Underwater equipment wireless charging coupler, charging system and maximum efficiency control method

Abstract

The present invention provides a wireless charging coupler, a charging system and a maximum efficiency control method for underwater equipment. Without increasing the complexity and weight of the secondary magnetic coupling module, the present invention can to a certain extent solve the problem that the wireless charging system fails due to insufficient docking accuracy in the rolling and axial jumping directions, which makes the coupler unable to be centered, and has the advantage of a wide working area. At the same time, combined with the proposed maximum efficiency control method based on dichotomy, the primary coil with the best coupling effect with the secondary coil can be quickly determined, so that only the primary coil at the corresponding position is connected, avoiding the remaining coils from generating additional eddy current losses in the seawater, improving the overall efficiency of the wireless charging system, and realizing efficient energy replenishment of the vehicle under inaccurate centering.

Description

Technical Field

[0001] The present invention belongs to the technical field of underwater charging, and in particular relates to a wireless charging coupler for underwater equipment, a charging system and a maximum efficiency control method. Background Art

[0002] As an important maritime force, autonomous underwater vehicles are important tools for marine geological and geomorphological exploration, marine environmental observation, marine resource exploration, etc. However, due to the size and load capacity of autonomous underwater vehicles, the battery capacity is limited, and the endurance problem has always restricted the further development of autonomous underwater vehicles. Wireless charging technology is widely used in the charging system of underwater docking stations because of its convenience and certain transmission efficiency.

[0003] Due to the influence of water flow, the docking of the underwater vehicle and the underwater charging device cannot be achieved completely according to the ideal design; therefore, the magnetic coupler cannot be completely aligned. Since the induction link generated by the magnetic coupler affects the charging power and charging efficiency of wireless charging, how to design the magnetic coupler to ensure the power and efficiency of wireless charging when the docking of the underwater vehicle is not very precise is a problem that needs to be solved.

[0004] The magnetic couplers provided in Chinese patent application CN117275913A, Chinese patent CN109192473B and CN210608704U reduce the impact of misalignment of magnetic couplers on wireless charging systems in some aspects. However, the former requires a heavier coupler structure to be added to the aircraft end, reducing the aircraft's carrying capacity; the latter two have complex magnetic coupler structures at the aircraft end and can only reduce the impact of aircraft rolling on misalignment of magnetic couplers.

[0005] In view of this, the research team of the present invention believes that it is necessary to further optimize the coupler structure. Summary of the invention

[0006] The purpose of the present invention is to solve the problem that the existing underwater vehicle wireless charging system requires a heavier or more complex coupler to be carried on the vehicle end, which affects the carrying capacity of the underwater vehicle, and the problem that the wireless charging power and efficiency are affected when the underwater vehicle docking is not very accurate. To this end, a wireless charging coupler for underwater equipment, a charging system and a maximum efficiency control method are provided, aiming to reduce the requirements for the docking accuracy of the underwater vehicle in the rolling and axial leaping directions without increasing the complexity of the magnetic coupler on the underwater vehicle end, thereby realizing efficient energy replenishment when the underwater vehicle is not accurately aligned.

[0007] To achieve the above purpose, the technical solution provided by the present invention is:

[0008] The underwater equipment wireless charging magnetic coupler is special in that it includes a secondary side magnetic coupling module adapted to be installed on the underwater equipment and a primary side magnetic coupling module adapted to be installed on the underwater charging device;

[0009] The secondary side magnetic coupling module comprises a first metal shielding body, a first magnetic conductive layer and a first coil; the first metal shielding body is an arc surface structure, the first coil is mounted on the convex surface of the first metal shielding body through the first magnetic conductive layer, and the first coil is an independent coupling coil, also called a secondary side coil;

[0010] The primary side magnetic coupling module includes a second metal shielding body, a second magnetic conductive layer and a second coil; the second metal shielding body is an arc surface structure, the second coil is installed on the concave surface of the second metal shielding body through the second magnetic conductive layer, and the second coil is an M×N coil array composed of M×N coupling coils, wherein M and N are not less than 3, also called a primary side coil array;

[0011] The coupling coil has the same size as the first coil; here, it mainly refers to the same area. Therefore, the underwater equipment (such as underwater vehicles) only needs to sail into the area of ​​the primary side coil array to achieve wireless energy replenishment, which reflects the wide working area of ​​the wireless charging coupler in the present invention. Since the primary side coil array expands the magnetic field range of the coupler in both the axial and radial directions, this structure can reduce the requirements for the centering of the magnetic coupler in multiple directions of rolling and axial movement while ensuring that the secondary side magnetic coupling module of the underwater equipment end is simple and light, so as to achieve energy replenishment when the docking is not accurate.

