CN115720004A - Remote wireless charging system for unmanned underwater vehicle - Google Patents

Abstract

The invention discloses a remote wireless charging system for an unmanned underwater vehicle, which is characterized by comprising the following components: the UUV detection system comprises sub UUV and UUV matrixes, wherein the UUV matrixes are placed at fixed points, and a plurality of sub UUV are attached to the UUV matrixes; the UUV parent is taken as a center, a plurality of UUV are taken as children, and the UUV children realize self electric quantity monitoring and carry out information interaction with the UUV parent; the UUV parent body can recall the sub UUV and realize remote wireless charging for the sub UUV in a magnetic resonance mode; the UUV does not need to be manually salvaged, so that the cost and the working procedure for manually salvaging the UUV for charging are saved, and the working efficiency of the UUV is improved. The hemispherical coil array shape of the parent UUV forms magnetic focusing and completes efficient charging of the child UUV in a MISO form, so that the charging efficiency of the parent UUV is improved.

Description

Translated fromChinese

一种无人水下航行器远程无线充电系统A remote wireless charging system for unmanned underwater vehicles

技术领域technical field

本发明属于水下无线充电技术领域，具体涉及一种无人水下航行器(UUV)远程无线充电系统。The invention belongs to the technical field of underwater wireless charging, and in particular relates to a remote wireless charging system for an unmanned underwater vehicle (UUV).

背景技术Background technique

无人水下航行器(UUV)是指通过潜航器无人水下航行器技术，搭载不同的传感器和任务模块，可用于水下警戒、侦察、监视、跟踪、探雷、布雷、中继通信和隐蔽攻击以及水文测量、海洋学研究等；Unmanned underwater vehicle (UUV) refers to the use of submarine unmanned underwater vehicle technology, equipped with different sensors and mission modules, which can be used for underwater warning, reconnaissance, surveillance, tracking, mine detection, mine laying, and relay communication and covert attacks, as well as hydrographic surveying, oceanographic research, etc.;

无人水下航行器(UUV)上所有功能模块的正常运行需要搭载电源作为能量供应，电源一般为充电式蓄电池；由此，目前UUV在使用过程中存在以下问题：1)UUV内置的移动蓄电池电量接近低电量阈值后，需要人工将其打捞回岸进行充电；2)UUV在航行过程中可能会在任意位置出现低电量预警，那么打捞位置也就不固定，提高了打捞人员的工作难度；3)UUV大多体积较大，重量较重，打捞上岸需要在海上不同位置临时架设打捞装置，打捞上岸后需要提供专门的放置场地和充电设备，无疑会增加操作成本。4)母体UUV充电线圈与子UUV的受电线圈之间以是SISO的方式充电，充电效率低。The normal operation of all functional modules on an unmanned underwater vehicle (UUV) requires a power supply as an energy supply, and the power supply is generally a rechargeable battery; therefore, the following problems exist in the current use of UUV: 1) The built-in mobile battery of UUV When the power is close to the low power threshold, it needs to be manually salvaged back to the shore for charging; 2) UUV may have a low power warning at any position during the voyage, so the salvage position is not fixed, which increases the work difficulty of salvage personnel; 3) Most UUVs are large in size and heavy in weight. Salvage devices need to be temporarily erected at different locations on the sea to be salvaged. After salvage, special placement sites and charging equipment need to be provided, which will undoubtedly increase operating costs. 4) The charging coil of the parent UUV and the power receiving coil of the child UUV are charged in the form of SISO, and the charging efficiency is low.

发明内容Contents of the invention

为了解决上述技术问题，本发明提供了一种无人水下航行器(UUV)远程无线充电系统，设计为固定的UUV母体和依附于母体的若干子UUV，子UUV可脱离母体进行航巡工作，子UUV自身通过与UUV母体间的信息交互，实现自身低电量预警和与母体间的自动导航，回到母体<100mm以内范围，由母体对UUV进行无线充电；母体UUV含有五个无线充模块且包含五个绝缘处理的充电线圈排列成半球型线圈阵列形状形成磁聚焦并以MISO形式完成对子UUV的充电；In order to solve the above technical problems, the present invention provides a remote wireless charging system for an unmanned underwater vehicle (UUV), which is designed as a fixed UUV mother body and several sub-UUVs attached to the mother body, and the sub-UUVs can be separated from the mother body for cruise work , the child UUV realizes its own low battery warning and automatic navigation with the parent body through information interaction with the UUV parent body, and returns to the parent body <100mm, and the parent body wirelessly charges the UUV; the parent UUV contains five wireless charging modules And it includes five insulated charging coils arranged in the shape of a hemispherical coil array to form magnetic focus and complete the charging of the UUV in the form of MISO;

