CN116207873A - Deep sea wireless power supply conversion system and power supply method of underwater autonomous operation robot - Google Patents

Deep sea wireless power supply conversion system and power supply method of underwater autonomous operation robot Download PDF

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Publication number
CN116207873A
CN116207873A CN202211097977.0A CN202211097977A CN116207873A CN 116207873 A CN116207873 A CN 116207873A CN 202211097977 A CN202211097977 A CN 202211097977A CN 116207873 A CN116207873 A CN 116207873A
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coil
magnetic
underwater
charging
operation robot
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黄海
王兆群
郭腾
蔡峰春
张宇航
卞鑫宇
张震坤
孙溢泽
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Harbin Engineering University
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Harbin Engineering University
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
    • H02J50/10—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling
    • H02J50/12—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling of the resonant type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
    • B60L53/12—Inductive energy transfer
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
    • B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
    • 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
    • H02J50/70—Circuit arrangements or systems for wireless supply or distribution of electric power involving the reduction of electric, magnetic or electromagnetic leakage fields
    • 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
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/32—Waterborne vessels
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Transportation (AREA)
  • Ocean & Marine Engineering (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)

Abstract

The invention discloses a deep sea wireless power supply conversion system and a power supply method of an underwater autonomous operation robot. The device comprises a resonant magnetic coupling wireless charging coil, a coil sealing device, a mechanism guiding device and the like; a resonant magnetic coupling wireless power supply conversion system is designed based on a planar bipolar coil structure, so that the magnetic flux density of the system interaction coupling is improved, the nuclear loss and the nuclear quality are reduced, and the magnetic coupling efficiency is maximized. Optimizing the structure, external shielding and layout of the system, and ensuring that the underwater autonomous operation robot completes the charging process based on the mechanism guiding device. Based on the coil sealing device, aiming at the streamline energy-saving navigation and charging docking position, the gravity center arrangement, the lightening, the insulation, the sealing and other multidisciplinary factors of the underwater operation robot are realized, the size, the weight and the shape of the system are optimized, and a series of problems brought by the high-pressure environment are deeply researched and solved.

Description

Deep sea wireless power supply conversion system and power supply method of underwater autonomous operation robot
Technical Field
The invention belongs to the technical field of wireless charging, and particularly relates to a deep sea wireless power supply conversion system and a power supply method of an underwater autonomous operation robot.
Background
The ocean is rich in mineral resources, and is an important material foundation in China. With the rapid expansion of ocean resource development and utilization areas, the ocean resource development and utilization areas are continuously extended to deep sea and open sea, and modern ocean equipment is required to have the working capacity of the deep sea and the open sea. With the increasing innovation of the technology in the deep sea science field, the deep sea detection tool has higher requirements. The underwater robot mainly comprises a remote control underwater robot and an autonomous underwater robot. The movement range of the remote-controlled underwater robot is greatly limited by the expected cable, the support cost of the mother ship is high, and the long-time multi-screen interaction of operators is easy to cause operation fatigue. However, when the autonomous underwater robot performs deep sea operation, if the autonomous underwater robot frequently floats out of the water to supplement energy through the mother ship or the water surface support platform, a large amount of energy and time are consumed, and the continuity of the operation is also interrupted. The autonomous underwater robot can realize continuous operation functions by being connected with an underwater recovery platform for energy supplement, information uploading and downloading and the like, and can realize timely supplement of energy and data exchange by being connected with an underwater recovery system, thereby being an effective mode for realizing continuous operation in a large range and in a large depth for a long time.
The magnetic coupling structure and the autonomous underwater vehicle system for wireless charging of the autonomous underwater vehicle disclosed in the Chinese patent document (publication date: 2019, 1, 11) of application No. 201811075071.2 provides the magnetic coupling structure and the autonomous underwater vehicle system for wireless charging of the autonomous underwater vehicle. The application and the patent belong to the same technical field, but the application and the patent have obvious differences.
Disclosure of Invention
The invention aims to provide a deep sea wireless power supply conversion system and a power supply method of an underwater autonomous operation robot.
The aim of the invention is realized by the following technical scheme:
a deep sea wireless power supply conversion system of an underwater autonomous operation robot comprises a resonant magnetic coupling wireless charging coil, a coil sealing device and a mechanical guiding device; the resonance type magnetic coupling wireless charging coil is embedded in the central position of the bottom of the underwater autonomous operation robot; the coil sealing device is arranged under the resonant magnetic coupling wireless charging coil, and the main body is connected with the underwater autonomous operation robot; the mechanical guiding device is arranged at the periphery of the deep sea charging pile.
Further, the resonant magnetic coupling wireless charging coil is of a bipolar plane right-angle coil structure and comprises a bipolar plane right-angle main coil and an iron rail core structure; the iron rail core structure is a passive magnetic shielding structure, and the main body comprises a ferrite block and a metal plate at the back of the ferrite block; the double-pole plane right-angle main coil is a single-layer square type, the main body is formed by symmetrically splicing two small square type right-angle coils, the windings of the double-pole plane right-angle main coil are distributed windings, and the double-pole plane right-angle main coil is composed of a plurality of enamelled copper wires; the tray at the back is connected with the aluminum metal plate at the back of the iron fence core structure, and the bipolar plane right-angle main coil is fixed in the iron fence core structure.
