Submarine wireless charging network architecture with multi-source structure

Abstract

The invention discloses a seabed wireless charging network architecture with a multi-source structure, and the architecture is characterized in that an underwater vehicle is provided with a transmitting coil, the underwater vehicle is connected with a charging power supply through a cable, and a charging platform is provided with a receiving coil; the underwater vehicle is used for responding to a control instruction of a target object to sail to the charging platform, so that electric energy is transmitted to the battery pack for charging through coupling of the transmitting coil and the receiving coil; the battery pack comprises a plurality of sub battery packs; the battery state management system is used for collecting the battery state of each sub-battery pack to adjust a power supply strategy; and the load voltage stabilizing system is used for detecting the load condition of the direct current bus by using the DC / DC module, so as to carry out voltage stabilizing output under the condition that the load is changed and carry out temporary power supply under the condition of a fault. According to the invention, the underwater vehicle is utilized to supply power to equipment based on magnetic coupling wireless energy transmission, so that the overall deployment cost of the system is greatly reduced. The invention can be widely applied to the technical field of electric energy transmission.

Description

Technical Field

[0001] This application relates to the field of power transmission technology, and in particular to a multi-source structure for a submarine wireless charging network architecture. Background Technology

[0002] Deep-sea drilling is a crucial means of achieving deep-sea exploration ("in-sight of the Earth") and understanding the "ocean beneath the seabed." Long-term in-situ observation and sampling systems are the core scientific equipment for this type of drilling, playing an irreplaceable role in revealing the Earth's internal structure, material composition, energy cycles, and life processes. However, significant gaps remain in the current field of oceanographic drilling, particularly in long-term in-situ observation and sampling technology and equipment. One of the key bottlenecks that urgently needs to be overcome to achieve this goal lies in the problem of long-term, stable, and reliable energy supply in the extreme environments of deep-sea wells.

[0003] In existing technologies, powering long-term observation / sampling equipment in deep-sea drilling holes mainly relies on traditional towed cable power supply schemes. This scheme requires laying long-distance submarine cables to connect to surface support vessels or shore-based facilities, and has the following inherent drawbacks that are difficult to overcome: High cost and engineering complexity: In the deep-sea environment (high pressure, corrosion, complex terrain), the manufacturing, laying, recycling and long-term maintenance of special power cables are extremely costly, and the engineering implementation is very difficult and consumes a lot of human and material resources.

[0004] Limited mission flexibility: The physical connection of cables severely restricts the range of movement and deployment flexibility of underwater equipment (such as observation stations and samplers), making it difficult to adapt to the needs of multi-point, long-term observation.

[0005] Reliability and Risks: Long-distance cables are susceptible to factors such as ocean currents, seabed geological activity, and anchor damage, posing a high risk of breakage and insulation failure, which can lead to the failure of the entire system and make maintenance extremely difficult.

[0006] Infrastructure dependence: The scheme relies heavily on surface support vessels or fixed shore-based facilities for a continuous power supply, which greatly increases the complexity of the mission and operating costs, especially in the open ocean areas far from land.

[0007] Application content The main objective of this application is to propose a multi-source underwater wireless charging network architecture, which aims to solve at least one problem of the prior art.

[0008] To achieve the above objectives, one aspect of this application proposes a multi-source underwater wireless charging network architecture, which includes an underwater vehicle, a charging platform, a battery pack, a battery status management system, a load voltage regulation system, and a load; the underwater vehicle is equipped with a transmitting coil, the underwater vehicle is connected to the charging power supply via a cable, and the charging platform is equipped with a receiving coil; The underwater vehicle is used to navigate to the charging platform in response to control commands from the target object, so that electrical energy can be transferred to the battery pack for charging through the coupling of the transmitting coil and the receiving coil; The battery pack includes multiple sub-battery packs; The battery status management system is used to collect the battery status of each sub-battery pack and adjust the power supply strategy accordingly. The load stabilization system is used to detect the load on the DC bus using a DC / DC module, and then provide regulated output when the load changes and temporary power supply in case of a fault.

[0009] In some embodiments, the sub-battery pack is divided into a rechargeable battery pack and a backup battery pack; Rechargeable battery packs are used to replenish electrical energy via electrical energy transfer and to power loads. The backup battery pack is used to supply power to the load when the rechargeable battery pack is in the first state, which includes charging state and fault state.

[0010] In some embodiments, the underwater vehicle is equipped with a robotic arm; When the rechargeable battery is in a faulty state, the underwater vehicle is also used to control the robotic arm to replace the rechargeable battery in the battery pack in response to the first replacement command from the target object. When the backup battery is in the second state, the underwater vehicle is also used to control the robotic arm to replace the backup battery in the battery pack in response to a second replacement command from the target object; the second state includes a low battery state and a fault state.

[0011] In some embodiments, when the battery state management system collects the battery state data of each sub-battery pack to adjust the power supply strategy, it performs the following operations: Periodically obtain the battery status of all sub-battery packs in the battery pack; Among them, all sub-battery packs in the battery pack are preset with upper and lower priorities; The sub-battery pack whose battery state changes is selected as the target sub-battery pack; When the battery status of the target sub-battery pack changes to the charging state, determine whether the target sub-battery pack is a power supply. If the target sub-battery pack is a power supply, replace the power supply with the sub-battery pack corresponding to the lower power supply of the target sub-battery pack. When the battery state of the target sub-battery pack changes to the third state, the battery state of the target sub-battery pack is marked as idle, and the sub-battery pack with the highest priority of idle state in the battery pack is used as the power supply; the third state includes charging completion and fault repair. If the battery status of all sub-battery packs remains unchanged, determine whether the power supply status of the power source is normal. If the power supply status is abnormal, mark the battery status of the power supply as faulty and replace the power supply with the sub-battery pack corresponding to the lower power supply of the power supply. If the power supply status is normal, obtain the SOC status of the power supply. If the SOC status is less than the preset threshold, replace the power supply with the sub-battery pack corresponding to the lower power supply of the power supply. The sub-battery pack is divided into a rechargeable battery pack and a backup battery pack. The rechargeable battery pack changes the battery status to a charging state in response to the underwater vehicle's charging operation.

[0012] In some embodiments, the battery state management system includes a control circuit, a drive circuit, and a switching circuit, which are connected in sequence. The switching circuit is connected between the battery pack and the load voltage regulation system, and the control circuit is also connected to each sub-battery pack of the battery pack. The control circuit is used to collect the battery status of each sub-battery pack and send control signals to the drive circuit according to the battery status; The drive circuit is used to switch the power supply path of the switching circuit according to the control signal.

[0013] In some embodiments, a communication module is provided on the control circuit; The communication module is used to transmit the battery status to the underwater vehicle via laser communication, so that the underwater vehicle can feed back the battery status to the target object; Before the underwater vehicle transmits electrical energy to charge the battery pack, the communication module is also used to receive the underwater vehicle's state switching command via laser communication, so that the control circuit switches the battery state of the target sub-battery pack to the charging state.