为了达到上述技术目的，本发明是通过以下技术方案实现的：一种无人水下航行器(UUV)远程无线充电系统，其特征在于，包括：子UUV和UUV母体，UUV母体定点放置，若干子UUV依附于UUV母体上；In order to achieve the above-mentioned technical purpose, the present invention is achieved through the following technical solutions: a remote wireless charging system for unmanned underwater vehicles (UUVs), characterized in that it includes: sub-UUVs and UUV mother bodies, UUV mother bodies are placed at fixed points, several The child UUV is attached to the UUV parent;

所述UUV母体内设置有母体无线充模块、ARM CPU、声呐信号发生器、收发合置水声换能器、无线传输交互模块；子UUV内设置有UUV无线充模块、ARM CPU、电力监测模块、声呐信号接收器、脉冲激光测距模块、无线传输交互模块；The UUV parent body is provided with a parent body wireless charging module, ARM CPU, sonar signal generator, transceiver and underwater acoustic transducer, and a wireless transmission interaction module; the sub-UUV is provided with a UUV wireless charging module, ARM CPU, and a power monitoring module , sonar signal receiver, pulse laser ranging module, wireless transmission interaction module;

所述母体UUV无线充模块将电流处理以无线电磁波的形式发射出去，由子UUV无线充模块接收后进行整流存储，供自身使用；The parent UUV wireless charging module emits the current processing in the form of wireless electromagnetic waves, which is rectified and stored by the child UUV wireless charging module for its own use;

所述电量监测模块用于对子UUV蓄电池电量进行实时监测，且与ARM CPU连接，当电量低于阈值后，ARM CPU发出指令给子UUV，使其寻找UUV母体进行充电；The power monitoring module is used for real-time monitoring of the battery power of the sub-UUV, and is connected to the ARM CPU. When the power is lower than the threshold, the ARM CPU sends an instruction to the sub-UUV to make it look for the UUV parent to charge;

子UUV内无线传输交互模块同时将子UUV低电量信号通过其上的收发合置的水声换能器转换成声信号，经发射换能器被UUV母体内的收发合置的水声换能器接收并转换为电信号，由UUV母体确认子UUV处于低电量，ARM CPU对声呐信号发生器发出召回充电指令，与声呐信号发生器连接的收发合置的水声换能器发射对应的声波信号，对子UUV进行巡航引导至UUV母体区域；The wireless transmission interaction module in the sub-UUV simultaneously converts the low-battery signal of the sub-UUV into an acoustic signal through the underwater acoustic transducer installed on it, and is converted by the underwater acoustic transducer installed in the UUV parent body through the transmitting transducer The UUV parent body confirms that the child UUV is in low battery, the ARM CPU sends a recall charging command to the sonar signal generator, and the underwater acoustic transducer connected to the sonar signal generator emits corresponding sound waves Signal, cruise and guide the child UUV to the UUV parent area;

所述子UUV水声换能器接收来自UUV母体的声呐发射信号，经其巡航引导至UUV母体区域；The sub-UUV underwater acoustic transducer receives the sonar emission signal from the UUV parent body, and guides it to the UUV parent body area through its cruise;

所述脉冲激光测距模块负责子UUV与UUV母体间的距离判定，当子UUV到达与UUV母体设定的有效充电距离之后，ARM CPU对子UUV发出停止前进的指令；同时UUV母体的母体无线充模块开启无线充电模式；The pulse laser ranging module is responsible for determining the distance between the sub-UUV and the UUV parent body. When the sub-UUV reaches the effective charging distance set with the UUV parent body, the ARM CPU sends an instruction to the sub-UUV to stop advancing; The charging module turns on the wireless charging mode;

