CN104158301A - Underwater wireless charging method and apparatus based on magnetic resonance - Google Patents
Underwater wireless charging method and apparatus based on magnetic resonance Download PDFInfo
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- CN104158301A CN104158301A CN201410025906.9A CN201410025906A CN104158301A CN 104158301 A CN104158301 A CN 104158301A CN 201410025906 A CN201410025906 A CN 201410025906A CN 104158301 A CN104158301 A CN 104158301A
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Abstract
An embodiment of the invention provides an underwater wireless charging method and apparatus based on magnetic resonance. In the method, a resonant circuit in an underwater transferring station converts electric power into an electromagnetic wave, a resonant body in the underwater transferring station transmits the electromagnetic wave to a resonant body in an underwater device, a resonant circuit in the underwater device converts the electromagnetic wave into electric power, and the electric power is used for charging a batter of the underwater device. According to an embodiment of the invention, by application of magnetic resonance energy transmission technology to underwater, underwater devices such as an AUV can be effectively charged underwater; and as for actual needs for AUV submarine operation, a traditional land-based artificial charging method can be effectively replaced, and the flexibility of the AUV without cables can be better highlighted. The underwater devices such as the AUV can be allowed to get rid of a load of a large battery pack, reduction in the weight and size of a charging battery is facilitated, lightweight and miniaturized underwater devices such as the AUV become possible, and the underwater devices such as the AUV are enabled to be more diversified and customized on demand for different environments.
Description
Technical field
The present invention relates to underwater wireless electric energy transmission technology field, relate in particular to a kind of underwater wireless charging method and device based on magnetic resonance.
Background technology
The ocean gross area is 3.6 * 108 sq-kms, takes up an area 70.8% of the ball gross area, at the richly endowed ocean space of this length and breadth of land, the living marine resources that are richly stored with, marine energy, Ocean thermal energy and marine mineral resources.Along with the progress of industrialization and urbanization, land available resource is fewer and feweri, and what people paid attention to marine resources just gradually effectively utilizes problem, can say that 21st century is the century that the mankind march to ocean.As the important means of exploring ocean, be unique means even in some cases, effect not second to rocket and the space shuttle effect in exploration of the universe space of underwater robot in developing ocean.The Main Function of underwater robot is to conquer and utilizing in the process of ocean for the mankind as a kind of diving apparatus and delivery vehicle, under the general not accessibility degree of depth of diving technology or environment, carries out integrated survey and research and completes several work task.For example, in ocean development, submarine navigation device can be at deep-sea, subglacial carries out the detection of exploration of ocean resources, hydrologic survey, the photography of sea-floor relief landforms and drawing, offshore oilfield pipeline and transoceanic cable and the detection maintenance of maintenance, offshore platform and ocean work station etc.
The development trend of following underwater robot be farther, more deeply, less, with better function, AUV(AutonomousUnderwaterVehicle, autonomous type underwater robot) rely on its technical advantage without cable to be more and more subject to the attention of each ocean power of the world.Without cable, bringing better flexibility and concealed while also to produce corresponding problem---how does energy resource supply solve? conventional thought is to carry large-scale storage battery, although certain distance to go can be provided, but load is excessive concerning AUV, cannot accomplish lighting and miniaturization.As can be seen here, the especially small-sized AUV of AUV, energy supply remains the key factor of its performance performance of restriction, in the urgent need to developing a kind of method of AUV being carried out to valid wireless electric energy transmitting (being wireless charging).
At present, traditional wireless power transmission method can be divided two kinds: a kind of is inductive coupling type, at aspects such as track traffic, small household appliances, big angle rotary mechanisms, carries out application; Another kind is microwave wireless energy transmission technology, directly utilizes electromagnetic wave energy to realize wireless power transmission by the principle of antenna transmission and acceptance.
If adopt above-mentioned two kinds of wireless power transmission methods to carry out wireless charging to AUV, there is following shortcoming: although microwave wireless energy transmission technology transmission range farthest, through-put power is maximum, and thing impact property can overcome obstacles, but electromagnetic wave is decayed seriously in water, cause energy loss large, efficiency of transmission is minimum on the contrary.Although inductive coupling type method through-put power also can reach hundreds of kilowatts, small scale barrier can not bring large impact to its power delivery yet, and shortcoming is too high to transmission range and transmission stability requirement, is difficult to be applied under seabed natural environment complicated and changeable.
Summary of the invention
Embodiments of the invention provide a kind of underwater wireless charging method and device based on magnetic resonance, to realize based on magnetic resonance, underwater installation are carried out to wireless charging.
The invention provides following scheme:
A underwater wireless charging method based on magnetic resonance, arranges the POP under water that underwater installation is charged under water, and described method specifically comprises:
After underwater installation to be charged is near described POP under water, the resonant circuit in described POP under water converts electrical energy into electromagnetic wave, by electromagnetic coupled, by described electromagnetic transmission, gives the resonant body in described POP under water;
Resonant body in described POP under water and the resonant body in described underwater installation produce magnetic resonance, and the resonant body in described POP is under water given the resonant body in described underwater installation by described electromagnetic transmission;
Resonant body in described underwater installation is given the resonant circuit in described underwater installation by electromagnetic coupled by described electromagnetic transmission, resonant circuit in described underwater installation is converted to electric energy by described electromagnetic wave, utilizes described electric energy to charge to the battery of described underwater installation.