[0014] In some embodiments, the switching circuit includes multiple sub-switching circuits, and one sub-switching circuit is connected to one sub-battery pack. The sub-switching circuit uses MOSFETs and is used to switch the circuit off and on in response to the high and low levels of the drive circuit. Specifically, when the sub-switch circuit receives a low-level input from the drive circuit, it turns on the power path of the corresponding sub-battery pack; when the sub-switch circuit receives a high-level input from the drive circuit, it turns off the power path of the corresponding sub-battery pack.

[0015] In some embodiments, the load voltage regulation system includes a unidirectional DC / DC module, a bidirectional DC / DC module, and a supercapacitor; The unidirectional DC / DC module adopts a Boost chopper circuit. The input terminal of the unidirectional DC / DC module is connected to the power supply line of the battery pack, and the output terminal of the unidirectional DC / DC module is connected to the DC bus. A filter capacitor C is provided in the power supply line. The DC bus is connected to the load for power supply, and the supercapacitor is used for energy storage and voltage stabilization. The bidirectional DC / DC module adopts a Boost-Buck hybrid boost chopper circuit. The bidirectional DC / DC module is connected in parallel with the power supply line. One end of the bidirectional DC / DC module is connected to a supercapacitor, and the other end is connected to the DC bus.

[0016] In some embodiments, the unidirectional DC / DC module includes a first energy storage inductor L1, a first N-type MOSFET Q1, a first freewheeling diode D1, a first filter capacitor C1, and a second filter capacitor C2; the bidirectional DC / DC module includes a second energy storage inductor L2, a second N-type MOSFET Q2, a second freewheeling diode D2, a third freewheeling diode D3, a third filter capacitor C3, and a fourth filter capacitor C4.

[0017] In some embodiments, the load stabilization system further includes a voltage regulator, a current regulator, and a high-pass filter; Both unidirectional and bidirectional DC / DC modules employ a dual closed-loop control strategy for voltage and current. The signal transmission of a unidirectional DC / DC module performs the following operations: The inner loop current of the battery pack is obtained by using a voltage regulator based on the difference between the reference value of the output voltage of the load bus and the actual value of the output voltage. Based on the difference between the inner loop current of the battery pack and the actual current of the battery pack, the first drive signal is output using the current regulator. The first drive signal output by the current regulator is received through the first N-type MOSFET Q1; The signal transmission of the bidirectional DC / DC module performs the following operations: The high-frequency components of the supercapacitor's output power under load compensation are obtained by using a high-pass filter. Based on the difference between the voltage reference value and the actual voltage value of the supercapacitor, a current command is obtained using a voltage regulator. The current command is then superimposed with high-frequency components to obtain the current reference value of the supercapacitor. Based on the difference between the current reference value and the actual current value of the supercapacitor, a second drive signal is output using a current regulator; The second drive signal output by the current regulator is received through the second N-type MOSFET Q2; Both the voltage regulator and the current regulator employ a PI control strategy.

[0018] The embodiments of this application include at least the following beneficial effects: This application provides a multi-source structure for an underwater wireless charging network, which includes an underwater vehicle, a charging platform, a battery pack, a battery status management system, a load stabilization system, and a load; the underwater vehicle is equipped with a transmitting coil and is connected to a charging power source via a cable; the charging platform is equipped with a receiving coil; the underwater vehicle is used to navigate to the charging platform in response to control commands from a target object, so that electrical energy is transferred to the battery pack for charging through the coupling of the transmitting and receiving coils; the battery pack includes multiple sub-battery packs; the battery status management system is used to collect the battery status of each sub-battery pack and adjust the power supply strategy; the load stabilization system is used to detect the load status of the DC bus using a DC / DC module, and then provide stabilized output when the load changes and temporary power supply in case of failure. This application utilizes an underwater vehicle (ROV) to carry electrical energy and charge the seabed charging platform / equipment based on magnetic coupling wireless power transfer technology. This completely eliminates the need for expensive, fragile, and difficult-to-maintain long-distance power cables, significantly reducing the overall deployment, operation, and maintenance costs of the system. Furthermore, the ROV can flexibly navigate to the predetermined charging platform location according to instructions, freeing the deployment location of seabed observation / sampling equipment (loads) from cable length limitations. This greatly expands the operational range and deployment freedom, adapting to the needs of multi-point, long-term observation missions. Simultaneously, this application employs a battery pack containing multiple sub-battery packs, combined with a battery status management system to monitor and adjust the power supply strategy in real time, effectively improving the redundancy and reliability of the overall power system and avoiding system paralysis due to single-point failures. In addition, the load voltage regulation system uses a switching power supply chip to perform efficient and precise voltage regulation of the battery pack output, ensuring a stable and clean power supply for precise in-situ observation / sampling loads (such as sensors, fluid samplers, analytical instruments, etc.), meeting their high sensitivity and high stability requirements. Attached Figure Description

[0019] Figure 1 This is a schematic diagram illustrating a structural example of a multi-source underwater wireless charging network architecture provided in an embodiment of this application; Figure 2 This is a schematic diagram of the logical judgment process of the battery state management system provided in the embodiments of this application; Figure 3 This is a schematic diagram illustrating an example of the structure of the battery state management system provided in an embodiment of this application; Figure 4 This is a schematic diagram of the MOSFET circuit provided in the embodiments of this application; Figure 5 This is a schematic diagram illustrating a structural example of the load voltage regulation system provided in the embodiments of this application; Figure 6This is a schematic diagram of the architecture of a unidirectional DC / DC module provided in an embodiment of this application; Figure 7 This is a schematic diagram illustrating the architectural principle of the bidirectional DC / DC module provided in the embodiments of this application; Figure 8 This is a schematic diagram of the overall structure of the multi-source underwater wireless charging network architecture provided in the embodiments of this application. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to limit it. In the following description, when referring to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with those of this application; they are merely examples of apparatuses and methods consistent with some aspects of the embodiments of this application as detailed in the appended claims.

[0021] It is understood that the terms “first,” “second,” etc., used in this application may be used herein to describe various concepts, but unless otherwise stated, these concepts are not limited by these terms. These terms are only used to distinguish one concept from another. For example, without departing from the scope of the embodiments of this application, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the words “if,” “when,” or “in response to a determination” as used herein may be interpreted as “when…” or “when…” or “in response to a determination.”

[0022] As used in this application, the terms "at least one", "multiple", "each", "any", etc., "at least one" includes one, two or more, "multiple" includes two or more, "each" refers to each of the corresponding multiples, and "any" refers to any one of the multiples.

[0023] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of this application only and is not intended to limit this application.