优选的，所述母体UUV无线充模块具体包括：AC/DC转换器、变频器、电力输出线圈；UUV母体直接直流电源，经过AC/DC转换器将直流电变为交流电，经过变频器变频后经过电力输出线圈以特定频率的电磁波形式进行传输；所述母体UUV含有五个无线充模块且包含五个绝缘处理的充电线圈排列成说明书附图图2的半球型线圈阵列形状形成磁聚焦并以MISO形式完成对子UUV的充电；Preferably, the parent UUV wireless charging module specifically includes: an AC/DC converter, a frequency converter, and a power output coil; the direct DC power supply of the UUV parent body converts direct current into alternating current through the AC/DC converter, and passes through the The power output coil is transmitted in the form of electromagnetic waves of a specific frequency; the parent UUV contains five wireless charging modules and five insulated charging coils arranged in the shape of a hemispherical coil array in Figure 2 of the accompanying drawing to form magnetic focus and MISO form to complete the charging of the sub-UUV;

优选的，所述UUV无线充模块具体包括：电力接收线圈、整流电力模块、电池；所述电力接收线圈接收到来自UUV母体相同特定频率的电磁波，通过磁共振形式接收来自UUV母体的电能，经过整流电力模块对接收的电能进行频率、直交流模式调整后，由电池进行存储；Preferably, the UUV wireless charging module specifically includes: a power receiving coil, a rectifying power module, and a battery; the power receiving coil receives electromagnetic waves of the same specific frequency from the UUV parent body, and receives electrical energy from the UUV parent body through magnetic resonance. The rectified power module adjusts the frequency and DC/AC mode of the received electric energy, and then stores it in the battery;

优选的，所述脉冲激光测距模块具体包括：激光发射器、激光接收器、计时电路、信号处理器；所述UUV上的激光发射器发出一个持续时间极短的脉冲激光，经过待测距离L后，被UUV母体反射，反射的脉冲激光回到UUV被激光接收器接收，计时电路通过计算得出激光从发射到返回接收的时间t，再由信号处理器结合t计算得出距离L；Preferably, the pulse laser ranging module specifically includes: a laser transmitter, a laser receiver, a timing circuit, and a signal processor; the laser transmitter on the UUV emits a pulse laser with a very short duration, and passes through the distance to be measured After L, it is reflected by the UUV parent body, and the reflected pulsed laser returns to the UUV and is received by the laser receiver. The timing circuit calculates the time t from the emission of the laser to the return and reception of the laser, and then calculates the distance L by combining t with the signal processor;

优选的，所述收发合置水声换能器共有两个，一个放置在UUV母体，另一个放置在子UUV，子UUV发射出的欠电信号通过发射换能器变为声信号后通过海洋传输被UUV母体的接收换能器接收后，经由ARM CPU内程序算法分析处理，实现UUV母体对子UUV的导航；Preferably, there are two combined underwater acoustic transducers for transmitting and receiving, one is placed on the UUV parent body, the other is placed on the sub-UUV, and the under-electrical signal emitted by the sub-UUV passes through the ocean after being converted into an acoustic signal by the transmitting transducer After the transmission is received by the receiving transducer of the UUV parent body, it is analyzed and processed by the program algorithm in the ARM CPU to realize the navigation of the UUV parent body to the child UUV;

优选的，所述电量监测模块具体包括：单片机、电流检测传感器、存储器；存储器中存储特定电池的放电特性数据和校正参数，并采集电池组的开路电压、充放电电流运用剩余电量计算算法计算电池组的剩余电量。Preferably, the power monitoring module specifically includes: a single-chip microcomputer, a current detection sensor, and a memory; the memory stores discharge characteristic data and correction parameters of a specific battery, and collects the open circuit voltage and charge and discharge current of the battery pack and uses the remaining power calculation algorithm to calculate the battery The remaining power of the group.

本发明的有益效果是：The beneficial effects of the present invention are:

通过本发明设计的一种无人水下航行器(UUV)远程无线充电系统，可以通过UUV母体为定点对欠电子UUV实现召回并进行无线充电，无需人为对子UUV进行打捞，节省了因为人工打捞子UUV充电的成本和工作程序，提高UUV的工作效率；母体UUV的半球型线圈阵列形状形成磁聚焦并以MISO形式完成对子UUV的高效充电，提高母体UUV的充电效率；具有较高的推广应用价值。A remote wireless charging system for an unmanned underwater vehicle (UUV) designed by the present invention can use the UUV parent body as a fixed point to recall and wirelessly charge the under-electronic UUV, without the need to manually salvage the sub-UUV, which saves labor costs. Salvage the cost and working procedures of sub-UUV charging to improve the working efficiency of UUV; the shape of the hemispherical coil array of the parent UUV forms magnetic focus and completes the efficient charging of the sub-UUV in the form of MISO, improving the charging efficiency of the parent UUV; Promote application value.

