Fully rotating non-contact power transmission connector device and electrical energy transmission method based thereon

Abstract

To provide a full-rotation type non-contact power transmission connector device.SOLUTION: A full-rotation type non-contact power transmission connector device includes a power supply module a full-bridge inverter module, a primary-side resonance compensation module, a full-rotation type ball connector module, a secondary-side resonance compensation module, and a full-bridge rectification module. The power supply module supplies a supply voltage required for the device. The full-rotation type ball connector module provides radial rotation between a ball head device and a ball seat device, and a receiving coil and a transmitting coil are located in the ball head device and ball seat device, respectively. The primary- and second-side resonance compensation modules include primary- and secondary-side LCC reactive power compensation modules and primary- and secondary-side coil capacitors.SELECTED DRAWING: Figure 6

Description

[Technical Field]

[0001] The present application relates to the field of wireless power transmission or wireless power transmission technology, and more particularly to a full-circle rotation type contactless power transmission connector device. [Background technology]

[0002] In recent years, with the global development of marine resources, underwater work activities have begun to diversify, such as ecological surveys and maintenance of marine natural environments and marine resource exploration and detection. This has led to an increasing demand for the application and development of underwater electromechanical equipment. The energy transmission capability of underwater detection and work platforms is key to determining their continuous navigation time, operational range, and functional diversification. The endurance of underwater electromechanical equipment is also a development challenge. Therefore, how to achieve safe and efficient underwater wireless power transmission is one of the core technologies in the marine field. In marine environments that must meet diverse topographical and operational requirements, underwater power transmission devices are increasingly required to meet multiple comprehensive and diverse requirements and to have greater connection flexibility. Therefore, such power transmission devices are expected to be widely used in fields such as underwater search and rescue, undersea exploration, and military reconnaissance.

[0003] Currently, moored platforms, underwater buoys, and cable-mounted underwater work platforms mainly use waterproof connectors for cable-connected power transmission, and require high-precision underwater wet plug-in connectors to connect to the power source. Underwater wireless power transmission (UWPT) is a new underwater power transmission method. It offers technical advantages not available with conventional power supply methods, effectively improving the safety, reliability, convenience, and concealment of AUV (Autonomous Underwater Vehicle) charging.

[0004] Considering these two points, underwater connectors equipped with wireless power transmission function devices are of great practical significance. Currently, connectors used for underwater wired power transmission have the following main limitations: (1) Conventional waterproof connectors enable power transmission via cable connections, requiring the use of high-precision underwater wet plug-in connectors to connect to the power source. The waterproof socket connectors on the connection cable are highly susceptible to damage and are costly. (2) The connection cable has a limited bending radius, which affects the operational performance of the cable-type underwater work platform and limits the connection flexibility of the underwater work platform. (3) The shape of conventional couplers occupies a large area, and underwater platforms frequently change in attitude and azimuth. Waterproof connectors are susceptible to interference, which affects their connection speed, and have insufficient tolerance to radial offset of the device. Summary of the Invention [Problem to be solved by the invention]

[0005] According to the above limitations, there is an urgent need to design and apply a new type of underwater connection device with low cost, radial offset tolerance, flexible and reliable wireless power transmission function. [Means for solving the problem]

[0006] In order to solve the problems in the prior art, the present invention provides a full-circle rotation type contactless power transmission connector device, a power supply module for supplying a direct current to the full rotation type contactless power transmission connector device; a full-bridge inverter module that receives a direct current provided by the power supply module, inverts the direct current into a high-frequency alternating current, and outputs the converted alternating current; a primary-side resonant compensation module that receives the AC current output from the full-bridge inverter module, compensates for reactive power, and outputs an AC current having a resonant frequency; A full-circle rotation type ball connector module, comprising: a ball head device, a ball seat device, a receiving coil and a transmitting coil, said ball head device being matched with the ball seat device to realize full-circle rotation between the ball head device and the ball seat device, said receiving coil being wound in the ball head device, said transmitting coil being wound in the ball seat device, said transmitting coil receiving an AC current of a resonant frequency output from said primary side resonance compensation module, generating a resonant magnetic field, further generating an AC current in the receiving coil, said receiving coil outputting an AC current, said primary side resonance compensation module being a compensation module for said transmitting coil; a secondary-side resonance compensation module as a compensation module for the receiving coil, which receives the AC current output from the receiving coil, compensates for reactive power, and outputs an AC current of a resonance frequency; a full-bridge rectification module that receives the AC current transmitted from the secondary-side resonance compensation module, rectifies the AC current into a DC current, and outputs the DC current.

