Auv wireless charging anti-rotation deviation self-alignment system and method

Abstract

The application discloses an AUV wireless charging anti-rotation deviation self-alignment system and method, and the system comprises a deviation monitoring unit for monitoring a rotation deviation angle signal and a rotation deviation direction signal of an AUV receiving end relative to a transmitting end, and a self-alignment unit for reducing the rotation deviation angle of the AUV receiving end relative to the transmitting end; and a main control unit for sending an excitation control signal to the self-alignment unit according to the received rotation deviation angle signal and rotation deviation direction signal, so as to control the self-alignment unit to generate a recovery torque opposite to the rotation deviation direction. The application can solve the technical problem that the AUV wireless charging is difficult to realize active anti-rotation deviation self-alignment in the prior art.

Description

Technical Field

[0001] This invention relates to the field of wireless power transmission technology, and in particular to an AUV wireless charging anti-rotation offset self-alignment system and method. Background Technology

[0002] Autonomous Underwater Vehicles (AUVs) are playing an increasingly important role in fields such as marine exploration, pipeline inspection, and military reconnaissance. AUVs rely entirely on their own batteries for power, and their underwater operating time is limited by their energy storage capacity. Therefore, achieving autonomous underwater energy replenishment without human intervention is crucial to overcoming their endurance bottleneck.

[0003] Wireless power transfer technology provides an effective solution. Its basic principle is to install a transmitting coil at the charging base station and a receiving coil at the AUV, achieving contactless energy transfer through electromagnetic induction. This method avoids the inherent defects of wet-plug connectors, such as easy corrosion, leakage, and seal failure in the high-pressure, high-salt environment of the deep sea.

[0004] However, during underwater docking and charging of AUVs, the transmitting and receiving coils are prone to three-dimensional relative misalignment due to factors such as ocean current disturbances, changes in hull attitude, and guidance errors. This misalignment includes changes in axial spacing, horizontal misalignment, and circumferential rotational misalignment. Among these, circumferential rotational misalignment is the core challenge in anti-misalignment research for cylindrical AUVs. This misalignment directly reduces the effective coupling area of ​​the receiving coil, leading to magnetic circuit asymmetry, a sharp drop in the coupling coefficient, and in severe cases, even interruption of charging.

[0005] To address the above problems, existing technologies mainly offer three types of solutions: The passive magnetic attraction scheme provides axial attraction force by setting permanent magnets or electromagnets separately at the base station and AUV. Although it can reduce the axial distance and horizontal misalignment, it cannot form a controllable reverse restoring torque in the circumferential rotation direction, and its ability to suppress rotational offset is extremely limited.

[0006] Mechanical active alignment solutions actively correct the attitude of AUVs by using multi-degree-of-freedom mechanisms such as universal joints and hydraulic push rods. Although they have a certain adjustment capability, they are complex in structure, have stringent requirements for underwater sealing, pressure resistance and corrosion resistance, high manufacturing and maintenance costs, and the moving parts are at risk of wear and jamming during long-term service, making it difficult to guarantee the reliability of the system.

[0007] The coil structure optimization scheme adopts special winding methods such as DD type, bipolar type or orthogonal coil to broaden the offset tolerance range of the coupling mechanism. However, this method is a static design. The effect is acceptable when the offset is small, but the efficiency will significantly decrease once the design margin is exceeded. More importantly, it cannot perform active closed-loop correction based on the real-time offset angle of the AUV, and lacks dynamic control capability.

[0008] In summary, existing solutions either fail to provide effective restoring torque, have complex structures with poor reliability, or lack active closed-loop adjustment functionality when dealing with circumferential rotational offset. Therefore, there is an urgent need for an active anti-rotational offset self-alignment method and system capable of performing zoned electromagnetic control based on the direction and degree of rotational offset at the AUV receiver, in order to achieve high-precision dynamic alignment between the transmitter and receiver, ensuring the continuity and efficiency of the charging process. Summary of the Invention

[0009] This invention provides an AUV wireless charging anti-rotation offset self-alignment system and method to solve the technical problem that AUV wireless charging is difficult to achieve active anti-rotation offset self-alignment in the prior art.

[0010] According to one aspect of the present invention, an AUV wireless charging anti-rotation offset self-alignment system is provided, including an offset monitoring unit for monitoring the rotation offset angle signal and rotation offset direction signal of the AUV receiver relative to the transmitter, and a self-alignment unit for reducing the rotation offset angle of the AUV receiver relative to the transmitter. It also includes a main control unit, which is used to send an excitation control signal to the self-alignment unit according to the received rotation offset angle signal and rotation offset direction signal, so as to control the self-alignment unit to generate a restoring torque opposite to the rotation offset direction.

[0011] Optionally, the offset monitoring unit includes an angle monitoring unit disposed at the transmitting end and an angle detection marker disposed at the receiving end; when the wireless charging transmitting end of the AUV is aligned with the receiving end, the angle monitoring unit is facing the angle detection marker.

