Underwater vehicle wireless electric energy transmission system with omnidirectional anti-offset function

Abstract

The invention discloses an underwater vehicle wireless electric energy transmission system with an omnidirectional anti-offset function. The transmission system comprises a magnetic coupler receiving assembly and a magnetic coupler sending assembly. The sending assembly is used for providing a charging magnetic field for the receiving assembly. The magnetic coupler transmitting assembly comprises a stepped coil and an anti-series coil, and the stepped coil is located in the anti-series coil; the magnetic coupler receiving assembly comprises a plurality of receiving coils, magnetic cores are arranged in the receiving coils, and the receiving coils are of solenoid structures and are wound around the magnetic cores; the number of the receiving coils is five, one receiving coil is arranged in the middle of the H shape, and the other four receiving coils are fixed to the ends of the H shape. According to the invention, the magnetic field intensity of the surrounding area of the wireless electric energy transmission system is improved, and the mutual inductance between the transmitting coil and the receiving coil is ensured to be stable when the omnidirectional position offset of the aircraft occurs.

Description

Technical Field

[0001] The present invention belongs to the field of electrical components, and in particular relates to an underwater vehicle wireless power transmission system with omnidirectional anti-drift capability, and specifically relates to a high electromagnetic safety planar underwater vehicle wireless power transmission system with omnidirectional anti-drift capability. Background Art

[0002] With the progress and development of science and technology, countries have stepped up their efforts to develop marine resources. Underwater vehicles, as important tools for exploring underwater resources, can be used for reconnaissance, remote-controlled mine hunting and combat tasks, and obtain underwater information such as seabed topography, marine meteorology, geology, hydrology, magnetic field, acoustic characteristics, as well as target characteristics of ships of all parties, mine deployment conditions and other information. Therefore, underwater vehicles have significant economic and scientific significance and have become a research focus in the field of marine engineering.

[0003] The energy of underwater vehicles mainly comes from the battery packs they carry. The capacity of the battery packs determines the endurance of the underwater vehicles. Therefore, the capacity of the battery packs restricts the activity time and range of the underwater vehicles and is the main bottleneck for the underwater vehicles to continue working in the ocean.

[0004] At present, there are two main ways to replenish power for underwater vehicles: one is to use mechanical equipment to salvage the vehicle and replace the battery pack, but this method has problems such as high labor costs, low degree of automation, poor concealment, and a large amount of electricity is wasted in the round-trip process, which is inefficient; the other is to use a wet plug interface on an underwater power supply platform to charge the underwater vehicle. This method requires precise docking and complex plugging and unplugging operations, and the plugging and unplugging process causes great wear on the interface, and the wet plug interface is expensive.

[0005] The development of wireless power transmission technologies (electromagnetic induction, magnetic coupling resonance, ultrasonic coupling, etc.) has provided an effective solution to the problem of underwater vehicle power supply. Underwater vehicles are recharged in the ocean through contactless power transmission. Compared with traditional salvage replacement and wet-plug charging, wireless power transmission technology is safer, more reliable, and more discreet. However, due to the impact of ocean currents, the relative position of the radio and battery pack will inevitably shift, resulting in drastic changes in the mutual inductance between the power transmitting and receiving coils, which in turn affects the stable transmission of power. Furthermore, the high-frequency electromagnetic fields generated by the wireless power transmission system in the surrounding area can affect the normal operation of the underwater vehicle's internal electronic components.

[0006] Existing wireless power transmission systems install a shielding layer consisting of aluminum plates and ferrite cores on the power receiving side to protect internal components. However, the shielding structure takes up a large space, affecting the structural layout of the vehicle. In addition, it will increase the weight of the underwater vehicle, thereby affecting its range. Summary of the Invention

[0007] To address the shortcomings of the prior art, the present invention proposes an omnidirectional, non-drifting wireless power transmission system for underwater vehicles. This system utilizes a combined, stepped transmitting coil, while the receiving coil can be conveniently mounted on the bottom of the underwater vehicle without altering the spatial layout of the vehicle. This invention reduces the magnetic field strength in the area surrounding the wireless power transmission system while ensuring stable mutual inductance between the transmitting and receiving coils even when the vehicle experiences omnidirectional positional deviations.