附图说明Description of drawings

图1是本发明的系统结构框图。Fig. 1 is a system structure block diagram of the present invention.

图2是半球型线圈阵列侧视(左)与俯视(右)图。Fig. 2 is a side view (left) and a top view (right) of the hemispherical coil array.

具体实施方式Detailed ways

为了对本发明的方案及效果做出清楚完整的描述，通过以下实施例进行详细说明；In order to make a clear and complete description of the scheme and effect of the present invention, the following examples are described in detail;

实施例1Example 1

一种无人水下航行器(UUV)远程无线充电系统，其特征在于，包括：子UUV和UUV母体，UUV母体定点放置，若干子UUV依附于UUV母体上；A remote wireless charging system for an unmanned underwater vehicle (UUV), characterized in that it includes: a sub-UUV and a UUV parent body, the UUV parent body is placed at a fixed point, and several sub-UUVs are attached to the UUV parent body;

所述UUV母体内设置有母体无线充模块、ARM CPU、声呐信号发生器、收发合置的水声换能器、无线传输交互模块；子UUV内设置有UUV无线充模块、ARM CPU、电力监测模块、收发合置的水声换能器、声呐信号接收器、脉冲激光测距模块、无线传输交互模块；The UUV mother body is equipped with a mother body wireless charging module, ARM CPU, sonar signal generator, an underwater acoustic transducer with a combined transceiver, and a wireless transmission interaction module; a UUV wireless charging module, ARM CPU, and power monitoring are installed in the sub-UUV Module, underwater acoustic transducer with combined transceiver, sonar signal receiver, pulsed laser ranging module, wireless transmission interactive module;

所述母体UUV无线充模块将电流处理以无线电磁波的形式发射出去，由子UUV无线充模块接收后进行整流存储，供自身使用；The parent UUV wireless charging module emits the current processing in the form of wireless electromagnetic waves, which is rectified and stored by the child UUV wireless charging module for its own use;

所述电量监测模块用于对子UUV蓄电池电量进行实时监测，且与ARM CPU连接，当电量低于阈值后，ARM CPU发出指令给子UUV，使其寻找UUV母体进行充电；The power monitoring module is used for real-time monitoring of the battery power of the sub-UUV, and is connected to the ARM CPU. When the power is lower than the threshold, the ARM CPU sends an instruction to the sub-UUV to make it look for the UUV parent to charge;

子UUV内无线传输交互模块同时将子UUV低电量信号通过其上的收发合置的水声换能器转换成声信号，经发射换能器被UUV母体内的收发合置的水声换能器接收并转换为电信号，由UUV母体确认子UUV处于低电量，ARM CPU对声呐信号发生器发出召回充电指令，与声呐信号发生器连接的收发合置的水声换能器发射对应的声波信号，对子UUV进行巡航引导至UUV母体区域；The wireless transmission interaction module in the sub-UUV simultaneously converts the low-battery signal of the sub-UUV into an acoustic signal through the underwater acoustic transducer installed on it, and is converted by the underwater acoustic transducer installed in the UUV parent body through the transmitting transducer The UUV parent body confirms that the child UUV is in low battery, the ARM CPU sends a recall charging command to the sonar signal generator, and the underwater acoustic transducer connected to the sonar signal generator emits corresponding sound waves Signal, cruise and guide the child UUV to the UUV parent area;

所述收发合置的声呐水声换能器接收来自UUV母体的召回声信号，经其巡航引导至UUV母体区域；The sonar underwater acoustic transducer combined with the transceiver receives the recall sound signal from the UUV mother body, and guides it to the UUV mother body area through its cruise;

所述脉冲激光测距模块负责子UUV与UUV母体间的距离判定，当子UUV到达与UUV母体设定的有效充电距离之后，ARM CPU对子UUV发出停止前进的指令；同时UUV母体的母体无线充模块开启无线充电模式；The pulse laser ranging module is responsible for determining the distance between the sub-UUV and the UUV parent body. When the sub-UUV reaches the effective charging distance set with the UUV parent body, the ARM CPU sends an instruction to the sub-UUV to stop advancing; The charging module turns on the wireless charging mode;

