CN108258766A - Autonomous underwater vehicle platform berths formula wireless charging device - Google Patents
Autonomous underwater vehicle platform berths formula wireless charging device Download PDFInfo
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- CN108258766A CN108258766A CN201810120071.3A CN201810120071A CN108258766A CN 108258766 A CN108258766 A CN 108258766A CN 201810120071 A CN201810120071 A CN 201810120071A CN 108258766 A CN108258766 A CN 108258766A
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- 238000007600 charging Methods 0.000 title claims abstract description 64
- 229910000859 α-Fe Inorganic materials 0.000 claims abstract description 40
- 230000005672 electromagnetic field Effects 0.000 claims abstract description 15
- 230000000873 masking effect Effects 0.000 claims description 13
- 230000009471 action Effects 0.000 claims description 9
- 230000005611 electricity Effects 0.000 claims description 9
- 239000003292 glue Substances 0.000 claims description 6
- 238000005266 casting Methods 0.000 claims description 5
- 229910052755 nonmetal Inorganic materials 0.000 claims description 5
- UQSXHKLRYXJYBZ-UHFFFAOYSA-N Iron oxide Chemical compound [Fe]=O UQSXHKLRYXJYBZ-UHFFFAOYSA-N 0.000 claims description 2
- 238000003491 array Methods 0.000 claims description 2
- 239000010410 layer Substances 0.000 description 40
- 230000005540 biological transmission Effects 0.000 description 18
- 238000012216 screening Methods 0.000 description 8
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 8
- 239000013535 sea water Substances 0.000 description 7
- 239000002344 surface layer Substances 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 6
- 238000001514 detection method Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 230000005389 magnetism Effects 0.000 description 4
- 238000003032 molecular docking Methods 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 239000002184 metal Substances 0.000 description 3
- 229910052751 metal Inorganic materials 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000015572 biosynthetic process Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000035699 permeability Effects 0.000 description 2
- 238000004064 recycling Methods 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 239000004020 conductor Substances 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
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- PCHJSUWPFVWCPO-UHFFFAOYSA-N gold Chemical compound [Au] PCHJSUWPFVWCPO-UHFFFAOYSA-N 0.000 description 1
- 239000010931 gold Substances 0.000 description 1
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- H02J7/025—
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/10—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/40—Circuit arrangements or systems for wireless supply or distribution of electric power using two or more transmitting or receiving devices
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- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
It berths formula wireless charging device the invention discloses a kind of autonomous underwater vehicle platform, including：Electric energy output module, has magnetic energy for emission coil, and the magnetic energy for emission coil transmits for converting electrical energy into electromagnetic field；Electric energy receiving module, has magnetic energy receiving coil, and the magnetic energy receiving coil is coupled with the electromagnetic field that the magnetic energy transmit coil generates and magnetic energy is converted to electric energy；The electric energy output module has ferrite layer, and the electric energy receiving module is equipped with permanent magnet；The saturation magnetic field intensity of the ferrite layer be more than magnetic energy for emission coil magnetic field intensity, and less than permanent magnet magnetic field intensity charging when, the ferrite layer is between magnetic energy for emission coil and magnetic energy receiving coil.The autonomous underwater vehicle platform formula wireless charging device that berths of the present invention can provide charging service, and not high to the positioning accuracy request of autonomous underwater vehicle for more autonomous underwater vehicles simultaneously.
Description
Technical field
The present invention relates to underwater wireless charging technique field more particularly to a kind of autonomous underwater vehicle platform berth formula without
Micro USB electric installation.
Background technology
With continually developing for marine resources, Autonomous Underwater Vehicle (Autonomousunderwater vehicle,
AUV increasingly important role) is played in marine exploration.AUV is a kind of intelligence for combining various modern advanced technology
Change underwater robot, without by artificial control, you can complete navigation and operation according to assigned tasks automatically, be widely used in sea
Many civil and military occasions such as foreign detection, hydrological environment monitoring, marine charting, inshore patrol, underwater early warning.
Since the underwater operation of AUV is entirely autonomous, with terrestrial base station completely without any physical connection, the energy is several
It is completely dependent on the battery entrained by itself.AUV battery finite volumes, majority is required for periodically recycling charging, time-consuming and laborious.Water
Lower AUV charging is an emerging technology in recent years, can need not recycling and be AUV supplement energy, substantially prolong the operation of AUV
Time.
