CN109177763B - Wireless charging magnetic coupling structure and autonomous underwater vehicle system - Google Patents

Abstract

The invention discloses a wireless charging magnetic coupling structure and an autonomous underwater vehicle. The magnetic coupling structure is applied to the autonomous underwater vehicle and comprises a transmitting end arranged on a charging dock and a receiving end arranged on the autonomous underwater vehicle, wherein the transmitting end comprises a transmitting coil and a transmitting magnetic core arranged on one side, far away from the autonomous underwater vehicle, of the transmitting coil. The invention can help the autonomous underwater vehicle to realize seabed wireless charging, and solves the problems of poor endurance and difficult charging of the autonomous underwater vehicle. According to the transmitting end of the magnetic coupling structure, the transmitting magnetic core is arranged on one side of the transmitting coil, so that the limitation of the transmitting magnetic core on the transmitting coil is reduced, and the flexibility of the transmitting coil is increased; and a distance is reserved between the magnetic core at the transmitting end and the autonomous underwater vehicle, so that the phenomenon that the seawater pressure changes the parameters of the transmitting magnetic core is avoided, and the adaptability of the system to underwater wireless charging is improved.

Description

Magnetic coupling structure for wireless charging and autonomous underwater vehicle system

technical field

The invention relates to the technical field of wireless charging, in particular to a magnetic coupling structure for wireless charging and an autonomous underwater vehicle system.

Background technique

There are a lot of biological resources and mineral resources in the ocean, but human understanding of the ocean is still very little. Autonomous underwater vehicle (AUV) is an important tool to help humans understand and explore the ocean. In recent years, although AUVs have played an important role in marine national defense and security, marine environment observation, and marine resource exploration. However, due to the limitation of AUV's own size and load capacity, the battery capacity is limited, and the problem of battery life has always limited the further development of AUV. There are two traditional methods for charging AUVs: the first is to salvage the AUV to the mother ship every time the battery is exhausted, open the battery compartment to replace the fully charged battery or connect to an external charging circuit for charging, which is too cumbersome. , and increase the cost of operation and maintenance; another method is to use a wet-plug watertight plug, which does not need to open the battery compartment every time, but the wet-plug watertight plug will Aging occurs and there is a risk of short circuit. In addition, the above two methods require the mother ship as a guarantee, which reduces the concealment of the AUV, and requires human intervention, which reduces the work efficiency of the AUV and cannot achieve the goal of being unattended.

The method of wirelessly charging AUVs in a non-conducting manner does not generate sparks and does not require human intervention. It is an ideal method to solve the problem of AUV battery life and achieve the goal of unattended operation. At present, some magnetic coupling devices for wireless charging of AUVs have been proposed. At the transmitting end, the transmitting coil is often wound on the transmitting magnetic core, which causes the shape and number of turns of the transmitting coil to be limited by the transmitting magnetic core, resulting in the setting of the transmitting coil. It is limited; and when charging on the seabed, the transmitting magnetic core and the AUV are basically attached. Affected by the seawater pressure, the shell of the transmitting end is squeezed, which directly causes the transmitting magnetic core to be compressed or even deformed, resulting in the permeability of the transmitting magnetic core. changes that affect the normal operation of the system.

SUMMARY OF THE INVENTION

In view of this, one of the objectives of the present invention is to provide a magnetic coupling structure for wireless charging and an autonomous underwater vehicle system.

To achieve the above object, the present invention adopts the following technical solutions:

The invention provides a magnetic coupling structure for wireless charging, which is applied to an autonomous underwater vehicle, comprising a transmitting end arranged on a charging dock and a receiving end arranged on the autonomous underwater vehicle, wherein the transmitting end includes A transmitting coil and a transmitting magnetic core disposed on a side of the transmitting coil away from the autonomous underwater vehicle, leaving a distance between the transmitting magnetic core and the autonomous underwater vehicle.

