CN110901865B - Unmanned underwater vehicle, underwater wireless charging device and charging method - Google Patents
Unmanned underwater vehicle, underwater wireless charging device and charging method Download PDFInfo
- Publication number
- CN110901865B CN110901865B CN201911211012.8A CN201911211012A CN110901865B CN 110901865 B CN110901865 B CN 110901865B CN 201911211012 A CN201911211012 A CN 201911211012A CN 110901865 B CN110901865 B CN 110901865B
- Authority
- CN
- China
- Prior art keywords
- unit
- wireless charging
- controller
- underwater vehicle
- unmanned underwater
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
-
- 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
- H02J50/12—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling of the resonant type
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/90—Circuit arrangements or systems for wireless supply or distribution of electric power involving detection or optimisation of position, e.g. alignment
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
Landscapes
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Power Engineering (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The invention relates to an unmanned underwater vehicle, an underwater wireless charging device and a charging method, wherein the unmanned underwater vehicle comprises: the unmanned underwater vehicle comprises an unmanned underwater vehicle body, a power battery and a wireless charging receiving system; wireless charging device under water includes: the device comprises a shell, a guide rail unit, a transmitting coil, an auxiliary coil, a second controller, a rectifying and filtering circuit, an inverter circuit, a transmitting resonance unit, a compensation network and a power supply; by adopting a scientific underwater wireless charging method, the operability of underwater wireless charging is greatly enhanced, and the transmission efficiency of underwater wireless charging is improved; the concealment is high, the structure is simple and convenient, the maintenance and replacement of each unit fitting are convenient and fast, and the device is suitable for popularization and application.
Description
Technical Field
The invention relates to the technical field of underwater wireless charging, in particular to an unmanned underwater vehicle, an underwater wireless charging device and a charging method.
Background
The underwater vehicle can replace divers to carry out operations and constructions such as sunken ship salvage, deep water exploration, underwater cable laying and the like; with the relative mature development of relevant technologies of the underwater vehicle, the important value of the unmanned underwater vehicle in the military field is gradually emphasized by people, and UUV equipped with a large number of sensors is used by American navy hydrology and ocean units to draw a seabed map so as to provide necessary data for submarine and amphibious battle plans; unmanned undersea vehicles are also used for search and rescue, intelligence, surveillance and reconnaissance tasks; meanwhile, a new type of deep-sea UUV has been tested in the united states for tracking enemy submarines, and it is also a practical possibility to develop striking capabilities with strict timing requirements. The enemy submarine can be used as a bait to cheat the enemy submarine to leave a naval vessel formation, and can be used for performing containment under the cooperation of other weapons; the system can perform reconnaissance or enemy reconnaissance on water surface and underwater targets, or can be used as an external acoustic sensor platform of the submarine to enlarge the search and reconnaissance range of the submarine or form an anti-submarine warning line; the method can draw a mine area map deep into a mine area where enemies are laid, guide own naval vessels to safely pass through the mine area or provide support for own mine scanning/hunting vessels; can lay the mine and distribute the mine area to the other party; the unmanned underwater vehicle does not need to fear the severe hydrological environment and the extremely high danger degree of the sea bottom, can scout and collect various kinds of information in water for a long time and at a high density level, and is an 'sea bottom scout' which is worthless in future war;
the application range of the existing underwater unmanned underwater vehicle is continuously expanded, but the unmanned underwater vehicle developed by various countries is generally disturbed by the lack of high-energy long-acting batteries, insufficient power and limited navigation time and radius, and the existing unmanned underwater vehicle has higher time consumption when floating out of the water surface to carry out charging and energy storage operation, is easy to expose self targets and is not beneficial to the concealment requirement of special operation; this has just produced the underwater charging technique to this purpose that reaches the concealment and improves work efficiency, and at present, the underwater charging technique mainly falls into two main categories:
the method comprises the following steps that firstly, a wet plug power transmission interface is connected with an underwater device and a power supply to charge; the charging method has many practical application defects, such as:
firstly, the butt joint operation is complex, and potential safety hazards during butt joint operation are easily caused;
secondly, the whole wet plugging and unplugging system is expensive to install and not beneficial to popularization;
the later maintenance of the wet plug technology is complex, the difficulty is high, and the potential leakage hazard is easy to generate;
second, wireless charging technology under water, fine solution when wireless charging under water, need connect the potential safety hazard of plug, nevertheless wireless charging under water is different from the wireless charging technology in ground, and wireless charging technical difficulty under water is great, includes: the underwater coil alignment is three-dimensional space alignment, which is different from two-dimensional alignment of wireless charging of a road automobile, and the remote guidance cannot use alignment modes such as GPS, Bluetooth, infrared rays and the like, and the signals are not suitable for the penetration effect of an aqueous medium, so that the underwater guidance and accurate alignment become a difficult problem of the underwater wireless charging;
in order to overcome the difficult problem of charging of wireless when charging under water, guaranteeing accurate counterpoint, among the prior art, the application number is: 201810457676.1 entitled "underwater wireless charging robot, underwater wireless charging method and system", the invention adopts a first positioning unit and a second positioning unit, respectively uses the birth positioning and visual positioning technology to charge facilities which are inconvenient to move underwater, to achieve the accurate alignment, but the patent design, the text description and the attached drawings can find that there are many design defects:
the underwater wireless charging of the underwater robot is a three-dimensional space and is in three-dimensional butt joint, and the patent is idealized as two-dimensional plane alignment for the underwater wireless charging without three-dimensional alignment as shown in the attached figure 6 of the specification and the description of the patent, and obviously, water is flowing liquid and is not a plane on the land;
the second positioning unit of the patent adopts underwater sound positioning or optical positioning, which does not consider that the error of the underwater sound positioning is large, and the underwater positioning is black during the optical positioning, and the state to be aligned can not be seen like visible light on the road surface, so that the precise positioning explained by the underwater positioning cannot be realized; (this violates the covert security requirement of underwater charging even with bright light illumination on).