优选的，所述母体无线充模块具体包括：AC/DC转换器、变频器、电力输出线圈；UUV母体直接直流电源，经过AC/DC转换器将直流电变为交流电，经过变频器变频后经过电力输出线圈以特定频率的电磁波形式进行传输；当子UUV到达UUV母体区域，并且距离UUV母体为设定距离后，UUV母体开始为子UUV供电；Preferably, the parent wireless charging module specifically includes: an AC/DC converter, a frequency converter, and a power output coil; the direct DC power supply of the UUV parent body converts direct current into alternating current through the AC/DC converter, and passes through the power supply after frequency conversion by the frequency converter. The output coil transmits in the form of electromagnetic waves of a specific frequency; when the sub-UUV reaches the UUV parent area and is at a set distance from the UUV parent, the UUV parent starts to supply power to the sub-UUV;

优选的，所述子UUV无线充模块具体包括：电力接收线圈、整流电力模块、电池；所述电力接收线圈接收到来自UUV母体相同特定频率的电磁波，通过磁共振形式接收来自UUV母体的电能，经过整流电力模块对接收的电能进行频率、直交流模式调整后，由电池进行存储；Preferably, the sub-UUV wireless charging module specifically includes: a power receiving coil, a rectified power module, and a battery; the power receiving coil receives electromagnetic waves of the same specific frequency from the UUV parent body, and receives electrical energy from the UUV parent body in the form of magnetic resonance, After the rectified power module adjusts the frequency and DC mode of the received electric energy, it is stored by the battery;

优选的，所述脉冲激光测距模块具体包括：激光发射器、激光接收器、计时电路、信号处理器；所述子UUV上的激光发射器发出一个持续时间极短的脉冲激光，经过待测距离L后，被UUV母体反射，反射的脉冲激光回到子UUV被激光接收器接收，计时电路通过计算得出激光从发射到返回接收的时间t，再由信号处理器结合t计算得出距离L；当子UUV与UUV母体间距小于100mm时，UUV停止向UUV母体靠近；Preferably, the pulsed laser ranging module specifically includes: a laser transmitter, a laser receiver, a timing circuit, and a signal processor; the laser transmitter on the sub-UUV emits a pulsed laser with a very short duration, and passes through the After the distance L, it is reflected by the UUV parent body, and the reflected pulsed laser returns to the sub-UUV and is received by the laser receiver. The timing circuit calculates the time t from the emission of the laser to the return and reception of the laser, and then calculates the distance by combining t with the signal processor. L; when the distance between the child UUV and the UUV parent body is less than 100mm, the UUV stops approaching the UUV parent body;

优选的，所述收发合置水声换能器共有两个，一个放置在UUV母体，另一个放置在子UUV，子UUV发射出的欠电信号通过发射换能器变为声信号后通过海洋传输被UUV母体的接收换能器接收后，经由ARM CPU内程序算法分析处理，实现UUV母体对子UUV的导航；Preferably, there are two combined underwater acoustic transducers for transmitting and receiving, one is placed on the UUV parent body, the other is placed on the sub-UUV, and the under-electrical signal emitted by the sub-UUV passes through the ocean after being converted into an acoustic signal by the transmitting transducer After the transmission is received by the receiving transducer of the UUV parent body, it is analyzed and processed by the program algorithm in the ARM CPU to realize the navigation of the UUV parent body to the child UUV;

优选的，所述电量监测模块具体包括：单片机、电流检测传感器、存储器；存储器中存储特定电池的放电特性数据和校正参数，并采集电池组的开路电压、充放电电流运用剩余电量计算算法计算电池组的剩余电量。Preferably, the power monitoring module specifically includes: a single-chip microcomputer, a current detection sensor, and a memory; the memory stores discharge characteristic data and correction parameters of a specific battery, and collects the open circuit voltage and charge and discharge current of the battery pack and uses the remaining power calculation algorithm to calculate the battery The remaining power of the group.