Optionally, the minimum dimension of the distance is the thickness of the transmitting coil.

Optionally, the outline of at least one of the transmitting magnetic core and the transmitting coil is consistent with the outline of the autonomous underwater vehicle.

Optionally, the transmit coil includes a first coil and a second coil arranged along the circumference of the autonomous underwater vehicle.

Optionally, the receiving end includes a receiving coil, and the receiving coil is an air-core coil.

Optionally, the receiving coils are arranged along the radial direction of the autonomous underwater vehicle.

Optionally, each of the transmitting end and the receiving coil is provided with one, one end of the receiving coil is attached to the inner wall of the autonomous underwater vehicle, and the other end is along the surface of the autonomous underwater vehicle. radial extension.

Optionally, the size of the receiving coil along the radial direction is smaller than or equal to the radius of the autonomous underwater vehicle.

Optionally, two of the launch ends are oppositely arranged along the radial direction of the autonomous underwater vehicle;

A receiving coil is arranged between the two transmitting ends, and both ends of the receiving coil along the radial direction of the autonomous underwater vehicle are attached to the inner wall of the autonomous underwater vehicle;

or,

Two receiving coils are arranged between the two transmitting ends, and the two receiving coils are arranged along the opposite directions of the two transmitting coils.

Another aspect of the present invention provides an autonomous underwater vehicle system, including an autonomous underwater vehicle and a charging dock for wirelessly charging the autonomous underwater vehicle, the system including the system described in any of the above The magnetic coupling structure of the invention, wherein the transmitting end is arranged on the charging dock, and the receiving end is arranged on the autonomous underwater vehicle.

The magnetic coupling structure for wireless charging provided by the invention can help the underwater autonomous vehicle to realize the wireless charging under the sea, and solve the problems of poor endurance and difficult charging of the autonomous underwater vehicle. The transmitting end of the magnetic coupling structure is provided with a transmitting magnetic core on one side of the transmitting coil, which reduces the limitation of the transmitting magnetic core on the transmitting coil and increases the flexibility of the setting of the transmitting coil; and the transmitting magnetic core is connected to the autonomous underwater vehicle. There is a distance between them. When charging on the seabed, even if it is affected by seawater pressure, the shell of the transmitting end will not be directly attached to the transmitting magnetic core, and the transmitting magnetic core will not sense the pressure. It affects the magnetic permeability of the transmitting magnetic core, thereby ensuring the normal operation of the entire charging system, thereby improving the adaptability of the magnetic coupling structure to underwater wireless charging.

Description of drawings

The above and other objects, features and advantages of the present invention will become more apparent from the following description of embodiments of the present invention with reference to the accompanying drawings, in which:

1 shows a schematic structural diagram of a specific embodiment of a transmitter in a magnetic coupling structure provided by the present invention;

FIG. 2 shows a schematic structural diagram of a specific embodiment of a transmitting magnetic core in the magnetic coupling structure provided by the present invention;

FIG. 3 shows a schematic structural diagram of a specific embodiment of the magnetic coupling structure provided by the present invention;

FIG. 4 shows a schematic structural diagram of another specific embodiment of the magnetic coupling structure provided by the present invention;

FIG. 5 shows a schematic structural diagram of another specific embodiment of the magnetic coupling structure provided by the present invention;

FIG. 6 is a schematic structural diagram of the autonomous underwater navigator system specifically provided by the present invention during charging.

In the figure,

1. Autonomous underwater vehicle;

2. The transmitting end; 21. The transmitting coil; 211, the first coil; 212, the second coil; 22, the transmitting magnetic core;

3. The receiving end; 31. The receiving coil.

Detailed ways

The present invention is described below based on examples, but the present invention is not limited to these examples only. In the following detailed description of the present invention, some specific details are described in detail. In order to avoid obscuring the essence of the present invention, well-known methods, procedures, procedures and elements are not described in detail.