After the patent is aligned, charging is started by using wireless charging technologies such as magnetic coupling, water flow is moving, how to ensure that the charging device is fixed? The continuous action of the propulsion module is required to be continuously and repeatedly started, and the positioning mode is too complex and difficult to realize accurate positioning;
in order to ensure the realization of wireless charging in the prior art, an invention patent is also provided, and the application numbers are as follows: 201610179703.4 entitled "an autonomous underwater vehicle underwater wireless charging device", which describes the connection relationship of various wireless charging in the patent, how to implement the principle of wireless charging of a transmitting coil and a receiving coil, but there are many publications and unreasonable designs for actually implementing underwater wireless charging, such as:
the autonomous underwater vehicle and the underwater charging device are connected through a capturing mechanical arm; the catching mechanism is used for catching the catching mechanical arm; the patent brings about the complex underwater three-dimensional alignment situation, and specific technical description for realizing underwater three-dimensional alignment cannot be found in combination with the attached drawings of the specification, and particularly, the attached drawing 2 of the specification is an example of the existing wireless charging technology; underwater wireless charging alignment cannot be realized throughout;
(ii) how does the capturing mechanism capture the robot arm? Because the size and shape of the underwater devices to be charged are different, how to realize the operation of capturing and determining the position of the mechanical arm?
And thirdly, how is the precise positioning of the transmitting coil and the receiving coil completed by completing underwater docking through the capturing mechanical arm of the aircraft and the capturing mechanism of the underwater charging device and the final positioning realized by the locking mechanism? The inventor does not consider that underwater alignment is more complex, three-dimensional alignment, and long-distance guidance does not use GPS, and does not consider the premise that the existing positioning method available on land is basically used anyway.
Disclosure of Invention
In order to solve the technical problems, the invention provides an unmanned underwater vehicle, an underwater wireless charging device and a charging method.
An unmanned underwater vehicle, an underwater wireless charging device and a charging method are provided, wherein:
an unmanned underwater vehicle comprising: the unmanned underwater vehicle comprises an unmanned underwater vehicle body, a power battery and a wireless charging receiving system; one end of the power battery is electrically connected with one end of the unmanned underwater vehicle body, and the other end of the power battery is electrically connected with one end of the wireless charging receiving system;
further, the wireless charging receiving system is used for providing charging power for the power battery, and the power battery is used for providing electric energy power for the unmanned underwater vehicle body; the power battery is arranged in the unmanned underwater vehicle body;
as an illustration, the unmanned underwater vehicle body is used for performing submarine surveying and mapping, military reconnaissance and submarine optical cable and cable inspection tasks;
by way of illustration, the unmanned vehicle is self-contained with a sonar system;
further, the wireless charging receiving system includes: the device comprises a receiving unit, a negative pressure unit, a telescopic unit, a universal connector and a sucker structure;
wherein the receiving unit includes: the first controller is used for controlling the receiving resonance unit and the rectifying unit, controlling the positioning work of the unmanned underwater vehicle body self-contained sonar system and monitoring the electric quantity of the power battery; the receiving coil, the first controller, the receiving resonance unit and the rectifying unit are arranged in the shell;
further, one end of the receiving resonance unit is electrically connected with one end of the receiving coil, the other end of the receiving resonance unit is electrically connected with one end of the rectifying unit, and the other end of the rectifying unit is electrically connected with the other end of the power battery, so that the alternating current transmitted from the receiving resonance unit is converted into direct current and is transmitted to the power battery;
furthermore, the shell is of a hollow structure, one end of the hollow structure of the shell is hermetically communicated with one end of the universal connector, and the other end of the hollow structure of the shell is hermetically communicated with the sucker structure;
furthermore, one end of the telescopic unit is hermetically communicated with one side of the unmanned underwater vehicle body, the other end of the telescopic unit is hermetically communicated with the other end of the universal connector, the telescopic unit is of a multi-section hollow structure capable of electrically stretching, and the hollow structure of the telescopic unit is communicated with the negative pressure unit;
furthermore, the universal connector is a universal action connecting unit with a hollow structure, so that the sucker structure can complete good adsorption action without being completely parallel to a non-metal shell of the transmitting coil, and the simplicity of butt joint and fixation of the unmanned underwater vehicle and the underwater wireless charging device is greatly improved;
furthermore, the negative pressure unit is used for generating adsorption pressure to drive the hollow structure of the telescopic unit, and further drive the sucker structure to be adsorbed on the non-metal shell of the transmitting coil;
as an example, the rectification unit and the power battery are electrically connected by using a retractable flexible cable reel structure, the flexible cable reel is arranged on a cable reel with elastic return force, one end of a flexible cable is electrically connected with the power battery through the cable reel, the other end of the flexible cable is electrically connected with a receiving coil, the flexible cable synchronously links with the retraction of the flexible cable in a hollow structure of the retractable unit, and joints at two ends of the flexible cable are sealed and waterproof;
as an example, the outer protective layer of the flexible cable is made of an insulating waterproof material, and is arranged in the telescopic unit, so that the scraping influence of an external moving object on the flexible cable is effectively reduced, and the water pressure damage to the cable caused by water pressure during wireless charging is greatly reduced;
