Underwater wireless special charging device for monitoring motion attitude of marine riser

Abstract

The invention relates to the technical field of charging management, in particular to an underwater wireless special charging device for monitoring the motion posture of a marine riser. The sensor measuring unit is used for collecting motion posture data of the marine riser and marine environment data in real time; the wireless charging unit provides energy supply for the sensor measuring unit; the wireless power supply unit is used for transmitting a high-frequency alternating electromagnetic field to the wireless charging unit; the energy management unit is used for dynamically adjusting a charging mode according to self-adaptive energy recovery fuzzy control to generate a charging instruction and a power supply instruction; and the coupling unit is used for realizing bidirectional energy transfer between the wireless charging unit and the wireless power supply unit through magnetic field coupling. According to the device, the charging mode is dynamically adjusted in combination with self-adaptive energy recovery fuzzy control, the adaptability and stability of the system in a complex marine environment are improved, and monitoring interruption caused by coupling failure or energy fluctuation is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of charging management, and in particular to an underwater wireless dedicated charging device for monitoring the motion posture of a marine riser. Background Art

[0002] Marine risers are critical infrastructure in deep-sea oil and gas production, marine engineering, and environmental monitoring. Real-time monitoring of their motion is crucial for ensuring structural safety and optimizing operational efficiency. However, traditional monitoring systems typically rely on batteries. Limited by the extreme conditions of the deep-sea environment (such as high pressure, low temperature, highly corrosive fluids, and complex fluid dynamics), battery life is limited, and replacement and maintenance costs are high, resulting in insufficient long-term system reliability. In recent years, wireless energy transmission technology has provided a new approach for continuous power supply for underwater equipment. However, existing underwater wireless charging systems generally suffer from bottlenecks. They typically use a single charging mode. Under severe vibration, marine fluid disturbances, or coupling offsets, charging is easily interrupted due to energy fluctuations or coupling failure, which in turn affects the continuity of riser monitoring. Furthermore, underwater wireless charging systems require extremely high coupling accuracy between the transmitter and receiver. Fluid disturbances, riser vibrations, or equipment displacement in the marine environment can easily lead to coupling failure, causing energy transmission interruption and, consequently, data loss. Therefore, a dedicated underwater wireless charging device for marine riser motion monitoring was designed. Summary of the Invention

[0003] The purpose of the present invention is to provide an underwater wireless dedicated charging device for monitoring the motion posture of marine risers, so as to solve the problem proposed in the above-mentioned background technology that a single charging mode is used, which is prone to charging interruption due to energy fluctuation or coupling failure when there is severe vibration, marine fluid interference or coupling offset.

[0004] To achieve the above objectives, the present invention provides an underwater wireless dedicated charging device for monitoring the motion posture of a marine riser, comprising:

[0005] A sensor measurement unit, the sensor measurement unit is used to collect the motion posture data and marine environment data of the marine riser in real time, and transmit the motion posture data and environmental data to the energy management unit, and the sensor measurement unit is connected to the wireless charging unit via a wired manner; the wireless charging unit is used to convert the high-frequency alternating electromagnetic field into direct current according to the charging instruction to provide energy supply for the sensor measurement unit;

[0006] A wireless power supply unit, configured to transmit a high-frequency alternating electromagnetic field to the wireless charging unit according to a power supply instruction;

[0007] The energy management unit is used to monitor the remaining energy of the wireless charging unit, dynamically adjust the charging mode according to the adaptive energy recovery fuzzy control to generate charging instructions and power supply instructions, thereby adjusting the charging strategy of the wireless charging unit and the power supply mode of the wireless power supply unit;

[0008] The coupling unit is used to realize bidirectional energy transfer between the wireless charging unit and the wireless power supply unit through magnetic field coupling, so that the high-frequency alternating electromagnetic field emitted by the wireless power supply unit can be received by the wireless charging unit and converted into direct current, thereby providing energy for the sensor measurement unit.

[0009] As a further improvement of the present technical solution, the coupling unit includes a transmitting end and a receiving end; wherein the transmitting end is used to wirelessly radiate the high-frequency alternating current output by the wireless power supply unit through the transmitting coil to realize wireless transmission of energy; the receiving end is used to capture the high-frequency alternating current from the transmitting end through the receiving coil and transmit it to the wireless charging unit.

[0010] As a further improvement of the present technical solution, the wireless power supply unit includes a power supply energy storage module, a power supply control processor, a power supply drive module and a power conversion module;

[0011] The power supply energy storage module includes a power supply battery, which can store energy received and converted from the wireless terminal to provide continuous power to the wireless charging unit;

[0012] The power supply control processor is used to detect the data of the power supply battery in real time, and generate control instructions for the power supply drive module and the power conversion module in combination with the power supply instructions;

[0013] The power supply drive module is used to generate corresponding drive signals according to the control instructions issued by the power supply control processor to adjust the working state of the power conversion module;

[0014] The power conversion module is used to convert the direct current in the power supply energy storage module into a high-frequency alternating electromagnetic field according to the control instructions issued by the power supply control processor, realize power conversion through the H-bridge structure, and drive the transmitter to generate high-frequency alternating current for wireless transmission.

[0015] As a further improvement of this technical solution, the wireless charging unit includes a charging energy storage module, a rectification and voltage regulation module and a charging control processor;

[0016] The rechargeable energy storage module includes a rechargeable battery, which can provide a source of power for the sensor measurement unit, enabling it to perform wireless transmission when there is no external power supply;

[0017] The rectifier and voltage regulator module is used to convert the obtained high-frequency AC power into DC power through rectification and perform voltage stabilization on the DC power to output a constant DC voltage;

[0018] The charging control processor is used to detect the data of the rechargeable battery in real time and implement the charging process in combination with the charging instructions.

