CN102684276A - Underwater non-contact power supply method and device - Google Patents
Underwater non-contact power supply method and device Download PDFInfo
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- CN102684276A CN102684276A CN2012100965354A CN201210096535A CN102684276A CN 102684276 A CN102684276 A CN 102684276A CN 2012100965354 A CN2012100965354 A CN 2012100965354A CN 201210096535 A CN201210096535 A CN 201210096535A CN 102684276 A CN102684276 A CN 102684276A
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Abstract
The invention discloses an underwater non-contact power supply method and device and belongs to the technical field of underwater power supply. The underwater non-contact power supply device comprises a power supply base station unit and an energy receiving unit. The power supply method comprises the steps of first enabling the energy receiving unit to send a charging request to the power supply base station unit fixedly installed in water through a communication link, and after a response is obtained, adjusting a receiving transducer of the energy receiving unit to enable the receiving transducer and a transmitting transducer of the power supply base station unit to be aligned with each other; then after the power supply base station unit generates oscillation signals with a set frequency and power amplification is carried out on the oscillation signals, converting the oscillation signals into mechanical energy, and carrying out directional radiation and focusing of sound waves to the energy receiving unit; and enabling the sound waves to be transmitted to the energy receiving unit through a water medium, and charging a rechargeable battery of the energy receiving unit after the received sound waves are converted into electric energy. Remote (meter level) non-contact power supply can be carried out to an autonomous underwater vehicle (AUV) and other underwater unattended equipment through the underwater non-contact power supply method and device, and the underwater non-contact power supply method and device are easy to achieve and high in energy conversion efficiency.
Description
Technical field
The invention belongs to power supply technique field under water; Be specifically related to a kind of device of realizing non-contact power and energy supplement for underwater electronic equipment.
Background technology
Along with developing rapidly of ocean and environment exploitation, (Autonomousunderwater vehicle, AUV) technology becomes the research focus of a lot of marine technology developed country for Autonomous Underwater Vehicle or autonomous type underwater robot.AUV is a kind of task controller that combines artificial intelligence and other advanced computing techniques; High-tech such as integrated bathyscaph, transducer, environmental effect, computer software, energy storage, conversion and propelling, new material and new technology and underwater intelligent weapon are used for fields such as anti-submarine warfare, mine warfare, reconnaissance and surveillance and logistics support in the military affairs; AUV also can be used for some other field under water; Like civil areas such as undersea detection, marine environmental monitoring, marine chartings; Also be available as workbench in addition, implement inshore patrol, interference, diving support, lead under water and rescue, and in the construction of ocean, play a role.
In addition, increasing unattended under water special-purpose monitoring equipment such as thermometric, depth measurement, flow measurement, mapping equipment etc. are widely used in ocean development and scientific research.
Because fully autonomous type work does not have cable power supply, energy problem becomes restriction AUV and other most important factor of unattended operation equipment performance under water.
AUV endurance, the speed of a ship or plane and load capacity, and other under water the stream time of unattended operation equipment all be limited by its available energy.And the available energy depend on can Source Type, the platform quality of allowing and space etc.Present most AUV and other unattended operation equipment under water all adopt battery-powered.Although energy density (Unit Weight energy) is lower; Specific energy (unit volume energy) is less; But consider the factors such as continuity of cost, life-span, convenience, maintenanceability, fail safe and member supply, battery especially primary cell and rechargeable battery (like lithium battery) will dominate in a very long time from now on.
At present, solve AUV and other under water the major technique approach of unattended operation equipment energy problem have:
(1) heavy-duty battery of bigger density of research and development and capacity
Silver oxide-zinc battery is the highest a kind of of energy density in the existing commercial batteries; It also is a large amount of a kind of underwater sailing body electrokinetic cells that use of USN; The rechargeable lithium cobalt battery that USN Underwater Battery center (NUWC) is developing is estimated in energy density and useful life all to increase than silver-colored zinc-oxide cell.
