Underwater vehicle metal detection device based on multiplexing wireless charging receiving coil

Abstract

The invention belongs to the technical field of underwater detection, and discloses an underwater vehicle metal detection device based on a multiplexing wireless charging receiving coil, and the device is characterized in that a current detection module detects the output current of an energy storage device in real time; the alternating current-direct current converter converts direct current provided by the energy storage device into high-frequency alternating current; the receiving side resonance network is used for eliminating reactive power loss caused by independently using the wireless charging receiving coil and driving the wireless charging receiving coil to radiate a high-strength alternating magnetic field to surrounding seawater; when a metal object appears in the detection range, the wireless charging receiving coil is also used for sensing a reverse magnetic field generated by the metal object and generating a reverse induction current; and the current detection module judges the metal target in the detection range by detecting the rising condition of the discharge current of the energy storage device at the moment. The existing wireless charging receiving coil is directly reused, special hardware does not need to be additionally arranged, the structure is simple, and the universality is high.

Description

Technical Field

[0001] This invention belongs to the field of underwater detection technology, and particularly relates to an underwater vehicle metal detection device based on a multiplexed wireless charging receiving coil. Background Technology

[0002] Accurate identification of seabed metal targets (such as sunken equipment wreckage, metal outcrops, underwater pipelines, and mines) is not only a prerequisite for avoiding collisions and ensuring navigational safety, but also a core requirement for improving resource exploration efficiency and expanding operational scenarios. Therefore, developing efficient and reliable seabed metal detection devices has always been a key focus in this field. Summary of the Invention

[0003] To address the aforementioned problems, this invention extends the functionality of existing wireless charging receiver coils, reusing them to achieve seabed metal detection. This invention provides the following technical solution: An underwater vehicle metal detection device based on a multiplexed wireless charging receiving coil includes an energy storage device, and also includes a current detection module, an AC / DC converter, a receiving-side resonant network, and a wireless charging receiving coil connected in sequence. The current detection module is used to detect the output current of the energy storage device in real time. The AC / DC converter is used to convert the DC power provided by the energy storage device into high-frequency AC power. The receiving-side resonant network is used to eliminate the reactive power loss of using the wireless charging receiving coil alone, thereby driving the wireless charging receiving coil to radiate a high-intensity alternating magnetic field to the surrounding seawater. When a metal object appears within the detection range, the wireless charging receiving coil is also used to sense the reverse magnetic field generated by the metal object and generate a reverse induced current. The current detection module determines the metal target within the detection range by detecting the rise in the discharge current of the energy storage device.

[0004] Preferably, the energy storage device is an underwater vehicle battery pack.

[0005] Preferably, the device is also used to charge the battery pack of the underwater vehicle; Based on wireless power transmission technology, the wireless charging receiving coil is used to receive the magnetic field energy emitted by the base station and convert it into high-frequency alternating current; The receiving-side resonant network is used to eliminate the reactive power loss when using a wireless charging receiving coil alone; The AC / DC converter is used to convert the received high-frequency AC power into DC power, thereby charging the underwater vehicle's battery pack.