[0012] When the secondary-side magnetic coupling module is connected to the primary-side magnetic coupling module, the first metal shielding body and the second metal shielding body are concentrically arranged, and the first coil can be adapted to be connected to any position of the second coil.

[0013] Furthermore, the first magnetic conductive layer includes a plurality of magnetic conductive cores, and the plurality of magnetic conductive cores are evenly spaced and laid on the first metal shielding body from one end to the other end of the first metal shielding body;

[0014] The second magnetic conductive layer includes a plurality of magnetic conductive cores, and the plurality of magnetic conductive cores are laid on the second metal shielding body in the form of an array.

[0015] Furthermore, a mounting groove is provided in the middle of the convex surface of the first metal shielding body, and a plurality of mounting holes are provided at the edge; the first magnetic conductive layer is laid in the mounting groove;

[0016] A metal shielding frame is disposed on the concave surface of the second metal shielding body, and a plurality of mounting holes are disposed on the edge thereof; the second magnetic conductive layer is laid in the inner area enclosed by the metal shielding frame.

[0017] Furthermore, the first coil is a curved disc coil designed to conform to the convex surface of the first metal shielding body;

[0018] Each coupling coil in the second coil is a curved disc coil designed to conform to the concave surface of the second metal shielding body.

[0019] Furthermore, the magnetic conductive material of the magnetic conductive layer can be ferrite.

[0020] The present invention also provides a wireless charging system for underwater equipment, which is special in that it includes a transmitting unit, a receiving unit, and the wireless charging coupler for underwater equipment;

[0021] The transmitting unit includes a transmitting end energy storage component, a transmitting end controller, a transmitting end inverter, a transmitting end relay component and a transmitting end compensation component; wherein the transmitting end relay component is a controllable relay array including M×N relays; the transmitting end compensation component includes M×N compensation networks;

[0022] The transmitting end energy storage component is electrically connected to each relay through the transmitting end inverter, and the M×N relays are electrically connected to the M×N coupling coils in the second coil through the M×N compensation networks to form M×N coil loops; wherein one relay corresponds to one compensation network and one coupling coil;

[0023] The transmitter controller is electrically connected to the transmitter inverter and the transmitter relay assembly to control the on and off of each coil loop;

[0024] The receiving unit includes a receiving end energy storage component, a receiving end rectifier and a receiving end compensation network;

[0025] The receiving end energy storage component is electrically connected to the first coil via a receiving end rectifier and a receiving end compensation network in sequence.

[0026] However, when the wireless charging system is used in a marine environment, the conductivity of seawater is much greater than that of air. The high-frequency alternating current in the coil will generate an alternating electromagnetic field in the seawater, thereby generating eddy current losses. In order to avoid energy loss caused by turning on all coupling coils at the same time, the present invention also proposes a primary-side maximum efficiency control method based on dichotomy, which can also be called a maximum efficiency tracking method. The M×N coil array is energized in sequence according to the method until the maximum efficiency transmission point of the wireless charging system is found, that is, the maximum efficiency control method of the underwater equipment wireless charging system mentioned above. The special feature of the method is that it includes the following steps:

[0027] Step 1: After the primary-side magnetic coupling module is docked with the secondary-side magnetic coupling module, the diagonal line of the second coil array is used as the first binary dividing line to divide the M×N coil array into an area on the first binary dividing line and an area MN / 2-Top and an area MN / 2-Bot on both sides of the first binary dividing line;

[0028] Step 2: Control each relay in the transmitter relay assembly through the transmitter controller, connect the coupling coil located in the area MN / 2-Top and on the first two-division dividing line, disconnect the coupling coil located in the area MN / 2-Bot, and record the transmitter input power Pin-MN / 2-Top at this time;

