0%~100% linear adjustment).

[0074] The power drive unit mainly includes an inverter, a rectifier and filter circuit, and an inverter circuit. Its function is to select a suitable frequency based on the location information so that the AUV can perform wireless charging at the optimal frequency.

[0075] The position recognition unit mainly includes a camera, a magnetic coupler, and other related components. Its function is to calculate the distance between the AUV and the receiving coil based on visual information input from the camera, and to determine the deviation between the AUV's current position and a preset position. It then uses a visual positioning model to locate the AUV accordingly, assisting in determining whether the AUV's current position matches the preset position. The magnetic coupler is primarily responsible for transmitting electrical energy and calculating the transmitted voltage and current. Because there is a certain distance between the receiving and transmitting coils, changes in the magnetic field will cause changes in the current, which in turn will affect the magnetic coupler. As the core component of the position recognition unit, the magnetic coupler determines the distance between the receiving and transmitting coils by acquiring the operating state of the magnetic circuit and the electrical circuit, and then transmits the position information to the control system via a wireless transmission module, ultimately completing the identification of the AUV's position.

[0076] It should be noted that there is a certain coupling relationship between the position identification unit, the power drive unit, and the control system. Therefore, data interaction between the three is accomplished through wireless transmission. See the attached document for details. Figure 6 ;

[0077] The power drive unit consists of the following components:

[0078] Inverter: Converts direct current (DC) to alternating current (AC);

[0079] Rectifier and filter circuit: Rectifies and filters AC power to obtain a more stable DC power;

[0080] Inverter circuit: converts DC power back into AC power to provide a suitable charging power for the AUV;

[0081] Working principle of the power drive unit:

[0082] Based on the location information provided by the control system, the power drive unit selects an appropriate frequency, enabling the AUV to perform wireless charging at the optimal frequency. Its operation can be represented by the following formula:

[0083] Input DC power:

[0084] Inverter outputs AC power: ,in For amplitude, Angular frequency, For time, This is the initial phase;

[0085] After passing through the rectifier and filter circuit: ,in These are the filter coefficients. The inverter circuit converts the DC power back into AC power to provide a suitable charging power for the AUV, which is the effective value of the AC power.

[0086] Inverter circuit output: ,in For amplitude, For the new angular frequency, This is the initial phase.

[0087] The principle block diagram of the drive unit is as follows: Figure 4 As shown;

[0088] The location identification unit consists of the following components:

[0089] Camera: Provides visual information input;

[0090] Magnetic coupler: A core component responsible for transmitting electrical energy and calculating the transmitted voltage and current;

[0091] After passing through the rectifier and filter circuit: where is the filter coefficient, and is the effective value of the AC power; the inverter circuit converts the DC power back into AC power to provide a suitable charging power for the AUV.

[0092] How does the location recognition unit work?

[0093] Based on the visual information input from the camera and the data from the magnetic coupler, the position recognition unit calculates the distance between the AUV and the receiving coil, and determines the deviation between the AUV's current position and the preset position. A visual positioning model is used to locate the AUV accordingly, assisting in determining whether the AUV's current position matches the preset position.

[0094] The magnetic coupler, as the core component of the position recognition module, determines the distance between the receiving and transmitting coils by acquiring the operating state of the magnetic circuit and the electrical circuit. Since there is a certain distance between the receiving and transmitting coils, changes in the magnetic field will cause changes in the current, which in turn will affect the magnetic coupling device. This relationship can be expressed by the following formula:

[0095] Magnetic field change:

[0096] Induced electromotive force: ,in The number of coil turns. It is magnetic flux;

[0097] Current change: ,in For circuit resistance;

[0098] The magnetic coupler transmits the location information to the control system via a wireless transmission module, and ultimately completes the identification of the AUV's location;

[0099] The principle block diagram of the position recognition unit is as follows: Figure 5 As shown.

[0100] Furthermore, this includes unit collaborative working mechanisms:

[0101] 1. Real-time location feedback and dynamic adjustment:

[0102] Data acquisition frequency: The position recognition unit acquires AUV position data in real time through a camera (30fps) and a magnetic coupler (10Hz sampling rate), and the delay in transmitting the data to the control system is ≤50ms;

[0103] Deviation handling: 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 is ≤1cm.

