CN112821495A - Underwater wireless charging method, device, system, device and storage medium - Google Patents
Underwater wireless charging method, device, system, device and storage medium Download PDFInfo
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- CN112821495A CN112821495A CN202110077577.2A CN202110077577A CN112821495A CN 112821495 A CN112821495 A CN 112821495A CN 202110077577 A CN202110077577 A CN 202110077577A CN 112821495 A CN112821495 A CN 112821495A
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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
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/00032—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by data exchange
- H02J7/00034—Charger exchanging data with an electronic device, i.e. telephone, whose internal battery is under charge
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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
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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
- H02J50/80—Circuit arrangements or systems for wireless supply or distribution of electric power involving the exchange of data, concerning supply or distribution of electric power, between transmitting devices and receiving devices
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/90—Circuit arrangements or systems for wireless supply or distribution of electric power involving detection or optimisation of position, e.g. alignment
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- 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
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0047—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with monitoring or indicating devices or circuits
- H02J7/0048—Detection of remaining charge capacity or state of charge [SOC]
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- Computer Networks & Wireless Communication (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The invention discloses an underwater wireless charging method, equipment, a system, a device and a storage medium, wherein the underwater wireless charging method comprises the following steps: receiving a charging request, wherein the charging request comprises position information of equipment to be charged; sending adaptation information to the equipment to be charged, wherein the adaptation information comprises position information of the charging equipment; receiving confirmation information sent by equipment to be charged; establishing communication connection with the equipment to be charged according to the confirmation information; receiving a traveling route sent by equipment to be charged; driving to a chargeable range of the equipment to be charged according to the traveling route; and the device to be charged is in butt joint with the device to be charged. The underwater wireless charging method can realize wireless charging in underwater butt joint, the energy supply of the equipment to be charged can be completed without water, the single working time of the equipment to be charged under water is prolonged, the influence of energy limitation on the performance and the service life of the equipment to be charged under water is avoided, and the energy supply cost and the maintenance cost of the equipment to be charged under water are reduced.
Description
Technical Field
The invention relates to the technical field of marine observation and development, in particular to an underwater wireless charging method, device, system and device and a storage medium.
Background
Underwater systems, such as submerged buoy, UUV, etc., can perform continuous operation activities underwater. The underwater system is supplied with energy by a storage battery carried by the underwater system, and the energy supply capacity of the underwater system is limited, so that the underwater system is a main factor for limiting the performance improvement of the underwater system. For example, the acoustic transmitting subsurface buoy has a limited range of action because it cannot reach higher transmitting power, and the acoustic receiving subsurface buoy needs to weaken part of functions in order to save energy. Meanwhile, the single service life of the underwater system is also limited by the underwater energy, and the system must be recycled before the energy consumption is finished.
At present, three main methods for solving the problem of energy limitation of long-time work of an underwater system are available: the first is to design the underwater system with low power consumption, reduce the energy consumption of the underwater system as much as possible, mainly seek technical breakthrough from algorithm and hardware, but have limited capability of solving problems. The second is that large capacity energy reserves are equipped underwater or the underwater energy generating system has an energy generating function, but the effective load capacity of a general underwater system is limited, the energy reserves cannot be increased without limit, and for a large-scale comprehensive functional underwater system, the problem of rapid energy consumption cannot be solved by increasing the energy reserves, and besides, the existing underwater energy generating technology (ocean current power generation and the like) is immature and cannot meet the requirements. And the third method is to directly supply power to the underwater system in real time from the shore through the underwater photoelectric composite cable, and the method has high cost, is only suitable for the area easily covered by the submarine photoelectric cable or the area near the shore and the island, and cannot meet the energy requirement of the underwater system which needs to be flexibly distributed in most of the ocean area where the photoelectric composite cable cannot be laid.
Disclosure of Invention
In order to solve the technical problems, the invention provides an underwater wireless charging method, device, system, device and storage medium.
According to a first aspect of the application, an underwater wireless charging method is provided and applied to charging equipment, and the underwater wireless charging method comprises the following steps:
receiving a charging request, wherein the charging request comprises position information of equipment to be charged;
sending adaptation information to the equipment to be charged, wherein the adaptation information comprises position information of the charging equipment;
receiving confirmation information sent by equipment to be charged;
establishing communication connection with the equipment to be charged according to the confirmation information;
receiving a traveling route sent by equipment to be charged;
driving to a chargeable range of the equipment to be charged according to the traveling route;
and the device to be charged is butted with the device to be charged, and the device to be charged is charged.
Optionally, the driving to the chargeable range of the device to be charged according to the traveling route comprises:
when the mobile terminal travels along the travel route, sending position information of the charging equipment to the equipment to be charged according to a preset rule;
receiving an updating instruction which is generated and sent by the equipment to be charged according to the position information of the equipment to be charged and the position information of the charging equipment, wherein the updating instruction comprises an updated travelling route;
and updating the travel route according to the updating instruction.
Optionally, the driving to the chargeable range of the device to be charged further comprises:
and receiving attitude control information of the equipment to be charged, and adjusting the attitude of the charging equipment relative to the equipment to be charged according to the attitude control information.
Optionally, docking with the device to be charged, and charging the device to be charged includes:
sending a docking protocol to the equipment to be charged, wherein the docking protocol comprises the frequency band of the charging electromagnetic wave and the power of the charging electromagnetic wave;
the equipment to be charged verifies the docking protocol, and when the verification is successful, the charging equipment and the equipment to be charged establish charging docking and charge the equipment to be charged.
Optionally, receiving the charging request comprises:
the charging request further comprises required electric quantity information of the equipment to be charged, and the charging equipment confirms whether the equipment to be charged can be charged according to the required electric quantity information of the equipment to be charged.