an underwater wireless charging device comprising: the device comprises a shell, a guide rail unit, a transmitting coil, an auxiliary coil, a second controller, a rectifying and filtering circuit, an inverter circuit, a transmitting resonance unit, a compensation network and a power supply; one end of the rectification filter circuit is electrically connected with one end of the power supply, the other end of the rectification filter circuit is electrically connected with one end of the inverter circuit, the other end of the inverter circuit is electrically connected with one end of the transmitting resonance unit, the other end of the transmitting resonance unit is electrically connected with one end of the compensation network, and the other end of the compensation network is electrically connected with one end of the transmitting coil; when the power supply flows into the rectifying and filtering circuit, alternating current is converted into direct current, the direct current is inverted into high-frequency alternating current through the inverter circuit, then the high-frequency alternating current is boosted through the transmitting resonance unit and finally is converted into high-frequency high-voltage alternating current, and the high-frequency high-voltage alternating current is applied to the transmitting coil through the compensation network;
the second controller is used for controlling the work of the guide rail unit, the auxiliary coil, the rectifying and filtering circuit, the inverter circuit, the transmitting resonance unit and the compensation network; the second controller, the rectifying filter circuit, the inverter circuit, the transmitting resonance unit and the compensation network are arranged in the shell; the transmitting coil and the auxiliary coil are arranged on the guide rail unit in an overlapping mode; the second controller and the first controller can communicate with each other; the guide rail unit, the transmitting coil and the auxiliary coil are arranged on one side of the shell, and the outer surface of the shell is hermetically wrapped with an insulating waterproof non-metal shell;
by way of illustration, the second controller communicates with the first controller via an ultra-long wave or ultra-long wave wireless signal;
by way of illustration, the second controller communicates with the first controller via ultrasound;
as an example, the guide rail unit adopts a structure mode of a transverse guide rail and a longitudinal guide rail, and drives the transmitting coil to accurately position the receiving coil through a transverse motor and a longitudinal motor;
as an illustration, the power supply is a submarine cable;
as an example, the compensation network is used for tuning a pi circuit of the transmission resonance unit, that is, tuning an LC resonance formed between a coupling capacitor C and an inductor L, so as to improve transmission power and efficiency;
as an application example, the compensation network may adopt one or a combination of a voltage series resonance compensation structure or a current parallel resonance compensation structure;
an underwater wireless charging method, comprising:
step one, when the first controller monitors that the power battery is insufficient in electric quantity, prompting the unmanned underwater vehicle to sail to an underwater wireless charging device;
as an example, the power standard setting when the power battery is low in power should meet the power requirement that the unmanned underwater vehicle can sail to the underwater wireless charging device;
as an example, the subsea coordinates of the underwater wireless charging device may be preset in the first controller of the unmanned underwater vehicle in advance, or may be sent to the first controller of the unmanned underwater vehicle in an ultra-long wave wireless communication manner;
step two, when the unmanned underwater vehicle navigates to the coordinate position of the underwater wireless charging device, the first controller controls the sonar system of the unmanned underwater vehicle to perform primary positioning operation, and controls the unmanned underwater vehicle to further navigate to the position above the transmitting coil;
as an example, the imaging of the transmitting coil structure in the sonar system is set in the first controller in advance, so that the determination and comparison operation during the initial positioning operation of the sonar system is facilitated;
after the initial positioning, the first controller controls the telescopic unit to extend to the transmitting coil, and controls the negative pressure unit to generate an adsorption effect after bottom contact, so that the sucker structure is firmly attracted to the surface of the non-metal shell, and a two-dimensional space effect that the receiving coil and the transmitting coil are parallel to each other is achieved;
as an example, when the suction cup structure and the transmitting coil are parallel to each other, the suction cup structure can be smoothly attached to and adsorbed by the non-metal shell by parallel pushing;
as an example, when the sucker structure and the transmitting coil are in a cross position, the sucker structure is pushed in parallel, after one end of the sucker structure meets the non-metal shell, the universal connector meets resistance, and the posture of the receiving unit is automatically adjusted under the flexible adjustment of the universal connecting shaft, so that the sucker structure on the sucker structure is smoothly attached to and adsorbed by the non-metal shell;
step four, when the negative pressure unit detects that no water body flows, namely the suction cup structure is in a fit tight suction state, the first controller sends a wireless charging request to the second controller;
after receiving the wireless charging request signal, the second controller controls the guide rail unit to perform horizontal scanning operation from left to right and from top to bottom, simultaneously starts the auxiliary coil to send out an electromagnetic signal, judges the specific position of the receiving coil, stops acting after the guide rail unit runs to the optimal positioning position for wireless charging, and controls the rectification filter circuit, the inverter circuit, the transmitting resonance unit, the compensation network and the power supply to perform wireless charging operation;
step six, after the first controller detects that the power battery is fully charged, a wireless charging completion signal is transmitted to the second controller, the second controller stops wireless charging operation, the guide rail unit returns, meanwhile, the negative pressure unit releases a reverse pressure signal, so that the sucker structure is separated from the non-metal shell, and then the telescopic unit is controlled to retract into the unmanned underwater vehicle body to complete underwater wireless charging operation;
has the advantages that:
the invention adopts a mode of sonar initial positioning and auxiliary coil secondary positioning, thereby greatly enhancing the operability of underwater wireless charging and improving the transmission efficiency of underwater wireless charging;
the invention has hidden charging operation without a light source, greatly reduces the possibility of being discovered, and greatly reduces the light and noise generated by the traditional optical positioning and the repeated acoustic positioning by matching the auxiliary coil with the scanning positioning of the guide rail;
the fixing operation of underwater wireless charging can be completed only by tightly sucking and attaching the straight-stroke sucker structure without a complex fixed manipulator structure;
the design structure is simple and convenient, and each unit fitting is overhauled and is replaced convenient and fast, is fit for popularizing and applying.