Since battery capacity can only make AUV flying power and other under water the unattended operation equipment task time certain prolongation is arranged; Can not fundamentally break away from battery powered restriction; Therefore, seek can be under water for AUV and other under water the technology of unattended operation power devices become possible developing direction.
(2) adopting under water the non-contact power mode is AUV and other unattended operation equipment makeup energy under water
Because glassware for drinking water has conductivity; Seawater is the good conductor of electricity especially; Adopting contact wired connection power supply such as submerged cable plug plug is difficulty very, therefore at present the someone to study employing be AUV and other unattended operation equipment makeup energy under water based on the non-contact power mode of electromagnetic induction principle; Induction noncontact power transfer adopts a kind of transformer of elementary secondary separation, and the device that is called loosely coupled transformer is realized the non-contact transmission of electric energy.The EFFECTIVE RANGE of electromagnetic induction is very near, can realize the power transfer of high-power (multikilowatt) at closely (millimeter level), mainly is used as the rail non-contact type wireless industry in and supplies power.
The limitation of induction non-contact power technology is: the power transmission efficiency of induction coupling link is the important step in the whole system; Influence the bottleneck that the whole system power transmission efficiency improves thereby become by induction coupling step-down because the existence of air gap makes between the transformer primary and secondary coil.Air gap is big more, and efficient is low more, and when air gap during greater than 20mm, efficient will be reduced to below 10%.
Because seawater is as more remarkable in the attenuation ratio air of conductive medium for electromagnetic field, the research that present electromagnetic induction technology is applied to the underwater installation non-contact power just just begins, and has a lot of physical problems still unresolved, does not also have the instance of application of result.And; Induction non-contact power specification requirement charging device with realized (millimeter level) fine registration closely by fill device; For this underwater movable platform of AUV, require it oneself to accomplish so highly difficult accurate location and alignment function under water, and keep closely (millimeter level) and hover; Difficulty is too big, is difficult to realize; Therefore, need remote more easily (meter level) non-contact power technology.
Summary of the invention
To the technical problem that exists in the prior art; The object of the present invention is to provide the method and apparatus of a kind of AUV of can be and other unattended operation equipment realization under water non-contact power; Utilize the electroacoustic transduction technology; Convert electrical energy into acoustic energy by the power supply base station, utilize acoustic wave energy to converge technology, to energy receiving terminal directed radiation focused sound waves; Sound wave is transmitted to the energy receiving terminal through aqueous medium, converts acoustic energy into electric energy again by the receiving transducer on it, realizes the power supply to the energy receiving terminal.
Contactless power supply device of the present invention comprises power supply base station unit and energy receiving element, and the power supply base station unit is fixedly installed in somewhere under water, passes through cable power supply by bank station; Perhaps pull, be installed on surface platform such as naval vessels, buoy below; Through cable power supply, the energy receiving element is installed on underwater movable platforms such as AUV by surface platform, or on other unattended under water equipment; Or drag by underwater platform or equipment and to carry, be underwater platform or other unattended power devices such as AUV under water; During work, when detection self power shortage, utilize communication link (like underwater sound communication channel) to power supply base station unit send charging request on the unattended equipment of AUV or other under water; After acquisition is replied, accomplish to the power supply base station unit near and action such as attitude adjustment, make its receiving transducer towards power supply base station unit direction; Simultaneously, the power supply base station unit is also adjusted the transmitting transducer radiation direction of self, points to AUV or other unattended equipment under water; Aiming each other between the transmitting transducer of the receiving transducer of realization underwater movable platform and power supply base station unit; Then, convert electrical energy into the vibration mechanical energy of transducer radiating surface by the transmitting transducer of power supply on the base station, to energy receiving element directed radiation focused sound waves; Sound wave is transmitted to the energy receiving element through aqueous medium; Receiving transducer by on it converts electric energy into, realizes the power supply to the energy receiving terminal, perhaps rechargeable battery is charged.Distance between the transmitting transducer of the receiving transducer of general underwater movable platform and power supply base station unit is extremely counted all can work in the cm range (such as 0～20m scope or farther) at several meters; Generally under the conditions permit situation, should shorten distance between the two to raise the efficiency as far as possible; Simultaneously, transmitting transducer should be parallel as far as possible with the end face of receiving transducer, and perhaps the radiation beam of transmitting transducer is pointed to receiving transducer, and the receiving transducer end face is as far as possible towards the wave beam arrival direction.In addition, under situation with good conditionsi, also can point to, realize aiming, initiatively underwater platform is carried out non-contact charge underwater platform through position, attitude and the transmitting transducer thereof of artificial adjustment power supply base station unit.
