Magnetic coupling wireless simultaneous energy and signal transmitting equipment and circuit for autonomous underwater vehicle

Abstract

The invention provides magnetic coupling wireless simultaneous energy and signal transmission equipment and a circuit for an autonomous underwater vehicle, and solves the technical problems of large size and low power density of the existing magnetic coupling wireless simultaneous energy and signal transmission equipment. The device comprises a magnetic core assembly, and further comprises an energy transmitting assembly and an information receiving and transmitting coil which are orthogonally overlapped on the magnetic core assembly, the magnetic core assembly comprises a first magnetic core and a second magnetic core, the energy transmitting assembly comprises an energy transmitting coil, a compensation coil assembly and a compensation capacitor assembly, and the energy transmitting coil, the compensation coil assembly and the information receiving and transmitting coil are excited in a current direction orthogonal mode; the energy transmitting coil, the first magnetic core, the compensation coil assembly and the second magnetic core are stacked in sequence, the energy transmitting coil and the compensation coil assembly are connected through the compensation capacitor assembly, and the winding direction of the energy transmitting coil and the winding direction of the compensation coil assembly are perpendicular to each other. The method can be widely applied to the technical field of wireless energy and information simultaneous transmission.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of wireless power and signal transmission, and more particularly relates to a magnetic coupling wireless power and signal transmission transmitting equipment and circuit for an underwater autonomous vehicle. BACKGROUND

[0002] With the increasingly wide application of underwater autonomous vehicles in the field of ocean exploration, the reliability of energy supply and data transmission of underwater autonomous vehicles faces severe challenges, and the magnetic coupling wireless power and signal transmission coupling equipment applied to underwater autonomous vehicles is constantly iterated. The magnetic coupling wireless power and signal transmission transmitting equipment is crucial for underwater autonomous vehicles to achieve efficient and stable energy and information transmission.

[0003] At present, the wireless power and signal transmission equipment of underwater autonomous vehicles faces many challenges. From the perspective of power density, the docking station and the internal space of the underwater autonomous vehicle are limited, and the traditional high-power magnetic coupling structure is large in size and heavy in weight, which is difficult to achieve a balance between size, weight and transmission efficiency, and cannot meet the demand of the system for high power density. The existing Chinese invention patent with the application number CN202310529185.4 proposes a magnetic coupler based on orthogonal double decoupling coils and a high-power wireless charging system composed of the magnetic coupler, which uses the orthogonal horizontal stacking method to save the use space of the magnetic coupler. However, the simple series structure used for compensation in this patent makes the voltage stress of the element high, and the element may be damaged under high power, which cannot meet the demand of high power.

[0004] In terms of crosstalk of power and signal transmission, there is cross coupling between the energy channel and the signal channel, which causes harmonic crosstalk of energy transmission to the information channel, seriously affecting the communication signal-to-noise ratio and system reliability. However, the existing wireless power and signal transmission transmitting equipment adds a decoupling device, which increases the volume and weight of the equipment, resulting in low power density of the equipment. SUMMARY

[0005] The purpose of the embodiments of the present application is to provide a magnetic coupling wireless power and signal transmission transmitting equipment for an underwater autonomous vehicle to solve the technical problems of large volume and low power density of the existing magnetic coupling wireless power and signal transmission equipment.

[0006] To achieve the above-mentioned purpose, the first aspect of the embodiments of the present application provides a magnetic coupling wireless power and signal transmission transmitting equipment for an underwater autonomous vehicle, which comprises a magnetic core assembly, and further comprises an energy transmitting assembly and an information transmitting and receiving coil orthogonally stacked on the magnetic core assembly. The magnetic core assembly comprises a first magnetic core and a second magnetic core, the energy transmitting assembly comprises an energy transmitting coil, a compensation coil assembly and a compensation capacitor assembly, and the energy transmitting coil, the compensation coil assembly and the information transmitting and receiving coil are excited in a way that the current directions are orthogonal. The energy transmitting coil, the first magnetic core, the compensation coil assembly and the second magnetic core are stacked in sequence, the energy transmitting coil is connected with the compensation coil assembly through the compensation capacitor assembly, and winding directions of the energy transmitting coil and the compensation coil assembly are perpendicular to each other.