According to a first aspect of the application, an underwater wireless charging method is provided, and is applied to a device to be charged, and the underwater wireless charging method comprises the following steps:
self-detecting residual electric quantity information;
if the residual electric quantity information is lower than the critical value, generating a charging request, wherein the charging request comprises the current position of the equipment to be charged;
sending a charging request;
receiving adaptation information sent by the charging equipment, sending confirmation information to the charging equipment according to the adaptation information, and establishing communication connection with the charging equipment;
receiving the position information sent by the charging equipment, generating a traveling route according to the position information of the charging equipment, and sending the traveling route to the charging equipment to guide the charging equipment to travel to a chargeable range;
and (4) docking with a charging device.
Optionally, the method further comprises:
receiving position information sent by the charging equipment according to a preset rule in the process that the charging equipment travels along the travel route;
determining the current position information of the equipment to be charged, and generating an updating instruction according to the current position information of the charging equipment and the current position information of the equipment to be charged, wherein the updating instruction comprises an updated travelling route;
and sending an updating instruction to the charging equipment.
Optionally, after sending the travel route to the charging device to guide the charging device to travel to the chargeable range, the method further includes:
determining attitude information of the equipment to be charged, and generating attitude control information according to the attitude information of the equipment to be charged;
and sending the attitude control information to the charging equipment so that the charging equipment adjusts the attitude of the charging equipment according to the attitude control information.
Optionally, interfacing with the charging device comprises:
receiving a docking protocol sent by the charging equipment, wherein the docking protocol comprises a frequency band of a charging electromagnetic wave and power of the charging electromagnetic wave;
determining the frequency band of electromagnetic waves required by the equipment to be charged and the power of the required electromagnetic waves, and verifying a docking protocol;
the frequency band of the electromagnetic wave required by the equipment to be charged is the same as that of the charging electromagnetic wave of the charging equipment, and the power of the electromagnetic wave required by the equipment to be charged is the same as that of the charging electromagnetic wave of the charging equipment, the verification is successful, and the charging butt joint is established with the charging equipment.
Optionally, the charging request further includes required charge information.
According to a third aspect of the present application, there is provided a charging apparatus comprising:
the charging device comprises a request receiving unit, a charging unit and a charging unit, wherein the request receiving unit receives a charging request which comprises position information of equipment to be charged;
the adaptive unit sends adaptive information to the equipment to be charged, and the adaptive information comprises position information of the charging equipment;
the charging confirmation unit receives confirmation information sent by the equipment to be charged and establishes communication connection with the equipment to be charged according to the confirmation information;
the communication unit receives a traveling route sent by the equipment to be charged;
the control unit drives the equipment to be charged to a chargeable range according to the traveling route;
and the charging butt joint unit is in butt joint with the equipment to be charged and charges the equipment to be charged.
According to a fourth aspect of the present application, there is provided a charging apparatus, an apparatus to be charged, comprising:
the electric quantity acquisition unit is used for automatically detecting the residual electric quantity information;
the processing unit is used for generating a charging request if the residual electric quantity information is lower than a critical value, wherein the charging request comprises the current position of the equipment to be charged;
a request transmitting unit that transmits a charging request;
the adaptive information receiving unit receives adaptive information sent by the charging equipment, sends confirmation information to the charging equipment according to the adaptive information and establishes communication connection with the charging equipment;
the guiding unit receives the position information sent by the charging equipment, generates a traveling route according to the position information of the charging equipment, and sends the traveling route to the charging equipment to guide the charging equipment to travel to a chargeable range;
and the docking unit is docked with the charging equipment.
According to a fifth aspect of the present application, an underwater wireless charging system is provided, which comprises the charging device of the present application and/or the device to be charged of the present application.
According to a sixth aspect of the present application, there is provided a charging device comprising:
a processor;
a memory for storing processor-executable instructions;
wherein the processor is configured to execute the executable instructions in the memory to implement the steps of the method of any of claims 1-5.
According to a seventh aspect of the present application, there is provided a non-transitory computer readable storage medium having stored thereon executable instructions, wherein the executable instructions when executed by a processor implement the steps of the method of any one of claims 1 to 5.
According to an eighth aspect of the present application, there is provided a device to be charged, including:
a processor;
a memory for storing processor-executable instructions;
wherein the processor is configured to execute the executable instructions in the memory to implement the steps of the method of any one of claims 6 to 10.
According to a ninth aspect of the present application, there is provided a non-transitory computer readable storage medium having stored thereon executable instructions, wherein the executable instructions when executed by a processor implement the steps of the method of any one of claims 6 to 10.
According to the underwater wireless charging method, the charging device and the device to be charged can be in butt joint underwater to realize wireless charging, the device to be charged can finish energy supply without water, the single working time of the device to be charged under water is prolonged, the influence of current energy limitation on the performance and the service life of the device to be charged under water is avoided, and the cost and the maintenance cost of energy supply of the device to be charged under water are reduced.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a flow chart of an underwater wireless charging method in the present application;
FIG. 2 is a flowchart of step S160 according to an embodiment of the present application;
fig. 3 is a flowchart of an underwater wireless charging method according to an embodiment of the present application;
FIG. 4 is a flowchart of step S140 according to an embodiment of the present application;
FIG. 5 is a flow chart of an underwater wireless charging method of the present application;
FIG. 6 is a flowchart of step S250 in an embodiment of the present application;
FIG. 7 is a flow chart of an underwater wireless charging method according to an embodiment of the present application;
FIG. 8 is a flowchart of step S260 according to an embodiment of the present application;
fig. 9 is a schematic diagram of a charging device of the present application;
FIG. 10 is a schematic diagram of a device to be charged of the present application;
FIG. 11 is a schematic diagram of a device to be charged in a specific embodiment of the present application;
FIG. 12 is a block diagram illustrating a computer device according to an example embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. 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. It should be noted that, in the embodiments and examples of the present application, the feature vectors may be arbitrarily combined with each other without conflict.