The present invention can avoid induction non-contact power specification requirement charging device and realized closely by fill device the technical barrier of (millimeter level) fine registration effectively, realizes AUV and other remote (meter level) non-contact power of unattended operation equipment under water; Perhaps under the Attended mode situation, initiatively to underwater operation Platform Implementation noncontact energy supplement.
Particular content of the present invention is following:
As shown in Figure 1 is non-contact power technology of the present invention and the theory diagram that installs, and contactless power supply device of the present invention comprises the power supply base station unit, like Fig. 1 (a), energy receiving element, like Fig. 1 (b).
Described power supply base station unit comprises Power Entry Module 11, power supply conditioning module 12, oscillating circuit module 13, power amplifier module 14, match circuit module 15, transmitting transducer 16, acoustics adaptation 17, acoustic lens 18.
Described energy receiving element comprises acoustic lens 21, acoustics adaptation 22, receiving transducer 23, match circuit module 24, rectification circuit module 25, power supply conditioning module 26, charging circuit module 27, rechargeable battery pack 28.
Described power supply base station unit is through Power Entry Module 11; Various external power source is electrically connected on the power supply conditioning module 12; Power Entry Module 11 has the different external power input interface, and external power source can be the electric energy of outputs such as alternating current, direct current, solar cell, wave energy generating set.
Power supply conditioning module 12 is the plurality of voltages adjusters with output voltage stabilizing function, can be the integrated regulated power supply module, also can be the voltage stabilizing circuit that discrete component is formed; Power supply conditioning module 12 is adjusted to the required various voltages of each circuit module in the power supply base station unit with outside input supply voltage, is each circuit module power supply.
Described oscillating circuit module 13 is used to encourage the oscillator signal (electric energy promptly vibrates) that produces setpoint frequency by power supply conditioning module 12 power supply, and is electrically connected to described power amplifier 14 and carries out power amplification; Oscillating circuit module 13 can be used the multiple-harmonic oscillating circuit; Produce the square-wave signal of setpoint frequency,, produce cyclic pulse signal perhaps with recurrent pulses generation circuit; Also can use sine wave oscillation circuit, produce the sine wave signal of single-frequency.
Described power amplifier 14 is supplied power by power supply conditioning module 12, and the oscillator signal of oscillating circuit module 13 generations is carried out power amplification, and the power output size of power amplifier 14 is confirmed by the load capacity of application demand and circuit.
The match circuit module 15 of power amplifier 14 through being electrically connected with it; Oscillator signal after the power amplification is loaded on the transmitting transducer 16 that is electrically connected with it; Match circuit module 15 is the matching networks that perhaps composed in parallel by element connected in series such as inductance, electric capacity, is used to improve the power factor of transmitting transducer 16 as electrical load.
Described transmitting transducer 16 converts the vibration electric energy after the power amplification into the mechanical energy of transmitting transducer radiating surface vibration; And through being fixedly connected the acoustics adaptation 17 and acoustic lens 18 of (being fixedly connected) with it, to receiving transducer 23 directed radiation sound waves through the energy receiving element aimed at such as bonding or other modes; Described transmitting transducer 16 can be piezoelectric transducer, dynamic transducer, also can be giant magnetostrictive transducer etc. all can convert electrical energy into the energy transducer of mechanical energy; Transmitting transducer 16 can be arrowband work, also can be wideband operation; The transducer array that transmitting transducer 16 can be made up of a plurality of transducers.
