Anti-rolling underwater wireless electric energy transmitting device, charging device and charging dock

Abstract

In order to overcome the error of autonomous docking of an underwater vehicle and an underwater charging base station, the coil relative position change caused by ocean current impact, and the defects that the limitation is relatively large and the device complexity is increased when multiple coils are used for coping with the coil mutual inductance state change in the prior art, the invention provides the underwater charging device. Meanwhile, the defects that installation is not changed and machining operability is low due to an annular coil are overcome. The invention provides the anti-rolling underwater wireless electric energy transmitting device, the charging device and the charging dock for the rotary vehicle. The primary side coil and the secondary side coil are both of a 120-degree tile structure, meanwhile, the primary side coil is arranged on the guide device, the guide device is controlled to work through a disturbance observation algorithm, the axial position and the circumferential angle of the primary side coil can be adjusted, and the change of mutual inductance between the primary side coil and the secondary side coil in different states can be coped with.

Description

Technical Field

[0001] The present invention relates to the technical field of circuit devices or systems for power supply or power distribution. Background Art

[0002] Autonomous underwater vehicles are underwater vehicles that can autonomously navigate, propel and guide themselves, and automatically perform predetermined tasks underwater. They play an important role in marine environment observation and underwater search and rescue. Most underwater vehicles are powered by batteries. Due to their size and weight, they cannot carry a large number of batteries. At the same time, due to the limited energy storage of batteries, they need to be recharged with electricity.

[0003] The traditional method of power supply is wired power supply, which relies on underwater wet plug-in technology to supply power to underwater vehicles through cables on power supply platforms such as ships and seabed base stations. This technology is costly, difficult, has a short plug life, is prone to contact sparks, and has low reliability and safety.

[0004] In order to overcome the technical problems of traditional wired power supply methods such as short plug life, easy contact sparks, low reliability and safety, technical personnel in this field have proposed an underwater wireless charging power supply solution based on existing wireless charging technology, which has the advantages of high autonomy and good safety.

[0005] With the development of underwater wireless charging technology, its transmission power has gradually increased, but the error of autonomous docking between underwater vehicles and underwater charging base stations and the change of relative position of primary and secondary coils of underwater wireless charging devices caused by ocean current impact will cause changes in coil mutual inductance, which will bring two problems: First, it will cause changes in the output voltage of the secondary side. When the voltage amplitude of the secondary side changes greatly, it may exceed the voltage threshold range of the subsequent DC-DC or battery, causing irreversible damage; second, it will lead to a decrease in wireless charging efficiency. To solve these problems, the existing methods mostly start from the perspective of coil structure and use multiple coils to deal with the problem of changes in coil mutual inductance state, but it increases the complexity of the wireless charging device, and this method only has a specific ability to resist axial or radial displacement, which is very limited and cannot cope with a large range of changes in coil mutual inductance state.

[0006] In addition, for rotating vehicles, in order to achieve the anti-roll effect, the primary side coil and the secondary side coil of the existing underwater wireless charging device mostly use rotating ring coils. When the secondary side coil is installed on the underwater vehicle, there are disadvantages such as inconvenience in installation and low processing operability. Summary of the invention

[0007] In order to overcome the error of autonomous docking between the underwater vehicle and the underwater charging base station and the change of the relative position of the primary and secondary side coils of the underwater wireless charging device caused by the impact of ocean currents, and to overcome the disadvantages of large limitations and increased device complexity when using multiple coils to cope with the change of the mutual inductance state of the coils, and at the same time overcome the disadvantages of unchanged installation and low processing operability caused by the annular coil, the present invention proposes an anti-roll underwater wireless power transmitting device, a charging device and a charging dock for rotating vehicles (such as autonomous underwater vehicles, remote-controlled underwater vehicles, etc.).