Underwater systems, such as submerged buoy, UUV, etc., can perform continuous operation activities underwater. The underwater system is supplied with energy by a storage battery carried by the underwater system, and the energy supply capacity of the underwater system is limited, so that the underwater system is a main factor for limiting the performance improvement of the underwater system. For example, the acoustic transmitting subsurface buoy has a limited range of action because it cannot reach higher transmitting power, and the acoustic receiving subsurface buoy needs to weaken part of functions in order to save energy. Meanwhile, the single service life of the underwater system is also limited by the underwater energy, and the system must be recycled before the energy consumption is finished.
At present, three main methods for solving the problem of energy limitation of long-time work of an underwater system are available: the first is to design the underwater system with low power consumption, reduce the energy consumption of the underwater system as much as possible, mainly seek technical breakthrough from algorithm and hardware, but have limited capability of solving problems. The second is that large capacity energy reserves are equipped underwater or the underwater energy generating system has an energy generating function, but the effective load capacity of a general underwater system is limited, the energy reserves cannot be increased without limit, and for a large-scale comprehensive functional underwater system, the problem of rapid energy consumption cannot be solved by increasing the energy reserves, and besides, the existing underwater energy generating technology (ocean current power generation and the like) is immature and cannot meet the requirements. And the third method is to directly supply power to the underwater system in real time from the shore through the underwater photoelectric composite cable, and the method has high cost, is only suitable for the area easily covered by the submarine photoelectric cable or the area near the shore and the island, and cannot meet the energy requirement of the underwater system which needs to be flexibly distributed in most of the ocean area where the photoelectric composite cable cannot be laid.
The application provides an underwater wireless charging method, equipment, a system, a device and a storage medium, wherein the charging equipment and the equipment to be charged can be in underwater butt joint to realize wireless charging, the equipment to be charged can finish energy supply without water, the single working time of the equipment to be charged under water is prolonged, the influence of current energy limitation on the performance and the service life of the equipment to be charged under water is solved, and the energy supply cost and the maintenance cost of the equipment to be charged under water are reduced.
The underwater wireless charging method is applied to charging equipment, and comprises the following steps:
step S110, receiving a charging request, where the charging request includes location information of a device to be charged.
Step S120, sending adaptation information to the device to be charged, where the adaptation information includes location information of the charging device.
Step S130, receiving confirmation information sent by the device to be charged.
And step S140, establishing communication connection with the equipment to be charged according to the confirmation information.
Step S150, receiving the travel route sent by the device to be charged.
And step S160, driving to the chargeable range of the equipment to be charged according to the traveling route.
And step S170, butting with the equipment to be charged and charging the equipment to be charged.
According to the underwater wireless charging method, the charging equipment receives the charging request and then acquires the position information of the equipment to be charged. And acquiring real-time position information of the charging equipment, and generating and sending adaptation information. And after receiving the confirmation information sent by the equipment to be charged, the charging equipment establishes communication connection with the equipment to be charged. And in the communication process with the equipment to be charged, the charging equipment and the equipment to be charged exchange information, and the charging equipment receives a traveling path sent by the equipment to be charged and travels to the equipment to be charged along the traveling path. The charging device runs to the chargeable range of the device to be charged, establishes charging butt joint with the device to be charged and charges the device to be charged. The charging equipment and the equipment to be charged are in communication connection to mutually exchange information, and the charging equipment runs along a travel path sent by the equipment to be charged to the equipment to be charged so as to charge the equipment to be charged. The charging device can rapidly drive to the chargeable range of the device to be charged along the traveling route, can be in butt joint with the device to be charged underwater to realize wireless charging, can finish energy supply without leaving water, and prolongs the single underwater working time of the device to be charged.
In the underwater wireless charging method provided by the present application, step S160, as shown in fig. 2, drives to the chargeable range of the device to be charged according to the traveling route, includes:
in step S161, when the vehicle travels along the travel route, the position information of the charging device is sent to the device to be charged according to a preset rule.
Step S162, receiving an update instruction generated and sent by the device to be charged according to the position information of the device to be charged and the position information of the charging device, where the update instruction includes an updated travel route.
In step S163, the travel route is updated according to the update instruction.
When the vehicle travels along the travel route, the position information of the charging equipment is sent to the equipment to be charged according to a preset rule, wherein the preset rule can be that the position information of the charging equipment is sent to the equipment to be charged at preset intervals for one time; the position information of the primary charging device may be transmitted to the device to be charged by traveling the predetermined section along the travel route.
The charging equipment receives an updating instruction sent by the equipment to be charged, wherein the equipment to be charged updates the traveling route according to the relative position of the charging equipment and the equipment to be charged, and sends the updated traveling route to the charging equipment through the updating instruction. And the charging equipment updates the traveling route according to the updating instruction and travels to the equipment to be charged along the updated traveling route.
In the process of driving the charging equipment to the equipment to be charged, the equipment to be charged can be in a static state or a motion state, in order to ensure that the charging equipment can also rapidly and accurately move to the chargeable range of the equipment to be charged, in the process of driving the charging equipment to the equipment to be charged, the charging equipment and the equipment to be charged exchange position information, a traveling path is updated according to the change of the relative positions of the charging equipment and the equipment to be charged, and the traveling path of the charging equipment is timely adjusted, so that the charging equipment can move to the chargeable range of the equipment to be charged at the fastest speed.
In the underwater wireless charging method provided by the present application, as shown in fig. 3, after the step S160 is performed to the chargeable range of the device to be charged according to the travel route, the method further includes:
and step S190, receiving attitude control information of the equipment to be charged, and adjusting the attitude of the charging equipment relative to the equipment to be charged according to the attitude control information.
And the charging equipment runs into the chargeable range of the equipment to be charged, and the charging equipment adjusts the posture of the equipment to be charged under the control of the posture control information, so that the posture of the charging equipment can charge the equipment to be charged. In order to ensure that the charging equipment can charge the equipment to be charged, the charging equipment adjusts the posture of the charging equipment according to the posture control information sent by the equipment to be charged so as to enable the posture of the charging equipment to be consistent with the posture of the equipment to be charged, and the charging equipment is convenient to emit energy to the equipment to be charged.