Drawings
FIG. 1 is a schematic view of the overall structure of an unmanned underwater vehicle of the invention
FIG. 2 is a schematic diagram of the overall structure of a wireless charging receiving system of an unmanned underwater vehicle according to the present invention
FIG. 3 is a schematic view of the charging principle of the unmanned underwater vehicle and the underwater wireless charging device of the present invention
FIG. 4 is a schematic diagram of a preferred example of a universal joint of a wireless charging receiving system of an unmanned underwater vehicle according to the present invention
Detailed Description
The technical solutions in the prior art and the embodiments of the present invention will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments; all other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 to 4, an unmanned underwater vehicle, an underwater wireless charging device and a charging method are disclosed, wherein:
an unmanned underwater vehicle comprising: the unmanned underwater vehicle comprises an unmanned underwater vehicle body 101, a power battery 102 and a wireless charging receiving system 103; one end of the power battery 102 is electrically connected with one end of the unmanned underwater vehicle body 101, and the other end of the power battery 102 is electrically connected with one end of the wireless charging receiving system 103;
further, the wireless charging receiving system 103 is configured to provide charging power to the power battery 102, and the power battery is configured to provide electric energy power to the unmanned underwater vehicle body 101; the power battery 102 is arranged in the unmanned underwater vehicle body;
as an illustration, the unmanned underwater vehicle body 101 is used for performing submarine surveying and mapping, military reconnaissance and submarine cable and cable inspection tasks;
by way of illustration, the unmanned vehicle is self-contained with a sonar system 313;
further, the wireless charging receiving system 103 includes: the device comprises a receiving unit 201, a negative pressure unit 202, a telescopic unit 203, a universal connector 204 and a sucker structure 205;
wherein the receiving unit 201 includes: the unmanned underwater vehicle comprises a shell, a receiving coil 301, a first controller 302, a receiving resonance unit 303 and a rectification unit 304, wherein the first controller 302 is used for controlling the receiving resonance unit 303 and the rectification unit 304, controlling the positioning work of the unmanned underwater vehicle body 101 from a sonar system 313 and monitoring the electric quantity of the power battery 102; the receiving coil 301, the first controller 302, the receiving resonance unit 303 and the rectifying unit 304 are arranged in the housing;
further, one end of the receiving resonance unit 303 is electrically connected to one end of the receiving coil 301, the other end of the receiving resonance unit 303 is electrically connected to one end of the rectifying unit 304, and the other end of the rectifying unit 304 is electrically connected to the other end of the power battery 102, so as to convert the alternating current transmitted from the receiving resonance unit 303 into direct current and transmit the direct current to the power battery 102;
further, the housing is of a hollow structure, one end of the hollow structure of the housing is hermetically communicated with one end of the universal connector 204, and the other end of the hollow structure of the housing is hermetically communicated with the sucker structure 205;
further, one end of the telescopic unit 203 is hermetically communicated with one side of the unmanned underwater vehicle body 101, the other end of the telescopic unit 203 is hermetically communicated with the other end of the universal connector 204, the telescopic unit 203 is a multi-section hollow structure capable of electrically extending and retracting, and the hollow structure of the telescopic unit 203 is communicated with the negative pressure unit 202;
furthermore, the universal connector 204 is a universal action connection unit with a hollow structure, so that the sucker structure 205 can complete a good adsorption action without being completely parallel to a non-metal shell of the transmitting coil, and the simplicity of butt joint and fixation of the unmanned underwater vehicle and the underwater wireless charging device is greatly increased;
further, the negative pressure unit 202 is configured to generate an adsorption pressure to drive the hollow structure of the expansion unit 203, and further drive the suction cup structure 205 to be adsorbed on the non-metal shell of the transmitting coil 305;
as an example, the rectifying unit 304 is electrically connected to the power battery 102 by using a flexible cable reel structure, the flexible cable reel is disposed on a cable reel with elastic return force, one end of a flexible cable is electrically connected to the power battery 102 through the cable reel, the other end of the flexible cable is electrically connected to the receiving coil 301, the flexible cable synchronously links with the flexible cable reel in a hollow structure of the telescopic unit 203 along with the flexible cable reel, and joints at two ends of the flexible cable are sealed and waterproof;
as an example, the outer protection layer of the flexible cable is made of an insulating waterproof material, and is arranged in the telescopic unit 203, so that the scraping influence of an external moving object on the flexible cable is effectively reduced, and the water pressure damage to the cable caused by water pressure during wireless charging is greatly reduced;
by way of illustration, the universal joint 204 includes: a fixed connection portion 401, a first movable connection portion 402, and a second movable connection portion 403; the first movable connecting part 402 is slidably sleeved on one side of the fixed connecting part 401, and the second movable connecting part 403 is slidably sleeved on the other side of the fixed connecting part 401;
as an example, the fixed connection part 401 is formed by two 3/4 spherical open surfaces arranged symmetrically at left and right, and the symmetrical sides of the open surfaces are communicated through a pipeline; the first movable connecting part 402 and the second movable connecting part 403 are respectively tightly sleeved on the open-face round balls at the left side and the right side, the first movable connecting part 402 and the second movable connecting part 403 are both 3/4 open-face round balls which are symmetrically arranged, and the symmetrical sides of the open faces are both provided with communicating holes;
as an example, the sliding sleeve is tightly sleeved, which means that the sliding sleeve can normally rotate and can be sealed by water;