[0008] The technical solution of the present invention is:

[0009] An anti-roll underwater wireless power transmitting device includes a primary side circuit; the primary side circuit includes a high-frequency inverter, a primary side coil and a primary side electric energy compensation circuit; the special feature of the device is that it also includes a guiding device and a control module;

[0010] The primary side coil is a 120° arc-shaped tile structure, which is arranged on a guide device, and the axial position and / or circumferential position of the primary side coil is adjusted by the guide device to align with the secondary side coil of the 120° arc-shaped tile structure in the underwater wireless power receiving device;

[0011] The control module is used to calculate the mutual inductance between the primary side coil and the secondary side coil, and control the operation of the guiding device by using a disturbance observation algorithm based on the mutual inductance;

[0012] The disturbance observation algorithm compares the mutual inductance after the nth adjustment of the primary side coil with the mutual inductance after the n-1th adjustment of the primary side coil. If the mutual inductance after the nth adjustment is smaller than the mutual inductance after the n-1th adjustment, it indicates that the adjustment direction is wrong; if the mutual inductance after the nth adjustment is larger than the mutual inductance after the n-1th adjustment, and the difference with the optimal mutual inductance obtained by simulation is greater than or equal to the set threshold, it indicates that the adjustment direction is correct but the adjustment step is insufficient; n≥1.

[0013] Further, the guiding device includes a circumferential angle adjustment unit and an axial displacement adjustment unit;

[0014] The circumferential angle adjustment unit includes a first motor, a gear transmission mechanism, an annular guide rail and a guide frame; the gear transmission mechanism includes an externally meshed driving gear and a driven gear, and a support wheel located on the inner side of the driven gear for supporting it; the driven gear and the annular guide rail are coaxially spaced; the guide frame is arranged below the axial displacement adjustment unit and above the annular guide rail and the driven gear; the guide frame has a first mounting arm and a second mounting arm axially spaced; the first mounting arm is provided with a first gear shaft for mounting the driving gear and a support shaft for mounting the support wheel, and the second mounting arm is provided with a guide wheel for cooperating with the annular guide rail to achieve auxiliary movement, guidance, and to constrain the annular guide rail in the vertical direction to prevent it from falling off; the primary side coil is installed on the inner side wall of the driven gear and the annular guide rail, one end of which is fixedly connected to the driven gear, and the other end of which is fixedly connected to the annular guide rail;

[0015] The axial displacement adjustment unit includes a fixed frame, a second motor, a lead screw, a first slider, a guide rod, a second slider and a mounting plate; the output shaft of the second motor is connected to the lead screw; the fixed frame is used to support and install the second motor and the mounting plate, and the fixed frame is an annular hollow flat plate, and the hollow part thereof is used to make way for the moving parts of the axial displacement adjustment unit; a threaded hole is machined on the first slider, and the lead screw cooperates with the first slider through the threaded hole to form a spiral transmission mechanism; a guide hole is machined on the second slider, and a guide rod arranged parallel to the lead screw passes through the guide hole to form a linear guide mechanism with the second slider; the linear guide mechanism has two groups, which are arranged in parallel on both sides of the lead screw; there are two mounting plates, which are respectively arranged at both ends of the guide rod and fixedly connected to it, and the two ends of the lead screw pass through the two mounting plates respectively and can rotate flexibly relative to the mounting plates.

[0016] Furthermore, the gear transmission mechanism also includes two auxiliary gears, which are both meshed with the outside of the driven gear and are located on both sides of the driving gear but do not contact the driving gear; two second gear shafts for installing the two auxiliary gears are provided on the first mounting arm of the guide frame, and the first gear shaft and the support shaft are both located between the two second gear shafts.

[0017] Furthermore, the outer edge of the annular guide rail has an axially extending structure, and both ends of the guide wheel have limiting structures for constraining the annular guide rail to prevent it from falling. The limiting structure and the main body of the guide wheel have an installation space in the radial direction for accommodating the outer edge of the annular guide rail. The outer edge of the annular guide rail is located in the installation space, and the matching dimensions of the two can ensure that the annular guide rail can be installed and will not fall off, and at the same time, the axial movement of the guide frame can be transmitted to the annular guide rail through the guide wheel.

[0018] Furthermore, the control module is used to calculate the mutual inductance between the primary side coil and the secondary side coil, and based on the mutual inductance, use a disturbance observation algorithm to control the operation of the guidance device before charging to achieve docking, and control the operation of the guidance device during charging to achieve anti-disturbance.