[0007] Furthermore, the primary side resonant compensation module includes a primary side LCC reactive power compensation network module, which includes a transmitting end compensation inductance connected to the transmitting coil input end, a transmitting coil compensation capacitor connected in series with the transmitting coil, and a compensation capacitor connected in parallel with the transmitting coil, so that the transmitting coil reaches the resonant frequency, and the primary side resonant compensation module generally exhibits a resistance state.

[0008] The secondary side resonant compensation module includes a secondary side LCC reactive power compensation network module, which includes a receiving end compensation inductance connected to the receiving coil output end, a receiving coil compensation capacitor connected in series with the receiving coil, and a compensation capacitor connected in parallel with the receiving coil, so that the receiving coil reaches the resonant frequency, and the secondary side resonant compensation module generally exhibits a resistance state.

[0009] The present invention further provides an electric energy transmission method based on the full-circle rotation type contactless power transmission connector device, in which a power supply module supplies a DC current to the full-circle rotation type contactless power transmission connector device, the DC current is inversely converted into an AC current through a full-bridge inverter module, the AC current is input to a primary side resonant compensation module, the primary side resonant compensation module outputs an AC current with a resonant frequency after reactive power compensation, a transmitting coil receives the AC current with the resonant frequency output from the primary side resonant compensation module, generates a resonant magnetic field, and further generates an AC current in a receiving coil, which outputs the AC current to the secondary side resonant compensation module, the secondary side resonant compensation module outputs the AC current with the resonant frequency to the full-bridge rectifier module after reactive power compensation, the full-bridge rectifier module rectifies the AC current into a DC current, and the DC current is output to the external device that needs to be powered. [Effects of the Invention]

[0010] The present invention has the following beneficial effects compared to the prior art.

[0011] (1) In order to meet the requirements of anti-offset and stable power transmission in underwater working environments, the present invention utilizes the structural characteristics of a 360° rotatable connector, enabling not only axial rotation between the ball head and ball seat but also radial rotation, and there is no direct electrical connection between the transmitting coil and the receiving coil, improving flexibility of movement and convenience of use, and having substantial practical application value.

[0012] (2) The present invention selects reasonable voltage, current, level, and resonant frequency to reduce unnecessary eddy current loss, and uses a high-strength insulating housing to reduce the piezoelectric effect and parasitic capacitance, improving transmission efficiency. A magnetic coupler with strong anti-offset capabilities and an LCC-LCC topology structure are designed to improve anti-offset stability. The system implements strict electromagnetic compatibility (EMC) design to ensure that the electromagnetic field generated by the coupling between the primary and secondary sides does not affect the normal operation of the electronics inside the AUV, ensuring the electromagnetic compatibility of the system.

[0013] (3) In the magnetic coupler, the present invention uses a mechanical structure that can be assembled on an underwater drone to calculate the mutual inductance between parallel and non-parallel current-carrying wiring and set a specific division angle. Coils whose end angles are both smaller than the division angle can be approximated as planar spiral coils, and if the start angle is larger than the division angle, they can be approximated as axial spiral coils. The design selects an appropriate combination of coil structures, and analyzes the self-inductance, mutual inductance, and losses of various magnetic couplers applied to such mechanical structures to improve the efficiency of power transmission.

[0014] (4) This invention designs a coupler set suitable for underwater wireless power transfer (UWPT) with a transmission power of 1 kW, and has strong offset prevention capabilities. Furthermore, an LCC-LCC compensation topology UWPT prototype with constant current characteristics was constructed and analyzed. It ensures that the currents in the primary and secondary coils show a converged trend when the magnetic coupler is offset, resulting in a change in mutual inductance. This prevents excessive current stress from affecting the system, enabling highly efficient underwater wireless power transfer even with large offsets. Compared to conventional cable transmission methods, this invention can more flexibly meet different task needs.