[0008] To achieve the above object, the present invention adopts the following technical solutions: A wireless power transmission system for underwater vehicles with omnidirectional anti-deviation, the power transmission system comprising a magnetic coupler receiving component and a magnetic coupler transmitting component; the transmitting component is used to provide a charging magnetic field for the receiving component, and the receiving component is disposed on the underwater vehicle; The magnetic coupler transmitting assembly includes a stepped coil and an anti-series coil, wherein the stepped coil is located within the anti-series coil, wherein the stepped coil is used to provide a uniform magnetic field, and the anti-series coil is used to reduce the magnetic field intensity at the height of the electronic components inside the underwater vehicle during wireless charging, thereby ensuring the safety of the electronic components of the underwater vehicle during wireless charging; The magnetic coupler receiving assembly includes several receiving coils, each of which has a magnetic core. The receiving coil adopts a solenoid structure and is wound around the magnetic core. The number and distribution of the receiving coils are adapted to the bottom structure of the underwater vehicle. The underwater vehicle is H-shaped, and the number of the receiving coils is 5, among which one receiving coil is arranged in the middle of the H shape, and the other four receiving coils are fixed at the ends of the H shape.

[0009] Furthermore, the sending component is used to generate a charging magnetic field, and the receiving component generates electrical energy under the action of the charging magnetic field to charge the battery component of the underwater vehicle.

[0010] The stepped coil is composed of a plurality of stepped transmitting coil units; preferably, the stepped transmitting coil is composed of a plurality of mutually nested stepped transmitting coils, for example, the stepped transmitting coil is composed of two mutually nested stepped transmitting coils.

[0011] Furthermore, the stepped transmitting coil unit is a rectangular stepped structure, including a horizontal platform and a vertical platform. The rectangular stepped coil unit includes n horizontal platforms and m vertical platforms, wherein n=2m+1, and the value of m is a positive integer greater than 0.

[0012] Furthermore, the rectangular stepped vertical platforms are of equal height.

[0013] Furthermore, the rectangular stepped lower horizontal platform is connected end to end with the upper horizontal platform via a vertical platform.

[0014] Furthermore, the stepped transmitting coil is composed of at least four stepped transmitting coil units connected in front of each other, so that the stepped transmitting coil forms a closed loop.

[0015] Furthermore, the at least four stepped transmitting coils have the same overall length, forming a rectangular stepped transmitting coil.

[0016] Furthermore, the combined anti-series coil includes a plurality of coils that are mutually nested to form a polygonal structure, and the number of sides of the coils with different polygonal structures is the same as the number of the stepped transmitting coil units.

[0017] Furthermore, the stepped transmitting coil is within a closed loop space formed by the combined anti-series coils.

[0018] Furthermore, the combined anti-series coil is aligned with the center of the stepped transmitting coil, and one side of the polygonal structure coil is parallel to the stepped transmitting coil unit.

[0019] Preferably, the stepped transmitting coil is a rectangular structure composed of four stepped transmitting coil units.

[0020] Furthermore, the combined anti-series coil has a quadrilateral structure.

[0021] Preferably, the combined anti-series coil is a square structure.

[0022] As an example, the transmitting component includes a central coil, a first step coil, a second step coil and a peripheral coil arranged in sequence from the inside to the outside, wherein the peripheral coil and the central coil are both rectangular, and the peripheral coil and the central coil are concentrically arranged, and the projections of the first step coil and the second step coil in the vertical direction are rectangular.

[0023] Furthermore, the receiving component includes a first coil, a second coil, a third coil, a fourth coil and a fifth coil, wherein the fifth coil is used to be fixed in the middle of the H-shaped base, and the first coil, the second coil, the third coil and the fourth coil are used to be fixed at the ends of the H-shaped base.

[0024] Furthermore, the number of turns of the first coil, the second coil, the third coil and the fourth coil are the same, wherein the first coil and the second coil have the same winding direction, the third coil and the fourth coil have the same winding direction, and the first coil and the third coil have opposite winding directions.

[0025] Furthermore, the first coil, the second coil, the third coil, the fourth coil and the fifth coil are connected in series.

[0026] Furthermore, the magnetic core can improve the coupling capability between the transmitting component and the receiving component of the magnetic coupler.

[0027] Furthermore, the winding wire is high-frequency Litz wire.

[0028] Furthermore, the magnetic core is made of a magnetic material, such as a ferrite core.

[0029] Furthermore, the transmitting component also includes a first electrical assembly, which includes a DC regulated power supply, a transmitting component high-frequency inverter and a transmitting component compensation circuit, wherein the DC power provided by the DC regulated power supply is converted into AC power through the high-frequency inverter, and is resonantly converted through the transmitting component compensation circuit to supply the magnetic coupler transmitting component.

