WO2020051909A1 - Appareil d'intégration de charge et de communication sous-marin et appareil de charge sans fil sous-marin - Google Patents

Appareil d'intégration de charge et de communication sous-marin et appareil de charge sans fil sous-marin Download PDF

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Publication number
WO2020051909A1
WO2020051909A1 PCT/CN2018/105822 CN2018105822W WO2020051909A1 WO 2020051909 A1 WO2020051909 A1 WO 2020051909A1 CN 2018105822 W CN2018105822 W CN 2018105822W WO 2020051909 A1 WO2020051909 A1 WO 2020051909A1
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WIPO (PCT)
Prior art keywords
coil
charging
control module
communication
receiving
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PCT/CN2018/105822
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English (en)
Chinese (zh)
Inventor
汪洋
刘浩洋
丁丽琴
刘露平
徐欣
李黎明
吴鹏
肖宜雄
Original Assignee
哈尔滨工业大学（深圳）
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Application filed by 哈尔滨工业大学（深圳） filed Critical 哈尔滨工业大学（深圳）
Priority to PCT/CN2018/105822 priority Critical patent/WO2020051909A1/fr
Publication of WO2020051909A1 publication Critical patent/WO2020051909A1/fr

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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

Definitions

  • the present application relates to the field of charging and communication technologies, and in particular, to an underwater charging and communication integrated device and an underwater wireless charging device.
  • wireless charging uses a near-field coupling method for charging. In order to achieve the best charging power, it is also required that the coils that transmit energy and the coils that receive energy are parallel to each other.
  • a cruising charging robot can be used to dive into the water to wirelessly charge underwater sensing equipment.
  • the sensing devices scattered in the water due to its uncertain posture, it cannot guarantee that the coils receiving energy maintain the same attitude, that is, it cannot guarantee that the coils receiving energy and the coils transmitting energy are parallel to each other to achieve the best charging power. .
  • the underwater sensor communicates with the outside world by means of underwater acoustic communication or visible light communication.
  • the underwater acoustic communication frequency is low, and the data transmission is slow.
  • the visible light transmission is easily affected by long distances and the data reliability is poor. Complex, heavy, and energy-hungry, so a new communication method is needed for underwater communication.
  • the invention mainly provides an underwater charging and communication integrated device, which can simultaneously perform underwater wireless charging and communication.
  • the present application also provides an underwater wireless charging device for performing underwater wireless charging.
  • the present application also provides a wireless communication receiving device for underwater communication.
  • an embodiment provides an underwater charging and communication integrated device including: a charging transmitting end coil group including a first coil, a second coil, and a third coil that are orthogonal to each other.
  • the two coils have a common center point and are fixed together to form a linkage;
  • a detection module which is connected to the charging transmitting coil group, is used to detect the electrical parameters of the first coil, the second coil, and the third coil and output the electrical parameters;
  • a variable circuit which is respectively connected to the first coil, the second coil and the third coil, and is used to provide a high-frequency AC signal to the first coil, the second coil and the third coil;
  • an attitude control module which is connected with the charging transmitting end coil group
  • the detection module is connected to adjust the attitude of the first coil, the second coil, and the third coil, so that one of the first coil, the second coil, and the third coil is adjusted to an attitude that provides the maximum charging power, so that
  • the coil is used as a charging coil for transmitting energy, and the other two coils are used
  • the control module Connected to control the start and stop of the attitude control module according to the electrical parameters of the first coil, the second coil and the third coil output by the detection module; the control module also communicates with the communication coils in the first coil, the second coil and the third coil Connect to receive communication data.
  • an embodiment provides an underwater wireless charging device including: a charging transmitting coil group, which includes a first coil, a second coil, and a third coil that are orthogonal to each other. Have a common center point and are fixed together to form a linkage; a detection module, which is connected to the coil set of the charging transmitting end, is used to detect and output the electrical parameters of the first coil, the second coil, and the third coil respectively; and the inverter circuit, which Connected to the first coil, the second coil, and the third coil, respectively, for providing high-frequency AC signals to the first coil, the second coil, and the third coil; the attitude control module, which is connected to the charging transmitting coil group, is used for Adjust the attitude of the first coil, the second coil, and the third coil so that one of the first coil, the second coil, and the third coil is adjusted to an attitude that can provide the maximum charging power, so that the coil is used as a transmitting energy.
  • Charging coil control module, which is respectively connected with the detection module and the attitude control
  • an embodiment provides a wireless communication receiving device for communicating with a wireless communication transmitting device, including: a receiving coil including a first receiving coil and a second receiving coil, an axis of the first receiving coil It is perpendicular to the axis of the second receiving coil; the attitude control module is used to adjust the first receiving coil and the second receiving coil to a communication state, so that when the induction electric parameter in the first receiving coil is the largest, the induction in the second receiving coil The electrical parameter is the smallest. When the induction electrical parameter in the first receiving coil is the smallest, the induction electrical parameter in the second receiving coil is the largest.