[0024] In related technologies, powering long-term observation / sampling equipment in deep-sea drilling boreholes mainly relies on traditional towed cable power supply schemes. This scheme requires the deployment of long-distance submarine cables to connect surface support vessels or shore-based facilities, which has the following inherent drawbacks that are difficult to overcome: High cost and engineering complexity: In the deep-sea environment (high pressure, corrosion, complex terrain), the manufacturing, deployment, retrieval, and long-term maintenance costs of dedicated power cables are extremely high, and the engineering implementation is extremely difficult, consuming huge amounts of manpower and resources; Limited mission flexibility: The physical connection of the cable severely restricts the range of movement and deployment flexibility of underwater equipment (such as observation stations and samplers), making it difficult to adapt to the needs of multi-point, long-term observation; Reliability and risk: Long-distance cables are susceptible to ocean currents, seabed geological activity, anchor damage, and other factors, posing a high risk of breakage, insulation failure, etc., leading to the failure of the entire system, and maintenance is extremely difficult; Infrastructure dependence: This scheme heavily relies on surface support vessels or fixed shore-based facilities to continuously provide power, greatly increasing mission complexity and operating costs, especially in the open ocean areas far from land.

[0025] In view of this, this application provides a multi-source underwater wireless charging network architecture, which includes an underwater vehicle, a charging platform, a battery pack, a battery status management system, a load stabilization system, and a load. The underwater vehicle is equipped with a transmitting coil and is connected to a charging power source via a cable. The charging platform is equipped with a receiving coil. The underwater vehicle navigates to the charging platform in response to control commands from a target object, enabling power transfer to the battery pack for charging via the coupling of the transmitting and receiving coils. The battery pack includes multiple sub-battery packs. The battery status management system collects the battery status of each sub-battery pack and adjusts the power supply strategy accordingly. The load stabilization system uses a DC / DC module to detect the load on the DC bus, thereby providing regulated output when the load changes and providing temporary power supply in case of a fault. This application utilizes an underwater vehicle (ROV) to carry electrical energy and charge the seabed charging platform / equipment based on magnetic coupling wireless power transfer technology. This completely eliminates the need for expensive, fragile, and difficult-to-maintain long-distance power cables, significantly reducing the overall deployment, operation, and maintenance costs of the system. Furthermore, the ROV can flexibly navigate to the predetermined charging platform location according to instructions, freeing the deployment location of seabed observation / sampling equipment (loads) from cable length limitations. This greatly expands the operational range and deployment freedom, adapting to the needs of multi-point, long-term observation missions. Simultaneously, this application employs a battery pack containing multiple sub-battery packs, combined with a battery status management system to monitor and adjust the power supply strategy in real time, effectively improving the redundancy and reliability of the overall power system and avoiding system paralysis due to single-point failures. In addition, the load voltage regulation system uses a switching power supply chip to perform efficient and precise voltage regulation of the battery pack output, ensuring a stable and clean power supply for precise in-situ observation / sampling loads (such as sensors, fluid samplers, analytical instruments, etc.), meeting their high sensitivity and high stability requirements.

[0026] Reference Figure 1 , Figure 1 This is an optional structural diagram of the multi-source underwater wireless charging network architecture provided in this application embodiment. The architecture includes an underwater vehicle 100, a charging platform 200, a battery pack 300, a battery status management system 400, a load voltage regulation system 500, and a load 600. The underwater vehicle is equipped with a transmitting coil (connected to the transmitting circuit), and the underwater vehicle is connected to the charging power source via a cable. Figure 1 (Not shown in the image), the charging platform is equipped with a receiving coil (connected to the receiving circuit); The underwater vehicle is used to navigate to the charging platform in response to control commands from the target object, so that electrical energy can be transferred to the battery pack for charging through the coupling of the transmitting coil and the receiving coil; The battery pack includes multiple sub-battery packs; The battery status management system is used to collect the battery status of each sub-battery pack and adjust the power supply strategy accordingly. The load stabilization system is used to detect the load on the DC bus using a DC / DC module, and then provide regulated output when the load changes and temporary power supply in case of a fault.

[0027] It should be noted that in some embodiments, the sub-battery pack is divided into a rechargeable battery pack and a backup battery pack; Rechargeable battery packs are used to replenish electrical energy via electrical energy transfer and to power loads. The backup battery pack is used to supply power to the load when the rechargeable battery pack is in the first state, which includes charging state and fault state.

[0028] For example, in some embodiments, the battery pack includes a rechargeable battery pack (i.e., a rechargeable battery pack) and a backup battery pack. Specifically, the rechargeable battery pack is connected to a wireless charging network and is powered periodically via the ROV (Remotely Owned Vehicle) and a charging platform. The backup battery pack includes two sets of high-capacity replaceable lithium batteries, which can be manually replaced during underwater operations. The periodic power supply frequency can be pre-determined by management personnel based on the actual needs of the electrical appliances (i.e., the load) and the capacity of the carried battery pack.

[0029] In some specific application scenarios, taking a battery pack consisting of two rechargeable lithium battery packs and two high-capacity replaceable lithium battery packs as an example, the rechargeable lithium battery packs are connected to a wireless charging platform, serving as the main power source for the system. They are replenished via a resonant coupling wireless charging network through periodic deep-sea dives by the ROV. The two rechargeable battery packs alternately supply power, improving system fault tolerance. The backup battery pack serves as a backup power source, used when the rechargeable battery packs are charging or malfunctioning. The battery compartment (battery pack) is equipped with a seabed wet-plug interface, allowing for replacement during underwater operations when the battery is depleted or malfunctions. Specifically, the fault status is determined by detecting the voltage at the battery pack's output port. When the detected voltage is lower than the normal battery discharge voltage, or when the battery temperature is abnormal, the battery pack is deemed faulty, the output circuit is disconnected, and the battery is replaced. During charging, a charging signal is sent via the ROV; upon receiving the signal, the power supply is switched, and the charging circuit is reconnected. The receiving end voltage is monitored during charging, and charging is terminated when the battery voltage reaches the charging cutoff voltage.

[0030] It should be noted that in some embodiments, the underwater vehicle is equipped with a robotic arm; When the rechargeable battery is in a faulty state, the underwater vehicle is also used to control the robotic arm to replace the rechargeable battery in the battery pack in response to the first replacement command from the target object. When the backup battery is in the second state, the underwater vehicle is also used to control the robotic arm to replace the backup battery in the battery pack in response to a second replacement command from the target object; the second state includes a low battery state and a fault state.

[0031] For example, in some specific embodiments, the battery compartment and the electronics compartment are physically isolated, the interface is waterproof and has an electrical isolation design, and a robotic arm is mounted on the ROV, allowing the operator to remotely control the replacement of the corresponding battery from the water. The battery being replaced is not connected to the output circuit.