In the underwater wireless charging method provided by the present application, step S170 is docked with a device to be charged, and the device to be charged is charged, as shown in fig. 4, the method includes:
step S171, sending a docking protocol to the device to be charged, where the docking protocol includes a frequency band of the charging electromagnetic wave and a power of the charging electromagnetic wave.
Step S172, if the device to be charged verifies the docking protocol, the charging device and the device to be charged establish charging docking, and the device to be charged is charged.
The charging equipment generates and sends a docking protocol based on the frequency band and the power of the charging electromagnetic wave, the equipment to be charged verifies the docking protocol, when the verification result is successful, the charging equipment and the equipment to be charged establish charging docking, the charging equipment transmits the electromagnetic wave to the equipment to be charged based on the frequency band and the power of the charging electromagnetic wave in the docking protocol, energy is transmitted to the equipment to be charged, and the equipment to be charged converts the electromagnetic wave into electric energy.
In a possible implementation manner, the charging request in step S110 further includes identification information of the device to be charged, for example, the identification information may be a device serial number of the device to be charged.
The charging equipment generates and sends a docking protocol, wherein the docking protocol comprises an equipment serial number of the equipment to be charged, a frequency band of the charging electromagnetic wave and power of the charging electromagnetic wave.
The method comprises the steps that the equipment to be charged receives a docking protocol, whether an equipment serial number of the equipment to be charged is the same as an equipment serial number in the docking protocol or not is verified, the equipment serial number of the equipment to be charged is different from the equipment serial number in the docking protocol, and verification fails.
And the equipment serial number of the equipment to be charged is the same as the equipment serial number in the docking protocol, and the frequency band of the required electromagnetic wave of the equipment to be charged and the power of the required electromagnetic wave are continuously verified.
And if the power of the electromagnetic wave required by the equipment to be charged is the same as that of the charging electromagnetic wave, the verification of the docking protocol is successful, and the charging docking is established between the equipment to be charged and the equipment to be charged to charge the equipment to be charged.
The equipment serial number of the equipment to be charged is the same as the equipment serial number in the docking protocol, and the verification fails when one or two of the frequency band and/or the required power of the electromagnetic wave required by the equipment to be charged is different from the frequency band and the power of the charging electromagnetic wave of the charging equipment.
The equipment serial number of the equipment to be charged is the same as the equipment serial number in the docking protocol, and one or two of the frequency band and/or the required power of the electromagnetic wave required by the equipment to be charged are different from the frequency band and the power of the charging electromagnetic wave of the charging equipment.
The charging equipment can regenerate and send the docking protocol until the frequency band and the required power of the required electromagnetic wave of the equipment to be charged are the same as those of the charging electromagnetic wave of the charging equipment, the equipment to be charged verifies the docking protocol, and the charging equipment is docked with the equipment to be charged and charges the equipment to be charged.
In the underwater wireless charging method provided by the application, the charging request received in step S110 further includes: and the charging equipment confirms whether the equipment to be charged can be charged according to the required electric quantity information of the equipment to be charged.
The charging device receives a charging request sent by the device to be charged, determines whether the remaining capacity can meet the required capacity of the device to be charged, and if the remaining capacity of the charging device meets the required capacity of the device to be charged, the step S120 is performed, and adaptation information is sent to the device to be charged. And if the residual capacity of the charging equipment is not enough to the required capacity of the equipment to be charged, the charging equipment ignores the charging request.
In the underwater wireless charging method provided by the application, the step S170 of docking the device to be charged further includes:
and in the process of charging the equipment to be charged by the charging equipment, receiving attitude control information sent by the equipment to be charged, and adjusting the attitude of the charging equipment relative to the equipment to be charged according to the attitude control information.
During the charging process, the underwater posture of the equipment to be charged can be changed, posture control information is sent to the charging equipment when the posture of the equipment to be charged is changed, and the charging equipment adjusts the posture relative to the equipment to be charged according to the posture control information, so that the posture of the charging equipment is consistent with the posture of the equipment to be charged, and the charging state is kept uninterrupted.
In the underwater wireless charging method provided by the application, the step S170 of docking the device to be charged further includes:
and in the process of charging the equipment to be charged by the charging equipment, receiving a traveling route sent by the equipment to be charged, and following the traveling of the equipment to be charged according to the traveling route.
In the charging process, the device to be charged may not be static, the device to be charged continues to advance in water, the device to be charged is sent to the charging device when the device to be charged advances, and the charging device carries out tracking charging on the device to be charged according to the advancing of the device to be charged along with the device to be charged so that the position of the charging device is consistent with the position of the device to be charged.
As a possible implementation manner of the present application, as shown in fig. 3, the underwater wireless charging method of the present application is applied to a charging device, and includes the following steps:
step S110, receiving a charging request, where the charging request includes location information of a device to be charged, identification information of the device to be charged, and information of required electric quantity of the device to be charged.
Step S120, the charging device confirms whether the residual electric quantity can meet the required electric quantity of the device to be charged according to the required electric quantity information of the device to be charged, the residual electric quantity of the charging device meets the required electric quantity of the device to be charged, and adaptation information is sent to the device to be charged, wherein the adaptation information comprises position information of the charging device.
Step S130, receiving confirmation information sent by the device to be charged.
And step S140, establishing communication connection with the equipment to be charged according to the confirmation information.
Step S150, receiving the travel route sent by the device to be charged.
Step S160, according to the traveling route, the mobile terminal runs to the equipment to be charged, when the mobile terminal travels along the traveling route, the position information of the charging equipment is sent to the equipment to be charged according to a preset rule, an updating instruction generated and sent by the equipment to be charged according to the position information of the equipment to be charged and the position information of the charging equipment is received, the updating instruction comprises the updated traveling route, the traveling route is updated according to the updating instruction, and the mobile terminal runs to the chargeable range of the equipment to be charged.