  • the coil detection module is configured to detect the induction electrical parameter on the first receiving coil and / or the second receiving coil. And output digital signals according to the detection results; the data processing module is used to connect with the coil detection module, and analyze the communication data according to the digital signals output by the coil detection module.
  • an embodiment provides an underwater robot including the device as described above.
  • the underwater charging and communication integrated device of the above embodiment since the posture of the charging transmitting end coil is calibrated, one of the first coil, the second coil, and the third coil is adjusted to an attitude that can provide the maximum charging power.
  • the coil that can provide the maximum charging power is used as a charging coil for transmitting energy, and the other two coils are used as a communication coil for receiving communication data, so that the charging and communication integrated device can implement both the charging function and the communication function.
  • the use of a set of optimized devices capable of charging and communicating at the same time can reduce its own structural complexity, weight, and energy consumption.
  • the use of short-range communication improves the reliability of data transmission and reduces the probability of problems.
  • 1 is a schematic block diagram of an underwater robot and an underwater sensor according to an embodiment
  • FIG. 2 is a positional relationship diagram of an underwater robot coil group and an underwater sensor coil group according to an embodiment
  • FIG. 3 is a flowchart of charging attitude calibration according to an embodiment
  • FIG. 4 is a positional relationship diagram of a charging transmitting coil group and a charging receiving coil including an arbitrary attitude according to an embodiment
  • FIG. 5 is a schematic block diagram of an underwater robot and an underwater sensor according to another embodiment
  • FIG. 6 is a positional relationship diagram of an underwater robot coil group and an underwater sensor coil group according to another embodiment
  • FIG. 8 is an attitude diagram when the communication coil is calibrated
  • 9 and 10 are side views of the positional relationship between the communication coil and the transmitting coil at the sensor end when the communication coil is calibrated according to an embodiment.
  • FIG. 11 is a flowchart of communication attitude calibration according to an embodiment
  • FIG. 12 is a schematic diagram of a magnetic field component generated by a communication transmitting coil when the communication coil is not calibrated;
  • FIG. 13 is a schematic block diagram of an underwater robot according to another embodiment
  • FIG. 14 is a schematic block diagram of a wireless communication receiving device according to an embodiment
  • FIG. 15 is a positional relationship diagram between a coil and a communication transmitting end coil of the embodiment shown in FIG. 14;
  • 16 is a positional relationship diagram between a coil of a wireless communication receiving device and a coil of a communication transmitting end according to another embodiment.
  • connection and “connection” in this application include direct and indirect connections (connections) unless otherwise specified.
  • the posture of the charged sensor is not constant, and the posture of the robot is also uncertain. Therefore, it is difficult to keep the coils that emit energy in the robot and the coils that receive energy on the sensor parallel. Achieve optimal charging power.
  • the idea of the present invention is to use a pair of orthogonal three-dimensional coils. Through self-adjustment of the coils, one of the coils and the coil receiving energy on the sensor remain parallel, and then the energy is transmitted through the coil to charge the sensor's power source. Perform wireless charging.
  • the other two coils in the three-dimensional coil are used as communication coils for communication with the sensor, so that Integrate both acting and communication functions on one device.
  • This design can make the equipment have the advantages of relatively simple structure, low cost, light weight, and low energy consumption.
  • the following describes the principle and process of charging and communicating with an underwater sensor using an underwater robot AUV designed with an integrated charging and communication device as an example.
  • the underwater robot 10 includes a power source 11, an inverter circuit 14, a charging transmitting-end coil group 15, a detection module 12, a control module 13, and an attitude control module 16.
  • the power source 11 is connected to the input terminal of the inverter circuit, and provides power to the inverter circuit.
  • a detection module 12 which is connected to the charging transmitting-side coil group 15 and is configured to detect and output electrical parameters of the coils in the charging transmitting-side coil group 15; the electrical parameter is current or power;
  • the output end of the inverter circuit 14 is connected to the input port of the charging transmitting end coil group 15 and is configured to provide the charging transmitting end coil group 15 with a high-frequency AC signal.
  • the charging transmitting end coil group 15 includes a first coil A, a second coil B, and a third coil TX that are orthogonal to each other.
  • the three coils have a common center point and are fixed together to form a linkage;
  • Attitude control module 16 which is connected to the charging transmitting coil group 15, and the attitude control module drives any of the coils in the charging transmitting coil group 15 to rotate so that the electrical parameter of any coil is smaller than the first preset value; then the attitude control module Under the control of the control module, the coil whose electric parameter is smaller than the first preset value is driven to rotate around its axis. When the control module detects that the electric parameter of the other coil is also smaller than the first preset value, the coil is stopped from rotating. A coil having an electrical parameter not less than a first preset value is used as a charging coil for transmitting energy.
  • a control module 13 which is respectively connected to the detection module 12 and the attitude control module 16, and controls the start and stop of the attitude control module according to the electrical parameters of the coils in the charging transmitting-end coil group 15 output by the detection module;
  • the sensor 20 includes an energy receiving coil RX, a rectifying circuit 22, and a battery 23.
