CN112208366A - Wireless charging system, device and charging method for underwater vehicle - Google Patents
Wireless charging system, device and charging method for underwater vehicle Download PDFInfo
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- CN112208366A CN112208366A CN201910624546.7A CN201910624546A CN112208366A CN 112208366 A CN112208366 A CN 112208366A CN 201910624546 A CN201910624546 A CN 201910624546A CN 112208366 A CN112208366 A CN 112208366A
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- underwater vehicle
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- charging
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
- B60L53/12—Inductive energy transfer
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/30—Constructional details of charging stations
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/10—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/90—Circuit arrangements or systems for wireless supply or distribution of electric power involving detection or optimisation of position, e.g. alignment
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/32—Waterborne vessels
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/12—Electric charging stations
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The invention provides a wireless charging system, a wireless charging device and a wireless charging method for an underwater vehicle, belonging to the technical field of underwater wireless charging, wherein the wireless charging system for the underwater vehicle comprises the underwater vehicle and the wireless charging device, and the underwater vehicle comprises a wireless receiving end with a receiving coil; the wireless charging device comprises a charging platform, a wireless transmitting end is arranged in the charging platform, and a mobile device which can move under the control of the wireless transmitting end is arranged, the wireless transmitting end comprises a transmitting coil, and the transmitting coil is arranged on the mobile device. The cruising ability of the underwater vehicle can be improved through a wireless charging technology; the underwater vehicle is not required to have an accurate positioning function, wireless charging can be achieved, and the underwater vehicle has the advantage of low cost.
Description
Technical Field
The invention belongs to the technical field of underwater wireless charging, and particularly relates to a wireless charging system, a wireless charging device and a wireless charging method for an underwater vehicle.
Background
The wireless charging system is a technology for transmitting electric energy through space electromagnetic field coupling, and has the main advantages that plugging and unplugging are not needed, the use is simple and convenient, the charging equipment can be waterproof, the energy transmission is carried out in water, and the wireless charging system can be applied to marine equipment.
In the industry of underwater vehicles, one of the biggest problems to date is battery continuation and replacement, the battery needs to be salvaged and replaced manually at regular time, and the cost is very high, so that the underwater vehicle adopts underwater wireless charging as a trend, but the current underwater wireless charging mode is autonomous navigation and positioning of the underwater vehicle, the underwater sonar is used for positioning to a very accurate position for charging, for example, a horn mouth-shaped charging position is manufactured in some cases, the underwater vehicle is drilled and clamped, and then the underwater vehicle is wirelessly charged, but the common sonar positioning accuracy is not accurate, so that the underwater vehicle cannot be found even if the horn mouth is connected, and the failure of the charging process can be caused.
Disclosure of Invention
Aiming at the technical problems, the invention provides a wireless charging system, a wireless charging device and a wireless charging method for an underwater vehicle, the cruising ability of the underwater vehicle can be improved through a wireless charging technology, and the salvage cost is reduced; the underwater vehicle is not required to have an accurate positioning function, wireless charging can be achieved, and the underwater vehicle has the advantage of low cost.
In order to achieve the purpose, the invention adopts the technical scheme that:
as one aspect of the present invention, a wireless charging system for an underwater vehicle comprises an underwater vehicle and a wireless charging device, wherein the underwater vehicle comprises a wireless receiving end with a receiving coil; the wireless charging device comprises a charging platform, a wireless transmitting end and a mobile device, wherein the charging platform is internally provided with the wireless transmitting end, the mobile device can move under the control of the wireless transmitting end, the wireless transmitting end comprises a transmitting coil, and the transmitting coil is arranged on the mobile device.
Preferably, with reference to an X axis and a Y axis perpendicular to each other, the moving device includes a first frame disposed along a periphery of the charging platform, a second frame slidably connected to the first frame along the Y axis direction, and a coil fixing base slidably connected to the second frame along the X axis direction, and the transmitting coil is fixedly connected to the coil fixing base.
Preferably, the moving device further includes a first motor screw assembly for driving the second frame to slide, and a second motor screw assembly for driving the coil fixing seat to slide, the first motor screw assembly is connected to the first frame, and the second motor screw assembly is connected to the second frame.
