An underwater wireless power transmitting device, charging device and charging station for preventing roll

Abstract

In order to overcome the error of underwater vehicle and underwater charging base self docking and the change of coil relative position caused by sea current impact, and overcome the larger limitation and increased device complexity of the existing multi-coil for dealing with the change of mutual inductance, and overcome the installation change caused by the annular coil and the lower processing operability, the present application provides a kind of underwater wireless power transmission device for anti-roll of rotary vehicle, charging device and charging dock.The primary side coil and the secondary side coil of the present application both adopt 120 ° tile structure, and the primary side coil is arranged on the guide device, and the disturbance observation algorithm is used to control the guide device to work, so as to adjust the axial position and circumferential angle of the primary side coil, and cope with the change of mutual inductance between the primary side coil and the secondary side coil under different conditions.

Description

TECHNICAL FIELD

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

[0002] An autonomous underwater vehicle is an underwater carrier that autonomously navigates, automatically propels and guides underwater, and automatically performs a predetermined task, and plays an important role in marine environment observation and underwater search and rescue. Most underwater vehicles are powered by batteries. Due to the size and weight limitations, they cannot carry a large number of batteries. In addition, due to the limited energy storage of the batteries, they need to be supplied with power.

[0003] The traditional power supply method is wired power supply, which relies on underwater wet plug technology to supply power to underwater vehicles through cables on power supply platforms such as ships and seabed stations. This technology has high cost, great difficulty, short plug life, easy generation of contact sparks, and low reliability and safety.

[0004] In order to overcome the technical problems of short plug life, easy generation of contact sparks, and low reliability and safety of the traditional wired power supply method, the skilled person in the art proposes an underwater wireless charging power supply scheme 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 gradually increases. However, the error of the autonomous docking of the underwater vehicle and the underwater charging base station and the change of the relative position of the primary side and the secondary side coils of the underwater wireless charging device caused by the impact of the sea current will cause the change of the mutual inductance of the coils, which will cause two problems: first, it will cause the change of the output voltage of the secondary side, and 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 cause the reduction of the wireless charging efficiency. To solve these problems, the existing methods mostly start from the perspective of the coil structure, and use multiple coils to cope with the problem of the change of the mutual inductance of the coils, but this increases the complexity of the wireless charging device, and this method only has specific anti-axial or radial offset capability, which has great limitations and cannot cope with a larger range of changes in the mutual inductance of the coils.

[0006] In addition, at present, in order to achieve the effect of preventing lateral rolling, the primary side coil and the secondary side coil of the existing underwater wireless charging device mostly adopt a rotary body type annular coil, which has the disadvantages of inconvenient installation and low processing operability when the secondary side coil is installed on the underwater vehicle. SUMMARY

[0007] In order to overcome the error of the autonomous docking of the underwater vehicle and the underwater charging base station, the change of the relative position of the primary side and the secondary side coils of the underwater wireless charging device caused by the sea current impact, the adverse effects caused by the change of the mutual inductance of the coils, and the defects of the existing multi-coil in dealing with the change of the mutual inductance of the coils, such as larger limitations and increased complexity of the device, and the defects of the installation of the annular coil, such as low processing operability, the present application provides an underwater wireless power transmission device for preventing roll of a rotary vehicle (such as an autonomous underwater vehicle, a remote control underwater vehicle and the like), a charging device and a charging station.

[0008] The technical scheme of the present application is:

[0009] An underwater wireless power transmission device for preventing roll, 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; the special feature is that it further comprises a guide device and a control module;

[0010] The primary side coil is in the form of a 120° arc-shaped tile structure and is arranged on the guide device; the axial position and / or the circumferential position of the primary side coil are adjusted by the guide device so as to align with the secondary side coil in the 120° arc-shaped tile structure of 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 to control the operation of the guide device based on the mutual inductance by using a perturbation and observation algorithm;

[0012] The perturbation and observation algorithm is to compare the mutual inductance after the n-th adjustment of the primary side coil with the mutual inductance after the (n-1)-th adjustment of the primary side coil; if the mutual inductance after the n-th adjustment is smaller than the mutual inductance after the (n-1)-th adjustment, it indicates that the adjustment direction is wrong; if the mutual inductance after the n-th adjustment is greater than the mutual inductance after the (n-1)-th adjustment and the difference between the mutual inductance and the optimal mutual inductance obtained by simulation is greater than or equal to a set threshold, it indicates that the adjustment direction is correct but the adjustment step is not enough; n≥1.