Further, the coil sealing device comprises a left streamline waterproof pressure-bearing magnetic material plate, a right streamline waterproof pressure-bearing magnetic material plate, a reverse hook type connecting rod and two groups of pulley blocks; the left and right streamline waterproof pressure-bearing magnetic material plates are connected with each other through embedded magnetic poles of the sealing device, the left embedded magnetic pole is concave, the right embedded magnetic pole is convex, the left and right magnetic poles are opposite, and a closed structure is formed by mutual magnetic attraction; the embedded magnetic pole is internally provided with a groove structure, so that the sealing device can prevent surrounding water flow from being influenced by water pressure to quickly gush into and corrode the wireless charging coil when being opened and closed; the left and right streamline type waterproof pressure-bearing magnetic material plates are used as the main body of the sealing device, the lower surface is in streamline design, and two groups of pulley blocks are additionally arranged on the upper surface; the interaction of the movable pulleys at the middle lower ends of the two groups of pulley blocks with the left and right two streamline waterproof pressure-bearing magnetic material plates ensures that the coil sealing device can be rotated and adjusted by 90 degrees; the reverse hook type connecting rods are additionally arranged on the left and right outer surfaces of the two groups of pulley blocks, and the sealing device can shrink inwards within a range of 90 degrees under the combined action of the two groups of pulley blocks and the reverse hook type connecting rods; the end of the inverted hook type connecting rod is provided with an arc-shaped angle structure protruding in an oval shape and is tightly connected with the underwater autonomous operation robot, and the coil sealing device is firmly connected with the underwater autonomous operation robot.
Further, the mechanical guiding device comprises a binocular vision, a guiding light source, a locking mechanism and a magnetic slideway; the magnetic slideway is designed by the characteristic that the magnetic distribution of the whole slideway is stronger along with the approaching of the charging position, and the slideway surface is designed to be of the same streamline structure as that of the underwater autonomous robot; the binocular vision is arranged below the whole front end beam of the device, the left side and the right side of the front end beam of the device are respectively provided with one guide light source, and the right side and the left side of the front end beam of the device are respectively provided with one guide light source; the locking mechanism is arranged at the joint of the rear end of the device and the charging pile, and the magnetic slideway is arranged right above the locking mechanism; the locking mechanism is used for locking the support rod, the underwater autonomous operation robot and the guide rod through the electromagnet and the hydraulic locking device.
The power supply method of the deep sea wireless power supply conversion system of the underwater autonomous operation robot comprises the steps that when the deep sea wireless power supply conversion system supplies power, a mechanical guiding device guides the position of the underwater autonomous operation robot close to a charging pile; in the process that the underwater autonomous operation robot enters a charging designated position, the coil sealing device obtains magnetic thrust in the mechanical guiding device to finish autonomous opening; after the internal protected resonant magnetic coupling wireless charging coil reaches a charging position, the magnetic coupling wireless underwater quick charging is carried out on the underwater autonomous operation robot through magnetic resonance with the auxiliary coil on the charging pile, so that the underwater wireless charging of the underwater autonomous operation robot by the deep sea wireless power supply change system is realized.
Further, in the underwater wireless charging of the underwater autonomous operation robot, the bipolar plane right-angle main coil and the secondary coil on the charging pile are both in a resonance state, and high-frequency electric field energy generated by the secondary coil on the charging pile is generated through conversion from electric energy to magnetic energy; then the magnetic energy is converted into electric energy at the dipole plane right-angle main coil by the alternating electric field, so that magnetic coupling wireless energy transmission is realized;
the wavelength of electromagnetic wave is lambda, and the near field region is in the range of
Figure SMS_1
The far field region is in the range +.>
Figure SMS_2
Ensuring the energy transmission efficiency of the system, the distance between the main coil and the auxiliary coil is within the range +.>
Figure SMS_3
The power transfer efficiency can be expressed as:
Figure SMS_4
wherein p is 1 The auxiliary coil is a transmitting coil; p is p 2 The main coil is a receiving coil; p is p l For power delivered to an electrical load resistor connected to the receive coil; η is the power transfer efficiency;
the coupling coefficient between the secondary coil and the primary coil is k mu 1 Is the inherent attenuation rate, mu, caused by absorption loss 2 Due to radiation loss and mu l Is the resonance width caused by the load resistance connected to the receiver coil, and the power transfer efficiency is expressed as:
Figure SMS_5
/>
for the sameTransmitting and receiving coil, mu 1 ＝μ 2 ＝μ 3 The method comprises the steps of carrying out a first treatment on the surface of the Therefore, the power transmission efficiency of the resonant magnetic coupling wireless charging system composed of the same transmitting coil and receiving coil is as follows:
Figure SMS_6
the invention has the beneficial effects that:
the invention improves the charging efficiency of the I-AUV by designing the resonant magnetic coupling wireless charging coil and the corresponding sealing device at the bottom of the streamline I-AUV, shortens the charging time, ensures the cruising ability of the I-AUV in deep sea operation, and can realize high-efficiency long-time residence operation in deep sea.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a diagram of a resonant magnetic coupling coil of the present invention;
FIG. 3 is a bipolar planar right angle primary coil of the present invention
FIG. 4 is a seal block diagram of the present invention;
FIG. 5 is a front view of the seal structure of the present invention;
FIG. 6 is a side view of a seal structure of the present invention;
FIG. 7 is a mechanical guidance diagram of the present invention;
FIG. 8 is a schematic representation of the insulation and seal design of the present invention;
FIG. 9 is a schematic diagram of the coil spacing of the present invention;
FIG. 10 is a graph showing the variation of the magnetic field strength between coils with the distance between coils according to the present invention;
fig. 11 is a schematic diagram of the field strength between coils of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
According to fig. 1 to 7, a deep sea wireless power supply conversion system of an underwater autonomous operation robot comprises a resonant magnetic coupling wireless charging coil 1, a bipolar plane right-angle main coil 2, an iron fence core structure 3, a sealing device 4, a left water-proof pressure-bearing magnetic material plate 5, an embedded magnetic pole 6, a reverse hook type connecting rod 7, two groups of pulley blocks 8, a mechanical guiding mechanism 9, a binocular vision 10, a guiding light source 11, a locking mechanism 12 and a magnetic slideway 13. In order to improve the charging efficiency of the system, the magnetic coupling charging coil is insulated and antiseptic treated.