[0019] The present invention also provides an anti-roll underwater wireless charging device, which is special in that it includes an underwater wireless power receiving device and the underwater wireless power transmitting device mentioned above; the secondary side coil in the underwater wireless power receiving device adopts a 120° arc tile structure.

[0020] The present invention also provides an underwater charging dock, including an underwater charging base station; the special feature is that it also includes the above-mentioned anti-roll underwater wireless charging device; the underwater wireless charging device includes an underwater wireless power transmitting device and an underwater wireless power receiving device, the underwater wireless power transmitting device is mounted on the underwater charging base station, and the underwater wireless power receiving device is mounted on the underwater vehicle.

[0021] Advantages of the present invention:

[0022] 1. The wireless charging device of the present invention includes a primary coil, a secondary coil and a guide device; in order to reduce the axial docking error between the primary coil and the secondary coil, the guide device can adjust the axial position of the primary coil; in order to facilitate installation and improve processing operability, the primary coil and the secondary coil both adopt a 120° tile structure, but at this time the two are prone to misalignment in the circumferential direction (i.e., rolling), therefore, the guide device designed by the present invention can also adjust the circumferential angle of the primary coil to prevent the primary coil and the secondary coil from rolling in the circumferential direction. Therefore, the present invention can cope with the changes in mutual inductance between the primary coil and the secondary coil under different states.

[0023] 2. The wireless charging device of the present invention does not need to set up additional sensors to determine the coil docking status. It only needs to determine the mutual inductance coefficient through the primary and secondary coil circuit parameters to accurately determine the coil docking status. The device is simpler and more reliable.

[0024] 3. The wireless charging device of the present invention adopts a method based on disturbance observation, which can monitor the coil coupling state before and during charging, and adaptively adjust the primary side coil state according to the identification result. It has strong anti-interference ability and can improve energy transmission efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a front view of the anti-roll underwater wireless power transmitting device of the present invention.

[0026] Figure 2 yes Figure 1 Detail of point A in the middle.

[0027] Figure 3 It is a side view of the anti-roll underwater wireless power transmitting device of the present invention.

[0028] Figure 4 It is a side view of the anti-roll underwater wireless power transmitting device of the present invention.

[0029] Figure 5 It is a flow chart of the disturbance observation algorithm adopted by the control module in the anti-roll underwater wireless power transmitting device of the present invention.

[0030] Figure 6 It is a structural schematic diagram of the charging dock of the present invention.

[0031] Figure 7 It is a schematic diagram of the docking of a certain type of underwater vehicle with the underwater charging dock of the present invention (the primary side coil is hidden in the figure).

[0032] Reference numerals:

[0033] 1-circumferential angle adjustment unit; 11-first motor; 12-gear transmission mechanism; 121-auxiliary gear; 122-driven gear; 123-driving gear; 13-annular guide rail; 14-guide frame; 141-first mounting arm; 142-second mounting arm; 15-guide wheel; 16-support wheel;

[0034] 2-axial displacement adjustment unit; 21-second motor; 22-screw; 23-first slider; 24-guide rod; 25-second slider; 26-mounting plate; 27-fixing frame;

[0035] 3-primary side coil;

[0036] 4-base station body of the underwater charging base station; 6-fixed bracket; 7-recovery cage;

[0037] 5- Underwater vehicles. DETAILED DESCRIPTION

[0038] The present invention is further described in detail below in conjunction with the accompanying drawings.

[0039] like Figure 1-6 As shown, the anti-roll underwater wireless charging device provided by the present invention includes a primary side circuit, a secondary side circuit, a guiding device and a control module (not shown in the figure).

[0040] The primary side circuit includes a high-frequency inverter, a primary side coil 3 and a primary side electric energy compensation circuit. Among them: the high-frequency inverter and the primary side electric energy compensation circuit are arranged in the base station control cabin of the underwater charging base station, the high-frequency inverter is connected to the DC-DC conversion module of the underwater charging base station, and is used to convert the direct current output by the DC-DC conversion module into high-frequency alternating current; the primary side electric energy compensation circuit is used to put the primary side circuit in a resonant state; the primary side coil 3 is connected to the primary side electric energy compensation circuit through a cable.