[0013] Further, the guide device comprises a circumferential angle adjusting unit and an axial displacement adjusting unit;

[0014] The circumferential angle adjusting unit comprises a first motor, a gear transmission mechanism, an annular guide rail and a guide frame; the gear transmission mechanism comprises externally meshed driving and driven gears, and a support wheel located on the inner side of the driven gear for supporting the same; the driven gear is coaxially and spaced apart from the annular guide rail; the guide frame is arranged below the axial displacement adjusting unit and above the annular guide rail and the driven gear; the guide frame has first and second mounting arms which are axially spaced apart; 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 realize auxiliary movement, guidance and constraint of the annular guide rail in the vertical direction to prevent the annular guide rail from falling off; the primary side coil is mounted on the inner side wall of the driven gear and the annular guide rail, one end of the primary side coil is fixedly connected with the driven gear, and the other end of the primary side coil is fixedly connected with the annular guide rail.

[0015] The axial displacement adjusting unit comprises a fixed frame, a second motor, a lead screw, a first sliding block, a guide rod, a second sliding block and a mounting plate; the output shaft of the second motor is connected with the lead screw; the fixed frame is used for supporting and mounting the second motor and the mounting plate, and the fixed frame is a ring-shaped hollow plate, and the hollow part is used for providing space for the moving parts of the axial displacement adjusting unit; the first sliding block is provided with a threaded hole, the lead screw is matched with the first sliding block through the threaded hole, and a screw transmission mechanism is formed; the second sliding block is provided with a guide hole, and the guide rod which is parallel to the lead screw passes through the guide hole and forms a linear guide mechanism with the second sliding block; the linear guide mechanism has two groups which are parallel to each other and arranged on the two sides of the lead screw; the mounting plate has two mounting plates which are respectively arranged at the two ends of the guide rod and fixedly connected with the guide rod, and the two ends of the lead screw pass through the two mounting plates and can flexibly rotate relative to the mounting plate.

[0016] Further, the gear transmission mechanism further comprises two auxiliary gears which are externally meshed with the driven gear and located on the two sides of the driving gear but not in contact with the driving gear; the first mounting arm of the guide frame is further provided with two second gear shafts for mounting the two auxiliary gears, and the first gear shaft and the support shaft are located between the two second gear shafts.

[0017] Further, the outer edge of the annular guide rail has an outward extending structure along the axial direction thereof, and the two ends of the guide wheel have limiting structures for constraining the annular guide rail to prevent it from falling off, the limiting structures and the main body of the guide wheel have mounting spaces 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 mounting space, and the cooperation size of the two can ensure that the annular guide rail can be loaded 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] Further, the control module is configured to calculate mutual inductance between the primary side coil and the secondary side coil, and control the guiding device to work to realize docking before charging and to realize anti-disturbance during charging based on the mutual inductance by using a perturbation and observation algorithm.

[0019] The application further provides an underwater wireless charging device capable of preventing lateral rolling, which is characterized in that the device comprises an underwater wireless power receiving device and the underwater wireless power transmitting device.

[0020] The application further provides an underwater charging station, which comprises an underwater charging base station, and is characterized in that the station further comprises the underwater wireless charging device capable of preventing lateral rolling.

[0021] Advantages of the application:

[0022] 1. The wireless charging device comprises a primary side coil, a secondary side coil and a guiding device; in order to reduce the axial docking error between the primary side coil and the secondary side coil, the guiding device can adjust the axial position of the primary side coil; in order to facilitate installation and improve the processing operability, the primary side coil and the secondary side coil both adopt a 120° tile structure, but at this time, the two are prone to misalignment in the circumferential direction (i.e., lateral rolling), therefore, the guiding device designed in the application can also adjust the circumferential angle of the primary side coil to prevent the primary side coil and the secondary side coil from producing lateral rolling in the circumferential direction.

[0023] 2. The wireless charging device does not need to additionally set a sensor to determine the coil docking state, but only needs to determine the mutual inductance coefficient through the primary and secondary coil circuit parameters, so as to accurately determine the coil docking state, and the device is simpler and has higher reliability.

