A two-way wireless power transmission system for underwater unmanned submersibles

Abstract

The present invention relates to the field of wireless power transmission, and in particular to a two-way wireless power transmission system for an underwater unmanned submersible, which comprises a wireless power transmitting device arranged at a charging station, a wireless power transceiver arranged on the submersible, and a wireless power receiving device arranged on an energy supply device; the wireless power transmitting device is used to convert DC input electric energy into alternating magnetic energy and transmit it to the wireless power transceiver; the wireless power transceiver operates in two states, receiving and transmitting. When operating in the receiving state, the wireless power transceiver is used to convert the received magnetic energy into DC electric energy to realize the charging of the submersible; when operating in the transmitting state, the wireless power transceiver is used to convert the electric energy stored in the submersible into alternating magnetic energy and transmit it to the wireless power receiving device; the wireless power receiving device is used to convert the received magnetic field electric energy into DC electric energy to realize the charging of the energy supply device. The present invention realizes two-way wireless transmission of electric energy of the submersible.

Description

Technical Field

[0001] The present invention relates to the field of wireless power transmission, and in particular to a bidirectional wireless power transmission system for an underwater unmanned submersible. Background Art

[0002] With the rapid expansion of the world's population and the sustained and rapid development of the economy, people have always maintained sufficient vigilance for energy issues. With the advancement of science and technology, the development and utilization of marine resources have received more and more attention from people. There are also rich mineral resources and a large number of marine organisms in the proven sea areas. These resources are urgently needed for human development and are also an important cornerstone for human sustainable development. As underwater high-tech equipment for human exploration and development of the ocean, underwater unmanned submersibles have generated huge application value in the fields of military, civilian, scientific research, etc., and have very important practical significance for the development and exploration of natural resources and the promotion of economic development.

[0003] The energy of underwater unmanned submersibles is supplied by the batteries they carry. When the power is about to run out, they need to go to the nearest seabed base station for underwater power replenishment. The only way at present is to perform wet pull operation, which brings great safety risks and inconvenience. Some intelligent monitoring equipment is in service at fixed locations and also needs to be recharged. The existing method is to replace the equipment for uninterrupted monitoring, which requires manual operation and is laborious. Therefore, these traditional methods are seriously outdated, and some can no longer be implemented, which seriously affects the continuous working conditions of underwater unmanned submersibles. Summary of the invention

[0004] The purpose of the present invention is to provide a two-way wireless power transmission system for an underwater unmanned submersible, which can realize two-way wireless transmission of electrical energy for the submersible.

[0005] In order to solve the above technical problems, the technical solution of the present invention is: a two-way wireless power transmission system for an underwater unmanned submersible, comprising a wireless power transmitting device arranged at a charging station, a wireless power transceiver arranged on the submersible, and a wireless power receiving device arranged on a device requiring energy replenishment;

[0006] The wireless power transmitting device is used to convert the DC input electrical energy into alternating magnetic energy and transmit it to the wireless power transceiver;

[0007] The wireless power transceiver works in two states: receiving and transmitting. When working in the receiving state, the wireless power transceiver is used to convert the received magnetic energy into direct current electric energy to charge the submersible; when working in the transmitting state, the wireless power transceiver is used to convert the electric energy stored in the submersible into alternating magnetic energy and transmit it to the wireless power receiving device;

[0008] The wireless power receiving device is used to convert the received magnetic field electric energy into direct current electric energy to realize the charging of the equipment requiring energy replenishment.

[0009] According to the above scheme, the wireless power transmission device includes a transmission controller, a full-bridge inverter, a first compensation capacitor and a first energy coupler; the first compensation capacitor and the first energy coupler are connected in series to form a first resonant circuit; the full-bridge inverter is connected to the charging station to obtain DC power and convert the DC power into alternating power at high frequency, the first resonant circuit is connected to the full-bridge inverter to convert the alternating power into alternating magnetic energy and transmit it to the wireless power transceiver, and the transmission controller is used to drive the full-bridge inverter to work;

[0010] The wireless power transceiver comprises a transceiver controller, a full-bridge converter, a second compensation capacitor and a second energy coupler; the second compensation capacitor and the second energy coupler are connected in series to form a second resonant circuit; the full-bridge converter is used to work in two working states, namely, inversion and rectification; the transceiver controller is used to switch the working state of the full-bridge converter and drive the full-bridge converter to work; and the second resonant circuit is connected to the full-bridge converter;

[0011] When the wireless power transceiver is in the receiving state, the full-bridge converter works in the rectifying state, the second resonant circuit receives the magnetic energy sent by the first resonant circuit and converts it into alternating electric energy, and the full-bridge converter synchronously rectifies the alternating electric energy into direct current electric energy to charge the battery pack of the submersible;

[0012] When the wireless power transceiver is in the transmitting state, the full-bridge converter works in the inversion state, the full-bridge converter obtains the DC power of the battery pack of the submarine and inverts the DC power into alternating power at high frequency, and the second resonant circuit converts the alternating power into alternating magnetic energy and transmits it to the wireless power receiving device;

[0013] The wireless power receiving device includes a receiving controller, a full-bridge rectifier, a third compensation capacitor and a third energy coupler; the third compensation capacitor and the third energy coupler are connected in series to form a third resonant circuit; the third resonant circuit is connected to the full-bridge rectifier to receive the magnetic energy sent by the second resonant circuit and convert it into alternating electric energy, and the full-bridge rectifier synchronously rectifies the alternating electric energy into direct current electric energy to charge the battery pack of the energy replenishment device.

[0014] According to the above scheme, the topological structure of the full-bridge inverter includes four bridge arms, each bridge arm is composed of a switch tube and a reverse diode in parallel, every two bridge arms are connected in series, and then the two series-connected bridge arms are connected in parallel; filter capacitors are connected in parallel at both ends of the series bridge arms; the full-bridge converter and the full-bridge rectifier have the same topological structure as the full-bridge inverter.