  • the energy receiving coil RX is used to receive the energy transmitted by the charging coil.
  • An input terminal of the rectifier circuit 22 is connected to the energy receiving coil RX, and an output terminal of the rectifier circuit 22 is connected to the battery 23.
  • the power source 11 in the underwater robot 10 provides a high-frequency AC signal to the charging coil in the charging transmitting coil group 15 through the inverter circuit 14, and the charging coil generates an induced magnetic field.
  • the energy receiving coil RX in the sensor 20 generates an induced current under the action of the magnetic field, and then converts the AC power to DC power through the rectifier circuit 22, and then stores it into the energy storage device battery 23 of the underwater sensor 20, thereby realizing the underwater robot 10 to water. Charge of the lower sensor 20.
  • the coil set at the charging and transmitting end of this embodiment adopts two-dimensional orthogonal three-dimensional coils.
  • the three-dimensional coil includes a first coil A, a second coil B, and a third coil TX that are orthogonal to each other.
  • the three coils have a common center point O and are fixed together to form a linkage; the first coil A and the second coil B It adopts the same specifications as the third coil TX, for example, the shape of the coil, the number of coil turns, and the size of the coil wire are the same.
  • the first coil, the second coil, and the third coil may be, for example, circular (hereinafter referred to as spherical coils), which can be rotated around their own axes respectively under the driving of the attitude control module.
  • spherical coils circular
  • a coil rotates around its axis its axis Keep the position unchanged, while the other two coils follow the self-rotating coil to change their attitude, and the axis also changes direction as the other two coils change their attitude.
  • the axis of a coil is parallel to the axis of the energy receiving coil RX of the sensor, the coil is also parallel to the energy receiving coil RX.
  • this coil is used as a charging coil, the best charging efficiency can be achieved.
  • the coil needs to be calibrated to find the coil parallel to the sensor's energy receiving coil RX.
  • Step 31 The AUV of the underwater robot approaches the underwater sensor, and when the position detecting module detects that the coil group of the charging transmitting end is within a preset wireless charging range, it outputs a position signal.
  • Step 32 After receiving the position signal, the control module 13 sends a command to the power source 11.
  • the power source 11 controls the first coil A, the second coil B, and the third coil TX through the inverter circuit 14 to issue the same test to the charging receiving coil RX. signal.
  • Step 33 The detection module 12 detects the electrical parameters of the first coil A, the second coil B, and the third coil TX in real time, and determines whether the electrical parameters of any of the coils are zero.
  • the magnetic induction line has zero effect on the charging receiving coil RX, and its own electrical parameters will also be zero. Therefore, if there is no coil electrical parameter being zero, it means that no coil is orthogonal to the charging receiving coil RX. In this case, If yes, step 331 is performed. If the coil electrical parameter is zero, it means that at least one coil is orthogonal to the energy receiving coil, and then step 34 is performed. It should be noted here that zero electrical parameter is an ideal value.
  • the electrical parameters of any of the first coil A, the second coil B, and the third coil TX cannot be zero, but in When orthogonal to the charging receiver coil RX, its own electrical parameters will be minimized. Therefore, the minimum values of the electrical parameters in the transmitting coil when the transmitting coil is orthogonal to the receiving coil can be counted through multiple experiments, and these minimum values form an interval. , Take the first preset value in this interval. When the detection module 12 detects that the electrical parameter of a coil is less than the first preset value, it can be reversed that the coil is orthogonal to the charging receiving coil RX. Among them, the electrical parameter is current or power.
  • Step 331 if no coil electrical parameter is zero, it means that no coil in the first coil A, the second coil B, and the third coil TX is orthogonal to the charging receiving coil RX, and the control module 13 controls the attitude control module 16 to drive the first coil
  • the control module 14 controls the attitude control module 16 to stop driving the self-rotation.
  • Coil When a coil self-rotates and adjusts the attitude of the other two coils about its axis, its own posture does not change.
  • step 34 In the process of self-rotation of any coil around its axis, one of the other two coils can always be made perpendicular to the coil RX of the charging receiver, that is, the electrical parameter of one coil can be made zero, so the process proceeds to step 34, which is explained below :
  • (X, Y, Z) are the calibrated attitudes of the charging transmitting coil group and the charging receiving coil RX
  • OX is the axis of the third coil TX
  • OY is the axis of the second coil B
  • OZ is the first
  • the axis of the coil A, the axis of the coil RX at the charge receiving end is parallel to the axis of the third coil TX.
  • the control module 13 controls the attitude control module 16 to drive any one of the first coil A, the second coil B, and the third coil TX to spin.
  • one of the coil groups 15 on the charging transmitting end must be able to be made.
  • the coil is perpendicular to the charging receiving coil RX.