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

[0025] Figure 1 is a front view of the underwater wireless power transmitting device capable of preventing lateral rolling.

[0026] Figure 2 is Figure 1 a detail view of A in FIG.

[0027] Figure 3 is a side view of the underwater wireless power transmission device of the present application.

[0028] Figure 4 is a side view of the underwater wireless power transmission device of the present application.

[0029] Figure 5 is a flow chart of the perturbation observer algorithm used in the control module of the underwater wireless power transmission device of the present application.

[0030] Figure 6 is a structural schematic diagram of the charging station of the present application.

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

[0032] Reference signs:

[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 - lead screw; 23 - first sliding block; 24 - guide rod; 25 - second sliding block; 26 - mounting plate; 27 - fixed frame;

[0035] 3 - primary side coil;

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

[0037] 5 - underwater vehicle. DETAILED DESCRIPTION

[0038] The present application will be further described in detail below in conjunction with the accompanying drawings.

[0039] As shown in the drawings, the underwater wireless charging device of the present application to prevent rolling, comprising a primary side circuit, secondary side circuit, guide device and control module (not shown in the figure). Figures 1-6

[0040] ​The primary side circuit comprises 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 with the DC-DC conversion module of the underwater charging base station, and is used for converting the direct current output by the DC-DC conversion module into high-frequency alternating current; the primary side electric energy compensation circuit is used for making the primary side circuit in a resonant state; and the primary side coil 3 is connected with the primary side electric energy compensation circuit through a cable.

[0041] The secondary side circuit is arranged on the underwater vehicle, and comprises 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 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 for making the secondary side circuit in a resonant state. The rectifier is used for converting the induced current generated by the secondary side coil into direct current. The battery charger is used for converting 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 of the relative position of the two caused by the sea current impact during charging, the primary side coil 3 is arranged on the guide device in the application.

[0043] In addition, in order to improve the processing operability and facilitate installation, the primary side coil 3 and the secondary side coil in the application are no longer designed as traditional rotary body type ring coils, but are both designed as 120° arc-shaped tile structures. Considering that the primary side coil 3 and the secondary side coil both adopt 120° arc-shaped tile structures, after docking, the circumferential roll is prone to occur, which reduces the electric energy transmission efficiency of the underwater wireless charging device, and the guide device has the function of adjusting the angle of the primary side coil 3 in the circumferential direction to realize the anti-roll function in addition to the function of adjusting the position of the primary side coil 3 in the axial direction to improve the docking precision between the primary side coil 3 and the secondary side coil.

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

[0045] The circumferential angle adjusting unit 1 is used for adjusting the circumferential angle of the primary side coil 3, and comprises a first motor 11, a gear transmission mechanism 12, an annular guide rail 13 and a guide frame 14. The first motor 11 is a high-precision stepping motor; the gear transmission mechanism 12 comprises an externally meshing driving gear 123 and a driven gear 122, and a support wheel 16 located on the inner side of the driven gear 122 for supporting the driven gear 122; in order to make the transmission more stable, the gear transmission mechanism 12 further comprises two auxiliary gears 121, which are both externally meshed with the driven gear 122 and located on both sides of the driving gear 123 without contacting the driving gear 123. The output shaft of the first motor 11 is fixedly connected with the driving gear 123 in the gear transmission mechanism 12, and the driven gear 122 in the gear transmission mechanism 12 is arranged in the same axial direction with the annular guide rail 13; the guide frame 14 is arranged below the axial displacement adjusting unit 2 and 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 in 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 auxiliary gears 121, and the inner side of the first mounting arm 141 extends downward to form a mounting wall plate of the first gear shaft and the support shaft, both of which are located between the two second gear shafts with the first gear shaft 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 realize auxiliary movement, guidance and constraint of the annular guide rail 13 in the vertical direction to prevent it from falling off; as shown in Figures 1-2 the outer edge of the annular guide rail 13 has an outward structure in the axial direction thereof, and the two ends of the guide wheel 15 have limiting structures for constraining the annular guide rail 13 to prevent it from falling off, which have mounting spaces in the radial direction of the main body of the guide wheel 15 for accommodating the outer edge of the annular guide rail 13 with the outward structure, and the outer edge of the annular guide rail 13 is located in the mounting space, and the cooperation size of the two should ensure that the annular guide rail 13 can be installed and will not fall off, and at the same time, the movement of the guide frame 14 in the axial direction 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, it can also be supported by arranging a support shaft on the guide frame 14. The arc surface of the primary side coil 3, the inner wall surface of the driven gear 122 and the annular guide rail 13 are matched, and the primary side coil 3 is installed on the inner wall of the driven gear 122 and the annular guide rail 13 in contact with the arc surface (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, this invention belongs to a higher precision adjustment. The adjustment range of the primary coil 3 in the circumferential and axial directions is not particularly large. Therefore, the cable used to connect the primary coil 3 and the primary power compensation circuit will not have a tangling problem during the adjustment process.