[0041] The secondary side circuit is arranged on the underwater vehicle, and the secondary side circuit includes a secondary side coil, a secondary side electric energy compensation circuit, a rectifier and a battery charger. The secondary side coil is coupled with the primary side coil, and generates an induced current under the excitation of the alternating magnetic field generated by the primary side coil, so as to realize the transmission of electric energy from the primary side to the secondary side. The secondary side electric energy compensation circuit is used to put the secondary side circuit in a resonant state. The rectifier is used to convert the induced current generated by the secondary side coil into direct current. The battery charger is used to convert the direct current output by the rectifier into the voltage required for charging the battery pack of the underwater vehicle.

[0042] The circuit principles of the primary side circuit and the secondary side circuit are the same as those of the primary side circuit and the secondary side circuit in the existing disclosed underwater wireless charging device. However, in order to reduce the docking error between the primary side coil 3 and the secondary side coil and the change in the relative position of the two caused by the impact of the sea current during charging, the primary side coil 3 is arranged on the guide device in the present invention.

[0043] In addition, in order to improve processing operability and facilitate installation, the primary side coil 3 and the secondary side coil in the present invention no longer use traditional rotating ring coils, but are designed as 120° arc tile structures. Considering that after the primary side coil 3 and the secondary side coil both use 120° arc tile structures, they are prone to rolling in the circumferential direction after docking, reducing the power transmission efficiency of the underwater wireless charging device, the guiding device of the present invention has the function of adjusting the position of the primary side coil 3 in the axial direction to improve the docking accuracy between it and the secondary side coil, and also has the function of adjusting the angle of the primary side coil 3 in the circumferential direction to achieve anti-rolling.

[0044] The guide device is arranged on a fixed support 6 in the underwater charging dock, and is used to adjust the circumferential position and axial position of the primary side coil 3. The guide device includes a circumferential angle adjustment unit 1 and an axial displacement adjustment unit 2.

[0045] The circumferential angle adjustment unit 1 is used to adjust the circumferential angle of the primary side coil 3, and includes a first motor 11, a gear transmission mechanism 12, an annular guide rail 13 and a guide frame 14. The first motor 11 adopts a high-precision stepping motor; the gear transmission mechanism 12 includes an externally meshed driving gear 123 and a driven gear 122, and a support wheel 16 located inside the driven gear 122 for supporting the driven gear 122; in order to make the transmission more stable, the gear transmission mechanism 12 in this embodiment also includes two auxiliary gears 121, both of which are externally meshed with the driven gear 122, and are located on both sides of the driving gear 123 but not in contact with the driving gear 123. The output shaft of the first motor 11 is fixedly connected to the driving gear 123 in the gear transmission mechanism 12, and the driven gear 122 in the gear transmission mechanism 12 is arranged at the same axial interval with the annular guide rail 13; the guide frame 14 is arranged below the axial displacement adjustment unit 2 and is located above the annular guide rail 13 and the driven gear 122 in the gear transmission mechanism 12; the guide frame 14 has a first mounting arm 141 and a second mounting arm 142 arranged at intervals along the axial direction; the first mounting arm 141 is provided with a first gear shaft for mounting the driving gear 123, a support shaft for mounting the support wheel 16 and two second gear shafts for mounting the two gears 121, the inner side of the first mounting arm 141 extends downward to form a mounting wall plate for the first gear shaft and the support shaft, the first gear shaft and the support shaft are both located between the two second gear shafts, and the first gear shaft is located above the support shaft; the second mounting arm 142 is provided with a guide wheel 15 for cooperating with the annular guide rail 13 to achieve auxiliary movement, guidance and vertical constraint of the annular guide rail 13 to prevent it from falling off; Figure 1-2 As shown, the outer edge of the annular guide rail 13 has an axially extending structure, and both ends of the guide wheel 15 have a limiting structure for constraining the annular guide rail 13 to prevent it from falling. The limiting structure and the main body of the guide wheel 15 have an installation space in the radial direction for accommodating the outer edge of the annular guide rail 13 with the extending structure. The outer edge of the annular guide rail 13 is located in the installation space. The matching dimensions of the two should ensure that the annular guide rail 13 can be installed and will not fall out, and at the same time, the axial movement of the guide frame 14 can be transmitted to the annular guide rail 13 through the guide wheel 15. In other embodiments, the annular guide rail 13 can also be supported in the same way as the driven gear 123, that is, the annular guide rail 13 can also be supported by arranging a support shaft on the guide frame 14. The arc surface of the primary side coil 3, the driven gear 122, and the inner wall surface of the annular guide rail 13 are adapted, and the primary side coil 3 is installed on the driven gear 122 and the inner side wall of the annular guide rail 13 to contact the arc surface thereof (such as Figure 6As shown), one end of the primary coil 3 along its axial direction is fixedly connected to the driven gear 122, and the other end along its axial direction is fixedly connected to the annular guide rail 13. Since the underwater vehicle has a certain docking accuracy after returning to the charging dock and completing autonomous docking with the underwater charging base station of the charging dock, the present invention belongs to a higher precision adjustment, and the adjustment range of the primary coil 3 in the circumferential and axial directions is not particularly large. Therefore, during the adjustment process, the cable used to connect the primary coil 3 and the primary power compensation circuit will not be entangled.