Described acoustics adaptation 17 inboard be fixedly connected with the radiating surface of transmitting transducer 16 (such as bondings); The outside is fixedly connected with acoustic lens 18; Be an acoustical material and a tight in certain sequence acoustic construction body that processes that connects that varies in size with the multilayer acoustic impedance, be used to realize the optimum Match of transducer radiating surface and aqueous medium acoustic impedance.
Described acoustic lens 18 is fixedly connected on the outside of acoustics adaptation 17, is one and is used for energy centralization with radiative acoustic wave in certain beam angle with acoustical material and the structure with protruding or recessed profile that processes, and this beam angle is generally less than 10 degree.
During practical application, described acoustics adaptation 17 can merge with acoustic lens 18 and is designed to a device that has the two function concurrently; The two can also merge design with the radiating surface of transmitting transducer 16, makes transmitting transducer 16 become a device that has electroacoustic transduction, acoustic radiation, acoustic matching, four kinds of functions of acoustic lens concurrently.
The acoustics adaptation 22 that described energy receiving element is fixedly connected with it through the described acoustic lens 21 and the outside is coupled to the sound wave in the water on the surface that is fixedly connected on the inboard receiving transducer 23 of acoustics adaptation 22; The acoustic construction body that acoustic lens 18 in described acoustic lens 21 and acoustics adaptation 22 and the power supply base station unit and acoustics adaptation 17 have similar quality.
The acoustic wave energy that described receiving transducer 23 receives coupling converts the electric energy that exchanges vibration into, described receiving transducer 23 can be piezoelectric transducer, dynamic transducer etc. all can mechanical energy be converted into the energy transducer of alternation vibration electric energy; Receiving transducer 23 can be arrowband work, also can be wideband operation; The transducer array that receiving transducer 23 can be made up of a plurality of transducers.
The electric energy of the alternation vibration of receiving transducer 23 conversions is loaded into rectification circuit module 25 through the match circuit module 24 that is electrically connected with it; Described match circuit module 24 is the matching networks that perhaps composed in parallel by element connected in series such as inductance, electric capacity, is used to improve the power factor of receiving transducer 23 as the acoustics load.
Described rectification circuit module 25; It is a commutated network of forming by many rectifier diodes; The general bridge rectifier that adopts, the electric energy that the alternation that receiving transducer 23 is converted to vibrates converts direct current energy into, and power supply conditioning module 26 power supplies for being electrically connected with it.
Described power supply conditioning module 26 is the plurality of voltages adjusters with output voltage stabilizing function, can be the integrated regulated power supply module, also can be the voltage stabilizing circuit that discrete component is formed; The direct current of power supply conditioning module 26 after with 25 rectifications of rectification circuit module is adjusted to the needed suitable voltage of each circuit module of energy receiving element, is each circuit module power supply.
Described charging circuit module 27 is by 26 power supplies of power supply conditioning module, and its output is being electrically connected rechargeable battery pack 28, is used to accomplish the charging to rechargeable battery pack 28; Rechargeable battery pack 28 can be the battery pack that rechargeable battery such as lithium battery is formed.
During practical application; Acoustic lens 21 can merge with acoustics adaptation 22 and is designed to a device that has energy centralization and acoustics matching feature concurrently; Also can the receiving plane of the two and receiving transducer 23 be merged design, make receiving transducer 23 become one have that acoustic energy converges concurrently, the device of acoustic matching, energy converting between mechanical function; In addition, the output of described power supply conditioning module 26 also can directly be used to the power electronic equipment of mobile platform, and perhaps, described power supply conditioning module 26 also can be incorporated into charging circuit module 27 through design, only to rechargeable battery pack 28 chargings.