[0019] As a further improvement of the present technical solution, during the power supply process of the wireless power supply unit, an indicator light is set outside the wireless charging unit, and the indicator light indicates the status of charging, charging completion, and charging failure through different colors and flashing frequencies.

[0020] As a further improvement to the present technical solution, the energy management unit monitors the remaining energy of the wireless charging unit, generates charging instructions and power supply instructions based on adaptive energy recovery fuzzy control, and thereby adjusts the charging strategy of the wireless charging unit and the power supply mode of the wireless power supply unit. The specific steps are as follows:

[0021] S41, calculate in real time the ratio of the energy received by the wireless charging unit to the energy emitted by the wireless power supply unit, and then evaluate the real-time energy transmission efficiency η of the coupling unit in combination with the motion posture data and environmental data eff (t);

[0022] S42: Generate a charging instruction based on the remaining energy of the wireless charging unit, wherein the charging instruction includes a target charging current. and target charging voltage and target charging mode, and dynamically adjust the target charging mode in combination with adaptive energy recovery fuzzy control;

[0023] S43, according to the preset target transmission efficiency η target Subtract the energy transfer efficiency η eff (t) Get the transmission efficiency deviation Δη, take Δη as the input variable, define low deviation, medium deviation and high deviation, set the corresponding membership function, construct fuzzy rules, and obtain the power supply adjustment coefficient K through fuzzy reasoning based on the fuzzy rules. f , combined with the preset nominal power supply P0 and power supply adjustment coefficient K f , calculate the target output power, thereby generating a power supply instruction and adjusting the power output of the wireless power supply unit so that the energy transmission meets the power supply requirements of the sensor measurement unit;

[0024] S44. When it is detected that the remaining energy of the wireless charging unit is lower than the safety threshold for a long time, and the energy balance cannot be effectively restored after the above-mentioned charging instructions and power supply instructions are implemented, the energy management unit triggers the exception handling mechanism, generates a backup power supply instruction, switches to the backup power supply mode, and issues a fault warning.

[0025] As a further improvement of this technical solution, the specific process of the adaptive energy recovery fuzzy control for dynamically adjusting the charging mode is as follows:

[0026] S421. Divide the charging mode into a fast charging mode μ1, a normal charging mode μ2, and a slow charging mode μ3, and define the boundary threshold T1 between fast charging and normal charging, the boundary threshold T2 between normal charging and slow charging, and the transition zone width ΔT;

[0027] S422. Obtain the energy E recovery (t) captured by the energy recovery device within the time t, the energy recovery efficiency η recovery and the energy recovery status S recovery , incorporate the contribution of the energy recovery device into the remaining energy calculation, generate the equivalent remaining energy P eff (t), and use the ratio of the recovered energy to the maximum recoverable energy as the current energy recovery intensity α(t);

[0028] S423. Use the equivalent remaining energy P eff (t) and the energy recovery factor α(t) as inputs together, adjust the fuzzy membership function, and finally obtain the charging mode command C final combined with the energy recovery status through weighted averaging; The specific adjustment of the fuzzy membership function is as follows:

[0029] Membership degree μ1 of the remaining energy belonging to the fast charging mode:​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​

[0037] When T2 - ΔT ≤ P eff <When T2 + ΔT, the membership degree μ2 of normal charging is in the transition of exiting the normal charging mode;

[0038] The membership degree μ3 of the remaining energy belonging to the slow charging mode:

[0039] When P eff <When < T2 - ΔT, the slow charging mode is exited;

[0040] When T2 - ΔT ≤ P eff <When T2 + ΔT, the membership degree μ3 of slow charging is in the transition of starting the slow charging mode;

[0041] When P eff ≥ T2 + ΔT, the slow charging mode is entered.

[0042] As a further improvement of this technical solution, the energy management unit can also judge whether the energy transmission efficiency η eff (t) is lower than the set threshold value, then it is determined that the relative position deviation or angle deviation between the transmitter and the receiver causes energy loss. The energy management unit calculates the position correction value and the angle correction value according to the adaptive inversion coupling calibration method, and generates an auxiliary adjustment instruction to send to the coupling unit. <0oo0195>As a further improvement of this technical solution, the specific steps for the energy management unit to calculate the ideal relative position and angle correction values according to the adaptive inversion coupling calibration method are as follows:

[0044] S45. When there is no angle deviation and position deviation, the transmission efficiency is η0. When there are angle deviation Δθ and position deviation Δd, a theoretical coupling efficiency model is established;

[0045] S46. Using the established coupling efficiency model and combining the angle data and displacement data extracted in real time from the motion attitude data of the marine riser, an adaptive calibration model is constructed;

[0046] S47. Obtain the initial angle estimate value Δθ current and the initial position estimate value Δd current , use the actually measured η eff (t) to invert the theoretical coupling efficiency model, calculate the position correction value Δd est and the angle correction value Δθ est , use the adaptive calibration model to dynamically update the parameters in the inversion process, so as to generate an auxiliary adjustment instruction to send to the coupling unit.

