Reconfigurable magnetic coupling device and charging platform for underwater vehicle

Abstract

The application discloses a reconfigurable magnetic coupling device and a charging platform of an underwater vehicle, the transmitting end structure module, the driving reconfiguration mechanism, the receiving end magnetic coupling module and the guide type platform structure jointly constitute the reconfigurable magnetic coupling device of the underwater vehicle; the transmitting end structure module and the driving reconfiguration mechanism are arranged on the guide type platform structure, the transmitting end structure module forms a magnetic flux conduction path to perform electric energy transmission, the driving reconfiguration mechanism is connected with the transmitting end structure module, and the transmitting end structure module is controlled by the driving reconfiguration mechanism to switch in different modes; the receiving end magnetic coupling module is arranged on the underwater vehicle, forms magnetic coupling with the transmitting end structure module, and charges the underwater vehicle; and the guide type platform structure guides the underwater vehicle to charge through structural design. The application can improve charging transmission efficiency. The application can be widely applied to the technical field of wireless electric energy transmission.

Description

Technical Field

[0001] This application relates to the field of wireless power transmission technology, and in particular to a reconfigurable magnetic coupling device and charging platform for an underwater vehicle. Background Technology

[0002] Underwater vehicles are widely used in marine exploration, resource development, and environmental monitoring. Their long-term stable operation places higher demands on energy supply. Existing technical solutions typically use wired methods to charge underwater vehicles, but wired charging connections are complex, have high requirements for sealing reliability, and are less safe. At the same time, existing wireless charging solutions are affected by factors such as water flow disturbances, causing underwater vehicles to shift and rotate during the charging process, resulting in low charging transmission efficiency. Summary of the Invention

[0003] The main objective of this application is to provide a reconfigurable magnetic coupling device and charging platform for underwater vehicles, which can improve charging and transmission efficiency.

[0004] To achieve the above objectives, one aspect of this application proposes a reconfigurable magnetic coupling device for an underwater vehicle. The device includes a transmitter structure module, a drive reconfiguration mechanism, a receiver magnetic coupling module, and a guide platform structure; wherein, The transmitter structure module is disposed on the guide platform structure, and the transmitter structure module is used to form a magnetic flux conduction path; The drive reconfiguration mechanism is disposed on the guide platform structure and is connected to the transmitter structure module. The drive reconfiguration mechanism is used to control the transmitter structure module to switch modes. The receiving end magnetic coupling module is disposed on the underwater vehicle. The receiving end magnetic coupling module is used to form magnetic coupling with the transmitting end structural module and to receive the electrical energy transmitted by the transmitting end structural module to power or charge the underwater vehicle. The guide platform structure is used to guide the underwater vehicle to a preset charging position so that the receiver magnetic coupling module and the transmitter structure module can form magnetic coupling and charge.

[0005] In some embodiments, the transmitter structure module includes a plurality of curved coil units; the plurality of curved coil units are arranged in circumferentially spaced segments on the guide platform structure to form a non-closed ring structure.

[0006] In some embodiments, the transmitter structure module is provided with an extended state and a retracted state; wherein... If the transmitter structure module is in the unfolded state, several curved coil units are arranged at preset intervals to form a guide channel; If the transmitter structure module is in the contracted state, the adjacent interval of several curved coil units is less than a preset threshold, so as to form an enclosed structure or a semi-enclosed structure for the underwater vehicle and form a magnetic flux conduction path.

[0007] In some embodiments, a plurality of curved coil units of the transmitter structure module constitute an integral curved surface, which includes one or more combinations of cylindrical surfaces, ellipsoidal surfaces, or irregular free-form surfaces.

[0008] In some embodiments, the drive reconfiguration mechanism includes a guide rail structure and an actuator; wherein, The guide rail structure is disposed on the guide platform structure, and the guide rail structure is slidably connected to several curved coil units of the transmitter structure module; The actuator is connected to several curved coil units and drives several curved coil units to slide along the guide rail structure to switch the state of the transmitter structure module.

[0009] In some embodiments, the drive reconfiguration mechanism further includes a position detection module for detecting the position of the underwater vehicle; if the underwater vehicle is located within a preset charging position, the drive reconfiguration mechanism drives a plurality of the curved coil units of the transmitter structure module to move along a first direction, so that the transmitter structure module switches to a retracted state; if the underwater vehicle is located away from the guide platform structure, the drive reconfiguration mechanism drives a plurality of the curved coil units of the transmitter structure module to move along a second direction, so that the transmitter structure module switches to an deployed state; wherein, the first direction represents the direction in which the curved coil units approach the underwater vehicle, and the second direction represents the direction in which the curved coil units move away from the underwater vehicle.