[0006] The beneficial effects of this invention are as follows: The underwater vehicle metal detection device based on the reuse of wireless charging receiving coil of the present invention (1) saves costs: the traditional solution requires the addition of a dedicated detection coil, independent power supply and control circuit, which not only increases the hardware cost, but also requires investment in research and development to solve the system compatibility problem. The device directly reuses the existing wireless charging receiving coil, without adding new dedicated hardware, which reduces the research and development and manufacturing costs from the source. At the same time, it omits the installation, debugging and maintenance of additional components, reducing the operation and maintenance costs. Since no new load is added, it also avoids the energy consumption and endurance problems caused by structural modification, further saving long-term use costs. (2) Reliable technology and low threshold for implementation: the system is built on mature technology. The wireless charging receiving coil and resonant network have been verified by underwater application and have good stability and environmental adaptability; the current detection adopts industrial-grade sensing technology, which is easy to integrate. Only the detection circuit needs to be added between the battery and the resonant network, without making major changes to the original system. The detection is based on the classic electromagnetic induction principle, with strong anti-interference ability, less affected by water quality and visibility, and high consistency and reliability, which greatly reduces the difficulty of research and development and application. (3) High adaptability and support for multiple devices and scenarios: This device is suitable for any underwater vehicle equipped with wireless charging (such as AUV and ROV), without the need for customized detection components for different devices, and has high versatility. In different operating scenarios, such as shallow sea scientific research, deep sea exploration or equipment maintenance, it is only necessary to adjust the current detection threshold through software to adapt to the detection needs of different metal targets, without the need for hardware changes. At the same time, since it does not increase the size and weight, it is also suitable for scenarios with strict requirements for equipment flexibility and load (such as narrow waterway operations), thus expanding the scope of application. Attached Figure Description

[0007] To more clearly illustrate the technical solution of the present invention, the drawings used in the embodiments are briefly described below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort: Figure 1 This is a schematic diagram of the metal detection device according to Embodiment 1 of the present invention; Figure 2 This is a schematic diagram of the eddy current principle in Embodiment 1 of the present invention; Figure 3 This is a schematic diagram showing the main components of the underwater vehicle in Embodiment 1 of the present invention; Figure 4 A schematic diagram illustrating the working principle of underwater wireless charging. Detailed Implementation

[0008] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0009] Underwater vehicles are core equipment for marine resource exploration, underwater environmental monitoring, and engineering operations, and their technological iteration plays a crucial supporting role in enhancing marine development capabilities. This invention focuses on an expansion of the functionality of underwater vehicles—seabed metal detection. In practical operations, accurately identifying seabed metal targets (such as sunken equipment wreckage, metal outcrops, underwater pipelines, mines, etc.) is not only a prerequisite for avoiding collisions and ensuring navigational safety, but also a core requirement for improving resource exploration efficiency and expanding operational scenarios. Therefore, developing efficient and reliable seabed metal detection devices has always been a key focus in this field. In traditional solutions, underwater vehicles typically rely on independently deployed dedicated detection coils to achieve metal detection. This approach not only increases the structural complexity, size, and energy consumption of the vehicle, but may also reduce overall reliability due to the integration of multiple systems.

[0010] In the wireless charging system of an underwater vehicle, the underwater vehicle is equipped with standardized hardware components such as a receiving coil, a receiving-side resonant network, and an AC / DC converter, which are used for energy reception, efficient energy conversion, and AC / DC conversion, respectively. During conventional wireless charging, these components, together with the battery pack, form a complete energy transmission link: after the vehicle docks with the charging base station, the receiving coil receives the electromagnetic energy emitted by the base station, which is then used to charge the battery pack via the resonant network and AC / DC converter, thus replenishing the electrical energy.

[0011] Wireless power transmission provides power in a contactless manner, offering significant advantages such as high safety and adaptability. This technology is particularly important for underwater vehicles (AUVs and ROVs): they can autonomously dock with underwater charging stations for energy replenishment without surfacing, thereby greatly reducing operational interruptions and significantly improving continuous operation capabilities. For example, in marine scientific expeditions, AUVs equipped with wireless power supply technology can perform long-term water quality monitoring and seabed mapping tasks; during underwater equipment maintenance, sensors and other equipment can also be conveniently powered wirelessly. Wireless charging technology is driving the development of underwater vehicles towards long-duration autonomous operation, providing key technological support for deep-sea resource exploration and development.

[0012] The wireless power transmission system mainly consists of the following components: a power base station that provides basic power to the system, an inverter that is responsible for converting electrical energy into its form, a resonant network between the transmitting and receiving sides to ensure efficient energy transmission, a transmitting coil and a receiving coil that perform the core function of energy transmission, a rectifier that completes the AC-DC conversion, and an underwater vehicle battery pack that ultimately stores electrical energy.