[0047] As a further improvement of the present technical solution, the coupling unit further includes a control and adjustment module, which is connected to a mechanical adjustment mechanism for adjusting the position and angle of the transmitter and the receiver. The control and adjustment module can receive auxiliary adjustment instructions. After receiving the auxiliary adjustment instructions, the mechanical adjustment mechanism is activated to perform displacement or rotation operations on the transmitter and the receiver until the position correction value Δd set in the auxiliary adjustment instruction is reached. est and angle correction value Δθ est .

[0048] Compared with the prior art, the present invention has the following beneficial effects:

[0049] This underwater wireless dedicated charging device for monitoring the motion posture of marine risers dynamically adjusts the charging mode based on real-time evaluation of residual energy and energy recovery intensity, combined with adaptive energy recovery fuzzy control. Through graded switching of three charging modes (fast, normal, and slow) and transition zone threshold design, the system's adaptability and stability in complex marine environments are significantly improved. By responding to variables such as vibration interference in real time, the efficiency and reliability of wireless energy transmission are ensured, avoiding monitoring interruptions caused by coupling failure or energy fluctuations, and ultimately achieving the goals of improved energy efficiency, enhanced system stability, and long-term stable operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 It is the overall flow chart of the present invention;

[0051] Figure 2 This is a flowchart of the wireless charging unit, wireless power supply unit, and coupling unit in the present invention;

[0052] The meaning of each number in the figure is:

[0053] 1. Sensor measurement unit; 2. Wireless charging unit; 21. Charging energy storage module; 22. Rectifier and voltage stabilization module; 23. Charging control processor; 3. Wireless power supply unit; 31. Power supply energy storage module; 32. Power supply control processor; 33. Power supply drive module; 34. Power conversion module; 4. Energy management unit; 5. Coupling unit; 51. Transmitter; 52. Receiver; 53. Control and regulation module. DETAILED DESCRIPTION

[0054] The following will provide a clear and complete description of the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0055] Example

[0056] See also Figure 1-2 As shown, an underwater wireless dedicated charging device for monitoring the motion posture of marine riser is provided, including.

[0057] The sensor measurement unit 1 is used to collect the motion posture data and marine environment data of the marine riser in real time, and transmit the motion posture data and environmental data to the energy management unit 4. The sensor measurement unit 1 is connected to the wireless charging unit 2 via a wired connection; the wireless charging unit 2 is used to convert the high-frequency alternating electromagnetic field into direct current according to the charging instruction, thereby providing energy supply for the sensor measurement unit 1;

[0058] The wireless power supply unit 3 is used to transmit a high-frequency alternating electromagnetic field to the wireless charging unit 2 according to the power supply instruction;

[0059] The motion posture data of the marine riser includes the riser inclination angle and the angle data and displacement data of the transmitting end 51 and the receiving end 52 in the coupling unit 5, specifically the angle data and displacement data of the transmitting coil and the receiving coil;

[0060] Marine environmental data include water speed and direction, water pressure and depth, temperature and salinity, and wave height and frequency;

[0061] The energy management unit 4 is used to monitor the remaining energy of the wireless charging unit 2, dynamically adjust the charging mode according to the adaptive energy recovery fuzzy control to generate charging instructions and power supply instructions, thereby adjusting the charging strategy of the wireless charging unit 2 and the power supply mode of the wireless power supply unit 3;

[0062] The coupling unit 5 is used to achieve bidirectional energy transfer between the wireless charging unit 2 and the wireless power supply unit 3 through magnetic field coupling, so that the high-frequency alternating electromagnetic field emitted by the wireless power supply unit 3 can be received by the wireless charging unit 2 and converted into direct current, thereby providing energy for the sensor measurement unit 1;

[0063] The coupling unit 5 includes a transmitting end 51 and a receiving end 52; wherein the transmitting end 51 is used to wirelessly radiate the high-frequency alternating current output by the wireless power supply unit 3 (specifically, the power conversion module 34) through the transmitting coil to achieve wireless energy transmission; the receiving end 52 is used to capture the high-frequency alternating current from the transmitting end 51 through the receiving coil and transmit it to the wireless charging unit 2 (specifically, the rectifier and voltage regulator module 23);

[0064] The wireless power supply unit 3 includes a power supply energy storage module 31, a power supply control processor 32, a power supply driving module 33 and a power conversion module 34;

[0065] The power supply energy storage module 31 includes a power supply battery (lithium-ion battery), which can store energy received and converted from the wireless terminal to provide continuous power supply for the wireless charging unit 2;

[0066] The power supply control processor 32 is used to detect the data of the power supply battery in real time, and generate control instructions for the power supply drive module 32 and the power conversion module 33 in combination with the power supply instructions;

[0067] The power supply drive module 33 is used to generate corresponding drive signals according to the control instructions issued by the power supply control processor 32, and adjust the working state of the power conversion module 34. It is mainly responsible for driving and controlling the H-bridge to prevent instantaneous short circuits and overcurrent, and achieves low-loss charging through this module circuit.

[0068] The power conversion module 34 is used to convert the DC power in the power supply energy storage module 31 into a high-frequency alternating electromagnetic field according to the control instructions issued by the power supply control processor 32, realize power conversion through the H-bridge structure, and drive the transmitter 51 to generate high-frequency alternating current for wireless transmission; transfer the energy to the wireless charging unit 2, and ultimately ensure that the sensor measurement unit 1 obtains a continuous and reliable energy supply; the H-bridge circuit realizes the switching of the direction of the current through voltage control, generates an oscillating current, and radiates energy outward.