[0010] In some embodiments, the guide platform structure adopts a cage-like structure or a frame-like structure to form a guide cavity or a limiting frame to guide the underwater vehicle and limit its radial deviation.

[0011] In some embodiments, the receiver magnetic coupling module includes a receiver core, an inner receiving coil, and an outer receiving coil; wherein, The inner receiving coil is disposed on the outer surface of the receiver core; The outer receiving coil is disposed on the outer surface of the inner receiving coil; the inner receiving coil and the outer receiving coil are angularly offset according to a preset angle; wherein, the inner receiving coil and the outer receiving coil are angularly offset along the circumferential direction, the angular offset is a fixed angular offset, or the inner receiving coil and the outer receiving coil are non-uniformly angularly distributed along the circumferential direction.

[0012] In some embodiments, if the underwater vehicle drives the receiving end magnetic coupling module to rotate around the axis of the underwater vehicle, the inner receiving coil and the outer receiving coil generate a phase complementary relationship according to the preset angle, and the coupling regions of the inner receiving coil and the outer receiving coil are compensated according to the phase complementary relationship to generate a continuous and effective coupling region.

[0013] To achieve the above objectives, another aspect of this application proposes a charging platform for an underwater vehicle, wherein the charging platform is equipped with the aforementioned reconfigurable magnetic coupling device; wherein, The charging platform also includes a platform base, a support structure, a guide shell, and a power conversion module. The guide platform structure is disposed on the platform base, and the power conversion module is electrically connected to the transmitter structure module to provide high-frequency excitation current to the transmitter structure module.

[0014] The embodiments of this application include at least the following beneficial effects: This application provides a reconfigurable magnetic coupling device and charging platform for an underwater vehicle. This solution comprises a transmitter structural module, a drive reconfiguration mechanism, a receiver magnetic coupling module, and a guide platform structure to form a reconfigurable magnetic coupling device for the underwater vehicle. The transmitter structural module and the drive reconfiguration mechanism are mounted on the guide platform structure. The transmitter structural module forms a magnetic flux conduction path for power transmission. The drive reconfiguration mechanism is connected to the transmitter structural module and controls the transmitter structural module to switch between different states. The receiver magnetic coupling module is mounted on the underwater vehicle and forms magnetic coupling with the transmitter structural module to charge the underwater vehicle. The guide platform structure guides the underwater vehicle during charging through structural design. By setting the drive reconfiguration mechanism to drive the transmitter structural module to switch between different states, and simultaneously setting different forms for switching, the device adapts to different underwater vehicles and their corresponding positions, reducing magnetic leakage and improving coupling degree, thereby improving power transmission efficiency, stability, and safety of underwater wireless charging. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the structure of a reconfigurable magnetic coupling device for an underwater vehicle provided in an embodiment of this application; Figure 2This is a schematic diagram of the magnetic coupling mechanism between the transmitter and receiver in a reconfigurable magnetic coupling device for an underwater vehicle provided in an embodiment of this application; Figure 3 This is a schematic diagram of the drive reconfiguration mechanism in a reconfigurable magnetic coupling device for an underwater vehicle provided in an embodiment of this application; Figure 4 This is a schematic diagram of the reconfigurable magnetic coupling device transmitter structure module of an underwater vehicle provided in this application embodiment, showing its deployed and retracted states under the drive of the reconfiguration mechanism; Figure 5 This is a schematic diagram of the composition structure and coil connection method of the magnetic coupling mechanism in a specific embodiment provided in this application; Figure 6 This is a schematic diagram of the curved coil unit and the transmitter structure module in a specific embodiment provided in this application. Figure 7 This is a schematic diagram of the magnetic coupling mechanism in a specific embodiment of the present application, showing the strong coupling state, weak coupling state, and mismatch state. Figure 8 This is a schematic diagram comparing the magnetic field distribution of the transmitter structure module in the deployed and retracted states in a specific embodiment provided in this application. Figure 9 This is a schematic diagram showing the changes in magnetic circuit distribution and coupling between the transmitting coil and the receiving coil in aligned and misaligned states in a specific embodiment provided in this application. Figure 10 This is a schematic diagram illustrating the changes in coupling parameters during the radial rotation of an underwater vehicle in a specific embodiment of this application. Detailed Implementation

[0016] 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.