[0032] It should be noted that, in some embodiments, the battery state management system performs the following operations when collecting the battery state data of each sub-battery pack to adjust the power supply strategy: Periodically obtain the battery status of all sub-battery packs in the battery pack; Among them, all sub-battery packs in the battery pack are preset with upper and lower priorities; The sub-battery pack whose battery state changes is selected as the target sub-battery pack; When the battery status of the target sub-battery pack changes to the charging state, determine whether the target sub-battery pack is a power supply. If the target sub-battery pack is a power supply, replace the power supply with the sub-battery pack corresponding to the lower power supply of the target sub-battery pack. When the battery state of the target sub-battery pack changes to the third state, the battery state of the target sub-battery pack is marked as idle, and the sub-battery pack with the highest priority of idle state in the battery pack is used as the power supply; the third state includes charging completion and fault repair. If the battery status of all sub-battery packs remains unchanged, determine whether the power supply status of the power source is normal. If the power supply status is abnormal, mark the battery status of the power supply as faulty and replace the power supply with the sub-battery pack corresponding to the lower power supply of the power supply. If the power supply status is normal, obtain the SOC status of the power supply. If the SOC status is less than the preset threshold, replace the power supply with the sub-battery pack corresponding to the lower power supply of the power supply. The sub-battery pack is divided into a rechargeable battery pack and a backup battery pack. The rechargeable battery pack changes the battery status to a charging state in response to the underwater vehicle's charging operation.

[0033] For example, in some specific embodiments, the battery pack includes two sets of rechargeable battery packs and two sets of backup battery packs, such as... Figure 2 As shown, the operating principle of the battery state management system is as follows: The voltage parameters of the input and output circuits of each sub-battery pack are obtained, and the battery SOC is determined based on the lithium battery charge / discharge curve. Based on these conditions, the rechargeable battery pack is divided into four states: fault, low charge, normal, and charging. The backup battery pack is divided into two states: fault and normal. Low charge refers to a battery SOC < 10%. The low charge and fault states of the backup battery pack are combined into a single fault state. Based on the actual battery conditions, the usage priority is determined from high to low for rechargeable battery packs 1 and 2, and backup battery packs 1 and 2.

[0034] The specific control flow of the battery status management system is as follows: When the circuit starts running, the current power supply battery pack (i.e., the power source) is first identified, and the status flag of the battery pack is checked. If normal, the output circuit voltage parameters are checked; the current power supply status is then determined. If an abnormality is found, the battery pack is marked as faulty, and the downstream power supply is replaced. If normal, the voltage parameters before the battery pack switching circuit are checked to determine the battery pack's SOC. If the battery pack's SOC is less than 10%, the battery pack status flag is changed to low charge, and the downstream power supply is replaced; otherwise, power supply continues. This process is repeated until power supply ends.

[0035] When the battery status management system is in the process of ROV charging or underwater maintenance, if the ROV is preparing to supply power to the rechargeable battery pack, it will send a request message to the control system to change the corresponding battery pack status information to charging. The control system will then check whether the battery pack is supplying power. If it is, the control drive circuit will switch the lower-level power supply. After charging is completed or the battery pack fault is repaired, the control system will change the battery pack status to normal and perform a replacement operation according to the battery pack's usage priority.

[0036] It should be noted that, in some embodiments, the battery state management system includes a control circuit, a drive circuit, and a switching circuit, which are connected in sequence. The switching circuit is connected between the battery pack and the load voltage regulation system, and the control circuit is also connected to each sub-battery pack of the battery pack. The control circuit is used to collect the battery status of each sub-battery pack and send control signals to the drive circuit according to the battery status; The drive circuit is used to switch the power supply path of the switching circuit according to the control signal.

[0037] Exemplary examples, such as in some specific implementations, Figure 3 As shown, the battery state management system includes a control circuit, a drive circuit, and a switching circuit. The switching circuit is connected to the input paths of the four battery packs and is controlled to turn on and off by the drive module. The drive module is connected to the control module, which sends command signals to control the circuit's operation.

[0038] It should be noted that in some embodiments, a communication module is provided on the control circuit; The communication module is used to transmit the battery status to the underwater vehicle via laser communication, so that the underwater vehicle can feed back the battery status to the target object; Before the underwater vehicle transmits electrical energy to charge the battery pack, the communication module is also used to receive the underwater vehicle's state switching command via laser communication, so that the control circuit switches the battery state of the target sub-battery pack to the charging state.

[0039] For example, in some specific embodiments, the control circuit, in addition to receiving circuit parameters from the switching circuit, also has the function of wireless communication with the ROV, responsible for transmitting the status information of each battery pack. Furthermore, when the battery status management system is in the process of ROV charging or underwater maintenance, if the ROV is preparing to supply power to the rechargeable battery packs, it will send a request message to the control system to change the status information of the corresponding battery pack to charging.

[0040] It should be noted that in some embodiments, the switching circuit includes multiple sub-switching circuits, and one sub-switching circuit is connected to one sub-battery pack. The sub-switching circuit uses MOSFETs and is used to switch the circuit off and on in response to the high and low levels of the drive circuit. Specifically, when the sub-switch circuit receives a low-level input from the drive circuit, it turns on the power path of the corresponding sub-battery pack; when the sub-switch circuit receives a high-level input from the drive circuit, it turns off the power path of the corresponding sub-battery pack.

[0041] For example, in some specific embodiments, the switch uses a MOSFET, and the circuit diagram is as follows: Figure 4 As shown, Uin is the input and Uout is the output. The circuit is controlled by inputting a signal to the gate of Q1. When the signal is low, it is equivalent to a closed switch, and the circuit is on. During power switching, the signal duty cycle is gradually changed when the power is turned off and on, maintaining a certain slope for the voltage rise or fall. Turning off before turning on prevents voltage backflow from damaging the devices. Fluctuations generated during power switching can be compensated for by the supercapacitor in the subsequent load voltage regulation circuit.

[0042] It should be noted that in some embodiments, the load voltage regulation system includes a unidirectional DC / DC module, a bidirectional DC / DC module, and a supercapacitor; The unidirectional DC / DC module adopts a Boost chopper circuit. The input terminal of the unidirectional DC / DC module is connected to the power supply line of the battery pack, and the output terminal of the unidirectional DC / DC module is connected to the DC bus. A filter capacitor C is provided in the power supply line. The DC bus is connected to the load for power supply, and the supercapacitor is used for energy storage and voltage stabilization. The bidirectional DC / DC module adopts a Boost-Buck hybrid boost chopper circuit. The bidirectional DC / DC module is connected in parallel with the power supply line. One end of the bidirectional DC / DC module is connected to a supercapacitor, and the other end is connected to the DC bus.

[0043] It should be noted that in some embodiments, the unidirectional DC / DC module includes a first energy storage inductor L1, a first N-type MOSFET Q1, a first freewheeling diode D1, a first filter capacitor C1, and a second filter capacitor C2; the bidirectional DC / DC module includes a second energy storage inductor L2, a second N-type MOSFET Q2, a second freewheeling diode D2, a third freewheeling diode D3, a third filter capacitor C3, and a fourth filter capacitor C4.