[0015] According to the above scheme, the two ends of the series bridge arm of the full-bridge inverter are connected to the DC output end of the charging station, and the midpoints of the two series bridge arms in the full-bridge inverter are respectively connected to the two ends of the first resonant circuit; the midpoints of the two series bridge arms in the full-bridge converter are respectively connected to the two ends of the second resonant circuit, and the two ends of the series bridge arm of the full-bridge converter are connected to the submersible battery pack; the midpoints of the two series bridge arms in the full-bridge rectifier are respectively connected to the two ends of the third resonant circuit, and the two ends of the series bridge arm of the full-bridge rectifier are connected to the battery pack of the energy replenishment equipment.

[0016] According to the above scheme, the transceiver controller includes a DSP chip for inverter drive control, two synchronous rectifier chips for rectifier drive control, a drive logic circuit for switching between inverter and rectifier states, and a drive chip for driving a full-bridge converter; the transmitting controller and the receiving controller have the same structure as the transceiver controller.

[0017] According to the above scheme, the driving logic circuit includes 20 NAND gates, including NAND gates A1, A2, A3, A4, B1, B2, B3, B4, C1, C2, C3, C4, D1, D2, D3, D4, E1, E2, E3 and E4; among which,

[0018] NAND gates A1, A2, A3 and A4 are used to generate a driving input signal PWM1 for the upper switch tube in one of the bridge arms; NAND gates B1, B2, B3 and B4 are used to generate a driving input signal PWM2 for the lower switch tube in one of the bridge arms; NAND gates C1, C2, C3 and C4 are used to generate a driving input signal PWM3 for the upper switch tube in another bridge arm; NAND gates D1, D2, D3 and D4 are used to generate a driving input signal PWM4 for the lower switch tube in another bridge arm; NAND gates E1, E2, E3 and E4 are used to generate an on-off logic signal of the synchronous rectifier chip according to the driving input signals PWM1, PWM2, PWM3, PWM4 of the switch tube and the driving enable signal output by the DSP chip, thereby switching between the two states of inversion and rectification;

[0019] The DSP chip outputs driving signals DSP-PWM1, DSP-PWM2, DSP-PWM3 and DSP-PWM4. The synchronous rectification chip detects the output of synchronous driving signals GAT-PWM1 and GAT-PWM2 by the switch tubes under the two bridge arms. The DSP chip outputs the driving selection signal DSP / GAT. The DSP chip outputs the driving enable signal DSP-SHUT.

[0020] The signal DSP-PWM1 and the signal DSP / GAT are used as inputs of the NAND gate A1, the signal DSP / GAT is used as two inputs of the NAND gate A4, the signal GAT-PWM2 and the output of the NAND gate A4 are used as inputs of the NAND gate A2, the outputs of the NAND gates A1 and A2 are used as inputs of the NAND gate A3, and the output of the NAND gate A3 outputs the signal PWM1;

[0021] The signal DSP-PWM2 and the signal DSP / GAT are used as inputs of the NAND gate B1, the signal DSP / GAT is used as two inputs of the NAND gate B4, the signal GAT-PWM1 and the output of the NAND gate B4 are used as inputs of the NAND gate B2, the outputs of the NAND gates B1 and B2 are used as inputs of the NAND gate B3, and the output of the NAND gate B3 outputs the signal PWM2;

[0022] The signal DSP-PWM3 and the signal DSP / GAT are used as inputs of the NAND gate C1, the signal DSP / GAT is used as two inputs of the NAND gate C4, the signal GAT-PWM1 and the output of the NAND gate C4 are used as inputs of the NAND gate C2, the outputs of the NAND gates C1 and C2 are used as inputs of the NAND gate C3, and the output of the NAND gate C3 outputs the signal PWM3;

[0023] The signal DSP-PWM4 and the signal DSP / GAT are used as inputs of the NAND gate D1, the signal DSP / GAT is used as two inputs of the NAND gate D4, the signal GAT-PWM2 and the output of the NAND gate D4 are used as inputs of the NAND gate D2, the outputs of the NAND gates D1 and D2 are used as inputs of the NAND gate D3, and the output of the NAND gate D3 outputs the signal PWM4;

[0024] Signals PWM1 and PWM2 serve as inputs of the NAND gate E1, and signals PWM3 and PWM4 serve as inputs of the NAND gate E2; signal DSP-SHUT and the output of the NAND gate E1 serve as inputs of the NAND gate E3, and the output of the NAND gate E3 outputs an on-off logic signal SD1 of one of the driver chips; signal DSP-SHUT and the output of the NAND gate E2 serve as inputs of the NAND gate E4, and the output of the NAND gate E4 outputs an on-off logic signal SD2 of another driver chip.

[0025] According to the above scheme, the synchronous rectification chip is IR11672 and the driving chip is IR2110.

[0026] According to the above scheme, the first energy coupler, the second energy coupler and the third energy coupler are all cylindrical structures;

[0027] The second energy coupler includes an inner cylindrical magnetic core and an inner cylindrical coil wound on the cylindrical magnetic core, and the inner cylindrical magnetic core is embedded in the outer wall of the submersible; the first energy coupler includes a winding fixing column, a first outer cylindrical coil wound on the winding fixing column, and an outer cylindrical magnetic core pasted on the outer wall of the first outer cylindrical coil, and the first energy coupler is arranged on the outer wall of the charging station; the third energy coupler includes a winding fixing column, a second outer cylindrical coil wound on the winding fixing column, and an outer cylindrical magnetic core pasted on the outer wall of the second outer cylindrical coil, and the third energy coupler is arranged on the outer wall of the equipment requiring energy replenishment.

[0028] According to the above scheme, the first energy coupler uses 0.1*600 Litz wire with 17 turns, and the first compensation capacitor is 1.4uF; the second energy coupler uses 0.1*600 Litz wire with 27 turns, and the second compensation capacitor is 470nF; the third energy coupler uses 0.1*500 Litz wire with 27 turns, and the third compensation capacitor is 264nF.