实施例2Example 2

基于实施例1一种无人水下航行器(UUV)远程无线充电系统，本发明另一目的在于提供通过上述系统实现控制以及无线充电的方法，包括以下步骤：Based on Embodiment 1, a remote wireless charging system for an unmanned underwater vehicle (UUV), another object of the present invention is to provide a method for realizing control and wireless charging through the above system, including the following steps:

S1：子UUV在巡航过程中，其内的电量监测模块实时对蓄电池的电量进行监测，电量信息通过无线传输交互模块以脉冲电磁波形式并经过发射换能器由UUV母体接收换能器交互至UUV母体的无线传输交互模块；S1: During the cruising process of the sub-UUV, the power monitoring module in it monitors the power of the battery in real time. The power information is transmitted to the UUV in the form of pulsed electromagnetic waves through the wireless transmission interaction module and through the transmitting transducer from the receiving transducer of the UUV parent body. The wireless transmission interaction module of the mother body;

S2：当UUV母体接收到的剩余电量信息低于设定的阈值时，UUV母体通过ARM CPU发出子UUV召回指令，同时控制声呐信号发生器产生召回声呐信号经由发射换能器发射；S2: When the remaining power information received by the UUV parent body is lower than the set threshold, the UUV parent body sends a sub-UUV recall command through the ARM CPU, and at the same time controls the sonar signal generator to generate a recall sonar signal through the transmitting transducer;

S3：子UUV上的接收换能器收到UUV母体UUV召回指令信息后，经由ARM CPU算法分析处理，开始在UUV母体的导航下靠近UUV母体；S3: After the receiving transducer on the child UUV receives the UUV parent UUV recall instruction information, it analyzes and processes it through the ARM CPU algorithm, and starts to approach the UUV parent under the navigation of the UUV parent;

S4：在子UUV靠近UUV母体的过程中，UUV上的脉冲激光测距模块通过对发出和接收的激光计时，并通过计时时间计算出与UUV母体的间距；S4: When the sub-UUV is approaching the UUV parent body, the pulsed laser ranging module on the UUV counts the emitted and received lasers, and calculates the distance from the UUV parent body through the timing time;

S5：当子UUV与UUV母体间的距离达到设定距离100mm时，子UUV停止移动，同时UUV母体的母体无线充电模块将电流以特定频率的无线电磁波形式发送至UUV无线充模块，形成磁共振效应，开始为UUV实现无线充电。S5: When the distance between the sub-UUV and the UUV parent body reaches the set distance of 100mm, the sub-UUV stops moving, and at the same time, the parent wireless charging module of the UUV parent body sends the current to the UUV wireless charging module in the form of wireless electromagnetic waves of a specific frequency to form magnetic resonance Effect, began to realize wireless charging for UUV.

综上所述，本发明提供的系统以UUV母体为中心，若干UUV为子体，UUV子体实现自身电量监测并与UUV母体进行信息交互；UUV母体可对UUV进行召回，并以磁共振形式为UUV实现无线充电。In summary, the system provided by the present invention is centered on the UUV parent body, and several UUVs are daughter bodies. The UUV daughter bodies can monitor their own electricity and perform information interaction with the UUV parent body; Wireless charging for UUV.

在本说明书的描述中，参考术语“一个实施例”、“示例”、“具体示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本发明的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任何的一个或多个实施例或示例中以合适的方式结合。In the description of this specification, descriptions with reference to the terms "one embodiment", "example", "specific example" and the like mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment of the present invention. In an embodiment or example. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

以上公开的本发明优选实施例只是用于帮助阐述本发明。优选实施例并没有详尽叙述所有的细节，也不限制该发明仅为所述的具体实施方式。显然，根据本说明书的内容，可作很多的修改和变化。本说明书选取并具体描述这些实施例，是为了更好地解释本发明的原理和实际应用，从而使所属技术领域技术人员能很好地理解和利用本发明。本发明仅受权利要求书及其全部范围和等效物的限制。The preferred embodiments of the invention disclosed above are only to help illustrate the invention. The preferred embodiments are not exhaustive in all detail, nor are the inventions limited to specific embodiments described. Obviously, many modifications and variations can be made based on the contents of this specification. This description selects and specifically describes these embodiments in order to better explain the principle and practical application of the present invention, so that those skilled in the art can well understand and utilize the present invention. The invention is to be limited only by the claims, along with their full scope and equivalents.