[0046] The working principle of the circumferential angle adjustment unit 1 is:

[0047] The first motor 11 drives the driving gear 123 in the gear transmission mechanism 12 to rotate, and then the driving gear 123 drives the driven gear 122 to rotate, and then the driven gear 122 drives the primary side coil 3 and the annular guide rail 13 to rotate smoothly, thereby adjusting the circumferential angle of the primary side coil 3.

[0048] like Figure 1 , 4 As shown, the axial displacement adjustment unit 2 is used to adjust the axial displacement of the primary side coil 3, including a fixing frame 27, a second motor 21, a lead screw 22, a first slider 23, a guide rod 24, a second slider 25 and a mounting plate 26; the fixing frame 27 is installed on the fixing bracket 6 in the underwater charging dock through a support seat, and the fixing frame 27 is used to support and install the second motor 21 and the mounting plate 26. The fixing frame 27 is an annular hollow flat plate, and the hollow part thereof is used to make way for the moving parts in the axial displacement adjustment unit 2 to prevent interference therewith; the second motor 21 adopts a high-precision stepping motor, and the output shaft of the second motor 21 is connected to the lead screw 22 (for example, it can be connected through a coupling or a gear); a threaded hole is machined on the first slider 23, and the lead screw 22 cooperates with the first slider 23 through the threaded hole to form a spiral transmission mechanism; A guide hole is machined on the second slider 25, and a guide rod 24 arranged parallel to the lead screw 22 passes through the guide hole, forming a linear guide mechanism with the second slider 25; in this embodiment, two sets of parallel linear guide mechanisms are arranged, and the two sets of linear guide mechanisms are respectively located on both sides of the lead screw 22, and each set of linear guide mechanisms includes two second sliders 25 arranged at intervals; the first slider 23 and the second slider 25 are both fixedly mounted on the upper surface of the guide frame 14 in the circumferential angle adjustment unit 1; there are two mounting plates 26, which are respectively arranged at both ends of the guide rod 24 and fixedly connected thereto, wherein the mounting plate 26 close to the power input end of the spiral transmission mechanism can also be used to install the second motor 21; through holes are provided in the middle of the two mounting plates 26 for the two ends of the lead screw 22 to pass through, so that the lead screw 22 can rotate flexibly relative to the mounting plates 26.

[0049] The working principle of the axial displacement adjustment unit 2 is:

[0050] The second motor 21 drives the lead screw 22 to rotate, and the spiral transmission mechanism formed by the lead screw 22 and the first slider 23 converts the rotational motion of the lead screw 22 into the linear motion of the first slider 23 along the lead screw 22, and then the first slider 23 drives the guide frame 14 fixed thereto to translate axially along the lead screw 22, and then the guide frame 14 drives the gear 121, the driving gear 123, the driven gear 122, the annular guide rail 13 and the primary side coil 3 to translate axially along the lead screw 22 as a whole, thereby adjusting the axial position of the primary side coil 3. During the period when the primary side coil 3 is driven by the guide frame 14 to translate axially, it is guided by the linear guide mechanism formed by the second slider 25 and the guide rod 24, so that the movement is smoother.