Advantage and technique effect that the present invention brings are:
(1) because water is the good medium of sound wave, and sound wave loss in water is very little, therefore with respect to the noncontact power transfer of utilizing the electromagnetic wave mode, the present invention more can reduce the loss of energy in transmission course.
(2) because the wavelength of the relative electromagnetic wave of same frequency sound wave is very little, therefore be easier under less size, the acoustic wave energy orientation is converged in the very narrow beam angle.
(3), avoided that induction noncontact energy transmission technology is desired closely, the difficult problem of high-accuracy aligning because the advantage of acoustic wave energy height degree of converging can realize power transfer on big distance; Simultaneously, the realization of also convenient remote non-contact power technology and device.
(4) the underwater radiant power of sound wave can reach a kilowatt order of magnitude, therefore, can realize more powerful non-contact power.
Description of drawings
Fig. 1 noncontact of the present invention supplies technology and the theory diagram that installs
(a) be the power supply base station unit, wherein, 11-Power Entry Module, 12-power supply conditioning module, 13-oscillating circuit module, 14-power amplifier module, 15-match circuit module, 16-transmitting transducer, 17-acoustics adaptation, 18-acoustic lens.
(b) be the energy receiving element, wherein, 21-acoustic lens, 22-acoustics adaptation, 23-receiving transducer, 24-match circuit module, 25-rectification circuit module, 26-power supply conditioning module, 27-charging circuit module, 28-rechargeable battery pack.
Fig. 2 noncontact of the present invention supplies technology and the instance graph that installs
The 31-signal generator, 32-power amplifier, 33-transmitting transducer, 34-underwater acoustic wave wave beam, 35-experimental tank, 36-receiving transducer, 37-bridge rectifier, 38-resistance, 39-light-emitting diode.
Embodiment
Below in conjunction with accompanying drawing 2, further specify the present invention through instance, but scope of the present invention is not limited to the described scope of embodiment.
Shown in accompanying drawing 2, be a present invention's non-contact power technology of implementing and instance that installs.
The can clear water fixedly is placed in transmitting transducer 33 and receiving transducer 36 in the tank 35 to the 20cm height face-to-face in the experimental tank 35, and the two is at a distance of 10cm.
Utilize signal generator 31 to produce the sinusoidal signal of a 65.0kHz, carry out power amplification to the 15V crest voltage through power amplifier 32, being electrically connected to centre frequency is the transmitting transducer 33 of 65kHz; Transmitting transducer 33 is radiative acoustic wave wave beam 34 in water, is transmitted to the identical receiving transducer of centre frequency 36 through aqueous medium, converts acoustic energy into electric energy; Can observe with oscilloscope and receive the about 5V of voltage peak; This output is connected to a bridge rectifier 37, converts direct voltage into, again with the resistance 38 of this d. c. voltage signal through one 100 Ω; Be connected to a light-emitting diode 39; It is luminous to observe light-emitting diode 39, moves the transducer relative position, can observe light-emitting diode 39 brightness and change.
Claims (12)
1. a non-contact power method under water the steps include:
1) the energy receiving element on the underwater movable platform utilizes the power supply base station unit of communication link in being fixedly installed in water to send the charging request;
2) after said mobile platform is received the response message of said power supply base station unit, adjust between the transmitting transducer of receiving transducer and said power supply base station unit of said energy receiving element and be aiming each other;
3) said power supply base station unit produces the oscillator signal of setpoint frequency, and it is carried out power amplification;
4) after the vibration electric energy of said transmitting transducer after with power amplification converts vibration mechanical energy into, produce to said energy receiving element directed radiation focused sound waves;
5) sound wave reaches said energy receiving element through aqueous medium, after said receiving transducer converts the sound wave that receives into electric energy, the rechargeable battery of said energy receiving element is charged.