[0030] Furthermore, the receiving component also includes a second electrical assembly, which includes a receiving component compensation circuit, a rectifier module and a lithium-ion battery of the underwater vehicle. The receiving component compensation circuit is connected to the magnetic coupler receiving component, converts the captured magnetic field into electrical energy, and transmits it to the rectifier module for AC to DC conversion to power the lithium-ion battery load of the underwater vehicle.

[0031] Furthermore, the transmitting component compensation circuit and the receiving component compensation circuit are composed of an LCC-S compensation network consisting of a transmitting component compensation inductor, a transmitting component first compensation capacitor, a second compensation capacitor and a receiving component compensation capacitor.

[0032] Furthermore, in the LCC-S compensation network circuit, U D is the DC input voltage; u AB and i AB are the output voltage and current of the inverter respectively; compensation components L P1 、 C P1 、 C P2 and C S Constitute the LCC-S compensation topology; MFor the sending coil L P and receiving coil L S mutual induction between u ab and i ab are the input voltage and current of the rectifier respectively; C F is the filter capacitor, R L For DC load, is the system angular frequency, is the frequency, the system output power is as follows: .

[0033] The present invention has the following beneficial effects: 1) The stepped coil in the present invention improves the uniformity of the magnetic field generated by the transmitting coil by raising the coil to a smaller height. The anti-series coils connected to the outermost and innermost coils reduce the magnetic field intensity at the height of the underwater vehicle's electronic components. The solenoid-structured receiving coil does not change the original structure of the underwater vehicle's bottom and has the ability to resist positional displacement in various directions, such as lateral, vertical, and tilt.

[0034] 2) The structure and layout of the receiving assembly in the present invention can facilitate the embedding of the magnetic core into the H-shaped base structure of the underwater vehicle without changing the original structure of the bottom of the underwater vehicle. The solenoid-type receiving coil is wound around the magnetic core without affecting the fluid dynamic performance of the vehicle, thereby reducing costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 Schematic diagram of the structure of the underwater vehicle wireless power transmission system.

[0036] Figure 2 This is a schematic diagram of the structure of the underwater vehicle magnetic coupler receiving component.

[0037] Figure 3 This is a schematic diagram of the structure of the underwater vehicle magnetic coupler sending component.

[0038] Figure 4 A side view of the second-step coil of the coupler's transmitting assembly.

[0039] Figure 5 Side view of the first step coil of the coupler transmitting assembly.

[0040] Figure 6 This is the XZ plane magnetic flux distribution diagram of the underwater vehicle magnetic coupler.

[0041] Figure 7Magnetic field distribution diagram at different heights from the charging platform.

[0042] Figure 8 This is the curve of the magnetic induction intensity of the underwater vehicle magnetic coupler at a height of z = 14 cm versus the horizontal y-direction position.

[0043] Figure 9 LCC-S circuit topology diagram used in wireless power transmission system.

[0044] Figure 10 This is the fluctuation curve of the mutual inductance between the magnetic couplers of the underwater vehicle with the horizontal x-direction offset distance.

[0045] Figure 11 This is the fluctuation curve of the mutual inductance between the magnetic couplers of the underwater vehicle with the horizontal y-direction offset distance.

[0046] Figure 12 This is the fluctuation curve of the mutual inductance between the magnetic couplers of the underwater vehicle with the vertical z-direction offset distance.

[0047] Figure 13 This is the fluctuation curve of the mutual inductance between the magnetic couplers of the underwater vehicle with the rotation angle.

[0048] Figure 14 This is the fluctuation curve of the mutual inductance between the magnetic couplers of the underwater vehicle with the tilt angle.

[0049] In the figure, 1-receiving component, 2-transmitting component, 3-first coil, 4-second coil, 5-third coil, 6-fourth coil, 7-fifth coil, 8-ferrite, 9-outer coil, 10-center coil, 11-first step coil, 12-second step coil. DETAILED DESCRIPTION

[0050] The structure of the present invention will be further described in detail below with reference to specific embodiments. It should be understood that the following embodiments are merely exemplary illustrations and explanations of the present invention and should not be construed as limiting the scope of protection of the present invention. All technologies implemented based on the above content of the present invention are encompassed within the scope of protection intended by the present invention.

[0051] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the present invention.