[0051] The control module is used to calculate the mutual inductance between the primary side coil 3 and the secondary side coil, and use a disturbance observation algorithm to control the operation of the guidance device to adjust the position of the primary side coil 3 according to the mutual inductance between the primary side coil 3 and the secondary side coil.

[0052] The working principle of the anti-roll underwater wireless charging device of the present invention is as follows:

[0053] When the underwater vehicle returns to the underwater charging dock and completes autonomous docking with the underwater charging base station, the secondary side circuit is pre-set to no-load. For example, the control module can control soft switches such as relays to prevent the underwater vehicle battery pack from being connected to the secondary side circuit. At this time, when the secondary side circuit is no-loaded, the underwater charging base station 4 energizes the primary side circuit, collects the no-load current of the primary and secondary sides through the current sensors connected to the primary and secondary side circuits, and collects the no-load voltage of the primary and secondary sides through the voltage sensors connected to the primary and secondary side circuits. The measured no-load current and no-load voltage are transmitted back to the control module, and the control module calculates the initial mutual inductance N(k) between the primary side coil 3 and the secondary side coil in this state. The specific method for calculating the mutual inductance is a known method and will not be repeated here.

[0054] When the secondary circuit remains unloaded, the control module takes the following actions: Figure 5 The disturbance observation algorithm shown in the figure first controls the axial displacement adjustment unit 2 to adjust the axial displacement of the primary side coil 3 until the difference between the mutual inductance between the primary side coil 3 and the secondary side coil and the first optimal mutual inductance value determined in advance by simulation is within the first threshold range; then, the circumferential angle adjustment unit 1 is controlled to adjust the circumferential angle of the primary side coil 3 until the difference between the mutual inductance between the primary side coil 3 and the secondary side coil and the second optimal mutual inductance value determined in advance by simulation is within the second threshold range. At this time, the primary side coil 3 is adjusted in place, and the docking state between it and the secondary side coil is optimal. The first threshold and the second threshold are determined according to the required docking accuracy. The higher the required docking accuracy, the smaller the value.

[0055] When adjusting along the axial direction, there is only one optimal mutual inductance value when the primary side coil 4 is located at each axial position. If during the axial disturbance (adjustment), if the current mutual inductance value is less than the mutual inductance value after the last disturbance, it indicates that the adjustment direction is wrong; if the current mutual inductance value is greater than the mutual inductance value after the last disturbance, but the difference between the current mutual inductance value and the first optimal mutual inductance value obtained by simulation is greater than or equal to the first threshold value, it indicates that the adjustment direction is correct, but the adjustment step is insufficient. Similarly, when adjusting along the circumferential direction, there is also a unique optimal mutual inductance value when the primary side coil 4 is located at each circumferential position. Whether the direction of the circumferential disturbance is wrong and whether the adjustment step is sufficient when the adjustment direction is correct can be judged based on the same principle.

[0056] like Figure 5 As shown, here, taking axial displacement adjustment as an example, the process of the disturbance observation algorithm of the present invention is described in detail:

[0057] Step 1: The control module controls the second motor 21 to randomly perturb the minimum step length L. At this time, the mutual inductance value between the primary side coil 3 and the secondary side coil calculated by the control module is M(k);

[0058] Step 2: Compare the initial mutual inductance N(k) with the mutual inductance M(k) after the disturbance to identify the coil docking state at this time: when the mutual inductance M(k) is greater than N(k), and the difference between the mutual inductance M(k) and the first optimal mutual inductance value determined by the simulation in advance is greater than the first threshold value, it indicates that the direction of the axial disturbance (adjustment) of the primary side coil 3 is correct but the displacement of the disturbance (adjustment) is insufficient, and then proceed to step 3; when the mutual inductance M(k) is less than N(k), it indicates that the adjustment direction of the primary side coil 3 is incorrect, and then proceed to step 5;