[0015] (5) The present invention uses a wireless power transmission method to ensure reliable power transmission, and eliminates the need for high-precision underwater wet plug-in connectors that are prone to damage and require frequent replacement, which are required with conventional waterproof connectors, as well as the need for high-precision control and related sensor equipment, thereby effectively reducing the cost of the power transmission connection device. [Brief explanation of the drawings]

[0016] [Figure 1] FIG. 10 is a diagram showing the positions of a coaxial parallel coil and a non-coaxial parallel coil. [Figure 2] 10A and 10B are diagrams showing the normal operating state and the operating state in the case of radial offset of the simplified model. [Figure 3] FIG. 10 is a diagram showing a mechanical structure model of a full rotation type contactless power transmission connector. [Figure 4] FIG. 10 is a diagram showing a coil structure model of a full rotation type contactless power transmission connector. [Figure 5] This is a relationship diagram of the mutual inductance ratios of four models with different operating conditions. [Figure 6] FIG. 10 is a diagram showing an experimental device for a full rotation type contactless power transmission connector. [Figure 7] FIG. 10 is a waveform diagram of experimental detection of a full rotation type contactless power transmission connector. [Figure 8] FIG. 10 is a relationship diagram of the measured coupling coefficient of the coupler under different radial angle offset operating conditions. DETAILED DESCRIPTION OF THE INVENTION

[0017] The present invention will be further described below with reference to the accompanying drawings. In the present invention, the technical features of each embodiment can be combined in any corresponding manner unless they conflict with each other.

[0018] The following describes in detail the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Of course, the described embodiments are only some of the embodiments of the present invention, and are not all of the embodiments. Based on the embodiments of the present invention, those skilled in the art can obtain all other embodiments without creative work, and all of them are within the scope of the claims of the present invention.

[0019] As shown in Figure 1, the positional situations of the transmitting coil and receiving coil during underwater wireless power transmission include two types of positional situations: (a) in which the coils are coaxial and parallel, and (b) in which the coils are non-coaxial and non-parallel.

[0020] As shown in Figure 2, four possible combinations of receiver and transmitter coils are shown. A coil with a smaller end angle than the division angle is a planar spiral coil, while a coil with a larger start angle than the division angle is an axial spiral coil. Figure 2(a) shows Model I, which is a combination of a transmitter coil equivalent to a planar spiral coil and a receiver coil equivalent to a tubular spiral coil. Figure 2(b) shows Model II, which is a combination of a transmitter coil equivalent to a tubular spiral coil and a receiver coil equivalent to a planar spiral coil. Figure 2(c) shows Model III, which is a combination of a transmitter coil equivalent to a tubular spiral coil and a receiver coil equivalent to a planar spiral coil. Figure 2(d) shows Model IV, which is a combination of a transmitter coil equivalent to a tubular spiral coil and a receiver coil equivalent to a tubular spiral coil.

[0021] As shown in Figure 3, the structural design of a full-circle rotation type contactless power transmission connector device in one specific embodiment of the present invention includes two parts: a full-circle rotatable spherical ball head made of acrylic material and a ball seat with a spherical recess.

[0022] The ball head device is a spherical device that realizes full rotation, the ball seat device is a base device with a spherical recess that realizes full rotation between the ball head device and the ball seat device, the receiving coil is wound in the form of a circular spiral coil within the ball head device, and the transmitting coil is wound in the form of a circular spiral coil within the ball seat device.

[0023] As shown in Figure 4, the coil structure of a full-circle rotation type contactless power transmission connector device in one specific embodiment of the present invention is shown. As shown in Figure 4, the winding angle of the coil on the spherical surface has four angle parameters under various circumstances, which are the start angle α1 and end angle β1 of the transmitter coil, and the start angle α2 and end angle β2 of the receiver coil.

[0024] As shown in Figure 5, Figure 5 shows the curves of the ratio of mutual inductance and offset angle for various combinations of coil structures. As shown in Figure 5, the horizontal axis is the offset angle of the receiving coil, and the vertical axis is the ratio of the mutual inductance when the receiving coil is offset to the mutual inductance when the receiving coil is not offset. Here, Model III is the optimal curve because the mutual inductance ratio of the combination of a transmitting coil equivalent to a pipe-shaped spiral coil and a receiving coil equivalent to a planar spiral coil changes minimally according to the offset angle.