[0052] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0053] See also Figure 1 As shown, the present invention proposes a high electromagnetic safety underwater vehicle wireless power transmission system with omnidirectional anti-deviation capability, including a magnetic coupler receiving component 1 and a magnetic coupler sending component 2 that cooperate with each other. The receiving component 1 is arranged on the underwater vehicle, and the sending component 2 is magnetically coupled with the receiving component 1 to charge the receiving component 1.

[0054] The receiving component 1 includes several electromagnetic induction coils, each of which has a magnet inside. The number of electromagnetic induction coils is set according to actual needs. For example, the receiving component consists of 5 solenoid coils and 5 ferrite cores 8 arranged in the solenoid coils.

[0055] See also Figure 2 Figure 1 is a schematic diagram of an underwater vehicle receiving assembly 1 (hereinafter referred to as a magnetic coupler). The structure and layout of the receiving assembly 1 facilitate the embedding of the ferrite core 8 into the H-shaped base structure of the underwater vehicle without changing the original structure of the bottom of the underwater vehicle. The solenoid-type receiving coil is wound around the ferrite 8 without affecting the hydrodynamic performance of the vehicle. The five solenoid coils are a first coil 3, a second coil 4, a third coil 5, a fourth coil 6, and a fifth coil 7. The fifth coil 7 is used to be fixed in the middle of the H-shaped base, and the first coil 3, the second coil 4, the third coil 5, and the fourth coil 6 are used to be fixed at the ends of the H-shaped base.

[0056] The first coil 3, the second coil 4, the third coil 5, and the fourth coil 6 have the same number of turns, which are all 16 turns. The first coil 3 and the second coil 4 have the same winding direction, the third coil 5 and the fourth coil 6 have the same winding direction, and the first coil 3 and the third coil 5 have opposite winding directions. The ferrite core 8 used in the first coil 3, the second coil 4, the third coil 5, and the fourth coil 6 has the same specifications, which are all 80 50 The distance between the first coil 3 and the second coil 4, and the distance between the third coil 5 and the fourth coil 6 are both 54mm, the distance between the first coil 3 and the third coil 5, and the distance between the second coil 4 and the fourth coil 6 are both 150mm; the number of turns of the fifth coil 7 is 25, and the specification of the ferrite 8 inside the fifth coil 7 is 100 60 5mm, the first coil 3, the second coil 4, the third coil 5, the fourth coil 6 and the fifth coil 7 adopt a series structure.

[0057] The transmitting component 2 includes a peripheral coil 9 and a central coil 10, the central coil 10 is located inside the peripheral coil 9, and at least two step coils are arranged between the central coil 10 and the peripheral coil 9, wherein the structures of the peripheral coil 9 and the central coil 10 are arranged according to actual needs, and can be circular, rectangular, square or other structures. In this embodiment, the transmitting component 2 includes a central coil 10, a first step coil 11, a second step coil 12 and the peripheral coil 9 arranged in sequence from the inside to the outside, wherein the peripheral coil 9 and the central coil 10 are both rectangular, and the peripheral coil 9 and the central coil 10 are concentrically arranged, the projections of the first step coil 11 and the second step coil 12 in the vertical direction are rectangular, and the windings in the transmitting component 2 and the receiving component 1 are both 0.1 400 strands of high frequency litz wire.

[0058] See also Figure 3 As shown, the transmitting component 2 consists of an outermost rectangular peripheral coil 9, an innermost rectangular center coil 10, and a first step coil 11 and a second step coil 12 in the middle. The first step coil 11 and the second step coil 12 are rectangular in the vertical direction. The rectangle has four sides, each of which has a raised center and a stepped structure with gradually lowered sides. The raised center stepped coils create a more uniform magnetic field generated by the transmitting coils, enhancing the system's anti-drift capability. The outer coil 9 and the center coil 10 each have 5 turns, with a side length of 360 mm for the outer coil 9 and 80 mm for the center coil 10. Both are wound clockwise. The first step coil 11 and the second step coil 12 each have 12 turns, with a side length of 190 mm for the first step coil 11 and 292 mm for the second step coil 12. Both are wound counterclockwise. The center coil 10, the first step coil 11, the second step coil 12, and the outer coil 9 are connected in series.

[0059] See also Figure 4 As shown, it is a side view of the second step coil 12, and the side length of the second step coil 12 is l 1 = 292mm, total length of horizontal steps l 2 = 206mm, maximum horizontal step length l 3 = 106mm, total vertical step height h 1 = 33mm, vertical step height h 2 = h 3= 18mm.