[0013] In terms of deployment location, these components are situated at both ends of the charging base station and the underwater vehicle. The base station integrates a DC power supply, inverter, transmitter-side resonant network, and transmitter coil; the underwater vehicle carries a receiver coil, receiver-side resonant network, AC / DC converter, and battery pack. This layout clearly demonstrates the functional division of labor at both ends and lays the structural foundation for subsequent energy transmission and docking operations.

[0014] However, during underwater vehicle missions, the onboard wireless charging receiver is often idle when not charging, yet it still adds to the overall weight as an extra load, affecting navigation efficiency and limiting endurance. Therefore, realizing the functional reuse of wireless charging equipment has become an important direction for optimizing underwater vehicle design. To address this issue, this invention proposes an innovative solution: using the vehicle's battery as an energy source, an AC / DC converter and a resonant network drive the existing wireless charging receiving coil to emit a high-frequency alternating magnetic field into the surrounding marine environment. When this magnetic field encounters a metallic object on the seabed, it induces eddy currents within the metal. These eddy currents then generate a new alternating magnetic field in reverse. This reverse magnetic field acts on the wireless charging receiving coil circuit, causing an additional induced current in the circuit, ultimately resulting in an abnormal increase in the current of the entire coil circuit. Based on this phenomenon, the presence of a metallic target on the seabed can be determined by detecting this anomaly in the output current. This solution achieves functional reuse of the wireless charging receiving coil in metal detection, endowing the vehicle with seabed metal detection capabilities without additional hardware, effectively reducing the system's size and energy consumption burden.

[0015] Based on the above-mentioned technical theory, the present invention proposes the following technical solution: Example 1 Underwater vehicle metal detection devices based on multiplexed wireless charging receiver coils, such as Figure 1As shown, the functional expansion based on existing hardware is achieved by adding a current detection module between the energy storage device and the AC / DC converter. Therefore, the metal detection device comprises: a current detection module, an AC / DC converter, a receiving-side resonant network, and a wireless charging receiving coil. The energy storage device is an underwater vehicle battery pack. Specifically, the current detection module is used to detect the output current of the energy storage device in real time, and can utilize existing equipment with current detection capabilities. The AC / DC converter converts the DC power provided by the energy storage device (underwater vehicle battery pack) into high-frequency AC power. The receiving-side resonant network (using the original wireless charging system's receiving-side resonant network) eliminates the reactive power loss of using the wireless charging receiving coil alone, thereby driving the wireless charging receiving coil to radiate a high-intensity alternating magnetic field into the surrounding seawater. When a metallic object is detected within the detection range, the high-intensity alternating magnetic field penetrates the object and induces eddy currents within it. These eddy currents then generate a new alternating magnetic field in reverse. This reverse magnetic field acts on the wireless charging receiver coil circuit, causing an additional induced current in the circuit. Ultimately, this increases the current in the entire coil circuit. The current detection module detects this abnormal increase in the discharge current of the energy storage device to determine if a metallic target is present within the detection range. In this invention, the wireless charging receiver coil is 40cm in size. Because the magnetic field radiated outwards is 20cm, it is highly focused. When an abnormal change in current can be detected, it means that the metal object must be located directly below the wireless charging receiving coil.

[0016] This technology is based on the following theoretical principle: when a metal block is placed in or moves relative to a changing magnetic field, an induced current is generated within it. Figure 2 Taking the example shown, a coil is wound around a cylindrical iron core. When an alternating current flows through the coil, the iron core is in an alternating magnetic field. The iron core can be considered as a series of cylindrical thin shells with gradually changing radii, each forming a closed loop. In the alternating magnetic field, the magnetic flux through these shells is constantly changing, thus inducing currents along the shell walls. Viewed from above the iron core, the current flow lines appear as closed vortexes; therefore, this induced current is called an eddy current, or simply an eddy current. Because the resistance of a large piece of metal is very small, eddy currents can reach very high strengths. When powerful eddy currents flow within the metal, they release a large amount of Joule heat, thus consuming a lot of energy.