  • the charging transmitting coil group is calibrated with the charging receiving coil RX at an arbitrary attitude (X ⁇ , Y ⁇ , Z ⁇ ), because there is a common center point O, there is no parallel situation between the plane X ⁇ OZ ⁇ and the plane YOZ. , Then the plane X ⁇ OZ ⁇ must produce an intersection with the plane YOZ. Either a coil rotates around its axis. Assuming that the Y 'axis is used for rotation, the position of the selected coil's Y ⁇ axis remains unchanged. The axis OX ⁇ or the axis OZ ⁇ axis rotates around the Y ⁇ axis.
  • Step 34 The control module 13 determines whether the electrical parameters of the two coils of the first coil A, the second coil B, and the third coil TX are zero. This step is also to determine whether there are two coils that are positively connected to the coil RX of the charging receiver at the same time. If yes, go to step 35, if not, go to step 341.
  • Step 341 the control module 13 controls the attitude control module 16 to drive the axes of the coils with zero electrical parameters in the first coil A, the second coil B, and the third coil TX to rotate until the detection module detects 12
  • the control module 14 controls the attitude control module 16 to stop driving the self-rotating coil, and then executes step 35.
  • the second coil can also reach the first preset value as follows: Please refer to Figure 4. It has been confirmed above that OX ⁇ or OZ ⁇ must fall into the plane YOZ. Assuming that OX ⁇ has fallen into the plane YOZ, the next winding OX ⁇ does not move, OY ⁇ or OZ ⁇ rotates around OX ⁇ , because the common intersection point O, X ⁇ OY ⁇ must have an intersection with the YOZ plane. When OY ⁇ rotates to the position of the intersection of X ⁇ OY ⁇ and YOZ plane OY ⁇ must be perpendicular to OX, and the second coil B is perpendicular to the coil RX of the charging receiver.
  • the third coil TX must be perpendicular to the charging receiving end.
  • the coils RX are parallel.
  • the third coil TX is adjusted to an attitude that can provide the maximum charging power.
  • the third coil TX is selected as the charging coil to output power to the charging receiving coil RX. It should be noted that before the above-mentioned posture calibration, the first coil, the second coil, and the third coil have completely consistent positions, and any coil may be used as a charging coil. In the above attitude calibration process, it is assumed that the first coil A is perpendicular to the charging receiving coil RX first, and the second coil B is perpendicular to the charging receiving coil RX second.
  • Step 35 The coil charging calibration process is completed.
  • the third coil TX is aligned with the charging receiving coil RX.
  • the coil is adjusted to provide the maximum charging power and is used as a charging coil to output power to the charging receiving coil RX.
  • the attitude control module 5 includes three motors, and the power output ends of the three motors are respectively coupled to the first coil A, the second coil B, and the third coil TX.
  • the advancement is performed along the tangential direction of the coil. Coil, which allows the coil to rotate about its axis to adjust the attitude of the other two coils.
  • the first coil A, the second coil B, and the third coil TX may adopt a single-turn or multiple-turn coil.
  • the coil may be an ellipse, a square, or a rectangle.
  • the center point is the midpoint of the two focal points.
  • the center point is the intersection of the diagonals.
  • the underwater robot 10 includes a power source 11, an inverter circuit 14, a charging transmitting-end coil group 15, a detection module 12, a control module 13, and an attitude control module 16.
  • the power source 11 is connected to the input terminal of the inverter circuit 14 and provides power to the inverter circuit.
  • a detection module 12 which is connected to the charging transmitting-side coil group 15 and is configured to detect and output electrical parameters of the coils in the charging transmitting-side coil group 15; the electrical parameter is current or power;
  • the inverter circuit 14 is connected to an input port of the charging transmitting-side coil group 15 and is configured to provide a high-frequency AC signal to each coil in the charging transmitting-side coil group 15.
  • the charging transmitting end coil group 15 includes a first coil A, a second coil B, and a third coil TX that are orthogonal to each other.
  • the three coils have a common center point and are fixed together to form a linkage;
  • Attitude control module 16 which is connected to the charging transmitting coil group 15, and the attitude control module drives any of the coils in the charging transmitting coil group 15 to rotate so that the electrical parameter of any coil is smaller than the first preset value; then the attitude control module Under the control of the control module, the coil whose electric parameter is smaller than the first preset value is driven to rotate around its axis.
  • the control module detects that the electric parameter of the other coil is also smaller than the first preset value, the coil is stopped from rotating.
  • the two coils whose electrical parameters are smaller than the first preset value are used as the communication coil 152 for receiving communication data, and the other coil is used as the charging coil 151 for transmitting energy.
  • the control module 13 is connected to the detection module 12 and the attitude control module 16 respectively, and controls the start and stop of the attitude control module according to the electrical parameters of the charging coil 151 and the communication coil 152 output by the detection module; the control module 13 is also connected to the communication coil 152 To receive communication data.
  • the sensor 20 includes an energy receiving coil RX, a rectifying circuit 22, a battery 23, a data storage device 24, a communication transmitting coil 25, a phase control module 26, and a conversion module 27.