[0025] As shown in Figure 6, the experimental device for a full-circle rotary contactless power transmission connector in one specific embodiment of the present invention includes a power supply module, a full-bridge inverter module, a primary-side resonance compensation module, a full-circle rotary ball connector module, a secondary-side resonance compensation module, and a full-bridge rectifier module. When operating underwater, the full-circle rotary ball connector module is mounted in an aluminum housing, thereby reducing seawater eddy current loss caused by the coupling magnetic field and improving the power factor of the full-circle rotary ball connector module.

[0026] The primary and secondary LCC reactive power compensation network module is a double-sided LCC compensation network structure with strong anti-offset capability and constant current characteristics. The anti-offset capability specifically refers to the fact that when the mutual inductance of the loosely coupled transmitter and receiver coils changes rapidly during operation, such as when the coupling is completely broken and the mutual inductance is zero, the current change tends to converge and there is no excessive current stress, ensuring safe operation of the device compared to other compensation structures. The constant current characteristic refers to the fact that the current of the transmitter coil is constant due to the LCC compensation network and is affected only by the device parameters and is independent of the load, facilitating device power design.

[0027] The full-bridge rectifier module and the full-bridge inverter module are both controlled and driven by an STM32 one-chip microcomputer, and the operating frequencies of the primary side resonance compensation module and the secondary side resonance compensation module are both the natural frequencies of the full-circle rotation type contactless power transmission connector device, which are determined by the parameters of the full-circle rotation type contactless power transmission connector device.

[0028] The connection between the transmitting coil and the receiving coil is an electrically insulated wireless connection, and electrical energy is transmitted from the transmitting coil to the receiving coil via a resonant magnetic field, and the transmitting coil located in the ball head device and the receiving coil located in the ball seat device form a loose coupler.

[0029] As shown in Figure 7, the waveforms of the experimentally detected full-circle rotation type contactless power transmission connector device in one specific embodiment of the present invention are shown. Observe the input power and output power in the waveform diagram, and then check whether the waveforms are normal to confirm that the circuit is operating properly. From top to bottom, the waveforms are the current of the transmitting coil, the DC bus voltage output from the inverter, the current of the receiving coil, and the transmitting coil voltage.

[0030] As shown in Figure 8, the experimental relationship between the coupling coefficient and offset angle of a full-circle rotation type contactless power transmission connector device in one specific embodiment of the present invention is shown. Without radial angle offset, the measured coupling coefficient is 0.24, and the efficiency of the designed UWPT system can reach about 88%. Even with misalignment, the coupling coefficient is 0.18, and the efficiency can reach 85% or more.

[0031] The theoretical calculation of the present invention is as follows.

[0032] For coaxial parallel coils, i.e., those without axial offset and angular offset between the transmitting coil and the receiving coil, each winding of the transmitting coil and the receiving coil is regarded as a ring-shaped current-carrying wiring, and the output characteristics of the system are evaluated by analyzing the change in the coupling coefficient during the charging process, and the expression is as follows:

[0033]

number

[0034] Here, c1 and c2 respectively indicate two ring-shaped current-carrying wires, and l1 and l2 respectively indicate the lengths of the two ring-shaped current-carrying wires c1 and c2.

[0035]

number

[0036] where μ0 is the vacuum magnetic permeability and the mutual inductance between the two single-turn ring-shaped current-carrying wires, R is the center distance between the two ring-shaped current-carrying wires, a and b are the radii of the two ring-shaped current-carrying wires, respectively, d is the vertical distance between the two ring-shaped current-carrying wires, and φ1 and φ2 are the horizontal offset angles of the infinitesimal elements corresponding to the two ring-shaped current-carrying wires, c1 and c2, respectively.

[0037] The following formula is introduced:

number

[0038] The above equation can be expressed as follows:

number

[0039] Since a single-turn current-carrying coil is symmetrical about the center of the circle, the above equation may be simplified as follows:

number

[0040] Here, K(x) is the complete elliptic integral function of the first kind, and E(x) is the complete elliptic integral function of the second kind.

[0041] For non-coaxial parallel coils, i.e., those with an angular offset between the transmit and receive coils,

number

[0042] where μ0 is the vacuum magnetic permeability, R is the center distance between the two ring-shaped current-carrying wires, and R>0, a and b are the radii of the two ring-shaped current-carrying wires, respectively, d is the vertical distance between the two ring-shaped current-carrying wires, φ1 and φ2 are the horizontal offset angles of the infinitesimal elements corresponding to the two ring-shaped current-carrying wires, c1 and c2, respectively, θ is the radial offset angle of one of the coils, and d' is the offset distance along the x-axis of the coil whose radial offset angle is θ.

