CN-116207873-B - Deep sea wireless power supply conversion system and power supply method of underwater autonomous operation robot

CN116207873BCN 116207873 BCN116207873 BCN 116207873BCN-116207873-B

Abstract

The invention discloses a deep sea wireless power supply conversion system and a power supply method of an underwater autonomous operation robot. The device comprises a resonant magnetic coupling wireless charging coil, a coil sealing device, a mechanism guiding device and the like, wherein a resonant magnetic coupling wireless power supply conversion system is designed based on a planar bipolar coil structure, so that the magnetic flux density of system interaction coupling is improved, the nuclear loss and the nuclear quality are reduced, and the magnetic coupling efficiency is maximized. Optimizing the structure, external shielding and layout of the system, and ensuring that the underwater autonomous operation robot completes the charging process based on the mechanism guiding device. Based on the coil sealing device, aiming at the streamline energy-saving navigation and charging docking position, the gravity center arrangement, the lightening, the insulation, the sealing and other multidisciplinary factors of the underwater operation robot are realized, the size, the weight and the shape of the system are optimized, and a series of problems brought by the high-pressure environment are deeply researched and solved.

Inventors

HUANG HAI
WANG ZHAOQUN
GUO TENG
CAI FENGCHUN
ZHANG YUHANG
BIAN XINYU
ZHANG ZHENKUN
SUN YIZE

Assignees

哈尔滨工程大学

Dates

Publication Date: 20260508
Application Date: 20220908

Claims (5)

1. A deep sea wireless power supply conversion system of an underwater autonomous operation robot is characterized by comprising a resonant magnetic coupling wireless charging coil (1), a coil sealing device (4) and a mechanical guiding device (9), wherein the resonant magnetic coupling wireless charging coil (1) is embedded in the central position of the bottom of the underwater autonomous operation robot, the coil sealing device (4) is arranged right below the resonant magnetic coupling wireless charging coil (1), and a main body is connected with the underwater autonomous operation robot; The mechanical guide device (9) comprises a binocular vision (10), a guide light source (11), a locking mechanism (12) and a magnetic slideway (13), wherein the magnetic slideway (13) is designed to have a characteristic that the magnetic distribution of the whole slideway is stronger along with the fact that the whole slideway is closer to a charging position, the surface of the slideway is designed to be the same as a streamline structure of an underwater autonomous operation robot, the binocular vision (10) is arranged below the whole front end cross beam of the device, the guide light source (11) is arranged on the left side and the right side of the front end cross beam of the device, one guide light source is arranged right above the binocular vision, the locking mechanism (12) is arranged at the joint of the rear end of the device and a charging pile, the magnetic slideway (13) is arranged right above the locking mechanism, and the locking mechanism (12) is used for locking a support rod and the underwater autonomous operation robot and a guide rod through an electromagnet and a hydraulic locking device.
2. The deep sea wireless power supply conversion system of the underwater autonomous operation robot is characterized in that the resonant magnetic coupling wireless charging coil (1) is of a bipolar plane right-angle coil structure and comprises a bipolar plane right-angle main coil (2) and an iron rail core structure (3), the iron rail core structure (3) is of a passive magnetic shielding structure, a main body comprises ferrite blocks and metal plates at the back of the ferrite blocks, the bipolar plane right-angle main coil (2) is of a single-layer square shape, the main body is formed by symmetrically splicing two small square right-angle coils, windings of the bipolar plane right-angle main coil are distributed windings and are formed by a plurality of enamelled copper wires, and a tray at the back is connected with an aluminum metal plate at the back of the iron rail core structure (3) to fix the bipolar plane right-angle main coil (2) in the iron rail core structure (3).
3. The deep sea wireless power supply conversion system of the underwater autonomous operation robot is characterized in that the coil sealing device (4) comprises a left pipeline type waterproof pressure-bearing magnetic material plate (5), a right pipeline type waterproof pressure-bearing magnetic material plate (7) and two groups of pulley blocks (8), wherein the left pipeline type waterproof pressure-bearing magnetic material plate and the right pipeline type waterproof pressure-bearing magnetic material plate (5) are connected through embedded magnetic poles (6) of the sealing device, the left pipeline type waterproof pressure-bearing magnetic material plate is internally concave, the right pipeline type waterproof pressure-bearing magnetic material plate (5) is externally protruded, the left pipeline type magnetic poles and the right pipeline type waterproof pressure-bearing magnetic material plate (6) are opposite in magnetic attraction with each other to form a closed structure, a groove structure is formed in the embedded magnetic poles (6) so that the sealing device can prevent surrounding water from being impacted by water pressure to quickly rushing into a wireless charging coil when the sealing device is opened and closed, the left pipeline type waterproof pressure-bearing magnetic material plate (5) serves as a main body of the sealing device, the lower surface of the sealing device is in a streamline design, the two groups of pulley blocks (8) are additionally arranged on the upper surface of the sealing device, the lower end movable pulleys of the two groups of the pulley blocks (8) are mutually interacted with the left pipeline type waterproof pressure-bearing magnetic material plate (5), the left pipeline type waterproof pressure-bearing magnetic material plate (5) can be mutually interacted with the left pipeline type waterproof pressure-bearing magnetic material plate (7), the two groups can be adjusted by the two groups of the sealing device through the two groups (7), the sealing device can shrink inwards within a range of 90 degrees, and an arc-shaped angle structure protruding in an oval shape is designed at the tail end of the reverse hook type connecting rod (7) to be tightly connected with the underwater autonomous operation robot, so that the coil sealing device (4) is firmly connected with the underwater autonomous operation robot.
4. A power supply method of a deep sea wireless power supply conversion system of an underwater autonomous operation robot according to any one of claims 1-3 is characterized in that when the deep sea wireless power supply conversion system supplies power, a mechanical guiding device (9) guides the position of the underwater autonomous operation robot close to a charging pile, a coil sealing device (4) obtains magnetic thrust in the mechanical guiding device (9) to finish autonomous opening in the process that the underwater autonomous operation robot enters a charging designated position, and an internal protected resonant magnetic coupling wireless charging coil (1) carries out magnetic coupling wireless underwater quick charging on the underwater autonomous operation robot through magnetic resonance with a secondary coil on the charging pile after reaching the charging position, so that the underwater wireless charging of the underwater autonomous operation robot by the deep sea wireless power supply conversion system is realized.
5. The power supply method of the deep sea wireless power supply conversion system of the underwater autonomous operation robot is characterized in that in the underwater wireless charging of the underwater autonomous operation robot, a bipolar plane right-angle main coil (2) and a secondary coil on a charging pile are both in a resonance state, and high-frequency electric field energy generated by the secondary coil on the charging pile is generated by converting electric energy into magnetic energy; The wavelength of electromagnetic wave is The near field region is in the range of The far field region is in the range of Ensuring the energy transmission efficiency of the system, and the distance between the main coil and the auxiliary coil is within the range The power transfer efficiency can be expressed as: Wherein, the The auxiliary coil is a transmitting coil; the main coil is a receiving coil; For power delivered to an electrical load resistor connected to the receive coil; Is power transmission efficiency; The coupling coefficient between the secondary coil and the primary coil is , Is the inherent decay rate caused by the absorption loss, Is the resonance width caused by radiation loss, For the same transmit and receive coils, Therefore, the power transmission efficiency of the resonant magnetic coupling wireless charging system composed of the same transmitting coil and receiving coil is as follows: 。