[0012] Optionally, the angle monitoring unit is one of an ultrasonic sensor, an underwater camera, an array detection coil, or a laser emitter group; correspondingly, the angle detection marker is one of an acoustic marker, a marker with a specific pattern or color, a conductive or magnetic component, or a laser receiver group.

[0013] Optionally, when the angle monitoring unit is a laser emitter group and the angle detection marker is a laser receiver group; the laser emitter group includes at least two symmetrical lasers, and the laser receiver group includes at least two linear CCD / CMOS sensors; The first spot offset of the left linear CCD / CMOS sensor and the second spot offset of the right linear CCD / CMOS sensor are obtained respectively, and the difference between the first spot offset and the second spot offset is calculated; the rotation offset angle is determined according to the magnitude of the difference, and the rotation offset direction is determined according to the positive or negative sign of the difference; the rotation offset angle is proportional to the magnitude of the difference.

[0014] Optionally, the system includes a transmitting coil disposed at the transmitting end and a receiving coil disposed at the receiving end; the self-alignment unit includes at least one set of DC electromagnets disposed in a partitioned arrangement around the outer periphery of the transmitting coil and at least one set of magnetic conductive components disposed at the receiving end; the magnetic conductive components are disposed opposite to the DC electromagnets, such that when the coil on the DC electromagnet is energized, a magnetic attraction force is generated on the magnetic conductive components.

[0015] Optionally, it includes 6 sets of DC electromagnets, namely a first region DC electromagnet, a second region DC electromagnet, and a third region DC electromagnet. The DC electromagnets in the first region and the DC electromagnets in the third region are symmetrically arranged relative to the DC electromagnets in the second region, and each region includes two sets of DC electromagnets symmetrically arranged along the outer periphery of the high-frequency transmitting coil. Six sets of DC electromagnets are symmetrically distributed along the outer periphery of the high-frequency transmitting coil and divided into three regions in pairs according to their symmetrical orientation; The magnetic conductive component is a soft magnetic sheet, which includes a first soft magnetic sheet and a second soft magnetic sheet. The first soft magnetic sheet is positioned facing the DC electromagnet in the first region, and the soft magnetic sheet is positioned facing the DC electromagnet in the third region.

[0016] Optionally, the main control unit includes a control circuit for receiving the rotation offset angle signal and the rotation offset direction signal, and for analyzing and processing the rotation offset angle signal and the rotation offset direction signal to generate a partitioned excitation control signal; it also includes an excitation drive unit for adjusting the on / off state of the DC electromagnet and the excitation current intensity of different regions according to the partitioned excitation control signal.

[0017] According to another aspect of the present invention, an AUV wireless charging anti-rotation offset self-alignment method is provided, comprising: S1. Obtain the rotation offset angle and rotation offset direction of the AUV receiver relative to the transmitter; S2. Determine the offset level based on the rotation offset angle; S3. Based on the offset level and rotation offset direction, apply corresponding excitation control signals to the DC electromagnets in different regions. The resulting magnetic attraction force acts on the magnetic guide component for asymmetric excitation control, so that the resultant force of the magnetic attraction force forms a restoring torque opposite to the rotation offset direction relative to the center of the AUV receiver. S4. Repeat steps S1-S3 until the rotational offset angle is less than the preset angle allowable threshold, then stop the asymmetric correction excitation and switch to full-area equalization excitation to maintain the axial adsorption of the AUV.

[0018] Optionally, determining the offset level based on the rotation offset angle includes: The rotation offset angle is compared with a plurality of preset angle thresholds to determine the offset level of the rotation offset angle; the numerical range formed by two adjacent angle thresholds constitutes an offset level.

[0019] Optionally, applying corresponding excitation control signals to the DC electromagnets in different regions based on the offset level and rotation offset direction includes: The DC electromagnets that need to be turned on are determined according to the rotation offset direction, so that the resultant force of the magnetic attraction force generated by each DC electromagnet acting on the corresponding magnetic conductive component forms a restoring torque opposite to the rotation offset direction relative to the center of the AUV receiver. The excitation current intensity applied to each DC electromagnet coil is determined according to the offset level, so as to control the magnitude of the resultant force of the magnetic attraction force generated by each DC electromagnet acting on the corresponding magnetic conductive component; the magnitude of the rotation offset angle is proportional to the magnitude of the restoring torque.

[0020] The technical solution of this invention monitors the rotational offset angle signal and rotational offset direction signal of the AUV receiver relative to the transmitter through an offset monitoring unit, and sends an excitation control signal to the self-alignment unit based on the received rotational offset angle signal and rotational offset direction signal to control the self-alignment unit to generate a restoring torque opposite to the rotational offset direction, thereby reducing the rotational offset angle of the AUV receiver relative to the transmitter, thus enabling active alignment during AUV charging and ensuring the continuity and efficiency of the charging process.