Furthermore, those of ordinary skill in the art will appreciate that the drawings provided herein are for illustrative purposes and are not necessarily drawn to scale.

Unless clearly required by the context, words such as "including", "comprising" and the like throughout the specification and claims should be construed in an inclusive rather than an exclusive or exhaustive sense; that is, "including but not limited to" meaning.

In the description of the present invention, it should be understood that the terms "first", "second" and the like are used for descriptive purposes only, and should not be construed as indicating or implying relative importance. Also, in the description of the present invention, unless otherwise specified, "plurality" means two or more.

The present application provides an autonomous underwater vehicle system, as shown in FIG. 6 , including an autonomous underwater vehicle 1 , a charging dock for wirelessly charging the autonomous underwater vehicle 1 , and a magnetic coupling structure. As shown in Figures 1-6, the magnetic coupling structure includes a transmitting end 2 disposed on the charging dock and a receiving end 3 disposed on the autonomous underwater vehicle 1. The transmitting end 2 includes a transmitting coil 21 and a transmitting end 2 disposed on the transmitting coil 21. The transmitting magnetic core 22 on the side far away from the autonomous underwater vehicle 1 has a distance between the transmitting magnetic core 22 and the autonomous underwater vehicle 1 , that is, the transmitting coil 21 is not wound on the transmitting magnetic core 22 . When the autonomous underwater vehicle 1 is being charged, the transmitting coil 21 is basically attached to the outer surface of the autonomous underwater vehicle 1 , and the transmitting end 2 and the receiving end 3 are charged wirelessly.

The above-mentioned magnetic coupling structure can help the autonomous underwater vehicle to realize wireless charging under the sea, and solve the problems of poor endurance and difficult charging of the autonomous underwater vehicle 1 . In an embodiment, the transmitting magnetic core has two winding parts, and the transmitting coil is respectively wound around each winding part. In this structure, the space between the two winding parts is limited. Therefore, when the transmitting magnetic core is determined After that, the single-turn diameter and the number of turns of the transmitting coil are determined, causing the transmitting coil to be limited by the transmitting magnetic core. On the other hand, the transmitting end 2 of the magnetic coupling structure of the present invention is provided with a transmitting magnetic core 22 on one side of the transmitting coil 21 , and the transmitting magnetic core 22 is not provided with a winding part, but is directly located on one side of the transmitting coil 21 . The coil diameter and the number of turns are not limited by the transmitting magnetic core 22, and can be adjusted freely according to the system parameter requirements. Therefore, the flexibility of setting the transmitting coil 21 is increased; and since the transmitting magnetic core 22 is relatively hard and brittle, no winding It can also facilitate the processing of the launch magnetic core 22; at the same time, the magnetic coupling structure does not need to change the shape of the autonomous underwater vehicle 1, which reduces the reconstruction cost of the existing autonomous underwater vehicle 1.

It can be understood that both the transmitting end 2 and the receiving end 3 include shells. When the autonomous underwater vehicle 1 is charged underwater, although the transmitting end 2 and the receiving end 3 are protected by their own shells, they are not affected by the pressure of the seawater. The outer shell will still be slightly deformed. If the launch magnetic core 22 is basically attached to the autonomous underwater vehicle 1 (that is, the launch core 22 is attached to the shell of the launch end 2), the launch core will be affected by the deformation of the shell. The pressure will lead to changes in parameters such as its own magnetic permeability, resulting in changes in parameters that have been debugged on the ground in actual use, affecting the normal operation of the entire system. However, with the magnetic coupling structure of the present invention, there is a distance between the launch magnetic core 22 and the autonomous underwater vehicle 1, that is, the launch magnetic core 22 and the shell of the launch end 2 are spaced apart, even if the shell is under the action of seawater pressure A slight deformation occurs in the lower part, and it will not be transmitted to the launch magnetic core 22. At the same time, the distance between the launch magnetic core 22 and the shell (or the autonomous underwater vehicle 1) can also buffer the pressure of the seawater. Therefore, parameters such as the magnetic permeability of the transmitting magnetic core 22 will not be affected, so that the normal operation of the entire system can be ensured, thereby improving the adaptability of the magnetic coupling structure to underwater wireless charging.