The resonant magnetic coupling charging coil is designed into a bipolar plane right-angle coil structure, and the coil comprises a bipolar plane right-angle main coil 2 and an iron rail core structure 3, so that the bipolar plane right-angle main coil 2 is adapted to an underwater robot, and meanwhile, the whole bipolar plane right-angle main coil 2 occupies the smallest space, but has larger magnetic flux, and the charging speed is accelerated. The bipolar plane right-angle main coil 2 is made of an iron nano crystal soft magnetic material, has higher saturated magnetic density, higher permeability and lower nuclear loss than the common ferromagnetic material, reduces the energy loss and shortens the charging time. The resonant magnetic coupling wireless charging coil 1 is used as an energy receiving coil in a deep sea wireless power supply conversion system, complicated parts of design are required to be reduced, the whole is simplified, and the current intensity and the magnetic field leakage on the coil are reduced.
The bipolar planar right angle main coil 2 structure is distinguished from the common circular design. The whole plane right-angle coil is a single-layer square coil, and is formed by symmetrically splicing two small square right-angle coils. Meanwhile, the problem that the I-AUV can generate high-frequency current in the charging process is considered, a coil winding mode adopts a distributed winding and consists of a plurality of enamelled copper wires. A tray is further arranged on the back of the coil and is further connected with the iron rail core structure 3. The coil is designed into a symmetrical plane right-angle structure, so that the whole contact area of the coil is increased, and the symmetrical structure ensures the stability during charging. When the coil is close to the charging position, the mutual inductance between the coils in the same winding direction is continuously increased through the structure, the mutual inductance of the reverse coil is reduced, the whole body is kept in the same mutual inductance state, and therefore the phenomenon that the frequency of the main coil and the auxiliary coil is split is reduced, and the charging efficiency is influenced. The large-volume large-design-area coil is added into the structure of the bipolar plane right-angle main coil 2, so that the transmission distance is improved, the impedance matching is convenient to adjust, and the maximum energy transmission efficiency of the system is achieved. Meanwhile, the iron rail core structure 3 is used as a magnetic shielding device of a coil and is designed into a passive magnetic shielding structure. The ferrite coil is composed of a ferrite block and an aluminum metal plate at the back of the ferrite block, and a cabin is formed for placing a coil and is placed behind a coil winding. The aluminum plate in the structure is used for magnetic shielding, and the ferrite block in the structure can enable the magnetic permeability of the ferrite of the bipolar plane right-angle main coil to rise, so that the coupling coefficient k and the quality factor Q of the coupling coil are improved, the self-inductance and the coupling degree of the self-coupling coil of the main coil and the self-coupling coil of the auxiliary coil are improved, and the energy transmission efficiency of a system is improved. The main calculation formula is as follows:
Figure SMS_7
Figure SMS_8
wherein L is coil self-inductance, w is angular frequency of the system, R L Is the equivalent alternating current resistance of the coil, M is the mutual inductance value, L 1 、L 2 Self-inductance of the transmitting coil and the receiving coil, respectively.