[0021] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is an architecture diagram of an AUV wireless charging anti-rotation offset self-alignment system provided in Embodiment 1 of the present invention; Figure 2 This is a structural diagram of the anti-rotational offset self-alignment system in one embodiment of the present invention; Figure 3 This is a schematic diagram of the transmitter and receiver structure distribution of the anti-rotation offset self-alignment system in one embodiment of the present invention; Figure 4 This is a schematic diagram of the transmitter structure distribution of the anti-rotation offset self-alignment system in one embodiment of the present invention. Figure 5 This is a schematic diagram of the receiver structure distribution of the anti-rotation offset self-alignment system in one embodiment of the present invention. Figure 6 This is a structural diagram of an E-shaped electromagnet in an anti-rotational offset self-alignment system according to an embodiment of the present invention; Figure 7 This is a flowchart of an AUV wireless charging anti-rotation offset self-alignment method provided in Embodiment 2 of the present invention; Figure 8 This is a flowchart of the graded correction control method in one embodiment of the present invention; Figure 9 This is a cross-sectional view of the non-offset operating condition zoned excitation in one embodiment of the present invention; Figure 10 This is a cross-sectional view of the small-angle offset working condition zoned excitation in one embodiment of the present invention; Figure 11 This is a cross-sectional view of the excitation zone under the large angle offset working condition in one embodiment of the present invention.

[0024] Figure 12 This is a cross-sectional view of the zonal excitation under large-angle offset working conditions in one embodiment of the present invention.

[0025] Figure label: Transmitter-1; Transmitting coil-11; Receiver-2; Receiver coil-21; Offset monitoring unit-3; Angle monitoring unit-31; Angle detection marker-32; Self-alignment unit-4; DC electromagnet-41; First region DC electromagnet-411; Second region DC electromagnet-412; and Third region DC electromagnet-413; E-type magnetic core-414; Excitation coil-415; Magnetic guide assembly-42; First soft magnetic sheet-421; Second soft magnetic sheet-422; Main control unit-5; Control circuit-51; Excitation drive unit-52. Detailed Implementation

[0026] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0027] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention 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 the invention 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 a 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.

[0028] Example 1 Figure 1 This invention provides a system architecture diagram for an AUV wireless charging anti-rotation offset self-alignment system, as shown in Embodiment 1. Figure 1 As shown, the device includes an offset monitoring unit 3 for monitoring the rotation offset angle signal and rotation offset direction signal of the AUV receiver 2 relative to the transmitter 1, and a self-alignment unit 4 for reducing the rotation offset angle of the AUV receiver 2 relative to the transmitter 1; it also includes a main control unit 5 for sending an excitation control signal to the self-alignment unit 4 according to the received rotation offset angle signal and rotation offset direction signal, so as to control the self-alignment unit 4 to generate a restoring torque opposite to the rotation offset direction.

[0029] The AUV wireless charging system includes a transmitting coil located at the transmitting end 1 and a receiving coil located at the receiving end, and transmits energy through electromagnetic induction between the transmitting coil of the transmitting end 1 and the receiving coil of the receiving end 2 of the AUV.

[0030] The offset monitoring unit 3 can be used to monitor the rotational offset angle signal and rotational offset direction signal of the AUV receiver 2 relative to the transmitter 1. The offset monitoring unit 3 may include at least two components, respectively disposed on the transmitter 1 and the receiver 2. For example, the monitoring unit 3 may include a laser transmitter and a laser receiver. The laser transmitter can be disposed on the transmitter 1 and the laser receiver can be disposed on the receiver 2. By detecting the position change of the light spot emitted by the laser transmitter on the receiver, the relative rotation angle between the transmitter and the receiver can be geometrically inferred. Furthermore, the offset direction can be determined by calculating the difference between the left and right laser receiver groups.

[0031] The self-alignment unit 4 is used to reduce the rotational offset angle of the AUV receiver 2 relative to the transmitter 1. The self-alignment unit 4 may include at least two components, which are respectively disposed on the transmitter 1 and the receiver 2. For example, it may include an electromagnet disposed on the transmitter 1 and a magnetic conductive device disposed on the receiver 2. When the coil on the electromagnet is energized, it can generate a magnetic attraction force on the magnetic conductive device to correct the offset of the receiver relative to the transmitter.

[0032] The main control unit 5 is electrically connected to the offset monitoring unit 3 and the self-alignment unit 4. The main control unit 5 can receive the rotation offset angle signal and the rotation offset direction signal uploaded by the offset monitoring unit 3, and analyze and process the rotation offset angle signal and the rotation offset direction signal to select an appropriate strategy to control the self-alignment unit 4, thereby generating a restoring torque opposite to the rotation offset direction and reducing the rotation offset angle of the receiver 2 relative to the transmitter 1.