[0007] Preferably, the energy transmitting coil and the compensation coil assembly are both double-semi-circular annular, the compensation coil assembly comprises a first compensation coil and a second compensation coil, and the first compensation coil and the second compensation coil are semi-circular annular and coaxially arranged with the center of the energy transmitting coil.

[0008] Preferably, the compensation capacitor assembly comprises a first compensation capacitor and a second compensation capacitor, and the first compensation capacitor and the second compensation capacitor are symmetrically distributed on two sides of the first magnetic core.

[0009] Preferably, the first compensation capacitor and the second compensation capacitor are respectively connected with two terminal ends of the energy transmitting coil, for resonant matching with the energy transmitting coil.

[0010] Preferably, the information transceiving coil is located in the same plane as the compensation coil assembly, and the information transceiving coil is wrapped outside the compensation coil assembly.

[0011] Preferably, the first compensation capacitor and the second compensation capacitor are symmetrically arranged in a through hole through which the energy transmitting coil and the compensation coil assembly pass.

[0012] A second aspect of the embodiment of the application provides a magnetic coupling wireless energy and signal transmission circuit for an underwater autonomous vehicle, applied to the magnetic coupling wireless energy and signal transmission equipment for the underwater autonomous vehicle, comprising a signal source, a power supply U DC , and an inverter circuit connected in parallel on the power supply U DC . One end of the inverter circuit is connected with one end of a first compensation capacitor C Z1 and one end of a first compensation coil L Z1 , the other end of the inverter circuit is connected with one end of a second compensation capacitor C Z2 and one end of a second compensation coil L Z2 , the other end of the first compensation coil L Z1 is connected with the other end of the second compensation capacitor C Z2 , the other end of the first compensation capacitor C Z1 is connected with the other end of the second compensation coil L Z2 , and the first compensation coil L Z1 and the second compensation coil L Z2 are respectively connected with two ends of an energy transmitting coil L PP . The signal source is connected with two ends of an information transceiving coil L DP , for establishing a signal transmission link.

[0013] Preferably, the energy transmitting coil L PP , the information transmitting / receiving coil L DP , the first compensation coil L Z1 and the second compensation coil L Z2 are excited in a manner orthogonal to the current direction, so that the energy transmitting coil L PP and the information transmitting / receiving coil L DP form a unipolar magnetic field, the first compensation coil L Z1 and the second compensation coil L Z2 form a bipolar magnetic field, the magnetic field of the energy transmitting coil L PP is orthogonal to the magnetic field of the first compensation coil L Z1 and the second compensation coil L Z2 in the horizontal direction, and the magnetic field of the information transmitting / receiving coil L DP is in the vertical direction and orthogonal to the magnetic field of the energy transmitting coil L PP , the first compensation coil L Z1 and the second compensation coil L Z2 in the spatial dimension, so as to achieve electromagnetic decoupling.

[0014] Preferably, the first compensation capacitor C Z1 and the second compensation capacitor C Z2 are connected across the energy transmitting coil L PP respectively.

[0015] Preferably, a filter capacitor C DC is connected in parallel between the inverter circuit and the power supply U DC , the positive pole of the power supply U DC is connected to the positive pole of the filter capacitor C DC and one end of the inverter circuit, and the negative pole of the power supply U DC is connected to the negative pole of the filter capacitor C DC and the other end of the inverter circuit.