Preferably, the wireless charging device further comprises a power supply connected with the wireless transmitting terminal, and the power supply is connected to the outside of the charging platform through a cable.
Preferably, the wireless transmitting terminal comprises a first communication module capable of receiving the signal of the wireless receiving terminal, and a transmitting terminal circuit capable of processing the signal of the first communication module and controlling the moving direction of the mobile device, wherein the transmitting terminal circuit is connected with the first communication module; the wireless receiving end comprises a second communication module capable of establishing communication with the first communication module and a receiving end circuit used for charging a battery of the underwater vehicle, and the receiving end circuit is connected with the second communication module.
Preferably, the underwater vehicle further comprises a controller capable of receiving and processing the signal of the second communication module and controlling the action of the vehicle, and the controller is connected with the wireless receiving end.
Preferably, the underwater vehicle comprises a body and a foot rest arranged on the body, and the receiving coil is connected to the foot rest.
As another aspect of the present invention, a wireless charging device is provided, which is used for charging an underwater vehicle, and includes a charging platform, a wireless transmitting terminal and a mobile device, wherein the charging platform is provided with the wireless transmitting terminal, the mobile device is capable of moving under the control of the wireless transmitting terminal, and the wireless transmitting terminal includes a transmitting coil, and the transmitting coil is disposed on the mobile device.
As another aspect of the present invention, a wireless charging method is provided, based on the above wireless charging system, including the following steps: when the wireless transmitting end receives a signal that the underwater vehicle falls into the charging platform area, the mobile device is controlled to drive the transmitting coil to move according to a preset route, and after the magnetic field feedback of the receiving coil in the underwater vehicle is detected, the wireless transmitting end controls the moving direction of the mobile device according to the magnetic field feedback signal of the wireless receiving end until the position of the transmitting coil is accurately aligned with the position of the receiving coil, so that charging is carried out.
Preferably, the method further comprises the following steps: when the fact that the working distance between the receiving coil and the transmitting coil is not within the specified range is detected, the wireless receiving end sends a signal to a controller in the underwater vehicle, and the controller controls the underwater vehicle to move towards the wireless charging platform until the working distance falls within the preset working distance range.
Compared with the prior art, the invention has the advantages and positive effects that:
1. according to the invention, the mobile device is arranged in the wireless charging platform, the transmitting coil is fixed on the mobile device, the mobile device drives the transmitting coil to move under the control of the wireless transmitting end, and when the underwater vehicle falls on the wireless charging platform, the transmitting coil is driven to move by the mobile device, so that the transmitting coil is aligned with the receiving coil on the underwater vehicle, and the problem that the underwater vehicle needs to be accurately positioned in the prior art can be avoided.
2. According to the mobile device, the first frame is arranged in the platform along the periphery of the platform, the second frame slides along the first frame in the Y-axis direction, the transmitting coil moves along the second frame in the X-axis direction, the transmitting coil can move in the X-axis direction and the Y-axis direction, the receiving coil on the underwater vehicle can be found by controlling the mobile device to move in the X-axis direction and the Y-axis direction through the wireless transmitting end, and the mobile device has the advantage of being simple in structure.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a functional block diagram of a wireless charging system provided in the present invention;
fig. 2 is a schematic structural diagram of a mobile device in a wireless charging system according to the present invention;
fig. 3 is a schematic structural diagram of a wireless charging system provided in the present invention;
fig. 4 is a graph of vertical working distance of a coil and system gain in the wireless charging system provided by the present invention;
fig. 5 is a flow chart of a wireless charging method for an underwater vehicle provided by the present invention;
in the above figures: 1. an underwater vehicle; 10. a controller; 11. a second communication module; 12. a receiving end circuit; 13. a receiving coil; 14. a battery; 15. a foot rest; 16. a power drain outlet; 2. a wireless charging device; 20. a mobile device; 201. a first frame; 202. a second frame; 203. a coil fixing seat; 204. a first lead screw; 205. a first motor; 206. a second lead screw; 207. a second motor; 21. a first communication module; 22. a transmitting end circuit; 23. a transmitting coil; 24. a power source; 25. a cable.