[0033] The technical solution of this invention monitors the rotational offset angle signal and rotational offset direction signal of the AUV receiver relative to the transmitter through an offset monitoring unit, and sends an excitation control signal to the self-alignment unit based on the received rotational offset angle signal and rotational offset direction signal to control the self-alignment unit to generate a restoring torque opposite to the rotational offset direction, thereby reducing the rotational offset angle of the AUV receiver relative to the transmitter, thus enabling active alignment during AUV charging and ensuring the continuity and efficiency of the charging process.

[0034] Figure 2 This is a structural diagram of the anti-rotation offset self-alignment system in an embodiment of the wireless charging system of the present invention, wherein a transmitting coil 11 is provided on the AUV charging transmitter 1 and a receiving coil 21 is provided on the AUV charging receiver 2.

[0035] In one embodiment, the offset monitoring unit 3 includes an angle monitoring unit 31 disposed at the transmitting end 1 and an angle detection marker 32 disposed at the receiving end 2; when the wireless charging transmitting end of the AUV is aligned with the receiving end, the angle monitoring unit 31 is facing the angle detection marker 32.

[0036] like Figure 3 As shown, the offset monitoring unit 3 includes an angle monitoring unit 31 disposed at the transmitting end 1 and an angle detection marker 32 disposed at the receiving end 2. When the wireless charging transmitting end of the AUV is aligned with the receiving end, the angle monitoring unit 31 faces the angle detection marker 32. When the wireless charging receiving end of the AUV is offset relative to the transmitting end, the angle monitoring unit 31 is no longer facing the angle detection marker 32. At this time, the angle monitoring unit 31 can monitor the rotation offset angle signal and rotation offset direction signal relative to the angle detection marker 32.

[0037] In one embodiment, the angle monitoring unit is one of an ultrasonic sensor, an underwater camera, an array detection coil, and a laser emitter group; correspondingly, the angle detection marker is one of an acoustic marker, a marker with a specific pattern or color, a conductive or magnetic component, and a laser receiver group.

[0038] For example, when the angle monitoring unit 31 is an underwater camera, the angle detection marker 32 can be a marker with a specific pattern or color. The position and rotation angle of the marker can be analyzed by image processing algorithms, and the sign of the rotation angle can be directly obtained through image processing algorithms (such as calculating the rotation matrix of feature points), thereby calculating the offset and the direction of offset. When the angle monitoring unit 31 is an ultrasonic sensor or transducer, the angle detection marker 32 can be an acoustic marker or a specific geometric shape that can effectively reflect sound waves. The position and rotation angle of the marker can be calculated through the sound wave reflection signal. When the angle monitoring unit 31 is an array-type detection coil, the angle detection marker 32 can be a conductive or magnetic component (or a specific metal marker on it). When the conductive or magnetic component shifts, it will cause a change in the impedance or mutual inductance of the detection coil. By monitoring the electrical signal, the direction of offset (comparing the changes in inductance or impedance of coils at symmetrical positions; when the change in the left coil is greater than that of the right coil, it indicates a leftward shift; when the change in the right coil is greater than that of the left coil, it indicates a rightward shift) and angle can be calculated. When the angle monitoring unit 31 is a laser emitter group, the angle detection marker 32 can be a laser receiver group (which may include two laser receiver groups, left and right). When the AUV rotates and shifts, the sensor on the receiver will rotate accordingly, causing the position of the laser spot on the sensor to move. By measuring the change in the position of the spot on the receiver, the relative rotation angle between the emitter and the receiver can be geometrically deduced, and the shift direction can be determined by calculating the difference between the left and right laser receiver groups.

[0039] In one embodiment, when the angle monitoring unit is a laser emitter group and the angle detection marker is a laser receiver group; the laser emitter group includes at least two symmetrical lasers, and the laser receiver group includes at least two linear CCD / CMOS sensors; The first spot offset of the left linear CCD / CMOS sensor and the second spot offset of the right linear CCD / CMOS sensor are obtained respectively, and the difference between the first spot offset and the second spot offset is calculated; the rotation offset angle is determined according to the magnitude of the difference, and the rotation offset direction is determined according to the positive or negative sign of the difference; the rotation offset angle is proportional to the magnitude of the difference.

[0040] Specifically, when two symmetrical lasers are arranged at the transmitting end (corresponding to the left and right sides respectively), and two linear CCD / CMOS sensors (denoted as sensor L and sensor R respectively) are arranged at the corresponding positions at the receiving end, both sensors can detect the positional offset of the laser spot on their photosensitive surface.

[0041] When in a zero-offset state, both light spots fall on the center zero point of their respective sensors. The offset at this time is denoted as: d L = 0, d R = 0.

