CN104158301B - underwater wireless charging method and device based on magnetic resonance - Google Patents
underwater wireless charging method and device based on magnetic resonance Download PDFInfo
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- CN104158301B CN104158301B CN201410025906.9A CN201410025906A CN104158301B CN 104158301 B CN104158301 B CN 104158301B CN 201410025906 A CN201410025906 A CN 201410025906A CN 104158301 B CN104158301 B CN 104158301B
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Abstract
Embodiments provide a kind of underwater wireless charging method based on magnetic resonance and device.The method mainly includes：Resonance circuit in POP converts electrical energy into electromagnetic wave under water, under water the resonant body in POP by electromagnetic transmission to the resonant body in underwater installation, resonance circuit in underwater installation converts electromagnetic waves into electric energy, the battery of underwater installation is charged using the electric energy.Magnetic resonance is passed energy Technology application under water by the embodiment of the present invention, effectively the underwater installations such as AUV can be charged under water, for being actually needed for AUV seabed operations, the land artificial charging method of can effectively replace tradition, it is more beneficial for projecting AUV untethereds, autonomous flexibility.The underwater installations such as AUV can be made to break away from the load of large-sized battery pack, contribute to reducing the weight and volume of rechargeable battery, for the underwater installation lighting such as AUV, miniaturization possibility is provided, also promote the underwater installation such as AUV function more diversification, for varying environment on-demand customization.
Description
Technical field
The present invention relates to underwater wireless electric energy transmission technology field, more particularly to a kind of underwater wireless based on magnetic resonance fills
Method for electrically and device.
Background technology
The ocean gross area is 3.6 × 108 sq-kms, takes up an area the 70.8% of the ball gross area, empty in the richly endowed ocean of this length and breadth of land
Between, the living marine resources that are richly stored with, marine energy, Ocean thermal energy and marine mineral resources.With industrialization and city
The progress of change, land available resource are fewer and feweri, and people are just gradually paying attention to the effectively utilizes problem of marine resources, it may be said that
21st century is the century that the mankind are marched to ocean.As the important means for exploring ocean, or even it is only in some cases
One means, effect of the underwater robot in ocean is developed simultaneously are no less than rocket and space shuttle in exploration of the universe space
In effect.The Main Function of underwater robot is being conquered and is utilizing sea for the mankind as a kind of diving apparatus and delivery vehicle
In the process in ocean, integrated survey is carried out under the not accessibility depth of general diving techniques or environment and study and complete various works
Industry task.For example, in ocean development, submarine navigation device can carry out exploration of ocean resources, hydrologic survey, sea in deep-sea, subglacial
Bottom topography and geomorphology photography and the detection of drawing, offshore oilfield pipeline and transoceanic cable and maintenance, offshore platform and ocean work
Detection maintenance that work is stood etc..
The development trend of following underwater robot is farther, deeper, less, with better function, AUV
（AutonomousUnderwaterVehicle, autonomous type underwater robot）Increasingly it is subject to by the technical advantage of its untethered
The attention of each ocean power of the world.Untethered is bringing more preferable flexibility with concealed while also generating corresponding asking
Topic --- how energy resource supply solvesConventional thought is to carry large-scale battery, although can provide certain distance to go, but right
Load excessive for AUV, it is impossible to accomplish lighting with miniaturization.As can be seen here, AUV especially small-sized AUV, energy supply is still
Be the key factor for restricting its performance, electric energy is transmitted in the urgent need to developing a kind of valid wireless that carries out to AUV（It is i.e. wireless
Charge）Method.
At present, traditional wireless power transmission method can be divided to two kinds：One kind is inductive coupling type, track traffic,
The aspects such as small household appliances, big angle rotary mechanism carry out application；Another kind is microwave wireless energy transmission technology, i.e., directly using electricity
Magnetic wave energy can realize wireless power transmission by antenna transmitting and the principle for receiving.
According to above two wireless power transmission method AUV is carried out wireless charging have the shortcomings that it is as follows：Although micro-
Ripple wireless energy transmission technology transmission range is farthest, through-put power is maximum, and can overcome barrier impact property, but electromagnetic wave
Decay in water serious, cause energy loss big, efficiency of transmission is minimum on the contrary.Although inductive coupling type method through-put power also may be used
Up to hundreds of kilowatts, little yardstick barrier also will not bring big impact to its power transmission, but have the disadvantage to transmission range and biography
Defeated stability requirement is too high, it is difficult to be applied under seabed natural environment complicated and changeable.
The content of the invention
The embodiment provides a kind of underwater wireless charging method and device based on magnetic resonance, to realize being based on
Magnetic resonance carries out wireless charging to underwater installation.
The invention provides following scheme：
A kind of underwater wireless charging method based on magnetic resonance, arranges connecing under water of being charged to underwater installation under water
Station is refuted, methods described is specifically included：
In underwater installation to be charged after the POP under water, the resonance circuit in the POP under water is by electricity
Electromagnetic wave can be converted to, by electromagnetic coupled by the electromagnetic transmission to the resonant body in the POP under water；
Resonant body in resonant body and the underwater installation in the POP under water produces magnetic resonance, described to connect under water
The resonant body in station is refuted by the electromagnetic transmission to the resonant body in the underwater installation；
Resonant body in the underwater installation is by electromagnetic coupled by the electromagnetic transmission in the underwater installation
The electromagnetic wave is converted to electric energy by resonance circuit, the resonance circuit in the underwater installation, using the electric energy to the water
The battery of lower equipment is charged.