Described after underwater installation to be charged is near described POP under water, the resonant circuit in described POP under water converts electrical energy into electromagnetic wave, by electromagnetic coupled, by described electromagnetic transmission, gives the resonant body in described POP under water, comprising:
In described POP under water, telecommunication circuit, power supply, rectification circuit, series resonant circuit and power amplifier are set, at underwater installation to be charged near described POP under water, described telecommunication circuit receives after the charging request message that described underwater installation sends, described power supply output direct current is given described rectification circuit, and described rectification circuit is exported to described series resonant circuit after described direct current is converted to alternating current;
Inductance in described series resonant circuit utilizes described alternating current to generate electromagnetic waves, by adjusting the resonance frequency of series resonant circuit, make described electromagnetic frequency be greater than setting numerical value, described power amplifier amplifies processing to described electromagnetic power, and described series resonant circuit is given the resonant body in described POP under water by electromagnetic coupled by the electromagnetic transmission after power amplification.
Resonant body in described POP under water and the resonant body in described underwater installation produce magnetic resonance, and the resonant body in described POP is under water given the resonant body in described underwater installation by described electromagnetic transmission, comprising:
At least two resonant bodies are set in described POP under water, resonant body 1 in described POP under water receives the electromagnetic wave that the resonant circuit in POP under water transmits by electromagnetic coupled, resonant body 2 in resonant body 1 in described POP under water and described POP under water produces magnetic resonance, and described resonant body 1 is given described resonant body 2 by described electromagnetic transmission;
At least two resonant bodies are set in described underwater installation, resonant body 2 in resonant body 3 in described underwater installation and described POP under water produces magnetic resonance, described resonant body 3 receives the electromagnetic wave that described resonant body 2 transmits, by adjusting coefficient of mutual inductance between described resonant body 2, resonant body 3, adjust the transmitting impedance of 3 pairs of described resonant bodies 2 of described resonant body, make to transmit electromagnetic distance between described resonant body 2, resonant body 3 and surpass setpoint distance;
Resonant body 3 in described underwater installation and the resonant body in described underwater installation 4 produce magnetic resonance, and described resonant body 3 is given described resonant body 4 by described electromagnetic transmission.
Described method also comprises:
Described resonant body 2 comprises the transmitting impedance of the second equivalent inductance, the second distributed capacitance, the second equivalent series resistance and 3 pairs of described resonant bodies 2 of resonant body of mutual series connection, and described resonant body 3 comprises the transmitting impedance of C grade effect inductance, the 3rd distributed capacitance, C grade effect series resistance and 4 pairs of described resonant bodies 3 of resonant body of mutual series connection;
By adjusting the parameter value of the electronic component in described resonant body 2 and resonant body 3, adjust the coefficient of mutual inductance between described resonant body 2 and resonant body 3, make to transmit electromagnetic distance between described resonant body 2, resonant body 3 and surpass setpoint distance.
Resonant body in described underwater installation is given the resonant circuit in described underwater installation by electromagnetic coupled by described electromagnetic transmission, resonant circuit in described underwater installation is converted to electric energy by described electromagnetic wave, utilize described electric energy to charge to the battery of described underwater installation, comprising:
Telecommunication circuit, series resonant circuit, rectification circuit, voltage stabilizing circuit are also set in described underwater installation, described resonant body 4 is given the resonant circuit in described underwater installation by electromagnetic coupled by described electromagnetic transmission, inductance in series resonant circuit in described underwater installation is converted to alternating current by described electromagnetic wave, described alternating current is transferred to described rectification circuit, described rectification circuit output direct current is given described voltage stabilizing circuit, and described voltage stabilizing circuit utilizes the direct current after voltage stabilizing is processed to charge to the battery of described underwater installation;
After battery in described underwater installation has charged, the telecommunication circuit in described underwater installation sends to the telecommunication circuit in described POP under water the message of having charged, and described POP under water stops described underwater installation to charge.
Telecommunication circuit, power supply, rectification circuit, series resonant circuit and power amplifier in described POP under water adopts modular circuit board to realize, and all circuit boards are arranged in annular seal space, is filled with cold oil in described annular seal space.
A underwater wireless charging device based on magnetic resonance, comprising: POP and underwater installation under water;
Described POP under water, be used for being arranged under water, after underwater installation to be charged is near described POP under water, the resonant circuit in described POP under water converts electrical energy into electromagnetic wave, by electromagnetic coupled, by described electromagnetic transmission, gives the resonant body in described POP under water; Resonant body in described POP under water and the resonant body in described underwater installation produce magnetic resonance, and the resonant body in described POP is under water given the resonant body in described underwater installation by described electromagnetic transmission;
Described underwater installation, the resonant circuit of described underwater installation is given in the electromagnetic transmission by electromagnetic coupled, described POP under water being transmitted for the resonant body that utilizes underwater installation, resonant circuit in described underwater installation is converted to electric energy by described electromagnetic wave, utilizes described electric energy to charge to the battery of described underwater installation.
Described POP under water comprises: telecommunication circuit, power supply, rectification circuit, series resonant circuit, power amplifier;
Described telecommunication circuit, near described POP under water, receives the charging request message that described underwater installation sends for the underwater installation to be charged, and the power supply in POP under water sends electric energy output order;
Described power supply, for receiving after the electric energy output order that described telecommunication circuit transmits, output direct current is given described rectification circuit;
Described rectification circuit is exported to described series resonant circuit after described direct current is converted to alternating current;
Described series resonant circuit, utilizes described alternating current to generate electromagnetic waves for the inductance by series resonant circuit, by adjusting the resonance frequency of series resonant circuit, makes described electromagnetic frequency be greater than setting numerical value; By electromagnetic coupled, by the electromagnetic transmission after power amplification, give the resonant body in described POP under water;
Described power amplifier, for amplifying processing to described electromagnetic power.