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

[0047] The first motor 11 drives the active gear 123 in the gear transmission mechanism 12 to rotate, which in turn drives the driven gear 122 to rotate. The driven gear 122 then drives the primary side coil 3 to rotate smoothly together with the annular guide rail 13, thereby achieving the adjustment of 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, and includes a fixed 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 fixed frame 27 is mounted on a fixed bracket 6 in the underwater charging dock via a support base. The fixed frame 27 is used to support and install the second motor 21 and the mounting plate 26. The fixed frame 27 is an annular hollow plate, and its hollow part is used to make way for the moving parts in the axial displacement adjustment unit 2 to prevent interference. The second motor 21 is a high-precision stepper 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 gear). The first slider 23 has a threaded hole, and the lead screw 22 cooperates with the first slider 23 through the threaded hole to form a screw transmission mechanism. The second slider 25 has a guide hole, and the guide rod 24, which is 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 provided. These two sets of linear guide mechanisms are located on both sides of the lead screw 22. Each set of linear guide mechanisms includes two spaced-apart second sliders 25. The first slider 23 and the second slider 25 are both fixedly installed 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 set at both ends of the guide rod 24 and fixedly connected to it. The mounting plate 26 near the power input end of the screw transmission mechanism can also be used to install the second motor 21. The middle of the two mounting plates 26 is provided with through holes 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 plate 26.

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

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

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

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

[0053] When the underwater vehicle returns to the underwater charging dock and autonomously docks with the underwater charging base station, the secondary side circuit is pre-set to be unloaded. For example, the control module can control soft switches such as relays to prevent the underwater vehicle's battery pack from being connected to the secondary side circuit. At this time, with the secondary side circuit unloaded, the underwater charging base station 4 powers on the primary side circuit. The current sensors connected to the primary and secondary side circuits collect the unloaded current of the primary and secondary sides, and the voltage sensors connected to the primary and secondary side circuits collect the unloaded voltage of the primary and secondary sides. The measured unloaded current and voltage are transmitted back to the control module, which then 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 known and will not be described in detail.

[0054] With the secondary side circuit remaining unloaded, the control module takes the following actions: Figure 5 The disturbance observation algorithm shown first controls the axial displacement adjustment unit 2 to adjust the axial displacement of the primary coil 3 until the difference between the mutual inductance between the primary coil 3 and the secondary coil and the first optimal mutual inductance value determined through simulation is within a first threshold range. Then, it controls the circumferential angle adjustment unit 1 to adjust the circumferential angle of the primary coil 3 until the difference between the mutual inductance between the primary coil 3 and the secondary coil and the second optimal mutual inductance value determined through simulation is within a second threshold range. At this point, the primary coil 3 is in position, and its docking state with the secondary coil is optimal. The first and second thresholds are determined according to the required docking accuracy; the higher the required docking accuracy, the smaller the values.

[0055] When the primary side coil 4 is at each axial position, there is only one optimal mutual inductance value. If the current mutual inductance value is smaller than the mutual inductance value after the last perturbation during the axial perturbation (adjustment), it indicates that the adjustment direction is incorrect. If the current mutual inductance value is larger than the mutual inductance value after the last perturbation, 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 not enough. Similarly, when the primary side coil 4 is at each circumferential position, there is also only one optimal mutual inductance value. The correctness of the circumferential perturbation direction and whether the adjustment step is sufficient when the adjustment direction is correct can be determined based on the same principle.