Detailed Description
The invention is described in detail below by way of exemplary embodiments. It should be understood, however, that elements, structures and features of one embodiment may be beneficially incorporated in other embodiments without further recitation.
The terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the prior art, in order to ensure the cruising ability of an underwater vehicle and avoid the trouble of manually salvaging and replacing a battery, the technology for wirelessly and automatically charging the underwater vehicle has come up, a wireless charging device is arranged underwater, when the electric quantity of the underwater vehicle is insufficient, the underwater vehicle can be moved to the charging device for wireless charging, when the underwater vehicle is wirelessly charged underwater, the maximum charging efficiency can be realized only by accurately aligning a transmitting coil and a receiving coil, in order to achieve accurate alignment, a means for improving the positioning accuracy of the underwater vehicle can be adopted, but higher cost can be caused, or a manipulator is arranged on the charging device, and the underwater vehicle is positioned on a charging platform through the manipulator, so that the problem of complicated structure can be caused; based on the technical problems, the invention provides the following inventive concepts: by arranging the transmitting coil of the wireless charging device in a movable mode, when the underwater vehicle falls on the wireless charging device, the transmitting coil can track the position of the receiving coil in the underwater vehicle and move to the underwater vehicle to charge the underwater vehicle, so that the problem of high cost caused by improvement of the positioning accuracy of the underwater vehicle can be avoided, the structure of the wireless charging device can be simplified, and the wireless charging device has the advantages of simple structure and low cost.
For better understanding of the above technical solutions, the following detailed descriptions are provided with reference to the accompanying drawings and specific embodiments.
As one aspect of the present invention, referring to fig. 1 to 3, a wireless charging system is provided, including an underwater vehicle 1 and a wireless charging device 2, where the underwater vehicle 1 includes a body and a foot rest 15 disposed on the body, a wireless receiving end is disposed in the body, and a receiving coil 13 of the wireless receiving end is connected to the foot rest 15; the wireless charging device 2 comprises a wireless transmitting terminal and a mobile device 20, wherein a transmitting coil 23 of the wireless transmitting terminal is fixedly connected to the mobile device 20, and the mobile device 20 can move under the control of the wireless transmitting terminal. The mobile device 20 is arranged on the wireless charging device 2, the transmitting coil 23 is fixed on the mobile device 20, the mobile device 20 drives the transmitting coil 23 to move under the control of the wireless transmitting end, when the underwater vehicle 1 falls on the wireless charging device 2, the transmitting coil 23 is driven to move through the mobile device 20, and the transmitting coil 23 is aligned with the receiving coil 13 on the underwater vehicle 1.
Specifically, the wireless charging device comprises a charging platform, the wireless transmitting end and the mobile device 20 are arranged inside the charging platform, and the underwater vehicle 1 falls onto the charging platform for charging; the purpose of the moving device 20 is mainly to drive the transmitting coil 23 to move inside the charging platform, and when the underwater vehicle 1 falls to the position of the charging platform and deviates from the transmitting coil 23, the moving device 20 can drive the transmitting coil 23 to move to the underwater vehicle 1, so that the transmitting coil 23 is aligned with the receiving coil 13 of the underwater vehicle 1.
Regarding the specific structure of the mobile device 20, referring to fig. 2, with the mutually perpendicular X-axis and Y-axis as references, the mobile device 20 includes a first frame 201, a second frame 202 and a coil fixing seat 203, the first frame 201 is disposed along the periphery of the charging platform, the second frame 202 is slidably connected to the first frame 201 along the Y-axis direction, the coil fixing seat 203 is slidably connected to the second frame 202 along the X-axis direction, and the transmitting coil 23 is fixedly connected to the coil fixing seat 203. According to the mobile device, the first frame 201 is arranged inside the charging platform along the periphery of the charging platform, the second frame 202 slides along the first frame 201 in the Y-axis direction, and the transmitting coil 23 moves along the second frame 202 in the X-axis direction, so that the transmitting coil 23 can move in the X-axis direction and the Y-axis direction, and the receiving coil 13 on the underwater vehicle can be accurately found by controlling the mobile device 20 to move in the X-axis direction and the Y-axis direction through the wireless transmitting end.