Claims (8)

Translated fromChinese

1.一种无人水下航行器远程无线充电系统，其特征在于，包括：多个子UUV和UUV母体，UUV母体定点放置，若干子UUV依附于UUV母体上；1. A remote wireless charging system for an unmanned underwater vehicle, characterized in that it includes: multiple sub-UUVs and UUV mother bodies, the UUV mother bodies are placed at fixed points, and several sub-UUVs are attached to the UUV mother bodies;所述UUV母体内设置有母体无线充模块、ARMCPU、声呐信号发生器、收发合置的水声换能器、无线传输交互模块；子UUV内设置有UUV无线充模块、ARMCPU、电力监测模块、收发合置的水声换能器、声呐信号接收器、脉冲激光测距模块、无线传输交互模块；The UUV parent body is provided with a parent wireless charging module, ARMCPU, sonar signal generator, underwater acoustic transducer combined with transceivers, and a wireless transmission interaction module; the sub UUV is provided with a UUV wireless charging module, ARMCPU, power monitoring module, Underwater acoustic transducer, sonar signal receiver, pulsed laser ranging module, and wireless transmission interactive module combined with sending and receiving;所述母体UUV无线充模块将电流处理以无线电磁波的形式发射出去，由子UUV无线充模块接收后进行整流存储，供自身使用；The parent UUV wireless charging module emits the current processing in the form of wireless electromagnetic waves, which is rectified and stored by the child UUV wireless charging module for its own use;所述电量监测模块用于对子UUV蓄电池电量进行实时监测，且与ARMCPU连接，当电量低于阈值后，ARMCPU发出指令给子UUV，使其寻找UUV母体进行充电；The power monitoring module is used for real-time monitoring of the battery power of the sub-UUV, and is connected to the ARMCPU. When the power is lower than the threshold, the ARMCPU sends an instruction to the sub-UUV to make it look for the UUV parent to charge;子UUV内无线传输交互模块同时将子UUV低电量信号通过其上的收发合置的水声换能器转换成声信号，经发射换能器被UUV母体内的收发合置的水声换能器接收并转换为电信号，由UUV母体确认子UUV处于低电量，ARMCPU对声呐信号发生器发出召回充电指令，与声呐信号发生器连接的收发合置的水声换能器发射对应的声波信号，对子UUV进行巡航引导至UUV母体区域；The wireless transmission interaction module in the sub-UUV simultaneously converts the low-battery signal of the sub-UUV into an acoustic signal through the underwater acoustic transducer installed on it, and is converted by the underwater acoustic transducer installed in the UUV parent body through the transmitting transducer The UUV parent body confirms that the child UUV is in low battery, and the ARMCPU sends a recall charging command to the sonar signal generator, and the underwater acoustic transducer connected to the sonar signal generator emits a corresponding sound wave signal , cruise and guide the child UUV to the UUV parent area;所述收发合置的水声换能器接收来自UUV母体的召回声信号，经其巡航引导至UUV母体区域；The underwater acoustic transducer combined with the transceiver receives the recall sound signal from the UUV mother body, and guides it to the UUV mother body area through its cruise;所述脉冲激光测距模块负责子UUV与UUV母体间的距离判定，当子UUV到达与UUV母体设定的有效充电距离之后，ARMCPU对子UUV发出停止前进的指令；同时UUV母体的母体无线充模块开启无线充电模式。The pulse laser ranging module is responsible for determining the distance between the sub-UUV and the UUV parent body. When the sub-UUV reaches the effective charging distance set with the UUV parent body, the ARMCPU sends an instruction to stop the progress of the sub-UUV; The module turns on the wireless charging mode.2.根据权利要求1所述一种无人水下航行器远程无线充电系统，其特征在于，所述母体UUV无线充模块具体包括：AC/DC转换器、变频器、电力输出线圈；UUV母体直接直流电源，经过AC/DC转换器将直流电变为交流电，经过变频器变频后经过电力输出线圈以特定频率的电磁波形式进行传输。2. A remote wireless charging system for an unmanned underwater vehicle according to claim 1, wherein the wireless charging module of the parent UUV specifically includes: an AC/DC converter, a frequency converter, and a power output coil; the UUV parent body Direct DC power supply, through the AC/DC converter, the DC power is converted into AC power, and after frequency conversion by the frequency converter, it is transmitted in the form of electromagnetic waves of a specific frequency through the power output coil.3.根据权利要求1所述一种无人水下航行器远程无线充电系统，其特征在于，所述母体UUV含有多个无线充模块且包含多个绝缘处理的充电线圈。