The described resonance electricity in underwater installation to be charged after the POP under water, in the POP under water
Road converts electrical energy into electromagnetic wave, by electromagnetic coupled by the electromagnetic transmission to the resonant body in the POP under water,
Including：
Telecommunication circuit, power supply, rectification circuit, series resonant circuit and power amplification are set in the POP under water
Device, in underwater installation to be charged near the POP under water, the telecommunication circuit receives what the underwater installation sent
After charge request message, the power supply output direct current supplies electricity to the rectification circuit, and the direct current is changed by the rectification circuit
To export after alternating current to the series resonant circuit；
Inductance in the series resonant circuit produces electromagnetic wave using the alternating current, by adjusting series resonant circuit
Resonant frequency make the frequency of the electromagnetic wave more than setting numerical value, the power amplifier is carried out to the power of the electromagnetic wave
Enhanced processing, the series resonant circuit is by electromagnetic coupled by the electromagnetic transmission after power amplification to the POP under water
In resonant body.
Resonant body in resonant body and the underwater installation in described POP under water produces magnetic resonance, it is described under water
The resonant body that resonant body in POP gives the electromagnetic transmission in the underwater installation, including：
At least two resonant bodies are set in the POP under water, and the resonant body 1 in the POP under water receives water
The electromagnetic wave that resonance circuit in lower POP is transmitted by electromagnetic coupled, 1 He of resonant body in the POP under water
Resonant body 2 in the POP under water produces magnetic resonance, and the electromagnetic transmission is given the resonant body 2 by the resonant body 1；
At least two resonant bodies are set in the underwater installation, resonant body 3 in the underwater installation and it is described under water
Resonant body 2 in POP produces magnetic resonance, and the resonant body 3 receives the electromagnetic wave that the resonant body 2 is transmitted, by adjusting
Mutual inductance, the transmitting impedance of adjustment 3 pairs of resonant bodies 2 of resonant body between the whole resonant body 2, resonant body 3, makes
The distance that electromagnetic wave is transmitted between the resonant body 2, resonant body 3 exceedes setpoint distance；
Resonant body 4 in resonant body 3 and the underwater installation in the underwater installation produces magnetic resonance, the resonant body
The electromagnetic transmission is given the resonant body 4 by 3.
Described method also includes：
The second equivalent inductance that the resonant body 2 includes mutually being in series, the second distribution capacity, the second equivalent series resistance and
The transmitting impedance of 3 pairs of resonant bodies 2 of resonant body, the resonant body 3 include third equivalent inductance, the 3rd distribution being mutually in series
The transmitting impedance of electric capacity, 4 pairs of resonant bodies 3 of third equivalent series resistance and resonant body；
It is harmonious to adjust the resonant body 2 by the parameter value for adjusting the resonant body 2 and the electronic component in resonant body 3
Mutual inductance between vibration body 3 so that the distance that electromagnetic wave is transmitted between the resonant body 2, resonant body 3 exceedes setpoint distance.
Resonant body in described underwater installation is by electromagnetic coupled by the electromagnetic transmission in the underwater installation
Resonance circuit, the electromagnetic wave is converted to electric energy by the resonance circuit in the underwater installation, using the electric energy to described
The battery of underwater installation is charged, including：
Telecommunication circuit, series resonant circuit, rectification circuit, mu balanced circuit are also set up in the underwater installation, it is described humorous
The resonance circuit that vibration body 4 is given the electromagnetic transmission in the underwater installation by electromagnetic coupled, in the underwater installation
The electromagnetic wave is converted to alternating current by the inductance in series resonant circuit, gives the rectification circuit by the alternating current transmission,
The rectification circuit output direct current supplies electricity to the mu balanced circuit, and the mu balanced circuit is using the direct current after voltage stabilizing process to described
The battery of underwater installation is charged；
After battery charging complete in the underwater installation, the telecommunication circuit in the underwater installation is plugged under water to described
Telecommunication circuit in standing sends charging complete message, and the POP under water stops being charged the underwater installation.
Telecommunication circuit, power supply, rectification circuit, series resonant circuit and power amplifier in described POP under water is adopted
Realized with modular circuit board, all circuit boards be arranged in annular seal space, in the annular seal space in be filled with cooling oil.
A kind of underwater wireless charging device based on magnetic resonance, including：POP and underwater installation under water；
Described POP under water, for arranging under water, in underwater installation to be charged near the POP under water
Afterwards, the resonance circuit in the POP under water converts electrical energy into electromagnetic wave, by electromagnetic coupled by the electromagnetic transmission
To the resonant body in the POP under water；Resonant body in resonant body and the underwater installation in the POP under water is produced
Magnetisation resonates, and the resonant body in the POP under water is by the electromagnetic transmission to the resonant body in the underwater installation；
Described underwater installation, for the resonant body using underwater installation, by electromagnetic coupled, by described in, POP is passed under water
To the resonance circuit in the underwater installation, the resonance circuit in the underwater installation is by the electricity for the defeated electromagnetic transmission for coming
Magnetic wave is converted to electric energy, the battery of the underwater installation is charged using the electric energy.
Described POP under water includes：Telecommunication circuit, power supply, rectification circuit, series resonant circuit, power amplifier；
Described telecommunication circuit, for described in, receiving near the POP under water in underwater installation to be charged under water
The charge request message that equipment sends, sends electric energy output order to the power supply in POP under water；
Described power supply, for receiving after the electric energy output order that the telecommunication circuit is transmitted, exports direct current
To the rectification circuit；
Described rectification circuit, export to the series resonant circuit for the direct current is converted to after alternating current；
Described series resonant circuit, for producing electromagnetism using the alternating current by the inductance in series resonant circuit
Ripple, makes the frequency of the electromagnetic wave more than setting numerical value by the resonant frequency for adjusting series resonant circuit；By electromagnetic coupled
By the electromagnetic transmission after power amplification to the resonant body in the POP under water；
Described power amplifier, for being amplified process to the power of the electromagnetic wave.