[0029] The transmitter controller controls each relay in the transmitter relay assembly, connects the coupling coil located in the area MN / 2-Bot and on the first two-division dividing line, disconnects the coupling coil located in the area MN / 2-Top, and records the transmitter input power Pin-MN / 2-Bot at this time;

[0030] Compare Pin-MN / 2-Top and Pin-MN / 2-Bot:

[0031] If Pin-MN / 2-Top=Pin-MN / 2-Bot, it means that in this docking, the first coil as the secondary side coil falls within the area on the first two-division dividing line;

[0032] If Pin-MN / 2-Top<Pin-MN / 2-Bot, it means that in this docking, the first coil as the secondary side coil falls within the area MN / 2-Top;

[0033] If Pin-MN / 2-Top>Pin-MN / 2-Bot, it means that in this docking, the first coil as the secondary side coil falls within the area MN / 2- Bot;

[0034] Step 3: The coil area determined in step 2 is further divided by the second two-division dividing line into the area on the second two-division dividing line and the area MN / 4-Top and the area MN / 4-Bot on both sides of the second two-division dividing line;

[0035] The transmitter controller controls each relay in the transmitter relay assembly, connects the coupling coil located in the area MN / 4-Top and on the second two-division dividing line, disconnects the coupling coil located in the area MN / 4-Bot, and records the transmitter input power Pin-MN / 4-Top at this time;

[0036] The transmitter controller controls each relay in the transmitter relay assembly, connects the coupling coil located in the area MN / 4-Bot and on the second two-division dividing line, disconnects the coupling coil located in the area MN / 4-Top, and records the transmitter input power Pin-MN / 4-Bot at this time;

[0037] Compare Pin-MN / 4-Top and Pin-MN / 4-Bot:

[0038] If Pin-MN / 4-Top=Pin-MN / 4-Bot, it means that in this docking, the first coil as the secondary side coil falls within the area on the second two-division dividing line;

[0039] If Pin-MN / 4-Top<Pin-MN / 4-Bot, it means that in this docking, the first coil as the secondary side coil falls within the area MN / 4-Top;

[0040] If Pin-MN / 4-Top>Pin-MN / 4-Bot, it means that in this docking, the first coil as the secondary side coil falls within the area MN / 4- Bot;

[0041] And so on, continue to divide by two until M×N / n<2, where n=2 k , k is the number of binary divisions;

[0042] Step 4: Only the coupling coils in the area determined after the k-1th binary division in the M×N coil array are connected to achieve maximum efficiency control of the underwater equipment wireless charging system.

[0043] Through the above method, after the primary side magnetic coupling module and the secondary side magnetic coupling module are docked, according to the docking situation, the scheme for controlling the on-off of the transmission coil with the maximum efficiency can be screened out, and the coupling coil with poor coupling effect can be turned off and the coupling coil with good coupling effect (i.e., the coupling coil corresponding to Pin-min) can be turned on to achieve high-efficiency energy replenishment. In this process, not only the influence of misalignment is weakened, but also the additional eddy current loss caused by the opening of the remaining coupling coils can be avoided.

[0044] In short, assuming that the secondary side coil has an area of ​​1, the primary side coil array is composed of M×N coils of the same size as the secondary side coil, that is, the area is M×N; the secondary side coil with an area of ​​1 can work in any area within the primary side coil array with an area of ​​M×N, thereby achieving the characteristics of wide area operation and reducing the requirements for coupling accuracy (i.e., docking accuracy); and in order to avoid the loss caused by the opening of the primary side coil array with an area of ​​M×N, the present invention also provides a corresponding maximum efficiency tracking screening process, that is, finding one or several primary side coils with the best coupling effect with a secondary side coil, and only opening this group of coils and closing the remaining coils to avoid additional eddy current losses.