[0016] The application has the beneficial effects that the application provides a magnetic coupling wireless energy and information simultaneous transmission transmitting equipment and circuit for an underwater autonomous vehicle, and through constructing an orthogonal integrated architecture of an energy transmitting component, an information transmitting and receiving component and a magnetic core component, efficient synchronous transmission of magnetic coupling wireless electric energy and information is realized. In the application, the energy transmitting component adopts a Z compensation connection mode, reduces element voltage stress, realizes load-independent constant voltage output, guarantees efficient stability of energy transmission, and realizes high-density high-power transmission. The first magnetic core and the second magnetic core of the magnetic core component are placed in layers, combined with the compact layout of the energy transmitting component, the volume and weight of the equipment are greatly reduced, and the space limitation of the underwater device is adapted. At the same time, the energy transmitting coil, the compensation coil component and the information transmitting and receiving coil are excited in an orthogonal way according to the current direction, and such orthogonal decoupling mechanism suppresses electromagnetic interference of the energy channel on the communication link from the source, breaks through the interference suppression bottleneck of the traditional frequency division multiplexing technology, realizes reliable communication with high signal-to-noise ratio, does not need to add decoupling devices, greatly reduces the volume and weight of the equipment, improves the power density of the equipment, realizes stable high-power wireless charging and reliable high-speed wireless communication. In summary, the application solves the contradiction between the space constraint and the high-power transmission demand of the underwater equipment, and realizes a low-volume high-power-density magnetic coupling wireless energy and information simultaneous transmission equipment. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the application, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description only some embodiments of the application, and for those skilled in the art, other drawings can also be obtained without creative labor.

[0018] Figure 1 An exploded view of the magnetic coupling wireless energy and information simultaneous transmission transmitting equipment provided by an embodiment of the application; Figure 2 A top view of the combined energy transmitting component and information transmitting and receiving coil provided by an embodiment of the application; Figure 3 A side view of the combined energy transmitting component and information transmitting and receiving coil provided by an embodiment of the application; Figure 4 A top view of the energy transmitting coil provided by an embodiment of the application; Figure 3 A local enlarged view of A in the middle; Figure 5 A top view of the energy transmitting coil provided by an embodiment of the application; Figure 6 A top view of the combined information transmitting and receiving coil, compensation coil component and compensation capacitor component provided by an embodiment of the application; Figure 7 A top view of the combined information transmitting and receiving coil, compensation coil component and compensation capacitor component provided by an embodiment of the application;Figure 6 Local enlarged view at B; Figure 8 Top view of a compensation coil assembly according to an embodiment of the application; Figure 9 Circuit diagram of a magnetic coupling wireless power and signal transmission apparatus according to an embodiment of the application.

[0019] In the figure: 1. Energy transmission assembly; 11. Energy transmission coil; 12. Compensation coil assembly; 121. First compensation coil; 122. Second compensation coil; 13. Compensation capacitor assembly; 131. First compensation capacitor; 132. Second compensation capacitor; 2. Information transceiver coil; 3. Magnetic core assembly; 31. First magnetic core; 32. Second magnetic core; 4. Through hole. DETAILED DESCRIPTION

[0020] In order to make the technical problems, technical solutions and beneficial effects of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and do not limit the present application.

[0021] Please refer to Figures 1-4 A magnetic coupling wireless power and signal transmission apparatus for an underwater autonomous underwater vehicle according to a first embodiment of the application comprises a magnetic core assembly 3, and further comprises an energy transmission assembly 1 and an information transceiver coil 2 orthogonally laminated on the magnetic core assembly 3. The magnetic core assembly 3 comprises a first magnetic core 31 and a second magnetic core 32. The energy transmission assembly 1 comprises an energy transmission coil 11, a compensation coil assembly 12 and a compensation capacitor assembly 13. The energy transmission coil 11, the compensation coil assembly 12 and the information transceiver coil 2 are excited in a way that the current directions are orthogonal. The energy transmission coil 11, the first magnetic core 31, the compensation coil assembly 12 and the second magnetic core 32 are laminated in sequence. The energy transmission coil 11 and the compensation coil assembly 12 are connected through the compensation capacitor assembly 13, and the winding directions of the energy transmission coil 11 and the compensation coil assembly 12 are perpendicular to each other. The energy transmission assembly 1 is used for transmitting high-frequency energy, and the information transceiver coil 2 is used for signal transmission.