[0044] Exemplary, in some specific embodiments, such as Figure 5 The load voltage regulation system includes a unidirectional DC / DC module, a bidirectional DC / DC module, and a supercapacitor (energy storage capacitor) for energy storage and voltage regulation. The unidirectional DC / DC module is a Boost converter, with its input connected to the battery pack power supply line and its output connected to the DC bus. The bidirectional DC / DC module is a Boost-Buck hybrid converter, connected in parallel with the main power supply line, with one end connected to the supercapacitor and the other end connected to the DC bus. Figure 5 In this circuit, L1 and L2 serve as energy storage inductors, Q1, Q2, and Q3 are N-type MOSFETs responsible for controlling the circuit's on / off state, and D1, D2, and D3 are freewheeling diodes providing current paths when the corresponding circuit is turned off. C, C1, C2, C3, and C4 are filter capacitors. Uin and Iin represent the battery pack's output voltage and current, U0 and I0 represent the load bus voltage and current, and Usc and Isc represent the supercapacitor's voltage and current. The unidirectional DC / DC module's input is connected to the battery pack's power supply line, and its output is connected to the DC bus, serving as the main power supply line to transmit the battery's output to the load. The bidirectional DC / DC module is connected in parallel with the main power supply line, with one end connected to the supercapacitor and the other end connected to the DC bus. By controlling the supercapacitor's charging and discharging, it maintains voltage stability during load fluctuations and acts as a temporary power source in case of short-term faults in the main circuit, ensuring system power maintenance.

[0045] In some specific application scenarios, under steady-state conditions, the load voltage regulation system relies on the battery pack to handle all the power of the load bus, while simultaneously working with the bidirectional DC / DC module to stabilize the power gap and excess power generated by the energy storage load. When the voltage across the energy storage capacitor is lower than a given voltage, the bidirectional DC / DC module slowly absorbs energy from the load, causing the DC bus voltage to decrease, while the unidirectional DC / DC module increases its output power. Conversely, when the voltage across the energy storage capacitor is higher than a given voltage, the bidirectional DC / DC module slowly releases energy to the load, causing the DC bus voltage to increase, while the unidirectional DC / DC module reduces the battery pack's output power to maintain a power balance among the battery pack, load, and energy storage capacitor. When the load experiences a sudden change, the energy storage capacitor provides power support to ensure the stability of U0 until the voltage across the energy storage capacitor reaches the given voltage standard, at which point the power balance is achieved, and the bidirectional DC / DC module ceases operation.

[0046] It should be noted that in some embodiments, the load voltage regulation system also includes a voltage regulator, a current regulator, and a high-pass filter; Both unidirectional and bidirectional DC / DC modules employ a dual closed-loop control strategy for voltage and current. The signal transmission of a unidirectional DC / DC module performs the following operations: The inner loop current of the battery pack is obtained by using a voltage regulator based on the difference between the reference value of the output voltage of the load bus and the actual value of the output voltage. Based on the difference between the inner loop current of the battery pack and the actual current of the battery pack, the first drive signal is output using the current regulator. The first drive signal output by the current regulator is received through the first N-type MOSFET Q1; The signal transmission of the bidirectional DC / DC module performs the following operations: The high-frequency components of the supercapacitor's output power under load compensation are obtained by using a high-pass filter. Based on the difference between the voltage reference value and the actual voltage value of the supercapacitor, a current command is obtained using a voltage regulator. The current command is then superimposed with high-frequency components to obtain the current reference value of the supercapacitor. Based on the difference between the current reference value and the actual current value of the supercapacitor, a second drive signal is output using a current regulator; The second drive signal output by the current regulator is received through the second N-type MOSFET Q2; Both the voltage regulator and the current regulator employ a PI control strategy.

[0047] Exemplary examples, such as in some specific implementations, Figure 6As shown, the unidirectional DC / DC module control strategy of the load voltage regulation system uses dual closed-loop control of voltage and current, where U0 is the output voltage of the load bus. The control system selects the output voltage U0* of the bus under stable conditions as a reference value, calculates the difference with the actual bus voltage, and then passes it through the voltage regulator to obtain the inner loop current Iin* of the battery pack. The difference with the actual current Iin of the battery pack is then input to the current regulator, and the output of the current regulator is used as the drive signal input to the gate of the MOS transistor of the unidirectional DC / DC controller.

[0048] like Figure 7 As shown, the bidirectional DC / DC module of the load voltage regulation system adopts a dual closed-loop control method of voltage and current. Here, i0 is the DC bus current, and the high-frequency component i in the load output power that needs to be compensated by the energy storage capacitor is obtained through a high-pass filter. f U sc Let U be the voltage of the energy storage capacitor, and let its steady-state voltage U be... sc *This is a reference value, relative to the actual voltage U. sc The difference is input to the voltage regulator to obtain the energy storage capacitor current command i. sco , with i f The reference value i of the energy storage capacitor current is obtained by superposition. sc *, and with the actual current i sc The difference is input to the current regulator, and the output of the current regulator is used as the drive signal input to the gate of the MOS transistor of the bidirectional DC / DC controller.

[0049] Specifically, the voltage regulator and current regulator used in the load voltage regulation system adopt a PI control strategy, which enables rapid sensing and adjustment of sudden changes while the system has strong robustness and convergence.

[0050] It should also be noted that in some specific application scenarios, the load includes stable loads that operate for a long time as well as temporary loads that are turned on at regular intervals. All loads are connected to the DC bus, and the power supply circuit of the entire system is regarded as a stable load. Some loads with different operating voltages are connected to the DC bus through DC / DC transformer modules to ensure their normal operation.

[0051] To explain in detail the principles of the technical solution of this application, the overall process of this application will be described below with reference to some specific embodiments. It is easy to understand that the following is an explanation of the technical principles of this application and should not be regarded as a limitation of this application.

[0052] First, it should be noted that the long-term observation and sampling system for ocean drilling is a large scientific device capable of long-term in-situ observation and sampling within boreholes formed during ocean drilling. It is a powerful tool for exploring the "ocean beneath the seabed" and "internalizing the Earth." Currently, there is an urgent need to tackle key technologies for long-term geophysical observation and in-situ sampling in wells, solve the problems of long-term, high-sensitivity, and high-stability in-situ detection, sampling, and analysis in deep-sea and deep-well environments, address the challenges of deploying downhole equipment in ocean drilling, accelerate the self-reliance and strengthening of my country's long-term ocean drilling observation technology, expand the depth, accuracy, and time scale of observations of the Earth's interior, and support innovative research in Earth system science.

[0053] Because deep-sea drilling sampling takes place in the deep ocean, with long mission cycles and a lack of infrastructure, using towed cable power supply is too costly in terms of manpower and resources, making it impractical. Deep-sea non-contact power and communication transmission technology can solve these problems, allowing for regular inspections and energy replenishment via ROV underwater operations to ensure the normal operation of the entire system. However, due to limitations in communication technology, deep-sea drilling systems struggle to communicate with host computers in real time, operating mostly offline. This places high demands on the power supply system's endurance and reliability. Furthermore, because deep-sea drilling systems carry various sensors and drilling equipment, some sensors require continuous operation while others only need to be turned on periodically. This causes periodic fluctuations in the system's total load, affecting the voltage fluctuations of the power supply bus and further impacting some detection equipment.