[0045] Working principle of the present invention:

[0046] After the underwater vehicle is docked, as long as the secondary magnetic coupling module falls into the area where the primary magnetic coupling module is located, the wireless charging system can be powered on and prepared for the energy supply of the underwater vehicle. In the coil array that constitutes the primary magnetic coupling module, the closer the distance to the coil of the secondary magnetic coupling module, the greater the contribution to energy transmission. If all coils are turned on, a large eddy current loss will be generated in the surrounding seawater environment, thereby reducing the efficiency of the wireless charging system. Considering that after the wireless charging system works stably, the receiving power of the receiving end remains basically unchanged in a short time; at this time, if the transmitting end only turns on the coil with the best coupling effect with the secondary magnetic coupling module, a minimum input power can be found when the output power is constant (here, the output power is the power supplied by the secondary magnetic coupling module to the underwater vehicle; the input power is the power supplied by the underwater charging device to the primary magnetic coupling module), and the maximum efficiency transmission of the wireless charging system can be achieved.

[0047] Therefore, based on the magnetic coupler structure, the present invention also proposes a primary side maximum efficiency control method based on the dichotomy method, which adopts the idea of ​​gradually dividing the primary side coil array into two parts, so as to quickly find the primary side coil with the best coupling effect with the secondary side coil, realize the rapid maximum efficiency tracking of the wireless charging system, and ensure the stable and efficient energy transmission of the wireless charging system.

[0048] The principle of the primary side maximum efficiency tracking method based on dichotomy is as follows Figure 3As shown: In general, the constant output voltage Vout required by the secondary side load remains unchanged, and the resistance R also remains unchanged in a short time. At this time, the output power Pout of the wireless charging system is determined by the load and will not change in a short time. Since the input power Pin of the wireless charging system is Vin×Iin, the system efficiency η=Pout / Pin, then when Pout is unchanged and Pin is minimum, η is maximum. Therefore, by switching the conduction and disconnection of the primary side coil, the minimum input power Pin can be found, that is, the primary side coil with the best coupling effect with the secondary side coil can be found to avoid the additional eddy current loss caused by the opening of the remaining coils, thereby achieving efficient transmission of the wireless charging system.

[0049] Advantages of the present invention:

[0050] 1. The structure of the wireless charging coupler of the present invention is ingenious, especially the secondary side magnetic coupling module has a simple structure and a small size. Without increasing the complexity and weight of the secondary side magnetic coupling module, it can to a certain extent solve the problem that the coupler cannot be aligned due to insufficient docking accuracy in the rolling and axial jumping directions, thereby causing the wireless charging system to fail, and has the advantage of a wide working area.

[0051] 2. The present invention, combined with the proposed maximum efficiency control method based on dichotomy, can quickly determine the primary side coil with the best coupling effect with the secondary side coil, so as to connect only the primary side coil at the corresponding position, avoiding the other coils from generating additional eddy current losses in the seawater, thereby improving the overall efficiency of the wireless charging system and achieving efficient energy replenishment of the vehicle under inaccurate centering. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 It is a structural schematic diagram of the secondary-side magnetic coupling module of the present invention;

[0053] Figure 2 This is a structural schematic diagram of the primary-side magnetic coupling module of the present invention;

[0054] Figure 3 The maximum efficiency tracking principle of the wireless charging system of the present invention;

[0055] Figure 4 It is a schematic diagram of the electrical system of the present invention;

[0056] Figure 5 A flow chart showing the implementation of the dichotomy method to achieve maximum efficiency transmission;

[0057] The reference numerals are as follows:

[0058] 1-first metal shielding body, 2-first ferrite core layer, 3-first coil, 4-installation groove, 5-second metal shielding body, 6-second ferrite core layer, 7-second coil, 8-metal shielding frame, 9-installation hole. DETAILED DESCRIPTION

[0059] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments:

[0060] In this embodiment, the underwater equipment is an underwater vehicle. Figure 4 As shown, a wireless charging system for an underwater vehicle includes a transmitting unit, a receiving unit, and an underwater vehicle wireless charging magnetic coupler.

[0061] The underwater vehicle wireless charging magnetic coupler includes a secondary side magnetic coupling module adapted to be installed on the underwater vehicle and a primary side magnetic coupling module adapted to be installed on the underwater charging device.