[0043] The following formula is introduced:

number

number

number

number

[0044] M ij is shown as follows:

number

[0045] where:

number

[0046] The receiving coil and the transmitting coil are each a current-carrying wire, and the wire of each coil winding is assumed to be a current-carrying wire that carries a constant current. The mutual inductance value between two current-carrying wires carrying a constant current is mainly determined by the geometric parameters of the inductance and the relative position between them. Finally, all the combinations M ij can be added together to determine the total inductance M, the equation for which is:

number

[0047] where M ij represents the mutual inductance between two current-carrying wires carrying a constant current, and n S denotes the number of coil turns in the receiving coil, and n P denotes the number of coil turns of the transmitting coil, ρ denotes the magnetic permeability, and M denotes the mutual inductance between the receiving coil and the transmitting coil.

[0048] Due to limitations in mechanical structure, both the transmitting coil and the receiving coil are spiral coils wound on a sphere, and the structure is relatively complex and difficult to calculate directly. When the relevant parameters are determined, the winding angle of the coil on the sphere has the following four angle parameters under various circumstances: the start angle and end angle of the transmitting coil, and the start angle and end angle of the receiving coil. Combinations of receiving coils and transmitting coils with different start angles and end angles have multiple combination forms, and one division angle is set. A coil with an end angle smaller than the division angle is a planar spiral coil, and a coil with a start angle larger than the division angle is an axial spiral coil.

[0049] The present invention works as follows.

[0050] In this experimental example, a transmitting coil with 20 coil turns and a radius of 10 cm and a receiving coil with 10 coil turns and a radius of 20 cm were selected, the distance between the transmitting and receiving coils was 10 cm, and the coil wire diameter was 6 mm.

[0051] The transmitter and receiver coils contain 800 0.1 mm 2 The Litz wire used is 1000 kJ / s, with a single turn radius of 3 mm. The start and end angles of the transmitter coil are 0° and 45°, respectively, for a total of 21 turns. The start and end angles of the receiver coil are 45° to 135°, for a total of 18 turns. If the end angles of the coils are both less than 45°, they can be approximated as planar spiral coils. If the start angles of the coils are greater than 45°, they can be approximated as axial spiral coils. The sphere center distances for the two coils vary from 0 cm to 6 cm, but there is no overlapping of the coils at the same height. Because the magnetic coupler in the UWPT system must operate continuously underwater for long periods of time, the integrated design of the power electronics is extremely important. The thickness of the main aluminum plates of the electrical connectors is designed to be 5 mm.

[0052] When an AUV is connected in an underwater environment, the magnetic coupler will always be out of alignment. Potential factors such as ocean currents and marine life can affect power transmission efficiency, and the mechanical capture clamping mechanism must work with the magnetic coupler to ensure that the AUV can be charged and simultaneously perform underwater detection. To ensure the flexibility of AUV underwater operations, it is still necessary to design a magnetic coupler with strong anti-offset capabilities and an LCC-LCC topology with constant current characteristics, taking into account transmission stability when a large offset is present.

[0053] The UWPT system designed for the experiment is expected to have an output power of 1 kW and a DC input voltage of 300 V. Because the UWPT system always operates in the unstable environment of the seabed, the system is expected to be able to achieve 1 kW of power output even with a rotational deviation of 45°. A 1 kW prototype experimental platform was constructed based on the arc-shaped magnetic coupler provided by the present invention. The system uses an LCC-LCC circuit topology and selects a 50 kHz operating frequency. An STMicroelectronics STM32F407 microcontroller generates four PWM signals to drive SiC MOSFETs in an H-bridge inverter. The switching frequency is set to 50 kHz to reduce the impact of seawater eddy current loss. The experimental setup and detected waveforms are shown in Figures 6 and 7, respectively.

[0054] Figure 8 shows the change in the coupling coefficient k measured under different radial angle offset operating conditions for a full-circle rotary contactless power transmission connector. When there is no radial angle offset, the measured coupling coefficient is 0.24, and the efficiency of the designed UWPT system can reach approximately 88%. When there is misalignment, the coupling coefficient is 0.18, and the efficiency can both reach above 85%. Experimental results show that the designed magnetic coupler has good radial offset prevention capabilities and its coupling capacity meets requirements. The provided system has good output characteristics, and the additional loss due to seawater can be ignored to a certain extent, meeting design expectations.