[0017] 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.”

[0018] 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.

[0019] 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.

[0020] Figure 1 This is a schematic diagram of a reconfigurable magnetic coupling device for an underwater vehicle provided in an embodiment of this application. Figure 1 The device includes a transmitter structure module, a drive reconfiguration mechanism, a receiver magnetic coupling module, and a guide platform structure; among which, The transmitter structure module is set on the guide platform structure, and the transmitter structure module is used to form a magnetic flux conduction path; The drive reconfiguration mechanism is set on the guide platform structure and is connected to the transmitter structure module. The drive reconfiguration mechanism is used to control the transmitter structure module to switch its form. The receiver magnetic coupling module is installed on the underwater vehicle. The receiver magnetic coupling module is used to form a magnetic coupling with the transmitter structural module and to receive the electrical energy transmitted by the transmitter structural module to power or charge the underwater vehicle. The guide platform structure is used to guide the underwater vehicle to a preset charging position so that the receiver magnetic coupling module and the transmitter structure module can form magnetic coupling and charge.

[0021] In some embodiments, the reconfigurable magnetic coupling device comprises a transmitter structure module, a drive reconfiguration mechanism, a receiver magnetic coupling module, and a guide platform structure. The transmitter structure module and the drive reconfiguration mechanism are mounted on the guide platform structure to construct an underwater charging platform. The underwater charging platform utilizes the transmitter structure module to form a magnetic flux conduction path for wireless charging of underwater vehicles entering the area. The underwater vehicle entering the area is equipped with a receiver magnetic coupling module, which couples with the magnetic flux conduction path constructed by the transmitter structure module via a coil to acquire the electrical energy transmitted by the transmitter structure module. The underwater charging platform is connected to the transmitter structure module via a drive reconfiguration mechanism, which drives the reconfiguration mechanism to charge the underwater vehicle. The mechanism drives the components in the transmitter structure module, thereby changing the overall shape of the transmitter structure module, constructing different magnetic flux conduction paths, improving the coupling performance between the transmitter structure module and the receiver magnetic coupling module, reducing magnetic leakage caused by water flow factors, and thus improving the charging transmission efficiency of wireless charging. In this embodiment, the charging platform is set on the guide underwater charging platform base 3 through the guide underwater charging platform support structure 2. The charging platform includes a guide underwater charging platform shell, and a segmented curved surface transmitter 5 and a reconfigurable mechanical actuator 4 are set in the charging platform. The segmented curved surface transmitter 5 includes a transmitter coil 51 and a transmitter magnetic core 52.

[0022] Please see Figure 2 In some embodiments, the transmitter structure module includes several curved coil units; the several curved coil units are arranged in circumferentially spaced segments on the guide platform structure to form a non-closed ring structure.

[0023] In some embodiments, the transmitter structure module is composed of multiple curved coil units, each of which is distributed along a preset spatial curved surface to form a segmented non-closed structure with intervals in the circumferential direction. At the same time, each curved coil unit is independently arranged, and by adjusting the distribution position of each curved coil unit, the overall shape of the transmitter structure module can be adjusted to construct different magnetic flux conduction paths. In this embodiment, the segmented curved transmitter 5 includes a transmitter coil 51 and a transmitter magnetic core 52. When charging, the segmented curved transmitter 5 covers the receiver 6, and the receiver 6 includes an outer receiver coil 61, an inner receiver coil 62, and a receiver magnetic core 63.

[0024] In some embodiments, the transmitter structure module is provided with an extended state and a retracted state; wherein... If the transmitter structure module is in the unfolded state, several curved coil units are set at preset intervals to form a guide channel; If the transmitter structure module is in a retracted state, the adjacent spacing of several curved coil units is less than a preset threshold, so as to form an enveloping or semi-enveloping structure for the underwater vehicle and form a magnetic flux conduction path.