The coil fixing base 203 and the second frame 202 slide by means of a motor screw, that is, the first motor screw assembly drives the second frame 202 to slide, and the second motor screw assembly drives the coil fixing base 203 to slide.
Specifically, the first motor screw assembly is connected to the first frame 201, and the second motor screw assembly is connected to the second frame 202, that is, the first motor 205 drives the first screw 204 to rotate, so as to drive the second frame 202 to move along the Y axis, and the second motor 207 drives the second screw 206 to rotate, so as to drive the coil fixing base 203 to move along the X axis.
Specifically, the wireless charging device 2 further comprises a power supply 24, the power supply 24 supplies power to the wireless charging device 2, the power supply 24 is connected with the charging platform through a cable 25, and the power supply 24 can be obtained through a submarine cable or wind energy.
Specifically, in order to realize wireless charging and control the movement of the mobile device, the wireless transmitting end includes a first communication module 21 and a transmitting end circuit 22, the first communication module 21 can receive signals of the wireless receiving end, the transmitting end circuit 22 can process the signals of the first communication module 21 and control the movement direction of the mobile device 20, and the transmitting end circuit 22 is connected with the first communication module 21; the wireless receiving end comprises a second communication module 11 and a receiving end circuit 12, the second communication module 11 can establish communication with the first communication module 21, the receiving end circuit 12 is used for charging a battery 14 of the underwater vehicle, and the receiving end circuit 12 is connected with the second communication module 11.
When the underwater vehicle falls down and the receiving coil 13 is not located in the effective range of the magnetic field, the mobile device 20 will move according to a fixed path, and along with the movement of the transmitting coil 23, after the receiving coil 13 enters the range of the magnetic field, the wireless transmitting end will output a motor driving signal according to the rectified voltage signal returned by the first communication module 21 to drive the first motor 205 and the second motor 207 to drive the transmitting coil 23 to perform position calibration, so that the transmitting coil 23 is aligned with the receiving coil 13, and the wireless system operates in the state of the highest efficiency, generally speaking, the closer the center distance between the two coils is, the higher the system gain is, the higher the system efficiency is, and the higher the rectified voltage signal is; after the coil horizontal position is calibrated, the system will enter a vertical calibration step, and when the vertical distance is also calibrated, the wireless transmitting end will transmit energy to the wireless receiving end through the transmitting coil 23.
The underwater vehicle also comprises a controller 10 which can receive and process signals of the second communication module 11 and control the motion of the underwater vehicle 1, wherein the controller 10 is connected with a wireless receiving end, and after the system is horizontally calibrated, the underwater vehicle 1 may not fall on a charging plane or have a certain gap due to the fluctuation of seawater, that is, the wireless charging distance is not within a specified range. As shown in fig. 4, the closer the distance between the coils is, the higher the gain is, the larger the rectified voltage signal is, when the vertical distance between the coils is far, the wireless transmitting end determines that the rectified voltage signal is relatively small, if the rectified voltage signal is not within the vertical distance specified by the wireless charging system, the wireless receiving end will send a communication signal to the underwater vehicle 1 to enable the underwater vehicle to continue to lower the height, and after receiving the signal, the underwater vehicle 1 will control the power drainage system to drain water through the power drainage port 16 to enable the underwater vehicle to fall, so that after completely landing on the charging plane, the process is ended.
As another aspect of the present invention, there is provided a wireless charging method including the steps of: when the wireless transmitting end receives a signal that the underwater vehicle falls into the charging platform area, the mobile device is controlled to drive the transmitting coil to move according to a preset route, and after the magnetic field feedback of the receiving coil in the underwater vehicle is detected, the wireless transmitting end controls the moving direction of the mobile device according to the magnetic field feedback signal of the wireless receiving end until the position of the transmitting coil is accurately aligned with the position of the receiving coil, so that charging is carried out.