And step S190, the charging equipment runs into the chargeable range of the equipment to be charged, receives the attitude control information of the equipment to be charged, and adjusts the attitude of the charging equipment relative to the equipment to be charged according to the attitude control information, so that the attitude of the charging equipment is consistent with the attitude of the equipment to be charged, and the charging equipment can conveniently emit energy to the equipment to be charged.
Step S170, sending a docking protocol to the device to be charged, wherein the docking protocol includes identification information of the device to be charged, a frequency band of the charging electromagnetic wave, and power of the charging electromagnetic wave. The device to be charged verifies the docking protocol, when the verification result is successful, the charging device and the device to be charged establish charging docking, the charging device transmits electromagnetic waves to the device to be charged based on the frequency band and the power of the charging electromagnetic waves in the docking protocol, energy is transmitted to the device to be charged, and the device to be charged converts the electromagnetic waves into electric energy.
The underwater wireless charging method is applied to equipment to be charged, and comprises the following steps:
step S210, self-detecting the remaining power information.
In step S220, if the remaining power information is lower than the threshold, a charging request is generated, where the charging request includes the current location of the device to be charged.
In step S230, a charging request is sent.
Step S240, receiving the adaptation information sent by the charging device, sending a confirmation message to the charging device according to the adaptation information, and establishing a communication connection with the charging device.
And step S250, receiving the position information sent by the charging equipment, generating a traveling route according to the position information of the charging equipment, and sending the traveling route to the charging equipment to guide the charging equipment to travel to a chargeable range.
And step S260, docking with a charging device.
According to the underwater wireless charging method, the to-be-charged equipment detects the residual electric quantity information in real time, when the residual electric quantity information is detected to be lower than a critical value, the real-time position information is acquired, a charging request is generated and sent, the charging request is sent to a communication range, and the charging equipment capable of supplying electric energy is searched in the communication range. And the equipment to be charged receives the adaptation information sent by the charging equipment within the communication range, sends confirmation information to the charging equipment and establishes communication with the charging equipment. Generating a traveling route according to the relative positions of the charging equipment and the equipment to be charged, sending the traveling route to the charging equipment, guiding the charging equipment to travel to a chargeable range, butting with the charging equipment, and receiving charging of the charging equipment.
The device to be charged may receive adaptation information of a plurality of charging devices within a communication range, the device to be charged acquires the position of the charging device according to the adaptation information of the charging device, and sends confirmation information to a proper charging device according to the position selection of the charging device, for example, the confirmation information may be sent to the charging device closest to the charging device.
In the underwater wireless charging method provided by the present application, step S250 is to guide the charging device to travel to a chargeable range, as shown in fig. 6, the method further includes:
step S251, during the process that the charging device travels along the travel route, receives the position information sent by the charging device according to the preset rule.
Step S252, determining current location information of the device to be charged, and generating an update instruction according to the current location information of the charging device and the current location information of the device to be charged, where the update instruction includes an updated travel route.
In step S253, an update instruction is sent to the charging device.
When the charging equipment travels along the traveling route, the equipment to be charged may also travel, in order to enable the charging equipment to be capable of rapidly and accurately moving to the chargeable range of the equipment to be charged to charge the equipment to be charged, in the process that the charging equipment travels to the equipment to be charged, the position information of the charging equipment is sent to the equipment to be charged according to a preset rule, the equipment to be charged receives the position information of the charging equipment, the real-time position information of the equipment to be charged is confirmed, an updating instruction is generated according to the relative positions of the equipment to be charged and the charging equipment, the updating instruction comprises an updated traveling route, an updating signal is sent to the charging equipment, and the charging equipment travels to the equipment to be charged according to the updated traveling route.
In the underwater wireless charging method provided by the application, step S251 receives the position information sent by the charging device according to the preset rule, and may receive the position information sent by the charging device at intervals of a preset duration, or receive the position information sent by the charging device every time the charging device travels through a preset route. For example, the charging device may send real-time location information to the device to be charged once every 30 s.
In the underwater wireless charging method provided by the present application, as shown in fig. 7, after step S250 sends a traveling route to the charging device to guide the charging device to travel to a chargeable range, step S270 further includes:
step S271, determining the posture information of the device to be charged, and generating posture control information according to the posture information of the device to be charged.
In step S272, the attitude control information is sent to the charging device, so that the charging device adjusts the attitude of the charging device according to the attitude control information.
The charging equipment runs to the chargeable range of the equipment to be charged, and the charging equipment and the equipment to be charged are convenient to butt joint in order that the posture of the charging equipment is the same as that of the equipment to be charged, and the charging equipment can charge the equipment to be charged. And the equipment to be charged generates attitude control information according to the determined real-time attitude information and the attitude information of the equipment to be charged, and sends the attitude control information to the charging equipment.
The attitude control information comprises attitude information of the equipment to be charged, and the charging equipment receives the attitude control information and adjusts the attitude of the charging equipment relative to the equipment to be charged according to the attitude control information, so that the charging equipment can charge the equipment to be charged.
In the underwater wireless charging method provided by the present application, as shown in fig. 8, the step S260 of interfacing with the charging device includes:
step S261, receiving a docking protocol sent by the charging device, where the docking protocol includes a frequency band of the charging electromagnetic wave and a power of the charging electromagnetic wave.
Step S262, determining a frequency band of the electromagnetic wave required by the device to be charged and a required electromagnetic wave power.
Step S263, when the frequency band of the electromagnetic wave required by the device to be charged is the same as the frequency band of the charging electromagnetic wave of the charging device, and the power of the electromagnetic wave required by the device to be charged and the power of the charging electromagnetic wave of the charging device are within the range, the verification is successful, and the charging docking is established with the charging device.
When one or two of the frequency band of the electromagnetic wave required by the equipment to be charged, the required power of the electromagnetic wave and the frequency band and/or the power of the charging electromagnetic wave of the charging equipment are different, the verification fails, and the charging butt joint of the equipment to be charged and the charging equipment fails.