[0017] In underwater areas without metal targets, the metal detection device operates stably: the high-frequency alternating magnetic field emitted by the receiving coil does not induce electromagnetic interaction with any metal object, there is no eddy current effect around the coil, and the energy loss of the entire circuit system comes only from the basic power consumption of its own components (such as the inherent impedance loss of the resonant network, line resistance loss, etc.). Under these conditions, the battery pack discharge current monitored by the current detection module will remain at a stable level of approximately 0.5A.

[0018] When a metallic object appears within the detection range, the physical process changes significantly: when the alternating magnetic field passes through the metal, it excites eddy currents within the metal according to the law of electromagnetic induction. The formation of eddy currents is essentially the directional movement of free electrons within the metal under the influence of the changing magnetic field. This movement consumes a large amount of energy (i.e., eddy current loss), equivalent to introducing an additional load into the original resonant network. In the resonant network, the current exhibits high-frequency reciprocating flow characteristics with a large amplitude; this operating state produces significant energy loss, reflected in the current detection module as a significant increase in the detected discharge current, typically exceeding 1A. The closer to the metal, the greater the current from the current detection module, allowing for more precise location of the metal.

[0019] The working principle of the metal detection device described above can be summarized as follows: An AC / DC converter transforms the DC power output from the underwater vehicle's battery pack into high-frequency AC power. The receiving-side resonant network drives the original wireless charging receiving coil to operate in reverse, radiating a high-intensity alternating magnetic field into the surrounding seawater. When this alternating magnetic field acts on a metal object on the seabed, eddy currents are generated due to electromagnetic induction. The reverse magnetic field generated by these eddy currents causes a change in the coil's equivalent impedance, leading to an abnormal increase in the battery pack's discharge current. By detecting this anomaly in the current signal in real time, the presence of a metal target within the detection range can be determined. Key components are shown below. Figure 3 As shown.

[0020] The device is also used to charge the battery packs of underwater vehicles. (Reference) Figure 4 In charging mode, based on wireless power transmission technology, the wireless charging receiving coil receives the magnetic field energy emitted by the base station and converts it into high-frequency alternating current. The receiving side resonant network is used to eliminate the reactive power loss of using the wireless charging receiving coil alone. The AC-DC converter converts the received high-frequency alternating current into direct current, thereby charging the underwater vehicle's battery pack.

[0021] The embodiments described above are merely descriptions of preferred devices of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. An underwater vehicle metal detection device based on a multiplexed wireless charging receiving coil, comprising an energy storage device, characterized in that, It also includes a current detection module, an AC / DC converter, a receiver-side resonant network, and a wireless charging receiver coil connected in sequence; The current detection module is used to detect the output current of the energy storage device in real time. The AC / DC converter is used to convert the DC power provided by the energy storage device into high-frequency AC power. The receiving-side resonant network is used to eliminate the reactive power loss of using the wireless charging receiving coil alone, and to drive the wireless charging receiving coil to radiate a high-intensity alternating magnetic field into the surrounding seawater. When a metal object appears within the detection range, the wireless charging receiving coil is also used to sense the reverse magnetic field generated by the metal object and generate a reverse induced current. The current detection module determines the metal target within the detection range by detecting the rise in the discharge current of the energy storage device.

2. The apparatus according to claim 1, characterized in that, The energy storage device uses an underwater vehicle battery pack.

3. The apparatus according to claim 2, characterized in that, The device is also used to charge the battery pack of the underwater vehicle. Based on wireless power transmission technology, the wireless charging receiving coil is used to receive the magnetic field energy emitted by the base station and convert it into high-frequency alternating current; The receiving-side resonant network is used to eliminate the reactive power loss when using a wireless charging receiving coil alone; The AC / DC converter is used to convert the received high-frequency AC power into DC power, thereby charging the underwater vehicle's battery pack.

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