Traditional underwater charging modes are by " wet plug ", i.e., squeeze water by special mechanical structure, are realized direct
Electrical connection mode.However this process can cause the abrasion of equipment, and need very high alignment precision so that " wet
The application of plug " is subject to certain restrictions.
Since seawater is the good conductor of electricity, underwater charging is more likely to using contactless transmission technology, compared to contact
The transmission of formula electric energy is more safe and reliable.
Underwater wireless charging unit includes the electric energy receiving module being mounted on underwater equipment and installation, and charging is set under water
Standby upper electric energy sending module, electric energy receiving module include the electric energy receiving coil being electrically connected to each other and electric energy receiving circuit, electricity
Energy receiving circuit is electrically connected with the battery of underwater equipment；Electric energy sending module includes the electric energy transmit coil and electricity that are electrically connected to each other
Energy transmission circuit, electric energy transmission circuit are electrically connected to a power source.During charging, underwater equipment and underwater charging equipment are close, power supply to
Electric energy transmission circuit conveys electric energy, is radiated by electric energy transmit coil and gives electric energy receiving coil, passed to electric energy receiving circuit, give
The battery of underwater equipment charges.
For example, the Chinese patent literature of Publication No. CN102320362A discloses a kind of Autonomous Underwater Vehicle and seabed
Observational network docking facilities, including Autonomous Underwater Vehicle and Docking station main body two parts.In application, Autonomous Underwater Vehicle drives into
The horn-like of Docking station main body is led in mouth, by it is horn-like lead mouth and cylinder type lead mouth guiding and taper protective case limiting,
Autonomous Underwater Vehicle is reliably rested in Docking station main body, realizes the charging to Autonomous Underwater Vehicle and autonomous underwater navigation
The transmission of electric energy and signal between device and seabed observation network.However Autonomous Underwater Vehicle enter base station during, meeting
There is certain roll angle, be used for carrying out transmitting and the receiving coil of wireless charging on cause to plug into base station and Autonomous Underwater Vehicle
It cannot be aligned, cause charge efficiency low or even cannot charge.
The Chinese patent literature of Publication No. CN107612152A, which discloses, a kind of can adapt to the autonomous of different AUV diameters
The wireless charging system of submarine navigation device, the system suitability is strong, and can overcome that there are roll angles because of Autonomous Underwater Vehicle
Between caused transmitting and receiving coil the problem of misalignment.
Existing underwater AUV charging stations can only charge, and charging station must be matched with AUV, had and matched for an AUV simultaneously
The fixing and locking mechanism of set, the requirement to AUV Underwater Navigations is very high, and operation difficulty is big.
Invention content
It berths formula wireless charging device the present invention provides a kind of autonomous underwater vehicle platform, it can be underwater for more simultaneously
Equipment provides charging service, and not high to the positioning accuracy request of underwater equipment.
The present invention provides following technical solutions：
A kind of autonomous underwater vehicle platform berths formula wireless charging device, including：
Electric energy output module, has magnetic energy for emission coil, and the magnetic energy for emission coil is used to convert electrical energy into electromagnetic field
Transmission；
Electric energy receiving module, has magnetic energy receiving coil, and the magnetic energy receiving coil is generated with the magnetic energy transmit coil
Electromagnetic field coupled and magnetic energy be converted into electric energy；
The electric energy output module has ferrite layer, and the electric energy receiving module is equipped with permanent magnet；The iron oxygen
The saturation magnetic field intensity of body layer is more than the magnetic field intensity of magnetic energy for emission coil, and less than the magnetic field intensity of permanent magnet；
During charging, the ferrite layer is between magnetic energy for emission coil and magnetic energy receiving coil.
According to magnetic property and the difference of applicable cases, ferrite can be divided into：Soft magnetism, permanent magnetism, gyromagnet, square magnetic, pressure magnetic etc.
Five types, ferrite layer material of the present invention are soft magnetic ferrite.