[0059] Step 3: Continue to increase the step size in the direction of the original disturbance step size, and measure the mutual inductance again after increasing the step size to obtain the mutual inductance M(k+1), and compare whether the difference between the current mutual inductance M(k+1) and the first optimal mutual inductance value determined by the simulation in advance is within the first threshold range. If so, it indicates that the current mutual inductance M(k+1) reaches the optimal value, and the process ends. The primary side coil 3 is kept in the current position by the self-locking of the second motor 21; if not, proceed to step 4;

[0060] Step 4: Let M(k)=M(k+1), N(k)=M(k), that is, the mutual inductance M(k) after the last disturbance is taken as the initial mutual inductance N(k), and the current mutual inductance M(k+1) is taken as the mutual inductance M(k) after the disturbance based on the initial mutual inductance, and return to step 2;

[0061] Step 5: Change the disturbance direction for adjustment, that is, adjust the step length L in the reverse direction of the last disturbance direction. After adjustment, measure the mutual inductance again to obtain the mutual inductance M(k-1). Compare whether the difference between the current mutual inductance M(k-1) and the first optimal mutual inductance value determined by the simulation in advance is within the first threshold range. If so, it indicates that the current mutual inductance M(k-1) is optimal, and the primary side coil 3 is kept in the current position by the self-locking of the second motor 21, and the process ends; if not, go to step 6;

[0062] Step 6: Let M(k)=M(k-1), N(k)=M(k), that is, take the mutual inductance M(k) after the last disturbance as the initial mutual inductance N(k), take the current mutual inductance M(k-1) as the mutual inductance M(k) after disturbance based on the initial mutual inductance, and return to step 2.

[0063] After the axial position of the primary side coil 3 is adjusted according to the above process, the primary side coil 4 is circumferentially adjusted using the same method as above. After the adjustment is in place, the primary side coil 3 is maintained at the current position by the self-locking of the first motor 11.

[0064] After the axial and circumferential directions are adjusted to the correct position, the load is connected for wireless charging.

[0065] During the wireless charging process, considering that the underwater vehicle may be disturbed by the ocean current, although the existing underwater charging docks are usually designed with a self-locking structure to lock the underwater vehicle after it returns to the dock, we found that after locking, when the ocean current disturbance is large, the position of the secondary side coil may still change (especially the circumferential direction is prone to rolling). Therefore, the control module also calculates the mutual inductance between the primary side coil 3 and the secondary side coil at a set time interval. When it is identified that the difference between the mutual inductance and the second optimal mutual inductance value determined by the simulation is not within the second threshold range, it indicates that the docking is misaligned. At this time, the above-mentioned disturbance observation algorithm is still used to adjust the primary side coil 3 axially and / or circumferentially.

[0066] Since the power transmitting end part of the above-mentioned anti-roll underwater wireless charging device can be sold separately and can be used by being mounted on an underwater charging base station, the present invention also provides an anti-roll underwater wireless power transmitting device, which includes the above-mentioned primary side circuit, guiding device and control module, which will not be repeated here.

[0067] The present invention also provides an underwater charging dock, including a fixed bracket 6, an underwater charging base station 4 and a recovery cage 7 arranged on the fixed bracket 6, and also includes the anti-roll underwater wireless charging device provided by the present invention.

Claims

1. An anti-roll underwater wireless power transmitting device, comprising a primary side circuit; the primary side circuit comprises a high-frequency inverter, a primary side coil and a primary side power compensation circuit; characterized in that: Also included is a guidance device and a control module; The primary side coil is a 120° arc-shaped tile structure, which is arranged on a guide device, and the axial position and / or circumferential position of the primary side coil is adjusted by the guide device to align with the secondary side coil of the 120° arc-shaped tile structure in the underwater wireless power receiving device; The control module is used to calculate the mutual inductance between the primary side coil and the secondary side coil, and control the operation of the guiding device by using a disturbance observation algorithm based on the mutual inductance; The disturbance observation algorithm compares the mutual inductance after the nth adjustment of the primary side coil with the mutual inductance after the n-1th adjustment of the primary side coil. If the mutual inductance after the nth adjustment is smaller than the mutual inductance after the n-1th adjustment, it indicates that the adjustment direction is wrong; if the mutual inductance after the nth adjustment is larger than the mutual inductance after the n-1th adjustment, and the difference with the optimal mutual inductance obtained by simulation is greater than or equal to the set threshold, it indicates that the adjustment direction is correct but the adjustment step is insufficient; n≥1.