[0054] In view of this, this application provides a submarine wireless charging network architecture mounted on a subsea drilling platform and ROV system to solve the problems mentioned above. To achieve the above objective, this application provides the following technical solution: a multi-source submarine wireless charging network architecture. For example... Figure 8 As shown, the network includes battery packs (rechargeable and backup battery packs), a battery status management system, a load stabilization system, and a load. The rechargeable battery packs are connected to a wireless charging network and are periodically powered via the ROV and wireless charging platform. The backup battery packs consist of two sets of high-capacity replaceable lithium batteries, which can be manually replaced during subsea operations. The battery status management system can monitor the status of each battery pack in real time, intelligently adjust the power supply strategy based on the battery status, and periodically report battery operating information via the ROV. The load stabilization system includes two DC / DC converter networks that monitor the DC bus load to achieve regulated output during load changes and short-term power supply in case of faults.

[0055] Specifically, a watertight connection circuit is designed between the battery compartment and the switching circuit. Other circuits and systems are designed within the dry compartment and can be connected using ordinary circuits. The effective range of the wireless charging magnetic field is in the centimeter range, which is considered near-field charging. In addition, the ROV is used for timed underwater charging and communication. Real-time capability refers to the ROV periodically detecting the battery status during charging to facilitate the assessment of battery charging progress. The ROV acquires data wirelessly using optical communication methods.

[0056] ROV refers to a tethered underwater vehicle, which includes optical communication equipment and a wireless charging system transmitter. Its main functions are to replenish the charging platform's energy underwater, check the battery status, and, if battery replacement is needed, use a robotic arm to perform the replacement operation. The wireless charging platform is the receiver of the wireless charging system, fixed to the seabed and connected to the battery compartment, responsible for powering sensors and other devices that operate underwater for extended periods.

[0057] It should also be noted that the power supply strategy is based on a fixed algorithm. The battery state management system is responsible for determining the battery status, identifying the working battery using the algorithm, communicating with the ROV, and controlling the switching circuit to switch the battery's charging or output circuit. Load control is not part of the wireless charging architecture's internal structure. This architecture only passively adapts to fluctuations caused by different load switching on and off under multiple load conditions through a load voltage regulation system.

[0058] Preferably, the battery pack includes two rechargeable lithium battery packs and two high-capacity replaceable lithium battery packs. The rechargeable lithium battery packs are connected to a wireless charging platform and serve as the main power source for the system. They are replenished via a resonant coupling wireless charging network during scheduled deep dives by the ROV. The two rechargeable battery packs provide power alternately, improving system fault tolerance. The backup battery packs serve as backup power when the rechargeable battery packs are charging or malfunctioning. The battery compartment (battery pack) is equipped with a seabed wet-plug interface, allowing for replacement during underwater operations when the battery is depleted or malfunctions.

[0059] Specifically, the rechargeable battery pack provides power in rotation based on battery status. Voltage fluctuations during switching cause fluctuations in the voltage and current flowing through the DC bus, triggering the supercapacitor in the load voltage regulation system to charge and discharge for voltage stabilization. Voltage fluctuations during switching can also be compensated for by the supercapacitor. Fault conditions are determined by detecting the battery pack output port voltage. When the detected voltage is lower than the normal battery discharge voltage, or when the battery temperature is abnormal, a battery pack fault is identified, the output circuit is disconnected, and the battery is replaced. During charging, a charging signal is sent via the ROV. Upon receiving the signal, the power supply is switched, and the charging circuit is reconnected. The receiving end voltage is monitored during charging, and charging terminates when the battery voltage reaches the charging cutoff voltage. Furthermore, the battery compartment and electronics compartment are physically isolated, with waterproof interfaces and electrical isolation design. A robotic arm mounted on the ROV allows operators to remotely control the battery replacement from the water. The replaced battery is not connected to the output circuit and does not require shutdown. When the battery pack is operating, the battery output voltage is monitored. When the voltage is lower than the discharge cutoff voltage or the set cutoff voltage value, the battery is determined to be in a low-charge state and needs to be replaced. The priority of the four battery packs is as follows: rechargeable battery pack 1 > rechargeable battery pack 2 > spare battery pack 1 > spare battery pack 2. When replacing a battery pack, select the one with the higher priority and normal operating condition to connect to the output circuit, based on the pack's status.

[0060] Preferably, the battery status management system includes a control circuit, a drive circuit, and a switching circuit. The switching circuit connects the battery pack, the load voltage regulator system, and the subsequent load components. The control circuit acquires parameters from each input circuit and determines the current operating status of the battery pack based on these parameters. When an abnormality occurs in the battery pack's operation, it promptly sends a signal to control the drive circuit to cut off the current power supply path and replace it with another power supply path. Simultaneously, when a battery pack fault is detected or the backup battery pack is depleted, a fault signal is promptly sent to the battery status management system, marking the battery as faulty or low-charge. The battery status management system then switches to a battery in a normal state to provide power. When the ROV is deployed for monitoring and maintenance activities, the system reports the battery fault status to the ROV, and the onboard personnel arrange for replacement.

[0061] Specifically, the switch uses a MOSFET, and the circuit diagram is as follows: Figure 4 As shown, Uin is the input and Uout is the output. The circuit is controlled by inputting a signal to the gate of Q1. When the signal is low, it is equivalent to a closed switch, and the circuit is on. During power switching, the signal duty cycle is gradually changed when the power is turned off and on, maintaining a certain slope for the voltage rise or fall. Turning off before turning on prevents voltage backflow from damaging the devices. Fluctuations generated during power switching can be compensated for by the supercapacitor in the subsequent load voltage regulation circuit.

[0062] Preferably, the load voltage regulation system includes a unidirectional DC / DC module, a bidirectional DC / DC module, and a supercapacitor for energy storage and voltage regulation. The input terminal of the unidirectional DC / DC module is connected to the battery pack power supply line, and the output terminal is connected to the DC bus, serving as the main power supply line to transmit the battery output to the load. The bidirectional DC / DC module is connected in parallel with the main power supply line, with one end connected to the supercapacitor and the other end connected to the DC bus. By controlling the charging and discharging of the supercapacitor, it maintains voltage stability during load fluctuations and acts as a temporary power source in the event of a short-term fault in the main circuit, ensuring the maintenance of system power.

[0063] Specifically, such as Figure 6 and Figure 7 As shown, where Figure 6 It is the control system of the unidirectional DC / DC module. Its main function is to maintain voltage stability under steady-state conditions. Ideally, the output voltage of the load bus is U0 = U0*. When the load changes suddenly, U0 will change. The difference between U0 and the reference voltage U0* is obtained through the PI regulator to obtain the reference output current Iin*. Then, the difference between Iin and the actual current is obtained through the current regulator (PI control) to obtain the drive signal input of the unidirectional DC / DC module MOSFET.

[0064] In addition, since the power is balanced between the battery section, the supercapacitor end, and the load end under steady state, when the voltage of the supercapacitor is less than the given charge voltage value, the bidirectional DC / DC module will switch to a BUCK circuit to absorb energy from the bus, causing the bus voltage to drop, and then triggering the adjustment of the unidirectional DC / DC converter to increase the output power.