When external magnetic field intensity is less than the saturation magnetic field intensity of ferrite layer, ferrite layer has larger magnetic conductivity,
There is preferable magnetic screening action to electromagnetic field, can prevent the electromagnetic field of magnetic energy for emission coil from entering seawater and generate vortex damage
Consumption；When external magnetic field intensity is more than the saturation magnetic field intensity of ferrite layer, ferrite layer reaches magnetic saturation, and magnetic conductivity is rapid
It is reduced to close to air, loses magnetic screening action.
Since the saturation magnetic field intensity of the ferrite layer is more than the electromagnetic field intensity of magnetic energy for emission coil, and less than permanent magnetism
The magnetic field intensity of body, therefore during charging, there is the region ferrite layer that permanent magnet is stopped to reach magnetic saturation, the electricity of magnetic energy for emission coil
Magnetic field enters magnetic energy receiving coil；There is no the region that permanent magnet is stopped, ferrite layer does not reach magnetic saturation, has larger magnetic
Conductance has preferable magnetic screening action to electromagnetic field, can prevent the electromagnetic field of magnetic energy for emission coil from entering seawater and generating whirlpool
Stream loss.
The size of permanent magnet is close with the size of magnetic energy receiving coil, and the size of ferrite layer is according to energy
Completely depending on the electromagnetic field of shielding magnetic energy for emission coil.
During energization, the magnetic field intensity of magnetic energy for emission coil is depending on the maximum transmission power of design；The thickness of ferrite layer
Depending on the magnetic field intensity of magnetic energy for emission coil, as long as ensureing that the saturation magnetic field intensity of ferrite layer is less than in magnetic energy for emission coil
In by generated magnetic field intensity during design maximum electric current, should not be too thick；And permanent magnetism body thickness determines its magnetic field intensity
Size when the thickness of permanent magnet just should cause permanent magnet close to ferrite layer, makes ferrite layer reach magnetic saturation, also not
It is preferably too thick.
The electric energy receiving module is mounted in autonomous underwater vehicle (AUV) bottom, and the electric energy output module is taken
It is loaded on submarine observation network node platform.
Preferably, the magnetic energy for emission coil includes several subcoils parallel with one another, and the subcoil is planar
In arrays tile, magnetic energy power supply area is formed.
The shape and size of subcoil can be set according to specific needs, and the area of magnetic energy power supply area, which is more than on AUV, to be carried
Magnetic energy receiving coil area, when AUV need charging when, with arbitrary direction and posture rest in magnetic energy power supply area appoint
Anticipate position, in AUV after platform sends out charge request, electric energy output module can by the basic principle of electromagnetic induction to
Electric energy receiving module transmits electric energy, and more AUV can be supported to be carried out at the same time charging.
Preferably, there is lap between adjacent subcoil.Subcoil is paved with entire magnetic energy power supply area, ensures entire
The charging performance of underwater charging unit.
Preferably, the electric energy output module further includes：
DC power supply；
DC-AC converter, input terminal are connect with the DC power supply, and output terminal is connect with the subcoil, is used for
The converting direct-current power into alternating-current power that DC power supply is provided；
Switch controller controls the break-make of each subcoil；
Current sensor detects the current value and its changing value of power supply in real time；
When starting to charge up, the switch controller gates each subcoil successively, and detects the sub-line by current sensor
Circle opens the variable quantity of rear source current, when the variable quantity of source current is less than given threshold, turns off the subcoil；Conversely,
Then keep the subcoil open-minded.
In radio energy transmission system, when other elements parameter all determines in circuit, pass through suitable resonance compensation
Circuit can be caused under different loads state, to reach very high efficiency.In constant pressure output system, when load voltage is constant
When, since system effectiveness is very high, current value in load is almost directly proportional to the performance number in load.When not loading
When, the electric current in circuit theoretically when close to 0, have internal resistance however, as winding wire, practical no-load current is not 0, but
Be also far smaller than bringing onto load when electric current because needing certain power to AUV chargings, usual charging current will not be small
In 5A or so.As long as the given threshold of electric current is less than operating current when AUV charges higher than the no-load current of circuit.
In radio energy transmission system, the size of input current is different under different loads situation, therefore, when a son
When the input current incrementss of coil are higher than given threshold, illustrate that the subcoil produces larger impact to AUV chargings；Otherwise,
It is smaller to illustrate that the subcoil influences AUV chargings.
