Underwater vehicle wireless power transfer system with omni-directional anti-offset

Abstract

This invention discloses a wireless power transmission system for underwater vehicles with omnidirectional anti-drift capability. The system includes a magnetic coupler receiving component and a magnetic coupler transmitting component. The transmitting component provides a charging magnetic field to the receiving component. The magnetic coupler transmitting component includes a stepped coil and an anti-series coil, with the stepped coil located inside the anti-series coil. The magnetic coupler receiving component includes several receiving coils, each containing a magnetic core. The receiving coils employ a solenoid structure and are wound around the magnetic core. There are five receiving coils, with one located in the middle of an H-shape and the other four fixed at the ends of the H-shape. The wireless power transmission system of this invention maintains a stable magnetic field strength around the area and ensures stable mutual inductance between the transmitting and receiving coils when the vehicle experiences omnidirectional positional drift.

Description

Technical Field

[0001] This invention belongs to the field of electrical components, and particularly relates to a wireless power transmission system for underwater vehicles with omnidirectional anti-drift capability, specifically a planar wireless power transmission system for underwater vehicles with high electromagnetic safety and omnidirectional anti-drift capability. Background Technology

[0002] With the advancement and development of science and technology, countries around the world are increasing their efforts to develop marine resources. As an important tool for exploring underwater resources, underwater vehicles can be used for reconnaissance, remote mine hunting, and combat missions to acquire underwater information, such as seabed topography, marine meteorology, geology, hydrology, magnetic field, acoustic characteristics, target characteristics of ships, and mine deployment. Therefore, underwater vehicles have significant economic and scientific value and have become a research focus in the field of marine engineering.

[0003] The power of underwater vehicles mainly comes from the battery packs they carry. The capacity of the battery packs determines the endurance of the underwater vehicle. Therefore, the capacity of the battery packs restricts the operating time and range of the underwater vehicle, and is the main bottleneck for the continuous operation of underwater vehicles in the ocean.

[0004] Currently, there are two main ways to replenish the power of underwater vehicles: one is to salvage the vehicle using mechanical equipment and replace the battery pack, but this method has problems such as high labor costs, low automation, poor concealment, and a large amount of power is wasted during the round trip, resulting in low efficiency; the other is to charge the underwater vehicle using a wet-plug interface on an underwater power supply platform. This method requires precise docking and complex plug-and-play operations, and the plug-and-play process causes significant wear and tear on the interface, and the wet-plug interface is expensive.

[0005] The development of wireless power transfer technologies (such as electromagnetic induction, magnetic coupling resonant, and ultrasonic coupling) has provided an effective solution to the problem of underwater vehicle power replenishment. Underwater vehicles can replenish power in the ocean through non-contact power transfer. Compared to traditional salvage and replacement methods and wet-plug charging, wireless power transfer technology offers higher safety, reliability, and stealth. However, due to the impact of ocean currents, the relative positions of the radio and the battery pack inevitably shift, causing drastic changes in the mutual inductance between the transmitting and receiving coils, thus affecting the stable transmission of power. Simultaneously, the high-frequency electromagnetic field generated by the wireless power transfer system in its 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 an aluminum plate and a ferrite core on the power receiving side to protect internal components. However, the shielding structure occupies a large space, affecting the structural layout of the vehicle. In addition, it increases the weight of the underwater vehicle, thereby affecting its range. Summary of the Invention

[0007] To address the shortcomings of the existing technology, this invention proposes a wireless power transmission system for underwater vehicles with omnidirectional anti-drift capability. In this system, the transmitting coil is a combined stepped coil, and the receiving coil can be easily installed on the bottom of the underwater vehicle without altering its spatial layout. This invention reduces the magnetic field strength around the wireless power transmission system while ensuring stable mutual inductance between the transmitting and receiving coils when the vehicle experiences omnidirectional positional drift.

[0008] To achieve the above objectives, the present invention adopts the following technical solution:

[0009] A wireless power transmission system for an underwater vehicle with omnidirectional anti-drift capability, 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 mounted on the underwater vehicle;

[0010] The magnetic coupler transmitting component includes a stepped coil and an anti-series coil. The stepped coil is located inside the anti-series coil. The stepped coil is used to provide a uniform magnetic field, and the anti-series coil is used to reduce the magnetic field strength 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.