[0104] 2. Dynamic charging parameter optimization:

[0105] Frequency Adaptive: The power drive unit dynamically adjusts the charging frequency (20kHz-100kHz) based on the current fluctuation (ΔI) fed back by the magnetic coupler and the water conductivity (monitored in real time by a salinity sensor). For example, it switches to 80kHz in high salinity (≥35%) environments to reduce eddy current losses.

[0106] Power adjustment: If the offset exceeds the threshold during charging, the power drive unit will automatically reduce the output power to 50% and restore it to 100% after the position is matched.

[0107] 3. Predictive navigation strategy:

[0108] Trajectory prediction model: The control system combines the AUV's motion speed (0-1m / s) and attitude angle (pitch / roll ≤15°) to predict the position in the next 2 seconds through second-order motion equations, and plans the thruster actions in advance;

[0109] Multimodal control: In complex water flow environments, the system switches to "anti-interference mode", which increases the thruster thrust by 20% and locks the charging frequency to the anti-interference frequency band (40kHz-60kHz).

[0110] 4. Charging offset processing:

[0111] Offset detection: The magnetic coupler monitors the change in induced electromotive force (E) in real time. If ΔE≥10% (corresponding to displacement≥5cm) is detected 3 times in a row, an emergency pause charging command is triggered.

[0112] Recovery mechanism: The thruster unit executes an "approach" strategy, moving around the AUV at a speed of 0.5 cm / s until the magnetic field strength recovers to more than 95% of its optimal value.

[0113] Furthermore, this invention divides the wireless charging system into a control system, a thruster unit, a power drive unit, and a position recognition unit. Each unit works in concert to achieve autonomous matching of the charging position, which is different from the traditional single-structure design.

[0114] This invention combines camera visual information with magnetic coupler power transmission and voltage and current calculation to comprehensively determine the distance and positional deviation between the AUV and the receiving coil, achieving precise positioning, which differs from positioning methods that rely solely on a single sensor.

[0115] The location identification module, power drive module and control system of this invention interact with each other wirelessly, reducing wiring interference and improving system flexibility, which is different from wired connection methods.

[0116] The system of this invention has the ability to move, and in combination with relevant design, it acquires information and adjusts itself in real time to ensure that it is always in the charging state with the highest efficiency.

[0117] Waypoint spacing calculation: Based on the AUV's speed v (m / s) and sampling period T = 0.1s, the step size ΔL = v * T;

[0118] Spiral approximation algorithm: When the deviation is >5cm, a compensation path is generated according to the Archimedes spiral equation r=aθ, where a=0.5cm / rad;

[0119] The above thrust requirement calculation formula is as follows: ;

[0120] Where ρ = 1025 kg / m³ is the density of seawater, Cd = 0.8 is the drag coefficient, and A = 0.2 m² projected area. When v = 1.5 m / s, the formula for calculating fluid resistance is: The calculated fluid resistance F≈184N, see parameter configuration in weight 3, m=1986kg is the nominal mass of the system, and m*a is the inertia compensation;

[0121] Through ANSYS Fluent simulation, under a total thrust of 1200N, the system can quickly complete displacement compensation of ±10cm in the X / Y / Z axes, with a steady-state error ≤1cm;

[0122] When the magnetic field strength remains below 50 μT for 5 seconds, the backup acoustic positioning system is activated and switched to the UHF band (400-450 kHz) for position compensation.

[0123] The device embodiments described above are merely illustrative. The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical modules; that is, they may be located in one place or distributed across multiple network modules. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0124] Through the detailed description of the above embodiments, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, 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, including 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 storage, disk storage, magnetic tape storage, or any other computer-readable medium that can be used to carry or store data.

[0125] Finally, it should be noted that the underwater robot wireless charging location autonomous matching method, charging module, and system disclosed in the embodiments of the present invention are merely preferred embodiments of the present invention and are only used to illustrate the technical solutions of the present invention, not to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for autonomously matching the wireless charging location of an underwater robot, characterized in that, Includes an underwater wireless charging control system, which includes an underwater wireless charging module; The controller unit integrates a Kalman filter to acquire water flow sensor data at a frequency of 20Hz and dynamically adjust the thruster power. The thruster unit consists of six sets of vector thrusters distributed according to the vertices of a regular dodecahedron, enabling six-degree-of-freedom motion control in space. The adaptive adjustment module performs the following operations: When the water flow velocity is ≥1.5m / s, increase the thruster thrust to 240N and lock the charging frequency to 40-60kHz; The underwater wireless charging module includes a power drive unit, which consists of a DC-AC inverter, a rectifier filter circuit and an LCL resonant network, and supports adaptive frequency adjustment from 20 to 100 kHz. The location recognition unit integrates a waterproof camera and a dual-coil magnetic coupler. The magnetic core is made of nanocrystalline alloy, and the coil spacing is adjustable from 5 to 50 cm. The outer shell is IP68 waterproof, the titanium alloy material has a tensile strength of ≥800MPa, the surface is sprayed with a ≥50μm polyurethane anti-corrosion coating, and the sealing interface is equipped with double O-rings and epoxy resin sealant; the transmitting coil of the magnetic coupler has a diameter of 400mm, the receiving coil has a diameter of 380mm, and the effective working distance is 10-30cm when the coupling coefficient k≥0.