The wireless charging of the resonant magnetic coupling wireless charging coil 1 of the system is that: keeping the same fixed frequency of the bipolar plane right-angle main coil 2 on the I-AUV and the same fixed frequency of the secondary coil on the charging position on the charging pile, and driving the secondary coil on the charging pile by using the same system frequency as the fixed frequency of the coil; at this time, the high-frequency alternating current power supply generates a high-density and high-energy alternating magnetic field by the secondary coil on the charging pile, and obtains electric energy in the process of magnetic resonance with the alternating magnetic field of the bipolar plane right-angle main coil 2 so as to be transmitted to the I-AUV. The main coil and the auxiliary coil are in a resonance state in the whole charging process, and electric energy on the charging pile is converted into a magnetic field through resonance, so that an electromagnetic energy transmission channel is formed in the main coil and the auxiliary coil; the main coil and the auxiliary coil accumulate a large amount of energy around through multiple resonances, and the magnetic energy is converted into electric energy through a magnetic field so as to realize wireless charging of the I-AUV. When the bipolar plane right-angle main coil on the I-AUV resonates, the electric field energy and electricity generated by the capacitor in the main coilThe magnetic field energy generated by induction is continuously subjected to energy exchange and finally transferred to the I-AUV. In the resonant magnetic coupling wireless charging process, the resonant coupling between the main coil and the auxiliary coil is the core for completing energy transmission. When the main coil and the auxiliary coil work at the same resonant frequency, the alternating magnetic field generating and receiving capacity is strongest, so that the transmission efficiency is higher. The alternating magnetic field is used as an energy transmission medium between the main coil and the auxiliary coil, and the high-frequency electric field energy generated by the auxiliary coil on the charging pile is generated through the conversion of electric energy to magnetic energy. And then the magnetic energy is converted into electric energy at the main coil by the alternating electric field, so that magnetic coupling wireless energy transmission is realized. From maxwell's classical electromagnetic field theory, it is known that a magnetic field is generated around a changing electric field, and an electric field is generated around the changing magnetic field. The strength of the magnetic field generated by the varying electric field increases with decreasing distance from the center of the spiral. Thus, the magnetic field is generally divided into a near field region and a far field region, and when the wavelength of the electromagnetic wave is defined as lambda, the range of the near field region is
Figure SMS_9
The far field region is in the range +.>
Figure SMS_10
Research shows that the energy of the electromagnetic field in the near field region periodically flows back and forth between the main coil and the auxiliary coil; the electromagnetic field strength accelerates and decays with increasing distance in the far field region. It can be seen that the distance between the primary and secondary coils is within a range to ensure the energy transmission efficiency of the system
Figure SMS_11
Is most preferable. It can be seen that the magnetic coupling resonance wireless charging has the best transmission effect in the near field region of the electromagnetic field. The magnetic field of the near field region is strong, and it is possible to realize energy to and fro between the sub-coil (transmitting coil) and the main coil (receiving coil) in a periodic manner, so that energy flows inside. In addition, near field energy has excellent characteristics of not being lost with radiation, and is suitable for placing related receiving devices. Meanwhile, the magnetic coupling phenomenon in the charging process is also a main reference index for realizing wireless charging. The magnetic coupling phenomenon refers to the communication between coilsThe over-changed current generates a magnetic field, and the current and the magnetic field are mutually converted in the process, wherein the alternating current and the alternating magnetic field of the secondary coil (transmitting coil) influence the main coil (receiving coil) to generate induced electromotive force. The magnetic coupling transmission efficiency determines the overall efficiency of the system, wherein the flux linkage of the coil is equal to the algebraic sum of the mutual inductance flux linkage and the self-inductance coil flux linkage. In isotropic magnetic media, the flux linkage in the magnetic media is proportional to the induced current. The current and the voltage of the coupling coil are respectively i 1 、i 2 ，u 1 、u 2 ，L 1 ,L 2 For the inductance of the coupling coil and taking a vector as a reference direction, M is a mutual inductance value, and the coupling inductance voltage relationship is:
Figure SMS_12
Figure SMS_13
the coupling degree of the two coupling coils is denoted by k, and is defined as a coupling factor, as expressed by:
Figure SMS_14
where the magnitude of k is related to the relative position of the two coils and the surrounding magnetic field medium. The resonance frequency between the coils also has a certain influence on the magnetic coupling phenomenon. Wherein the entire wireless charging system is in a strongly coupled resonant state when the primary and secondary coils are operating at the same resonant frequency. In this state, the energy transmission efficiency is highest, and the energy transmission is stable.
Based on the above-mentioned energy transmission efficiency for ensuring the resonant magnetic coupling wireless charging system, the distance between the main coil and the auxiliary coil is within a range
Figure SMS_15
Is most preferable. The distance between the primary and secondary coils will continue to be refined to achieve optimal energy transfer efficiency. Based on the theory of coupling modes, energy exchange between two resonance coils in a strong coupling wireless power transmission system is analyzed. Which is a kind ofThe power transfer efficiency is mainly dependent on the power absorbed by the secondary coil (transmitting coil), the power received by the primary coil (receiving coil) and the power delivered to the electrical load resistor connected to the receiving coil. Thus, the efficiency of a resonant magnetically coupled wireless charging system will be the ratio of the output power to the total mains power of the system. I.e. the ratio of the power delivered to the load resistor connected through the receiving coil to the total power delivered from the power source to the transmission system. The power transfer efficiency can be expressed as:
Figure SMS_16
wherein the power absorbed by the secondary coil (transmitting coil) is p 1 The method comprises the steps of carrying out a first treatment on the surface of the The main coil (receiving coil) receives power p 2 The method comprises the steps of carrying out a first treatment on the surface of the The power supplied to the electrical load resistor connected to the receiving coil is p l The method comprises the steps of carrying out a first treatment on the surface of the The power transmission efficiency is η. Defining the coupling coefficient between the secondary coil (transmitting coil) and the primary coil (receiving coil) as k, mu 1 Is the inherent attenuation rate, mu, caused by absorption loss 2 Due to radiation loss and mu l Is the resonance width caused by the load resistance connected to the receiver coil, then the power transfer efficiency can be expressed as:
Figure SMS_17
mu for the same transmit and receive coils 1 ＝μ 2 ＝μ 3 . Therefore, the power transmission efficiency of the resonant magnetic coupling wireless charging system consisting of the same transmitting coil and receiving coil is as follows:
Figure SMS_18
therefore, in order to achieve efficient wireless energy transfer, the system must operate in a strongly coupled region, i.e., k/η > 1 and as large as possible. By maximizing the coupling loss ratio (k/eta), efficiency can be maximized. Based on the above, the distance between the main coil and the auxiliary coil is calculated by simulation so that [0,60] (unit is mm) is taken as a near field region, and the energy transmission efficiency of the resonant magnetic coupling wireless charging system is optimal. When the distance between the main coil and the auxiliary coil is 20mm, the maximum coupling loss ratio k/eta reaches the maximum value, and the resonant magnetic coupling wireless charging system reaches the maximum energy transmission efficiency. Wherein the permeability of the seawater is almost similar to that of air, and the conductivity of the seawater is about 30-56mS/cm; the relative permeability of the iron rail box is 4000. As shown in fig. 11, the abscissa in the figure represents the distance between the primary and secondary coils, and the ordinate represents the magnetic field strength. When the distance is larger than 60mm, larger fluctuation occurs, the magnetic field strength is weaker, namely, the magnetic field enters a far field region, and good energy transmission efficiency cannot be achieved. When the distance is 20mm, the magnetic field is at the maximum, namely at the optimal position of the near field region, so that the optimal energy transmission efficiency is achieved. Fig. 10 is a schematic diagram of the positions of the main and auxiliary coils when the distance between the main and auxiliary coils is 20 mm.