The present invention is as follows to the gating process of subcoil：
When AUV rest in submarine observation network node platform it is first-class to be charged when, successively all subcoils are performed with following grasp
Make：The switch of subcoil is opened by switch controller, detects current value and its variation of power supply in real time by current sensor
Value when the changing value of source current is not more than given threshold, turns off the subcoil；Conversely, then keep the subcoil open-minded.
It is not needing to due to carrying out being accurately positioned the advantages of difficulty is larger, and cost is higher, this gating method under water
The accurate position detection carried out using additional Underwater Navigation equipment to AUV, while can also only open effective to AUV chargings
A part of subcoil, to reduce unnecessary energy loss.
When AUV rest in submarine observation network node platform it is first-class to be charged when, by its communication device to charging platform send out
Charge request is sent, charging platform is the DC power supply for being opened as the power supply of electric energy output module.
Preferably, the electric energy output module bottom side is equipped with the first magnetic masking layer.
Electric energy output module is mounted on submarine observation network node platform, and electric energy output module bottom side refers to and submarine observation
The mutually fixed side of net node platform.
Setting first screen layer can prevent the electromagnetic field of magnetic energy for emission coil and submarine observation network node platform from forming phase
Mutually interference, while the electric energy transmission performance between electric energy output module and electric energy receiving module can be improved.
The material of first magnetic masking layer is ferrite.
The electric energy output module has open-topped magnetic screen shell, first magnetic masking layer, magnetic energy hair
Ray circle and ferrite layer are potted in by casting glue in magnetic screen shell in order.
Magnetic screen shell has bottom wall and side wall, and open top, i.e., the table side of electric energy output module is not by magnetic screen
Shell wraps up.
The table side of electric energy output module refers to the side opposite with electric energy output module bottom side.
The bottom side of the electric energy receiving module is provided with the second magnetic masking layer.
The bottom side of electric energy receiving module refers to and the mutually fixed side in AUV bottoms.Set the second magnetic masking layer that can prevent
The magnetic field of magnetic energy receiving coil and AUV formation interfere with each other, at the same can improve electric energy output module and electric energy receiving module it
Between electric energy transmission performance.
The electric energy receiving module has non-metal shell, second magnetic masking layer, magnetic energy receiving coil and forever
Magnet is potted in by casting glue in non-metal shell.
The structure has preferable waterproof, high pressure resistant property.
Preferably, the electric energy receiving module further includes rectifying pressurizer and charging manager；The magnetic energy receives
Coil is connect by rectifying pressurizer with charging manager, and the output terminal of the charging manager and the battery of AUV connect.
The electric energy receiving module is electrically connected by watertight connector and watertight cable with the battery of AUV.
The autonomous underwater vehicle platform using the present invention process that formula wireless charging device charges of berthing is as follows：
(1) AUV equipped with electric energy receiving module is accommodated in the magnetic energy power supply area of electric energy output module, and is sent and filled
Electricity request；
(2) after charging platform receives charge request, DC power supply is opened.Electric energy output module is successively to all subcoils
Perform following operate：Subcoil is opened by switch controller, current sensor detects the variable quantity of source current, compares the change
The size of change amount and the given threshold of electric current when source current variable quantity is not more than current threshold, disconnects the subcoil；Instead
It, then keep the subcoil to connect；
(3) for the subcoil of connection to magnetic energy receiving coil radiation field, magnetic energy is converted to electric energy by magnetic energy receiving coil,
It charges to the battery of AUV.
Compared with prior art, beneficial effects of the present invention are：
The autonomous underwater vehicle platform of the present invention berths permanent magnet of the formula wireless charging device by electric energy receiving module
It cooperates with the ferrite layer of electric energy output module, during charging, there is the region ferrite layer that AUV is stopped to reach magnetic saturation, magnetic
The electromagnetic field of energy transmitting coil enters magnetic energy receiving coil, and then charges to AUV；There is no the region that AUV is stopped, ferrite layer does not have
Have and reach magnetic saturation, there is larger magnetic conductivity, there is preferable magnetic screening action to electromagnetic field, magnetic energy for emission coil can be prevented
Electromagnetic field enter seawater and generate eddy-current loss.