2. the method for claim 1 is characterized in that adjusting that the method for aiming each other is between the transmitting transducer of receiving transducer and said power supply base station unit of said energy receiving element: adjusting the emitting facet of said transmitting transducer and the reception end face of said receiving transducer is parallel to each other; Perhaps adjust the radiation beam of said transmitting transducer and point to said receiving transducer, the receiving terminal face of said receiving transducer is towards this radiation beam arrival direction.
3. according to claim 1 or claim 2 method is characterized in that the distance between the reception end face of emitting facet and receiving transducer of said transmitting transducer is 0～20m; Described transmitting transducer is piezoelectric transducer or dynamic transducer or giant magnetostrictive transducer.
4. the method for claim 1 is characterized in that the oscillator signal after the power amplification is carried out sending to said transmitting transducer after the power adjustment through a match circuit; Said transmitting transducer is through an acoustics adaptation, said transmitting transducer radiating surface and aqueous medium acoustic impedance are carried out optimum Match after, utilize acoustic lens that institute is launched sound wave and focus on to said energy receiving element directed radiation.
5. the method for claim 1 is characterized in that said energy receiving element utilizes an acoustic lens and an acoustics adaptation that the sound wave in the water is coupled to and said receiving transducer; Electric energy after said receiving transducer will be changed carries out sending to the rectification circuit module after the power adjustment through a match circuit; After said rectification circuit module converts the electric energy of alternation vibration into direct current energy, the rechargeable battery of said energy receiving element is charged.
6. a contactless power supply device under water comprises power supply base station unit and energy receiving element; It is characterized in that said power supply base station unit comprises Power Entry Module (11), power supply conditioning module (12), oscillating circuit module (13), power amplifier module (14), transmitting transducer (16), acoustic lens (18); Said energy receiving element comprises acoustic lens (21), receiving transducer (23), rectification circuit module (25), power supply conditioning module (26), charging circuit module (27), rechargeable battery pack (28); Wherein:
Power Entry Module (11) is electrically connected with power supply conditioning module (12), and power supply conditioning module (12) is electrically connected with oscillating circuit module (13), power amplifier module (14) respectively; Power amplifier (14) is connected with oscillating circuit module (13), transmitting transducer (16) respectively, is used for the oscillator signal that oscillating circuit module (13) produces is carried out outputing to transmitting transducer (16) after the power amplification; Transmitting transducer (16) is used for converting the vibration electric energy after the power amplification into vibration mechanical energy, and the acoustic lens (18) that passes through to be fixedly connected with it is to receiving transducer (23) the directed radiation sound wave through aiming at;
Acoustic lens (21) is used for the sound wave of water is coupled to the receiving transducer (23) that is fixedly connected with it; Receiving transducer (23) is exported to rectification circuit module (25) after being used for converting the acoustic wave energy that coupling receives into electric energy, and rectification circuit module (25) output is electrically connected with rechargeable battery pack (28) through power supply conditioning module (26), charging circuit module (27) successively.
7. contactless power supply device under water as claimed in claim 6 is characterized in that said power amplifier (14) is electrically connected with said transmitting transducer (16) through a match circuit module (15).
8. contactless power supply device under water as claimed in claim 6 is characterized in that said transmitting transducer (16) is connected with said acoustic lens (18) through an acoustics adaptation (17).
9. contactless power supply device under water as claimed in claim 6 is characterized in that said acoustic lens (21) is connected with said receiving transducer (23) through an acoustics adaptation (22); Said receiving transducer (23) is electrically connected with said rectification circuit module (25) through a match circuit module (24).
10. like claim 6 or 7 or 8 or 9 described contactless power supply devices under water, it is characterized in that the emitting facet of said transmitting transducer (16) and the reception end face of receiving transducer (23) are parallel to each other; Perhaps the radiation beam of transmitting transducer (16) is pointed to receiving transducer (23), and the receiving terminal face of receiving transducer (23) is towards this radiation beam arrival direction.