The coil sealing device 4 is of a built-in magnetic pole closed structure. The whole is of the same streamline design as the I-AUV, and is placed below the wireless charging device to complement the whole structure of the I-AUV. By arranging the sealing device 4 in the underwater robot, the underwater resistance of the I-AUV is reduced when the I-AUV performs tasks in the deep sea, unnecessary energy loss is reduced, and the cruising ability of the underwater robot is improved. The sealing device 4 of the invention is composed of a left pipeline type waterproof pressure-bearing magnetic material plate 5, a right pipeline type waterproof pressure-bearing magnetic material plate 5, a reverse hook type connecting rod 7 and two groups of pulley blocks 8. The left and right water-proof pressure-bearing magnetic material plates 5 are connected with each other through the embedded magnetic poles 6 of the sealing device 4, the left embedded magnetic poles 6 are concave, the right embedded magnetic poles 6 are convex, the left and right magnetic poles are opposite, and a closed structure is formed by mutual magnetic attraction. The embedded magnetic pole 6 is internally provided with a groove structure, so that the sealing device 4 is prevented from rapidly rushing into and corroding the wireless charging coil under the influence of water pressure when being opened and closed. The sealing device 4 is connected with the I-AUV through a reverse hook type connecting rod 7 above. The arc angle is added to the junction of the inverted hook type connecting rod 7, so that the problem that other devices are scratched when the sealing device 4 is opened or closed is avoided, the placing space of the whole sealing device is optimized, and the space utilization rate is improved. The sealing device 4 is provided with two groups of pulley blocks 8, so that the sealing device 4 can rotate within 90 degrees and retract with the reverse hook type connecting rod 7 by 90 degrees, and the sealing device 4 can complete a wireless charging process through adjustment of two spatial positions when the I-AUV is charged.
The mechanical guiding mechanism 9 is designed with a binocular vision 10, a guiding light source 11, a locking mechanism 12 and a magnetic slideway 13. Meanwhile, a buffer device is added to reduce impact in the butt joint process, and the buffer mechanism completes the limitation of the freedom degrees in the longitudinal direction and the bow direction. The locking mechanism 12 completes the locking of the support rod, the I-AUV and the guide rod thereof through an electromagnet and a hydraulic locking device, and ensures the accurate alignment and reliable charging of the main coil and the auxiliary coil. At the same time, a magnetic slideway is added at the mechanical guiding structure 9 and is used for adapting with the sealing device 4, so that the sealing device 4 can be automatically opened and closed under the action of the magnetic pole. The mechanical guide mechanism 9 and the wireless power conversion subsystem have accurate dimensional relationship to help the I-AUV complete power positioning and alignment during docking.
The resonant magnetic coupling charging coil 1 is insulated and anti-corrosion, and insulation treatment is carried out on the charging, power supplying and other related systems according to the charging voltage provided by the wireless power supply conversion system. In order to improve the electric energy transmission efficiency, the main coil and the auxiliary coil which are charged by magnetic coupling are subjected to insulation and corrosion prevention treatment, and good insulation and heat dissipation with the outside are ensured, so that the main coil and the auxiliary coil do not need to be subjected to sealed shell loss, and underwater strong magnetic charging is directly realized. And (3) oil-filled sealing the wireless electric energy transmission driving and controlling circuit, insulating the related systems such as charging and power supply according to the charging voltage, compensating the deep sea pressure to cope with the deep sea high-pressure environment, realizing sealing and heat dissipation, and optimizing heat dissipation and insulation of the battery system. Preventing oil-filled medium breakdown and overheat of the system. Meanwhile, the problems of overheat of an underwater high-voltage insulation and underwater charging system are considered, and heat dissipation and insulation of the system are improved or other related measures such as water cooling are adopted by combining oil-filled space compensation. In order to reduce electromagnetic interference, the battery compartment and the wireless power supply conversion system are respectively arranged, and electronic element arrangement nearby the wireless power supply conversion system is reduced as much as possible.