Further, when the current aircraft does not fall on the charging platform, i.e. the wireless charging distance is not within the specified range, the present invention solves this problem by the following steps: when the fact that the working distance between the receiving coil and the transmitting coil is not within the specified range is detected, the wireless receiving end sends a signal to a controller in the underwater vehicle, and the controller controls the underwater vehicle to move towards the wireless charging platform until the working distance falls within the preset working distance range.
To more clearly illustrate the charging method, referring to fig. 5, after the underwater vehicle lands on the charging platform, the underwater vehicle controller will send a landing instruction to the wireless receiving end, the wireless receiving end will inform the wireless transmitting end through the communication module after receiving the instruction, the wireless transmitting end circuit will output a motor control signal to drive the mobile device to move, so that the transmitting coil tracks the position of the receiving coil, in the process, the mobile device will initially move according to a fixed path, move along with the transmitting coil, when the receiving coil enters the magnetic field range, the wireless receiving end will collect a rectified voltage signal and transmit the rectified voltage signal to the wireless transmitting end through the communication module, the wireless transmitting end will output a motor driving signal according to the rectified voltage signal to drive the motor to drive the transmitting coil to perform horizontal position calibration, so that the transmitting coil is aligned with the receiving coil, the wireless system works in the state of the highest efficiency, generally, the closer the center distance between the two coils is, the higher the system gain is, the higher the system efficiency is, and the higher the rectified voltage signal is; after the horizontal position is calibrated, the system enters a vertical calibration step, if the horizontal position is not within the specified vertical distance of the wireless charging system, the wireless receiving end sends a communication signal to the underwater vehicle to enable the underwater vehicle to continue to reduce the height, and after the underwater vehicle receives the signal, the underwater vehicle controls the power drainage system to enable the underwater vehicle to fall until the underwater vehicle falls on a charging plane; when the underwater vehicle battery is in an aligned state, the wireless transmitting end circuit starts energy transmission by combining the transmitting end coil, and the wireless receiving end receives energy and charges the underwater vehicle battery; when the underwater vehicle is fully charged or the underwater vehicle needs to leave, the underwater vehicle sends a leaving instruction to the wireless receiving end, the wireless receiving end sends an energy transmission stopping instruction to the wireless transmitting end through the communication module after receiving the instruction, and the wireless transmitting end stops energy transmission; and then the wireless receiving end informs the underwater vehicle of leaving through the communication module, and finally the underwater vehicle leaves the charging platform, and the whole process is finished.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (10)
1. The wireless charging system of the underwater vehicle comprises the underwater vehicle and a wireless charging device, and is characterized in that the underwater vehicle comprises a wireless receiving end; the wireless charging device comprises a charging platform, a wireless transmitting end and a mobile device, wherein the charging platform is internally provided with the wireless transmitting end, the mobile device can move under the control of the wireless transmitting end, the wireless transmitting end comprises a transmitting coil, and the transmitting coil is arranged on the mobile device.
2. The wireless charging system of claim 1, wherein the moving device comprises a first frame disposed along a periphery of the charging platform, a second frame slidably connected to the first frame along a Y-axis direction, and a coil fixing base slidably connected to the second frame along the X-axis direction, with reference to an X-axis and a Y-axis perpendicular to each other, and the transmitting coil is fixedly connected to the coil fixing base.
3. The wireless charging system of claim 2, wherein the moving device further comprises a first motor screw assembly driving the second frame to slide and a second motor screw assembly driving the coil fixing base to slide, the first motor screw assembly is connected to the first frame, and the second motor screw assembly is connected to the second frame.
4. The wireless charging system of claim 2, wherein the wireless charging device further comprises a power source connected to the charging platform via a cable.
5. The wireless charging system of claim 1, wherein the wireless transmitting terminal comprises a first communication module capable of receiving the signal from the wireless receiving terminal, and a transmitting terminal circuit capable of processing the signal from the first communication module and controlling the moving direction of the mobile device, the transmitting terminal circuit being connected to the first communication module; the wireless receiving end comprises a second communication module capable of establishing communication with the first communication module and a receiving end circuit used for charging a battery of the underwater vehicle, and the receiving end circuit is connected with the second communication module.