At least two resonant bodies are set in described POP under water, and the resonant body 1 in the POP under water receives water
The electromagnetic wave that resonance circuit in lower POP is transmitted by electromagnetic coupled, 1 He of resonant body in the POP under water
Resonant body 2 in the POP under water produces magnetic resonance, and the electromagnetic transmission is given the resonant body 2 by the resonant body 1；
At least two resonant bodies are set in the underwater installation, resonant body 3 in the underwater installation and it is described under water
Resonant body 2 in POP produces magnetic resonance, and the resonant body 3 receives the electromagnetic wave that the resonant body 2 is transmitted, by adjusting
Mutual inductance, the transmitting impedance of adjustment 3 pairs of resonant bodies 2 of resonant body between the whole resonant body 2, resonant body 3, makes
The distance that electromagnetic wave is transmitted between the resonant body 2, resonant body 3 exceedes setpoint distance；
Resonant body 4 in resonant body 3 and the underwater installation in the underwater installation produces magnetic resonance, the resonant body
The electromagnetic transmission is given the resonant body 4 by 3.
The second equivalent inductance that the resonant body 2 includes mutually being in series, the second distribution capacity, the second equivalent series resistance and
The transmitting impedance of 3 pairs of resonant bodies 2 of resonant body, the resonant body 3 include third equivalent inductance, the 3rd distribution being mutually in series
The transmitting impedance of electric capacity, 4 pairs of resonant bodies 3 of third equivalent series resistance and resonant body；
It is harmonious to adjust the resonant body 2 by the parameter value for adjusting the resonant body 2 and the electronic component in resonant body 3
Mutual inductance between vibration body 3 so that the distance that electromagnetic wave is transmitted between the resonant body 2, resonant body 3 exceedes setpoint distance.
Described underwater installation also includes：Telecommunication circuit, series resonant circuit, rectification circuit, mu balanced circuit；
Described series resonant circuit, for receiving the electromagnetic wave that the resonant body 4 is transmitted by electromagnetic coupled, leads to
Cross inductance and the electromagnetic wave is converted to into alternating current, the rectification circuit is given by the alternating current transmission；
Described rectification circuit, for the alternating current is converted to direct current, output direct current supplies electricity to the mu balanced circuit；
Described mu balanced circuit, the direct current pair for carrying out voltage stabilizing process to the direct current, after being processed using voltage stabilizing
The battery of the underwater installation is charged；
Described telecommunication circuit, in underwater installation to be charged after the POP under water, to it is described under water
Telecommunication circuit in POP sends charge request message；Under water after the battery charging complete in equipment, connect to described under water
The telecommunication circuit refuted in station sends charging complete message, so that the POP under water stops filling the underwater installation
Electricity；
Telecommunication circuit, power supply, rectification circuit, series resonant circuit and power amplifier in described POP under water is adopted
Realized with modular circuit board, all circuit boards be arranged in annular seal space, in the annular seal space in be filled with cooling oil.
The technical scheme provided by embodiments of the invention described above can be seen that the embodiment of the present invention and magnetic resonance passed energy skill
Art is applied under water, converts electrical energy into electromagnetic wave by POP under water, and electromagnetic wave is passed by the resonant body in POP under water
The resonant body being defeated by underwater installation, underwater installation convert electromagnetic waves into electric energy again, can effectively to underwater installations such as AUV
Charged under water, for being actually needed for AUV seabed operations, the traditional land artificial charging method of can effectively replace, more favorably
In prominent AUV untethereds, autonomous flexibility.The underwater installations such as AUV can be made to break away from the load of large-sized battery pack, contribute to reducing
The weight and volume of rechargeable battery, provides possibility for the underwater installation lighting such as AUV, miniaturization, also promotes the underwater installations such as AUV
Function more diversification, for varying environment on-demand customization.
Description of the drawings
In order to be illustrated more clearly that the technical scheme of the embodiment of the present invention, below will be to using needed for embodiment description
Accompanying drawing be briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for this
For the those of ordinary skill of field, without having to pay creative labor, can be obtaining other according to these accompanying drawings
Accompanying drawing.
Fig. 1 is a kind of handling process of underwater wireless charging method based on magnetic resonance that the embodiment of the present invention one is provided
Figure；
Fig. 2 is that the circuit structure of the series resonant circuit in a kind of POP under water provided in an embodiment of the present invention is illustrated
Figure；
Fig. 3 is the circuit structure of a kind of resonant body 1 provided in an embodiment of the present invention, resonant body 2, resonant body 3 and resonant body 4
Schematic diagram；
Fig. 4 is a kind of concrete structure of underwater wireless charging device based on magnetic resonance that the embodiment of the present invention two is provided
Figure.
Specific embodiment
For ease of the understanding to the embodiment of the present invention, do by taking several specific embodiments as an example further below in conjunction with accompanying drawing
Explanation, and each embodiment does not constitute the restriction to the embodiment of the present invention.
Embodiment one
Based on the problem that currently available technology is present, the embodiment of the present invention proposes a kind of method that underwater wireless charges,
Allow the underwater installations such as AUV when electric energy is not enough under water by with POP intelligent link under water obtaining the energy
Supply.
A kind of handling process of the underwater wireless charging method based on magnetic resonance be this embodiment offers as shown in figure 1, bag
Include following process step：
Step S110, the POP under water being charged to underwater installation is set under water.
The POP under water being charged to underwater installation is set under water, communication electricity is set in this under water POP
Road, power supply, rectification circuit, series resonant circuit, resonant body and power amplifier, arrange telecommunication circuit, electricity under water in equipment
Pond, rectification circuit, series resonant circuit, resonant body and mu balanced circuit.By entirely POP, underwater installation are arranged on sealing under water
In chamber.
Telecommunication circuit, power supply, rectification circuit, series resonant circuit and power in above-mentioned POP under water, underwater installation
Amplifier is realized using modular circuit board.To adapt to the cylindrical structural of seal cavity, each circuit board is adopted and chamber
The circular design of footpath matching in vivo so as to be arranged on cavity inner wall or end cap, due to cavity internal diameter it is less, single circuit board
Finite capacity, modularized design is carried out to circuit board is used in combination polylith circuit board, every piece of plate one module of correspondence, improves chamber
The utilization rate of body overall space.Due to passing through high-frequency alternating current in circuit, it is to reduce the electromagnetic interference to control circuit, circuit board
Between signal transmission carried out using intensive winding displacement mode.