[0022] Please refer to Figures 5-6The energy transmitting coil 11 and the compensation coil assembly 12 of the application are both double half circular rings. The compensation coil assembly 12 includes a first compensation coil 121 and a second compensation coil 122, and the energy transmitting coil 11, the first compensation coil 121 and the second compensation coil 122 are all wound with Litz wire. The energy transmitting coil 11 is a double half circular ring, and the first compensation coil 121 and the second compensation coil 122 are half circular rings arranged orthogonally along the symmetry axis. The first compensation coil 121 and the second compensation coil 122 are coaxially positioned with the energy transmitting coil 11 and have an outer diameter smaller than that of the energy transmitting coil 11. The energy transmitting coil 11 of the application is made of Litz wire and is arranged at the top layer of the equipment. The spatial magnetic field distribution characteristics are optimized by the arc-shaped conductor layout. The first compensation coil 121 and the second compensation coil 122 are coaxially positioned with the energy transmitting coil 11 to form a spatial orthogonal electromagnetic coupling structure, which can make the magnetic field distribution more concentrated and orderly, increase the mutual inductance coefficient, and improve the energy transmission efficiency.

[0023] Further, please refer to Figure 6 The information transmitting and receiving coil 2 of the application is a coaxial circular structure made of Litz wire, and the weak electromagnetic coupling characteristics are realized by controlling the turn spacing and winding density. The two terminals of the information transmitting and receiving coil 2 are coupled to the output end of the signal source to establish a signal transmission link. By adjusting the turn spacing and winding density, the parameters of the coil can be flexibly optimized, and the equipment space can be reduced. At the same time, the compensation capacitor assembly 13 and the information transmitting and receiving coil 2 are located in the same plane, and the information transmitting and receiving coil 2 surrounds the outer region of the compensation capacitor assembly 13. By arranging the information transmitting and receiving coil 2 and the compensation capacitor assembly 13 in the same plane, the outer diameter of the information transmitting and receiving coil 2 can be strictly designed to be equal to that of the energy transmitting coil 11, thereby improving the spatial electromagnetic compatibility and system integration.

[0024] Please refer to Figures 7-8 The compensation capacitor assembly 13 includes a first compensation capacitor 131 and a second compensation capacitor 132, and the first compensation capacitor 131 and the second compensation capacitor 132 are symmetrically arranged for the through hole 4 through which the energy transmitting coil 11 and the compensation coil assembly 12 pass. The first compensation capacitor 131 and the second compensation capacitor 132 are connected to the energy transmitting coil 11 through the through hole 4, and are used to form resonance matching with the energy transmitting coil 11, thereby optimizing the power factor and energy efficiency of the equipment. The first compensation capacitor 131 and the second compensation capacitor 132 of the application are realized by a patch capacitor array, which can effectively improve the current carrying capacity, reduce electromagnetic interference, and enhance the anti-offset capability.

[0025] The magnetic core assembly 3 includes a first magnetic core 31 and a second magnetic core 32. The first magnetic core 31 is located between the energy transmitting coil 11 and the first compensation capacitor 131 and the second compensation capacitor 132. The second magnetic core 32 is located at the bottom of the first compensation capacitor 131 and the second compensation capacitor 132, serving as the bottom structure of the equipment. This layered layout effectively suppresses the magnetic leakage phenomenon and improves the utilization rate of the magnetic field. The first compensation capacitor 131 and the second compensation capacitor 132 are symmetrically distributed on both sides of the first magnetic core 31. They are accurately configured between the transmitting coil layer and the compensation coil layer. This realizes the compact spatial layout of the energy transmitting assembly 1 and the information transmitting and receiving coil 2, and reduces the overall volume and weight of the equipment from the structural level. The magnetic core assembly 3 of the present application selects a ferrite core. The ferrite core has excellent magnetic permeability characteristics, which can generate a stronger magnetic field strength under the same number of ampere turns, significantly improving the magnetic coupling efficiency of the energy transmitting coil 11.