[0062] like Figure 1 As shown, the secondary side magnetic coupling module includes a first metal shielding body 1, a first ferrite core layer 2 and a first coil 3. Among them, the first metal shielding body 1 is an arc surface structure, and a mounting groove 4 is arranged in the middle of its convex surface, and a plurality of mounting holes 9 are arranged on the edge. The first ferrite core layer 2 includes a plurality of ferrite cores, and the plurality of ferrite cores are evenly spaced and laid in the mounting groove 4 from one end to the other end of the first metal shielding body 1. The first coil 3 is also called the secondary side coil, which is an independent coupling coil arranged on the first ferrite core layer 2, and is a curved disc coil designed to conform to the convex surface of the first metal shielding body 1.

[0063] like Figure 2 As shown, the primary side magnetic coupling module includes a second metal shielding body 5, a second ferrite core layer 6 and a second coil 7. Among them, the second metal shielding body 5 is an arc surface structure, and a metal shielding frame 8 is provided on its concave surface, and a plurality of mounting holes 9 are provided on the edge. The second ferrite core layer 6 is laid in the internal area enclosed by the metal shielding frame 8, and the second ferrite core layer 6 includes a plurality of ferrite cores, and the plurality of ferrite cores are laid in the form of an array in the internal area of ​​the metal shielding frame 8. The second coil 7 is also called the primary side coil array, which is an M×N coil array composed of M×N coupling coils arranged on the second ferrite core layer 6. In this embodiment, M and N are both 3. Each coupling coil is a curved disc coil designed to conform to the concave surface of the second metal shielding body 5.

[0064] Each coupling coil in the second coil has the same outer contour size as the first coil. When the secondary side magnetic coupling module is docked with the primary side magnetic coupling module, the first metal shielding body 1 and the second metal shielding body 5 are concentrically arranged, and the first coil 3 can be adapted to be docked with any place of the second coil 7.

[0065] The transmitting unit includes a transmitting end energy storage component, a transmitting end controller, a transmitting end inverter, a transmitting end relay component and a transmitting end compensation component; wherein the transmitting end relay component is a controllable relay array, including 9 relays; the transmitting end compensation component includes 9 compensation networks; the transmitting end energy storage component is electrically connected to each relay through the transmitting end inverter, and the 9 relays are electrically connected to the 9 coupling coils in the second coil through the 9 compensation networks to form 9 coil loops; wherein one relay corresponds to one compensation network and one coupling coil; the transmitting end controller is electrically connected to the transmitting end inverter and the transmitting end relay component to control the on and off of each coil loop.

[0066] The receiving unit comprises a receiving end energy storage component, a receiving end rectifier and a receiving end compensation network; the receiving end energy storage component is electrically connected to the first coil via the receiving end rectifier and the receiving end compensation network in sequence.

[0067] It can be seen that the underwater vehicle wireless charging magnetic coupler proposed by the present invention has the following characteristics:

[0068] 1. The secondary side magnetic coupling module installed on the underwater vehicle only includes one coil, and the structure is simple and light. In order to improve the coupling coefficient, the installation position of the magnetic conductive material (such as Mn-Zn ferrite core, etc.) can be designed;

[0069] 2. The primary side magnetic coupling module installed on the underwater charging device is a 3×3 coil array composed of coils of the same size as the secondary side magnetic coupling module. In order to improve the coupling coefficient, the installation position of the magnetic conductive material (such as Mn-Zn ferrite core, etc.) can be designed;

[0070] 3. The receiving unit only needs to set up a compensation network and connect it to the coil in the secondary side magnetic coupling module;

[0071] 4. Each coil loop in the primary side magnetic coupling module coil array is equipped with a relay, and the on and off of each coil loop can be independently controlled by the transmitter controller;

[0072] 5. Each coil in the primary side magnetic coupling module coil array is connected to its compensation network, and the front stage of the compensation network is directly connected to the inverter through a relay.