At least two resonant bodies are set in described POP under water, resonant body 1 in described POP under water receives the electromagnetic wave that the resonant circuit in POP under water transmits by electromagnetic coupled, resonant body 2 in resonant body 1 in described POP under water and described POP under water produces magnetic resonance, and described resonant body 1 is given described resonant body 2 by described electromagnetic transmission;
At least two resonant bodies are set in described underwater installation, resonant body 2 in resonant body 3 in described underwater installation and described POP under water produces magnetic resonance, described resonant body 3 receives the electromagnetic wave that described resonant body 2 transmits, by adjusting coefficient of mutual inductance between described resonant body 2, resonant body 3, adjust the transmitting impedance of 3 pairs of described resonant bodies 2 of described resonant body, make to transmit electromagnetic distance between described resonant body 2, resonant body 3 and surpass setpoint distance;
Resonant body 3 in described underwater installation and the resonant body in described underwater installation 4 produce magnetic resonance, and described resonant body 3 is given described resonant body 4 by described electromagnetic transmission.
Described resonant body 2 comprises the transmitting impedance of the second equivalent inductance, the second distributed capacitance, the second equivalent series resistance and 3 pairs of described resonant bodies 2 of resonant body of mutual series connection, and described resonant body 3 comprises the transmitting impedance of C grade effect inductance, the 3rd distributed capacitance, C grade effect series resistance and 4 pairs of described resonant bodies 3 of resonant body of mutual series connection;
By adjusting the parameter value of the electronic component in described resonant body 2 and resonant body 3, adjust the coefficient of mutual inductance between described resonant body 2 and resonant body 3, make to transmit electromagnetic distance between described resonant body 2, resonant body 3 and surpass setpoint distance.
Described underwater installation also comprises: telecommunication circuit, series resonant circuit, rectification circuit, voltage stabilizing circuit;
Described series resonant circuit, the electromagnetic wave transmitting by electromagnetic coupled for receiving described resonant body 4, is converted to alternating current by inductance by described electromagnetic wave, and described alternating current is transferred to described rectification circuit;
Described rectification circuit, for described alternating current is converted to direct current, output direct current is given described voltage stabilizing circuit;
Described voltage stabilizing circuit, for described direct current is carried out to voltage stabilizing processing, utilizes the direct current after voltage stabilizing is processed to charge to the battery of described underwater installation;
Described telecommunication circuit, for the underwater installation to be charged near described POP under water after, to the telecommunication circuit in described POP under water, send charging request message; After battery in equipment has charged under water, the telecommunication circuit in described POP under water sends the message of having charged, so that described POP under water stops described underwater installation to charge;
Telecommunication circuit, power supply, rectification circuit, series resonant circuit and power amplifier in described POP under water adopts modular circuit board to realize, and all circuit boards are arranged in annular seal space, is filled with cold oil in described annular seal space.
The technical scheme being provided by the embodiment of the invention described above can be found out, the embodiment of the present invention passes magnetic resonance technology to apply under water, by POP under water, convert electrical energy into electromagnetic wave, under water the resonant body in POP by electromagnetic transmission to the resonant body in underwater installation, underwater installation is converted to electric energy by electromagnetic wave again, can effectively to underwater installations such as AUV, charge under water, actual needs for AUV seabed operation, can effectively substitute the land artificial charging method of tradition, more be conducive to outstanding AUV without the flexibility of cable, autonomy.Can make the underwater installations such as AUV break away from the load of large-sized battery pack, contribute to reduce the weight and volume of rechargeable battery, for underwater installation lighting, the miniaturizations such as AUV provide possibility, also impel the underwater installation function diversification more such as AUV, for varying environment on-demand customization.
Accompanying drawing explanation
In order to be illustrated more clearly in the technical scheme of the embodiment of the present invention, below the accompanying drawing of required use during embodiment is described is briefly described, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skills, do not paying under the prerequisite of creative work, can also obtain according to these accompanying drawings other accompanying drawing.
The process chart of a kind of underwater wireless charging method based on magnetic resonance that Fig. 1 provides for the embodiment of the present invention one;
The electrical block diagram of the series resonant circuit in a kind of POP under water that Fig. 2 provides for the embodiment of the present invention;
The electrical block diagram of a kind of resonant body 1 that Fig. 3 provides for the embodiment of the present invention, resonant body 2, resonant body 3 and resonant body 4;
The concrete structure figure of a kind of underwater wireless charging device based on magnetic resonance that Fig. 4 provides for the embodiment of the present invention two.
Embodiment
For ease of the understanding to the embodiment of the present invention, below in conjunction with accompanying drawing, take several specific embodiments and be further explained explanation as example, and each embodiment does not form the restriction to the embodiment of the present invention.
Embodiment mono-
The problem existing based on currently available technology, the embodiment of the present invention has proposed a kind of method of underwater wireless charging, makes the underwater installations such as AUV can be under water by obtaining energy recharge with POP intelligent link under water in electric energy deficiency.
The handling process that this embodiment provides a kind of underwater wireless charging method based on magnetic resonance as shown in Figure 1, comprises following treatment step:
Step S110, under water the POP under water that underwater installation is charged is set.
The POP under water that underwater installation is charged is set under water, at this, in POP, telecommunication circuit, power supply, rectification circuit, series resonant circuit, resonant body and power amplifier are set under water, telecommunication circuit, battery, rectification circuit, series resonant circuit, resonant body and voltage stabilizing circuit are set in equipment under water.Whole POP under water, underwater installation are arranged in annular seal space.