[0025] In some embodiments, different states or operating modes are set according to the different distribution positions of the several curved coil units in the transmitter structure module to meet different application requirements. In this embodiment, the transmitter structure module is provided with an extended state and a retracted state. When the transmitter structure module is in the extended state, the several curved coil units maintain a preset interval distribution and form a guide channel to guide the underwater vehicle to enter the designated charging position for charging. When the transmitter structure module is in the retracted state, the several curved coil units adjust the distance between themselves under the drive of the drive reconfiguration mechanism until the gap between adjacent curved coil units is less than a preset threshold. At this time, the several curved coil units form an enveloping structure or a semi-enveloping structure for the underwater vehicle entering the designated charging position. Each curved coil unit constructs a corresponding magnetic flux conduction path, and the transmitter structure module forms an approximately closed continuous magnetic flux distribution in the circumferential direction. At the same time, the transmitter structure module in the retracted state restricts the underwater vehicle's offset through the several curved coil units, reducing the decrease in coupling performance caused by the underwater vehicle's offset and improving the charging transmission efficiency.

[0026] In some embodiments, a plurality of curved coil units of the transmitter structure module constitute an integral curved surface, which includes one or more combinations of cylindrical surfaces, ellipsoidal surfaces, or irregular free-form surfaces.

[0027] In some embodiments, the transmitter structure module can independently adjust the distribution position of several curved coil units to adjust the overall shape of the transmitter structure module in the retracted state. In this embodiment, the multiple curved coil units of the transmitter structure module form an overall curved surface by adjusting their positions, and the distribution position of the multiple curved coil units is adjusted according to the different shapes of the underwater vehicle, thereby adjusting the shape of the overall curved surface formed, including but not limited to one or more combinations of cylindrical surface, ellipsoidal surface or irregular free surface.

[0028] Please see Figure 3 In some embodiments, the drive reconfiguration mechanism includes a guide rail structure and an actuator; wherein, The guide rail structure is set on the guide platform structure, and the guide rail structure is slidably connected to several curved coil units of the transmitter structure module; The actuator is connected to several curved coil units and drives them to slide along the guide rail structure to switch the state of the transmitter structure module.

[0029] In some embodiments, the reconfigurable magnetic coupling device is provided with a drive reconfiguration mechanism, which consists of a guide rail structure and an actuator, according to... Figure 3 As can be seen from the content, the actuator includes a drive link 41, a connecting bracket 42, and an actuator 43. The guide rail structure is connected to the transmitter structure module, so that several curved coil units in the transmitter structure module move along the guide rail structure in a preset direction under the drive of the drive reconfiguration mechanism, thereby switching the unfolded and retracted states of the transmitter structure module. The drive link 41 in the actuator connects several curved coil units in the transmitter structure module. When the drive link moves, it drives the curved coil units to move along the guide rail structure. The drive link 41 is also connected to the connecting bracket 42, and the connecting bracket 42 is connected to the actuator 43. The actuator 43 can be set to move along a preset path, and through the connecting bracket 42, it drives all the drive links 41 to move, thereby driving multiple curved coil units to move.

[0030] Please see Figure 4 In some embodiments, the drive reconfiguration mechanism further includes a position detection module for detecting the position of the underwater vehicle. If the underwater vehicle is within a preset charging position, the drive reconfiguration mechanism drives several curved coil units of the transmitter structure module to move along a first direction, so that the transmitter structure module switches to a retracted state. If the underwater vehicle is far from the guide platform structure, the drive reconfiguration mechanism drives several curved coil units of the transmitter structure module to move along a second direction, so that the transmitter structure module switches to an deployed state. The first direction represents the direction in which the curved coil units approach the underwater vehicle, and the second direction represents the direction in which the curved coil units move away from the underwater vehicle.

[0031] In some embodiments, the drive reconfiguration mechanism or guide platform structure in the reconfigurable magnetic coupling device detects whether the underwater vehicle entering the device has entered the designated charging area for charging via sensors. If the underwater vehicle has not entered the designated charging area, the drive reconfiguration mechanism controls multiple curved coil units in the transmitter structure module to move outward to unfold and form a guide channel so that the underwater vehicle can enter the designated charging area in the reconfigurable magnetic coupling device. When the underwater vehicle is detected to have entered the designated charging area, the drive reconfiguration mechanism drives multiple curved coil units in the transmitter structure module to move along the guide rail structure or a preset... The curved coil units move inward in the direction of the transmitter, gradually forming an enclosed or semi-enclosed structure. Multiple curved coil units approach the underwater vehicle in the charging area along the circumference and adapt to the outer surface of the underwater vehicle to form a continuous or quasi-continuous magnetic flux conduction path. By fitting together, the coupling gap between the transmitter structure module and the receiver on the underwater vehicle is reduced, thereby improving the power transmission efficiency. In this embodiment, when the drive reconfiguration mechanism drives the multiple curved coil units to move outward, the curved coil units can move along any one or a combination of radial, axial, or normal directions to switch the transmitter structure module from a contracted state to an expanded state.