[0055] According to relevant simulation experiments, the method of the present invention has achieved the above beneficial effects in multiple test scenarios: it can achieve electrical isolation, ensure operational safety, and has excellent anti-offset properties and connection flexibility, and the full-circle rotary contactless power transmission connector can achieve more efficient and reliable underwater wireless power transmission in the radial offset operating state.

[0056] The operation method of the full rotation type contactless power transmission connector device according to the present invention is as follows.

[0057] This device uses resonant wireless power transmission. Resonance is essentially the mutual conversion of electric field energy in a capacitor and magnetic field energy in an inductance, with one increasing and the other decreasing, perfectly compensated. The sum of the electric field energy and magnetic field energy is always constant, so the power source only needs to supply the electrical energy consumed by the resistance in the circuit, without the need for repeated energy conversion between the capacitor or inductance. The power supply module supplies DC current to the full-circle rotary contactless power transmission connector device, which is then converted back to AC current through the full-bridge inverter module, generating the subsequent AC resonant magnetic field. The primary-side resonant compensation module of the full-bridge rectifier module is connected to the transmitting coil and measures the coil's self-inductance parameters. It then selects appropriate inductance and capacitor for the primary-side LCC compensation network, which outputs in-phase current and voltage through reactive power compensation of the circuit, thereby making the entire circuit resistive. As a high-frequency power source, when the in-phase current and voltage are the same as the natural frequencies of the transmitting coil and receiving coil, the transmitting coil resonates, the current in the transmitting coil is maximized, and the AC resonant magnetic field generated is maximized. The secondary resonant module of the receiving coil is connected to a full-bridge rectifier module. Due to the symmetry between the primary and secondary coils, the parameters of the secondary LCC compensation network are selected to match the parameters of the primary. The magnetic field generated by the primary circuit is coupled to the receiving coil, which also resonates. It is then rectified by the full-bridge rectifier module before being transmitted to the external load, providing stable and reliable power with low ripple.

[0058] As described above, the embodiments of the present invention have been disclosed, but the scope of the claims is not limited thereto. The present invention can be applied to various fields suitable for the present invention, and can be easily modified by those skilled in the art. Therefore, the present invention is not limited to the details and drawings shown and described above, as long as it does not deviate from the general concept limited to the claims and the scope of the same.

Claims

1. A full-circle rotation type non-contact power transmission connector device, a power supply module for supplying a direct current to the full rotation type contactless power transmission connector device; a full-bridge inverter module that receives a direct current provided by the power supply module, inverts the direct current into a high-frequency alternating current, and outputs the converted alternating current; a primary-side resonant compensation module that receives the AC current output from the full-bridge inverter module, compensates for reactive power, and outputs an AC current having a resonant frequency; A full-circle rotation type ball connector module, comprising: a ball head device, a ball seat device, a receiving coil and a transmitting coil, said ball head device being matched with the ball seat device to realize full-circle rotation between the ball head device and the ball seat device, said receiving coil being wound in the ball head device, said transmitting coil being wound in the ball seat device, said transmitting coil receiving an AC current of a resonant frequency output from said primary side resonance compensation module, generating a resonant magnetic field, further generating an AC current in the receiving coil, said receiving coil outputting an AC current, said primary side resonance compensation module being a compensation module for said transmitting coil; a secondary-side resonance compensation module as a compensation module for the receiving coil, which receives the AC current output from the receiving coil, compensates for reactive power, and outputs an AC current of a resonance frequency; a full-bridge rectification module that receives the AC current transmitted from the secondary-side resonance compensation module, rectifies the AC current into a DC current, and outputs the DC current; the ball head device is a spherical device and realizes full rotation, the ball seat device is a base device with a spherical recess and realizes full rotation between the ball head device and the ball seat device, the receiving coil is wound in the ball head device in the form of a circular spiral coil, and the transmitting coil is wound in the ball seat device in the form of a circular spiral coil; The transmitting coil and the receiving coil are Step 1: designing the dimensional parameters and materials of the suitable 360° rotary ball connector based on the external device that needs to be powered, so that the external device that needs to be powered has space to be connected to the 360° rotary ball connector, and the 360° rotary ball connector can accommodate the transmitting coil and the receiving coil; the dimensional parameters of the 360° rotary ball connector are designed to balance the mutual restrictions of the row spacing and the number of turns under the condition of limited space, so as to obtain the maximum mutual inductance as an optimization goal; Step 2: based on the transmit coil and receive coil designed in step 1, measuring the mutual inductance of the receive coil at different radial offset angles and the mutual inductance of the receive coil when there is no radial angle offset; Step 3: selecting receiving coils with different start angles and end angles and transmitting coils with different start angles and end angles, respectively combining the receiving coils and transmitting coils, and repeating step 2 until obtaining a mutual inductance to offset angle ratio curve under an optimal offset prevention operating state, wherein the mutual inductance to offset angle ratio curve under the optimal offset prevention operating state is a curve in which the mutual inductance to offset angle ratio curve changes minimally according to the offset angle of the receiving coil, and wherein the mutual inductance to offset angle ratio curve has a horizontal axis that represents the offset angle of the receiving coil and a vertical axis that represents the ratio of the mutual inductance when the receiving coil is offset and the mutual inductance when the receiving coil is not offset; and step 4 of selecting and implementing the start and end angles of the transmitting coil and receiving coil in a coil combination structure in which the ratio curve of mutual inductance and offset angle corresponds to a curve that changes minimally depending on the offset angle of the receiving coil.