[0073] In view of the coupler structure designed in the aforementioned wireless charging system, the present invention also proposes a maximum efficiency tracking method based on dichotomy. The dividing line and implementation process of the proposed dichotomy are as follows: Figure 5 As shown, taking the 3×3 primary side coil array as an example:

[0074] Step 1: After the primary side magnetic coupling module is connected with the secondary side magnetic coupling module;

[0075] Definition: The lower left corner coil of the second coil is labeled (1, 1), and the upper right corner coil is labeled (3, 3). The diagonal line of the second coil array [(1, 1), (3, 3)] is used as the first binary dividing line to divide the 3×3 coil array of the second coil. The 3×3 coil array is divided into an area on the first binary dividing line and areas 33 / 2-Top and 33 / 2-Bot on both sides of the first binary dividing line (these two areas represent the upper and lower parts of the second coil);

[0076] Step 2: Control each relay in the transmitter relay assembly through the transmitter controller, connect the coupling coil located in the area 33 / 2-Top and on the first two-division dividing line, disconnect the coupling coil located in the area 33 / 2-Bot, and record the transmitter input power Pin-33 / 2-Top at this time;

[0077] The transmitter controller controls each relay in the transmitter relay assembly, connects the coupling coil located in the area 33 / 2-Bot and on the first two-division dividing line, disconnects the coupling coil located in the area 33 / 2-Top, and records the transmitter input power Pin-33 / 2-Bot at this time;

[0078] Compare Pin-33 / 2-Top and Pin-33 / 2-Bot:

[0079] If Pin-33 / 2-Top = Pin-33 / 2-Bot, it means that the first coil used as the secondary coil for this connection falls within the straight line area formed by coil (1, 1), coil (2, 2) and coil (3, 3) on the first two-division dividing line, so the subsequent steps only control the on-off of the coil in this area;

[0080] If Pin-33 / 2-Top<Pin-33 / 2-Bot, it means that the first coil used as the secondary side coil for this connection falls on the upper part of the first two-division dividing line, that is, within the triangular area formed by coil (1, 2), coil (1, 3) and coil (2, 3), so the subsequent steps only perform on-off control on the coils in this area;

[0081] If Pin-33 / 2-Top>Pin-33 / 2-Bot, it means that the first coil used as the secondary coil for this connection falls in the lower part of the first two-division dividing line, that is, in the triangular area formed by coil (2, 1), coil (3, 1) and coil (3, 2), so the subsequent steps only control the on-off of the coils in this area;

[0082] Step 3: If Pin-33 / 2-Top≠Pin-33 / 2-Bot, then according to the triangular coil area determined in step 2, continue to split the area by the second dividing line of the triangle, and divide the area into Pin-33 / 4-Top and Pin-33 / 4-Bot (at this time, 3×3 / 4=2.25>2, the second division can be performed, while 3×3 / 8=1.125<2, indicating that the third division cannot be performed), and operate and judge according to the on-off method recorded in step 2; for this kind of situation, it is divided into the following two cases:

[0083] ①. Pin-33 / 2-Top<Pin-33 / 2-Bot. In this case, it is only necessary to divide the triangular area formed by coil (1, 2), coil (1, 3) and coil (2, 3) into two parts, and obtain the input power of the transmitter by turning on and off the corresponding relays for judgment, where:

[0084] When Pin-33 / 4-Top = Pin-33 / 4-Bot, coil (1, 3) has the best coupling effect;

[0085] When Pin-33 / 4-Top<Pin-33 / 4-Bot, coil (2, 3) has the best coupling effect;

[0086] When Pin-33 / 4-Top>Pin-33 / 4-Bot, coil (1, 2) has the best coupling effect;

[0087] ②. Pin-33 / 2-Top>Pin-33 / 2-Bot. In this case, it is only necessary to divide the triangular area formed by coil (2, 1), coil (3, 1) and coil (3, 2) into two parts, and obtain the input power of the transmitter by turning on and off the corresponding relays, where:

[0088] When Pin-33 / 4-Top=Pin-33 / 4-Bot, coil (3, 1) has the best coupling effect;

[0089] When Pin-33 / 4-Top<Pin-33 / 4-Bot, coil (3, 2) has the best coupling effect;

[0090] When Pin-33 / 4-Top>Pin-33 / 4-Bot, coil (2, 1) has the best coupling effect;