[0032] In some embodiments, the guide platform structure adopts a cage-like structure or a frame-like structure to form a guide cavity or limiting frame to guide the underwater vehicle and limit its radial deviation.

[0033] In some embodiments, the reconfigurable magnetic coupling device employs a cage-like or frame-like structure to construct a guiding platform structure, which facilitates the installation of the transmitter structure module, drive reconfiguration mechanism, and sensors. A guiding cavity is formed inside the cage-like or frame-like structure to guide the underwater vehicle that needs to be charged to the designated charging area. At the same time, the guiding platform structure constrains the radial position and attitude of the underwater vehicle entering it, limiting the offset and pitch of the underwater vehicle under the influence of factors such as water flow, so that the underwater vehicle maintains a relatively stable state in the guiding platform structure, indirectly improving the magnetic coupling degree during the wireless charging process and improving the power transmission efficiency.

[0034] In some embodiments, the receiver magnetic coupling module includes a receiver core, an inner receiving coil, and an outer receiving coil; wherein... The inner receiving coil is located on the outer surface of the receiver core; The outer receiving coil is disposed on the outer surface of the inner receiving coil; the inner receiving coil and the outer receiving coil are angularly offset according to a preset angle; wherein, the inner receiving coil and the outer receiving coil are angularly offset along the circumferential direction, the angle offset is a fixed angle offset, or the inner receiving coil and the outer receiving coil are non-uniformly angularly distributed along the circumferential direction.

[0035] In some embodiments, the receiver magnetic coupling module is disposed on the underwater vehicle. When the underwater vehicle enters a designated charging area, it couples with multiple curved coil units in the transmitter structure module to establish a magnetic flux conduction path. In this embodiment, the receiver magnetic coupling module includes an anti-rotation magnetic coupler, which adopts an axisymmetric or multi-pole symmetric structure to reduce the impact of underwater vehicle rotation on coupling performance. The receiver magnetic coupling module includes at least two layers of receiving coils, including an inner receiving coil and an outer receiving coil. The inner receiving coil is disposed against the outer surface of the underwater vehicle, and the outer receiving coil is disposed against the outer surface of the inner receiving coil. Multiple receiving coils of different layers are fixed in the circumferential direction. A predetermined angle offset, or multiple receiving coils of different layers distributed at a non-uniform angle along the circumference, is used so that when the underwater vehicle rotates during charging, the receiving coils of different layers alternately form effective coupling areas with the curved coil units in the transmitter structure module at different circumferential positions. For example, when the underwater vehicle is charging, the outer receiving coil is aligned with multiple curved coil units to form an effective coupling area for wireless charging, while the inner receiving coil is misaligned with multiple curved coil units due to the preset angle offset. When the underwater vehicle rotates radially, the inner and outer receiving coils can alternately form effective coupling areas at different circumferential positions, thereby reducing the degradation of coupling performance and improving power transmission efficiency.

[0036] In some embodiments, if the underwater vehicle causes the receiving coupling module to rotate radially, the inner receiving coil and the outer receiving coil generate a phase complementary relationship according to a preset angle. The coupling regions of the inner receiving coil and the outer receiving coil are compensated according to the phase complementary relationship to generate a continuous and effective coupling region.

[0037] In some embodiments, when the underwater vehicle rotates radially under the influence of water flow disturbance, it drives the multi-layer receiving coils in the receiving end magnetic coupling module to rotate. The multi-layer receiving coils adopt an axisymmetric or multi-pole symmetric structure and are arranged circumferentially. At the same time, there is an angular offset between the receiving coils of different layers. When the receiving end magnetic coupling module rotates, the receiving coils of different layers form magnetic flux coupling channels at different circumferential angles, forming a relatively stable magnetic flux distribution. When the coupling degree between a certain layer of receiving coil and a certain curved coil unit in the transmitting end structural module decreases, the coupling degree between the receiving coil of another layer and the curved coil unit increases, thereby forming an alternating coupling mechanism in the circumferential direction. The receiving coils of different layers exhibit a phase complementary relationship during rotation, dynamically compensating for the coupling capability of the receiving coils. The coupling changes between different receiving coils and the curved coil units in the transmitting end structural module form a compensatory relationship in time or space, thereby reducing the fluctuation of the coupling coefficient between the receiving end magnetic coupling module and the transmitting end structural module.