[0069] The wireless charging unit 2 includes a charging energy storage module 21, a rectification and voltage regulation module 22 and a charging control processor 23;

[0070] The charging energy storage module 21 includes a rechargeable battery, which can provide a source of power for the sensor measurement unit 1, enabling it to perform wireless transmission when there is no external power supply;

[0071] The rectifier and voltage regulator module 22 is used to convert the obtained high-frequency alternating current into direct current through rectification, and to perform voltage stabilization on the direct current, thereby outputting a constant direct current voltage;

[0072] The charging control processor 23 is used to detect the data of the rechargeable battery in real time and implement the charging process in combination with the charging instructions; through the ACD of the microcontroller, the two voltage values ​​are collected to know whether there is a device (sensor) currently connected and what the output voltage value is. It can also monitor the lithium battery voltage in the charging state, and then control the overall charging process based on the voltage data.

[0073] The specific process of this embodiment is as follows:

[0074] The sensor measurement unit 1 collects real-time motion and environmental data from the marine riser and transmits this data to the energy management unit 4 via a wired connection. The energy management unit 4 dynamically generates charging and power supply instructions based on the remaining energy in the wireless charging unit 2, the real-time transmission efficiency, and the adaptive energy recovery fuzzy control strategy. Upon receiving the power supply instruction, the wireless power supply unit 3, through the power supply control processor 32, coordinates the power supply driver module 33 and the power conversion module 34 to convert the direct current from the power supply energy storage module 31 (lithium-ion battery) into a high-frequency alternating electromagnetic field. This energy is then wirelessly transmitted to the receiving end 52 via the transmitting end 51 (transmitting coil) of the coupling unit 5. The receiving end 52 (receiving coil) captures the high-frequency electromagnetic field and converts it into alternating current. After rectification and voltage regulation by the rectifier and voltage regulator module 22 of the wireless charging unit 2, the receiving end charges the charging energy storage module 21 (rechargeable battery) while also directly supplying power to the sensor measurement unit 1 via a wired connection. The charging control processor 23 monitors the status of the rechargeable battery in real time and adjusts the charging process based on the charging instruction. During the entire process, the energy management unit 4 continuously monitors the energy balance. If it detects that the remaining energy of the wireless charging unit 2 is lower than the safety threshold for a long time and conventional adjustments are ineffective, it will trigger the backup power mode and issue a fault warning to ensure system reliability.

[0075] During the power supply process of the wireless power supply unit 3, an indicator light is provided on the outside of the wireless charging unit 2, which indicates the status of charging, charging completion and charging failure through different colors and flashing frequencies;

[0076] Specifically: a solid green light or a slow breathing flash indicates that the wireless charging unit 2 is receiving and converting energy to power the sensor measurement unit 1 or its own rechargeable battery. A solid green light indicates that the system is in normal working condition and there is no risk of overheating or short circuit. A solid blue light or a rapid flash followed by a extinguishing light clearly informs the user that the charging process is complete and the rechargeable battery is full. The device can be removed or switched to low power mode, triggering the energy management unit 4 to stop powering and avoid overcharging. A fast flashing red light (e.g., 3 flashes per second) or a continuous red light indicates that the system has detected an abnormality (e.g., coupling failure, overheating, short circuit, or battery failure) and requires immediate intervention to automatically cut off energy transmission.

[0077] The energy management unit 4 monitors the remaining energy of the wireless charging unit 2 and generates charging instructions and power supply instructions based on the adaptive energy recovery fuzzy control, thereby adjusting the charging strategy of the wireless charging unit 2 and the power supply mode of the wireless power supply unit 3. The specific steps are as follows:

[0078] S41, calculate in real time the ratio of the energy received by the wireless charging unit 2 to the energy emitted by the wireless power supply unit 3, and then evaluate the real-time energy transmission efficiency η of the coupling unit 5 in combination with the motion posture data and environmental data eff (t);

[0079]

[0080] Where η eff (t) is the energy transfer efficiency at time t; E received (t) is the total energy received by the wireless charging unit at time t; E transmitted (t) is the total energy emitted at time t; w i is the influence weight of the i-th environmental parameter on energy transmission efficiency; x i (t) is the measured value of the i-th environmental parameter at time t; x i，ref is the reference value of the i-th environmental parameter; x i，max is the maximum allowable deviation of the i-th environmental parameter; λ is the penalty coefficient (dimensionless) for the influence of motion posture, which indicates the degree to which tilt vibration weakens the transmission efficiency; FFT is the fast Fourier transform operation; θ(t) is the tilt angle at time t. By analyzing the frequency distribution of tilt vibration through FFT, the magnetic coupling misalignment caused by high-frequency vibration can be identified, thereby improving the accuracy of efficiency evaluation.

[0081] FFT(θ(t)) analyzes the vibration frequency distribution of the inclination angle θ(t) and identifies high-frequency vibrations (such as mechanical resonance frequency). High-frequency vibrations are amplified by the penalty coefficient λ, exacerbating the reduction of the denominator and thus strengthening the η eff (t) inhibitory effect;

[0082] If the measured value of the environmental data x i (t) Deviation from reference value x i，ref If the water velocity is too high or the inclination angle is too large), then the x in the denominator i，max The maximum allowable deviation) is subtracted from the high-frequency vibration penalty term (λ*FFT(θ(t))) obtained by FFT analysis, resulting in a smaller denominator, an increase in the penalty term, and ultimately a reduction in η eff (t);

[0083] When the ocean fluid disturbance or the riser vibrates violently, causing the transmitter and receiver coils to be misaligned, the energy transmission efficiency η eff (t) drops suddenly. By real-time monitoring of the high-frequency vibration of θ(t) (FFT analysis), the charging mode is dynamically adjusted (e.g., switching to slow mode) in combination with the penalty coefficient λ to reduce power to ensure coupling stability and avoid interruption.