[0065] For bidirectional DC / DC modules, capacitor voltage is collected to maintain supercapacitor voltage control, and bus current is collected to provide power during load fluctuations. Here, i0 is the bus current; the current is passed through a high-pass filter to remove the DC component, yielding the current i0 generated by load fluctuations. f This part is the power that needs to be compensated. U sc It is the voltage across the supercapacitor, U sc * is a reference value. When the voltage is insufficient, the voltage difference between the two terminals is calculated, and the reference current i that needs to be compensated is obtained through the voltage controller. sco Current i sco and i f The sum is the total current value i that needs to be adjusted. sc *, compare it with the actual output current i of the supercapacitor sc The difference is calculated and the drive signal for the bidirectional DC / DC module is obtained through a current regulator (PI control).

[0066] It should also be noted that, to maintain voltage stability under load fluctuations, the capacitance of the supercapacitor is calculated based on the load power, and the specific calculation principle is as follows: Assuming the supercapacitor's capacitance is C, the normal operating voltage of the DC bus is U, the maximum operating current is Imax, the maximum discharge time of the supercapacitor is T, and the total maximum operating power of the load is... Under normal power supply conditions, assuming a sudden load change, the load change exhibits a first-order step response with a response time of... The output current step is I, and the time constant is The energy required for a supercapacitor to output is:

[0067] Because supercapacitors not only need to maintain voltage stability under normal power supply conditions, but also play a short-term power compensation role during capacitor switching, the required output energy is:

[0068] Take a larger value for W, and assume the normal operating voltage of the supercapacitor is... The lowest voltage after discharge is The capacitance of the supercapacitor is:

[0069] Select operating voltage greater than A supercapacitor with a capacitance greater than C.

[0070] Preferably, the load includes a stable load that operates for a long time and a temporary load that is turned on at regular intervals. All loads are connected to the DC bus, and the power supply circuit of the entire system is regarded as a stable load. Some loads with different operating voltages are connected to the DC bus through a DC / DC transformer module to ensure their normal operation.

[0071] Specifically, the loads designed to be carried are mainly various deep-sea sensors. The control system of the loads is not part of the structure of the seabed wireless charging platform. The loads and their control systems are only mounted on the charging platform as electrical appliances. The switching of different loads is not controlled by the wireless charging system, but generally uses timing control. When the loads are turned on, there will be fluctuations in current and voltage on the DC bus, which will affect the voltage regulation system and cause it to start voltage regulation.

[0072] In summary, compared with the prior art, this application has at least the following beneficial effects: 1. The multi-source structure of the submarine wireless charging network proposed in this application, by setting up multiple battery packs to work together, and replenishing power periodically through ROV underwater operations, can theoretically achieve long-term detection work in the submarine offline state. The backup battery pack can replace the charging battery pack to provide power for one detection cycle in the event of a failure of the charging battery pack, until it is repaired and replaced after the periodic detection.

[0073] 2. The multi-source structure of the submarine wireless charging network architecture proposed in this application has a battery status detection system that can detect the SOC status and abnormal conditions of the battery in real time, and intelligently plan the power supply scheme according to the detection situation to prevent energy waste and circuit failure that could lead to the paralysis of the entire system.

[0074] 3. This application presents a multi-source underwater wireless charging network architecture that uses a load voltage stabilization system to stabilize voltage fluctuations caused by temporary load startup and power supply changes in real time, ensuring that the startup and shutdown of each load are unaffected. Simultaneously, the operating status of each load can be monitored by detecting DC bus parameters. Supercapacitors can serve as emergency power sources to guarantee short-term power supply.

[0075] The multi-source underwater wireless charging network architecture provided in this application includes an underwater vehicle, a charging platform, a battery pack, a battery status management system, a load stabilization system, and a load. The underwater vehicle is equipped with a transmitting coil and is connected to a charging power source via a cable. The charging platform is equipped with a receiving coil. The underwater vehicle navigates to the charging platform in response to control commands from a target object, enabling power transfer to the battery pack for charging via the coupling of the transmitting and receiving coils. The battery pack includes multiple sub-battery packs. The battery status management system collects the battery status of each sub-battery pack and adjusts the power supply strategy accordingly. The load stabilization system uses a DC / DC module to detect the load on the DC bus, thereby providing regulated output when the load changes and providing temporary power supply in case of a fault. This application utilizes an underwater vehicle (ROV) to carry electrical energy and charge the seabed charging platform / equipment based on magnetic coupling wireless power transfer technology. This completely eliminates the need for expensive, fragile, and difficult-to-maintain long-distance power cables, significantly reducing the overall deployment, operation, and maintenance costs of the system. Furthermore, the ROV can flexibly navigate to the predetermined charging platform location according to instructions, freeing the deployment location of seabed observation / sampling equipment (loads) from cable length limitations. This greatly expands the operational range and deployment freedom, adapting to the needs of multi-point, long-term observation missions. Simultaneously, this application employs a battery pack containing multiple sub-battery packs, combined with a battery status management system to monitor and adjust the power supply strategy in real time, effectively improving the redundancy and reliability of the overall power system and avoiding system paralysis due to single-point failures. In addition, the load voltage regulation system uses a switching power supply chip to perform efficient and precise voltage regulation of the battery pack output, ensuring a stable and clean power supply for precise in-situ observation / sampling loads (such as sensors, fluid samplers, analytical instruments, etc.), meeting their high sensitivity and high stability requirements.

[0076] The embodiments described in this application are for the purpose of more clearly illustrating the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions provided by the embodiments of this application. As those skilled in the art will know, with the evolution of technology and the emergence of new application scenarios, the technical solutions provided by the embodiments of this application are also applicable to similar technical problems.

[0077] Those skilled in the art will understand that the technical solutions shown in the figures do not constitute a limitation on the embodiments of this application, and may include more or fewer steps than shown, or combine certain steps, or different steps.

[0078] Those skilled in the art will understand that all or some of the steps in the methods disclosed above, as well as the functional modules / units in the systems and devices, can be implemented as software, firmware, hardware, or suitable combinations thereof.

[0079] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms “comprising” and “having,” and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0080] It should be understood that in this application, "at least one (item)" means one or more, and "more than" means two or more. "And / or" is used to describe the relationship between related objects, indicating that three relationships can exist. For example, "A and / or B" can represent three cases: only A exists, only B exists, and both A and B exist simultaneously, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one (item) of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one (item) of a, b, or c can represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.

[0081] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of the units described above is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0082] The units described above as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0083] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0084] The preferred embodiments of the present application have been described above with reference to the accompanying drawings, but this does not limit the scope of the claims of the present application. Any modifications, equivalent substitutions, and improvements made by those skilled in the art without departing from the scope and substance of the embodiments of the present application shall be within the scope of the claims of the present application.