Based on the overall structure configuration of a deep sea wireless power supply conversion system of an underwater autonomous operation robot, the scheme is that an I-AUV detects that self-electric quantity energy cannot support a subsequent tool after deep sea autonomous operation, and the I-AUV approaches a charging pile according to the prior position of the charging pile and a submarine topography map. When the I-AUV gradually approaches the charging pile, binocular vision 10 in the mechanical guide mechanism 9 discovers the I-AUV, and the I-AUV is guided by a guiding light source 11 in the mechanical guide mechanism to help the I-AUV to complete power positioning and alignment in the docking process. When the I-AUV is driven into the mechanical guide mechanism 9, the I-AUV is fixed by a locking mechanism 12 at the mechanical guide mechanism 9. The locking mechanism 12 completes the locking of the support rod, the I-AUV and the guide rod thereof through an electromagnet and a hydraulic locking device, and ensures the accurate alignment and reliable charging of the main coil and the auxiliary coil. When the I-AUV moves to a specified position on the magnetic slideway 13, wireless power supply is started immediately, and the wireless charging process of the I-AUV is started.
The magnetic slideway 13 is based on the fact that the magnetic poles are distributed from far to near by the magnetic material, and the closer to the charging position, the stronger the magnetism. In the process that the I-AUV moves in the magnetic slideway 13, the sealing device 4 is contacted with the magnetic slideway 13, and the left and right water-proof pressure-bearing magnetic material plates 5 of the sealing device 4 are pushed away slowly by the same magnetic repulsion through the characteristic that the magnetism of the slideway magnetic 13 is stronger when the slideway magnetic 13 is closer to a charging position, until the I-AUV moves to a designated charging position, the sealing device is completely opened, and the I-AUV wireless charging is started.
Based on the above, the sealing device 4 gradually approaches to the charging position along with the I-AUV under the action of the magnetic pole counter thrust of the magnetic slideway 13, and the left and right water-proof pressure-bearing magnetic material plates 5 on the sealing device 4 are gradually opened. The left and right water-proof pressure-bearing magnetic material plates 5 are gradually separated from each other when being opened. Because the embedded magnetic pole 6 is internally provided with the groove structure, the opening speed of the left and right water-proof pressure-bearing magnetic material plates 5 can be slowed down, a large amount of seawater in the surrounding environment can be prevented from quickly rushing into the I-AUV in the process of separating the left and right water-proof pressure-bearing magnetic material plates 5, the I-AUV other devices including the resonant magnetic coupling wireless charging coil 1 are impacted by the seawater and the local water pressure, the normal work of the resonant magnetic coupling wireless charging coil 1 is ensured, and the problem that the follow-up charging work is invalid due to the seawater impact can be prevented. Meanwhile, the risk that the resonant magnetic coupling wireless charging coil 1 is corroded by seawater can be effectively reduced, the whole wireless power supply conversion system can be ensured to be recycled for multiple times, and the service life is prolonged. The reverse hook type connecting rod 7 in the sealing device 4 is synchronously carried out in the process of opening the left and right water-proof pressure-bearing magnetic material plates 5, so that the sealing device 4 can be ensured to send the resonant magnetic coupling wireless charging coil 1 to a specified charging position at a specified angle and direction.
Based on the above, the arc angle is added to the end of the barb type connecting rod 7 in the sealing device 4 at the joint with the I-AUV, so that a wider extension angle can be developed in the process of opening the sealing device 4, and meanwhile, the situation that excessive abrasion occurs at other positions in the I-AUV due to the opening of the sealing device 4, so that damage occurs in the I-AUV is reduced. The reverse hook type connecting rod 7 moves and drives the two groups of pulley blocks 8 on the sealing device 4 to move together. Through the motion effect of the movable pulley and the fixed pulley in the two groups of pulley blocks 8, the sealing device 4 can integrally perform the free angle in the range of 90 degrees to the inside of the I-AUV for contraction and extension, thereby not only ensuring that the resonant magnetic coupling wireless charging coil 1 is exposed at a specified angle and position, but also optimizing the internal space of the I-AUV and improving the space utilization rate. When the two groups of pulley blocks 8 drive the sealing device 4 to integrally move towards the inside of the I-AUV, the left and right water-proof pressure-bearing magnetic material plates 5 in the sealing device are also driven by the two groups of pulley blocks 8, and under the interaction of the movable pulley and the fixed pulley, the left and right water-proof pressure-bearing magnetic material plates 5 can perform free angle rotation movement within the range of 90 degrees. In the process of the movement of the I-AUV in the slideway, the angle of the right two water-proof pressure-bearing magnetic material plates 5 can be continuously adjusted, so that the contact time and contact area of the protected resonant magnetic coupling wireless charging coil 1 and seawater are shortened, the energy loss and potential risk of the I-AUV in the charging docking preparation stage are reduced, and the smooth charging of the I-AUV is ensured. Along with the whole sealing device 4 and the magnetic slideway 13, the magnetic pole action occurs, and under the combined action of the embedded magnetic poles 6 of the left and right water-proof pressure-bearing magnetic material plates 5, the inverted hook type connecting rod 7 and the two groups of pulley blocks 8 in the sealing device 4, the protected resonant magnetic coupling wireless charging coil 1 can reach a designated position to wirelessly charge the I-AUV.