[0026] Working principle: The energy transmitting assembly 1 first obtains electrical energy from an external power source (shore power station, surface ship or fixed platform), and then transmits the electrical energy to the energy transmitting coil 11 through the compensation capacitor assembly 12 and the compensation coil assembly 13. After the energy transmitting coil 11 is energized, an alternating magnetic field of a specific frequency is generated around the energy transmitting coil 11. This alternating magnetic field can penetrate the water surface and propagate a certain distance in the water. When the underwater autonomous vehicle enters the effective range covered by the alternating magnetic field, the receiving coil carried on the underwater autonomous vehicle senses the alternating magnetic field, and according to the principle of electromagnetic induction, an induced current is generated. The energy management unit inside the underwater autonomous vehicle collects and processes these induced currents, rectifies, filters and stabilizes them to a voltage and current suitable for the underwater autonomous vehicle, and provides wireless power supply for the underwater autonomous vehicle.

[0027] At the same time, the information transmitting and receiving coil 2 is connected to a signal source. The signal source encodes the instructions, data or inquiry information that need to be sent to the underwater autonomous vehicle into a specific signal format, and sends these signals to the underwater autonomous vehicle. After receiving these signals, the underwater autonomous vehicle decodes them, extracts the control instructions or information data, and adjusts its state or performs specific tasks according to the instructions.

[0028] Please refer to Figure 9 A magnetic coupling wireless power and signal transmission circuit for underwater autonomous vehicles is provided for the first embodiment of the present application, which is applied to the above-mentioned magnetic coupling wireless power and signal transmission equipment for underwater autonomous vehicles. The equipment includes a signal source, a power supply U DC , and an inverter circuit connected in parallel to the power supply U DC . One end of the inverter circuit is connected to one end of the first compensation capacitor C Z1 and one end of the first compensation coil L Z1 . The other end of the inverter circuit is connected to one end of the second compensation capacitor CZ2 one end of the first compensation coil L Z2 one end of the first compensation coil L Z1 the other end of the first compensation capacitor C Z2 the other end of the first compensation capacitor C Z1 the other end of the first compensation coil L Z2 the other end of the first compensation coil L Z1 and the second compensation coil L Z2 are connected to two ends of the energy transmitting coil L PP and the second compensation capacitor C Z1 are connected to two ends of the energy transmitting coil L Z2 and the second compensation capacitor C PP are connected to two ends of the energy transmitting coil L DP , and are used to establish a signal transmission link. The voltage type full-bridge inverter circuit is selected as the inverter circuit in the application, and the selection of the inverter circuit is not limited, and can be set according to the actual situation.

[0029] The Z-type compensation network topology is adopted to construct the resonance loop, and the parameters of the first compensation capacitor C Z1 , the second compensation capacitor C Z2 , the first compensation coil L Z1 and the second compensation coil L Z2 are matched, the impedance characteristics of the resonance network are used to balance the voltage stress of the circuit elements, and the voltage peak under high frequency is effectively suppressed. In the parameter design process of the Z-type impedance compensation network, in order to make the circuit impedance distribution uniform, the parameters should satisfy: L Z1 =L Z2 =L Z , C Z1 =C Z21 =C Z . Let ω P be the energy partial resonance frequency, the mutual inductance M Z1 between C Z21 and C z is obtained by measurement, and the resonance network parameter design should satisfy: ω P 2 L Z C Z =1. The Z-type compensation network topology can isolate the influence of load change on the output voltage through the impedance transformation mechanism, realize the constant voltage output characteristic independent of the load characteristics, and ensure the stable voltage transmission performance of the circuit in a wide load range.