As a possible implementation manner, the charging request sent by the device to be charged in step S230 further includes identification information of the device to be charged, for example, the identification information may be a device serial number of the device to be charged.
The docking protocol transmitted by the charging device in step S261 includes the device serial number of the device to be charged, the frequency band of the charging electromagnetic wave, and the power of the charging electromagnetic wave.
The method comprises the steps that the equipment to be charged receives a docking protocol, whether an equipment serial number of the equipment to be charged is the same as an equipment serial number in the docking protocol or not is verified, the equipment serial number of the equipment to be charged is different from the equipment serial number in the docking protocol, and verification fails.
And the equipment serial number of the equipment to be charged is the same as the equipment serial number in the docking protocol, and the frequency band of the electromagnetic wave required by the equipment to be charged and the power of the required electromagnetic wave are continuously verified.
In this example, the device serial number of the device to be charged is the same as the device serial number in the docking protocol, and one or both of the frequency band and/or the required power of the electromagnetic wave required by the device to be charged are different from those of the charging electromagnetic wave of the charging device.
The charging equipment can regenerate and send the docking protocol until the frequency band and the power of the charging electromagnetic wave of the charging equipment are the same as those of the electromagnetic wave required by the equipment to be charged, the docking protocol is verified successfully, and the charging equipment is docked with the equipment to be charged to charge the equipment to be charged.
In the underwater wireless charging method provided by the application, the charging request sent in step S230 further includes information of required electric quantity of the device to be charged.
In order to improve charging efficiency, when the residual electric quantity information of the equipment to be charged is lower than a critical value, the required electric quantity information is generated according to the residual electric quantity information, meanwhile, the current position information and the identification information of the equipment to be charged are obtained, and the current position information and the identification information are jointly packaged to be used as a charging request and send the charging request. In the communication range, the charging equipment with sufficient electric quantity and capable of meeting the power supply requirement of the equipment to be charged is matched, and communication is established with the charging equipment with sufficient electric quantity.
As a possible implementation manner, step S260 interfaces with the charging device, receives the electromagnetic wave transmitted by the charging device and converts the electromagnetic wave into electric energy to supply power to the device to be charged.
As a possible implementation, the step S260 of interfacing with the charging device further includes:
in the charging process, when the posture of the device to be charged changes, the device to be charged generates a posture control signal according to the changed posture, and the posture control signal is sent to the charging device to adjust the posture state of the charging device relative to the device to be charged, so that when the posture of the device to be charged changes, the posture of the charging device changes along with the change of the posture of the device to be charged, and the charging state is kept uninterrupted.
In the underwater wireless charging method provided by the application, the docking of step S260 with the charging device further includes:
in the charging process, when the device to be charged still advances, the device to be charged generates an advancing route and sends the advancing route to the charging device, and the charging device advances according to the advancing route so that the position of the charging device is consistent with that of the device to be charged, and the device to be charged is charged in a tracking mode.
As a possible implementation manner, as shown in fig. 7, the underwater wireless charging method of the present application is applied to a device to be charged, and includes the following steps:
step S210, self-detecting the remaining power information.
In step S220, if the remaining power information is lower than the critical value, the real-time location information, the identification information, and the required power information of the device to be charged are obtained to jointly generate a charging request.
Step S230, sending a charging request to the communication range.
Step S240, receiving the adaptation information sent by the charging device, obtaining the position of the charging device according to the adaptation information of the charging device, selecting to send confirmation information to a proper charging device according to the position of the charging device, and establishing communication connection with the charging device.
And step S250, receiving the position information sent by the charging equipment, generating a traveling route according to the position information of the charging equipment, and sending the traveling route to the charging equipment to guide the charging equipment to travel to a chargeable range. And in the process that the charging equipment travels along the traveling route, receiving the position information sent by the charging equipment according to a preset rule, determining the current position information of the equipment to be charged, and generating an updating instruction according to the current position information of the charging equipment and the current position information of the equipment to be charged, wherein the updating instruction comprises the updated traveling route and guides the charging equipment to travel to the chargeable range.
Step S270, determining the attitude information of the equipment to be charged, and generating attitude control information according to the attitude information of the equipment to be charged. And sending the attitude control information to the charging equipment so that the charging equipment adjusts the attitude of the charging equipment according to the attitude control information. And adjusting the posture of the charging equipment relative to the equipment to be charged so that the charging equipment can charge the equipment to be charged.
Step S260, receiving a docking protocol sent by the charging device, where the docking protocol includes identification information, a frequency band of the charging electromagnetic wave, and a power of the charging electromagnetic wave. Determining whether the identification information in the docking protocol is consistent with the identification information of the equipment to be charged; the identification information in the docking protocol is consistent with the identification information of the device to be charged. And determining the frequency band and the required electromagnetic wave power of the electromagnetic wave required by the equipment to be charged. And when the frequency band of the electromagnetic wave required by the equipment to be charged is the same as that of the charging electromagnetic wave of the charging equipment, and the power of the electromagnetic wave required by the equipment to be charged is within the power range of the charging electromagnetic wave of the charging equipment, the verification is successful, and the charging butt joint is established with the charging equipment.
As shown in fig. 9, the charging device of the present application includes:
a request receiving unit 011, wherein the request receiving unit 011 receives a charging request, and the charging request comprises position information of a device to be charged;
the adapting unit 012, the adapting unit 012 sends adapting information to the device to be charged, the adapting information includes the position information of the charging device;
the charging confirming unit 013, wherein the charging confirming unit 013 receives confirmation information sent by the equipment to be charged and establishes communication connection with the equipment to be charged according to the confirmation information;
the communication unit 014 receives the traveling route sent by the equipment to be charged;
the control unit 015 is used for driving the vehicle to a chargeable range of the equipment to be charged according to the traveling route by the control unit 015;
the charging docking unit 016 and the charging docking unit 016 dock with the device to be charged, and charge the device to be charged.