11. contactless power supply device under water as claimed in claim 10 is characterized in that the distance between the reception end face of emitting facet and receiving transducer (23) of said transmitting transducer (16) is 0～20m; Described transmitting transducer (16) is piezoelectric transducer or dynamic transducer or giant magnetostrictive transducer.
12. contactless power supply device under water as claimed in claim 6 is characterized in that said oscillating circuit module (13) is the multiple-harmonic oscillating circuit, said oscillator signal is the square-wave signal of setpoint frequency; Perhaps said oscillating circuit module (13) is a recurrent pulses generation circuit, and said oscillator signal is the cyclic pulse signal of setpoint frequency; Perhaps said oscillating circuit module (13) is a sine wave oscillation circuit, and said oscillator signal is the single frequency sinusoidal ripple signal of setpoint frequency.
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| CN201210096535.4A CN102684276B (en) | 2012-04-01 | 2012-04-01 | Underwater non-contact power supply method and device |
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| CN103729047A (en) * | 2012-10-11 | 2014-04-16 | 中国航空工业集团公司第六三一研究所 | Power management method of underwater AUV control computer |
| CN104362768A (en) * | 2014-11-06 | 2015-02-18 | 杭州电子科技大学 | Multifunctional underwater inductive coupling charge system |
| CN104937812A (en) * | 2013-02-04 | 2015-09-23 | 株式会社Ihi | Contactless power supply system |
| CN105490394A (en) * | 2015-12-16 | 2016-04-13 | 浙江大学 | Acoustic wave based wireless energy and information transfer apparatus |
| CN107310419A (en) * | 2017-07-19 | 2017-11-03 | 深圳市普耐光电科技有限公司 | A kind of wireless charging device for electric car |
| CN108565991A (en) * | 2018-06-08 | 2018-09-21 | 昆明理工大学 | A kind of ultrasonic wave charging unit applied to underwater measurement devices |
| CN108847721A (en) * | 2018-06-25 | 2018-11-20 | 维沃移动通信有限公司 | A kind of wireless charging device, wireless charging system and electronic equipment |
| CN109733567A (en) * | 2018-12-31 | 2019-05-10 | 上海孚实船舶科技有限公司 | A method of contactless charging being carried out to underwater operation unit using AUV |
| CN110565584A (en) * | 2019-09-02 | 2019-12-13 | 李清 | hydraulic engineering vertical water stop structure and construction method thereof |
| CN110707791A (en) * | 2019-10-22 | 2020-01-17 | 北京理工大学 | Ultrasonic wave-based remote high-power underwater wireless charging system |
| CN110829625A (en) * | 2019-10-14 | 2020-02-21 | 浙江大学 | Cable-embedded underwater monitoring equipment |
| CN112421707A (en) * | 2020-10-22 | 2021-02-26 | 大连理工大学 | Electric energy scheduling method for underwater power supply system |
| CN112684736A (en) * | 2020-12-11 | 2021-04-20 | 青岛海研电子有限公司 | Intelligent low-power consumption beacon device |
| WO2022048059A1 (en) * | 2020-09-04 | 2022-03-10 | 北京信息科技大学 | Acoustic wave-based full-sea-depth-covering undersea wireless charging method and device |
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| CN103729047A (en) * | 2012-10-11 | 2014-04-16 | 中国航空工业集团公司第六三一研究所 | Power management method of underwater AUV control computer |
| CN103729047B (en) * | 2012-10-11 | 2017-04-05 | 中国航空工业集团公司第六三一研究所 | A kind of method for managing power supply of the control computers of AUV under water |
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| US9564759B2 (en) | 2013-02-04 | 2017-02-07 | Ihi Corporation | Wireless power supply system |
| CN104937812B (en) * | 2013-02-04 | 2018-09-28 | 株式会社 Ihi | Contactless power supply system |
| CN104362768A (en) * | 2014-11-06 | 2015-02-18 | 杭州电子科技大学 | Multifunctional underwater inductive coupling charge system |
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