2. The anti-roll underwater wireless power transmitting device according to claim 1, characterized in that: The guiding device includes a circumferential angle adjustment unit and an axial displacement adjustment unit; The circumferential angle adjustment unit includes a first motor, a gear transmission mechanism, an annular guide rail and a guide frame; the gear transmission mechanism includes an externally meshed driving gear and a driven gear, and a support wheel located on the inner side of the driven gear for supporting it; the driven gear and the annular guide rail are coaxially spaced; the guide frame is arranged below the axial displacement adjustment unit and above the annular guide rail and the driven gear; the guide frame has a first mounting arm and a second mounting arm axially spaced; the first mounting arm is provided with a first gear shaft for mounting the driving gear and a support shaft for mounting the support wheel, and the second mounting arm is provided with a guide wheel for cooperating with the annular guide rail to achieve auxiliary movement, guidance, and to constrain the annular guide rail in the vertical direction to prevent it from falling off; the primary side coil is installed on the inner side wall of the driven gear and the annular guide rail, one end of which is fixedly connected to the driven gear, and the other end of which is fixedly connected to the annular guide rail; The axial displacement adjustment unit includes a fixed frame, a second motor, a lead screw, a first slider, a guide rod, a second slider and a mounting plate; the output shaft of the second motor is connected to the lead screw; the fixed frame is used to support and install the second motor and the mounting plate, and the fixed frame is an annular hollow flat plate, and the hollow part thereof is used to make way for the moving parts of the axial displacement adjustment unit; a threaded hole is machined on the first slider, and the lead screw cooperates with the first slider through the threaded hole to form a spiral transmission mechanism; a guide hole is machined on the second slider, and a guide rod arranged parallel to the lead screw passes through the guide hole to form a linear guide mechanism with the second slider; the linear guide mechanism has two groups, which are arranged in parallel on both sides of the lead screw; there are two mounting plates, which are respectively arranged at both ends of the guide rod and fixedly connected to it, and the two ends of the lead screw pass through the two mounting plates respectively and can rotate flexibly relative to the mounting plates.

3. The anti-roll underwater wireless power transmitting device according to claim 2, characterized in that: The gear transmission mechanism also includes two auxiliary gears, which are both meshed with the outside of the driven gear and are located on both sides of the driving gear but do not contact the driving gear; two second gear shafts for mounting the two auxiliary gears are provided on the first mounting arm of the guide frame, and the first gear shaft and the support shaft are both located between the two second gear shafts.

4. The anti-roll underwater wireless power transmitting device according to claim 3, characterized in that: The outer edge of the annular guide rail has an axially extending structure, and both ends of the guide wheel have limiting structures for constraining the annular guide rail to prevent it from falling. The limiting structure and the main body of the guide wheel have an installation space in the radial direction for accommodating the outer edge of the annular guide rail. The outer edge of the annular guide rail is located in the installation space, and the matching dimensions of the two can ensure that the annular guide rail can be installed and will not fall off, and at the same time, the axial movement of the guide frame can be transmitted to the annular guide rail through the guide wheel.

5. The anti-roll underwater wireless power transmitting device according to any one of claims 1 to 4, characterized in that: The control module is used to calculate the mutual inductance between the primary side coil and the secondary side coil, and based on the mutual inductance, use a disturbance observation algorithm to control the operation of the guidance device before charging to achieve docking, and control the operation of the guidance device during charging to achieve anti-disturbance.

6. An anti-roll underwater wireless charging device, characterized in that: It comprises an underwater wireless power receiving device and an underwater wireless power transmitting device as claimed in any one of claims 1 to 5; The secondary side coil in the underwater wireless power receiving device adopts a 120° arc tile structure.

7. An underwater charging dock, comprising an underwater charging base station; characterized in that: It also includes the anti-roll underwater wireless charging device as described in claim 6; the underwater wireless charging device includes an underwater wireless power transmitting device and an underwater wireless power receiving device, the underwater wireless power transmitting device is carried on an underwater charging base station, and the underwater wireless power receiving device is carried on an underwater vehicle.

Images