an underwater wireless charging device comprising: a housing, a guide rail unit, a transmitting coil 305, an auxiliary coil 306, a second controller 307, a rectifying and filtering circuit 308, an inverter circuit 309, a transmitting resonance unit 310, a compensation network 311 and a power supply 312; one end of the rectifying and filtering circuit 308 is electrically connected to one end of the power supply 312, the other end of the rectifying and filtering circuit 308 is electrically connected to one end of the inverter circuit 309, the other end of the inverter circuit 309 is electrically connected to one end of the transmitting resonant unit 310, the other end of the transmitting resonant unit 310 is electrically connected to one end of the compensating network 311, and the other end of the compensating network 311 is electrically connected to one end of the transmitting coil 305; when the power supply 312 flows into the rectifying and filtering circuit 308, the ac power is converted into dc power, the dc power is inverted into high-frequency ac power by the inverter circuit 309, and then the high-frequency ac power is boosted by the transmitting resonant unit 310, and finally the high-frequency ac power is converted into high-frequency ac power, and then the high-frequency ac power is applied to the transmitting coil 305 through the compensating network 311;
the second controller 307 is configured to control operations of the rail unit, the auxiliary coil 306, the rectifying and filtering circuit 308, the inverter circuit 309, the transmitting resonant unit 310, and the compensation network 311; the second controller 307, the rectifying and filtering circuit 308, the inverter circuit 309, the transmitting resonant unit 310 and the compensation network 311 are arranged in the housing; the transmitting coil 305 and the auxiliary coil 306 are arranged on the guide rail unit in an overlapping manner; the second controller 307 and the first controller 302 can communicate with each other; the guide rail unit, the transmitting coil 305 and the auxiliary coil 306 are arranged on one side of the shell, and the outer surface of the shell is hermetically wrapped with an insulating waterproof non-metal shell;
by way of illustration, the second controller 307 communicates with the first controller 302 via a super-long wave or ultra-long wave wireless signal;
by way of illustration, the second controller communicates with the first controller via ultrasound;
as an example, the guide rail unit adopts a structure mode of a transverse guide rail and a longitudinal guide rail, and drives the transmitting coil 305 to accurately position the receiving coil 301 for operation through a transverse motor and a longitudinal motor;
as an illustration, the power supply 312 is a submarine cable;
as an illustration, the auxiliary coil 306 shares a coil with the transmitting coil 305;
as an example, the compensation network 311 is used to tune the pi circuit of the transmitting resonant unit 310, i.e., to tune the LC resonance formed between the coupling capacitor C and the inductor L, so as to improve the transmission power and efficiency;
as an application example, the compensation network 311 may adopt one or a combination of a voltage series resonance compensation structure or a current parallel resonance compensation structure;
an underwater wireless charging method, comprising:
step one, when the first controller 302 monitors that the power battery 102 is insufficient in electric quantity, prompting the unmanned underwater vehicle to sail to an underwater wireless charging device;
as an example, the power standard setting when the power battery 102 is low in power should meet the power requirement that the unmanned underwater vehicle can sail to the underwater wireless charging device;
as an example, the subsea coordinates of the underwater wireless charging device may be preset in the first controller 302 of the unmanned underwater vehicle in advance, or may be sent to the first controller 302 of the unmanned underwater vehicle by means of ultra-long wave wireless communication;
step two, when the unmanned underwater vehicle navigates to the coordinate of the underwater wireless charging device, the first controller 302 controls the sonar system 313 of the unmanned underwater vehicle to perform primary positioning operation, and controls the unmanned underwater vehicle to further navigate to the position above the transmitting coil 305;
as an example, the imaging of the structure of the transmitting coil 305 in the sonar system is set in the first controller 302 in advance, so as to facilitate the determination and comparison operation during the preliminary positioning operation of the sonar system 313;
after the initial positioning, the first controller 302 controls the telescopic unit 203 to extend to the transmitting coil 305, and controls the negative pressure unit 202 to generate an adsorption effect after the bottom is touched, so that the sucker structure 205 is firmly attracted to the surface of the non-metal shell, a two-dimensional space effect that the receiving coil 301 and the transmitting coil 305 are parallel to each other is achieved, and at the moment, the telescopic unit 203 stops acting;
as an example, when the chuck structure 205 and the transmitting coil 305 are parallel to each other, the chuck structure 205 can be smoothly attached to and attracted by the non-metal housing by parallel pushing;
as an example, when the suction cup structure 205 and the transmitting coil 305 are in a cross position, the suction cup structure 205 is pushed in parallel, after one end of the suction cup structure 205 meets a non-metal casing, the universal connector 204 meets resistance, and under the flexible adjustment of its universal connecting shaft, the posture of the receiving unit is automatically adjusted, so that the suction cup structure 205 thereon is smoothly attached to and adsorbed by the non-metal casing;
step four, when the negative pressure unit 202 detects that no more water body flows, that is, the suction cup structure 205 is in a close suction state, at this time, the first controller 302 sends a wireless charging request to the second controller 307;
after receiving the wireless charging request signal, the second controller 307 controls the guide rail unit to perform horizontal scanning operation from left to right and from top to bottom, simultaneously starts the auxiliary coil 306 to send out an electromagnetic signal, determines the specific position of the receiving coil 301, then stops operating after the guide rail unit operates to the optimal positioning position for wireless charging, and the second controller 307 controls the rectifying and filtering circuit 308, the inverter circuit 309, the transmitting resonance unit 310, the compensation network 311 and the power supply 312 to perform wireless charging operation;
step six, after the first controller 302 detects that the power battery 102 is fully charged, a wireless charging completion signal is transmitted to the second controller 307, the second controller 307 stops wireless charging operation, the guide rail unit returns, meanwhile, the negative pressure unit 202 releases a reverse pressure signal, so that the suction cup 205 structure is separated from the non-metal shell, and then the telescopic unit 203 is controlled to retract into the unmanned underwater vehicle body 101 to complete underwater wireless charging operation;
as an illustration, the underwater wireless charging device is fixed on the sea floor.