  • the energy receiving coil RX is used to receive energy transmitted by the charging coil 151.
  • the input terminal of the rectifier circuit 22 is connected to the energy receiving coil RX, and the output terminal of the rectifier circuit 22 is connected to the battery 23.
  • the battery stores electrical energy and supplies power to each module.
  • the conversion module 27, one end of which is connected to the battery 23 and the other end of which is connected to the communication transmitting coil 25, has a function similar to that of the inverter circuit 14 and is used to provide an alternating current signal to each of the communication transmitting coils 25;
  • the phase control module 26 is connected to the conversion module 27 and is used to adjust the phase of the electrical signal output by the conversion module 27.
  • the first group of coils and the second group of coils in the communication transmitting coil 25 receive input according to the bit sequence of the data to be transmitted. Electrical signal phase difference.
  • the transmitted data bit is 0, the phase difference between the input electrical signals of the first group of coils and the second group of coils is 0 °.
  • the data bit to be transmitted is 1, the first group of coils and The phase difference of the input electrical signals of the second group of coils is 180 °.
  • the transmission data bit is 0, the phase difference between the input electrical signals of the first group of coils and the second group of coils is 180 °.
  • the data bit to be transmitted is 1, the first The phase difference between the input electrical signals of the group coil and the second group coil is 0 °, which does not affect the implementation of the present invention.
  • the data storage device 24 is connected to the phase control module 26 and is configured to store the collected information data and provide the phase control module 26 with a bit sequence of data to be transmitted.
  • the power source 11 in the underwater robot 10 provides a high-frequency AC signal to the charging coil 151 in the charging transmitting-end coil group through the inverter circuit 14, and the charging coil 151 generates an induced magnetic field.
  • the energy receiving coil RX in the lower sensor 20 generates an induced current under the action of a magnetic field, and then converts AC power to DC power through the rectifier circuit 22, and further stores the power into the energy storage device battery 23 of the underwater sensor 20, thereby realizing 10 pairs of underwater robots. Charging of the underwater sensor 20.
  • the underwater sensor 20 usually needs to transmit the data collected by itself to the land surface.
  • the embodiment shown in FIG. 5 can solve this problem well.
  • the underwater sensor 20 stores the collected data information in a data storage device 24.
  • the data storage device 24 provides a bit sequence of data to be transmitted to the phase control module 26, and the phase control module 26 adjusts the first group of coils according to the bit sequence of the data to be transmitted.
  • the input electrical signals of the second group of coils are out of phase with each other, and the data information is converted into phase signals to act on the communication transmitting coil 25 to cause the communication transmitting coil 25 to generate a magnetic field.
  • the communication coil 152 of the underwater robot 10 is induced by the magnetic field.
  • the current detection module 12 detects the electrical parameters of the communication coil 152 and outputs a digital signal according to the detection result.
  • the control module 13 analyzes the communication data according to the result output by the detection module, thereby realizing the communication between the underwater sensor 20 and the underwater robot 10.
  • FIG. 6 it is a positional relationship diagram of the coil set of the charging and transmitting end in the underwater robot 10 and the coil in the underwater sensor 20.
  • the coil 1 at the transmitting end and the coil at the end of the underwater sensor are placed in a rectangular coordinate system OXYZ, so that the center point O of the coil group 15 at the charging transmitting end coincides with the origin of the rectangular coordinate system, and OX is the third coil TX
  • the axis of the charging receiver coil RX, OY and OZ are the axis of the first coil A and the second coil B, respectively.
  • the communication transmitting coil includes a first group of coils and a second group of coils, wherein the first group of coils includes a first transmitting coil 1 and a third transmitting coil 3, and the second group of coils includes a second transmitting coil 2 and a fourth
  • the transmission coil 4 the axis of the first transmission coil 1 and the axis of the second transmission coil 2 are in the same plane and are perpendicular to each other.
  • the axis of the first transmitting coil 1 and the axis of the third transmitting coil 3 coincide, and the axis of the second transmitting coil 2 and the axis of the fourth transmitting coil 4 coincide.
  • the first group of coils may include only the first transmitting coil 1, and the second group of coils includes only the second transmitting coil 2, and the third transmitting coil 3 and the fourth transmitting coil 4 are not required. Realization of the invention.
  • the coil needs to be calibrated to find the coil parallel to the sensor's energy receiving coil RX.
  • the charging attitude calibration is performed, and the calibration process is the same as the charging attitude calibration steps in the first embodiment, and details are not described herein again.
  • the first coil A and the second coil B are selected as the communication coils
  • the third coil TX is used as the charging coil
  • the third coil TX has been parallel to the charging receiving-end coil RX.
  • the communication coil may not have reached the communication posture.
  • the attitude of the coil is calibrated.
  • the feeding phase of each coil should be kept consistent.