[0029] The present invention has the following beneficial effects:

[0030] 1. The present invention adopts wireless power transmission to replenish energy to solve the problem of power supply for electrical equipment of underwater unmanned submersibles. Wireless power transmission uses electromagnetic field as the medium to realize the transmission of electric energy. The main advantages are that it does not require plugging and unplugging, is simple and convenient to use, does not generate electric sparks and electric shock hazards, has no mechanical wear and corresponding maintenance problems, and can be used in flammable and explosive environments, seawater, etc. In the present invention, when the submersible itself needs to be charged, the submersible travels to the charging position of the charging station and outputs a charging command to the transceiver controller, so that the wireless power works in the receiving state, the full-bridge converter works in the rectifying state, and collects the charging voltage and charging current information and feeds it back to the transmitting controller by wireless mode to realize the intelligent charging process of constant current and constant voltage; when the submersible charges other energy-replenishing equipment, the submersible travels to the discharge position and outputs a discharge command to the transceiver controller, so that the wireless power works in the transmitting state, the full-bridge converter works in the inverter state, and realizes the intelligent charging process of constant current and constant voltage according to the charging voltage and charging current information sent by the receiving controller by wireless mode; the automatic contactless charging of the unmanned submersible in the deep sea environment is realized, and the automatic intelligent transportation of energy is realized. The present invention realizes the two-way wireless transmission of the battery energy of the submersible, which can realize the wireless charging of the battery through wireless power transmission, thereby increasing the underwater operation time of the submersible, and can use the energy of the submersible battery to wirelessly charge the batteries of other energy-replenishing equipment, thereby completing the intelligent transportation of electric energy.

[0031] Second, the present invention adopts a cylindrical energy coupler, and the second energy coupler is fixed on the fuselage of the submersible, which reduces the difficulty of the fuselage design of the submersible and increases the coupling coefficient of the system, creating conditions for improving the overall efficiency of the system; and increases the charging freedom of the submersible. Wireless energy transmission can be achieved only when the submersible body is penetrated into the wireless power transmission transmitting end device, i.e., the charging station, and reaches the charging position, or when the submersible body is penetrated into the wireless power transmission receiving end device, i.e., the energy replenishment device, and reaches the charging position. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 is a block diagram of a two-way wireless power transmission system for a submersible in an embodiment of the present invention;

[0033] FIG2( a ) is a circuit topology diagram of a bidirectional wireless power transmission system when the wireless power transceiver is operating in a receiving state;

[0034] FIG2( b ) is a circuit topology diagram of a two-way wireless power transmission system when the wireless power transceiver is operating in a transmitting state;

[0035] Figure 3 is a circuit diagram of a driving logic circuit in a transceiver controller in this embodiment;

[0036] Figure 4 is a driving circuit diagram of the wireless power transceiver in this embodiment;

[0037] FIG5( a ) is a schematic diagram of the overall structure of the energy coupling device in this embodiment;

[0038] FIG5( b ) is a schematic diagram of the top view of the energy coupling device in this embodiment;

[0039] FIG5( c ) is a schematic diagram of a half-section structure of the energy coupling device in this embodiment.

[0040] Reference numerals:

[0041] 1. Wireless power transmitting device; 101. Full-bridge inverter; 102. First resonant circuit; 2. Wireless power transmitting and receiving device; 201. Full-bridge converter; 202. Second resonant circuit; 3. Wireless power receiving device; 301. Full-bridge rectifier; 302. Third resonant circuit; 4. Inner cylindrical magnetic core; 5. Inner cylindrical coil; 6. Winding fixing column; 7. Outer cylindrical coil; 8. Outer cylindrical magnetic core. DETAILED DESCRIPTION

[0042] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0043] Please refer to Figure 1 to Figure 5(c)The present invention is a two-way wireless power transmission system for an underwater unmanned submersible, comprising a wireless power transmitting device 1 arranged at a charging station, a wireless power transceiver 2 arranged on the submersible, and a wireless power receiving device 3 arranged on the energy supply device; the wireless power transmitting device 1 is used to convert the DC input electric energy into alternating magnetic energy and transmit it to the wireless power transceiver 2; the wireless power transceiver 2 works in two states: receiving and transmitting. Figure 1 In the frame a, when working in the receiving state, the wireless power transceiver 2 is used to convert the received magnetic energy into direct current power to charge the submersible; see Figure 1 In frame b, when working in the transmitting state, the wireless power transceiver 2 is used to convert the electric energy stored in the submersible into alternating magnetic energy and transmit it to the wireless power receiving device 3; the wireless power receiving device 3 is used to convert the received magnetic field electric energy into direct current electric energy to realize the charging of the energy-requiring equipment.

[0044] Referring to FIG. 2( a) and FIG. 2( b), the wireless power transmission device 1 includes a transmission controller, a full-bridge inverter 101, a first compensation capacitor and a first energy coupler; the first compensation capacitor and the first energy coupler are connected in series to form a first resonant circuit 102; the full-bridge inverter 101 is connected to the charging station to obtain DC power and convert the DC power into alternating power at high frequency, the first resonant circuit 102 is connected to the full-bridge inverter 101 for converting the alternating power into alternating magnetic energy and transmitting it to the wireless power transceiver 2, and the transmission controller is used to drive the full-bridge inverter 101 to work;

[0045] The wireless power transceiver 2 includes a transceiver controller, a full-bridge converter 201, a second compensation capacitor and a second energy coupler; the second compensation capacitor and the second energy coupler are connected in series to form a second resonant circuit 202; the full-bridge converter 201 is used to work in two working states, namely, inversion and rectification; the transceiver controller is used to switch the working state of the full-bridge converter 201 and drive the full-bridge converter 201 to work; and the second resonant circuit 202 is connected to the full-bridge converter 201;

[0046] When the wireless power transceiver 2 is in the receiving state, the full-bridge converter 201 works in the rectifying state, the second resonant circuit 202 receives the magnetic energy sent by the first resonant circuit 102 and converts it into alternating electric energy, and the full-bridge converter 201 synchronously rectifies the alternating electric energy into direct current electric energy to charge the battery pack of the submersible;