[0056] As shown in Figure 5 , the flow of the perturbation observation algorithm of the application is described in detail taking axial displacement adjustment as an example:

[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 perturbation to identify the coil butt joint 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 simulation in advance is greater than the first threshold value, it indicates that the axial perturbation (adjustment) direction of the primary side coil 3 is correct, but the perturbation (adjustment) displacement is not enough, and step 3 is entered; 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 step 5 is entered;

[0059] Step 3: Continue to increase the step length in the original perturbation step length direction. After increasing the step length, the mutual inductance is measured 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 simulation in advance is within the first threshold value range. If yes, it indicates that the current mutual inductance M(k+1) reaches the optimum, and the flow ends. The primary side coil 3 is kept at the current position by the self-locking of the second motor 21. If no, step 4 is entered.

[0060] Step 4: M(k)=M(k+1), N(k)=M(k), i.e. the mutual inductance M(k) after the last perturbation 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 perturbation based on the initial mutual inductance, and returns to step 2;

[0061] Step 5: adjust the disturbance direction, that is, adjust the step size L in the opposite direction of the last disturbance direction, and then measure the mutual inductance again to obtain the mutual inductance M(k-1), and compare the difference between the current mutual inductance M(k-1) and the first optimal mutual inductance value determined by simulation in advance, if the difference is within the first threshold range, it indicates that the current mutual inductance M(k-1) reaches the optimum, and the primary side coil 3 is kept at the current position by the self-locking of the second motor 21, and the process ends; if not, step 6 is entered.

[0062] Step 6: 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 disturbance based on the initial mutual inductance, and returns to step 2.

[0063] After adjusting the axial position of the primary side coil 3 according to the above process, the same method is used to adjust the circumferential position of the primary side coil 4, and after adjustment, the primary side coil 3 is kept at the current position by the self-locking of the first motor 11.

[0064] After the axial and circumferential positions are adjusted, the load is connected, and the wireless charging is performed.

[0065] During wireless charging, considering that the underwater vehicle will be disturbed by ocean currents, although the existing underwater charging dock is usually designed with a self-locking structure to lock the underwater vehicle after docking, we found that the position of the secondary side coil may still change (especially the circumferential position prone to roll) when the ocean current disturbance is large after locking. 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, and when it is identified that the difference between the mutual inductance and the second optimal mutual inductance value determined by simulation is not within the second threshold range, it indicates that the docking is inaccurate, and the above disturbance observation algorithm is still used to adjust the axial and / or circumferential position of the primary side coil 3.

[0066] Since the power transmitting end part of the above anti-roll underwater wireless charging device can be sold separately and used on the underwater charging base, the present application also provides an anti-roll underwater wireless power transmitting device, which comprises the above-mentioned primary side circuit, guide device and control module, which will not be described here.

[0067] The present application also provides an underwater charging dock, which comprises a fixed support 6, an underwater charging base 4 and a recovery cage 7 arranged on the fixed support 6, and further comprises the anti-roll underwater wireless charging device provided by the present application.

Claims

1. A roll-prevention 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: The guiding device and the control module are further included; The primary side coil is in a 120° arc tile structure and is arranged on the guiding device, and the axial position and / or the circumferential position of the primary side coil are adjusted by the guiding device to align with the 120° arc tile structure of the secondary side coil in the underwater wireless power receiving device; the guiding device comprises a circumferential angle adjusting unit; The circumferential angle adjusting unit comprises a first motor, a gear transmission mechanism, an annular guide rail and a guiding frame; the gear transmission mechanism comprises an externally meshed driving gear and a driven gear, and a supporting wheel located on the inner side of the driven gear for supporting the driven gear; the driven gear is coaxially and spaced apart from the annular guide rail; the guiding frame is arranged below the axial displacement adjusting unit and above the annular guide rail and the driven gear; the guiding frame has a first mounting arm and a second mounting arm which are axially spaced apart; the first mounting arm is provided with a first gear shaft for mounting the driving gear and a supporting shaft for mounting the supporting wheel, and the second mounting arm is provided with a guide wheel for cooperating with the annular guide rail to realize auxiliary motion, guidance and constraint of the annular guide rail in the vertical direction to prevent it from falling off; the primary side coil is mounted on the inner side wall of the driven gear and the annular guide rail, one end of which is fixedly connected with the driven gear and the other end of which is fixedly connected with the annular guide rail; The control module is used for calculating mutual inductance between the primary side coil and the secondary side coil, and controlling the guiding device to work based on the mutual inductance by using a perturbation and observation algorithm; The perturbation and observation algorithm is to compare the mutual inductance after adjusting the primary side coil for the nth time with the mutual inductance after adjusting the primary side coil for the (n-1)th time, if the mutual inductance after adjusting for the nth time is less than the mutual inductance after adjusting for the (n-1)th time, it indicates that the adjustment direction is wrong; if the mutual inductance after adjusting for the nth time is greater than the mutual inductance after adjusting for the (n-1)th time, and the difference between the mutual inductance and the optimal mutual inductance obtained by simulation is greater than or equal to a set threshold, it indicates that the adjustment direction is correct but the adjustment step is not enough; n≥1.