[0011] The magnetic coupler receiving assembly includes several receiving coils, each containing a magnetic core. The receiving coils are solenoid-structured and 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 there are five receiving coils, with one receiving coil located in the middle of the H-shape and the other four receiving coils fixed at the ends of the H-shape.

[0012] Furthermore, 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 components of the underwater vehicle.

[0013] The stepped coil is composed of multiple stepped transmitting coil units; preferably, the stepped transmitting coil is composed of multiple stepped transmitting coils nested together, for example, the stepped transmitting coil is composed of two stepped transmitting coils nested together.

[0014] 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 platform segments and m vertical platform segments, where n = 2m + 1, and the value of m is a positive integer greater than 0.

[0015] Furthermore, the rectangular stepped vertical platforms are all of equal height.

[0016] Furthermore, the rectangular stepped next horizontal platform is connected to the previous horizontal platform end to end via a vertical platform.

[0017] Furthermore, the stepped transmitting coil is composed of at least four stepped transmitting coil units connected end to end, so that the stepped transmitting coil forms a closed loop.

[0018] Furthermore, the at least four stepped transmitting coils have the same overall length, forming a rectangular stepped transmitting coil.

[0019] Furthermore, the combined anti-series coil includes multiple coils nested together in a polygonal structure, and the number of sides of the different polygonal coils is the same as the number of the stepped transmitting coil units.

[0020] Furthermore, the stepped transmitting coil is located within a closed-loop space formed by the combined anti-series coils.

[0021] Furthermore, the combined anti-series coil is aligned with the center of the stepped transmitting coil, and one side of the polygonal coil is parallel to the stepped transmitting coil unit.

[0022] Preferably, the stepped transmitting coil is a rectangular structure composed of four stepped transmitting coil units.

[0023] Furthermore, the combined anti-series coil has a quadrilateral structure.

[0024] Preferably, the combined anti-series coil has a square structure.

[0025] As an example, the transmitting component includes a central coil, a first stepped coil, a second stepped coil, and an outer coil arranged sequentially from the inside out. The outer coil and the central coil are both rectangular and are concentrically arranged. The projections of the first stepped coil and the second stepped coil in the vertical direction are rectangular.

[0026] 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 fix the middle part of the H-shaped base, and the first coil, the second coil, the third coil, and the fourth coil are used to fix the ends of the H-shaped base.

[0027] Furthermore, the first coil, second coil, third coil, and fourth coil have the same number of turns, wherein the first coil and second coil have the same winding direction, the third coil and fourth coil have the same winding direction, and the first coil and third coil have opposite winding directions.

[0028] Furthermore, the first coil, second coil, third coil, fourth coil, and fifth coil are connected in series.

[0029] Furthermore, the magnetic core can improve the coupling capability between the transmitting and receiving components of the magnetic coupler.

[0030] Furthermore, the winding is a high-frequency Litz wire.

[0031] Furthermore, the magnetic core is made of a magnetic material, such as a ferrite core.

[0032] Furthermore, the transmitting component also includes a first electrical assembly, which includes a DC regulated power supply, a high-frequency inverter for the transmitting component, and a compensation circuit for the transmitting component. The DC power provided by the DC regulated power supply is converted into AC power by the high-frequency inverter and then resonantly converted by the compensation circuit for the transmitting component to supply the magnetic coupler transmitting component.

[0033] 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 for 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.

[0034] Furthermore, the aforementioned transmitting component compensation circuit and 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 transmitting component second compensation capacitor, and a receiving component compensation capacitor.

[0035] Furthermore, in the LCC-S compensation network circuit, U D DC input voltage; u AB and i AB These represent the inverter's output voltage and current, respectively; compensation components. L P1 , C P1 , C P2 and C S Constructing an LCC-S compensation topology; MFor transmitting coil L P and receiving coil L S Mutual intuition between them; u ab and i ab These are the input voltage and current of the rectifier, respectively. C F For filtering capacitors, R L For DC load, The system angular frequency, Given the frequency, the system output power is as follows:

[0036] .