In addition as energy transmission mechanism, need under water to be passed through high current, annular seal space in the circuit of POP and underwater installation
Interior narrow space, element are densely distributed to be unfavorable for radiating, therefore also needs to consider heat dissipation problem.Intend the side using oil bath radiating
Method, will be filled with cooling oil in the seal cavity after mounting circuit boards, is radiated using the convection action of fluid.For avoid due to
Fluid expanded by heating is damaged to the extruding of annular seal space end cap, and annular seal space planted agent retains a small amount of air surplus.
For the energy loss that the shell for reducing annular seal space causes, reduce coupler as screen layer with sheet copper under water
Electromagnetic interference influence to metal shell, improves system transfers efficiency.
Above-mentioned POP under water, underwater installation constitute magnetic resonance wireless energy transfer system, under water POP be magnetic resonance without
Energy supply end in line energy transfer system, underwater installation are the load end in magnetic resonance wireless energy transfer system.Above-mentioned underwater installation can be with
For AUV.
Step S120, in underwater installation to be charged after POP under water, POP receives underwater installation under water
After the charge request message of transmission, the resonance circuit in POP converts electrical energy into electromagnetic wave under water.
In underwater installation to be charged near the POP under water, the telecommunication circuit in underwater installation is to POP under water
In telecommunication circuit send charge request message after, the telecommunication circuit in POP receives above-mentioned charge request message under water
Afterwards, electric energy output order is sent to the power supply in POP under water.
After power supply in POP receives the electric energy output order that the telecommunication circuit is transmitted under water, direct current is exported
The rectification circuit in POP under water is supplied electricity to, the rectification circuit is converted to the direct current after alternating current, export alternating current
Series resonant circuit in the lower POP of feedwater.
Electrical block diagram such as Fig. 2 institutes of the series resonant circuit in a kind of POP under water that the embodiment is provided
Show, series resonant circuit coil and equiva lent impedance of electric capacity when there is resonance are about 0, and the impedance in loop is approximately circuit
Impedance.By the parameter value for adjusting the inductance in series resonant circuit, electric capacity, inductance value is controlled into the order of magnitude in microhenry, will
Capacitance controls the order of magnitude in nanofarad, according to resonant frequency equation, can make the series resonance electricity in POP under water
Resonant frequency in road is adjusted so as to than larger, can reach a megahertz level.
The inductance of the series resonant circuit in above-mentioned POP under water produces electromagnetic wave using the alternating current, due to adjustment
The resonant frequency of series resonant circuit can correspondingly adjust the frequency of above-mentioned electromagnetic wave, so the frequency of the electromagnetic wave is also big
In setting numerical value, a megahertz level can be reached.Power amplifier in POP is put to the power of the electromagnetic wave under water
It is big to process.
Resonance circuit in step S130, under water POP by electromagnetic coupled by the electromagnetic transmission to it is described under water
Resonant body in POP, under water the resonant body in POP using magnetic resonance by electromagnetic transmission in the underwater installation
Resonant body.
Electromagnetic transmission after power amplification is given described by electromagnetic coupled by the series resonant circuit in POP under water
Resonant body in POP under water.
At least two resonant bodies are set in POP and underwater installation under water, exemplarily, are set in POP under water
Resonant body 1 and resonant body 2 are put, resonant body 3 and resonant body 4 are set in equipment under water, it is a kind of above-mentioned humorous that the embodiment is provided
The electrical block diagram of vibration body 1, resonant body 2, resonant body 3 and resonant body 4 is as shown in Figure 3.In Fig. 3, UiIt is wireless for magnetic resonance
The equivalent voltage source of energy transfer system；I1-4For the equivalent current in magnetic resonance wireless energy transfer system；R1-4In for each loop etc.
Effect series resistance and；R0For the equivalent resistance of load end load；L1-4Respectively resonant body 1-4 equivalent inductances；C1With C4Respectively
The compensating electric capacity of resonant body 1 and resonant body 4；C2With C3The respectively distribution capacity of resonant body 2 and resonant body 3；Z21For resonance 2 pairs
The reflected umpedance of power module；Z32For reflected umpedance of the resonance 3 to resonant body 2；Z43Hinder for reflection of the load end to resonant body 3
It is anti-；M12For the mutual inductance between resonant body 1 and resonant body 2；M23For the mutual inductance between resonant body 2 and resonant body 3；M34For humorous
Mutual inductance between vibration body 3 and resonant body 4.
By adjusting the electronic components such as the distribution capacity in above-mentioned resonant body 1, resonant body 2, resonant body 3 and resonant body 4
Parameter value, makes the own resonance frequency of above-mentioned resonant body 1, resonant body 2, resonant body 3 and resonant body 4 reach in POP under water
The resonant frequency of series resonant circuit.
What the resonance circuit that the resonant body 1 in POP is received in POP under water under water was transmitted by electromagnetic coupled
Electromagnetic wave, the resonant body 1 in POP and the generation magnetic resonance of resonant body 2 under water, resonant body 1 is by the electromagnetic transmission to described
Resonant body 2.Resonant body 3 in resonant body 2 and underwater installation in POP produces magnetic resonance under water, and resonant body 2 is by the electricity
Magnetic wave is transferred to the resonant body 3.Resonant body 4 in resonant body 3 and underwater installation in underwater installation produces magnetic resonance, resonance
The electromagnetic transmission is given the resonant body 4 by body 3.