The invention adopts a mode of sonar initial positioning and auxiliary coil secondary positioning, thereby greatly enhancing the operability of underwater wireless charging and improving the transmission efficiency of underwater wireless charging; the auxiliary coil is matched with the scanning and positioning of the guide rail, so that the light and noise generated by the traditional optical positioning and the repeated acoustic positioning are greatly reduced; the fixing operation of underwater wireless charging can be completed only by tightly sucking and attaching the straight-stroke sucker structure without a complex fixed manipulator structure; the design structure is simple and convenient, and each unit fitting is overhauled and is replaced convenient and fast, is fit for popularizing and applying.
The disclosure above is only one specific embodiment of the present application, but the present application is not limited thereto, and any variations that can be made by those skilled in the art are intended to fall within the scope of the present application.
Claims (8)
1. An unmanned underwater vehicle, comprising: the unmanned underwater vehicle comprises an unmanned underwater vehicle body, a power battery and a wireless charging receiving system; one end of the power battery is electrically connected with one end of the unmanned underwater vehicle body, and the other end of the power battery is electrically connected with one end of the wireless charging receiving system; the wireless charging receiving system is used for providing charging power for the power battery, and the power battery is used for providing electric energy power for the unmanned underwater vehicle body; the power battery is arranged in the unmanned underwater vehicle body; the wireless receiving system that charges includes: the device comprises a receiving unit, a negative pressure unit, a telescopic unit, a universal connector and a sucker structure;
the unmanned underwater vehicle is provided with a sonar system;
the receiving unit includes: the first controller is used for controlling the receiving resonance unit and the rectifying unit, controlling the positioning work of the unmanned underwater vehicle body self-contained sonar system and monitoring the electric quantity of the power battery; the receiving coil, the first controller, the receiving resonance unit and the rectifying unit are arranged in the shell; one end of the receiving resonance unit is electrically connected with one end of the receiving coil, the other end of the receiving resonance unit is electrically connected with one end of the rectifying unit, and the other end of the rectifying unit is electrically connected with the other end of the power battery, so that alternating current transmitted from the receiving resonance unit is converted into direct current and is transmitted to the power battery; the shell is of a hollow structure, one end of the hollow structure of the shell is hermetically communicated with one end of the universal connector, and the other end of the hollow structure of the shell is hermetically communicated with the sucker structure; the unmanned underwater vehicle comprises an unmanned underwater vehicle body, and is characterized in that one end of the telescopic unit is communicated with one side of the unmanned underwater vehicle body in a sealing mode, the other end of the telescopic unit is communicated with the other end of the universal connector in a sealing mode, the telescopic unit is of a multi-section hollow structure capable of being electrically stretched, and the hollow structure of the telescopic unit is communicated with the negative pressure unit.
2. The unmanned underwater vehicle as claimed in claim 1, wherein the universal joint is a hollow universal action connection unit, which ensures that the suction cup structure can perform a good suction action without being completely parallel to the non-metal shell of the transmitting coil.
3. The unmanned underwater vehicle as claimed in claim 2, wherein the negative pressure unit is configured to generate a suction pressure to drive the hollow structure of the telescopic unit and further drive the suction cup structure to be attracted to the non-metal shell of the transmitting coil; the electric connection between the rectifying unit and the power battery is realized by adopting a telescopic flexible cable reel structure, the flexible cable reel is arranged on a cable reel with elastic return force, one end of a flexible cable is electrically connected with the power battery through the cable reel, the other end of the flexible cable is electrically connected with a receiving coil, the flexible cable synchronously links along with the telescopic action of the flexible cable in a hollow structure of the telescopic unit, and joints at two ends of the flexible cable are sealed and waterproof; the outer protective layer of flexible cable adopts insulating waterproof material, because of set up in among the flexible unit, the effectual external object that moves about that has reduced scrapes apart the influence to its probably production, and the water pressure that water pressure probably caused the cable when having significantly reduced wireless charging in addition destroys.