Telecommunication circuit, power supply, rectification circuit, series resonant circuit and power amplifier in above-mentioned POP under water, underwater installation adopts modular circuit board to realize.For adapting to the cylindrical structural of seal chamber, thereby each circuit board adopts the circular design of mating with cavity internal diameter to be arranged on cavity inner wall or end cap, because cavity internal diameter is less, the finite capacity of single circuit board, circuit board is carried out to modularized design makes polylith circuit board combine use, the every corresponding module of plate, the utilance of raising cavity overall space.Owing to passing through high-frequency alternating current in circuit, for reducing the electromagnetic interference to control circuit, the signal transmission between circuit board adopts intensive winding displacement mode to carry out.
In addition as Energy Transfer mechanism, need to pass into large electric current under water in the circuit of POP and underwater installation, narrow space in annular seal space, element be densely distributed to be unfavorable for heat radiation therefore also needing to consider heat dissipation problem.The method of intending adopting oil bath heat radiation, will be filled with cold oil in the seal chamber after mounting circuit boards, utilizes the convection action of fluid to dispel the heat.In order to avoid, due to fluid expanded by heating, to annular seal space end cap, extruding damages, and annular seal space planted agent retains a small amount of air surplus.
The energy loss causing for reducing the shell of annular seal space, uses sheet copper as screen under water, reduces the electromagnetic interference influence of coupler to metal shell, improves system efficiency of transmission.
Above-mentioned POP under water, underwater installation have formed magnetic resonance wireless energy transfer system, and POP is the energy supply end in magnetic resonance wireless energy transfer system under water, and underwater installation is the load end in magnetic resonance wireless energy transfer system.Above-mentioned underwater installation can be AUV.
Step S120, at underwater installation to be charged near after POP under water, POP receives after the charging request message that underwater installation sends under water, the resonant circuit in POP converts electrical energy into electromagnetic wave under water.
At underwater installation to be charged near described POP under water, telecommunication circuit in underwater installation sends after charging request message to the telecommunication circuit in POP under water, telecommunication circuit in POP receives after above-mentioned charging request message under water, and the power supply in POP under water sends electric energy output order.
Power supply in POP receives after the electric energy output order that described telecommunication circuit transmits under water, output direct current is given the rectification circuit in POP under water, described rectification circuit is converted to described direct current after alternating current, and output AC electricity is given the series resonant circuit in POP under water.
As shown in Figure 2, series resonant circuit equiva lent impedance of coil and electric capacity when there is resonance is approximately 0 to the electrical block diagram of the series resonant circuit in a kind of POP under water that this embodiment provides, and the impedance in loop is approximately line impedance.By adjusting the inductance in series resonant circuit, the parameter value of electric capacity, inductance value is controlled to the order of magnitude of microhenry, capacitance is controlled to the order of magnitude of nanofarad, known according to resonant frequency equation, can make the resonance frequency in the series resonant circuit in POP under water adjust greatlyr, can reach megahertz level.
The inductance of the series resonant circuit in above-mentioned POP under water utilizes described alternating current to generate electromagnetic waves, owing to adjusting the resonance frequency of series resonant circuit, can correspondingly adjust above-mentioned electromagnetic frequency, so described electromagnetic frequency is also greater than setting numerical value, can reach megahertz level.Power amplifier in POP amplifies processing to described electromagnetic power under water.
Step S130, the resonant circuit in POP is given the resonant body in described POP under water by electromagnetic coupled by described electromagnetic transmission under water, under water the resonant body in POP utilize magnetic resonance by electromagnetic transmission to the resonant body in described underwater installation.
Series resonant circuit in POP is given the resonant body in described POP under water by electromagnetic coupled by the electromagnetic transmission after power amplification under water.
At least two resonant bodies are set in POP and underwater installation under water, exemplarily, resonant body 1 and resonant body 2 are set in POP under water, resonant body 3 and resonant body 4 are set in equipment under water, and the electrical block diagram of a kind of above-mentioned resonant body 1, resonant body 2, resonant body 3 and resonant body 4 that this embodiment provides as shown in Figure 3.In Fig. 3, U
iequivalent voltage source for magnetic resonance wireless energy transfer system; I
1-4for the equivalent current in magnetic resonance wireless energy transfer system; R
1-4for the equivalent series resistance in each loop and; R
0equivalent resistance for load end load; L
1-4be respectively resonant body 1-4 equivalent inductance; C
1with C
4be respectively the building-out capacitor of resonant body 1 and resonant body 4; C
2with C
3be respectively the distributed capacitance of resonant body 2 and resonant body 3; Z
21reflected umpedance for 2 pairs of energy supply modules of resonance; Z
32reflected umpedance for 3 pairs of resonant bodies 2 of resonance; Z
43for the reflected umpedance of load end to resonant body 3; M
12coefficient of mutual inductance for 2 of resonant body 1 and resonant bodies; M
23coefficient of mutual inductance for 3 of resonant body 2 and resonant bodies; M
34coefficient of mutual inductance for 4 of resonant body 3 and resonant bodies.
By adjusting the parameter value of the electronic components such as distributed capacitance in above-mentioned resonant body 1, resonant body 2, resonant body 3 and resonant body 4, make self resonance frequency of above-mentioned resonant body 1, resonant body 2, resonant body 3 and resonant body 4 reach the resonance frequency of the series resonant circuit in POP under water.