[0084] When a deep-sea high pressure or temperature mutation causes the device to deform, causing the energy transmission path to be abnormal, the weight w i Perform weighted penalties on the real-time deviation of environmental parameters, triggering the energy management unit 4 to dynamically adjust the transmission power or switch the power supply mode to maintain η eff The stability of (t) is evaluated in real time by eff(t), the system can quickly respond to environmental changes (such as sudden water flow or vibration), avoiding the sudden drop in efficiency caused by fixed strategies.

[0085] S42: Generate a charging instruction based on the remaining energy of the wireless charging unit 2, wherein the charging instruction includes a target charging current. and target charging voltage and target charging mode, and dynamically adjust the charging mode in combination with adaptive energy recovery fuzzy control;

[0086]

[0087]

[0088] Where, is the target charging current; I0 ​​is the basic charging current; α0 is the charging current adjustment coefficient; is the target charging voltage; V0 is the basic charging voltage; β0 is the charging voltage adjustment coefficient; E max is the maximum energy of the rechargeable battery; E res The remaining energy of the rechargeable battery;

[0089] The specific process of dynamically adjusting the charging mode in combination with adaptive energy recovery fuzzy control is as follows:

[0090] S421, dividing the charging mode into a fast charging mode μ1, a normal charging mode μ2, and a slow charging mode μ3, and defining a demarcation threshold T1 between fast charging and normal charging, a demarcation threshold T2 between normal charging and slow charging, and a transition region width ΔT;

[0091] The charging mode is divided into three modes: fast (μ1), normal (μ2), and slow (μ3). This allows the system to flexibly switch according to the real-time energy state. For example, fast charging prioritizes rapid energy replenishment to improve efficiency when energy is sufficient and the environment allows (such as high energy recovery intensity). Slow charging reduces the charging rate to extend device life and avoid overload when energy is insufficient or environmental interference is large (such as low recovery efficiency). Thresholds T1 and T2 define the critical points for mode switching (such as the remaining energy percentage) to ensure a smooth transition of the system when the energy state changes. The transition zone ΔT avoids frequent mode switching (such as fast → normal → fast oscillation) caused by measurement errors or environmental fluctuations, thereby improving system stability.

[0092] S422: Obtain the energy E captured by the energy recovery device within time t. recovery (t), energy recovery efficiency η recovery and energy recovery state S recovery , the contribution of the energy recovery device is included in the residual energy calculation to generate the equivalent residual energy P eff(t), and take the ratio of the recovered energy to the maximum recoverable energy as the current energy recovery intensity α(t); when α(t) is high, the system can preferentially use the recovered energy for fast charging; when α(t) is low, switch to the slow mode to reduce the burden on the main power supply;

[0093] P eff (t) = P(t) + η recovery ·E recovery (t)·S recovery

[0094]

[0095] Where, S recovery is a binary variable used to indicate whether there is an effective energy recovery opportunity at the current moment. When S recovery = 1, it means that the current environmental conditions are suitable for energy recovery, for example, the water flow speed in the ocean exceeds the preset threshold; while when S recovery = 0, it indicates that the energy recovery device cannot be effectively utilized under the current environment;

[0096] η recovery is a value between 0 and 1, representing the proportion of energy that the energy recovery device can capture from the environment and convert into an available form. For example, if a system can convert 50% of the kinetic energy into electrical energy, then its energy recovery efficiency η recovery is 0.5. Through η recovery (such as 0.5 representing a 50% conversion rate) reflects the loss of actual energy recovery, avoids overestimating the recovery potential, ensures that the charging instruction is based on the actual recoverable energy, and avoids the risk of overcharging or undercharging caused by efficiency fluctuations;

[0097] S423. Take the equivalent remaining energy P eff (t) and the energy recovery factor α(t) as inputs together, adjust the fuzzy membership function, and finally obtain the charging mode instruction C final combining the energy recovery state through weighted average; The specific adjustment of the fuzzy membership function is as follows:

[0098] The membership degree μ1 of the remaining energy belonging to the fast charging mode

[0099] When P eff < T1 - ΔT, then enter the fast charging mode;

[0100] When T1 - ΔT ≤ P eff < T1 + ΔT, then the membership degree μ1 of fast charging is in the transitional attenuation fast charging mode; μ1 decreases linearly with the increase of the equivalent energy P eff and is inhibited by the energy recovery intensity α;

[0101] When Peff When it is ≥ T1 + ΔT, the fast charging mode is exited;

[0102] The membership degree μ2 of the remaining energy belonging to the normal charging mode

[0103] When P eff < T1 - ΔT or P eff ≥ T2 + ΔT, the normal charging mode is exited;

[0104] When T1 - ΔT ≤ P eff < T1 + ΔT, the normal charging membership degree μ2 is in the transitional startup normal charging mode; μ2 increases linearly with P eff and the energy recovery intensity α will enhance the weight of this mode;

[0105] When T1 + ΔT ≤ P eff < T2 - ΔT, the normal charging mode is entered;

[0106] When T2 - ΔT ≤ P eff < T2 + ΔT, the normal charging membership degree μ2 is in the transitional exit normal charging mode; μ2 decreases linearly with P eff and the energy recovery intensity α will accelerate the exit;

[0107] The membership degree μ3 of the remaining energy belonging to the slow charging mode

[0108] When P eff < T2 - ΔT, the slow charging mode is exited;

[0109] When T2 - ΔT ≤ P eff < T2 + ΔT, the slow charging membership degree μ3 is in the transitional startup slow charging mode; μ3 increases linearly with P eff and the energy recovery intensity α significantly enhances the weight of this mode;

[0110] When P eff ≥ T2 + ΔT, the slow charging mode is entered;

[0111] The energy recovery factor α can inhibit fast charging and strengthen normal and slow charging: when the energy recovery intensity is high, even if the equivalent energy is low, the system will reduce the fast charging demand and preferentially utilize the recovered energy; in the medium equivalent energy range, high α will prompt the system to transition to normal charging earlier; in the high equivalent energy range, high α will force an early entry into the slow charging mode.