[0037] The present invention has the following beneficial effects:

[0038] 1) The stepped coil in this 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 strength at the height of the underwater vehicle's electronic devices. The solenoid structure receiving coil does not change the original structure of the bottom of the underwater vehicle and has the ability to resist positional displacement in various directions such as lateral, vertical and tilt.

[0039] 2) The structure and layout of the receiving component in this invention make it easy to embed 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 on the magnetic core without affecting the hydrodynamic performance of the vehicle, thereby reducing costs. Attached Figure Description

[0040] Figure 1 This is a schematic diagram of the wireless power transmission system for an underwater vehicle.

[0041] Figure 2 This is a schematic diagram of the structure of the magnetic coupler receiving component of an underwater vehicle.

[0042] Figure 3 A schematic diagram of the structure of the magnetic coupler transmitting component for an underwater vehicle.

[0043] Figure 4 Side view of the second-step coil of the coupler transmitting component.

[0044] Figure 5 Side view of the first step coil of the coupler transmitting component.

[0045] Figure 6 This is a magnetic flux distribution diagram of the XZ plane of the magnetic coupler for an underwater vehicle.

[0046] Figure 7 This is a map showing the magnetic field distribution at different heights from the charging platform.

[0047] Figure 8 The curve shows the change of magnetic induction intensity of the underwater vehicle's magnetic coupler at a height of z=14cm with the horizontal y-direction position.

[0048] Figure 9 The LCC-S circuit topology diagram used in wireless power transmission systems.

[0049] Figure 10 The curve shows the fluctuation of mutual inductance between magnetic couplers of an underwater vehicle as a function of horizontal x-direction offset distance.

[0050] Figure 11 The curve shows the fluctuation of mutual inductance between magnetic couplers of an underwater vehicle as a function of horizontal y-direction offset distance.

[0051] Figure 12 The curve shows the fluctuation of mutual inductance between magnetic couplers of an underwater vehicle as a function of the offset distance in the vertical z-direction.

[0052] Figure 13 The curve shows the fluctuation of mutual inductance between magnetic couplers of an underwater vehicle as a function of rotation angle.

[0053] Figure 14 The curve shows the fluctuation of mutual inductance between magnetic couplers of an underwater vehicle as a function of tilt angle.

[0054] In the diagram, 1-receiving component, 2-transmitting component, 3-first coil, 4-second coil, 5-third coil, 6-fourth coil, 7-fifth coil, 8-ferrite, 9-peripheral coil, 10-center coil, 11-first step coil, 12-second step coil. Detailed Implementation

[0055] 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 illustrative and explanatory 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 covered within the scope of protection intended by the present invention.

[0056] In the description of this invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0057] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0058] See Figure 1 As shown, the present invention proposes a high electromagnetic safety wireless power transmission system for underwater vehicles with omnidirectional anti-displacement capability, comprising a magnetic coupler receiving component 1 and a magnetic coupler transmitting component 2 that cooperate with each other. The receiving component 1 is disposed on the underwater vehicle, and the transmitting component 2 is magnetically coupled to the receiving component 1 to charge the receiving component 1.

[0059] The receiving component 1 includes several electromagnetic induction coils, each containing a magnet. 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 inside the solenoid coils.

[0060] See Figure 2 The diagram shows a schematic of the underwater vehicle receiving assembly 1 (hereinafter referred to as the magnetic coupler). The structure and layout of the receiving assembly 1 allow the ferrite 8 magnetic core to be easily embedded 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 on the ferrite 8 without affecting the hydrodynamic performance of the vehicle. The five solenoid coils are the first coil 3, the second coil 4, the third coil 5, the fourth coil 6, and the fifth coil 7. The fifth coil 7 is used to fix 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 fix the ends of the H-shaped base.

[0061] The first coil 3, the second coil 4, the third coil 5, and the fourth coil 6 all have the same number of turns, 16 turns each. The first coil 3 and the second coil 4 are wound in the same direction, while the third coil 5 and the fourth coil 6 are wound in the same direction. The first coil 3 and the third coil 5 are wound in opposite directions. The ferrite 8 cores used in the first coil 3, the second coil 4, the third coil 5, and the fourth coil 6 all have the same specification, 80... 50 5mm. 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 all 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 all 150mm; the fifth coil 7 has 25 turns, and the ferrite 8 inside the fifth coil 7 is 100mm in size. 60 The coils are 5mm thick, and the first coil 3, the second coil 4, the third coil 5, the fourth coil 6, and the fifth coil 7 are connected in series.