The transmission range of the electromagnetic wave between above-mentioned resonant body 1 and resonant body 2, between resonant body 3 and resonant body 4 is low coverage
From usually several centimetres.The second equivalent inductance that resonant body 2 includes mutually being in series, the second distribution capacity, the second equivalent series electricity
Resistance and the transmitting impedance of 3 pairs of resonant bodies 2 of resonant body, resonant body 3 include third equivalent inductance, the 3rd distribution being mutually in series
The transmitting impedance of electric capacity, 4 pairs of resonant bodies 3 of third equivalent series resistance and resonant body.It is harmonious by adjusting the resonant body 2
The parameter value of the electronic component in vibration body 3 is adjusting the mutual inductance between the resonant body 2 and resonant body 3 so that described humorous
The distance that electromagnetic wave is transmitted between vibration body 2, resonant body 3 exceedes setpoint distance.Therefore, between above-mentioned resonant body 2 and resonant body 3
The transmission range of electromagnetic wave is middle distance, can obtain more than 10 centimetres.Therefore, above-mentioned underwater installation and under water between POP
Distance can reach more than 10 centimetres, underwater installation and under water between POP do not need zero distance contact, so as to be suitable under water
Underwater installation and between POP, it is not easy the situation of seamless contact under water under environment.
The electromagnetic transmission is given the underwater installation by electromagnetic coupled by the resonant body in step S140, underwater installation
In resonance circuit, the electromagnetic wave is converted to electric energy by the resonance circuit in the underwater installation, using the electric energy to institute
The battery for stating underwater installation is charged.
The series connection in POP under water shown in the circuit structure of the series resonant circuit in underwater installation and above-mentioned Fig. 2 is humorous
Shake circuit circuit structure it is the same, the resonant frequency of two series resonant circuits in underwater installation, under water POP is same.
Resonant body 4 in underwater installation is by electromagnetic coupled by the electromagnetic transmission to the series connection in the underwater installation
The electromagnetic wave is converted to alternating current by resonance circuit, the inductance in series resonant circuit in the underwater installation, will be described
The alternating current for receiving is converted to direct current to the rectification circuit in underwater installation, the rectification circuit by alternating current transmission, output
, to the mu balanced circuit in underwater installation, the mu balanced circuit is using the direct current after voltage stabilizing process to the underwater installation for direct current
Battery is charged.
After battery charging complete in underwater installation, the telecommunication circuit in underwater installation is to the communication electricity in POP under water
Road sends charging complete message, after the telecommunication circuit in POP receives above-mentioned charging complete message under water, POP under water
Stopping is charged to the underwater installation.
Embodiment two
A kind of underwater wireless charging device based on magnetic resonance is this embodiment offers, its concrete structure is as shown in figure 4, bag
Include：POP 1 and underwater installation 2 under water；
Described POP 1 under water, for arranging under water, in underwater installation to be charged near the POP under water
Afterwards, the resonance circuit in the POP under water converts electrical energy into electromagnetic wave, by electromagnetic coupled by the electromagnetic transmission
To the resonant body in the POP under water；Resonant body in resonant body and the underwater installation in the POP under water is produced
Magnetisation resonates, and the resonant body in the POP under water is by the electromagnetic transmission to the resonant body in the underwater installation；
Described underwater installation 2, for the resonant body using underwater installation by electromagnetic coupled will described in POP under water
To the resonance circuit in the underwater installation, the resonance circuit in the underwater installation will be described for the electromagnetic transmission for transmitting
Electromagnetic wave is converted to electric energy, the battery of the underwater installation is charged using the electric energy.
Described POP under water 1 includes：Telecommunication circuit 11, power supply 12, rectification circuit 13, series resonant circuit 14, work(
Rate amplifier 15；
Described telecommunication circuit 11, receives the water in underwater installation to be charged near the POP under water
The charge request message that preparation goes out is divided into, and electric energy output order is sent to the power supply in POP under water；
Described power supply 12, for receiving after the electric energy output order that the telecommunication circuit is transmitted, exports direct current
Supply electricity to the rectification circuit；
Described rectification circuit 13, gives series resonance electricity for be converted to the direct current export after alternating current
Road；
Described series resonant circuit 14, for producing electricity using the alternating current by the inductance in series resonant circuit
Magnetic wave, makes the frequency of the electromagnetic wave more than setting numerical value by the resonant frequency for adjusting series resonant circuit；By electromagnetism coupling
Close the electromagnetic transmission after power amplification to the resonant body in the POP under water；
Described power amplifier 15, for being amplified process to the power of the electromagnetic wave.
Further, at least two resonant bodies, the resonance in the POP under water are set in described POP under water 1
Body 1（16）Receive the electromagnetic wave that the resonance circuit in POP under water is transmitted by electromagnetic coupled, the POP under water
In resonant body 1 and the POP under water in resonant body 2（17）Produce magnetic resonance, the resonant body 1（16）By the electricity
Magnetic wave is transferred to the resonant body 2（17）；
At least two resonant bodies are set in the underwater installation, the resonant body 3 in the underwater installation（25）With it is described
Resonant body 2 in POP under water（17）Produce magnetic resonance, the resonant body 3（25）Receive the resonant body 2（17）It is transmitted across
The electromagnetic wave for coming, by adjusting the resonant body 2（17）, resonant body 3（25）Between mutual inductance, adjust the resonant body 3
（25）To the resonant body 2（17）Transmitting impedance, make the resonant body 2（17）, resonant body 3（25）Between transmit electromagnetic wave
Distance exceedes setpoint distance；
Resonant body 3 in the underwater installation（25）With the resonant body 4 in the underwater installation（26）Produce magnetic resonance, institute
State resonant body 3（25）The resonant body 4 is given by the electromagnetic transmission（26）.
Further, the resonant body 2（17）Including the second equivalent inductance, the second distribution capacity being mutually in series, second etc.
Effect series resistance and resonant body 3（25）To the resonant body 2（17）Transmitting impedance, the resonant body 3（25）Including string mutually
The third equivalent inductance of connection, the 3rd distribution capacity, third equivalent series resistance and resonant body 4（26）To the resonant body 3（25）
Transmitting impedance；
By adjusting the resonant body 2（17）With resonant body 3（25）In electronic component parameter value it is described humorous to adjust
Vibration body 2（17）With resonant body 3（25）Between mutual inductance so that the resonant body 2（17）, resonant body 3（25）Between transmit
The distance of electromagnetic wave exceedes setpoint distance.