As a possible implementation manner, the charging device of the present application is a UUV-loaded charging device, and includes an underwater acoustic transceiver module, a charging control module, and an electromagnetic wave emitting module. The underwater acoustic transceiver module comprises a request receiving unit 011, an adapting unit 012, a charging confirming unit 013 and a communication unit 014. The charging control module includes a control unit 015. The electromagnetic wave transmitting module 013 includes a charging docking unit 016.
As shown in fig. 10, the device to be charged of the present application includes: the electric quantity acquisition unit 021 is used for self-detecting the residual electric quantity information;
a processing unit 022, configured to generate a charging request if the remaining power information is lower than a threshold value, where the charging request includes a current location of a device to be charged;
a request transmitting unit 023 that transmits the charging request;
the adaptive information receiving unit 024 is used for receiving adaptive information sent by the charging equipment, sending confirmation information to the charging equipment according to the adaptive information and establishing communication connection with the charging equipment;
the guiding unit 025 is used for receiving the position information sent by the charging equipment, generating a traveling route according to the position information of the charging equipment and sending the traveling route to the charging equipment to guide the charging equipment to travel to a chargeable range;
As a possible implementation manner, the device to be charged of the present application includes a main control processing module, an underwater acoustic transducer, a docking module, and an electromagnetic wave receiving module. The main control processing module comprises an electric quantity acquisition unit 021 and a processing unit 022; the underwater acoustic transducer comprises a request sending unit 023 and an adaptive information receiving unit 024; the docking module includes a guide unit 025 and a docking unit 026; the electromagnetic wave receiving module is used for receiving electromagnetic waves transmitted by the charging equipment, converting the electromagnetic waves into electric energy and supplying power to the equipment to be charged.
As a preferred embodiment of the present application, as shown in fig. 11, the device to be charged of the present application is an acoustic submerged buoy system.
The acoustic submerged buoy base unit is used for providing deep sea watertight pressure resistance, system state monitoring and a plurality of interfaces for energy information transmission required by a submerged buoy system.
The acoustic submerged buoy base unit comprises a main control processing module (not shown), an interface module (not shown), a backup battery module (not shown), and a watertight and mechanical structure module 30. The main control processing module is used for completing system state monitoring and control; the interface module is used for providing a plurality of universal interfaces and realizing the interface connection among the main control processing module, the standby battery module, the watertight and mechanical structure module 30 and all the modules of the functional unit; the standby battery module is used for providing system electric energy during the charging of the acoustic submerged buoy and other emergency situations; watertight and mechanical structure module 30 for providing deep sea watertight pressure resistance.
Specifically, as shown in fig. 11, the watertight and mechanical structure module 30 includes: a watertight electronics compartment 31 and a mooring structure 35; the watertight electronic cabin 31 is used for installing the main control processing module, the interface module and each dry end processing control module of the standby battery module functional unit in the watertight electronic cabin 31 and protecting each module in the cabin from normally working in a severe environment under deep sea; the mooring structure 35 is a support platform that ensures stability of the watertight electronics compartment 31, other wet end equipment, in the water and at depth. The mooring structure 35 includes: float 351, float 352, Kevlar 353, acoustic release 354, and anchor system weight 355. The acoustic releaser 354 is used for separating the submerged buoy main body equipment from the anchor system weight 355 when the submerged buoy is recovered, and floats to the sea surface under the buoyancy action of the floating ball 352 and the floating body 351 to wait for recovery.
The acoustic submerged buoy function unit is used for transmitting and receiving underwater acoustic signals and receiving electromagnetic waves, and comprises a hydrophone array 10, a data storage module (not shown), a power amplification module (not shown), an underwater acoustic transducer 20, an underwater acoustic signal control processing module (not shown), an electromagnetic wave receiving module (not shown), a butt joint module 40 and an underwater energy storage module (not shown).
The application discloses wireless charging system under water, including the battery charging outfit of this application and/or the equipment of waiting to charge of this application.
Fig. 12 is a block diagram illustrating a computer device 900 for underwater wireless charging, according to an example embodiment. For example, the computer device 900 may be provided as a charging device or a device to be charged. Referring to fig. 12, the computer apparatus 900 includes a processor 901, and the number of the processors may be set to one or more as necessary. Computer device 900 also includes a memory 902 for storing instructions, such as application programs, that are executable by processor 901. The number of the memories can be set to one or more according to needs. Which may store one or more application programs. The processor 901 is configured to execute instructions to perform the above described underwater wireless charging method.
As will be appreciated by one skilled in the art, the embodiments herein may be provided as a method, apparatus (device), or computer program product. Accordingly, the present disclosure may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present disclosure may take the form of a computer program product embodied on one or more computer-usable storage media having computer-usable program code embodied in the medium. Computer storage media includes volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data, including, but not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, Digital Versatile Disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can be accessed by the computer, and the like. In addition, communication media typically embodies computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media as known to those skilled in the art.
It is to be noted that, in this document, the terms "comprises", "comprising" or any other variation thereof are intended to cover a non-exclusive inclusion, so that an article or apparatus including a series of elements includes not only those elements but also other elements not explicitly listed or inherent to such article or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of additional like elements in the article or device comprising the element.
The above embodiments are merely to illustrate the technical solutions of the present invention and not to limit the present invention, and the present invention has been described in detail with reference to the preferred embodiments. It will be understood by those skilled in the art that various modifications and equivalent arrangements may be made without departing from the spirit and scope of the present invention and it should be understood that the present invention is to be covered by the appended claims.
Claims (17)
1. An underwater wireless charging method is applied to charging equipment, and comprises the following steps:
receiving a charging request, wherein the charging request comprises position information of equipment to be charged;
sending adaptation information to the equipment to be charged, wherein the adaptation information comprises position information of the charging equipment;
receiving confirmation information sent by the equipment to be charged;
establishing communication connection with the equipment to be charged according to the confirmation information;
receiving a traveling route sent by the equipment to be charged;
driving to a chargeable range of the equipment to be charged according to the traveling route;
and the device to be charged is in butt joint with the device to be charged and is charged.