[0042] When the offset occurs, the light spot on the left sensor moves, and the reading is d. L (Positive and negative signs indicate the direction of offset); the light spot on the right sensor has moved, and the reading is d. R (Positive and negative). At this point, the readings of the left and right sensors are subtracted to obtain the differential signal Δd.

[0043] If the AUV only moves closer or further away along the axis (i.e., without rotation), the light spots on both sides will move synchronously, d L and d R Since the magnitude and direction are the same, the differential signal Δd≈0, thus automatically canceling out the interference caused by changes in axial distance. If the AUV rotates, the two light spots on either side will inevitably move one upward and the other downward (or vice versa), at which point d L and d R With opposite signs, the differential signal Δd will be significantly non-zero, and its absolute value is proportional to the rotation angle.

[0044] When the differential signal Δd is positive, it can be represented as the AUV deflecting counterclockwise, i.e., the left spot moves upward (positive) and the right spot moves downward (negative), and the differential signal is positive. When the differential signal Δd is negative, it can be represented as the AUV deflecting clockwise, i.e., the right spot moves upward (positive) and the left spot moves downward (negative), and the differential signal is negative.

[0045] In one embodiment, the system includes a transmitting coil 11 disposed at the transmitting end 1 and a receiving coil 21 disposed at the receiving end 2; the self-alignment unit 4 includes at least one set of DC electromagnets 41 disposed in a partitioned arrangement around the outer periphery of the transmitting coil and at least one set of magnetically conductive components 42 disposed at the receiving end; the magnetically conductive components 42 are disposed opposite to the DC electromagnets 41, such that when the coil on the DC electromagnet 41 is energized, a magnetic attraction force is generated on the magnetically conductive components 42.

[0046] The self-alignment unit 4 may include at least one set of DC electromagnets 41 arranged in sections around the outer periphery of the transmitting coil and at least one set of magnetically conductive components 42 disposed at the receiving end. For example, two, four, or six sets may be provided. The DC electromagnets 41 need to be symmetrically arranged around the outer periphery of the transmitting coil. At least one set of magnetically conductive components 42 is disposed at the receiving end. When there is no offset between the transmitting end and the receiving end, the magnetically conductive components 42 are disposed opposite to the DC electromagnets 41. When there is an offset between the transmitting end and the receiving end, the magnetically conductive components 42 have a certain deviation distance relative to the DC electromagnets 41. At this time, the magnitude of the current applied to the DC electromagnets 41 can be determined according to the magnitude of the deviation distance.

[0047] In such Figure 3 In the illustrated embodiment, the system includes six sets of DC electromagnets 41, namely a first-region DC electromagnet 411, a second-region DC electromagnet 412, and a third-region DC electromagnet 413; the first-region DC electromagnets 411 and the third-region DC electromagnets 413 are symmetrically arranged relative to the second-region DC electromagnets 412, and each region includes two sets of DC electromagnets symmetrically arranged along the outer periphery of the high-frequency transmitting coil; in such a way... Figure 4 In the illustrated embodiment, six groups of DC electromagnets 41 are symmetrically distributed along the outer periphery of the high-frequency transmitting coil, and are divided into three regions in pairs according to their symmetrical orientation; in such a way... Figure 5 In the illustrated embodiment, the magnetic conductive component 42 is a soft magnetic sheet, which includes a first soft magnetic sheet 421 and a second soft magnetic sheet 422. The first soft magnetic sheet 421 is disposed facing the DC electromagnet 411 in the first region, and the soft magnetic sheet 422 is disposed facing the DC electromagnet 413 in the third region.

[0048] like Figure 6 In the illustrated embodiment, the DC electromagnet 41 can be wound with an E-type magnetic core, including an E-type magnetic core 414 and an excitation coil 415. After being energized, the E-type magnetic core 414 can form a more concentrated magnetic field distribution on the side facing the receiving end soft magnetic sheet 42, improving the magnetic attraction and adsorption stability of the DC electromagnet on the soft magnetic sheet, thereby facilitating the formation of a clear asymmetric magnetic attraction and restoring torque by electromagnets in different zones under excitation control.

[0049] In one embodiment, the main control unit 5 includes a control circuit 51 for receiving the rotation offset angle signal and the rotation offset direction signal, and for generating a partitioned excitation control signal after analyzing and processing the rotation offset angle signal and the rotation offset direction signal; it also includes an excitation drive unit 52 for adjusting the on / off state of the DC electromagnet and the excitation current intensity of different regions according to the partitioned excitation control signal.

[0050] The control circuit 51 is used to acquire the rotational offset angle relative to the angle detection marker 32 detected by the angle monitoring unit 31; and generate a partitioned excitation control signal based on the rotational offset angle and the rotational offset direction. After receiving the partitioned excitation control signal, the excitation drive unit can generate different drive currents for the DC electromagnets in different regions, thereby controlling the on / off state and excitation current intensity of the DC electromagnets in different regions, so that multiple sets of DC electromagnets form an asymmetric magnetic attraction force on the soft magnetic sheet of the AUV receiver, and the asymmetric magnetic attraction force forms a restoring torque opposite to the rotational offset direction.