Further, described underwater installation also includes：It is telecommunication circuit 21, series resonant circuit 22, rectification circuit 23, steady
Volt circuit 24；
Described series resonant circuit 22, for receiving the resonant body 4（26）The electricity transmitted by electromagnetic coupled
The electromagnetic wave is converted to alternating current by inductance by magnetic wave, gives the rectification circuit by the alternating current transmission；
Described rectification circuit 23, for the alternating current is converted to direct current, output direct current supplies electricity to the voltage stabilizing electricity
Road；
Described mu balanced circuit 24, the direct current for carrying out voltage stabilizing process to the direct current, after being processed using voltage stabilizing
The battery of the underwater installation is charged；
Described telecommunication circuit 21, for after the close POP under water of underwater installation to be charged, to the water
Telecommunication circuit in lower POP sends charge request message；Under water after the battery charging complete in equipment, to it is described under water
Telecommunication circuit in POP sends charging complete message, so that the POP under water stops carrying out the underwater installation
Charge；
Telecommunication circuit, power supply, rectification circuit, series resonant circuit and power amplifier in described POP under water is adopted
Realized with modular circuit board, all circuit boards be arranged in annular seal space, in the annular seal space in be filled with cooling oil.
Detailed process and preceding method that the underwater wireless based on magnetic resonance charges are carried out with the device of the embodiment of the present invention
Embodiment is similar to, and here is omitted.
In sum, the embodiment of the present invention by magnetic resonance pass can Technology application under water, by POP under water by electric energy
Electromagnetic wave is converted to, by electromagnetic transmission to the resonant body in underwater installation, underwater installation is again for the resonant body in POP under water
Electric energy is converted electromagnetic waves into, effectively the underwater installations such as AUV can be charged under water, for the reality of AUV seabed operations
Border needs, the land artificial charging method of can effectively replace tradition, is more beneficial for projecting AUV untethereds, autonomous flexibility.Can make
The underwater installations such as AUV break away from the load of large-sized battery pack, contribute to reduce rechargeable battery weight and volume, be AUV etc. under water
Equipment lighting, miniaturization provide may, also promote the underwater installation such as AUV function more diversification, for varying environment on demand
Customization.
The embodiment of the present invention is relatively conventional to be recycled to land or surface vessel, is charged using manual type, and underwater wireless fills
Electrically distance to go is short, time-saving and efficiency, disguised high.The underwater wireless charging device based on magnetic resonance of the embodiment of the present invention
Electric energy loss is little, and charge efficiency is high.Test proves magnetic resonance radio energy-transmitting technology charge efficiency up to the 80% of wired charging modes
More than, can apply to, under seabed natural environment complicated and changeable, effectively increase the operating efficiency of deepwater robot.
The underwater wireless of the embodiment of the present invention charges to accomplish to charge and does not tear battery, efficient quick, rapid hidden open, especially
Apply and be not easy to give away one's position in military field.So in deep ocean work task, AUV accesses plugging into nearby when needed
Stand supplement the energy, upload data, and need not return land, drastically increase operating efficiency, also for AUV towards lighting with it is small-sized
Change and improve there is provided possible.Even if in addition the method remains to keep higher efficiency of transmission in the seawater, even up to wired
More than the 80% of charging modes, significantly reduces robot and charges waiting time, effectively improve the operating efficiency of deepwater robot.
Simultaneous transmission distance is remote, stability is high, and robot is affected by ocean current all the time in seabed, it is impossible to keep absolute rest, is resisted
Environmental disturbances could efficiently complete by force charging tasks.
The embodiment of the present invention is not only suitable for underwater robot, other underwater facilities such as submarine, sensor, torpedo etc.,
Electric energy supply problem is equally existed, the embodiment of the present invention will provide helpful reference for power device in like environment.
One of ordinary skill in the art will appreciate that：Accompanying drawing is the schematic diagram of one embodiment, module in accompanying drawing or
Flow process is not necessarily implemented necessary to the present invention.
As seen through the above description of the embodiments, those skilled in the art can be understood that the present invention can
By software plus required general hardware platform mode realizing.Based on such understanding, technical scheme essence
On part that in other words prior art is contributed can be embodied in the form of software product, the computer software product
Can be stored in storage medium, such as ROM/RAM, magnetic disc, CD etc., use so that a computer equipment including some instructions
（Can be personal computer, server, or network equipment etc.）Some of execution each embodiment of the invention or embodiment
Method described in part.
Each embodiment in this specification is described by the way of progressive, identical similar portion between each embodiment
Divide mutually referring to what each embodiment was stressed is the difference with other embodiment.Especially for device or
For system embodiment, as which is substantially similar to embodiment of the method, so describing fairly simple, related part is referring to method
The part explanation of embodiment.Apparatus and system embodiment described above is only schematic, wherein the conduct
Separating component explanation unit can be or may not be it is physically separate, as the part that unit shows can be or
Person may not be physical location, you can local to be located at one, or can also be distributed on multiple NEs.Can be with root
Factually border need select some or all of module therein to realize the purpose of this embodiment scheme.Ordinary skill
Personnel are not in the case where creative work is paid, you can to understand and implement.
The above, the only present invention preferably specific embodiment, but protection scope of the present invention is not limited thereto,
Any those familiar with the art the invention discloses technical scope in, the change or replacement that can be readily occurred in,
Should all be included within the scope of the present invention.Therefore, protection scope of the present invention should be with scope of the claims
It is defined.