[0060] See also Figure 5 As shown, it is a side view of the first step coil 11. The side length of the first step coil 11 is l 4 = 196mm, total length of horizontal steps l 5 = 106mm, maximum horizontal step length l 6 = 56mm; total height of vertical steps h 4 = 33mm, vertical step height h 5 = h 6 = 18mm.

[0061] See also Figure 6 As shown in FIG. 1 , the magnetic flux distribution diagram of the underwater vehicle magnetic coupler in the XZ plane is shown. The magnetic flux generated by the peripheral coil 9 and the central coil 10 and the magnetic flux vectors generated by the first step coil 11 and the second step coil 12 are superimposed to form a magnetic flux that is mainly in the horizontal direction, which greatly reduces the magnetic field strength in the area surrounding the wireless power transmission system.

[0062] See also Figure 7 As shown, it is a distribution diagram of magnetic induction intensity at different height planes above the charging platform. As the height from the charging platform increases, the magnetic field intensity in the center of the charging area becomes lower and lower.

[0063] See also Figure 8 As shown, the curve of the magnetic induction intensity of the underwater vehicle magnetic coupler at a height of z = 14 cm varies with the horizontal y-direction position. The maximum magnetic induction intensity is 15.4µT at the center position. Within the safe magnetic field threshold range of the underwater vehicle electronic equipment, the electronic equipment inside the underwater vehicle avoids electromagnetic interference during the wireless charging process, ensuring its safety.

[0064] See also Figure 9 The figure shows the LCC-S circuit topology used in the wireless power transmission system. U D is the DC input voltage; u AB and i AB are the output voltage and current of the inverter respectively; compensation components L P1 、 C P1 、 C P2 and C S Constitute the LCC-S compensation topology; MFor the sending coil L P and receiving coil L S mutual induction between u ab and i ab are the input voltage and current of the rectifier respectively; C F is the filter capacitor; R L is a DC load; is the system angular frequency, is the frequency, the system output power is as follows:

[0065] Figure 10 、 Figure 11 and Figure 12 The fluctuation curves of the mutual inductance between the magnetic couplers of underwater vehicles in the horizontal and vertical directions as the offset distance increases are shown. In the horizontal direction, the offset distance increases from 0mm to 50mm, and the fluctuation of the mutual inductance does not exceed 12.3%. In the vertical direction, as the offset distance increases from 0mm to 25mm, the mutual inductance between the magnetic couplers of the underwater vehicle gradually decreases, with the maximum change being 37.6%.

[0066] Figure 13 The fluctuation curve of the mutual inductance between the magnetic couplers of the underwater vehicle with the rotation angle is shown. Due to the symmetry of the coupling structure, the mutual inductance between the magnetic couplers of the underwater vehicle first decreases and then increases with the increase of the rotation angle, and the fluctuation of the mutual inductance does not exceed 5.0%.

[0067] Figure 14 The fluctuation curve of the mutual inductance between the underwater vehicle's magnetic couplers as a function of tilt angle is shown. As the tilt angle increases from 0 to 15 degrees, the mutual inductance between the underwater vehicle's magnetic couplers gradually decreases, with the maximum change in mutual inductance being 14.2%.

[0068] The above examples illustrate the specific embodiments of the present invention. However, the scope of protection of the present invention is not limited to the above-mentioned exemplary embodiments. Any modifications, equivalent substitutions, improvements, etc. made by those skilled in the art within the spirit and principles of the present invention shall be included in the scope of protection of the claims of the present invention.

Claims

1. A wireless power transmission system for underwater vehicles with omnidirectional anti-deviation, characterized in that: The transmission system includes a magnetic coupler receiving component and a magnetic coupler sending component; the sending component is used to provide a charging magnetic field for the receiving component, and the receiving component is arranged on the underwater vehicle; The magnetic coupler transmitting assembly includes a stepped coil and an anti-series coil, wherein the stepped coil is located within the anti-series coil, wherein the stepped coil is used to provide a uniform magnetic field, and the anti-series coil is used to reduce the magnetic field intensity at the height of the electronic components inside the underwater vehicle during wireless charging, thereby ensuring the safety of the electronic components of the underwater vehicle during wireless charging; The magnetic coupler receiving assembly includes several receiving coils, each of which has a magnetic core. The receiving coil adopts a solenoid structure and is wound around the magnetic core. The number and distribution of the receiving coils are adapted to the bottom structure of the underwater vehicle. The underwater vehicle is H-shaped, and the number of the receiving coils is 5, wherein one receiving coil is arranged in the middle of the H shape, and the other four receiving coils are fixed at the ends of the H shape.