[0038] The solutions of this application embodiment will be described in detail and explained below with reference to specific application examples: Please see Figure 5 , Figure 5 This is a connection diagram illustrating a reconfigurable magnetic coupling device provided in the embodiments of this application in a specific embodiment; a resonant compensation network and a transmitter mentioned in the diagram are set on a charging platform, as shown in the diagram. Figure 6 As shown, a transmitter with a similar structure is arranged on the charging platform, along with multiple circumferentially arranged curved coil units; a receiver and a corresponding resonant compensation network are set on the underwater vehicle requiring wireless charging, with two layers of receiving coils arranged in the receiver according to a preset angle offset; according to Figure 7 As shown in the schematic diagram of the transmitter and receiver, when the underwater vehicle moves away from the charging platform, the transmitter and receiver are in a mismatched state. At this time, the drive reconfiguration mechanism in the charging platform drives multiple curved coil units in the transmitter to move outward along any one or more of the axial, radial, or normal directions, forming an unfolded state and creating a guide channel to guide the underwater vehicle's path. When the charging platform detects that the underwater vehicle has entered the designated charging position, the drive reconfiguration mechanism drives multiple curved coil units in the transmitter to move inward along any one or more combinations of the axial, radial, or normal directions, forming a contracted state and creating an enveloping or semi-enveloping structure for the underwater vehicle entering the designated charging position. At this time, if the underwater vehicle does not experience radial displacement, the states of the transmitter and receiver are as follows: Figure 7 The strongly coupled state is shown in the diagram; if the underwater vehicle experiences radial displacement, the states of the transmitter and receiver are as follows: Figure 7The weak coupling state is shown; multiple curved coil units in the transmitter are driven by a reconfiguration mechanism to switch the transmitter from an expanded state to a contracted state, forming a uniformly distributed magnetic flux conduction path. The magnetic field distribution before and after the switch is tested to obtain... Figure 8 The schematic diagram shows that after the transmitter switches to the retracted state, the magnetic field strength distribution of the charging platform is higher, which is beneficial to improving the power transmission efficiency. Under the influence of water flow, the underwater vehicle will rotate radially in the charging area, causing the state of the receiver coil in the underwater vehicle and the transmitter coil in the charging platform to change. Figure 9 This is a schematic diagram showing the changes in magnetic circuit distribution and coupling between the receiver coil and the transmitter coil in aligned and misaligned states, respectively. By measuring and statistically analyzing the coupling parameters of the transmitter and receiver coils under different rotational offset angles of the underwater vehicle, the data are shown in the table below and plotted as follows. Figure 10 The diagram shows the variation of coupling parameters. Table 1 , Based on the data in Table 1 and Figure 10 As shown in the variation diagram, when the underwater vehicle rotates, the coupling parameters of the transmitter and receiver remain relatively stable, fluctuating only within a certain range.

[0039] The embodiments of this application include at least the following beneficial effects: This application provides a reconfigurable magnetic coupling device and charging platform for an underwater vehicle. This solution comprises a transmitter structural module, a drive reconfiguration mechanism, a receiver magnetic coupling module, and a guide platform structure to form a reconfigurable magnetic coupling device for the underwater vehicle. The transmitter structural module and the drive reconfiguration mechanism are mounted on the guide platform structure. The transmitter structural module forms a magnetic flux conduction path for power transmission. The drive reconfiguration mechanism is connected to the transmitter structural module and controls the transmitter structural module to switch between different states. The receiver magnetic coupling module is mounted on the underwater vehicle and forms magnetic coupling with the transmitter structural module to charge the underwater vehicle. The guide platform structure guides the underwater vehicle during charging through structural design. By setting the drive reconfiguration mechanism to drive the transmitter structural module to switch between different states, and simultaneously setting different forms for switching, the device adapts to different underwater vehicles and their corresponding positions, reducing magnetic leakage, improving coupling degree, and thus improving power transmission efficiency.

[0040] This application also provides a charging platform for an underwater vehicle, which is equipped with the aforementioned reconfigurable magnetic coupling device for the underwater vehicle.

[0041] 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.

[0042] 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.

[0043] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0044] 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.

[0045] 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.

[0046] 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.

[0047] 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.

[0048] 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.

[0049] 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.