[0091] If Pin-MN / 2-Top=Pin-MN / 2-Bot, then according to the straight line area determined in step 2, continue to split the area at the middle dividing point of the straight line, and divide the area into Pin-33 / 4-Top and Pin-33 / 4-Bot (again, only the second division can be performed, not the third division), and make judgments according to the on-off method recorded in step 2; in this case, it is only necessary to divide the straight line area composed of coil (1, 1), coil (2, 2) and coil (3, 3) into two, and obtain the input power of the transmitter by turning on and off the corresponding relays for judgment, where:

[0092] When Pin-33 / 4-Top=Pin-33 / 4-Bot, coil (2, 2) has the best coupling effect;

[0093] When Pin-33 / 4-Top<Pin-33 / 4-Bot, coil (3, 3) has the best coupling effect;

[0094] When Pin-33 / 4-Top>Pin-33 / 4-Bot, coil (1, 1) has the best coupling effect.

[0095] By comparing using the above method, we can find the minimum system input power Pin-min and the corresponding conductive coil. It can be seen that by turning off the coil with poor coupling effect and connecting the coil with good coupling effect, additional eddy current loss can be avoided and efficient energy replenishment can be achieved.

[0096] The relay connected to the coil in the primary side magnetic coupler module is turned on and off in sequence according to the binary method under the control of the transmitter controller. The control system records the transmitter input power Pin corresponding to the relay state of the 3×3 coil array; since the output power Pout is basically unchanged, the controller obtains the relay state corresponding to the lowest transmitter input power Pin-min by comparing the power, and energy replenishment in this state can achieve the highest efficiency transmission. This method can quickly determine the range of the secondary side coupler, so that only the primary side coil at the corresponding position is connected, avoiding the other coils from generating additional eddy current losses in seawater, and improving the overall efficiency of the wireless charging system.

[0097] The above description is only a specific implementation mode of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and these modifications or substitutions should be included in the protection scope of the present invention.