2. The roll-preventing underwater wireless power transmitting device of claim 1, wherein: The guiding device further comprises an axial displacement adjusting unit; The axial displacement adjusting unit comprises a fixed frame, a second motor, a lead screw, a first sliding block, a guide rod, a second sliding block and a mounting plate; the output shaft of the second motor is connected with the lead screw; the fixed frame is used for supporting and mounting the second motor and the mounting plate, and the fixed frame is a ring-shaped hollow plate, and the hollow part is used for giving way to the moving parts of the axial displacement adjusting unit; the first sliding block is processed with a threaded hole, the lead screw is matched with the first sliding block through the threaded hole, and a screw transmission mechanism is formed; the second sliding block is processed with a guide hole, the guide rod which is parallel to the lead screw passes through the guide hole, and a linear guide mechanism is formed between the second sliding block and the guide rod; the linear guide mechanism has two groups which are parallel to each other and arranged on both sides of the lead screw; the mounting plate has two pieces which are respectively arranged at both ends of the guide rod and fixedly connected with the guide rod, 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 of claim 2, wherein: The gear transmission mechanism further comprises two auxiliary gears which are both externally meshed with the driven gear and located on both sides of the driving gear but not in contact with the driving gear; the first mounting arm of the guiding frame is further provided with two second gear shafts for mounting the two auxiliary gears, and the first gear shaft and the supporting shaft are both located between the two second gear shafts.

4. The roll-preventing underwater wireless power transmitting device of claim 3, wherein: The outer edge of the ring-shaped guide rail has an outward structure along its axial direction, and the two ends of the guide wheel have limiting structures for restraining the ring-shaped guide rail to prevent it from falling, the limiting structures and the main body of the guide wheel have mounting spaces in the radial direction for accommodating the outer edge of the ring-shaped guide rail, the outer edge of the ring-shaped guide rail is located in the mounting space, and the cooperation size can ensure that the ring-shaped guide rail can be installed and cannot fall off, and the axial movement of the guide frame can be transmitted to the ring-shaped guide rail through the guide wheel.

5. The anti-roll underwater wireless power transmitting device according to any of claims 1-4, characterized in that: The control module is used for calculating mutual inductance between the primary side coil and the secondary side coil, and based on the mutual inductance, a perturbation and observation algorithm is used to control the guiding device to work to realize docking before charging and to work to realize anti-perturbation during charging.

6. A roll-prevention underwater wireless charging device, characterized by: The underwater wireless power receiving device and the underwater wireless power transmitting device of any one of claims 1-5 are included. The secondary side coil of the underwater wireless power receiving device adopts a 120° arc-shaped tile structure.

7. An underwater charging dock comprising an underwater charging base station; characterized by: The underwater wireless charging device of claim 6 is also included, and 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. The outer edge of the ring-shaped guide rail has an outward structure along its axial direction, and the two ends of the guide wheel have limiting structures for restraining the ring-shaped guide rail to prevent it from falling, the limiting structures and the main body of the guide wheel have mounting spaces in the radial direction for accommodating the outer edge of the ring-shaped guide rail, the outer edge of the ring-shaped guide rail is located in the mounting space, and the cooperation size can ensure that the ring-shaped guide rail can be installed and cannot fall off, and the axial movement of the guide frame can be transmitted to the ring-shaped guide rail through the guide wheel.

Images