Claims (10)
1. a kind of underwater wireless charging method based on magnetic resonance, it is characterised in that arrange under water and underwater installation is filled
The POP under water of electricity, methods described are specifically included：
In underwater installation to be charged after the POP under water, electric energy is turned by the resonance circuit in the POP under water
Electromagnetic wave is changed to, by electromagnetic coupled by the electromagnetic transmission to the resonant body in the POP under water；
Resonant body in resonant body and the underwater installation in the POP under water produces magnetic resonance, the POP under water
In resonant body by the electromagnetic transmission to the resonant body in the underwater installation；
Resonant body in the underwater installation is by electromagnetic coupled by the electromagnetic transmission to the resonance in the underwater installation
The electromagnetic wave is converted to electric energy by circuit, the resonance circuit in the underwater installation, is set to described under water using the electric energy
Standby battery is charged；
The described resonance circuit general in underwater installation to be charged after the POP under water, in the POP under water
Electric energy is converted to electromagnetic wave, the resonant body electromagnetic transmission given in the POP under water by electromagnetic coupled, including：
Telecommunication circuit, power supply, inverter circuit, series resonant circuit and power amplifier are set in the POP under water,
, near the POP under water, the telecommunication circuit receives the charging that the underwater installation sends please for underwater installation to be charged
After seeking message, the power supply output direct current supplies electricity to the inverter circuit, and the direct current is converted to exchange by the inverter circuit
Export after electricity to the series resonant circuit；
Inductance in the series resonant circuit produces electromagnetic wave using the alternating current, by adjusting the humorous of series resonant circuit
Vibration frequency makes the frequency of the electromagnetic wave more than setting numerical value, and the power amplifier is amplified to the power of the electromagnetic wave
Process, the series resonant circuit is by electromagnetic coupled by the electromagnetic transmission after power amplification in the POP under water
Resonant body.
2. the underwater wireless charging method based on magnetic resonance according to claim 1, it is characterised in that described connects under water
The resonant body refuted in the resonant body and the underwater installation in station produces magnetic resonance, and the resonant body in the POP under water is by institute
Electromagnetic transmission is stated to the resonant body in the underwater installation, including：
At least two resonant bodies are set in the POP under water, and the resonant body 1 in the POP under water is received and connect under water
The electromagnetic wave that transmits by electromagnetic coupled of resonance circuit in station is refuted, resonant body 1 in the POP under water and described
Resonant body 2 in POP produces magnetic resonance under water, and the electromagnetic transmission is given the resonant body 2 by the resonant body 1；
At least two resonant bodies are set in the underwater installation, resonant body 3 in the underwater installation and described are plugged under water
Resonant body 2 in standing produces magnetic resonance, and the resonant body 3 receives the electromagnetic wave that the resonant body 2 is transmitted, by adjusting institute
State the mutual inductance between resonant body 2, resonant body 3, adjust the transmitting impedance of 3 pairs of resonant bodies 2 of resonant body, make described
The distance that electromagnetic wave is transmitted between resonant body 2, resonant body 3 exceedes setpoint distance；
Resonant body 4 in resonant body 3 and the underwater installation in the underwater installation produces magnetic resonance, and the resonant body 3 will
The resonant body 4 is given in the electromagnetic transmission.
3. the underwater wireless charging method based on magnetic resonance according to claim 2, it is characterised in that described method is also
Including：
The resonant body 2 includes the second equivalent inductance, the second distribution capacity, the second equivalent series resistance and the resonance being mutually in series
The transmitting impedance of 3 pairs of resonant bodies 2 of body, the resonant body 3 include third equivalent inductance, the 3rd distribution electricity being mutually in series
Appearance, the transmitting impedance of 4 pairs of resonant bodies 3 of third equivalent series resistance and resonant body；
The resonant body 2 and resonant body are adjusted by the parameter value of the adjustment resonant body 2 and the electronic component in resonant body 3
Mutual inductance between 3 so that the distance that electromagnetic wave is transmitted between the resonant body 2, resonant body 3 exceedes setpoint distance.
4. the underwater wireless charging method based on magnetic resonance according to Claims 2 or 3, it is characterised in that described water
Resonant body in lower equipment is by electromagnetic coupled by the electromagnetic transmission to the resonance circuit in the underwater installation, the water
The electromagnetic wave is converted to electric energy by the resonance circuit in lower equipment, the battery of the underwater installation is carried out using the electric energy
Charge, including：
Telecommunication circuit, series resonant circuit, rectification circuit, mu balanced circuit, the resonant body 4 are also set up in the underwater installation
By electromagnetic coupled by the electromagnetic transmission to the resonance circuit in the underwater installation, the series connection in the underwater installation is humorous
The electromagnetic wave is converted to alternating current by the inductance shaken in circuit, gives the rectification circuit by the alternating current transmission, described whole
Current circuit output direct current supplies electricity to the mu balanced circuit, and the mu balanced circuit is set to described under water using the direct current after voltage stabilizing process
Standby battery is charged；
After battery charging complete in the underwater installation, the telecommunication circuit in the underwater installation is in the POP under water
Telecommunication circuit send charging complete message, the POP under water stops being charged the underwater installation.
5. the underwater wireless charging method based on magnetic resonance according to claim 1, it is characterised in that described connects under water
Refute the telecommunication circuit in station, power supply, inverter circuit, series resonant circuit and power amplifier modular circuit board is adopted come real
It is existing, all circuit boards are arranged in annular seal space, in the annular seal space in be filled with cooling oil.