2. The primary side resonant compensation module includes a primary side LCC reactive power compensation network module, and the primary side LCC reactive power compensation network module includes a transmitting end compensation inductor connected to the input end of the transmitting coil, a transmitting coil compensation capacitor connected in series with the transmitting coil, and a compensation capacitor connected in parallel with the transmitting coil, and when the transmitting coil reaches a resonant frequency, the primary side resonant compensation module generally exhibits a resistance state; 2. The full-circle rotary contactless power transmission connector device according to claim 1, wherein the secondary-side resonance compensation module includes a secondary-side LCC reactive power compensation network module, and the secondary-side LCC reactive power compensation network module includes a receiving-end compensation inductance connected to the receiving coil output end, a receiving-coil compensation capacitor connected in series with the receiving coil, and a compensation capacitor connected in parallel with the receiving coil, and when the receiving coil reaches a resonant frequency, the secondary-side resonance compensation module generally exhibits a resistance state.

3. The full-bridge rectifier module and the full-bridge inverter module are both controlled and driven by an STM32 one-chip microcomputer, and the operating frequencies of the primary side resonance compensation module and the secondary side resonance compensation module are both natural frequencies of the full-bridge rectifier module and are determined by parameters of the full-bridge rectifier module.

4. 2. The full-circle rotary contactless power transmission connector device according to claim 1, characterized in that the connection between the transmitting coil and the receiving coil is an electrically insulated wireless connection, electrical energy is transmitted from the transmitting coil to the receiving coil via a resonant magnetic field, and the transmitting coil and the receiving coil form a loose coupler.

5. 2. The full-circle rotation type contactless power transmission connector device of claim 1, wherein in step 3, the start angle and end angle of the receiving coil are the winding angles of the receiving coil on the spherical surface of the ball head device, and the start angle and end angle of the transmitting coil are the winding angles of the transmitting coil wound within the ball seat device.

6. The full-circle rotation type contactless power transmission connector device of claim 1, characterized in that in step 3, the ratio curve of the mutual inductance and the offset angle is obtained by the ratio between the mutual inductance when the radial offset angle of the receiving coil is 1° to 45° and the mutual inductance when there is no radial angle offset.

7. 2. The method for transmitting electric energy based on the full-circle rotation type contactless power transmission connector device according to claim 1, wherein a power supply module supplies a DC current to the full-circle rotation type contactless power transmission connector device, the DC current is inversely converted into an AC current through a full-bridge inverter module, the AC current is input to a primary side resonance compensation module, the primary side resonance compensation module outputs an AC current with a resonant frequency after reactive power compensation, a transmitting coil receives the AC current with the resonant frequency output from the primary side resonance compensation module, generates a resonant magnetic field, and further generates an AC current in a receiving coil, which outputs the AC current to the secondary side resonance compensation module, the secondary side resonance compensation module outputs the AC current with a resonant frequency after reactive power compensation to the full-bridge rectification module, the full-bridge rectification module rectifies the AC current into a DC current, and the DC current is output to the external device that needs to be powered.

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