[0062] The transmitting component 2 includes an outer coil 9 and a central coil 10. The central coil 10 is located inside the outer coil 9. At least two stepped coils are arranged between the central coil 10 and the outer coil 9. The structures of the outer coil 9 and the central coil 10 are set 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 stepped coil 11, a second stepped coil 12, and an outer coil 9 arranged sequentially from the inside out. The outer coil 9 and the central coil 10 are both rectangular and concentrically arranged. The vertical projections of the first stepped coil 11 and the second stepped coil 12 are rectangular. The winding length in both the transmitting component 2 and the receiving component 1 is 0.1. 400 strands of high-frequency Liz wire.

[0063] See Figure 3 As shown, the transmitting component 2 consists of an outermost rectangular outer coil 9, an innermost rectangular central coil 10, and two intermediate stepped coils 11 and 12. The first and second stepped coils 11 and 12 are rectangular in the vertical direction, each with four sides, each side having a raised center and gradually decreasing sides in a stepped structure. This raised, stepped coil makes the magnetic field generated by the transmitting coil more uniform, enhancing the system's anti-offset capability. Both the outer coil 9 and the central coil 10 have 5 turns. The outer coil 9 has a side length of 360 mm, and the central coil 10 has a side length of 80 mm; both are wound clockwise. The first and second stepped coils 11 and 12 each have 12 turns. The first stepped coil 11 has a side length of 190 mm, and the second stepped coil 12 has a side length of 292 mm; both are wound counterclockwise. The central coil 10, the first stepped coil 11, the second stepped coil 12, and the outer coil 9 are connected in series.

[0064] See Figure 4 The image shown is a side view of the second stepped coil 12. The side length of the second stepped coil 12 is... l 1 = 292mm, total length of horizontal steps l 2 = 206mm, maximum horizontal step length l 3 = 106mm, total height of vertical steps h 1 = 33mm, vertical step height h 2 = h 3= 18mm.

[0065] See Figure 5 The image shown is a side view of the first stepped coil 11. The side length of the first stepped 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.

[0066] See Figure 6 As shown, the magnetic flux distribution diagram of the XZ plane of the magnetic coupler of the underwater vehicle is as follows: the magnetic flux generated by the outer coil 9 and the central coil 10, together with the magnetic flux vector superimposed by the first step coil 11 and the second step coil 12, forms 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.

[0067] See Figure 7 The image shows the magnetic field strength distribution at different heights above the charging platform. As the height from the charging platform increases, the magnetic field strength at the center of the charging area decreases.

[0068] See Figure 8 As shown, the magnetic induction intensity of the underwater vehicle's magnetic coupler at a height of z=14cm varies with its position in the horizontal y direction. The maximum magnetic induction intensity is 15.4µT at the center position. Within the safe magnetic field threshold range of the underwater vehicle's electronic equipment, the electronic equipment inside the underwater vehicle avoids electromagnetic interference during wireless charging, ensuring its safety.

[0069] See Figure 9 The diagram shows the LCC-S circuit topology used in a wireless power transfer system. U D DC input voltage; u AB and i AB These represent the inverter's output voltage and current, respectively; compensation components. L P1 , C P1 , C P2 and C S Constructing an LCC-S compensation topology; MFor transmitting coil L P and receiving coil L S Mutual intuition between them; u ab and i ab These are the input voltage and current of the rectifier, respectively. C F For filtering capacitors; R L It is a DC load; The system angular frequency, Given the frequency, the system output power is as follows:

[0070]

[0071] Figure 10 , Figure 11 and Figure 12 The graphs show the fluctuations in mutual inductance between magnetic couplers of an underwater vehicle in both the horizontal and vertical directions as the offset distance increases. In the horizontal direction, as the offset distance increases from 0 mm to 50 mm, the mutual inductance fluctuation does not exceed [a certain value]. 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 largest change being... 37.6%.