[0112] The specific expression is:

[0113]

[0114] The final charging mode is determined by weighted average:

[0115]

[0116] Where, β is the energy recovery priority coefficient; C recovery It is the charging instruction in pure energy recovery mode;

[0117] C final Logical division of threshold intervals:

[0118] Fast charging mode (external charging first):

[0119] C final Close to the lower limit of 1.0, corresponding to low equivalent energy and low energy recovery scenarios;

[0120] The interval is [1.0, 1.5), covering the mixed mode dominated by fast charging (such as fast charging + weak recycling);

[0121] Normal charging mode (balanced charging and recycling):

[0122] C final Located in the middle range, corresponding to medium energy or medium recovery intensity;

[0123] The division interval is [1.5, 2.5), allowing external charging and energy recovery to work together;

[0124] Slow charging mode (prioritizes energy recovery):

[0125] C final Close to the upper limit of 3.0, corresponding to high equivalent energy or strong recovery scenarios;

[0126] The partition interval is [2.5,3.0], forcing the system to rely on recycled energy.

[0127] The target charging mode C final , target charging current and target charging voltage The charging instructions are integrated into the charging instructions and transmitted to the charging control processor 23 .

[0128] S43, according to the preset target transmission efficiency η target Subtract the energy transfer efficiency η eff (t) Get the transmission efficiency deviation Δη, take Δη as the input variable, define low deviation, medium deviation and high deviation, set the corresponding membership function, construct fuzzy rules, and obtain the power supply adjustment coefficient K through fuzzy reasoning based on the fuzzy rules. f , combined with the preset nominal power supply P0 and power supply adjustment coefficient K f, calculating the target output power, thereby generating a power supply instruction, adjusting the power output of the wireless power supply unit (3), so that the energy transmission meets the power supply demand of the sensor measurement unit (1); the power supply instruction includes the target output power;

[0129] Δη=η target -η eff (t)

[0130] The fuzzy rule determines the power supply adjustment coefficient according to the range of Δη, and then generates the output power according to the determined adjustment coefficient:

[0131]

[0132] The output power is transmitted to the power supply control processor 32;

[0133] S44. When it is detected that the remaining energy of the wireless charging unit 2 is lower than the safety threshold for a long time and the aforementioned optimization measures fail to effectively restore the energy balance, the energy management unit 4 immediately triggers the abnormality handling mechanism, generates a backup power supply instruction, switches to the backup power supply mode, and issues a fault warning;

[0134] The energy management unit 4 can also determine the energy transmission efficiency η of the coupling unit 5 eff When (t) is lower than the set threshold, it is determined that the relative position deviation or angle deviation between the transmitting end 51 and the receiving end 52 causes energy loss. The energy management unit 4 calculates the position correction value and the angle correction value according to the adaptive inversion coupling calibration method, and generates an auxiliary adjustment instruction and sends it to the coupling unit 5.

[0135] The specific steps for the energy management unit 4 to calculate the ideal relative position and angle correction value according to the adaptive inversion coupling calibration method are as follows:

[0136] S45. When there is no angle deviation and position deviation, specifically, when there is no angle deviation and displacement deviation between the transmitting coil and the receiving coil, the transmission efficiency is η0.

[0137] When there is an angle deviation Δθ and a position deviation Δd, a theoretical coupling efficiency model is established;

[0138] η=η0·cos(Δθ)·exp(-γ·∣Δd∣)

[0139] Where γ is the sensitivity coefficient of coupling efficiency to displacement change;

[0140] S46. constructing an adaptive calibration model by using the established coupling efficiency model and combining the angle data and displacement data extracted in real time from the motion posture data of the marine riser;

[0141] η=η0·f calibrate (Δθ, Δd)

[0142] Where, f calibrate (Δθ, Δd) is a dynamically updated calibration function used to correct the calculation error of the theoretical efficiency model;

[0143] S47, obtaining an initial angle estimation value Δθ through a sensor current and the initial position estimate Δd current , using the actual measured η eff (t) Inverse the theoretical coupling efficiency model to calculate the position correction value Δd est and angle correction value Δθ est , using the adaptive calibration model to dynamically update the parameters in the inversion process, thereby generating auxiliary adjustment instructions and sending them to the coupling unit 5;

[0144] According to the measured transmission efficiency η eff (t), the deviation correction value required for the inversion solution:

[0145]

[0146] The calibration model calibrates the sensitivity coefficient γ of the coupling efficiency to the displacement change and the initial angle estimate Δθ current and the initial position estimate Δd current ;

[0147] The coupling unit 5 also includes a control and adjustment module 53, which is connected to a mechanical adjustment mechanism (such as a servo motor, a stepper motor, a hydraulic or pneumatic actuator) for adjusting the position and angle of the transmitter 51 and the receiver 52. The control and adjustment module 53 can receive auxiliary adjustment instructions. After receiving the auxiliary adjustment instructions, the mechanical adjustment mechanism is activated to perform displacement or rotation operations on the transmitter 51 and the receiver 52 until the position correction value Δd set in the auxiliary adjustment instruction is reached. est and angle correction value Δθ est .