[0047] When the wireless power transceiver 2 is in the transmitting state, the full-bridge converter 201 works in the inversion state, the full-bridge converter 201 obtains the DC power of the battery pack of the submersible and inverts the DC power into alternating power at high frequency, and the second resonant circuit 202 converts the alternating power into alternating magnetic energy and transmits it to the wireless power receiving device 3;

[0048] The wireless power receiving device 3 includes a receiving controller, a full-bridge rectifier 301, a third compensation capacitor and a third energy coupler; the third compensation capacitor and the third energy coupler are connected in series to form a third resonant circuit 302; the third resonant circuit 302 is connected to the full-bridge rectifier 301 to receive the magnetic energy sent by the second resonant circuit 202 and convert it into alternating electric energy, and the full-bridge rectifier 301 synchronously rectifies the alternating electric energy into direct current electric energy to charge the battery pack of the energy replenishment device.

[0049] The topological structure of the full-bridge inverter 101 includes four bridge arms, each of which is composed of a switch tube and a reverse diode in parallel, and every two bridge arms are connected in series, and then the two series bridge arms are connected in parallel; filter capacitors are connected in parallel at both ends of the series bridge arms; the full-bridge converter 201 and the full-bridge rectifier 301 have the same topological structure as the full-bridge inverter 101; the two ends of the series bridge arm of the full-bridge inverter 101 are connected to the DC output end of the charging station, and the midpoints of the two series bridge arms in the full-bridge inverter 101 are respectively connected to the two ends of the first resonant circuit 102; the midpoints of the two series bridge arms in the full-bridge converter 201 are respectively connected to the two ends of the second resonant circuit 202, and the two ends of the series bridge arm of the full-bridge converter 201 are connected to the battery pack of the submersible; the midpoints of the two series bridge arms in the full-bridge rectifier 301 are respectively connected to the two ends of the third resonant circuit 302, and the two ends of the series bridge arm of the full-bridge rectifier 301 are connected to the battery pack of the energy replenishment device.

[0050] In this embodiment, the switch tube is a MOSFET tube. The transceiver controller includes a DSP chip for inverter drive control, two synchronous rectifier chips for rectifier drive control, a drive logic circuit for switching between inverter and rectifier states, and two drive chips for driving the full-bridge converter; the transmitting controller and the receiving controller have the same structure as the transceiver controller. In this embodiment, the synchronous rectifier chip is an IR11672 chip, and the drive chip is an IR2110 chip.

[0051] The specific circuit topology structures of the wireless power transmitting device 1 , the wireless power transmitting and receiving device 2 and the wireless power receiving device 3 are shown in FIG2 .

[0052] The working principle of the wireless power transmission device 1 is as follows: the transmitting controller controls the full-bridge inverter 101 composed of switch tubes T1, T2, T3, and T4 to convert the DC input voltage Vin into a high-frequency square wave voltage and output it to the first compensation capacitor C S1 A first resonant circuit 102 connected in series with the first energy coupler L1 is formed, and the AC power is converted into magnetic field energy output through the first resonant circuit 102.

[0053] The wireless power transceiver 2 of the submersible fuselage mainly completes the following two tasks:

[0054] (1) When the submersible needs to be charged, it drives to the charging station and outputs a charging command to the transceiver controller, so that the wireless power transceiver 2 works in the receiving state, and the switch tubes T5, T6, T7, and T8 are driven by the synchronous rectification to work in the rectification state, and collect the charging voltage and charging current information and feed it back to the transmitting controller by wireless means to realize the intelligent charging process of constant current and constant voltage;

[0055] (2) When the submersible is charging other equipment that requires energy replenishment, the submersible moves to the discharge position and outputs a discharge command to the transceiver controller, so that the wireless power transceiver 2 works in the transmitting state. The switch tubes T5, T6, T7, and T8 are controlled by the high-frequency inverter drive to work in the inverter state, and realize the constant current and constant voltage intelligent charging process according to the charging voltage and charging current information sent by the receiving controller wirelessly.

[0056] The working principle of the wireless power receiving device 3 is as follows: the wireless power receiving device 3 in the energy replenishment equipment converts the magnetic field energy into alternating electric energy through coupling through the third resonant circuit 302 composed of the third compensation capacitor Cs3 and the third energy coupler L3, and then charges the battery pack 2 through the synchronous rectification circuit composed of the switching tubes T9, T10, T11, and T12, and collects the charging voltage and charging current information and feeds it back to the wireless power transceiver 2 of the fuselage of the submersible through wireless means to realize the constant current and constant voltage intelligent charging process.

[0057] In FIG. 2( a), the wireless power transceiver 2 works in the receiving state, at which time the full-bridge converter 201 works in the rectifying state, and the switch tubes T5, T6, T7, and T8 form a full-bridge synchronous rectification circuit, whose driving signal is provided by the IR11672 chip, and the synchronous rectification chip IR11672 sends a signal to control the IR2110 driver chip to drive the switch tubes T5, T6, T7, and T8 to rectify; in this embodiment, a DC 60V power supply, i.e., a charging station connected to a filter capacitor C1 is used as the input of a full-bridge inverter 101 composed of switch tubes T1, T2, T3, and T4, and the full-bridge inverter 101 is connected to the first compensation capacitor C S1 The first resonant circuit 102 is connected in series with the first energy coupler L1. The four switch tubes T1, T2, T3, and T4 of the full-bridge inverter 101 are controlled by the DSP chip to switch on and off, thereby realizing the conversion of DC power to AC power. The AC power is then converted into magnetic energy through the first energy coupler L1 and emitted. The second energy coupler L2 and the second compensation capacitor C S2The second resonant circuit 202 formed in series converts the received magnetic energy into alternating electrical energy, which is then converted into DC electrical energy through a full-bridge synchronous rectification circuit composed of switch tubes T5, T6, T7, and T8 and a filter capacitor C2 to charge the submersible battery pack, i.e., battery pack 1. The drive of the switch tubes T5, T6, T7, and T8 used for full-bridge synchronous rectification is controlled by two IR2110 driver chips for output control; the battery pack 1 can use a 48V lithium battery.