Claims

1. A maximum efficiency control method for an underwater equipment wireless charging system, characterized in that: The underwater equipment wireless charging system comprises a transmitting unit, a receiving unit, and an underwater equipment wireless charging coupler; The underwater equipment wireless charging coupler comprises a secondary side magnetic coupling module adapted to be installed on the underwater equipment and a primary side magnetic coupling module adapted to be installed on the underwater charging device; The secondary-side magnetic coupling module comprises a first metal shielding body, a first magnetic conductive layer and a first coil; the first metal shielding body is an arc surface structure, the first coil is mounted on the convex surface of the first metal shielding body through the first magnetic conductive layer, and the first coil is an independent coupling coil; The primary-side magnetic coupling module includes a second metal shielding body, a second magnetic conductive layer, and a second coil; the second metal shielding body is an arc surface structure, the second coil is installed on the concave surface of the second metal shielding body through the second magnetic conductive layer, and the second coil is an M×N coil array composed of M×N coupling coils, wherein M and N are not less than 3; Wherein, the coupling coil has the same size as the first coil; When the secondary-side magnetic coupling module is connected to the primary-side magnetic coupling module, the first metal shielding body is concentrically arranged with the second metal shielding body, and the first coil can be connected to any position of the second coil; The transmitting unit includes a transmitting end energy storage component, a transmitting end controller, a transmitting end inverter, a transmitting end relay component and a transmitting end compensation component; wherein the transmitting end relay component is a controllable relay array including M×N relays; the transmitting end compensation component includes M×N compensation networks; The transmitting end energy storage component is electrically connected to each relay through the transmitting end inverter, and the M×N relays are electrically connected to the M×N coupling coils in the second coil through the M×N compensation networks to form M×N coil loops; wherein one relay corresponds to one compensation network and one coupling coil; The transmitter controller is electrically connected to the transmitter inverter and the transmitter relay assembly to control the on and off of each coil loop; The receiving unit includes a receiving end energy storage component, a receiving end rectifier and a receiving end compensation network; The receiving end energy storage component is electrically connected to the first coil via the receiving end rectifier and the receiving end compensation network in sequence; The maximum efficiency control method specifically includes the following steps: Step 1: After the primary-side magnetic coupling module is docked with the secondary-side magnetic coupling module, the array diagonal of the second coil is used as the first binary dividing line to divide the M×N coil array, and the M×N coil array is divided into an area on the first binary dividing line and an area MN / 2-Top and an area MN / 2-Bot on both sides of the first binary dividing line; Step 2: Control each relay in the transmitter relay assembly through the transmitter controller, connect the coupling coil located in the area MN / 2-Top and on the first two-division dividing line, disconnect the coupling coil located in the area MN / 2-Bot, and record the transmitter input power Pin-MN / 2-Top at this time; The transmitter controller controls each relay in the transmitter relay assembly, connects the coupling coil located in the area MN / 2-Bot and on the first two-division dividing line, disconnects the coupling coil located in the area MN / 2-Top, and records the transmitter input power Pin-MN / 2-Bot at this time; Compare Pin-MN / 2-Top and Pin-MN / 2-Bot: If Pin-MN / 2-Top=Pin-MN / 2-Bot, it means that in this docking, the first coil as the secondary side coil falls within the area on the first two-division dividing line; If Pin-MN / 2-Top<Pin-MN / 2-Bot, it means that in this docking, the first coil as the secondary side coil falls within the area MN / 2-Top; If Pin-MN / 2-Top>Pin-MN / 2-Bot, it means that in this docking, the first coil as the secondary side coil falls within the area MN / 2- Bot; Step 3: The coil area determined in step 2 is further divided by the second two-division dividing line into the area on the second two-division dividing line and the area MN / 4-Top and the area MN / 4-Bot on both sides of the second two-division dividing line; The transmitter controller controls each relay in the transmitter relay assembly, connects the coupling coil located in the area MN / 4-Top and on the second two-division dividing line, disconnects the coupling coil located in the area MN / 4-Bot, and records the transmitter input power Pin-MN / 4-Top at this time; The transmitter controller controls each relay in the transmitter relay assembly, connects the coupling coil located in the area MN / 4-Bot and on the second two-division dividing line, disconnects the coupling coil located in the area MN / 4-Top, and records the transmitter input power Pin-MN / 4-Bot at this time; Compare Pin-MN / 4-Top and Pin-MN / 4-Bot: If Pin-MN / 4-Top=Pin-MN / 4-Bot, it means that in this docking, the first coil as the secondary side coil falls within the area on the second two-division dividing line; If Pin-MN / 4-Top<Pin-MN / 4-Bot, it means that in this docking, the first coil as the secondary side coil falls within the area MN / 4-Top; If Pin-MN / 4-Top>Pin-MN / 4-Bot, it means that in this docking, the first coil as the secondary side coil falls within the area MN / 4- Bot; And so on, continue to divide by two until M×N / n<2, where n=2 k , k is the number of binary divisions; Step 4: Only the coupling coils in the area determined after the k-1th binary division in the M×N coil array are connected to achieve maximum efficiency control of the underwater equipment wireless charging system.

2. The maximum efficiency control method of the underwater equipment wireless charging system according to claim 1, characterized in that: The first magnetic conductive layer includes a plurality of magnetic conductive cores, and the plurality of magnetic conductive cores are evenly spaced and laid on the first metal shielding body from one end to the other end of the first metal shielding body; The second magnetic conductive layer includes a plurality of magnetic conductive cores, and the plurality of magnetic conductive cores are laid on the second metal shielding body in the form of an array.

3. A maximum efficiency control method for an underwater equipment wireless charging system according to claim 1 or 2, characterized in that: The middle part of the convex surface of the first metal shielding body is provided with a mounting groove, and the edge is provided with a plurality of mounting holes; the first magnetic conductive layer is laid in the mounting groove; A metal shielding frame is disposed on the concave surface of the second metal shielding body, and a plurality of mounting holes are disposed on the edge thereof; the second magnetic conductive layer is laid in the inner area enclosed by the metal shielding frame.

4. The maximum efficiency control method of the underwater equipment wireless charging system according to claim 3, characterized in that: The first coil is a curved disc coil designed to conform to the convex surface of the first metal shielding body; Each coupling coil in the second coil is a curved disc coil designed to conform to the concave surface of the second metal shielding body.

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