[0148] The basic principles, main features, and advantages of the present invention are shown and described above. It should be understood by those skilled in the art that the present invention is not limited to the above-described embodiments. The above-described embodiments and descriptions are merely preferred examples of the present invention and are not intended to limit the present invention. Various changes and modifications may be made to the present invention without departing from the spirit and scope of the present invention, and such changes and modifications fall within the scope of the invention claimed.

Claims

1. An underwater wireless dedicated charging device for monitoring the motion posture of marine risers, characterized in that: include: A sensor measurement unit (1) is used to collect motion posture data and marine environment data of the marine riser in real time, and transmit the motion posture data and environment data to an energy management unit (4). The sensor measurement unit (1) is connected to a wireless charging unit (2) via a wired manner, and the wireless charging unit (2) is used to convert a high-frequency alternating electromagnetic field into direct current according to a charging instruction, thereby providing energy supply for the sensor measurement unit (1). A wireless power supply unit (3), the wireless power supply unit (3) being configured to transmit a high-frequency alternating electromagnetic field to the wireless charging unit (2) according to a power supply instruction; The energy management unit (4) is used to monitor the remaining energy of the wireless charging unit (2), dynamically adjust the charging mode according to the adaptive energy recovery fuzzy control to generate charging instructions and power supply instructions, thereby adjusting the charging strategy of the wireless charging unit (2) and the power supply mode of the wireless power supply unit (3); A coupling unit (5) is used to achieve bidirectional energy transfer between the wireless charging unit (2) and the wireless power supply unit (3) through magnetic field coupling, and can enable the high-frequency alternating electromagnetic field emitted by the wireless power supply unit (3) to be received by the wireless charging unit (2) and converted into direct current, thereby providing energy for the sensor measurement unit (1).

2. The underwater wireless dedicated charging device for monitoring the motion posture of a marine riser according to claim 1, characterized in that: The coupling unit (5) includes a transmitting end (51) and a receiving end (52); The transmitting end (51) is used to radiate the high-frequency alternating current output by the wireless power supply unit (3) through the transmitting coil in a wireless manner, thereby realizing wireless transmission of energy. The receiving end (52) is used to capture the high-frequency alternating current from the transmitting end (51) through a receiving coil and transmit it to the wireless charging unit (2).

3. The underwater wireless dedicated charging device for monitoring the motion posture of a marine riser according to claim 2, characterized in that: The wireless power supply unit (3) comprises a power supply energy storage module (31), a power supply control processor (32), a power supply drive module (33) and a power conversion module (34); The power supply energy storage module (31) includes a power supply battery, which is capable of storing energy received and converted from the wireless terminal, and providing continuous power supply for the wireless charging unit (2); The power supply control processor (32) is used to detect data of the power supply battery in real time, and generate control instructions for the power supply drive module (32) and the power conversion module (33) in combination with the power supply instructions; The power supply drive module (33) is used to generate a corresponding drive signal according to the control instruction issued by the power supply control processor (32) to adjust the working state of the power conversion module (34); The power conversion module (34) is used to convert the direct current in the power supply energy storage module (31) into a high-frequency alternating electromagnetic field according to the control instructions issued by the power supply control processor (32), realize power conversion through the H-bridge structure, and drive the transmitting end (51) to generate high-frequency alternating current for wireless transmission.

4. The underwater wireless dedicated charging device for monitoring the motion posture of a marine riser according to claim 3 is characterized in that: The wireless charging unit (2) comprises a charging energy storage module (21), a rectifying and voltage stabilizing module (22), and a charging control processor (23); The charging energy storage module (21) includes a rechargeable battery, which can provide a source of electrical energy for the sensor measurement unit (1), enabling it to perform wireless transmission when there is no external power supply; The rectifier and voltage stabilization module (22) is used to convert the obtained high-frequency alternating current into direct current through rectification, and to perform voltage stabilization on the direct current, thereby outputting a constant direct current voltage; The charging control processor (23) is used to detect the data of the rechargeable battery in real time and implement the charging process in combination with the charging instruction.

5. The underwater wireless dedicated charging device for monitoring the motion posture of a marine riser according to claim 4 is characterized in that: During the power supply process of the wireless power supply unit (3), an indicator light is provided on the outside of the wireless charging unit (2), and the indicator light indicates the states of charging, charging completion, and charging failure through different colors and flashing frequencies.