[0058] In FIG. 2( b), the wireless power transceiver 2 works in the transmitting state, at which time the full-bridge converter 201 works in the inverting state, and the switch tubes T5, T6, T7, and T8 form a full-bridge high-frequency inverting circuit, whose driving signal is provided by the DSP chip, and the DSP chip sends a signal to control the IR2110 driver chip to drive the switch tubes T5, T6, T7, and T8 to invert; in this embodiment, the submersible battery pack, that is, the battery pack 1, is used as a DC power supply through the full-bridge high-frequency inverting circuit composed of the switch tubes T5, T6, T7, and T8 and the second compensation capacitor C S2 The second resonant circuit 202, which is connected in series with the second energy coupler L2, converts DC power into alternating magnetic energy and emits it. The four switch tubes T5, T6, T7, and T8 of the full-bridge high-frequency inverter circuit are controlled by a DSP chip to switch on and off. The third energy coupler L3 and the third compensation capacitor C S3 The third resonance circuit 302 in series converts the received magnetic energy into alternating electrical energy, which is then converted into DC electrical energy through a full-bridge rectifier 301 composed of switch tubes T9, T10, T11, and T12 and a filter capacitor C3 to charge the battery pack of the energy replenishment device, namely, battery pack 2. Battery pack 2 can use a 24V lithium battery.

[0059] See also Figure 3 , Figure 3 The specific driving logic circuit in this embodiment is shown. In the figure, DSP-PWM1\ DSP-PWM2\ DSP-PWM3\ DSP-PWM4 are driving signals output by the DSP chip, GAT-PWM1\ GAT-PWM2 are synchronous driving signals output by the two switching tubes under the bridge arms detected by two synchronous rectifier chips IR11672, DSP / GAT is the driving selection signal output by the DSP chip, and DSP-SHUT is the driving enable signal output by the DSP chip. The entire logic driving circuit is composed of 20 NAND gates to complete the selection of 4 driving signals.

[0060] The driving logic circuit includes NAND gates A1, A2, A3, A4, B1, B2, B3, B4, C1, C2, C3, C4, D1, D2, D3, D4, E1, E2, E3 and E4; wherein,

[0061] NAND gates A1, A2, A3 and A4 are used to generate a driving input signal PWM1 for the upper switch tube in one of the bridge arms; NAND gates B1, B2, B3 and B4 are used to generate a driving input signal PWM2 for the lower switch tube in one of the bridge arms; NAND gates C1, C2, C3 and C4 are used to generate a driving input signal PWM3 for the upper switch tube in another bridge arm; NAND gates D1, D2, D3 and D4 are used to generate a driving input signal PWM4 for the lower switch tube in another bridge arm; NAND gates E1, E2, E3 and E4 are used to generate an on-off logic signal of the driver chip according to the driving input signals PWM1, PWM2, PWM3, PWM4 of the switch tube and the driving enable signal output by the DSP chip, thereby switching between the two states of inversion and rectification;

[0062] The signal DSP-PWM1 and the signal DSP / GAT are used as inputs of the NAND gate A1, the signal DSP / GAT is used as two inputs of the NAND gate A4, the signal GAT-PWM2 and the output of the NAND gate A4 are used as inputs of the NAND gate A2, the outputs of the NAND gates A1 and A2 are used as inputs of the NAND gate A3, and the output of the NAND gate A3 outputs the signal PWM1;

[0063] The signal DSP-PWM2 and the signal DSP / GAT are used as inputs of the NAND gate B1, the signal DSP / GAT is used as two inputs of the NAND gate B4, the signal GAT-PWM1 and the output of the NAND gate B4 are used as inputs of the NAND gate B2, the outputs of the NAND gates B1 and B2 are used as inputs of the NAND gate B3, and the output of the NAND gate B3 outputs the signal PWM2;

[0064] The signal DSP-PWM3 and the signal DSP / GAT are used as inputs of the NAND gate C1, the signal DSP / GAT is used as two inputs of the NAND gate C4, the signal GAT-PWM1 and the output of the NAND gate C4 are used as inputs of the NAND gate C2, the outputs of the NAND gates C1 and C2 are used as inputs of the NAND gate C3, and the output of the NAND gate C3 outputs the signal PWM3;

[0065] The signal DSP-PWM4 and the signal DSP / GAT are used as inputs of the NAND gate D1, the signal DSP / GAT is used as two inputs of the NAND gate D4, the signal GAT-PWM2 and the output of the NAND gate D4 are used as inputs of the NAND gate D2, the outputs of the NAND gates D1 and D2 are used as inputs of the NAND gate D3, and the output of the NAND gate D3 outputs the signal PWM4;

[0066] Signals PWM1 and PWM2 serve as inputs of the NAND gate E1, and signals PWM3 and PWM4 serve as inputs of the NAND gate E2; signal DSP-SHUT and the output of the NAND gate E1 serve as inputs of the NAND gate E3, and the output of the NAND gate E3 outputs an on-off logic signal SD1 of one of the driver chips; signal DSP-SHUT and the output of the NAND gate E2 serve as inputs of the NAND gate E4, and the output of the NAND gate E4 outputs an on-off logic signal SD2 of another driver chip.

[0067] When DSP / GAT is high, A1 outputs the reverse signal of DSP-PWM1, B1 outputs the reverse signal of DSP-PWM2, C1 outputs the reverse signal of DSP-PWM3, D1 outputs the reverse signal of DSP-PWM4, A4, B4, C4, D4 output low level, then A2, B2, C2, D2 output high level, A3 output signal is the reverse signal of A1 output, PWM1 is equivalent to DSP-PWM1 direct output, B3 output signal is the reverse signal of B1 output, PWM2 is equivalent to DSP-PWM2 direct output, C3 output signal is the reverse signal of C1 output, PWM3 is equivalent to DSP-PWM3 direct output, D3 output signal is the reverse signal of D1 output, PWM4 is equivalent to DSP-PWM4 direct output, so when DSP / GAT is high level, the drive signal output by DSP chip is selected; when DSP / GAT is low level, A1, B1, C1, D1 output high level, A4, B4, C4, D4 output high level, then A2 output is the reverse signal of GAT- PWM2 reverse signal, B2 output and GAT-PWM1 reverse signal, C2 output and GAT-PWM1 reverse signal, D2 output and GAT-PWM2 reverse signal, A3 output signal and A2 output signal reverse, PWM1 is equivalent to GAT-PWM2 direct output, B3 output signal and B2 output signal reverse, PWM2 is equivalent to GAT-PWM1 direct output, C3 output signal and C2 output signal reverse, PWM3 is equivalent to GAT-PWM1 direct output, D3 output signal and D2 output signal reverse, PWM4 is equivalent to GAT-PWM2 direct output, so when DSP / GAT is low level, the synchronous rectification drive signal is selected.

[0068] When DSP-SHUT is at a low level, E3 and E4 output high levels as the input of the SD pins of the two driver chips IR2110, thereby prohibiting the output of the driver; when DSP-SHUT is at a high level, E3 outputs a signal SD1 that is opposite to the signal output by E1, and E4 outputs a signal SD2 that is opposite to the signal output by E2. When PWM1 and PWM2 are both high levels, E1 outputs a low level signal; when PWM3 and PWM4 are both high levels, E2 outputs a low level signal. Then, E3 outputs a signal SD1 that is high, and E4 outputs a signal SD2 that is high, thereby completing the interlocking function of the drive signal. When the drive signals of the upper and lower bridge arms are both high levels, the driver chip IR2110 prohibits the output of the drive signal.

[0069] Figure 4 This is a circuit diagram of two driver chips IR2110. This driver circuit is used in three parts of the system: the wireless power transmitter, the wireless power transceiver 2, and the wireless power receiver 3. Only the application in the wireless power transceiver 2 is described here. Figure 4 Among them, PWM1 and PWM3 are the upper arm drive signal inputs, PWM2 and PWM4 are the lower arm switch tube drive signal inputs, PWM1-G is connected to the gate of the upper arm switch tube T5, and PWM1-E is connected to the source of the upper arm switch tube T5; PWM2-G is connected to the gate of the lower arm switch tube T6, and PWM2-E is connected to the source of the lower arm switch tube T6; PWM3-G is connected to the gate of the upper arm switch tube T7, and PWM3-E is connected to the source of the upper arm switch tube T7; PWM4-G is connected to the gate of the lower arm switch tube T8, and PWM4-E is connected to the source of the lower arm switch tube T8.

[0070] The working process of the underwater unmanned submersible two-way wireless power system is as follows:

[0071] 1. When the submersible needs to be recharged or moved, the submersible automatically drives to the charging position of the charging station through the positioning device. The structural design of the charging position can be assisted by a trumpet mouth, which is conducive to the submersible to enter the charging position more accurately and effectively.

[0072] 2. After reaching the charging position, the submersible control center sends a command to notify the transceiver controller in the submersible wireless power transceiver 2 that the battery pack 1 needs to be charged. The transceiver controller selects the synchronous rectification drive signal as the drive signal of the switch tube of the full-bridge converter 201, and collects the battery voltage and charging current information and sends it to the transmitting controller of the wireless power transmitting device through wireless communication for constant current and constant voltage control. The system completes the external DC power supply to transmit power to the battery pack 1 through wireless power transmission.

[0073] 3. When battery 1 is fully charged, charging stops automatically and a full charge signal is fed back to the submersible control center, informing the submersible that it can proceed to the next step; if the battery is not fully charged and the submersible needs to perform a mission urgently, the submersible can send a stop charging command and then drive away from the charging position to perform the mission.

[0074] 4. When the energy supply equipment in the sea needs to replenish electric energy, the submersible automatically drives to the discharge position through the positioning device. The structural design of the discharge position can also be assisted by a bell mouth, which is conducive to the submersible to enter the discharge position more accurately and effectively.

[0075] 5. After reaching the discharge position, the submersible control center sends a command to notify the transceiver controller in the submersible wireless power transceiver 2 that the battery pack 1 needs to be discharged. The transceiver controller selects the full-bridge inverter drive signal as the drive signal of the switch tube, and performs constant current and constant voltage control on the battery voltage and charging current information of the battery pack 2 sent by the wireless power receiving device 3. The system completes the power transmission from battery 1 to battery 2 through wireless power transmission.

[0076] 6. When the battery is fully charged or the power of battery 1 is insufficient, charging stops automatically and a stop charging signal is fed back to the submersible control center, notifying the submersible to leave the discharge position to perform other tasks or return to the charging position to charge battery pack 1.

[0077] Figure 5(a) , 5(b) 5(c) are schematic diagrams of an energy coupling device, which is composed of a first energy coupler L1 and a second energy coupler L2 when the wireless power transceiver 2 is in a receiving state, and is composed of a second energy coupler L2 and a third energy coupler L3 when the wireless power transceiver 2 is in a transmitting state. The first energy coupler L1, the second energy coupler L2 and the third energy coupler L3 are all cylindrical structures.

[0078] The second energy coupler L2 includes an inner cylindrical magnetic core 4 and an inner cylindrical coil 5 wound on the inner cylindrical magnetic core 4. The inner cylindrical magnetic core 4 is pasted in the groove of the outer wall of the submersible, and then the Litz wire is wound on the inner cylindrical magnetic core 4 to form the inner cylindrical coil 5. Then, the silicone rubber is used for vulcanization treatment, so that the entire inner cylindrical coil 5 and the inner cylindrical magnetic core 4 are embedded in the outer wall of the submersible, forming a whole with the submersible. The heat of the inner cylindrical coil 5 and the inner cylindrical magnetic core 4 can be transferred to the water through the metal outer wall of the submersible, thereby effectively solving the heat dissipation problem of the system. The inner cylindrical magnetic core 4 and the inner cylindrical coil 5 are fixed on the outer wall of the submersible to form the second energy coupler L2 in the wireless power transceiver 2 of the submersible.

[0079] When the wireless power transceiver 2 is in a receiving state, the outer cylindrical coil 7 is a first outer cylindrical coil; the first energy coupler includes a winding fixing column 6, a first outer cylindrical coil wound on the winding fixing column 6, and an outer cylindrical magnetic core 8 pasted on the outer wall of the first outer cylindrical coil. The Litz wire is wound on the winding fixing column 6, and the outer cylindrical magnetic core 8 is pasted on the outside of the first outer cylindrical coil to form the first energy coupler L1 in the wireless power transmitter; the first energy coupler L1 is arranged on the outer wall of the charging station;

[0080] When the wireless power transceiver 2 is in the transmitting state, the outer cylindrical coil 7 is the second outer cylindrical coil; the third energy coupler includes a winding fixing column 6, a second outer cylindrical coil wound on the winding fixing column 6, and an outer cylindrical magnetic core 8 pasted on the outer wall of the second outer cylindrical coil. The Litz wire is wound on the winding fixing column 6, and the outer cylindrical magnetic core 8 is pasted on the outside of the second outer cylindrical coil to form the third energy coupler L3 in the wireless power transmitting device; the third energy coupler is arranged on the outer wall of the equipment requiring energy replenishment.

[0081] The winding fixing columns 6 are all made of cylindrical organic glass, and the outer cylindrical coil 7 is wound around the outer side of the winding fixing columns 6 and fixed with epoxy resin glue in the gap between them.

[0082] In this example, the first outer cylindrical coil in the first energy coupler L1 is wound with 17 turns of 0.1*600 Litz wire, and the first compensation capacitor is 1.4uF; the inner cylindrical coil 5 in the second energy coupler L2 is wound with 27 turns of 0.1*600 Litz wire, and the second compensation capacitor is 470nF; the second outer cylindrical coil in the third energy coupler L3 is wound with 27 turns of 0.1*500 Litz wire, and the third compensation capacitor is 264nF. The efficiency of the bidirectional wireless power transmission system designed in this example is better than 85%, and the positioning accuracy and stability requirements of the submersible are not high, as long as it is within a certain charging range, reliable energy transmission can be performed.

[0083] The parts not involved in the present invention are the same as the prior art or are implemented by using the prior art.

[0084] The above contents are further detailed descriptions of the present invention in combination with specific implementation methods, and it cannot be determined that the specific implementation of the present invention is limited to these descriptions. For ordinary technicians in the technical field to which the present invention belongs, several simple deductions or substitutions can be made without departing from the concept of the present invention, which should be regarded as falling within the scope of protection of the present invention.

Claims

1. A two-way wireless power transmission system for an underwater unmanned submersible, characterized in that: It includes a wireless power transmitting device arranged at a charging station, a wireless power transmitting and receiving device arranged on a submersible, and a wireless power receiving device arranged on a device requiring energy replenishment; The wireless power transmitting device is used to convert the DC input electrical energy into alternating magnetic energy and transmit it to the wireless power transceiver; The wireless power transceiver works in two states: receiving and transmitting. When working in the receiving state, the wireless power transceiver is used to convert the received magnetic energy into direct current electric energy to charge the submersible; when working in the transmitting state, the wireless power transceiver is used to convert the electric energy stored in the submersible into alternating magnetic energy and transmit it to the wireless power receiving device; The wireless power receiving device is used to convert the received magnetic field electric energy into direct current electric energy to realize the charging of the equipment requiring energy replenishment; The wireless power transmission device includes a transmission controller, a full-bridge inverter, a first compensation capacitor and a first energy coupler; the first compensation capacitor and the first energy coupler are connected in series to form a first resonant circuit; The full-bridge inverter is connected to the charging station to obtain direct current power and convert the direct current power into alternating power at high frequency. The first resonant circuit is connected to the full-bridge inverter to convert the alternating power into alternating magnetic energy and transmit it to the wireless power transceiver. The transmitting controller is used to drive the full-bridge inverter to work. The wireless power transceiver includes a transceiver controller, a full-bridge converter, a second compensation capacitor and a second energy coupler; the second compensation capacitor and the second energy coupler are connected in series to form a second resonant circuit; The full-bridge converter is used to work in two working states: inversion and rectification. The transceiver controller is used to switch the working state of the full-bridge converter and drive the full-bridge converter to work. The second resonant circuit is connected to the full-bridge converter. When the wireless power transceiver is in the receiving state, the full-bridge converter works in the rectifying state, the second resonant circuit receives the magnetic energy sent by the first resonant circuit and converts it into alternating electric energy, and the full-bridge converter synchronously rectifies the alternating electric energy into direct current electric energy to charge the battery pack of the submersible; When the wireless power transceiver is in the transmitting state, the full-bridge converter works in the inversion state, the full-bridge converter obtains the DC power of the battery pack of the submarine and inverts the DC power into alternating power at high frequency, and the second resonant circuit converts the alternating power into alternating magnetic energy and transmits it to the wireless power receiving device; The wireless power receiving device comprises a receiving controller, a full-bridge rectifier, a third compensation capacitor and a third energy coupler; the third compensation capacitor and the third energy coupler are connected in series to form a third resonant circuit; The third resonant circuit is connected to the full-bridge rectifier to receive the magnetic energy sent by the second resonant circuit and convert it into alternating electric energy. The full-bridge rectifier synchronously rectifies the alternating electric energy into direct current electric energy to charge the battery pack of the energy replenishment device. The transceiver controller includes a DSP chip for inverter drive control, two synchronous rectifier chips for rectifier drive control, a drive logic circuit for switching between inverter and rectifier states, and a drive chip for driving a full-bridge converter; the transmitting controller and the receiving controller have the same structure as the transceiver controller; The driving logic circuit includes 20 NAND gates, including NAND gates A1, A2, A3, A4, B1, B2, B3, B4, C1, C2, C3, C4, D1, D2, D3, D4, E1, E2, E3 and E4; among which, NAND gates A1, A2, A3 and A4 are used to generate a driving input signal PWM1 for the upper switch tube in one of the bridge arms; NAND gates B1, B2, B3 and B4 are used to generate a driving input signal PWM2 for the lower switch tube in one of the bridge arms; NAND gates C1, C2, C3 and C4 are used to generate a driving input signal PWM3 for the upper switch tube in another bridge arm; NAND gates D1, D2, D3 and D4 are used to generate a driving input signal PWM4 for the lower switch tube in another bridge arm; NAND gates E1, E2, E3 and E4 are used to generate an on-off logic signal of the synchronous rectifier chip according to the driving input signals PWM1, PWM2, PWM3, PWM4 of the switch tube and the driving enable signal output by the DSP chip, thereby switching between the two states of inversion and rectification; The DSP chip outputs driving signals DSP-PWM1, DSP-PWM2, DSP-PWM3 and DSP-PWM4. The synchronous rectification chip detects the output of synchronous driving signals GAT-PWM1 and GAT-PWM2 by the switch tubes under the two bridge arms. The DSP chip outputs the driving selection signal DSP / GAT. The DSP chip outputs the driving enable signal DSP-SHUT. The signal DSP-PWM1 and the signal DSP / GAT are used as inputs of the NAND gate A1, the signal DSP / GAT is used as two inputs of the NAND gate A4, the signal GAT-PWM2 and the output of the NAND gate A4 are used as inputs of the NAND gate A2, the outputs of the NAND gates A1 and A2 are used as inputs of the NAND gate A3, and the output of the NAND gate A3 outputs the signal PWM1; The signal DSP-PWM2 and the signal DSP / GAT are used as inputs of the NAND gate B1, the signal DSP / GAT is used as two inputs of the NAND gate B4, the signal GAT-PWM1 and the output of the NAND gate B4 are used as inputs of the NAND gate B2, the outputs of the NAND gates B1 and B2 are used as inputs of the NAND gate B3, and the output of the NAND gate B3 outputs the signal PWM2; The signal DSP-PWM3 and the signal DSP / GAT are used as inputs of the NAND gate C1, the signal DSP / GAT is used as two inputs of the NAND gate C4, the signal GAT-PWM1 and the output of the NAND gate C4 are used as inputs of the NAND gate C2, the outputs of the NAND gates C1 and C2 are used as inputs of the NAND gate C3, and the output of the NAND gate C3 outputs the signal PWM3; The signal DSP-PWM4 and the signal DSP / GAT are used as inputs of the NAND gate D1, the signal DSP / GAT is used as two inputs of the NAND gate D4, the signal GAT-PWM2 and the output of the NAND gate D4 are used as inputs of the NAND gate D2, the outputs of the NAND gates D1 and D2 are used as inputs of the NAND gate D3, and the output of the NAND gate D3 outputs the signal PWM4; Signals PWM1 and PWM2 serve as inputs of the NAND gate E1, and signals PWM3 and PWM4 serve as inputs of the NAND gate E2; signal DSP-SHUT and the output of the NAND gate E1 serve as inputs of the NAND gate E3, and the output of the NAND gate E3 outputs an on-off logic signal SD1 of one of the driver chips; signal DSP-SHUT and the output of the NAND gate E2 serve as inputs of the NAND gate E4, and the output of the NAND gate E4 outputs an on-off logic signal SD2 of another driver chip.

2. The two-way wireless power transmission system for an underwater unmanned submersible according to claim 1, characterized in that: The topological structure of the full-bridge inverter includes four bridge arms, each bridge arm is formed by a switch tube and a reverse diode connected in parallel, each two bridge arms are connected in series, and then the two series bridge arms are connected in parallel; filter capacitors are connected in parallel at both ends of the series bridge arms; The full-bridge converter and the full-bridge rectifier have the same topological structure as the full-bridge inverter.

3. The two-way wireless power transmission system for underwater unmanned submersible according to claim 2, characterized in that: The two ends of the series bridge arm of the full-bridge inverter are connected to the DC output end of the charging station, and the midpoints of the two series bridge arms in the full-bridge inverter are respectively connected to the two ends of the first resonant circuit; The midpoints of the two series-connected bridge arms in the full-bridge converter are respectively connected to the two ends of the second resonant circuit, and the two ends of the series-connected bridge arms of the full-bridge converter are connected to the battery pack of the submersible; The midpoints of the two series bridge arms in the full-bridge rectifier are respectively connected to the two ends of the third resonant circuit, and the two ends of the series bridge arms of the full-bridge rectifier are connected to the battery pack of the energy replenishment device.

4. The two-way wireless power transmission system for an underwater unmanned submersible according to claim 1, characterized in that: The first energy coupler, the second energy coupler and the third energy coupler are all cylindrical structures; The second energy coupler includes an inner cylindrical magnetic core and an inner cylindrical coil wound on the cylindrical magnetic core, wherein the inner cylindrical magnetic core is embedded in the outer wall of the submersible; The first energy coupler includes a winding fixing column, a first outer cylindrical coil wound on the winding fixing column, and an outer cylindrical magnetic core attached to the outer wall of the first outer cylindrical coil, and the first energy coupler is arranged on the outer wall of the charging station; The third energy coupler comprises a winding fixing column, a second outer cylindrical coil wound on the winding fixing column and an outer cylindrical magnetic core pasted on the outer wall of the second outer cylindrical coil. The third energy coupler is arranged on the outer wall of the energy replenishment device.

5. The two-way wireless power transmission system for underwater unmanned submersible according to claim 4, characterized in that: The first energy coupler uses 0.1*600 Litz wire with 17 turns, and the first compensation capacitor is 1.4uF; the second energy coupler uses 0.1*600 Litz wire with 27 turns, and the second compensation capacitor is 470nF; the third energy coupler uses 0.1*500 Litz wire with 27 turns, and the third compensation capacitor is 264nF.

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