Description

Deep sea wireless power supply conversion system and power supply method of underwater autonomous operation robot Technical Field The invention belongs to the technical field of wireless charging, and particularly relates to a deep sea wireless power supply conversion system and a power supply method of an underwater autonomous operation robot. Background The ocean is rich in mineral resources and is an important material foundation for implementing sustainable development strategy in China. With the rapid expansion of ocean resource development and utilization areas, the ocean resource development and utilization areas are continuously extended to deep sea and open sea, and modern ocean equipment is required to have the working capacity of the deep sea and the open sea. With the increasing innovation of the technology in the deep sea science field, the deep sea detection tool has higher requirements. The underwater robot mainly comprises a remote control underwater robot and an autonomous underwater robot. The movement range of the remote-controlled underwater robot is greatly limited by the expected cable, the support cost of the mother ship is high, and the long-time multi-screen interaction of operators is easy to cause operation fatigue. However, when the autonomous underwater robot performs deep sea operation, if the autonomous underwater robot frequently floats out of the water to supplement energy through the mother ship or the water surface support platform, a large amount of energy and time are consumed, and the continuity of the operation is also interrupted. The autonomous underwater robot can realize continuous operation functions by being connected with an underwater recovery platform for energy supplement, information uploading and downloading and the like, and can realize timely supplement of energy and data exchange by being connected with an underwater recovery system, thereby being an effective mode for realizing continuous operation in a large range and in a large depth for a long time. The patent document (publication date: 2019, 1 month, 11) of China (application number 201811075071.2) discloses a magnetic coupling structure and an autonomous underwater vehicle system for wireless charging of an autonomous underwater vehicle, and provides the magnetic coupling structure and the autonomous underwater vehicle system for wireless charging of the autonomous underwater vehicle. The application and the patent belong to the same technical field, but the application and the patent have obvious differences. Disclosure of Invention The invention aims to provide a deep sea wireless power supply conversion system and a power supply method of an underwater autonomous operation robot. The aim of the invention is realized by the following technical scheme: A deep sea wireless power supply conversion system of an underwater autonomous operation robot comprises a resonant magnetic coupling wireless charging coil, a coil sealing device and a mechanical guiding device, wherein the resonant magnetic coupling wireless charging coil is embedded in the central position of the bottom of the underwater autonomous operation robot, the coil sealing device is placed under the resonant magnetic coupling wireless charging coil, a main body is connected with the underwater autonomous operation robot, and the mechanical guiding device is placed at the periphery of a deep sea charging pile. The resonant magnetic coupling wireless charging coil is characterized by further comprising a bipolar plane right-angle coil structure, the resonant magnetic coupling wireless charging coil comprises a bipolar plane right-angle main coil and an iron rail core structure, the iron rail core structure is of a passive magnetic shielding structure, a main body comprises a ferrite block and a metal plate at the back of the ferrite block, the bipolar plane right-angle main coil is of a single-layer square shape, the main body is formed by symmetrically splicing two small square-shaped right-angle coils, a winding of the bipolar plane right-angle main coil is a distributed winding and is composed of a plurality of enamelled copper wires, and a tray at the back is connected with an aluminum metal plate at the back of the iron rail core structure to fix the bipolar plane right-angle main coil in the iron rail core structure. Further, the coil sealing device comprises a left streamline waterproof pressure-bearing magnetic material plate, a right streamline waterproof pressure-bearing magnetic material plate, a reverse hook type connecting rod and two groups of pulley blocks; the left and right pieces of streamline type waterproof pressure-bearing magnetic material plates are connected through embedded magnetic poles of the sealing device, the left and right pieces of embedded magnetic poles are concave, the right and left pieces of embedded magnetic poles are convex, the left and right pieces of magnetic poles are opposite, a closed structur