[0072] Figure 13 The curves showing the fluctuation of mutual inductance between magnetic couplers of an underwater vehicle with rotation angle are presented. 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 increasing rotation angle, with the fluctuation not exceeding [a certain value]. 5.0%.

[0073] Figure 14 The curves showing the fluctuation of mutual inductance between magnetic couplers of an underwater vehicle with tilt angle are presented. As the tilt angle increases from 0 to 15°, the mutual inductance between the magnetic couplers of the underwater vehicle gradually decreases, with the largest change being 14.2%.

[0074] The specific embodiments of the present invention have been described above by way of example. However, the scope of protection of the present invention is not limited to the above exemplary embodiments. Any modifications, equivalent substitutions, improvements, etc., made by those skilled in the art within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A wireless power transfer system for an underwater vehicle with omnidirectional anti-drift capability, characterized in that, The transmission system includes 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 mounted on the underwater vehicle. The magnetic coupler transmitting component includes a stepped coil and an anti-series coil. The stepped coil is located inside the anti-series coil. The stepped coil is used to provide a uniform magnetic field, and the anti-series coil is used to reduce the magnetic field strength 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 containing a magnetic core. The receiving coils are solenoid-structured and 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 there are five receiving coils, with one receiving coil located in the middle of the H-shape and the other four receiving coils fixed at the ends of the H-shape. 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 nested together. The stepped transmitting coil is composed of two nested stepped transmitting coil units; 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, where n = 2m + 1, and the value of m is a positive integer greater than 0.

2. The underwater vehicle wireless power transmission system with omnidirectional anti-drift capability according to claim 1, characterized in that, The stepped transmitting coil is composed of at least four stepped transmitting coil units connected end to end, 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.

3. The underwater vehicle wireless power transmission system with omnidirectional anti-drift capability according to claim 1, characterized in that, The combined anti-series coil includes multiple coils nested together in a polygonal structure. The number of sides of the different polygonal coils is the same as the number of the stepped transmitting coil units. The stepped transmitting coils are located within the closed-loop space formed by the combined anti-series coils. The combined anti-series coils are aligned with the center of the stepped transmitting coils, and one side of the polygonal coil is parallel to the stepped transmitting coil unit.

4. The underwater vehicle wireless power transmission system with omnidirectional anti-drift capability according to any one of claims 1-3, characterized in that, The transmitting component includes a central coil, a first stepped coil, a second stepped coil, and an outer coil arranged sequentially from the inside out. The outer coil and the central coil are both rectangular and are concentrically arranged. The projections of the first stepped coil and the second stepped coil in the vertical direction are rectangular.

5. The underwater vehicle wireless power transmission system with omnidirectional anti-drift capability according to any one of claims 1-3, 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 fix the middle part of the H-shaped base, and the first coil, the second coil, the third coil, and the fourth coil are used to fix the ends of the H-shaped base.

6. The underwater vehicle wireless power transmission system with omnidirectional anti-drift capability according to any one of claims 1-3, characterized in that, The transmitting component further includes a first electrical assembly, which includes a DC regulated power supply, a high-frequency inverter for the transmitting component, and a compensation circuit for the transmitting component. The DC power supplied by the DC regulated power supply is converted into AC power by the high-frequency inverter and then resonantly converted by the compensation circuit for the transmitting component to supply the magnetic coupler transmitting component.

7. The underwater vehicle wireless power transmission system with omnidirectional anti-drift capability according to claim 6, 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 for 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.

8. The underwater vehicle wireless power transmission system with omnidirectional anti-drift capability according to claim 7, characterized in that, The aforementioned compensation circuits for the transmitting and receiving components are composed of an LCC-S compensation network consisting of a compensation inductor for the transmitting component, a first compensation capacitor for the transmitting component, a second compensation capacitor for the transmitting component, and a compensation capacitor for the receiving component. In the LCC-S compensation network circuit U D DC input voltage; u AB and i AB These represent the inverter's output voltage and current, respectively; compensation components. L P1 , C P1 , C P2 and C S Constructing an LCC-S compensation topology; M For transmitting coil L P and receiving coil L S Mutual intuition between them; u ab and i ab These are the input voltage and current of the rectifier, respectively. C F For filtering capacitors; R L It is a DC load; The system angular frequency, Given the frequency, the system output power is as follows: 。

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