Based on the above, when the I-AUV reaches the specified position of the charging pile, the resonant magnetic coupling wireless charging coil 1 acts above the specified position of the charging pile to wirelessly charge the I-AUV. The bipolar plane right-angle coil 2 is used as a main body structure of the resonant magnetic coupling wireless charging coil 1, wherein the coil comprises the bipolar plane right-angle main coil 2 and the iron rail core structure 3, so that the coil has larger magnetic flux. Meanwhile, the whole coil is embedded into the I-AUV with the smallest occupied area, so that the utilization rate of the internal space of the I-AUV is optimized. The resonant magnetic coupling wireless charging coil 1 continuously increases the mutual inductance between coils in the same winding direction through the bipolar plane right-angle coil structure, reduces the mutual inductance of a reverse coil, ensures that the whole system keeps the same mutual inductance, reduces the influence of frequency splitting phenomenon on the charging efficiency, and improves the energy transmission capacity in a strong coupling area. Meanwhile, in order to improve the electric energy transmission efficiency, the main coil and the auxiliary coil which are charged by magnetic coupling are subjected to insulation and corrosion prevention treatment, and good insulation and heat dissipation with the outside are ensured. Specifically, as shown in fig. 9, the wireless power transmission driving and controlling circuit is oil filled and sealed, related systems such as charging and power supply are insulated according to charging voltage, deep sea pressure compensation is performed to cope with a deep sea high-voltage environment, sealing and heat dissipation are achieved, and heat dissipation and insulation of a battery system are optimized. And (3) performing an insulation heat dissipation test aiming at the underwater wireless power transmission process, analyzing the conditions of breakdown of an oil-filled medium and overheat of a system, and establishing an oil-filled space compensation device. The underwater high-voltage insulation and temperature monitoring system is designed to detect leakage current, charge temperature and insulation resistance, monitor whether the underwater charging system is overheated and in an insulation state or not and give out fault alarm, so that heat dissipation and insulation of the system are improved or other related measures such as water cooling are taken by combining oil-filled space compensation. In order to reduce electromagnetic interference, the battery compartment and the wireless power supply conversion system are respectively arranged, and electronic element arrangement nearby the wireless power supply conversion system is reduced as much as possible. The I-AUV with the resonant magnetic coupling wireless charging coil 1 is automatically disconnected after charging, and enters a phase of exiting the wireless power supply conversion system.
Based on the above, the sealing device 4 starts to close during the exit of the I-AUV from the wireless power conversion system. In the process of exiting the magnetic slideway 13, the I-AUV gradually weakens along with the magnetic force on the magnetic slideway 13, the like magnetic force received by the left and right water-proof pressure-bearing magnetic material plates 5 weakens, and gradually closes. Due to the traction of the force, under the combined action of the reverse hook type connecting rod 7 and the two groups of pulley blocks 8, the left and right water-proof pressure-bearing magnetic material plates 5 start to retract in the original shrinkage rotation direction. Meanwhile, the left and right water-proof pressure-bearing magnetic material plates 5 are gradually close to each other with embedded magnetic poles 6, attracted to each other, and finally closed. The sealing device 4 is opened and closed independently in the process that the wireless power supply conversion system approaches to the appointed charging position. And the sealing device 4 is completely closed until the I-AUV completely exits from the magnetic slideway 13 and leaves from the mechanical guide mechanism 9, the streamline radian at the bottom of the left and right water-proof pressure-bearing magnetic material plates 5 is completely attached to the I-AUV, and the resonant magnetic coupling wireless charging coil 1 is protected again. The deep sea wireless power supply conversion system of the underwater autonomous operation robot aims at the streamline I-AUV charging process to be completed, and the I-AUV can continuously execute relevant operation tasks in the deep sea.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (6)

1. A deep sea wireless power supply conversion system of an underwater autonomous operation robot is characterized in that: the device comprises a resonant magnetic coupling wireless charging coil (1), a coil sealing device (4) and a mechanical guiding device (9); the resonance type magnetic coupling wireless charging coil (1) is embedded in the central position of the bottom of the underwater autonomous operation robot; the coil sealing device (4) is arranged right below the resonant magnetic coupling wireless charging coil (1), and the main body is connected with the underwater autonomous operation robot; the mechanical guiding device (9) is arranged at the periphery of the deep sea charging pile.
2. The deep sea wireless power conversion system of an autonomous underwater operation robot of claim 1, wherein: the resonant magnetic coupling wireless charging coil (1) is of a bipolar plane right-angle coil structure and comprises a bipolar plane right-angle main coil (2) and an iron rail core structure (3); the iron rail core structure (3) is a passive magnetic shielding structure, and the main body comprises a ferrite block and a metal plate at the back of the ferrite block; the double-pole plane right-angle main coil (2) is a single-layer square type, the main body is formed by symmetrically splicing two small square type right-angle coils, the windings of the double-pole plane right-angle main coil are distributed windings, and the double-pole plane right-angle main coil is composed of a plurality of enamelled copper wires; the tray at the back is connected with an aluminum metal plate at the back of the iron fence core structure (3), and the bipolar plane right-angle main coil (2) is fixed in the iron fence core structure (3).