4. An underwater wireless charging device, comprising: the device comprises a shell, a guide rail unit, a transmitting coil, an auxiliary coil, a second controller, a rectifying and filtering circuit, an inverter circuit, a transmitting resonance unit, a compensation network and a power supply; one end of the rectification filter circuit is electrically connected with one end of the power supply, the other end of the rectification filter circuit is electrically connected with one end of the inverter circuit, the other end of the inverter circuit is electrically connected with one end of the transmitting resonance unit, the other end of the transmitting resonance unit is electrically connected with one end of the compensation network, and the other end of the compensation network is electrically connected with one end of the transmitting coil; when the power supply flows into the rectifying and filtering circuit, alternating current is converted into direct current, the direct current is inverted into high-frequency alternating current through the inverter circuit, then the high-frequency alternating current is boosted through the transmitting resonance unit and finally is converted into high-frequency high-voltage alternating current, and the high-frequency high-voltage alternating current is applied to the transmitting coil through the compensation network; the second controller is used for controlling the work of the guide rail unit, the auxiliary coil, the rectifying and filtering circuit, the inverter circuit, the transmitting resonance unit and the compensation network; the second controller, the rectifying filter circuit, the inverter circuit, the transmitting resonance unit and the compensation network are arranged in the shell; the transmitting coil and the auxiliary coil are arranged on the guide rail unit in an overlapping mode; the second controller and the first controller can communicate with each other; the guide rail unit, the transmitting coil and the auxiliary coil are arranged on one side of the shell, and the outer side of the shell is hermetically wrapped with an insulating waterproof non-metal shell.
5. The underwater wireless charging device as claimed in claim 4, wherein the second controller communicates with the first controller through ultra-long wave, ultra-long wave wireless signals or ultrasonic waves.
6. The underwater wireless charging device of claim 5, wherein the guide rail unit adopts a structure of a transverse guide rail and a longitudinal guide rail, and the transverse motor and the longitudinal motor drive the transmitting coil to accurately position the receiving coil for operation; the power supply is a submarine cable; the compensation network is used for tuning a pi circuit of the transmitting resonance unit, namely tuning LC resonance formed between a coupling capacitor C and an inductor L so as to improve transmission power and efficiency; the compensation network may employ one or a combination of a voltage series resonance compensation structure or a current parallel resonance compensation structure.
7. An underwater wireless charging method, comprising:
step one, when the first controller monitors that the power battery is insufficient in electric quantity, prompting the unmanned underwater vehicle to sail to an underwater wireless charging device; the electric quantity standard setting when the electric quantity of the power battery is insufficient can meet the electric quantity requirement that the unmanned underwater vehicle can sail to the underwater wireless charging device;
step two, when the unmanned underwater vehicle navigates to the coordinate position of the underwater wireless charging device, the first controller controls the sonar system of the unmanned underwater vehicle to perform primary positioning operation, and controls the unmanned underwater vehicle to further navigate to the position above the transmitting coil;
after the initial positioning, the first controller controls the telescopic unit to extend to the transmitting coil, and controls the negative pressure unit to generate an adsorption effect after bottom contact, so that the sucker structure is firmly attracted to the surface of the non-metal shell, and a two-dimensional space effect that the receiving coil and the transmitting coil are parallel to each other is achieved;
step four, when the negative pressure unit detects that no water body flows, namely the suction cup structure is in a fit tight suction state, the first controller sends a wireless charging request to the second controller;
after receiving the wireless charging request signal, the second controller controls the guide rail unit to perform horizontal scanning operation from left to right and from top to bottom, simultaneously starts the auxiliary coil to send out an electromagnetic signal, judges the specific position of the receiving coil, stops acting after the guide rail unit runs to the optimal positioning position for wireless charging, and controls the rectification filter circuit, the inverter circuit, the transmitting resonance unit, the compensation network and the power supply to perform wireless charging operation;
and sixthly, after the first controller detects that the power battery is fully charged, transmitting a wireless charging completion signal to the second controller, stopping the wireless charging operation of the second controller, returning the guide rail unit, releasing a reverse pressure signal by the negative pressure unit, separating the sucker structure from the non-metal shell, and controlling the telescopic unit to retract into the unmanned underwater vehicle body to complete underwater wireless charging operation.
8. An underwater wireless charging method according to claim 7,
the submarine coordinates of the underwater wireless charging device can be preset in the first controller of the unmanned underwater vehicle in advance, and can also be sent to the first controller of the unmanned underwater vehicle in an ultralong wave wireless communication mode;
the imaging of the transmitting coil structure in the sonar system is set in the first controller in advance, so that the sonar system can be conveniently judged and compared during initial positioning operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911211012.8A CN110901865B (en) | 2019-12-02 | 2019-12-02 | Unmanned underwater vehicle, underwater wireless charging device and charging method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911211012.8A CN110901865B (en) | 2019-12-02 | 2019-12-02 | Unmanned underwater vehicle, underwater wireless charging device and charging method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110901865A CN110901865A (en) | 2020-03-24 |