[0050] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes multiple instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing programs, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0051] 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 reconfigurable magnetic coupling device for an underwater vehicle, characterized in that, The device includes a transmitter structure module, a drive reconfiguration mechanism, a receiver magnetic coupling module, and a guide platform structure; wherein... The transmitter structure module is disposed on the guide platform structure, and the transmitter structure module is used to form a magnetic flux conduction path; The drive reconfiguration mechanism is disposed on the guide platform structure and is connected to the transmitter structure module. The drive reconfiguration mechanism is used to control the transmitter structure module to switch modes. The receiving end magnetic coupling module is disposed on the underwater vehicle. The receiving end magnetic coupling module is used to form magnetic coupling with the transmitting end structural module and to receive the electrical energy transmitted by the transmitting end structural module to power or charge the underwater vehicle. The guiding platform structure is used to guide the underwater vehicle to a preset charging position so that the receiver magnetic coupling module and the transmitter structure module can form magnetic coupling and charge.

2. The apparatus according to claim 1, characterized in that, The transmitter structure module includes several curved coil units; the several curved coil units are arranged in circumferentially spaced segments on the guide platform structure to form a non-closed ring structure.

3. The apparatus according to claim 2, characterized in that, The transmitter structure module has an deployed state and a retracted state; wherein... If the transmitter structure module is in the unfolded state, several curved coil units are arranged at preset intervals to form a guide channel; If the transmitter structure module is in the contracted state, the adjacent interval of several curved coil units is less than a preset threshold, so as to form an enclosed structure or a semi-enclosed structure for the underwater vehicle and form a magnetic flux conduction path.

4. The apparatus according to claim 2, characterized in that, The transmitter structure module comprises several curved coil units that form an overall curved surface, which includes one or more combinations of cylindrical surfaces, ellipsoidal surfaces, or irregular free-form surfaces.

5. The apparatus according to claim 2, characterized in that, The drive reconfiguration mechanism includes a guide rail structure and an actuator; wherein... The guide rail structure is disposed on the guide platform structure, and the guide rail structure is slidably connected to several curved coil units of the transmitter structure module; The actuator is connected to several curved coil units and drives several curved coil units to slide along the guide rail structure to switch the state of the transmitter structure module.

6. The apparatus according to claim 5, characterized in that, The drive reconfiguration mechanism further includes a position detection module, which is used to detect the position of the underwater vehicle. If the underwater vehicle is located within a preset charging position, the drive reconfiguration mechanism drives several curved coil units of the transmitter structure module to move along a first direction, so that the transmitter structure module switches to a retracted state. If the underwater vehicle is located far from the guide platform structure, the drive reconfiguration mechanism drives several curved coil units of the transmitter structure module to move along a second direction, so that the transmitter structure module switches to an deployed state. The first direction represents the direction in which the curved coil units approach the underwater vehicle, and the second direction represents the direction in which the curved coil units move away from the underwater vehicle.

7. The apparatus according to claim 1, characterized in that, The guiding platform structure adopts a cage-like structure or a frame-like structure to form a guiding cavity or a limiting frame to guide the underwater vehicle and limit its radial deviation.

8. The apparatus according to claim 1, characterized in that, The receiving end magnetic coupling module includes a receiver core, an inner receiving coil, and an outer receiving coil; wherein... The inner receiving coil is disposed on the outer surface of the receiver core; The outer receiving coil is disposed on the outer surface of the inner receiving coil; the inner receiving coil and the outer receiving coil are angularly offset according to a preset angle; wherein, the inner receiving coil and the outer receiving coil are angularly offset along the circumferential direction, the angular offset is a fixed angular offset, or the inner receiving coil and the outer receiving coil are non-uniformly angularly distributed along the circumferential direction.

9. The apparatus according to claim 8, characterized in that, If the underwater vehicle drives the receiving end magnetic coupling module to rotate around the axis of the underwater vehicle, the inner receiving coil and the outer receiving coil generate a phase complementary relationship according to the preset angle. The coupling regions of the inner receiving coil and the outer receiving coil are compensated according to the phase complementary relationship to generate a continuous and effective coupling region.

10. A charging platform for an underwater vehicle, characterized in that, The charging platform is equipped with a reconfigurable magnetic coupling device as described in any one of claims 1-9; wherein... The charging platform also includes a platform base, a support structure, a guide shell, and a power conversion module. The guide platform structure is disposed on the platform base, and the power conversion module is electrically connected to the transmitter structure module to provide high-frequency excitation current to the transmitter structure module.

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