  • I 13 I 0 cos ⁇ t
  • Is the phase difference between the current of the first group of coils and the current of the second group of coils
  • I 13 the current of the first group of coils
  • I 24 is the current of the second group of coils.
  • the magnetic field generated by the second set of coils is Where r is the distance from the center point O to the center of each coil in the communication transmitting coil 25, k is a constant, j is an imaginary number sign, a r13 is a unit vector in the H 13 magnetic field direction, and a r24 is a unit vector in the H 24 magnetic field direction.
  • the total magnetic field H generated by the two sets of coils is The direction of the total magnetic field H can be expressed as ⁇ is an angle where the total magnetic field H rotates counterclockwise on the YOZ plane with the direction of H 24 as a reference direction.
  • the total magnetic field direction can be changed by adjusting the phases of the two pairs of coils to be the same or opposite.
  • the total magnetic field direction is along the Z axis direction, and when the phases are opposite, the total magnetic field direction is along the Y axis direction.
  • the phase difference between the first group of coils and the second group of coils is 0 °
  • the direction of the total magnetic field is parallel to the second coil B and perpendicular to the first coil A.
  • the first coil A has the largest induction of the total magnetic field.
  • the induced electrical parameters in the first coil A are also the largest, the induction of the total magnetic field by the second coil B is the smallest, and the induced electrical parameters in the second coil B are the smallest.
  • the phase difference between the first group of coils and the second group of coils is 180 °
  • the direction of the total magnetic field is perpendicular to the second coil B and parallel to the first coil A.
  • the first receiving coil has the smallest induced electrical parameter.
  • the induced electric parameter in the second receiving coil is the largest.
  • Step 51 The third coil TX is parallel to the charging receiving coil RX.
  • Step 52 Four coils in the communication transmitting coil 25 of the underwater sensor 20 transmit test signals of the same intensity, and the phases of the coils in the first group of coils are the same, and the phases of the coils in the second group of coils are also the same.
  • the test signals of the group coil and the second group of coils have the same or opposite phases.
  • Step 53 The detection module detects the inductive electrical parameters of the first coil A and the second coil B in real time, and determines whether any of the two communication coils has zero inductive electrical parameters. If yes, go to step 54; otherwise, go to step 531 . It should also be noted here that the zero value of the induction electric parameter is an ideal value, but the minimum values that can be achieved by the induction electric parameter in the coil can be counted through multiple experiments to form these minimum intervals into an interval, taking the second in this interval. default value.
  • the inductive electrical parameters in the first coil A and the second coil B are both smaller than the second preset value, it indicates that the calibration is not performed, and when one of the inductive electrical parameters in the first coil A and the second coil B is smaller than the first preset value, The second preset value indicates that the calibration has been completed.
  • Both the induced electrical parameters in the first coil A and the second coil B are not less than the second preset value as a trigger condition for controlling the activation of the attitude control module. Any one of the induced electrical parameters of the first coil A and the second coil B is smaller than the second preset value as a trigger condition for stopping adjusting the attitudes of the first coil A and the second coil B.
  • Step 531 The electrical parameters of the first coil A and the second coil B are not less than the second preset value.
  • the control module 13 controls the attitude control module 16 to start and causes the attitude control module 16 to drive the third coil TX to rotate around its axis. , Adjust the postures of the first coil A and the second coil B until any one of the induced electrical parameters in the first coil A and the second coil B is smaller than the second preset value.
  • Step 54 The communication coil calibration process is completed, and the underwater robot and the underwater sensor can perform the communication process.
  • step 53 When step 53 is performed, as shown in FIG. 12, the total magnetic field has magnetic field components in the axial direction of the first coil A and the second coil B. Therefore, both communication coils generate current, that is, the first coil A and the second coil. The electrical parameters of coil B are not zero.
  • step 531 is required to drive the third coil TX to rotate.
  • the detection module detects the induced electrical parameters in the first coil A and the second coil B and feeds them back to the control module. The control module judges until any one of the induced electrical parameters in the first coil A and the second coil B is smaller than the second preset value. That is, in the case shown in FIG.
  • the total magnetic field direction is along the axis direction of the first coil A and orthogonal to the axis of the second coil B. Therefore, the magnetic field passing through the axis of the second coil B is zero, and no induced electrical parameter is generated.
  • the underwater robot sends a calibrated signal to the underwater sensor.
  • the underwater sensor After receiving the calibrated signal from the underwater robot, the underwater sensor can start transmitting data to the underwater robot.
  • the underwater sensor adjusts the phase difference of the input electrical signals of the first group of coils and the second group of coils according to the bit sequence of the data to be transmitted. For example, when the bit of the transmitted data is 0, the first group of coils and the second group of coils are adjusted. The phase difference of the input electrical signals is 0 °. When the bit to be transmitted is 1, the phase difference of the input electrical signals of the first group of coils and the second group of coils is adjusted to 180 °. When the phase difference is 0 °, the induced electrical parameter in the first coil A is the largest, and the induced electrical parameter in the second coil B is the smallest. When the phase difference is 180 °, the induced electrical parameter in the first coil A is the smallest, and in the second coil B The maximum induced electrical parameters.