Description of the drawings
Fig. 1 is that autonomous underwater vehicle platform of the present invention berths the structure diagram of formula wireless charging device；
Fig. 2 is the structure diagram of electric energy receiving module；
Fig. 3 is the structure diagram of electric energy output module, wherein, (a) is front elevation, and (b) is side view；
Fig. 4 is the overlapped structure diagram of adjacent subcoil；
Fig. 5 is ferritic magnetic induction intensity-Magnetic field strength curve figure；
Fig. 6 is circuit diagram of the present invention for the underwater wireless charging unit of AUV.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples, it should be pointed out that reality as described below
It applies example to be intended to convenient for the understanding of the present invention, and does not play any restriction effect to it.
As shown in Figure 1, autonomous underwater vehicle (AUV) platform of the present invention berths, formula wireless charging device is received including electric energy
Module 3 and electric energy output module 4, two modules be mounted in respectively on AUV1 and submarine observation network node platform 6 on.Electric energy receives mould
Block 3 is electrically connected by receiving terminal watertight cable 2 with the battery of AUV1, and electric energy output module 4 is seen by transmitting terminal watertight cable 5 and seabed
DC power supply electrical connection on survey grid node platform 6.
The structure of electric energy receiving module 3 is as shown in Figure 2.The size of electric energy receiving module 3 is depending on the size of AUV, and one
As width be slightly less than the width of AUV, length is less than the length of AUV.Electric energy receiving module 3 includes magnetic energy transmit coil 31, non-gold
Belong to shell 32, the second magnetic masking layer 33, permanent magnet 36, electric energy receiving circuit 37, magnetic energy transmit coil 31, the second magnetic masking layer 33
It is placed in non-metal shell 32 with permanent magnet 36, and with 34 embedding of casting glue, plays the role of the resistance to high undersea hydrostatic pressures of waterproof.
Second magnetic masking layer 33 is made of ferrite, is arranged on the bottom of electric energy receiving module 3 (under magnetic energy transmit coil 31
Side), between magnetic energy transmit coil 31 and AUV, the magnetic field and AUV formation that can prevent coil interfere with each other, and improve simultaneously
Electric energy transmission performance.
Shown in (a) and (b) in the structure such as Fig. 3 of electric energy output module 4.Magnetic energy in electric energy sending module 4 sends line
Circle is made of several subcoils 41, and subcoil 41 can be made but be not limited to rectangular, and the size of subcoil 41 is fitted according to specific needs
Work as selection, can not only ensure electric energy high efficiency of transmission, but also can be excessive and excessively complicated to avoid subcoil.When subcoil 41 stacks,
It is overlapping just like shown in Fig. 4, it ensure that entire flat magnetic field is substantially uniform, the nothing without magnetic field will not occur in subcoil adjacent
Region is imitated, when AUV, which rests on two subcoils, overlaps place, still can efficiently accomplish charging.
Bottom ferrite layer is placed in the bottom of subcoil 41, to improve electric energy efficiency of transmission, and under partly shielding effect coil
The leakage field of side.Metal shielding shell 44 is set in outermost layer, to shielded coil lower section and lateral remaining leakage field, to reduce sea
The eddy-current loss of water, but the surface layer of coil is not covered with Metal shielding shell 44, to avoid electric energy transmission is influenced.
Magnetic energy for emission coil surface layer surface layer ferrite layer 43 covers, and the saturation magnetic field intensity of surface layer ferrite layer 43 is more than
The magnetic field intensity of magnetic energy for emission coil, and less than the magnetic field intensity of permanent magnet 36.
When not having the stop of electric energy receiving module 3 on subcoil 41, surface layer ferrite layer 43 is in magnetic undersaturated condition, tool
There is larger magnetic conductivity, the magnetic field that most electric energy output modules 4 generate can be shielded, prevent it from entering in seawater and generate whirlpool
Stream loss；And the region covered by electric energy receiving module 3, due to the effect of 36 permanent magnets, the work of surface layer ferrite layer 43
State can skip high permeability region, into magnetic saturation area.As shown in figure 5, ferrite has larger before zone of saturation is entered
Magnetic conductivity, have a preferable magnetic screening action, and after entering magnetic saturation area, magnetic conductivity is rapidly reduced to the level close to air,
Lose its magnetic screening action.Therefore, electric energy output module 4 generate magnetic field, only by permanent magnet 36 cover near region energy
It enters in electric energy receiving module 3, and other redundances have been limited in electric energy output module 4 itself without entering sea
In water, because without generating eddy-current loss.