[0030] Further, the energy transmitting coil L PP , the information transceiver coil L DP , the first compensation coil L Z1 and the second compensation coil LZ2 are excited in a way that the current directions are orthogonal, so that the energy transmitting coil L PP and the information transmitting / receiving coil L DP form a unipolar magnetic field, the first compensation coil L Z1 and the second compensation coil L Z2 form a bipolar magnetic field, for providing electromagnetic decoupling. Specifically, the energy transmitting coil L PP , the information transmitting / receiving coil L DP , the first compensation coil L Z1 and the second compensation coil L Z2 are excited in a way that the current directions are orthogonal, so that the energy transmitting coil L PP and the information transmitting / receiving coil L DP form a unipolar magnetic field, the first compensation coil L Z1 and the second compensation coil L Z2 form a bipolar magnetic field. The energy transmitting coil L PP , the first compensation coil L Z1 and the second compensation coil L Z2 generate magnetic fields that are orthogonal to each other in the horizontal direction, and the information transmitting / receiving coil L DP generate magnetic fields that are orthogonal to the energy transmitting coil L PP , the first compensation coil L Z1 and the second compensation coil L Z2 generate magnetic fields that are orthogonal to each other in the spatial dimension, and the magnetic fields generated by the three groups of coils exhibit strict orthogonal characteristics in the spatial dimension, thus fundamentally achieving electromagnetic decoupling between the energy part and the communication part, and effectively improving the communication signal-to-noise ratio. The present application applies the current directions orthogonal to the energy transmitting coil L PP , the first compensation coil L Z1 , the second compensation coil L Z2 and the information transmitting / receiving coil L DP are excited, so that the energy transmitting coil L PP and the information transmitting / receiving coil L DP form a unipolar magnetic field, the first compensation coil L Z1 and the second compensation coil L Z2 form a bipolar magnetic field, so that the magnetic field directions of the three are distributed orthogonally. Through this magnetic field vector orthogonal manner, electromagnetic decoupling of each layer of coil is achieved, and electromagnetic crosstalk between the energy transmitting coil L PP and the information transmitting / receiving coil L DP is eliminated, ensuring independent and efficient operation of energy and communication.

[0031] In an optional embodiment, a filter capacitor C DC is connected in parallel between the inverter circuit and the power supply U DC , wherein the positive electrode of the power supply U DC is connected to the filter capacitor CDC The positive terminal and one end of the inverter circuit, power supply U DC The negative terminal is connected to the filter capacitor C. DC The negative terminal and the other end of the inverter circuit. This makes the power supply U... DC The positive and negative terminals are connected to the filter capacitor C respectively. DC The positive and negative terminals and the two ends of the inverter circuit enable the filter capacitor C to... DC It can effectively smooth DC output, reduce ripple coefficient, and make the power supply U DC The DC output is more stable. This ensures stable operation of the inverter circuit, reduces voltage fluctuations and distortion during the inverter process, and improves the quality of the AC output power.

[0032] This application achieves efficient synchronous transmission of magnetically coupled wireless power and information by constructing an orthogonal integrated architecture of energy transmitting component 1, information transceiver coil 2, and magnetic core component 3. Specifically, the energy transmitting component 1 employs a Z-compensation connection method, reducing component voltage stress and achieving load-independent constant voltage output, ensuring efficient and stable energy transmission and realizing high-density, high-power transmission. The dual ferrite cores of the magnetic core component 3 are layered, and combined with the compact layout of the energy transmitting component 1, significantly reducing the size and weight of the equipment, adapting to the space constraints of underwater devices. Simultaneously, the energy transmitting coil 11, compensation coil component 12, and information transceiver coil 2 are excited orthogonally in the current direction. This orthogonal decoupling mechanism overcomes the interference suppression bottleneck of traditional frequency division multiplexing technology, achieving a high signal-to-noise ratio without the need for additional decoupling devices, greatly reducing the equipment's size, increasing its power density, and enabling high-speed, stable wireless charging and communication. In summary, this application resolves the contradiction between space constraints and high-power transmission requirements in underwater equipment, realizing a low-volume, high-power-density magnetically coupled wireless power and information simultaneous transmission device.

[0033] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0034] The above-described embodiments are only used to illustrate the technical solutions of the present application, but not limit them; although the present application is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement to part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. A magnetically coupled wireless communication and transmission device for an underwater autonomous vehicle, comprising a magnetic core assembly, characterized in that, It also includes energy transmitting components and information transceiver coils orthogonally stacked on the magnetic core assembly; The magnetic core assembly includes a first magnetic core and a second magnetic core, and the energy transmission assembly includes an energy transmission coil, a compensation coil assembly and a compensation capacitor assembly. The energy transmission coil, the compensation coil assembly and the information transceiver coil are excited in an orthogonal manner according to the current direction. The energy emitting coil, the first magnetic core, the compensation coil assembly, and the second magnetic core are stacked sequentially. The energy emitting coil and the compensation coil assembly are connected through the compensation capacitor assembly, and the winding directions of the energy emitting coil and the compensation coil assembly are perpendicular to each other.