Further, the minimum size of the above-mentioned distance is the thickness of the transmitting coil 21. When the transmitting coil 21 is a plane coil, the minimum size of the above-mentioned distance is the coil diameter of the transmitting coil 21, that is, the transmitting magnetic core 22 and the autonomous underwater vehicle 1. The minimum distance between is the coil diameter of the transmit coil 21 .

In the above-mentioned transmitting magnetic core 22 and transmitting coil 21, the outline of at least one is consistent with the outline of the autonomous underwater vehicle 1, that is, the outline of the transmitting coil 21 or the transmitting magnetic core 22 is the same as that of the autonomous underwater vehicle 1. The contours of the emitting coil 21 and the emitting magnetic core 22 are consistent with the contours of the autonomous underwater vehicle 1. It should be noted that the above-mentioned consistent contours refer to the shape of the emitting coil 21 or the emitting magnetic core 22 and the The shape of the autonomous underwater vehicle 1 is the same. As shown in Figures 2 to 6, the autonomous underwater vehicle 1 is a cylindrical structure, and the transmitting coil 21 and the transmitting magnetic core are close to the side of the autonomous underwater vehicle 1. Having a cylindrical surface, when the autonomous underwater vehicle 1 is being charged, all parts of the transmitting coil 21 can fit with the autonomous underwater vehicle 1 , thereby improving the charging efficiency of the autonomous underwater vehicle 1 .

For each transmitting end 2, the transmitting magnetic core 22 is a soft magnetic core. The material of the soft magnetic core can be ferrite or soft magnetic alloy. By adding a soft magnetic core, the coupling ability of the magnetic coupling structure can be improved and the magnetic coupling structure can be reduced. of magnetic flux leakage. The launch magnetic core 22 may be provided with one or a plurality of them, such as two, three or more. When one launch magnetic core 22 is provided, the launch magnetic core 22 may be arranged along the autonomous underwater vehicle. 1 is a strip-shaped structure extending in the circumferential direction, and the width of the strip-shaped structure is smaller than the width of the transmitting coil 21 . Wherein, the width refers to the dimension along the axial direction of the autonomous underwater vehicle 1 .

In one embodiment, the transmitting coil 21 in each transmitting end 2 includes a first coil 211 and a second coil 212 arranged along the circumferential direction of the autonomous underwater vehicle 1. Referring to Fig. 1, Fig. 3-Fig. The number of turns of the first coil 211 and the second coil 212 may be equal or unequal, and each may be a multi-layer coil or a single-layer coil. Preferably, the first coil 211 and the second coil 212 are closely arranged in the circumferential direction of the autonomous underwater vehicle 1 . In the charging state of the autonomous underwater vehicle 1, the currents of the adjacent parts of the first coil 211 and the second coil 212 have the same direction. In this embodiment, preferably, the transmitting magnetic core 22 spans the first coil 211 and the second coil 212 , and may extend from the center of the first coil 211 to the center of the second coil 212 . In actual manufacturing, the first coil 211 and the second coil 212 can be wound first, then the first coil 211 and the second coil 212 can be arranged next to each other, and then the transmitting magnetic core 22 can be attached to the first coil 211 and the second coil 212. The same side of the second coil 212 .

It should be noted that when the central areas of the first coil 211 and the second coil 212 are hollow, a gap is formed between the transmitting magnetic core 22 and the autonomous underwater vehicle 1 (or the shell), which can further reduce the pressure of the seawater. act as a buffer. When the central areas of the first coil 211 and the second coil 212 are fully wound with coils, the space between the transmitting magnetic core 22 and the autonomous underwater vehicle 1 (or the casing) is filled with coils.