6. a kind of underwater wireless charging device based on magnetic resonance, it is characterised in that include：POP and underwater installation under water；
Described POP under water, for arranging under water, in underwater installation to be charged after the POP under water, institute
The resonance circuit stated in POP under water converts electrical energy into electromagnetic wave, by electromagnetic coupled by the electromagnetic transmission to described
Resonant body in POP under water；Resonant body in resonant body and the underwater installation in the POP under water produces magnetic altogether
Shake, the resonant body in the POP under water is by the electromagnetic transmission to the resonant body in the underwater installation；
Described underwater installation, for being transmitted across the POP under water by electromagnetic coupled using the resonant body of underwater installation
To the resonance circuit in the underwater installation, the resonance circuit in the underwater installation is by the electromagnetic wave for the electromagnetic transmission for coming
Electric energy is converted to, the battery of the underwater installation is charged using the electric energy；
Described POP under water includes：Telecommunication circuit, power supply, inverter circuit, series resonant circuit, power amplifier；
Described telecommunication circuit, receives the underwater installation in underwater installation to be charged near the POP under water
The charge request message for sending, sends electric energy output order to the power supply in POP under water；
Described power supply, for receiving after the electric energy output order that the telecommunication circuit is transmitted, output direct current supplies electricity to institute
State inverter circuit；
Described inverter circuit, export to the series resonant circuit for the direct current is converted to after alternating current；
Described series resonant circuit, for electromagnetic wave being produced using the alternating current by the inductance in series resonant circuit,
The frequency of the electromagnetic wave is made more than setting numerical value by the resonant frequency for adjusting series resonant circuit；By electromagnetic coupled by work(
Electromagnetic transmission after rate amplification is to the resonant body in the POP under water；
Described power amplifier, for being amplified process to the power of the electromagnetic wave.
7. the underwater wireless charging device based on magnetic resonance according to claim 6, it is characterised in that described connects under water
At least two resonant bodies are set in refuting station, the resonant body 1 in the POP under water receives the resonance circuit in POP under water
The electromagnetic wave transmitted by electromagnetic coupled, it is humorous in the resonant body 1 and the POP under water in the POP under water
Vibration body 2 produces magnetic resonance, and the electromagnetic transmission is given the resonant body 2 by the resonant body 1；
At least two resonant bodies are set in the underwater installation, resonant body 3 in the underwater installation and described are plugged under water
Resonant body 2 in standing produces magnetic resonance, and the resonant body 3 receives the electromagnetic wave that the resonant body 2 is transmitted, by adjusting institute
State the mutual inductance between resonant body 2, resonant body 3, adjust the transmitting impedance of 3 pairs of resonant bodies 2 of resonant body, make described
The distance that electromagnetic wave is transmitted between resonant body 2, resonant body 3 exceedes setpoint distance；
Resonant body 4 in resonant body 3 and the underwater installation in the underwater installation produces magnetic resonance, and the resonant body 3 will
The resonant body 4 is given in the electromagnetic transmission.
8. the underwater wireless charging device based on magnetic resonance according to claim 7, it is characterised in that the resonant body 2
Including the second equivalent inductance, the second distribution capacity, the second equivalent series resistance and 3 pairs of resonant bodies of resonant body that are mutually in series
2 transmitting impedance, third equivalent inductance that the resonant body 3 includes mutually being in series, the 3rd distribution capacity, third equivalent series electrical
Resistance and the transmitting impedance of 4 pairs of resonant bodies 3 of resonant body；
The resonant body 2 and resonant body are adjusted by the parameter value of the adjustment resonant body 2 and the electronic component in resonant body 3
Mutual inductance between 3 so that the distance that electromagnetic wave is transmitted between the resonant body 2, resonant body 3 exceedes setpoint distance.
9. the underwater wireless charging device based on magnetic resonance according to claim 7 or 8, it is characterised in that described water
Lower equipment also includes：Telecommunication circuit, series resonant circuit, rectification circuit, mu balanced circuit；
Described series resonant circuit, for receiving the electromagnetic wave that the resonant body 4 is transmitted by electromagnetic coupled, by electricity
The electromagnetic wave is converted to alternating current by sense, gives the rectification circuit by the alternating current transmission；
Described rectification circuit, for the alternating current is converted to direct current, output direct current supplies electricity to the mu balanced circuit；
Described mu balanced circuit, for carrying out voltage stabilizing process to the direct current, the direct current after being processed using voltage stabilizing is to described
The battery of underwater installation is charged；
Described telecommunication circuit, is plugged into described in underwater installation to be charged after the POP under water under water
Telecommunication circuit in standing sends charge request message；Under water after the battery charging complete in equipment, to the POP under water
In telecommunication circuit send charging complete message so that the POP under water stop the underwater installation being charged.
10. the underwater wireless charging device based on magnetic resonance according to claim 9, it is characterised in that it is described under water
Telecommunication circuit, power supply, inverter circuit, series resonant circuit and power amplifier in POP using modular circuit board come
Realize, all circuit boards be arranged in annular seal space, in the annular seal space in be filled with cooling oil.
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| CN201410025906.9A CN104158301B (en) | 2014-01-20 | 2014-01-20 | underwater wireless charging method and device based on magnetic resonance |
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Cited By (1)
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| CN107896008A (en) * | 2017-09-27 | 2018-04-10 | 安徽硕威智能科技有限公司 | Robot self-service system for charging and method |
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| CN105262154A (en) * | 2015-08-28 | 2016-01-20 | 扬州大学 | Wireless charging system for underwater robot and control method of wireless charging system |
| CN105226778B (en) * | 2015-10-03 | 2018-03-06 | 上海大学 | Unmanned boat recharging system based on wireless charging |
| CN106330344B (en) * | 2016-08-29 | 2019-03-19 | 东南大学 | Underwater sound relay communications system and rate maximal criterion resource allocation methods |
| CN106347594B (en) * | 2016-10-21 | 2018-02-09 | 杭州电子科技大学 | A kind of wireless charging clears up water surface robot system automatically |
| CN109546758B (en) * | 2018-11-07 | 2022-03-29 | 大连理工大学 | Underwater wireless power transmission system for transmitting signals by using distributed capacitors |
| CN110829625B (en) * | 2019-10-14 | 2021-01-26 | 浙江大学 | Cable-embedded underwater monitoring equipment |
| CN110901865B (en) * | 2019-12-02 | 2020-10-30 | 深圳市威尔丽斯科技有限公司 | Unmanned underwater vehicle, underwater wireless charging device and charging method |
| CN113119762B (en) * | 2021-04-13 | 2023-04-07 | 浙江大学 | Underwater electromagnetic searching and charging method |
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