2. The magnetically coupled wireless communication and transmission equipment for underwater autonomous vehicles as described in claim 1, characterized in that, Both the energy emitting coil and the compensation coil assembly are double semi-circular rings. The compensation coil assembly includes a first compensation coil and a second compensation coil. The first compensation coil and the second compensation coil are semi-circular rings and are coaxially arranged with the center of the energy emitting coil.

3. The magnetically coupled wireless communication and transmission equipment for underwater autonomous vehicles as described in claim 1, characterized in that, The compensation capacitor assembly includes a first compensation capacitor and a second compensation capacitor, which are symmetrically distributed on both sides of the first magnetic core.

4. The magnetically coupled wireless communication and transmission equipment for underwater autonomous vehicles as described in claim 3, characterized in that, The first compensation capacitor and the second compensation capacitor are respectively connected to the two terminals of the energy transmitting coil to form a resonant match with the energy transmitting coil.

5. The magnetically coupled wireless communication and transmission equipment for underwater autonomous vehicles as described in claim 1, characterized in that, The information transceiver coil and the compensation coil assembly are located on the same plane, and the information transceiver coil surrounds the outside of the compensation coil assembly.

6. The magnetically coupled wireless communication and transmission equipment for underwater autonomous vehicles as described in claim 3, characterized in that, The first and second compensation capacitors are symmetrically arranged through holes through which the energy transmitting coil and the compensation coil assembly pass.

7. A magnetically coupled wireless signal transmission circuit for an underwater autonomous vehicle, applied to a magnetically coupled wireless signal transmission device for an underwater autonomous vehicle as described in any one of claims 1-6, comprising a signal source and a power supply U. DC and connected in parallel to the power supply U DC The inverter circuit on the above is characterized in that, One end of the inverter circuit is connected to the first compensation capacitor C. Z1 One end and the first compensation coil L Z1 One end of the inverter circuit is connected to the second compensation capacitor C. Z2 One end and the second compensation coil L Z2 One end of the first compensation coil L Z1 The other end is connected to the second compensation capacitor C Z2 The other end is connected to the first compensation capacitor C. Z1 The other end is connected to the second compensation coil L Z2 The other end is connected to the first compensation coil L. Z1 Second compensation coil L Z2 Connect the energy transmitting coils L respectively PP The two ends; The signal source is connected to the information transceiver coil L. DP The two ends are used to establish a signal transmission link.

8. The magnetically coupled wireless signal transmission circuit for an underwater autonomous vehicle as described in claim 7, characterized in that, The energy emitting coil L PP Information transceiver coil L DP First compensation coil L Z1 Second compensation coil L Z2 Excite the energy emitting coil L in a manner that is orthogonal to the current direction. PP and information transceiver coil L DP The first compensation coil L forms a unipolar magnetic field. Z1 Second compensation coil L Z2 The energy emitting coil L forms a bipolar magnetic field. PP With the first compensation coil L Z1 Second compensation coil L Z2 The magnetic fields are orthogonal to each other in the horizontal direction, and the information transceiver coil L DP The magnetic field is perpendicular to the energy emitting coil L. PP The first compensation coil L Z1 Second compensation coil L Z2 The excitation magnetic fields are orthogonal to each other in the spatial dimension, which is used to achieve electromagnetic decoupling.

9. The magnetically coupled wireless signal transmission circuit for an underwater autonomous vehicle as described in claim 7, characterized in that, The first compensation capacitor C Z1 Second compensation capacitor C Z2 Connect the energy transmitting coils L respectively PP The two ends.

10. The magnetically coupled wireless signal transmission circuit for an underwater autonomous vehicle as described in claim 7, characterized in that, The inverter circuit and the power supply U DC Parallel filter capacitor C DC The power supply U DC The positive terminal is connected to the filter capacitor C. DC The positive terminal and one end of the inverter circuit, the power supply U DC The negative terminal is connected to the filter capacitor C. DC The negative terminal and the other end of the inverter circuit.

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