  • the detection module detects the induced electrical parameters in the first coil A and / or the second coil B, and outputs a digital signal according to the detection result. For example, output 1 when the inductive electrical parameter is maximum, and 0 when the inductive electrical parameter is minimum.
  • the control module analyzes the communication data according to the result output by the detection module, thereby realizing communication.
  • an underwater sensor needs to transmit data to an underwater robot.
  • the bit sequence corresponding to this data is 0101.
  • the underwater sensor applies a positive-phase electrical signal of the same size to the first and second coils (that is, the phase difference is 0 °).
  • the induction electric parameter in the second coil B is the smallest.
  • the coil detection module outputs 0 according to the induction electric parameter of the second coil B.
  • the first group of coils applies a positive phase signal
  • the second The coils of the group apply the opposite-phase electrical signals of the same size (that is, the phase difference is 180 °), and the induced electrical parameter in the second coil B is the largest.
  • the detection module According to the setting of the above detection module, the detection module according to the induced electrical parameters of the second coil B Output 1; at the next sequence, the phase control module controls the conversion module to apply positive phase electrical signals of the same size to the first set of coils and the second set of coils.
  • the induced electrical parameters in the second coil B are the smallest.
  • the detection module outputs 0 according to the induced electrical parameter of the second coil B.
  • the first group of coils applies a positive phase signal
  • the second group of coils applies a reverse phase electrical signal of the same size (that is, the phase is 180 °)
  • the second coil B has the largest induced electrical parameter.
  • the coil detection module outputs 1 according to the induced electrical parameter of the second coil B.
  • the detection module analyzes communication data according to the digital signal output from the coil detection module, thereby realizing communication.
  • the maximum and minimum values of the above-mentioned induced electrical parameters can be determined through a number of experiments to a reasonable maximum and minimum. For example, the minimum and maximum values that can be achieved by the induction electrical parameters in the coil are counted through multiple experiments, and the minimum and maximum values are formed into a minimum interval and a maximum interval. According to the accuracy requirements, the minimum interval and the maximum interval can be achieved. A value is taken as a criterion for judging whether the induced electrical parameter has reached the maximum or minimum.
  • the inventor broke through the thinking model that wireless charging and wireless communication modules are independent of each other and work separately, merging the two functional modules of wireless charging and wireless communication into one, and integrating each other during the work process, so that the sensor The data information collected by the sensors can be collected while charging, and the system structure is relatively simple and easy to maintain.
  • the underwater robot further includes a first switch circuit 17 connected between the inverter circuit 14 and the charging transmitting-end coil group 15 for switching the inverter circuit and the first Any one of the coil, the second coil, and the third coil is turned on or off.
  • the control terminal of the first switch circuit 17 is connected to the control module 13 for determining the charging coil and the communication coil under the control of the control module.
  • the inverter circuit is connected to the first coil, the second coil and the third coil.
  • the underwater robot also includes a second switch circuit 18.
  • the second switch circuit 18 is connected between the detection module 12 and the charging transmitting-end coil group 15 to switch the detection module to the first coil and the second coil by switching.
  • any one of the coil and the third coil is turned on or off, and the control terminal of the second switch circuit 18 is connected to the control module 13 for the working phase after determining the charging coil and the communication coil under the control of the control module 13
  • the detection module and the communication coil are turned on, the charging coil is disconnected. That is, after the charging coil and the communication coil are determined, the detection module and the communication coil are turned on, so that the detection module 12 receives communication data from the communication coil, and disconnects the detection module and the charging coil to prevent the charging coil from causing the detection module. influences.
  • the underwater robot further includes a position detection module 19, and the position detection module 19 is configured to detect that the charging transmitting end coil group is within a preset wireless charging range and the center point O of the charging transmitting end coil group is at When the axis of the charging receiving coil is on the axis, a position signal is output, and the control module 13 controls the first switching circuit 17 to convert the inverter circuit 14 and the first coil A, the second coil B, and the The three coils are switched on.
  • the above embodiment cleverly utilizes three coils in the coil set of the charging transmitting end, using one coil as the charging coil and the other two coils as the communication coils.
  • the structure is simple and optimized, which is beneficial to the structural layout design of the underwater robot and reduces water. Reduce the complexity, weight and manufacturing cost of the robot. Through short-distance communication, reduce the interference, improve the reliability of data transmission, and reduce energy consumption
  • this application further provides a wireless communication receiving device for communicating with a wireless communication transmitting device, which specifically includes:
  • the receiving coil 100 includes a first receiving coil A and a second receiving coil B.
  • the axis of the first receiving coil is perpendicular to the axis of the second receiving coil.
  • the first receiving coil and the second receiving coil have a common center and are fixed together to form a linkage. .