The receiving end 3 includes a receiving coil 31 , and the receiving coil 31 is an air-core coil. This arrangement reduces the receiving magnetic core, reduces the volume and weight of the receiving end 3 , and reduces the weight of the autonomous underwater vehicle 1 .

In one embodiment, the receiving coil 31 is arranged along the radial direction of the autonomous underwater vehicle 1, that is, the receiving coil 31 is located on the radial surface of the autonomous underwater vehicle 1, as shown in Figs. When the receiving coil 31 is a rectangular coil, two opposite sides of the receiving coil 31 are arranged along the axial direction of the autonomous underwater vehicle 1, and the other opposite sides are arranged along the radial direction of the autonomous underwater vehicle 1, so that in the autonomous underwater vehicle When the lower vehicle 1 returns to the charging dock for charging, the receiving end 3 is located in the middle of the transmitting end 2 , for example, the receiving coil 31 is located in the adjacent part of the first coil 211 and the second coil 212 . After this arrangement, when charging, the receiving coil 31 is parallel to the part close to the transmitting coil 21 and the adjacent parts of the first coil 211 and the second coil 212, which can increase the efficiency of wireless transmission.

At least one end of the receiving coil 31 along the radial direction of the autonomous underwater vehicle 1 is attached to the inner wall of the autonomous underwater vehicle 1 , that is, only one end of the receiving coil 31 may be attached to the inner wall of the autonomous underwater vehicle 1 . as shown in FIG. 3 and FIG. 5 ; both ends of the receiving coil 31 may be attached to the inner wall of the autonomous underwater vehicle 1 , as shown in FIG. 4 .

The above-mentioned transmitting end 2 and receiving coil 31 may be provided with one, two or more respectively, and the following setting methods may be adopted specifically:

In the first way, both the transmitter 2 and the receiver coil 31 are provided with one. As shown in FIG. 3 , the transmitter 2 can be set at any position outside the autonomous underwater vehicle 1, and one end of the receiver coil 31 is connected to the autonomous underwater vehicle 1. The inner wall of the underwater vehicle 1 is fitted, and the other end extends along the radial direction of the autonomous underwater vehicle 1 . Preferably, the size of the receiving coil 31 along the radial direction of the autonomous underwater vehicle 11 is smaller than or equal to the radius of the autonomous underwater vehicle 1 .

In the second way, two transmitting ends 2 are arranged opposite to each other along the radial direction of the autonomous underwater vehicle 1, that is, the two transmitting ends 2 are arranged symmetrically with respect to the axis of the autonomous underwater vehicle 1. At this time, the receiving coil 31 There can be one or two.

When a receiving coil 31 is provided, as shown in FIG. 4 , a receiving coil 31 is provided between the two transmitting ends 2 , and both ends of the receiving coil 31 along the radial direction of the autonomous underwater vehicle 1 are connected to the autonomous underwater vehicle 1 . The inner wall of the lower vehicle 1 is attached. When the receiving coil 31 is a rectangular coil, the two short sides of the receiving coil 31 are consistent with the axial direction of the autonomous underwater vehicle 1, and the two long sides are along the autonomous underwater vehicle 1. Therefore, the size of the receiving coil 31 in the radial direction of the autonomous underwater vehicle 1 is substantially equal to the diameter of the autonomous underwater vehicle 1 .

When two receiving coils 31 are provided, as shown in FIG. 5 , two receiving coils 31 are provided between the two transmitting ends 2 , and the two receiving coils 31 are along the opposite directions of the two transmitting ends 2 (ie, the autonomous water In this case, the two receiving coils 31 may be arranged in close contact with each other, or there may be an interval between them. When the receiving coils 31 are rectangular coils, the two short sides of each receiving coil 31 Basically consistent with the axial direction of the autonomous underwater vehicle 1, the two long sides are arranged along the radial direction of the autonomous underwater vehicle 1, preferably, the size of each receiving coil 31 in the radial direction of the autonomous underwater vehicle 1 is smaller than Or equal to the radius of the autonomous underwater vehicle 1, when the autonomous underwater vehicle 1 is charging, the currents of the adjacent parts of the two receiving coils 31 are opposite. It can be understood that, in this embodiment, the number of turns of the two receiving coils 31 may or may not be equal. Of course, the two receiving coils 31 may also have overlapping portions, so as to realize the decoupling of the two receiving coils 31 in an overlapping manner.