2. The underwater vehicle wireless power transmission system with omnidirectional anti-deviation according to claim 1, characterized in that: The transmitting component is used to generate a charging magnetic field, and the receiving component generates electrical energy under the action of the charging magnetic field to charge the battery component of the underwater vehicle; wherein, the stepped coil is composed of multiple stepped transmitting coils; the stepped transmitting coil is composed of multiple stepped transmitting coil units that are nested with each other.

3. The underwater vehicle wireless power transmission system with omnidirectional anti-deviance according to claim 2, characterized in that: The stepped transmitting coil is composed of two mutually nested stepped transmitting coil units; the stepped transmitting coil unit is a rectangular stepped structure, including a horizontal platform and a vertical platform, and the rectangular stepped coil unit includes n horizontal platforms and m vertical platforms, where n=2m+1, and the value of m is a positive integer greater than 0.

4. The underwater vehicle wireless power transmission system with omnidirectional anti-deviance according to claim 2, characterized in that: The stepped transmitting coil is composed of at least four stepped transmitting coil units connected in front of each other, so that the stepped transmitting coil forms a closed loop; the four stepped transmitting coils have the same overall length, forming a rectangular stepped transmitting coil.

5. The underwater vehicle wireless power transmission system with omnidirectional anti-deviance according to claim 2, characterized in that: The combined anti-series coil includes multiple coils that are nested together to form a polygonal structure, wherein the number of sides of the different polygonal structure coils is the same as the number of the stepped transmitting coil units; the stepped transmitting coil is within the closed loop space formed by the combined anti-series coil; the combined anti-series coil is aligned with the center of the stepped transmitting coil, and one side of the polygonal structure coil is parallel to the stepped transmitting coil unit.

6. The underwater vehicle wireless power transmission system with omnidirectional anti-drift according to any one of claims 1 to 5, characterized in that: The transmitting component includes a central coil, a first step coil, a second step coil and a peripheral coil arranged in sequence from the inside to the outside, wherein the peripheral coil and the central coil are both rectangular, and the peripheral coil and the central coil are concentrically arranged, and the projections of the first step coil and the second step coil in the vertical direction are rectangular.

7. The underwater vehicle wireless power transmission system with omnidirectional anti-drift according to any one of claims 1 to 5, characterized in that: The receiving component includes a first coil, a second coil, a third coil, a fourth coil and a fifth coil, wherein the fifth coil is used to be fixed in the middle of the H-shaped base, and the first coil, the second coil, the third coil and the fourth coil are used to be fixed at the ends of the H-shaped base.

8. The underwater vehicle wireless power transmission system with omnidirectional anti-drift according to any one of claims 1 to 5, characterized in that: The transmitting component also includes a first electrical assembly, which includes a DC regulated power supply, a transmitting component high-frequency inverter and a transmitting component compensation circuit, wherein the DC power provided by the DC regulated power supply is converted into AC power through the high-frequency inverter, and is resonantly converted through the transmitting component compensation circuit to supply the magnetic coupler transmitting component.

9. The underwater vehicle wireless power transmission system with omnidirectional anti-deviability according to claim 8, characterized in that: The receiving component also includes a second electrical assembly, which includes a receiving component compensation circuit, a rectifier module and a lithium-ion battery of the underwater vehicle. The receiving component compensation circuit is connected to the magnetic coupler receiving component, converts the captured magnetic field into electrical energy, and transmits it to the rectifier module for AC to DC conversion to power the lithium-ion battery load of the underwater vehicle.

10. The underwater vehicle wireless power transmission system with omnidirectional anti-deviation according to claim 9, characterized in that: The transmitting component compensation circuit and the receiving component compensation circuit are composed of an LCC-S compensation network consisting of a transmitting component compensation inductor, a transmitting component first compensation capacitor, a second compensation capacitor, and a receiving component compensation capacitor; In the LCC-S compensation network circuit, U D is the DC input voltage; u AB and i AB are the output voltage and current of the inverter respectively; compensation components L P1 、 C P1 、 C P2 and C S Constitute the LCC-S compensation topology; M For the sending coil L P and receiving coil L S mutual induction between u ab and i ab are the input voltage and current of the rectifier respectively; C F is the filter capacitor; R L is a DC load; is the system angular frequency, is the frequency, the system output power is as follows: 。

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