Claims

1. A multi-source underwater wireless charging network architecture, characterized in that, The architecture includes an underwater vehicle, a charging platform, a battery pack, a battery status management system, a load voltage regulation system, and a load; the underwater vehicle is equipped with a transmitting coil, the underwater vehicle is connected to a charging power source via a cable, and the charging platform is equipped with a receiving coil; The underwater vehicle is used to navigate to the charging platform in response to control commands from the target object, so as to transfer electrical energy to the battery pack for charging through the coupling of the transmitting coil and the receiving coil; The battery pack includes multiple sub-battery packs; The battery status management system is used to collect the battery status of each sub-battery pack and adjust the power supply strategy accordingly. The load stabilization system is used to detect the load condition of the DC bus using a DC / DC module, and then provide regulated output when the load changes and provide temporary power supply in case of a fault.

2. The architecture according to claim 1, characterized in that, The sub-battery pack is divided into a rechargeable battery pack and a backup battery pack; The rechargeable battery pack is used to replenish electrical energy via the electrical energy transfer and to power the load; The backup battery pack is used to supply power to the load when the rechargeable battery pack is in a first state, which includes a charging state and a fault state.

3. The architecture according to claim 2, characterized in that, The underwater vehicle is equipped with a robotic arm; When the rechargeable battery is in the faulty state, the underwater vehicle is also used to control the robotic arm to replace the rechargeable battery of the battery pack in response to the first replacement command of the target object; When the backup battery is in the second state, the underwater vehicle is also used to control the robotic arm to replace the backup battery of the battery pack in response to a second replacement command from the target object; the second state includes a low power state and the fault state.

4. The architecture according to claim 1, characterized in that, When the battery status management system collects the battery status data for each sub-battery pack and adjusts the power supply strategy, it performs the following operations: The battery status of all sub-battery packs in the battery pack is periodically acquired; Among them, all the sub-battery packs in the battery pack are preset with upper and lower priorities; The sub-battery pack whose battery state has changed is designated as the target sub-battery pack; When the battery state of the target sub-battery pack changes to the charging state, it is determined whether the target sub-battery pack is a power supply. If the target sub-battery pack is the power supply, the power supply is replaced with the sub-battery pack corresponding to the lower power supply of the target sub-battery pack. When the battery state of the target sub-battery pack changes to the third state, the battery state of the target sub-battery pack is marked as idle, and the sub-battery pack with the highest priority in the idle state is used as the power supply; the third state includes charging completion and fault repair; If the battery status of all the sub-battery packs remains unchanged, determine whether the power supply status of the power supply is normal. If the power supply status of the power supply is abnormal, mark the battery status of the power supply as faulty, and replace the power supply with the sub-battery pack corresponding to the lower power supply of the power supply. If the power supply status of the power supply is normal, obtain the SOC status of the power supply. If the SOC status is less than a preset threshold, replace the power supply with the sub-battery pack corresponding to the lower power supply of the power supply. The sub-battery pack is divided into a rechargeable battery pack and a backup battery pack. The rechargeable battery pack changes the battery state to the charging state in response to the charging operation of the underwater vehicle.

5. The architecture according to claim 1, characterized in that, The battery status management system includes a control circuit, a drive circuit, and a switching circuit. The control circuit, the drive circuit, and the switching circuit are connected in sequence. The switching circuit is connected between the battery pack and the load voltage regulation system. The control circuit is also connected to each of the sub-battery packs of the battery pack. The control circuit is used to collect the battery status of each sub-battery pack and send control signals to the drive circuit according to the battery status; The drive circuit is used to switch the power supply path of the switching circuit according to the control signal.

6. The architecture according to claim 5, characterized in that, The control circuit is equipped with a communication module; The communication module is used to transmit the battery status to the underwater vehicle via laser communication, so that the underwater vehicle can feed back the battery status to the target object; Before the underwater vehicle transmits electrical energy to the battery pack for charging, the communication module is also used to receive the state switching command of the underwater vehicle via laser communication, so that the control circuit switches the battery state of the target sub-battery pack to be charged to the charging state.

7. The architecture according to claim 5, characterized in that, The switching circuit includes multiple sub-switching circuits, and one sub-switching circuit is connected to one sub-battery pack. The sub-switching circuit uses a MOSFET and is used to switch the circuit off and on in response to the high and low levels of the driving circuit. Specifically, when the sub-switch circuit receives a low-level input from the drive circuit, it turns on the power path of the corresponding sub-battery pack; when the sub-switch circuit receives a high-level input from the drive circuit, it turns off the power path of the corresponding sub-battery pack.

8. The architecture according to claim 1, characterized in that, The load voltage regulation system includes a unidirectional DC / DC module, a bidirectional DC / DC module, and a supercapacitor; The unidirectional DC / DC module adopts a Boost chopper circuit. The input terminal of the unidirectional DC / DC module is connected to the power supply line of the battery pack, and the output terminal of the unidirectional DC / DC module is connected to the DC bus. A filter capacitor (C) is provided in the power supply line. The DC bus is connected to the load for power supply, and the supercapacitor is used for energy storage and voltage stabilization. The bidirectional DC / DC module adopts a Boost-Buck hybrid boost chopper circuit. The bidirectional DC / DC module is connected in parallel with the power supply line. One end of the bidirectional DC / DC module is connected to the supercapacitor, and the other end is connected to the DC bus.

9. The architecture according to claim 8, characterized in that, The unidirectional DC / DC module includes a first energy storage inductor (L1), a first N-type MOSFET (Q1), a first freewheeling diode (D1), a first filter capacitor (C1), and a second filter capacitor (C2); the bidirectional DC / DC module includes a second energy storage inductor (L2), a second N-type MOSFET (Q2), a second freewheeling diode (D2), a third freewheeling diode (D3), a third filter capacitor (C3), and a fourth filter capacitor (C4).

10. The architecture according to claim 9, characterized in that, The load stabilization system also includes a voltage regulator, a current regulator, and a high-pass filter; Both the unidirectional DC / DC module and the bidirectional DC / DC module adopt a voltage and current dual closed-loop control strategy. The signal transmission of the unidirectional DC / DC module performs the following operations: The inner loop current of the battery pack is obtained using the voltage regulator based on the difference between the reference value of the output voltage of the load bus and the actual value of the output voltage. Based on the difference between the inner loop current of the battery pack and the actual current of the battery pack, the current regulator outputs a first drive signal. The first drive signal output by the current regulator is received through the first N-type MOS transistor (Q1); The signal transmission of the bidirectional DC / DC module performs the following operations: The high-frequency components of the supercapacitor's load output power to be compensated are obtained through the high-pass filter. Based on the difference between the voltage reference value and the actual voltage value of the supercapacitor, a current command is obtained using the voltage regulator. The current command is then superimposed with the high-frequency component to obtain the current reference value of the supercapacitor. Based on the difference between the current reference value and the actual current value of the supercapacitor, the current regulator outputs a second drive signal. The second drive signal output by the current regulator is received through the second N-type MOS transistor (Q2); Both the voltage regulator and the current regulator employ a PI control strategy.

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