3. A remote wireless charging system for an unmanned underwater vehicle according to claim 1, wherein the parent UUV contains a plurality of wireless charging modules and includes a plurality of insulated charging coils.4.根据权利要求1所述一种无人水下航行器远程无线充电系统，其特征在于，所述母体UUV含有五个无线充模块且包含五个绝缘处理的充电线圈排列成说明书附图图2的半球型线圈阵列形状形成磁聚焦并以MISO形式完成对子UUV的充电。4. A remote wireless charging system for an unmanned underwater vehicle according to claim 1, wherein the parent UUV contains five wireless charging modules and includes five insulating charging coils arranged in the accompanying drawings The shape of the hemispherical coil array of 2 forms magnetic focus and completes the charging of the sub-UUV in the form of MISO.5.根据权利要求1所述一种无人水下航行器远程无线充电系统，其特征在于，所述子UUV无线充模块具体包括：电力接收线圈、整流电力模块、电池；所述电力接收线圈接收到来自UUV母体相同特定频率的电磁波，通过磁共振形式接收来自UUV母体的电能，经过整流电力模块对接收的电能进行频率、直交流模式调整后，由电池进行存储。5. A remote wireless charging system for an unmanned underwater vehicle according to claim 1, wherein the sub-UUV wireless charging module specifically includes: a power receiving coil, a rectifying power module, and a battery; the power receiving coil After receiving the electromagnetic waves of the same specific frequency from the UUV parent body, the electric energy from the UUV parent body is received through magnetic resonance, and the rectified power module adjusts the frequency and DC/AC mode of the received electric energy, and then it is stored by the battery.6.根据权利要求1所述一种无人水下航行器远程无线充电系统，其特征在于，所述脉冲激光测距模块具体包括：激光发射器、激光接收器、计时电路、信号处理器；所述子UUV上的激光发射器发出一个持续时间极短的脉冲激光，经过待测距离L后，被UUV母体反射，反射的脉冲激光回到子UUV被激光接收器接收，计时电路通过计算得出激光从发射到返回接收的时间t，再由信号处理器结合t计算得出距离L。6. A remote wireless charging system for an unmanned underwater vehicle according to claim 1, wherein the pulsed laser ranging module specifically includes: a laser transmitter, a laser receiver, a timing circuit, and a signal processor; The laser transmitter on the sub-UUV emits a pulsed laser with a very short duration. After passing the distance L to be measured, it is reflected by the UUV parent body. The reflected pulsed laser returns to the sub-UUV and is received by the laser receiver. The timing circuit calculates The time t from the emission of the laser to the return and reception of the laser light is calculated by the signal processor in combination with t to obtain the distance L.7.根据权利要求1所述一种无人水下航行器远程无线充电系统，其特征在于，所述收发合置水声换能器共有两个，一个放置在UUV母体，另一个放置在子UUV，子UUV发射出的欠电信号通过发射换能器变为声信号后通过海洋传输被UUV母体的接收换能器接收后，经由ARMCPU内程序算法分析处理，实现UUV母体对子UUV的导航。7. A remote wireless charging system for an unmanned underwater vehicle according to claim 1, wherein there are two underwater acoustic transducers for transmitting and receiving, one is placed on the UUV parent body, and the other is placed on the child body. UUV, the under-power signal emitted by the sub-UUV is converted into an acoustic signal by the transmitting transducer, and then it is received by the receiving transducer of the UUV parent body through ocean transmission. After being analyzed and processed by the program algorithm in the ARMCPU, the navigation of the UUV parent body to the sub-UUV is realized. .8.根据权利要求1所述一种无人水下航行器远程无线充电系统，其特征在于，所述电量监测模块具体包括：单片机、电流检测传感器、存储器；存储器中存储特定电池的放电特性数据和校正参数，并采集电池组的开路电压、充放电电流运用剩余电量计算算法计算电池组的剩余电量。8. A remote wireless charging system for an unmanned underwater vehicle according to claim 1, wherein the power monitoring module specifically includes: a single-chip microcomputer, a current detection sensor, and a memory; the memory stores discharge characteristic data of a specific battery and calibration parameters, and collect the open circuit voltage, charge and discharge current of the battery pack and use the remaining power calculation algorithm to calculate the remaining power of the battery pack.

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