Subcoil 41, surface layer ferrite layer 43 and bottom ferrite layer are potted in 44 Metal shielding shells by casting glue 46
In, the electric energy transmission circuit 47 placed with side is connected, and is connect finally by watertight connector with submarine observation network node platform, from
Direct current energy input is obtained on platform.
The circuit diagram of entire underwater wireless charging unit is as shown in fig. 6, the electric energy output module in left side and the electric energy on right side
What receiving module was completely separate, without electrical contact during use.
Electric energy is typically to be transmitted under water in the form of direct current, so using direct current input as the defeated of electric energy output module
Enter.Direct current input is converted into high-frequency alternating current by high-frequency inverter A2 and is transferred in magnetic energy for emission loop A 4, magnetic energy for emission line
Circle A4 is made of subcoil cell array, and all subcoils are to be connected in parallel, connect again on each subcoil one it is independent
Coil switch A5, coil switch A5 are controlled by switch controller A1.Current sensor A3 is used to detect the current value of direct current input,
The result of detection can be fed back to switch controller A1 simultaneously.
Electric energy is transferred to by magnetic energy for emission loop A 4 on magnetic energy receiving coil B1, and by rectifying pressurizer B2, high frequency is handed over
Galvanic electricity is converted to stable DC, then charged manager B3 is adjusted to suitable voltage and current value, finally to the electricity on AUV
It charges in pond.
Battery is not comprised on electric energy receiving module 3, and is installed in AUV.
When AUV is rested on submarine observation network node platform, table side and the electric energy output module 4 of electric energy receiving module 3
Table side it is mutually close, electric energy output module 4 is powered；Later, switching gate device A1 gates each sub-line coil unit and is connected successively
Coil switch A5, and pass through current sensor A3 detection gating after input current variation.In radio energy transmission system,
The size of input current is different under different loads situation, therefore, when the increasing for the input current that current sensor A3 is detected
When dosage is higher than given threshold, illustrate that the subcoil of the gating produces larger impact to AUV chargings, current sensor A3 is informed
The coil unit is kept gating by switching gate device A1 by coil switch A5；If the power supply that current sensor A3 is detected
When input current incrementss are less than given threshold, illustrate that the incrementss only come from coil own loss, and to AUV charging nothings
Larger impact then turns off the sub-line coil unit.
It is not needing to due to carrying out being accurately positioned the advantages of difficulty is larger, and cost is higher, this gating method under water
The accurate position detection carried out using additional Underwater Navigation equipment to AUV, while can also only open effective to AUV chargings
A part of platform coil, to reduce unnecessary energy loss.
It is unfixed since the size of the electric energy receiving module 3 on AUV is with the different and different of AUV, therefore selects
Logical sub-line coil unit still can some area do not had and covered by the magnetic energy receiving coil on electric energy receiving module 3.
The effect of ferrite layer 43 on electric energy output module 4 exactly shields the magnetic that this part is not covered by electric energy receiving module
It is logical, it prevents it from entering in seawater, generates eddy-current loss, and by the region that electric energy receiving module 3 covers due to permanent magnet 36
Effect can skip high permeability region by the working condition of the ferrite layer of permanent magnet covering, and into magnetic saturation area, ferrite exists
Into before zone of saturation, there is larger magnetic conductivity, there is preferable magnetic screening action, and after entering magnetic saturation area, magnetic conductivity is fast
Prompt drop loses its magnetic screening action down to the level close to air.Therefore, the magnetic field that electric energy output module 4 generates, only by forever
Region can be entered in electric energy receiving module 3 near the covering of magnet 36, and other redundances have been limited in electric energy output
Without entering in seawater in module 4 itself, because without generating eddy-current loss.