Resonant body in POP 1 receives the electromagnetic wave that the resonant circuit in POP under water transmits by electromagnetic coupled under water, and the resonant body in POP 1 and resonant body 2 produce magnetic resonance under water, and resonant body 1 is given described resonant body 2 by described electromagnetic transmission.Resonant body in resonant body in POP 2 and underwater installation 3 produces magnetic resonance under water, and resonant body 2 is given described resonant body 3 by described electromagnetic transmission.Resonant body 3 in underwater installation and the resonant body in underwater installation 4 produce magnetic resonance, and resonant body 3 is given described resonant body 4 by described electromagnetic transmission.
Electromagnetic transmission range between above-mentioned resonant body 1 and resonant body 2, between resonant body 3 and resonant body 4, for closely, is generally several centimetres.Resonant body 2 comprises the transmitting impedance of the second equivalent inductance, the second distributed capacitance, the second equivalent series resistance and 3 pairs of described resonant bodies 2 of resonant body of mutual series connection, and resonant body 3 comprises the transmitting impedance of C grade effect inductance, the 3rd distributed capacitance, C grade effect series resistance and 4 pairs of described resonant bodies 3 of resonant body of mutual series connection.By adjusting the parameter value of the electronic component in described resonant body 2 and resonant body 3, adjust the coefficient of mutual inductance between described resonant body 2 and resonant body 3, make to transmit electromagnetic distance between described resonant body 2, resonant body 3 and surpass setpoint distance.Therefore, the electromagnetic transmission range between above-mentioned resonant body 2 and resonant body 3 is middle distance, can obtain more than 10 centimetre.Therefore, above-mentioned underwater installation and the under water distance between POP can reach more than 10 centimetre, underwater installation and do not need zero distance contact under water between POP, thus be useful in underwater installation under underwater environment and between POP, be not easy the situation of seamless contact under water.
Resonant body in step S140, underwater installation is given the resonant circuit in described underwater installation by electromagnetic coupled by described electromagnetic transmission, resonant circuit in described underwater installation is converted to electric energy by described electromagnetic wave, utilizes described electric energy to charge to the battery of described underwater installation.
The circuit structure of the circuit structure of the series resonant circuit in underwater installation and series resonant circuit in the POP under water shown in above-mentioned Fig. 2 is the same, underwater installation, under water two series resonant circuits in POP resonance frequency too.
Resonant body 4 in underwater installation is given the series resonant circuit in described underwater installation by electromagnetic coupled by described electromagnetic transmission, inductance in series resonant circuit in described underwater installation is converted to alternating current by described electromagnetic wave, described alternating current is transferred to the rectification circuit in underwater installation, this rectification circuit is converted to direct current by the alternating current receiving, output direct current is to the voltage stabilizing circuit in underwater installation, and this voltage stabilizing circuit utilizes the direct current after voltage stabilizing is processed to charge to the battery of described underwater installation.
After battery in underwater installation has charged, telecommunication circuit in underwater installation sends to the telecommunication circuit in POP under water the message of having charged, telecommunication circuit in POP receives above-mentioned charging and completes after message under water, and POP stops described underwater installation to charge under water.
Embodiment bis-
This embodiment provides a kind of underwater wireless charging device based on magnetic resonance, and its concrete structure as shown in Figure 4, comprising: POP 1 and underwater installation 2 under water;
Described POP under water 1, be used for being arranged under water, after underwater installation to be charged is near described POP under water, the resonant circuit in described POP under water converts electrical energy into electromagnetic wave, by electromagnetic coupled, by described electromagnetic transmission, gives the resonant body in described POP under water; Resonant body in described POP under water and the resonant body in described underwater installation produce magnetic resonance, and the resonant body in described POP is under water given the resonant body in described underwater installation by described electromagnetic transmission;
Described underwater installation 2, the resonant circuit of described underwater installation is given in the electromagnetic transmission by electromagnetic coupled, described POP under water being transmitted for the resonant body that utilizes underwater installation, resonant circuit in described underwater installation is converted to electric energy by described electromagnetic wave, utilizes described electric energy to charge to the battery of described underwater installation.
Described POP under water 1 comprises: telecommunication circuit 11, power supply 12, rectification circuit 13, series resonant circuit 14, power amplifier 15;
Described telecommunication circuit 11, near described POP under water, receives the charging request message that described underwater installation sends for the underwater installation to be charged, and the power supply in POP under water sends electric energy output order;
Described power supply 12, for receiving after the electric energy output order that described telecommunication circuit transmits, output direct current is given described rectification circuit;
Described rectification circuit 13 is exported to described series resonant circuit after described direct current is converted to alternating current;
Described series resonant circuit 14, utilizes described alternating current to generate electromagnetic waves for the inductance by series resonant circuit, by adjusting the resonance frequency of series resonant circuit, makes described electromagnetic frequency be greater than setting numerical value; By electromagnetic coupled, by the electromagnetic transmission after power amplification, give the resonant body in described POP under water;
Described power amplifier 15, for amplifying processing to described electromagnetic power.
Further, at least two resonant bodies are set in described POP under water 1, resonant body 1(16 in described POP under water) receive the electromagnetic wave that the resonant circuit in POP under water transmits by electromagnetic coupled, resonant body 2(17 in resonant body 1 in described POP under water and described POP under water) generation magnetic resonance, described resonant body 1(16) by described electromagnetic transmission, give described resonant body 2(17);
At least two resonant bodies are set in described underwater installation, resonant body 3(25 in described underwater installation) the resonant body 2(17 and in described POP under water) produce magnetic resonance, described resonant body 3(25) receive described resonant body 2(17) electromagnetic wave that transmits, by adjusting described resonant body 2(17), resonant body 3(25) between coefficient of mutual inductance, adjust described resonant body 3(25) to described resonant body 2(17) transmitting impedance, make described resonant body 2(17), resonant body 3(25) between transmit electromagnetic distance and surpass setpoint distance;
Resonant body 3(25 in described underwater installation) the resonant body 4(26 and in described underwater installation) generation magnetic resonance, described resonant body 3(25) by described electromagnetic transmission, give described resonant body 4(26).