[0051] In one embodiment, the control circuit 51 can control the on / off state of the DC electromagnets in each zone through switching devices, or adjust the excitation current strength of the DC electromagnets in each zone through PWM duty cycle adjustment and graded current drive. By combining on / off control and excitation current adjustment, the restoring torque can be increased as the rotational offset angle increases, thereby achieving graded and stable active anti-rotational offset self-alignment control.

[0052] Example 2 Figure 7 This is a flowchart of an AUV wireless charging anti-rotation offset self-alignment method provided in Embodiment 2 of the present invention. Figure 7 As shown, the method includes: S101. Obtain the rotation offset angle and rotation offset direction of the AUV receiver relative to the transmitter; S102. Determine the offset level based on the rotation offset angle; S103. Based on the offset level and rotation offset direction, apply corresponding excitation control signals to the DC electromagnets in different regions. The resulting magnetic attraction force acts on the magnetic guide component for asymmetric excitation control, so that the resultant force of the magnetic attraction force forms a restoring torque opposite to the rotation offset direction relative to the center of the AUV receiver. S104. Repeat steps S101-S103 until the rotational offset angle is less than the preset angle allowable threshold, then stop the asymmetric correction excitation and switch to full-area equalization excitation to maintain the axial adsorption of the AUV.

[0053] In this embodiment, after the main control unit obtains the rotation offset angle and rotation offset direction of the AUV receiver relative to the transmitter, it can select the magnitude of the current to be applied to the DC electromagnet coil based on the rotation offset angle. The larger the rotation offset angle, the larger the applied current, and the smaller the rotation offset angle, the smaller the applied current. Furthermore, it can also determine which group of DC electromagnets needs to be energized based on the rotation offset direction to generate a restoring torque opposite to the rotation offset direction.

[0054] Furthermore, in this embodiment, the main control unit can dynamically adjust the magnitude of the current applied to each DC electromagnet coil based on the real-time collected rotational offset angle and rotational offset direction, thereby achieving dynamic correction.

[0055] In one embodiment, determining the offset level based on the rotation offset angle includes: The rotation offset angle is compared with a plurality of preset angle thresholds to determine the offset level of the rotation offset angle; the numerical range formed by two adjacent angle thresholds constitutes an offset level.

[0056] In one embodiment, applying corresponding excitation control signals to DC electromagnets in different regions based on the offset level and rotational offset direction includes: determining the DC electromagnets in the regions to be turned on according to the rotational offset direction, so that the resultant force of the magnetic attraction force generated by each DC electromagnet acting on the corresponding magnetic conductive component forms a restoring torque opposite to the rotational offset direction relative to the center of the AUV receiver; determining the excitation current intensity applied to the coils of each DC electromagnet according to the offset level, so as to control the magnitude of the resultant force of the magnetic attraction force generated by each DC electromagnet acting on the corresponding magnetic conductive component; the magnitude of the rotational offset angle is proportional to the magnitude of the restoring torque.

[0057] In one specific implementation, such as Figure 8 As shown, the offset level can be determined based on the rotation offset angle, and multi-level zone excitation control can be performed based on the offset level.

[0058] The following is a detailed explanation of multi-level zone excitation control. For example... Figure 9-12 As shown, these are the corresponding sectional views of the excitation zone under no offset working condition, the excitation zone under small angle offset working condition, the excitation zone under large angle offset working condition, and the excitation zone under medium and large angle offset working condition, respectively.

[0059] like Figure 9 The cross-sectional view of the no-offset operating condition excitation zone shown indicates that the AUV receiver is in a no-offset state, and the rotation offset angle θ is less than the preset allowable angle threshold. At this time, the control circuit 51 controls the DC electromagnets of the three zones to be energized, so that the receiving end soft magnetic sheet 42 is subjected to a more balanced magnetic attraction to maintain the current hull attitude, while suppressing changes in axial spacing and lateral misalignment.

[0060] like Figure 10 The diagram shows a sectional view of the excitation zone under small-angle offset operating conditions, indicating that the AUV receiver is in a small-angle offset state. <| |≤ . A first angle threshold is preset. At this time, the control circuit 51 can control the energization or enhanced excitation of a set of DC electromagnets 411 capable of generating reverse restoring torque, and control the de-energization or reduced excitation of two sets of DC electromagnets 412 and 413 in the same region of the offset direction. At this time, the energized DC electromagnets generate a magnetic attraction force on the soft magnetic sheet 421. Magnetic attraction The component forces in the direction of correction combine to form a resultant force. , working together A first-order restoring torque is generated relative to the center of the receiving end. This is used to drive the AUV receiver to rotate back to the alignment position. Since the required correction force is small under slight offset conditions, using a first-stage restoring torque can reduce overcorrection.