2. The underwater wireless charging method according to claim 1, wherein the driving to a chargeable range of the device to be charged according to the traveling route includes:
when the mobile terminal travels along the traveling route, the position information of the charging equipment is sent to the equipment to be charged according to a preset rule;
receiving an updating instruction which is generated and sent by the equipment to be charged according to the position information of the equipment to be charged and the position information of the charging equipment, wherein the updating instruction comprises an updated travelling route;
and updating the travel route according to the updating instruction.
3. The underwater wireless charging method according to claim 1, further comprising, after traveling to a chargeable range of the device to be charged according to the travel route:
and receiving attitude control information of the equipment to be charged, and adjusting the attitude of the charging equipment relative to the equipment to be charged according to the attitude control information.
4. The underwater wireless charging method according to claim 1, wherein the docking with the device to be charged and the charging of the device to be charged comprises:
sending a docking protocol to the equipment to be charged, wherein the docking protocol comprises a frequency band of a charging electromagnetic wave and power of the charging electromagnetic wave;
and the equipment to be charged verifies the docking protocol, and when the verification is successful, the charging equipment and the equipment to be charged establish charging docking and charge the equipment to be charged.
5. The underwater wireless charging method of claim 1, wherein the receiving a charging request comprises:
the charging request further comprises the required electric quantity information of the equipment to be charged, and the charging equipment confirms whether the equipment to be charged can be charged according to the required electric quantity information of the equipment to be charged.
6. An underwater wireless charging method is applied to equipment to be charged, and comprises the following steps:
self-detecting residual electric quantity information;
if the residual electric quantity information is lower than a critical value, generating a charging request, wherein the charging request comprises the current position of the equipment to be charged;
sending the charging request;
receiving adaptation information sent by charging equipment, sending confirmation information to the charging equipment according to the adaptation information, and establishing communication connection with the charging equipment;
receiving the position information sent by the charging equipment, generating a traveling route according to the position information of the charging equipment, and sending the traveling route to the charging equipment to guide the charging equipment to travel to a chargeable range;
and interfacing with the charging device.
7. An underwater wireless charging method as recited in claim 6, further comprising:
receiving position information sent by the charging equipment according to a preset rule in the process that the charging equipment travels along the traveling route;
determining the current position information of the equipment to be charged, and generating an updating instruction according to the current position information of the charging equipment and the current position information of the equipment to be charged, wherein the updating instruction comprises an updated travelling route;
and sending the updating instruction to the charging equipment.
8. The underwater wireless charging method of claim 6, wherein after the sending the travel route to the charging device to guide the charging device to travel into a chargeable range, further comprising:
determining attitude information of the equipment to be charged, and generating attitude control information according to the attitude information of the equipment to be charged;
and sending the attitude control information to the charging equipment so that the charging equipment adjusts the attitude of the charging equipment according to the attitude control information.
9. The underwater wireless charging method of claim 6, wherein said interfacing with the charging device comprises:
receiving a docking protocol sent by the charging equipment, wherein the docking protocol comprises a frequency band of a charging electromagnetic wave and power of the charging electromagnetic wave;
determining the frequency band of the electromagnetic waves required by the equipment to be charged and the power of the required electromagnetic waves, and verifying the docking protocol;
and when the frequency band of the electromagnetic wave required by the equipment to be charged is the same as that of the charging electromagnetic wave of the charging equipment and the power of the electromagnetic wave required by the equipment to be charged is the same as that of the charging electromagnetic wave of the charging equipment, the verification is successful, and the charging butt joint is established with the charging equipment.
10. An underwater wireless charging method as recited in claim 6 wherein the charging request further includes required power information.
11. A charging device, comprising:
a request receiving unit that receives a charging request including position information of a device to be charged;
the adaptive unit sends adaptive information to the equipment to be charged, and the adaptive information comprises position information of the charging equipment;
the charging confirmation unit receives confirmation information sent by the equipment to be charged and establishes communication connection with the equipment to be charged according to the confirmation information;
the communication unit receives a traveling route sent by the equipment to be charged;
the control unit drives the equipment to be charged to a chargeable range according to the traveling route;
and the charging butt joint unit is in butt joint with the equipment to be charged and charges the equipment to be charged.
12. An apparatus to be charged, comprising:
the electric quantity acquisition unit is used for automatically detecting the residual electric quantity information;
the processing unit is used for generating a charging request if the residual electric quantity information is lower than a critical value, wherein the charging request comprises the current position of the equipment to be charged;
a request transmitting unit that transmits the charging request;
the adaptive information receiving unit receives adaptive information sent by charging equipment, sends confirmation information to the charging equipment according to the adaptive information, and establishes communication connection with the charging equipment;
the guiding unit receives the position information sent by the charging equipment, generates a traveling route according to the position information of the charging equipment, and sends the traveling route to the charging equipment to guide the charging equipment to travel to a chargeable range;
a docking unit that docks with the charging device.
13. An underwater wireless charging system comprising a charging device as claimed in claim 11 and/or a device to be charged as claimed in claim 12.
14. A charging device, comprising:
a processor;
a memory for storing processor-executable instructions;
wherein the processor is configured to execute executable instructions in the memory to implement the steps of the method of any one of claims 1 to 5.
15. A non-transitory computer readable storage medium having stored thereon executable instructions, wherein the executable instructions when executed by a processor implement the steps of the method of any of claims 1-5.
16. A device to be charged, comprising:
a processor;
a memory for storing processor-executable instructions;
wherein the processor is configured to execute executable instructions in the memory to implement the steps of the method of any one of claims 6 to 10.
17. A non-transitory computer readable storage medium having stored thereon executable instructions, wherein the executable instructions when executed by a processor implement the steps of the method of any one of claims 6 to 10.
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