  • Attitude control module 200 configured to adjust the first receiving coil and the second receiving coil to a communication state, so that when the induced electrical parameter in the first receiving coil is the largest, the induced electrical parameter in the second receiving coil is the smallest, and when the first receiving coil When the induction electric parameter in the coil is the smallest, the induction electric parameter in the second receiving coil is the largest;
  • the coil detection module 300 is configured to detect an induced electrical parameter on the first receiving coil A and / or the second receiving coil B, and output a digital signal according to a detection result;
  • the data processing module 400 is configured to be connected to the coil detection module 300 and analyze communication data according to the digital signals output by the coil detection module.
  • the attitude control module 200 is connected to the data processing module 400.
  • the data processing module 400 controls the attitude control module to start when the induction electrical parameters detected by the coil detection module are not zero, and the attitude control module rotates the first receiving coil and the second receiving coil. Until the induced electrical parameter of any one of the first receiving coil and the second receiving coil is zero.
  • the wireless communication receiving device further includes a charging coil TX, the charging coil TX is concentric with and fixed to the first receiving coil A and the second receiving coil B, and the axis of the charging coil TX and the axis of the first receiving coil A The axis of the second receiving coil B and the second receiving coil B are perpendicular to each other.
  • the attitude control module is advancing along the tangential direction of the charging coil TX when adjusting the first receiving coil and the second receiving coil to the communication attitude.
  • the induced electrical parameter is current or electric power.
  • the calibration and communication process between the wireless communication receiving device and the underwater sensor in this embodiment is the same as the calibration and communication process in the second embodiment, and details are not described herein again.

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Power Engineering (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)

Abstract

La présente invention concerne un appareil d'intégration de charge et de communication sous-marin et un appareil de charge sans fil sous-marin. L'appareil d'intégration de charge et de communication sous-marin comprend un groupe de bobines à extrémité de charge et de transmission ; le groupe de bobines à extrémité de charge et de transmission comprend une première bobine, une deuxième bobine et une troisième bobine qui sont perpendiculaires les unes aux autres ; les trois bobines ont un point central commun et sont formées d'un seul tenant ; un module de détection est utilisé pour détecter séparément les paramètres électriques de la première bobine, de la deuxième bobine et de la troisième bobine, et délivrer en sortie les paramètres électriques ; un module de commande de posture est utilisé pour étalonner la posture du groupe de bobines à extrémité de charge et de transmission, de telle sorte qu'une bobine parmi la première bobine, la deuxième bobine et la troisième bobine est ajustée à la posture à laquelle une puissance de charge maximale peut être fournie, la bobine est utilisée comme bobine de charge qui émet de l'énergie, et délivre de l'énergie électrique, et les deux autres bobines sont utilisées comme bobines de communication qui reçoivent des données de communication. La présente invention présente l'avantage de réaliser simultanément une charge et une communication dans un groupe de bobines.
PCT/CN2018/105822 2018-09-14 2018-09-14 Appareil d'intégration de charge et de communication sous-marin et appareil de charge sans fil sous-marin WO2020051909A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/CN2018/105822 WO2020051909A1 (fr) 2018-09-14 2018-09-14 Appareil d'intégration de charge et de communication sous-marin et appareil de charge sans fil sous-marin

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2018/105822 WO2020051909A1 (fr) 2018-09-14 2018-09-14 Appareil d'intégration de charge et de communication sous-marin et appareil de charge sans fil sous-marin

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20120169139A1 (en) * 2009-12-24 2012-07-05 Kabushiki Kaisha Toshiba Wireless power transmission apparatus
CN104600877A (zh) * 2015-02-13 2015-05-06 哈尔滨工业大学 一种具有侧移适应性和旋转适应性的无线电能传输装置
CN105207375A (zh) * 2015-10-30 2015-12-30 武汉大学 一种组合型平面动态无线传能发射线圈装置
CN106026410A (zh) * 2016-05-23 2016-10-12 合肥汉信智控科技有限公司 一种无线电能传输装置
CN106329680A (zh) * 2015-06-29 2017-01-11 比亚迪股份有限公司 无线充电器
CN108092417A (zh) * 2017-12-25 2018-05-29 珠海格力电器股份有限公司 一种无线充电装置及其控制方法

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20120169139A1 (en) * 2009-12-24 2012-07-05 Kabushiki Kaisha Toshiba Wireless power transmission apparatus
CN104600877A (zh) * 2015-02-13 2015-05-06 哈尔滨工业大学 一种具有侧移适应性和旋转适应性的无线电能传输装置
CN106329680A (zh) * 2015-06-29 2017-01-11 比亚迪股份有限公司 无线充电器
CN105207375A (zh) * 2015-10-30 2015-12-30 武汉大学 一种组合型平面动态无线传能发射线圈装置
CN106026410A (zh) * 2016-05-23 2016-10-12 合肥汉信智控科技有限公司 一种无线电能传输装置
CN108092417A (zh) * 2017-12-25 2018-05-29 珠海格力电器股份有限公司 一种无线充电装置及其控制方法

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