3. The deep sea wireless power conversion system of an autonomous underwater operation robot of claim 1, wherein: the coil sealing device (4) comprises a left streamline waterproof pressure-bearing magnetic material plate (5), a right streamline waterproof pressure-bearing magnetic material plate, a reverse hook type connecting rod (7) and two groups of pulley blocks (8); the left and right streamline waterproof pressure-bearing magnetic material plates (5) are connected with each other through embedded magnetic poles (6) of the sealing device, the left embedded magnetic pole (6) is concave, the right embedded magnetic pole (6) is convex, the left and right magnetic poles are opposite, and a closed structure is formed by mutual magnetic attraction; a groove structure is arranged in the embedded magnetic pole (6), so that the sealing device can prevent surrounding water flow from being influenced by water pressure to quickly gush into and corrode the wireless charging coil when being opened and closed; the left and right streamline type waterproof pressure-bearing magnetic material plates (5) are used as the main body of the sealing device, the lower surface is in streamline design, and two groups of pulley blocks (8) are additionally arranged on the upper surface; the interaction of the movable pulleys at the middle and lower ends of the two groups of pulley blocks (8) with the left and right two streamline waterproof pressure-bearing magnetic material plates (5) ensures that the coil sealing device can be rotated and adjusted by 90 degrees; the reverse hook type connecting rods (7) are additionally arranged on the left and right outer surfaces of the two groups of pulley blocks (8), and the sealing device can shrink inwards within a range of 90 degrees under the combined action of the two groups of pulley blocks (8) and the reverse hook type connecting rods (7); the tail end of the inverted hook type connecting rod (7) is provided with an arc-shaped angle structure protruding in an oval shape and is tightly connected with the underwater autonomous operation robot, and the coil sealing device (4) is firmly connected with the underwater autonomous operation robot.
4. The deep sea wireless power conversion system of an autonomous underwater operation robot of claim 1, wherein: the mechanical guiding device (9) comprises a binocular vision (10), a guiding light source (11), a locking mechanism (12) and a magnetic slideway (13); the magnetic slideway (13) is designed by the characteristic that the magnetic distribution of the whole slideway is stronger along with the approaching of the charging position, and the surface of the slideway is designed to be of the same streamline structure as that of the underwater autonomous robot; the binocular vision (10) is arranged below the whole front end beam of the device, the guide light sources (11) are respectively arranged on the left side and the right side of the front end beam of the device, and one guide light source is arranged right above the binocular vision; the locking mechanism (12) is placed at the joint of the rear end of the device and the charging pile, and the magnetic slideway (13) is placed right above the locking mechanism; the locking mechanism (12) is used for locking the support rod, the underwater autonomous operation robot and the guide rod through the electromagnet and the hydraulic locking device.
5. A power supply method of a deep sea wireless power supply conversion system of an underwater autonomous operation robot is characterized by comprising the following steps of: when the deep sea wireless power supply conversion system supplies power, the mechanical guiding device (9) guides the position of the underwater autonomous operation robot close to the charging pile; in the process that the underwater autonomous operation robot enters a charging designated position, the coil sealing device (4) obtains magnetic thrust in the mechanical guiding device (9) to finish autonomous opening; after the internal protected resonant magnetic coupling wireless charging coil (1) reaches a charging position, the magnetic coupling wireless underwater quick charging is carried out on the underwater autonomous operation robot through magnetic resonance with the auxiliary coil on the charging pile, so that the underwater wireless charging of the underwater autonomous operation robot by the deep sea wireless power supply change system is realized.
6. The power supply method of the deep sea wireless power supply conversion system of the underwater autonomous working robot according to claim 5, wherein the power supply method comprises the following steps: in the underwater wireless charging process of the underwater autonomous operation robot, a bipolar plane right-angle main coil (2) and a secondary coil on a charging pile are both in a resonance state, and high-frequency electric field energy generated by the secondary coil on the charging pile is generated through conversion from electric energy to magnetic energy; then the magnetic energy is converted into electric energy at the position of the bipolar plane right-angle main coil (2) by the alternating electric field, so that magnetic coupling wireless energy transmission is realized;
the wavelength of electromagnetic wave is lambda, and the near field region is in the range of
Figure FDA0003839071340000021
The far field region is in the range +.>
Figure FDA0003839071340000022
Ensuring the energy transmission efficiency of the system, the distance between the main coil and the auxiliary coil is within the range +.>
Figure FDA0003839071340000023
The power transfer efficiency can be expressed as:
Figure FDA0003839071340000024
wherein p is 1 The auxiliary coil is a transmitting coil; p is p 2 The main coil is a receiving coil; p is p l For power delivered to an electrical load resistor connected to the receive coil; η is the power transfer efficiency;
the coupling coefficient between the secondary coil and the primary coil is k mu 1 Is the inherent attenuation rate, mu, caused by absorption loss 2 Due to radiation loss and mu l Is the resonance width caused by the load resistance connected to the receiver coil, and the power transfer efficiency is expressed as:
Figure FDA0003839071340000025
mu for the same transmit and receive coils 1 ＝μ 2 ＝μ 3 The method comprises the steps of carrying out a first treatment on the surface of the Thus, the same transmitting coil and receivingThe power transmission efficiency of the resonant magnetic coupling wireless charging system formed by the coils is as follows:
Figure FDA0003839071340000031
/>
CN202211097977.0A 2022-09-08 2022-09-08 Deep sea wireless power supply conversion system and power supply method of underwater autonomous operation robot Pending CN116207873A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116843161A (en) * 2023-08-25 2023-10-03 山东开创电气有限公司 Remote power supply analysis management system for underground coal mine tunneling coal mining equipment

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116843161A (en) * 2023-08-25 2023-10-03 山东开创电气有限公司 Remote power supply analysis management system for underground coal mine tunneling coal mining equipment
CN116843161B (en) * 2023-08-25 2023-11-10 山东开创电气有限公司 Remote power supply analysis management system for underground coal mine tunneling coal mining equipment

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