6. The underwater wireless dedicated charging device for monitoring the motion posture of a marine riser according to claim 5, characterized in that: In the energy management unit (4), the remaining energy of the wireless charging unit (2) is monitored, and a charging instruction and a power supply instruction are generated according to the adaptive energy recovery fuzzy control, thereby adjusting the charging strategy of the wireless charging unit (2) and the power supply mode of the wireless power supply unit (3). The specific steps are as follows: S41, calculating in real time the ratio of the energy received by the wireless charging unit (2) to the energy emitted by the wireless power supply unit (3), and then evaluating the real-time energy transmission efficiency η of the coupling unit (5) in combination with the motion posture data and the environmental data eff (t); S42, generating a charging instruction according to the remaining energy of the wireless charging unit (2), wherein the charging instruction includes a target charging current and target charging voltage and target charging mode, and dynamically adjust the target charging mode in combination with adaptive energy recovery fuzzy control; S43, according to the preset target transmission efficiency η target Subtract the energy transfer efficiency η eff (t) Get the transmission efficiency deviation Δη, take Δη as the input variable, define low deviation, medium deviation and high deviation, set the corresponding membership function, construct fuzzy rules, and obtain the power supply adjustment coefficient K through fuzzy reasoning based on the fuzzy rules. f , combined with the preset nominal power supply P0 and power supply adjustment coefficient K f , calculating the target output power, thereby generating a power supply instruction, and adjusting the power output of the wireless power supply unit (3) so that the energy transmission meets the power supply demand of the sensor measurement unit (1); S44. When it is detected that the remaining energy of the wireless charging unit (2) is lower than the safety threshold for a long time, and the energy balance cannot be effectively restored after the aforementioned charging instruction and power supply instruction are implemented, the energy management unit (4) triggers the abnormality handling mechanism, generates a backup power supply instruction, switches to the backup power supply mode, and issues a fault warning.

7. The underwater wireless dedicated charging device for monitoring the motion posture of a marine riser according to claim 6, characterized in that: The specific process of the adaptive energy recovery fuzzy control to dynamically adjust the charging mode is as follows: S421, dividing the charging mode into a fast charging mode μ1, a normal charging mode μ2, and a slow charging mode μ3, and defining a demarcation threshold T1 between fast charging and normal charging, a demarcation threshold T2 between normal charging and slow charging, and a transition region width ΔT; S422. Obtaining the energy E captured by the energy recovery device within time t. recovery (t), energy recovery efficiency η recovery and energy recovery state S recovery , the contribution of the energy recovery device is included in the residual energy calculation to generate the equivalent residual energy P eff (t), and the ratio of the recovered energy to the maximum recoverable energy is the current energy recovery intensity α(t); S423, the equivalent remaining energy P eff (t) and the energy recovery factor α(t) are taken as inputs to adjust the fuzzy membership function, and finally the charging mode instruction C combined with the energy recovery state is obtained by weighted average. final ; Adjust the fuzzy membership function as follows: The membership μ1 of the remaining energy belonging to the fast charging mode: When P eff <When T1 - ΔT, enter the fast charging mode; When T1 - ΔT ≤ P eff <When T1 + ΔT, the membership degree μ1 of fast charging is in the transitional attenuation fast charging mode; When P eff When ≥T1+ΔT, exit fast charging mode; The remaining energy belongs to the normal charging mode with a membership μ2: When P eff <T1 - ΔT or P eff ≥ T2 + ΔT, then exit the normal charging mode; When T1 - ΔT ≤ P eff <When T1 + ΔT, the membership degree of normal charging μ2 is in the transitional start normal charging mode; When T1 + ΔT ≤ P eff <When T2 - ΔT, it enters the normal charging mode; When T2 - ΔT ≤ P eff <When T2 + ΔT, the membership degree μ2 of normal charging is in the transition of exiting the normal charging mode; The membership degree μ3 of the remaining energy belonging to the slow charging mode is: When P eff <When T2 - ΔT, the slow charging mode is exited; When T2 - ΔT ≤ P eff <When T2 + ΔT, the membership degree μ3 of slow charging is in the transitional start slow charging mode; When P eff When ≥T2+ΔT, it enters slow charging mode.

8. The underwater wireless dedicated charging device for monitoring the motion posture of a marine riser according to claim 7, characterized in that: The energy management unit (4) can also determine the energy transmission efficiency η of the coupling unit (5) eff When (t) is lower than a set threshold, it is determined that the relative position deviation or angle deviation between the transmitting end (51) and the receiving end (52) causes energy loss, and the energy management unit (4) calculates the position correction value and the angle correction value according to the adaptive inversion coupling calibration method, and generates an auxiliary adjustment instruction and sends it to the coupling unit (5).

9. The underwater wireless dedicated charging device for monitoring the motion posture of a marine riser according to claim 8, characterized in that: The specific steps of the energy management unit (4) calculating the ideal relative position and angle correction value according to the adaptive inversion coupling calibration method are as follows: S45. When there is no angle deviation and position deviation, the transmission efficiency is η0. When there is an angle deviation Δθ and a position deviation Δd, a theoretical coupling efficiency model is established; S46. constructing an adaptive calibration model by using the established coupling efficiency model and combining the angle data and displacement data extracted in real time from the motion posture data of the marine riser; S47, obtaining an initial angle estimation value Δθ through a sensor current and the initial position estimate Δd current , using the actual measured η eff (t) Inverse the theoretical coupling efficiency model to calculate the position correction value Δd est and angle correction value Δθ est , using the adaptive calibration model to dynamically update the parameters in the inversion process, thereby generating auxiliary adjustment instructions and sending them to the coupling unit (5).

10. The underwater wireless dedicated charging device for monitoring the motion posture of a marine riser according to claim 9, characterized in that: The coupling unit (5) further comprises a control and adjustment module (53), the control and adjustment module (53) being connected to a mechanical adjustment mechanism for adjusting the position and angle of the transmitting end (51) and the receiving end (52), the control and adjustment module (53) being capable of receiving an auxiliary adjustment instruction, and upon receiving the auxiliary adjustment instruction, starting the mechanical adjustment mechanism to perform a displacement or rotation operation on the transmitting end (51) and the receiving end (52) until a position correction value Δd set in the auxiliary adjustment instruction is reached est and angle correction value Δθ est .

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