[0061] like Figure 11 The diagram shows a cross-sectional view of the excitation zone under a large-angle offset condition, indicating that the AUV receiver is in a state of large offset. <| |≤ , A second angle threshold is preset. At this time, control circuit 51 controls the two sets of DC electromagnets 411 and 412, which can generate reverse restoring torque, to be energized or have their excitation enhanced, and controls the DC electromagnet 413 in the same area of ​​the offset direction to be de-energized or have its excitation reduced. At this time, the energized DC electromagnets generate magnetic attraction forces respectively. and Magnetic attraction , The component forces in the direction of correction combine to form a resultant force. Compared to the slightly offset state, the resultant force Increase, and form a second-order restoring torque. Second-order restoring torque Greater than the first-order restoring torque This improves the ability to correct larger rotational offsets.

[0062] like Figure 12 The diagram shows a cross-sectional view of the excitation zone under large-angle offset conditions. The AUV receiver is in a large-angle offset state. <| The control circuit 51 controls the three sets of DC electromagnets 411, 412, and 413 that can generate reverse restoring torque to be energized or have their excitation enhanced, thus increasing the magnetic attraction force. , , These forces work together on the soft magnetic sheet 421 at the receiving end. The components of each magnetic attraction force in the correction direction are superimposed to form a larger resultant force. And form a three-level restoring torque. Third-order restoring torque Greater than the second-order restoring torque This is used to quickly drive the AUV receiver to rotate back to the wireless charging alignment position. If the rotation offset angle exceeds the system's safe range, the control circuit 51 performs a re-docking detection.

[0063] The above embodiments are only the correction control scheme when the AUV receiver rotates clockwise. When the AUV receiver rotates counterclockwise, the control circuit 51 controls the DC electromagnet in the area that generates clockwise restoring torque to maintain or enhance excitation, and controls the DC electromagnet in the same area as the offset direction to reduce excitation or de-energize, so that the soft magnetic sheet 422 of the receiver is subjected to asymmetrical magnetic attraction, thereby forming a clockwise restoring torque. When the AUV receiver rotates clockwise, the control circuit 51 executes the opposite partitioned excitation strategy, that is, it controls the DC electromagnet in the area that generates counterclockwise restoring torque to maintain or enhance excitation, and controls the DC electromagnet in the same area as the offset direction to reduce excitation or de-energize, so that the receiver forms a counterclockwise restoring torque. Therefore, regardless of whether the AUV receiver rotates clockwise or counterclockwise, the system can form a correction torque opposite to the direction of rotational offset.

[0064] During the aforementioned control process, the angle detection unit 31 continuously detects the rotational offset angle θ, and the control circuit 51 adjusts the excitation state of the DC electromagnets in each zone in a closed loop based on the detection results. When |θ|≤θ0 is detected, the control circuit 51 controls the system to return to the full-zone excitation state to maintain axial adsorption and lateral stability; when θ0<|θ| is detected, the control circuit 51 continues to execute the corresponding zone excitation control according to the offset level and offset direction until the AUV receiver returns to the wireless charging alignment position.

[0065] The solution of this invention can achieve graded control of no offset, small-angle offset, large-angle offset, and high-angle offset, allowing the restoring torque to vary with the degree of rotational offset. This avoids overshoot caused by excessive correction at small-angle offsets, while improving the correction response capability at large-angle offsets. Furthermore, this invention can control the coordinated excitation of three zoned electromagnets in the no-offset state, simultaneously suppressing axial spacing changes and lateral misalignment. In the rotational offset state, asymmetrical excitation generates a reverse restoring torque, achieving coordinated suppression of axial, lateral, and circumferential rotational offsets. Moreover, this invention eliminates the need for mechanical transmission structures such as motors and gears, reducing underwater sealing and maintenance difficulties, and is suitable for underwater docking and charging scenarios for cylindrical AUVs.

[0066] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0067] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. An AUV wireless charging anti-rotation offset self-alignment system, characterized in that, It includes an offset monitoring unit for monitoring the rotation offset angle signal and rotation offset direction signal of the AUV receiver relative to the transmitter, and a self-alignment unit for reducing the rotation offset angle of the AUV receiver relative to the transmitter. It also includes a main control unit, which is used to send an excitation control signal to the self-alignment unit according to the received rotation offset angle signal and rotation offset direction signal, so as to control the self-alignment unit to generate a restoring torque opposite to the rotation offset direction.

2. The AUV wireless charging anti-rotation offset self-alignment system according to claim 1, characterized in that, The offset monitoring unit includes an angle monitoring unit disposed at the transmitting end and an angle detection marker disposed at the receiving end; when the wireless charging transmitting end of the AUV is aligned with the receiving end, the angle monitoring unit is facing the angle detection marker.