Claims (9)
- The formula wireless charging device 1. a kind of autonomous underwater vehicle platform berths, which is characterized in that including：Electric energy output module, has magnetic energy for emission coil, and the magnetic energy for emission coil transmits for converting electrical energy into electromagnetic field；Electric energy receiving module has magnetic energy receiving coil, the electricity that the magnetic energy receiving coil is generated with the magnetic energy transmit coil Magnetic field is coupled and magnetic energy is converted to electric energy；The electric energy output module has ferrite layer, and the electric energy receiving module is equipped with permanent magnet；The ferrite layer Saturation magnetic field intensity be more than magnetic energy for emission coil magnetic field intensity, and less than permanent magnet magnetic field intensityDuring charging, the ferrite layer is between magnetic energy for emission coil and magnetic energy receiving coil.
- The formula wireless charging device 2. autonomous underwater vehicle platform according to claim 1 berths, which is characterized in that described Magnetic energy for emission coil include several subcoils parallel with one another, the subcoil forms magnetic energy planar in arrays tile Power supply area.
- The formula wireless charging device 3. autonomous underwater vehicle platform according to claim 2 berths, which is characterized in that described Electric energy output module further include：DC power supply；DC-AC converter, input terminal are connect with the DC power supply, and output terminal is connect with the subcoil, straight for inciting somebody to action The converting direct-current power into alternating-current power that galvanic electricity source provides；Switch controller controls the break-make of each subcoil；Current sensor detects the current value and its changing value of power supply in real time；When starting to charge up, the switch controller gates each subcoil successively, and detects the subcoil by current sensor and open The variable quantity of source current after logical when the variable quantity of source current is less than given threshold, turns off the subcoil；Conversely, it then protects It is open-minded to hold the subcoil.
- The formula wireless charging device 4. autonomous underwater vehicle platform according to claim 1 berths, which is characterized in that described Electric energy output module bottom side be equipped with the first magnetic masking layer.
- The formula wireless charging device 5. autonomous underwater vehicle platform according to claim 4 berths, which is characterized in that described Electric energy output module have open-topped magnetic screen shell, first magnetic masking layer, magnetic energy for emission coil and iron oxygen Body layer is potted in by casting glue in magnetic screen shell in order.
- The formula wireless charging device 6. autonomous underwater vehicle platform according to claim 1 berths, which is characterized in that described The bottom side of electric energy receiving module is provided with the second magnetic masking layer.
- The formula wireless charging device 7. autonomous underwater vehicle platform according to claim 6 berths, which is characterized in that described Electric energy receiving module have non-metal shell, second magnetic masking layer, magnetic energy receiving coil and permanent magnet pass through embedding Glue is potted in non-metal shell.
- The formula wireless charging device 8. autonomous underwater vehicle platform according to claim 1 berths, which is characterized in that described Electric energy receiving module be mounted in autonomous underwater vehicle bottom, the electric energy output module is mounted in submarine observation network node On platform.
- The formula wireless charging device 9. autonomous underwater vehicle platform according to claim 8 berths, which is characterized in that described Electric energy receiving module further include rectifying pressurizer and charging manager；The magnetic energy receiving coil by rectifying pressurizer with Charging manager connects, and the output terminal of the charging manager and the battery of autonomous underwater vehicle connect.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810120071.3A CN108258766A (en) | 2018-02-06 | 2018-02-06 | Autonomous underwater vehicle platform berths formula wireless charging device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810120071.3A CN108258766A (en) | 2018-02-06 | 2018-02-06 | Autonomous underwater vehicle platform berths formula wireless charging device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108988449A (en) * | 2018-07-27 | 2018-12-11 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | A kind of seabed electric power station system applied to submarine navigation device |