Further, described resonant body 2(17) comprise the second equivalent inductance, the second distributed capacitance, the second equivalent series resistance and the resonant body 3(25 of mutual series connection) to described resonant body 2(17) transmitting impedance, described resonant body 3(25) comprise C grade effect inductance, the 3rd distributed capacitance, C grade effect series resistance and the resonant body 4(26 of mutual series connection) to described resonant body 3(25) and transmitting impedance;
By adjusting described resonant body 2(17) and resonant body 3(25) in the parameter value of electronic component adjust described resonant body 2(17) and resonant body 3(25) between coefficient of mutual inductance, make described resonant body 2(17), resonant body 3(25) between transmit electromagnetic distance and surpass setpoint distance.
Further, described underwater installation also comprises: telecommunication circuit 21, series resonant circuit 22, rectification circuit 23, voltage stabilizing circuit 24;
Described series resonant circuit 22, for receiving described resonant body 4(26) electromagnetic wave that transmits by electromagnetic coupled, by inductance, described electromagnetic wave is converted to alternating current, described alternating current is transferred to described rectification circuit;
Described rectification circuit 23, for described alternating current is converted to direct current, output direct current is given described voltage stabilizing circuit;
Described voltage stabilizing circuit 24, for described direct current is carried out to voltage stabilizing processing, utilizes the direct current after voltage stabilizing is processed to charge to the battery of described underwater installation;
Described telecommunication circuit 21, for the underwater installation to be charged near described POP under water after, to the telecommunication circuit in described POP under water, send charging request message; After battery in equipment has charged under water, the telecommunication circuit in described POP under water sends the message of having charged, so that described POP under water stops described underwater installation to charge;
Telecommunication circuit, power supply, rectification circuit, series resonant circuit and power amplifier in described POP under water adopts modular circuit board to realize, and all circuit boards are arranged in annular seal space, is filled with cold oil in described annular seal space.
The detailed process and the preceding method embodiment that with the device of the embodiment of the present invention, carry out the underwater wireless charging based on magnetic resonance are similar, repeat no more herein.
In sum, the embodiment of the present invention passes magnetic resonance technology to apply under water, by POP under water, convert electrical energy into electromagnetic wave, under water the resonant body in POP by electromagnetic transmission to the resonant body in underwater installation, underwater installation is converted to electric energy by electromagnetic wave again, can effectively to underwater installations such as AUV, charge under water, for the actual needs of AUV seabed operation, can effectively substitute the land artificial charging method of tradition, more be conducive to outstanding AUV without the flexibility of cable, autonomy.Can make the underwater installations such as AUV break away from the load of large-sized battery pack, contribute to reduce the weight and volume of rechargeable battery, for underwater installation lighting, the miniaturizations such as AUV provide possibility, also impel the underwater installation function diversification more such as AUV, for varying environment on-demand customization.
The embodiment of the present invention relatively tradition is recycled to land or surface vessel, utilizes manual type charging, and underwater wireless charging modes distance to go is short, time-saving and efficiency, disguised high.The underwater wireless charging device electric energy loss based on magnetic resonance of the embodiment of the present invention is little, and charge efficiency is high.Evidence magnetic resonance radio energy-transmitting technology charge efficiency can reach the more than 80% of wired charging modes, can be applied to, under seabed natural environment complicated and changeable, effectively improve the operating efficiency of deepwater robot.
The underwater wireless charging of the embodiment of the present invention can be accomplished to charge and not tear battery, efficient quick, hidden rapidly open, is not easy to give away one's position while being especially applied in military field.In deep ocean work task, the POP that AUV accesses nearby when needed supplements the energy, uploading data, and need not return to land, has greatly improved operating efficiency, also for AUV provides possibility towards lighting and miniaturization improvement like this.Even if the method still can keep higher efficiency of transmission in seawater in addition, even can reach the more than 80% of wired charging modes, significantly reduce robot and charge waiting time, effectively improve the operating efficiency of deepwater robot.Simultaneously long transmission distance, stability are high, and robot is affected by ocean current all the time in seabed, can not keep absolute rest, and anti-environmental interference could efficiently complete charging task by force.
The embodiment of the present invention is not only applicable to underwater robot, and other underwater facilities, as submarine, transducer, torpedo etc., exist electric power supply problem equally, and the embodiment of the present invention will provide helpful reference for power device in like environment.
One of ordinary skill in the art will appreciate that: accompanying drawing is the schematic diagram of an embodiment, the module in accompanying drawing or flow process might not be that enforcement the present invention is necessary.
As seen through the above description of the embodiments, those skilled in the art can be well understood to the mode that the present invention can add essential general hardware platform by software and realizes.Understanding based on such, the part that technical scheme of the present invention contributes to prior art in essence in other words can embody with the form of software product, this computer software product can be stored in storage medium, as ROM/RAM, magnetic disc, CD etc., comprise that some instructions are with so that a computer equipment (can be personal computer, server, or the network equipment etc.) carry out the method described in some part of each embodiment of the present invention or embodiment.
Each embodiment in this specification all adopts the mode of going forward one by one to describe, between each embodiment identical similar part mutually referring to, each embodiment stresses is the difference with other embodiment.Especially, for device or system embodiment, because it is substantially similar in appearance to embodiment of the method, so describe fairly simplely, relevant part is referring to the part explanation of embodiment of the method.Apparatus and system embodiment described above is only schematic, the wherein said unit as separating component explanation can or can not be also physically to separate, the parts that show as unit can be or can not be also physical locations, can be positioned at a place, or also can be distributed in a plurality of network element.Can select according to the actual needs some or all of module wherein to realize the object of the present embodiment scheme.Those of ordinary skills, in the situation that not paying creative work, are appreciated that and implement.
The above; be only the present invention's embodiment preferably, but protection scope of the present invention is not limited to this, is anyly familiar with in technical scope that those skilled in the art disclose in the present invention; the variation that can expect easily or replacement, within all should being encompassed in protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection range of claim.
Claims (12)
1. the underwater wireless charging method based on magnetic resonance, is characterized in that, the POP under water that underwater installation is charged is set under water, and described method specifically comprises:
After underwater installation to be charged is near described POP under water, the resonant circuit in described POP under water converts electrical energy into electromagnetic wave, by electromagnetic coupled, by described electromagnetic transmission, gives the resonant body in described POP under water;
Resonant body in described POP under water and the resonant body in described underwater installation produce magnetic resonance, and the resonant body in described POP is under water given the resonant body in described underwater installation by described electromagnetic transmission;
Resonant body in described underwater installation is given the resonant circuit in described underwater installation by electromagnetic coupled by described electromagnetic transmission, resonant circuit in described underwater installation is converted to electric energy by described electromagnetic wave, utilizes described electric energy to charge to the battery of described underwater installation.
2. the underwater wireless charging method based on magnetic resonance according to claim 1, it is characterized in that, it is described after underwater installation to be charged is near described POP under water, resonant circuit in described POP under water converts electrical energy into electromagnetic wave, by electromagnetic coupled, by described electromagnetic transmission, give the resonant body in described POP under water, comprising:
In described POP under water, telecommunication circuit, power supply, rectification circuit, series resonant circuit and power amplifier are set, at underwater installation to be charged near described POP under water, described telecommunication circuit receives after the charging request message that described underwater installation sends, described power supply output direct current is given described rectification circuit, and described rectification circuit is exported to described series resonant circuit after described direct current is converted to alternating current;
Inductance in described series resonant circuit utilizes described alternating current to generate electromagnetic waves, by adjusting the resonance frequency of series resonant circuit, make described electromagnetic frequency be greater than setting numerical value, described power amplifier amplifies processing to described electromagnetic power, and described series resonant circuit is given the resonant body in described POP under water by electromagnetic coupled by the electromagnetic transmission after power amplification.
3. the underwater wireless charging method based on magnetic resonance according to claim 2, it is characterized in that, resonant body in described POP under water and the resonant body in described underwater installation produce magnetic resonance, resonant body in described POP is under water given the resonant body in described underwater installation by described electromagnetic transmission, comprising:
At least two resonant bodies are set in described POP under water, resonant body 1 in described POP under water receives the electromagnetic wave that the resonant circuit in POP under water transmits by electromagnetic coupled, resonant body 2 in resonant body 1 in described POP under water and described POP under water produces magnetic resonance, and described resonant body 1 is given described resonant body 2 by described electromagnetic transmission;
At least two resonant bodies are set in described underwater installation, resonant body 2 in resonant body 3 in described underwater installation and described POP under water produces magnetic resonance, described resonant body 3 receives the electromagnetic wave that described resonant body 2 transmits, by adjusting coefficient of mutual inductance between described resonant body 2, resonant body 3, adjust the transmitting impedance of 3 pairs of described resonant bodies 2 of described resonant body, make to transmit electromagnetic distance between described resonant body 2, resonant body 3 and surpass setpoint distance;
Resonant body 3 in described underwater installation and the resonant body in described underwater installation 4 produce magnetic resonance, and described resonant body 3 is given described resonant body 4 by described electromagnetic transmission.
4. the underwater wireless charging method based on magnetic resonance according to claim 3, is characterized in that, described method also comprises:
Described resonant body 2 comprises the transmitting impedance of the second equivalent inductance, the second distributed capacitance, the second equivalent series resistance and 3 pairs of described resonant bodies 2 of resonant body of mutual series connection, and described resonant body 3 comprises the transmitting impedance of C grade effect inductance, the 3rd distributed capacitance, C grade effect series resistance and 4 pairs of described resonant bodies 3 of resonant body of mutual series connection;
By adjusting the parameter value of the electronic component in described resonant body 2 and resonant body 3, adjust the coefficient of mutual inductance between described resonant body 2 and resonant body 3, make to transmit electromagnetic distance between described resonant body 2, resonant body 3 and surpass setpoint distance.
5. according to the underwater wireless charging method based on magnetic resonance described in claim 3 or 4, it is characterized in that, resonant body in described underwater installation is given the resonant circuit in described underwater installation by electromagnetic coupled by described electromagnetic transmission, resonant circuit in described underwater installation is converted to electric energy by described electromagnetic wave, utilize described electric energy to charge to the battery of described underwater installation, comprising:
Telecommunication circuit, series resonant circuit, rectification circuit, voltage stabilizing circuit are also set in described underwater installation, described resonant body 4 is given the resonant circuit in described underwater installation by electromagnetic coupled by described electromagnetic transmission, inductance in series resonant circuit in described underwater installation is converted to alternating current by described electromagnetic wave, described alternating current is transferred to described rectification circuit, described rectification circuit output direct current is given described voltage stabilizing circuit, and described voltage stabilizing circuit utilizes the direct current after voltage stabilizing is processed to charge to the battery of described underwater installation;
After battery in described underwater installation has charged, the telecommunication circuit in described underwater installation sends to the telecommunication circuit in described POP under water the message of having charged, and described POP under water stops described underwater installation to charge.
6. the underwater wireless charging method based on magnetic resonance according to claim 1, it is characterized in that, telecommunication circuit, power supply, rectification circuit, series resonant circuit and power amplifier in described POP under water adopts modular circuit board to realize, all circuit boards are arranged in annular seal space, are filled with cold oil in described annular seal space.
7. the underwater wireless charging device based on magnetic resonance, is characterized in that, comprising: POP and underwater installation under water;
Described POP under water, be used for being arranged under water, after underwater installation to be charged is near described POP under water, the resonant circuit in described POP under water converts electrical energy into electromagnetic wave, by electromagnetic coupled, by described electromagnetic transmission, gives the resonant body in described POP under water; Resonant body in described POP under water and the resonant body in described underwater installation produce magnetic resonance, and the resonant body in described POP is under water given the resonant body in described underwater installation by described electromagnetic transmission;
Described underwater installation, the resonant circuit of described underwater installation is given in the electromagnetic transmission by electromagnetic coupled, described POP under water being transmitted for the resonant body that utilizes underwater installation, resonant circuit in described underwater installation is converted to electric energy by described electromagnetic wave, utilizes described electric energy to charge to the battery of described underwater installation.
8. the underwater wireless charging device based on magnetic resonance according to claim 7, is characterized in that, described POP under water comprises: telecommunication circuit, power supply, rectification circuit, series resonant circuit, power amplifier;
Described telecommunication circuit, near described POP under water, receives the charging request message that described underwater installation sends for the underwater installation to be charged, and the power supply in POP under water sends electric energy output order;
Described power supply, for receiving after the electric energy output order that described telecommunication circuit transmits, output direct current is given described rectification circuit;
Described rectification circuit is exported to described series resonant circuit after described direct current is converted to alternating current;
Described series resonant circuit, utilizes described alternating current to generate electromagnetic waves for the inductance by series resonant circuit, by adjusting the resonance frequency of series resonant circuit, makes described electromagnetic frequency be greater than setting numerical value; By electromagnetic coupled, by the electromagnetic transmission after power amplification, give the resonant body in described POP under water;
Described power amplifier, for amplifying processing to described electromagnetic power.
9. the underwater wireless charging device based on magnetic resonance according to claim 8, it is characterized in that, at least two resonant bodies are set in described POP under water, resonant body 1 in described POP under water receives the electromagnetic wave that the resonant circuit in POP under water transmits by electromagnetic coupled, resonant body 2 in resonant body 1 in described POP under water and described POP under water produces magnetic resonance, and described resonant body 1 is given described resonant body 2 by described electromagnetic transmission;
At least two resonant bodies are set in described underwater installation, resonant body 2 in resonant body 3 in described underwater installation and described POP under water produces magnetic resonance, described resonant body 3 receives the electromagnetic wave that described resonant body 2 transmits, by adjusting coefficient of mutual inductance between described resonant body 2, resonant body 3, adjust the transmitting impedance of 3 pairs of described resonant bodies 2 of described resonant body, make to transmit electromagnetic distance between described resonant body 2, resonant body 3 and surpass setpoint distance;
Resonant body 3 in described underwater installation and the resonant body in described underwater installation 4 produce magnetic resonance, and described resonant body 3 is given described resonant body 4 by described electromagnetic transmission.
10. the underwater wireless charging device based on magnetic resonance according to claim 9, it is characterized in that, described resonant body 2 comprises the transmitting impedance of the second equivalent inductance, the second distributed capacitance, the second equivalent series resistance and 3 pairs of described resonant bodies 2 of resonant body of mutual series connection, and described resonant body 3 comprises the transmitting impedance of C grade effect inductance, the 3rd distributed capacitance, C grade effect series resistance and 4 pairs of described resonant bodies 3 of resonant body of mutual series connection;
By adjusting the parameter value of the electronic component in described resonant body 2 and resonant body 3, adjust the coefficient of mutual inductance between described resonant body 2 and resonant body 3, make to transmit electromagnetic distance between described resonant body 2, resonant body 3 and surpass setpoint distance.
11. according to the underwater wireless charging device based on magnetic resonance described in claim 9 or 10, it is characterized in that, described underwater installation also comprises: telecommunication circuit, series resonant circuit, rectification circuit, voltage stabilizing circuit;
Described series resonant circuit, the electromagnetic wave transmitting by electromagnetic coupled for receiving described resonant body 4, is converted to alternating current by inductance by described electromagnetic wave, and described alternating current is transferred to described rectification circuit;
Described rectification circuit, for described alternating current is converted to direct current, output direct current is given described voltage stabilizing circuit;
Described voltage stabilizing circuit, for described direct current is carried out to voltage stabilizing processing, utilizes the direct current after voltage stabilizing is processed to charge to the battery of described underwater installation;
Described telecommunication circuit, for the underwater installation to be charged near described POP under water after, to the telecommunication circuit in described POP under water, send charging request message; After battery in equipment has charged under water, the telecommunication circuit in described POP under water sends the message of having charged, so that described POP under water stops described underwater installation to charge.
The 12. underwater wireless charging devices based on magnetic resonance according to claim 11, it is characterized in that, telecommunication circuit, power supply, rectification circuit, series resonant circuit and power amplifier in described POP under water adopts modular circuit board to realize, all circuit boards are arranged in annular seal space, are filled with cold oil in described annular seal space.
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