3. The AUV wireless charging anti-rotation offset self-alignment system according to claim 2, characterized in that, The angle monitoring unit is one of an ultrasonic sensor, an underwater camera, an array detection coil, or a laser emitter group; correspondingly, the angle detection marker is one of an acoustic marker, a marker with a specific pattern or color, a conductive or magnetic component, or a laser receiver group.

4. The AUV wireless charging anti-rotation offset self-alignment system according to claim 3, characterized in that, When the angle monitoring unit is a laser emitter group and the angle detection marker is a laser receiver group; the laser emitter group includes at least two symmetrical lasers and the laser receiver group includes at least two linear CCD / CMOS sensors; The first spot offset of the left linear CCD / CMOS sensor and the second spot offset of the right linear CCD / CMOS sensor are obtained respectively, and the difference between the first spot offset and the second spot offset is calculated; the rotation offset angle is determined according to the magnitude of the difference, and the rotation offset direction is determined according to the positive or negative sign of the difference; the rotation offset angle is proportional to the magnitude of the difference.

5. The AUV wireless charging anti-rotation offset self-alignment system according to claim 1, characterized in that, The system includes a transmitting coil disposed at the transmitting end and a receiving coil disposed at the receiving end; the self-alignment unit includes at least one set of DC electromagnets disposed in a partitioned arrangement around the outer periphery of the transmitting coil and at least one set of magnetic conductive components disposed at the receiving end; the magnetic conductive components are disposed opposite to the DC electromagnets, such that when the coil on the DC electromagnet is energized, a magnetic attraction force is generated on the magnetic conductive components.

6. The AUV wireless charging anti-rotation offset self-alignment system according to claim 5, characterized in that, It includes 6 sets of DC electromagnets, which are symmetrically distributed along the outer periphery of the high-frequency transmitting coil and divided into three regions in pairs according to the symmetrical orientation: the first region DC electromagnet, the second region DC electromagnet, and the third region DC electromagnet. The DC electromagnets in the first region and the DC electromagnets in the third region are symmetrically arranged relative to the DC electromagnets in the second region, and each region includes two sets of DC electromagnets symmetrically arranged along the outer periphery of the high-frequency transmitting coil. The magnetic conductive component is a soft magnetic sheet, which includes a first soft magnetic sheet and a second soft magnetic sheet. The first soft magnetic sheet is positioned facing the DC electromagnet in the first region, and the second soft magnetic sheet is positioned facing the DC electromagnet in the third region.

7. The AUV wireless charging anti-rotation offset self-alignment system according to claim 6, characterized in that, The main control unit includes a control circuit for receiving the rotation offset angle signal and the rotation offset direction signal, and for generating a partitioned excitation control signal after analyzing and processing the rotation offset angle signal and the rotation offset direction signal; it also includes an excitation drive unit for adjusting the on / off state of the DC electromagnet and the excitation current intensity of different regions according to the partitioned excitation control signal.

8. A self-alignment method for AUV wireless charging to resist rotational offset, implemented based on the AUV wireless charging self-alignment system to resist rotational offset according to any one of claims 1-7, characterized in that, include: S1. Obtain the rotation offset angle and rotation offset direction of the AUV receiver relative to the transmitter; S2. Determine the offset level based on the rotation offset angle; S3. Based on the offset level and rotation offset direction, apply corresponding excitation control signals to the DC electromagnets in different regions. The resulting magnetic attraction force acts on the magnetic guide component for asymmetric excitation control, so that the resultant force of the magnetic attraction force forms a restoring torque opposite to the rotation offset direction relative to the center of the AUV receiver. S4. Repeat steps S1-S3 until the rotational offset angle is less than the preset angle allowable threshold, then stop the asymmetric correction excitation and switch to full-area equalization excitation to maintain the axial adsorption of the AUV.

9. The AUV wireless charging anti-rotation offset self-alignment method according to claim 8, characterized in that, The determination of the offset level based on the rotation offset angle includes: The rotation offset angle is compared with a plurality of preset angle thresholds to determine the offset level of the rotation offset angle; the numerical range formed by two adjacent angle thresholds constitutes an offset level.

10. The AUV wireless charging anti-rotation offset self-alignment method according to claim 8, characterized in that, The method of applying corresponding excitation control signals to DC electromagnets in different regions based on offset level and rotation offset direction includes: The DC electromagnets that need to be turned on are determined according to the rotation offset direction, so that the resultant force of the magnetic attraction force generated by each DC electromagnet acting on the corresponding magnetic conductive component forms a restoring torque opposite to the rotation offset direction relative to the center of the AUV receiver. The excitation current intensity applied to each DC electromagnet coil is determined according to the offset level, so as to control the magnitude of the resultant force of the magnetic attraction force generated by each DC electromagnet acting on the corresponding magnetic conductive component; the magnitude of the rotation offset angle is proportional to the magnitude of the restoring torque.

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