| CN110901865B true CN110901865B (en) | 2020-10-30 |
Family
ID=69821025
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911211012.8A Active CN110901865B (en) | 2019-12-02 | 2019-12-02 | Unmanned underwater vehicle, underwater wireless charging device and charging method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110901865B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112217295B (en) * | 2020-09-27 | 2022-03-15 | 中国人民解放军海军工程大学 | Underwater wireless ultrasonic electric energy transmission device |
| CN113135077B (en) * | 2021-04-19 | 2023-12-05 | 江汉大学 | Intelligent amphibious double-body deep sea engineering exploration submarine |
| 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 |
| CN114801793A (en) * | 2022-04-12 | 2022-07-29 | 株洲中车时代电气股份有限公司 | Energy supply device and method for underwater robot and unmanned ship |
| CN115257416A (en) * | 2022-08-12 | 2022-11-01 | 哈尔滨工业大学 | Universal anti-deviation wireless power transmission system and method for autonomous unmanned underwater vehicle |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2014119085A1 (en) * | 2013-02-04 | 2014-08-07 | 株式会社Ihi | Contactless power supply system |
| CN104158301A (en) * | 2014-01-20 | 2014-11-19 | 中国海洋大学 | Underwater wireless charging method and apparatus based on magnetic resonance |
| CN104539061A (en) * | 2015-01-06 | 2015-04-22 | 钟霞 | Power transmitting terminal, wireless power transmission device and wireless power transmission method |
| CN105259900A (en) * | 2015-10-22 | 2016-01-20 | 毛茂军 | Microwave-charged underwater robot remote control system |
| CN105703458A (en) * | 2016-03-25 | 2016-06-22 | 哈尔滨工程大学 | Underwater wireless charging equipment for autonomous underwater vehicle |
| CN105811485A (en) * | 2014-12-30 | 2016-07-27 | 中国科学院沈阳自动化研究所 | Load constant current control method of wireless charging system of underwater sneaking device |
| CN106464025A (en) * | 2014-06-06 | 2017-02-22 | 株式会社Ihi | Power transmitting device, power receiving device, and wireless power supply system |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8362640B2 (en) * | 2009-07-15 | 2013-01-29 | Enfuse Systems, Inc. | System and method of controlling a plurality of energy loads and energy supplies in a coordinated manner |
-
2019
- 2019-12-02 CN CN201911211012.8A patent/CN110901865B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2014119085A1 (en) * | 2013-02-04 | 2014-08-07 | 株式会社Ihi | Contactless power supply system |
| CN104158301A (en) * | 2014-01-20 | 2014-11-19 | 中国海洋大学 | Underwater wireless charging method and apparatus based on magnetic resonance |
| CN106464025A (en) * | 2014-06-06 | 2017-02-22 | 株式会社Ihi | Power transmitting device, power receiving device, and wireless power supply system |
| CN105811485A (en) * | 2014-12-30 | 2016-07-27 | 中国科学院沈阳自动化研究所 | Load constant current control method of wireless charging system of underwater sneaking device |
| CN104539061A (en) * | 2015-01-06 | 2015-04-22 | 钟霞 | Power transmitting terminal, wireless power transmission device and wireless power transmission method |
| CN105259900A (en) * | 2015-10-22 | 2016-01-20 | 毛茂军 | Microwave-charged underwater robot remote control system |
| CN105703458A (en) * | 2016-03-25 | 2016-06-22 | 哈尔滨工程大学 | Underwater wireless charging equipment for autonomous underwater vehicle |
| CN105703458B (en) * | 2016-03-25 | 2018-09-11 | 哈尔滨工程大学 | A kind of Autonomous Underwater Vehicle wireless charging device under water |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110901865A (en) | 2020-03-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110901865B (en) | Unmanned underwater vehicle, underwater wireless charging device and charging method | |
| CN105775079B (en) | The movement connecting device of noncontact under water of autonomous underwater vehicle and water surface movable platform | |
| GB2581091A (en) | Guide cable based apparatus and method for unmanned vehicle recovering autonomous underwater vehicle | |
| CN107187565B (en) | Underwater online charging system and method | |
| US9592895B2 (en) | Underwater docking system and docking method using the same | |
| EP3271240B1 (en) | Communications among water environment mobile robots | |
| CN108988449B (en) | Submarine power station system applied to underwater vehicle | |
| US10410788B1 (en) | Wireless power and data transfer for unmanned vehicles | |
| CN104937812B (en) | Contactless power supply system | |
| US20150316675A1 (en) | Offshore seismic monitoring system and method | |
| CN206871329U (en) | A kind of underwater system to charge online | |
| Wirtz et al. | Design and test of a robust docking system for hovering AUVs | |
| CN112421804B (en) | Underwater wireless charging and intelligent alignment guiding method for autonomous unmanned underwater vehicle | |
| CN107010183B (en) | A kind of underwater structure surface clean detection system based on buoyancy compartment | |
| KR101760192B1 (en) | Underwater docking system based on underwater agent and the method of docking using thereof | |
| JP2017225272A (en) | Underwater charging system and underwater charging method | |
| CN112061354A (en) | Autonomous underwater vehicle capable of carrying and recovering unmanned aerial vehicle and unmanned aerial vehicle recovery method | |
| CN114243938B (en) | Non-contact charging system of submarine cable inspection AUV and guiding butt joint method thereof | |
| CN111377041A (en) | AUV long-term residence system based on marine environment energy | |
| CN109795631A (en) | A kind of nobody early warning waterborne and system of defense | |
| CN110937087A (en) | Underwater AUV (autonomous underwater vehicle) laying and recycling butt joint device and butt joint method | |
| CN112498144A (en) | Solar driven anchor system type autonomous aircraft multifunctional docking station and docking method | |
| KR20210077100A (en) | Moving and fixing charging station of unmanned underwater vehicle | |
| CN109733567B (en) | Method for carrying out non-contact charging on underwater operation unit by using AUV (autonomous Underwater vehicle) | |
| WO2018141157A1 (en) | Experimentation system and method for frequency target detection of underwater moving submersible body |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20200928 Address after: 3 / F, building A2, block a, Fangxing science and Technology Park, No. 13, Baonan Road, Longgang street, Longgang District, Shenzhen City, Guangdong Province Applicant after: SHENZHEN WEIERLISI TECHNOLOGY Co.,Ltd. Address before: 100000 Room 401, unit 1, high education building, Shahe High Education Park, Changping District, Beijing Applicant before: BEIJING YONGKUO TECHNOLOGY Co.,Ltd. |
|
| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |