Underwater wireless power transmission method

Abstract

The present invention discloses an underwater wireless power transmission method. When an underwater vehicle needs to be charged, it docks in a target area. The control terminal uses a transmitter to detect whether the energy transmission conditions of the underwater vehicle's receiving end are good and the size of the equivalent load. If no receiving end meets the energy transmission conditions, the underwater vehicle is controlled to readjust its posture until a receiving end meets the energy transmission conditions is detected. If a receiving end meets the normal energy transmission conditions, a corresponding number of transmitters are controlled according to the number of receiving ends with normal energy transmission conditions to perform power transmission, isolating the transmitters corresponding to the receiving ends that do not meet the normal energy transmission conditions. This method solves the technical problems of the existing autonomous underwater vehicle charging methods, such as the inconvenience and inefficiency, which restrict the dynamic observation range and seabed detection efficiency, and the plug-in charging method, which shortens the equipment life and poses safety risks.

Description

Technical Field

[0001] The present invention relates to the field of wireless charging technology, and in particular to an underwater wireless power transmission method. Background Art

[0002] Autonomous underwater vehicles (AUVs) serve as dynamic observation platforms and play an important role in seabed exploration and underwater patrols. However, due to the limited energy carried by their own power batteries, AUVs need to return to the mother ship for energy replenishment every time the energy is about to be exhausted. This restricts the dynamic observation range and seabed detection efficiency. In addition, plugging and unplugging interfaces to charge electrical equipment in water can seriously reduce the service life of the equipment and also pose many safety hazards. Therefore, research on underwater wireless power transmission technology to improve the convenience and efficiency of AUV charging, increase the service life of the equipment, and reduce safety hazards is a technical problem that needs to be solved urgently by those skilled in the art. Summary of the Invention

[0003] The present invention provides an underwater wireless power transmission method, which is used to solve the technical problems that the existing charging method of autonomous underwater vehicles is inconvenient and inefficient, which restricts the dynamic observation range and seabed detection efficiency, and the plug-in charging method affects the service life of the equipment and poses safety hazards.

[0004] In view of this, the present invention provides an underwater wireless power transmission method, which is applied to an expandable modular multi-relay underwater wireless power transmission system. The expandable modular multi-relay underwater wireless power transmission system includes a control terminal, a transmitting end, a relay module and a receiving end;

[0005] There are at least two transmitting ends, and they are arranged in pairs facing each other;

[0006] Each transmitter is equipped with a relay module;

[0007] The receiving end is arranged on the underwater vehicle, and there is at least one receiving end;

[0008] The control terminal is connected to the transmitting end;

[0009] The underwater wireless power transmission method comprises the following steps:

[0010] S1. The control terminal detects that the underwater vehicle carrying the receiving terminal has docked in the target area;

[0011] S2. The control terminal detects, through the transmitting end, whether the underwater vehicle has a receiving end with normal energy transmission conditions and the equivalent load size of the receiving end. If the underwater vehicle does not have a receiving end with normal energy transmission conditions, step S3 is executed. If the underwater vehicle has a receiving end with normal energy transmission conditions, step S4 is executed.

[0012] S3, communicating with the underwater vehicle so that the underwater vehicle readjusts its posture, and returning to step S2;

[0013] S4. Determine the number of receiving ends of the underwater vehicle that meet normal energy transmission conditions. If the number of receiving ends of the underwater vehicle that meet normal energy transmission conditions is an even number and not 0, execute step S5. If the number of receiving ends of the underwater vehicle that meet normal energy transmission conditions is an odd number, execute step S6.

[0014] S5. Controlling the paired transmitting ends corresponding to the receiving ends of the underwater vehicle that have normal energy transmission conditions to simultaneously transmit power to the receiving ends according to the equivalent load size of the receiving ends;

[0015] S6. Isolate the transmitting end corresponding to the receiving end that does not have normal energy transmission conditions, and control the transmitting end corresponding to the receiving end of the underwater vehicle that has normal energy transmission conditions to transmit electric energy to the receiving end according to the equivalent load size of the receiving end that has normal energy transmission conditions.

[0016] Optionally, after step S5, the following steps are further included:

[0017] Determine whether the information that the underwater vehicle battery is fully charged is received, and if so, control all transmitting ends to stop power transmission.

[0018] Optionally, after step S6, the following steps are further included:

[0019] Determine whether the information that the underwater vehicle battery is fully charged is received, and if so, control all transmitting ends to stop power transmission.

[0020] Optionally, the number of the transmitting ends is four, and they are arranged in pairs facing each other in the front, back, left and right directions;

[0021] There are four receiving ends, which correspond one to one with the four transmitting ends.

[0022] Optionally, the transmitting end includes a high-voltage energy taking end, a DC-AC high-frequency inverter circuit and a transmitting coil;

[0023] The high-voltage energy extraction end includes an induction coil and an AC-DC rectifier. The induction coil is used to capture energy in the submarine cable, and the AC-DC rectifier is used to convert the energy captured by the induction coil into electrical energy to obtain direct current.

[0024] The DC-AC high-frequency inverter circuit is connected to the output end of the AC-DC rectifier. The DC-AC high-frequency inverter circuit is used to convert direct current into high-frequency alternating current to excite the transmitting coil to resonate and generate a high-frequency magnetic field.

[0025] Optionally, the relay module includes a central core rod, a silicone rubber sealing layer, and an embedded coil;

[0026] Both ends of the central core rod are respectively provided with an internal thread and an external thread for extended connection;

[0027] The silicone rubber sealing layer is sleeved on the outer side of the central core rod, and the silicone rubber sealing layer includes a main shed and an auxiliary shed;

[0028] The embedded coil is arranged in the main shed.

[0029] Optionally, the central core rod is made of epoxy resin.

[0030] Optionally, the silicone rubber sealing layer is integrally formed.

[0031] Optionally, the embedded coils are planar double helical structures arranged side by side.

[0032] Optionally, the embedded coil uses Litz wire.

[0033] From the above technical solutions, it can be seen that the underwater wireless power transmission method provided by the present invention has the following advantages:

[0034] The underwater wireless power transmission method provided by the present invention has the following advantages: when an underwater vehicle needs to be charged, it is moored in a target area, and a control terminal uses a transmitting end to detect whether the energy transmission conditions of the underwater vehicle receiving end are good and the size of the equivalent load; when there is no receiving end that meets the energy transmission conditions, the underwater vehicle is controlled to readjust its posture until the presence of a receiving end that meets the energy transmission conditions is detected; when there is a receiving end that meets the normal energy transmission conditions, a corresponding number of transmitting ends are controlled according to the number of receiving ends that meet the normal energy transmission conditions to perform power transmission, and the transmitting ends corresponding to the receiving ends that do not meet the normal energy transmission conditions are isolated, thereby avoiding the problems of lifespan and safety hazards caused by plug-in charging. In addition, the use of wireless power transmission solves the problems of inconvenience and low efficiency of existing autonomous underwater vehicle charging methods, which restrict the dynamic observation range and seabed detection efficiency, as well as the technical problems of plug-in charging affecting the equipment lifespan and posing safety hazards. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying any creative work.

[0036] Figure 1 A schematic flow chart of an underwater wireless power transmission method provided in an embodiment of the present invention;

[0037] Figure 2 A schematic diagram of electric energy transmission of an underwater wireless power transmission method provided in an embodiment of the present invention;

[0038] Figure 3 Another schematic flow chart of an underwater wireless power transmission method provided in an embodiment of the present invention;

[0039] Figure 4 A circuit model diagram of an expandable modular multi-relay underwater wireless power transmission system provided in an embodiment of the present invention;

[0040] Figure 5 This is a schematic diagram of the structure of a relay module of an expandable modular multi-relay underwater wireless power transmission system provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0041] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0042] For easier understanding, see Figure 1 and Figure 2 , the present invention provides an embodiment of an underwater wireless power transmission method, the method is applied to an expandable modular multi-relay underwater wireless power transmission system, the expandable modular multi-relay underwater wireless power transmission system includes a control terminal, a transmitting end, a relay module and a receiving end;

[0043] There are at least two transmitting ends, and they are arranged in pairs facing each other;

[0044] Each transmitter is equipped with a relay module;

[0045] The receiving end is arranged on the underwater vehicle, and there is at least one receiving end;

[0046] The control terminal is connected to the transmitting end;

[0047] The underwater wireless power transmission method provided in the embodiment of the present invention includes the following steps:

[0048] S1. The control terminal detects that the underwater vehicle carrying the receiving terminal has docked in the target area;

[0049] S2. The control terminal detects, through the transmitting end, whether the underwater vehicle has a receiving end with normal energy transmission conditions and the equivalent load size of the receiving end. If the underwater vehicle does not have a receiving end with normal energy transmission conditions, step S3 is executed. If the underwater vehicle has a receiving end with normal energy transmission conditions, step S4 is executed.

[0050] S3, communicating with the underwater vehicle so that the underwater vehicle readjusts its posture, and returning to step S2;

[0051] S4. Determine the number of receiving ends of the underwater vehicle that meet normal energy transmission conditions. If the number of receiving ends of the underwater vehicle that meet normal energy transmission conditions is an even number and not 0, execute step S5. If the number of receiving ends of the underwater vehicle that meet normal energy transmission conditions is an odd number, execute step S6.

[0052] S5. Controlling the paired transmitting ends corresponding to the receiving ends of the underwater vehicle that have normal energy transmission conditions to simultaneously transmit power to the receiving ends according to the equivalent load size of the receiving ends;

[0053] S6. Isolate the transmitting end corresponding to the receiving end that does not have normal energy transmission conditions, and control the transmitting end corresponding to the receiving end of the underwater vehicle that has normal energy transmission conditions to transmit electric energy to the receiving end according to the equivalent load size of the receiving end that has normal energy transmission conditions.

[0054] It should be noted that in an embodiment of the present invention, the scalable modular multi-relay underwater wireless power transmission system includes a control terminal, a transmitter, a relay module and a receiver. The transmitter is used to capture energy in the submarine cable for electrical energy conversion and generate a high-frequency magnetic field. There are at least two transmitters, and they are arranged in pairs facing each other. Each transmitter is configured with a relay module. The relay module is used to increase the energy transmission distance and transmit the high-frequency magnetic field energy of the transmitter to the receiver. The receiver is set on the underwater vehicle, and there is at least one receiver. The receiver is used to receive energy from the transmitter, convert the energy into DC power and store it in a battery load. The control terminal is connected to the transmitter. The control terminal is used to control the input and output of the transmitter.

[0055] When the underwater vehicle needs to charge, it navigates to a target area, which is the area receiving power from the transmitter. Upon arrival, the underwater vehicle communicates with the control terminal. At this point, the control terminal detects that the underwater vehicle, carrying the receiver, has docked in the target area. The transmitter detects whether the underwater vehicle has a receiver capable of transmitting power and the size of the receiver's equivalent load. Specifically, a brief test low voltage is generated at the transmitter. If the primary current of the transmitter is abnormal, the underwater vehicle's receiver is deemed to be unable to transmit power. If the primary current of the transmitter is normal, the receiver is deemed to be able to transmit power. The equivalent load of the receiver is then determined based on the effective value of the test low voltage and the primary current of the transmitter. If no receiver capable of transmitting power is present, the underwater vehicle is abnormally docked and communication with the underwater vehicle is required to notify the underwater vehicle to readjust its position until a receiver capable of transmitting power is detected. When it is detected that an underwater vehicle has a receiving terminal with normal energy transmission conditions, the number of receiving terminals of the underwater vehicle with normal energy transmission conditions is determined. If the number of receiving terminals of the underwater vehicle with normal energy transmission conditions is even and non-zero, then based on the equivalent load size of the receiving terminal, the paired transmitting terminals corresponding to the receiving terminals of the underwater vehicle with normal energy transmission conditions are controlled to simultaneously transmit power to the receiving terminals. When the number of receiving terminals of the underwater vehicle with normal energy transmission conditions is odd, the transmitting terminals corresponding to the receiving terminals that do not have normal energy transmission conditions are first isolated, and based on the equivalent load size of the receiving terminals with normal energy transmission conditions, the transmitting terminals corresponding to the receiving terminals of the underwater vehicle with normal energy transmission conditions are controlled to transmit power to the receiving terminals.

[0056] The underwater wireless power transmission method provided by the present invention has the following advantages: when an underwater vehicle needs to be charged, it is moored in a target area, and a control terminal uses a transmitting end to detect whether the energy transmission conditions of the underwater vehicle receiving end are good and the size of the equivalent load; when there is no receiving end that meets the energy transmission conditions, the underwater vehicle is controlled to readjust its posture until the presence of a receiving end that meets the energy transmission conditions is detected; when there is a receiving end that meets the normal energy transmission conditions, a corresponding number of transmitting ends are controlled according to the number of receiving ends that meet the normal energy transmission conditions to perform power transmission, and the transmitting ends corresponding to the receiving ends that do not meet the normal energy transmission conditions are isolated, thereby avoiding the problems of lifespan and safety hazards caused by plug-in charging. In addition, the use of wireless power transmission solves the problems of inconvenience and low efficiency of existing autonomous underwater vehicle charging methods, which restrict the dynamic observation range and seabed detection efficiency, as well as the technical problems of plug-in charging affecting the equipment lifespan and posing safety hazards.

[0057] In one embodiment, Figure 2As shown, there are four transmitters, arranged in pairs facing each other in the front, back, left, and right directions. There are four receivers, each corresponding to one of the four transmitters. Magnetic resonance energy transfer has a certain degree of offset tolerance, and energy transfer does not require the receiver and transmitter to be perfectly aligned. Compared to the two-coil magnetic coupling energy transfer structure, it has the advantage of anti-offset in principle. Furthermore, the use of four transmitters arranged in pairs facing each other in the front, back, left, and right directions can cover the full rotation angle of the underwater vehicle, thus achieving anti-offset wireless energy transmission in all directions for open-ended mooring of the underwater vehicle.

[0058] In one embodiment, Figure 3 As shown, after step S5 and step S6, the following steps are further included:

[0059] Step S7: Determine whether the underwater vehicle's battery is fully charged. If so, control all transmitters to stop power transmission. While the underwater vehicle's receiving end is transmitting power, the underwater vehicle needs to monitor its battery status in real time. Once charging is complete, the control terminal sends a full-charge notification to the control terminal, which in turn controls all transmitters to stop power transmission. The underwater vehicle then completes a full charging cycle and departs the target area.

[0060] For easier understanding, see Figure 4 In the expandable modular multi-relay underwater wireless power transmission system provided in the present invention, the transmitting end includes a high-voltage energy-taking end, a DC-AC high-frequency inverter circuit and a transmitting coil. The high-voltage energy-taking end includes an induction coil and an AC-DC rectifier. The induction coil is used to capture energy in the submarine cable, and the AC-DC rectifier is used to convert the energy captured by the induction coil into electrical energy to obtain direct current. The DC-AC high-frequency inverter circuit is connected to the output end of the AC-DC rectifier, and the DC-AC high-frequency inverter circuit is used to convert direct current into high-frequency alternating current to excite the transmitting coil to resonate and generate a high-frequency magnetic field. The relay module also plays a role in increasing the energy transmission distance, providing mechanical strength and support that is pressure-resistant and corrosion-resistant, providing a limit for the mooring of underwater vehicles, ensuring the alignment of the center of the relay coil and improving the anti-offset characteristics of the wireless energy transmission system. When the size of the underwater vehicle is different, the multiple relay modules can be increased or decreased to ensure that they always operate at a reasonable energy transmission distance. The multiple relay modules can also play a role in limiting and assisting positioning, further reducing the need for precise positioning of the underwater vehicle during mooring. Figure 5As shown, the relay module comprises a central core rod 4, a silicone rubber sealing layer 2, and an embedded coil 3. The central core rod 1 is provided with internal and external threads 11 and 12, respectively, for expansion connections. The silicone rubber sealing layer 2 is sleeved over the central core rod 1 and comprises a main shed 21 and an auxiliary shed 22. The embedded coil 3 is positioned within the main shed 21. The main shed 21 transmits energy, while the auxiliary shed 22 provides protection and support. The coil winding design of the embedded coil 3 enables self-resonance without the need for external capacitors, reducing sealing complexity and improving coil parameter consistency. The central core rod 1 is made of epoxy resin, and the silicone rubber sealing layer 2 is integrally molded to meet the sealing, high-pressure, and corrosion resistance requirements of underwater applications. This eliminates interference and shielding issues with the magnetically coupled wireless charging system caused by the presence of ferromagnetic materials within the energy transmission range. The embedded coil, the core of the relay component's wireless energy transmission function, is constructed of Litz wire and has a planar double-helix structure arranged side by side.

[0061] The scalable modular multi-relay underwater wireless power transmission system and underwater wireless power transmission method provided in the present invention have the ability to both increase the power transmission distance and enhance adaptability to complex underwater environments.

[0062] As described above, the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that the technical solutions described in the above embodiments can still be modified, or some of the technical features thereof can be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for underwater wireless power transmission, characterized in that: Applied to an extensible modular multi-relay underwater wireless power transmission system, which includes a control terminal, a transmitter, a relay module, and a receiver; There are at least two transmitting ends, and they are arranged in pairs facing each other; Each transmitter is equipped with a relay module; The receiving end is arranged on the underwater vehicle, and there is at least one receiving end; The control terminal is connected to the transmitting end; The underwater wireless power transmission method comprises the following steps: S1. The control terminal detects that the underwater vehicle carrying the receiving terminal has docked in the target area; S2. The control terminal detects, through the transmitting end, whether the underwater vehicle has a receiving end with normal energy transmission conditions and the equivalent load size of the receiving end. If the underwater vehicle does not have a receiving end with normal energy transmission conditions, step S3 is executed. If the underwater vehicle has a receiving end with normal energy transmission conditions, step S4 is executed. S3, communicating with the underwater vehicle so that the underwater vehicle readjusts its posture, and returning to step S2; S4. Determine the number of receiving ends of the underwater vehicle that meet normal energy transmission conditions. If the number of receiving ends of the underwater vehicle that meet normal energy transmission conditions is an even number and not 0, execute step S5. If the number of receiving ends of the underwater vehicle that meet normal energy transmission conditions is an odd number, execute step S6. S5. Controlling the paired transmitting ends corresponding to the receiving ends of the underwater vehicle that have normal energy transmission conditions to simultaneously transmit power to the receiving ends according to the equivalent load size of the receiving ends; S6. Isolate the transmitting end corresponding to the receiving end that does not have normal energy transmission conditions, and control the transmitting end corresponding to the receiving end of the underwater vehicle that has normal energy transmission conditions to transmit electric energy to the receiving end according to the equivalent load size of the receiving end that has normal energy transmission conditions.

2. The underwater wireless power transmission method according to claim 1, characterized in that: After step S5, the following steps are also included: Determine whether the information that the underwater vehicle battery is fully charged is received, and if so, control all transmitting ends to stop power transmission.

3. The underwater wireless power transmission method according to claim 1, characterized in that: After step S6, the following steps are also included: Determine whether the information that the underwater vehicle battery is fully charged is received, and if so, control all transmitting ends to stop power transmission.

4. The underwater wireless power transmission method according to claim 1, characterized in that: There are four transmitters, and they are placed in pairs facing each other in the front, back, left and right directions. There are four receiving ends, which correspond one to one with the four transmitting ends.

5. The underwater wireless power transmission method according to claim 1, characterized in that: The transmitting end includes a high-voltage energy-taking end, a DC-AC high-frequency inverter circuit, and a transmitting coil; The high-voltage energy extraction end includes an induction coil and an AC-DC rectifier. The induction coil is used to capture energy in the submarine cable, and the AC-DC rectifier is used to convert the energy captured by the induction coil into electrical energy to obtain direct current. The DC-AC high-frequency inverter circuit is connected to the output end of the AC-DC rectifier. The DC-AC high-frequency inverter circuit is used to convert direct current into high-frequency alternating current to excite the transmitting coil to resonate and generate a high-frequency magnetic field.

6. The underwater wireless power transmission method according to claim 5, characterized in that: The relay module includes a central core rod, a silicone rubber sealing layer and an embedded coil; Both ends of the central core rod are respectively provided with an internal thread and an external thread for extended connection; The silicone rubber sealing layer is sleeved on the outer side of the central core rod, and the silicone rubber sealing layer includes a main shed and an auxiliary shed; The embedded coil is arranged in the main shed.

7. The underwater wireless power transmission method according to claim 6, characterized in that: The central core rod is made of epoxy resin.

8. The underwater wireless power transmission method according to claim 6, characterized in that: The silicone rubber sealing layer is integrally molded.

9. The underwater wireless power transmission method according to claim 6, characterized in that: The embedded coils are a planar double helix structure arranged side by side.

10. The underwater wireless power transmission method according to claim 6, characterized in that: The embedded coil uses Litz wire.

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