| CN109192473A (en) * | 2018-09-14 | 2019-01-11 | 哈尔滨工业大学（威海） | The magnetic coupling arrangement and Autonomous Underwater Vehicle system of Autonomous Underwater Vehicle wireless charging |
| CN109802472A (en) * | 2019-01-28 | 2019-05-24 | 上海安费诺永亿通讯电子有限公司 | Wireless transmitting terminals, charging equipment, coil and the method for improving the coefficient of coup |
| CN111313564A (en) * | 2020-02-18 | 2020-06-19 | 湖南大学 | Wireless power transmission system of underwater unmanned underwater vehicle and control method |
| CN112953032A (en) * | 2021-02-05 | 2021-06-11 | 西安电子科技大学 | High-pitch-diameter-ratio wireless power transmission device, combination device and transmission system |
| CN113895599A (en) * | 2021-12-09 | 2022-01-07 | 浙江大学 | Long-term on-duty AUV (autonomous underwater vehicle) submarine connection base station and non-contact operation and maintenance system and method thereof |
| CN113928136A (en) * | 2021-09-23 | 2022-01-14 | 浙江大学 | Cable embedded connection system |
| CN114172243A (en) * | 2021-12-14 | 2022-03-11 | 南京工程学院 | Underwater vehicle wireless charging system based on GPI controller and control method |
| US11505077B2 (en) * | 2020-05-27 | 2022-11-22 | Toyota Motor Engineering & Manufacturing North America, Inc. | Systems and methods for wireless vehicle power transfer and misalignment estimation |
| CN115783196A (en) * | 2022-12-15 | 2023-03-14 | 江苏亨通海洋光网系统有限公司 | Recyclable underwater energy supply and data exchange platform and recycling method |
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| CN108988449A (en) * | 2018-07-27 | 2018-12-11 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | A kind of seabed electric power station system applied to submarine navigation device |
| CN109192473A (en) * | 2018-09-14 | 2019-01-11 | 哈尔滨工业大学（威海） | The magnetic coupling arrangement and Autonomous Underwater Vehicle system of Autonomous Underwater Vehicle wireless charging |
| CN109192473B (en) * | 2018-09-14 | 2020-12-01 | 哈尔滨工业大学（威海） | Magnetic coupling structure for wireless charging of autonomous underwater vehicle and autonomous underwater vehicle system |
| CN109802472B (en) * | 2019-01-28 | 2022-08-19 | 上海安费诺永亿通讯电子有限公司 | Wireless transmitting terminal, charging equipment, coil and method for improving coupling coefficient |
| CN109802472A (en) * | 2019-01-28 | 2019-05-24 | 上海安费诺永亿通讯电子有限公司 | Wireless transmitting terminals, charging equipment, coil and the method for improving the coefficient of coup |
| CN111313564B (en) * | 2020-02-18 | 2023-05-16 | 湖南大学 | Wireless power transmission system of underwater unmanned underwater vehicle and control method |
| CN111313564A (en) * | 2020-02-18 | 2020-06-19 | 湖南大学 | Wireless power transmission system of underwater unmanned underwater vehicle and control method |
| US11505077B2 (en) * | 2020-05-27 | 2022-11-22 | Toyota Motor Engineering & Manufacturing North America, Inc. | Systems and methods for wireless vehicle power transfer and misalignment estimation |
| CN112953032A (en) * | 2021-02-05 | 2021-06-11 | 西安电子科技大学 | High-pitch-diameter-ratio wireless power transmission device, combination device and transmission system |
| CN113928136A (en) * | 2021-09-23 | 2022-01-14 | 浙江大学 | Cable embedded connection system |
| CN113928136B (en) * | 2021-09-23 | 2024-08-13 | 浙江大学 | Cable embedded type connection system |
| CN113895599A (en) * | 2021-12-09 | 2022-01-07 | 浙江大学 | Long-term on-duty AUV (autonomous underwater vehicle) submarine connection base station and non-contact operation and maintenance system and method thereof |
| CN114172243A (en) * | 2021-12-14 | 2022-03-11 | 南京工程学院 | Underwater vehicle wireless charging system based on GPI controller and control method |
| CN114172243B (en) * | 2021-12-14 | 2024-04-19 | 南京工程学院 | GPI (general purpose input) controller-based underwater vehicle wireless charging system and control method |
| CN115783196A (en) * | 2022-12-15 | 2023-03-14 | 江苏亨通海洋光网系统有限公司 | Recyclable underwater energy supply and data exchange platform and recycling method |
| CN115783196B (en) * | 2022-12-15 | 2024-03-05 | 江苏亨通华海科技股份有限公司 | Recoverable underwater energy supply and data exchange platform and recovery method |
| WO2024124809A1 (en) * | 2022-12-15 | 2024-06-20 | 江苏亨通海洋光网系统有限公司 | Recoverable underwater energy supply and data exchange platform and recovery method |
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