6. The wireless charging system of claim 5, wherein said underwater vehicle further comprises a controller for receiving and processing said second communication module signal and controlling said vehicle motion, said controller being connected to said wireless receiving end.
7. The wireless charging system of claim 1, wherein the underwater vehicle comprises a body and a foot rest disposed on the body, and the receiving coil is connected to the foot rest.
8. A wireless charging device is used for charging an underwater vehicle and is characterized by comprising a charging platform, wherein a wireless transmitting end and a mobile device capable of moving under the control of the wireless transmitting end are arranged in the charging platform, the wireless transmitting end comprises a transmitting coil, and the transmitting coil is arranged on the mobile device.
9. A wireless charging method for an underwater vehicle, based on the wireless charging system of any one of claims 1 to 7, characterized by comprising the following steps:
when the wireless transmitting end receives a signal that the underwater vehicle falls into the charging platform area, the mobile device is controlled to drive the transmitting coil to move according to a preset route, and after the magnetic field feedback of the receiving coil in the underwater vehicle is detected, the wireless transmitting end controls the moving direction of the mobile device according to the magnetic field feedback signal of the wireless receiving end until the position of the transmitting coil is accurately aligned with the position of the receiving coil, so that charging is carried out.
10. The wireless charging method according to claim 9, further comprising the steps of:
when the fact that the working distance between the receiving coil and the transmitting coil is not within the specified range is detected, the wireless receiving end sends a signal to a controller in the underwater vehicle, and the controller controls the underwater vehicle to move towards the wireless charging platform until the working distance falls within the preset working distance range.
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| CN201910624546.7A CN112208366A (en) | 2019-07-11 | 2019-07-11 | Wireless charging system, device and charging method for underwater vehicle |
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| CN201910624546.7A CN112208366A (en) | 2019-07-11 | 2019-07-11 | Wireless charging system, device and charging method for underwater vehicle |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113644976A (en) * | 2021-09-09 | 2021-11-12 | 重庆前卫科技集团有限公司 | Underwater visible light communication system |
| CN114243949A (en) * | 2021-12-10 | 2022-03-25 | 青岛鲁渝能源科技有限公司 | Explosion-proof wireless charging system and method |
| CN115158050A (en) * | 2022-07-20 | 2022-10-11 | 广西电网有限责任公司电力科学研究院 | Wireless charging coupling mechanism, unmanned aerial vehicle and unmanned aerial vehicle communication method |
| CN115195974A (en) * | 2022-06-21 | 2022-10-18 | 广东海洋大学 | Fishing operation manipulator for underwater vehicle |
| CN116442810A (en) * | 2023-04-07 | 2023-07-18 | 北京大学 | Underwater wireless charging method, device, equipment, medium and underwater robot |
-
2019
- 2019-07-11 CN CN201910624546.7A patent/CN112208366A/en active Pending
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113644976A (en) * | 2021-09-09 | 2021-11-12 | 重庆前卫科技集团有限公司 | Underwater visible light communication system |
| CN114243949A (en) * | 2021-12-10 | 2022-03-25 | 青岛鲁渝能源科技有限公司 | Explosion-proof wireless charging system and method |
| CN114243949B (en) * | 2021-12-10 | 2024-02-20 | 青岛鲁渝能源科技有限公司 | Explosion-proof wireless charging system and method |
| CN115195974A (en) * | 2022-06-21 | 2022-10-18 | 广东海洋大学 | Fishing operation manipulator for underwater vehicle |
| CN115195974B (en) * | 2022-06-21 | 2024-01-30 | 广东海洋大学 | Fishing operation manipulator for underwater vehicle |
| CN115158050A (en) * | 2022-07-20 | 2022-10-11 | 广西电网有限责任公司电力科学研究院 | Wireless charging coupling mechanism, unmanned aerial vehicle and unmanned aerial vehicle communication method |
| CN116442810A (en) * | 2023-04-07 | 2023-07-18 | 北京大学 | Underwater wireless charging method, device, equipment, medium and underwater robot |
| CN116442810B (en) * | 2023-04-07 | 2023-12-05 | 北京大学 | Underwater wireless charging method, device, equipment, medium and underwater robot |
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