85. The specific steps of the underwater robot's wireless charging location autonomous matching method are as follows: The target AUV's operational information, including horizontal offset, vertical depth, azimuth, dynamic trajectory, and water salinity, temperature, and turbidity, is obtained through the position recognition unit. The vector thruster of the wireless charging system is controlled to navigate to the vicinity of the target AUV, and the real-time distance and pose deviation between the AUV and the receiving coil are calculated by using visual information from the camera and magnetic field change data from the magnetic coupler. The waypoint sequence is generated based on the PID control algorithm, and the six-degree-of-freedom spatial motion of the thruster is adjusted so that the charging module moves to the preset attitude angle. When the magnetic coupler detects an offset exceeding 5cm, it triggers the thruster to make fine adjustments in 1cm increments until the deviation is ≤1cm. During the charging process, the charging frequency is dynamically adjusted to 20-100kHz based on salinity data, and the magnetic field strength change is monitored in real time. The thruster output is corrected through a Kalman filter.

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

3. The underwater robot wireless charging location autonomous matching method according to claim 1, characterized in that, The vector thruster unit includes six sets of thrusters with a positive and negative propeller layout. The maximum thrust of a single thruster is 200N, and the total thrust is 1200N. The outer shell is a cylindrical pressure vessel of titanium alloy with a wall thickness of 10mm and an internal pressure balancing valve to maintain the pressure difference between the inside and outside of the shell ≤0.1MPa.

4. An underwater wireless charging control system, characterized in that, Including underwater wireless charging modules; The controller unit integrates a Kalman filter to acquire water flow sensor data at a frequency of 20Hz and dynamically adjust the thruster power. The thruster unit consists of six sets of vector thrusters distributed according to the vertices of a regular dodecahedron, enabling six-degree-of-freedom motion control in space. The adaptive adjustment module performs the following operations: When the water flow velocity is ≥1.5m / s, increase the thruster thrust to 240N and lock the charging frequency to 40-60kHz; The underwater wireless charging module includes a power drive unit, which consists of a DC-AC inverter, a rectifier filter circuit and an LCL resonant network, and supports adaptive frequency adjustment from 20 to 100 kHz. The location recognition unit integrates a waterproof camera and a dual-coil magnetic coupler. The magnetic core is made of nanocrystalline alloy, and the coil spacing is adjustable from 5 to 50 cm. The outer shell is IP68 waterproof, the titanium alloy material has a tensile strength of ≥800MPa, the surface is sprayed with a ≥50μm polyurethane anti-corrosion coating, and the sealing interface is equipped with double O-rings and epoxy resin sealant; the transmitting coil of the magnetic coupler has a diameter of 400mm, the receiving coil has a diameter of 380mm, and the effective working distance is 10-30cm when the coupling coefficient k≥0.

85.

5. The underwater wireless charging control system according to claim 4, characterized in that, When the charging efficiency drops to 85%, the joint calibration process of the magnetic coupler and camera is triggered.

6. The underwater wireless charging control system according to claim 4, characterized in that, The adaptive adjustment module switches the charging frequency to 80kHz when the salinity is ≥35%, and compensates for eddy current loss in real time through the salinity sensor.

7. The underwater wireless charging control system according to claim 4, characterized in that, The controller unit is equipped with a pressure balancing valve to maintain an internal and external pressure difference of ≤0.1MPa in a water depth of 30 meters. The emergency pressure relief device activates a three-stage gradient pressure relief at a water depth of 100 meters.

8. A wireless charging system for an underwater robot, comprising the underwater wireless charging control system as described in any one of claims 4-7, characterized in that, It also includes a wireless transmission protocol for data exchange between magnetic couplers, cameras, and thrusters; The system operating parameters meet the positioning accuracy requirements of claim 1.

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