When the autonomous underwater vehicle system of the present invention is used, when the autonomous underwater vehicle 1 returns to the charging dock, the receiving end 3 is attached to the outer surface of the autonomous underwater vehicle 1, and the autonomous underwater vehicle 1 to charge. During the charging process, ensure that each receiving coil 31 is located near the center of the corresponding transmitting end 2, and a certain misalignment is allowed. Obviously, this autonomous underwater vehicle system is not aligned with the autonomous underwater vehicle 1. The tolerance is enhanced and the charging efficiency can be improved.

Those skilled in the art can easily understand that, on the premise of no conflict, the above preferred solutions can be freely combined and superimposed.

It should be understood that the above-mentioned embodiments are only exemplary rather than restrictive, and those skilled in the art can make various obvious or equivalent to the above-mentioned details without departing from the basic principles of the present invention. Modifications or substitutions will be included within the scope of the claims of the present invention.

Claims (7)

1. a magnetic coupling structure of wireless charging, applied to autonomous underwater vehicle, is characterized in that, comprises the transmitting end that is arranged on the charging dock and the receiving end that is arranged on the autonomous underwater vehicle, the The end includes a transmitting coil and a transmitting magnetic core disposed on the side of the transmitting coil away from the autonomous underwater vehicle, leaving a distance between the transmitting magnetic core and the autonomous underwater vehicle; the The transmitting coil includes a first coil and a second coil arranged along the circumference of the autonomous underwater vehicle, and the central regions of the first coil and the second coil are hollow, so that the transmitting magnetic core is connected to the autonomous underwater vehicle. form a gap between the underwater vehicles; The receiving end includes a receiving coil, and the receiving magnetic core is reduced, the receiving coil is an air-core coil, the receiving coil is arranged along the radial direction of the autonomous underwater vehicle, and the receiving coil is along the autonomous underwater vehicle. At least one end of the vehicle in the radial direction is in contact with the inner wall of the autonomous underwater vehicle. 2 . The magnetic coupling structure according to claim 1 , wherein the minimum dimension of the distance is the thickness of the transmitting coil. 3 . 3 . The magnetic coupling structure according to claim 1 , wherein the outline of at least one of the transmitting magnetic core and the transmitting coil is consistent with the outline of the autonomous underwater vehicle. 4 . 4. The magnetic coupling structure according to any one of claims 1-3, characterized in that, the transmitting end and the receiving coil are each provided with one, and one end of the receiving coil is connected to the autonomous underwater navigation The inner wall of the vehicle is fitted, and the other end extends along the radial direction of the autonomous underwater vehicle. 5 . The magnetic coupling structure according to claim 4 , wherein the size of the receiving coil along the radial direction is smaller than or equal to the radius of the autonomous underwater vehicle. 6 . 6. The magnetic coupling structure according to any one of claims 1-3, wherein two of the transmitting ends are disposed opposite to each other along the radial direction of the autonomous underwater vehicle; A receiving coil is arranged between the two transmitting ends, and both ends of the receiving coil along the radial direction of the autonomous underwater vehicle are attached to the inner wall of the autonomous underwater vehicle; or, Two receiving coils are arranged between the two transmitting ends, and the two receiving coils are arranged along the opposite directions of the two transmitting coils. 7. An autonomous underwater vehicle system, comprising an autonomous underwater vehicle and a charging dock for wirelessly charging the autonomous underwater vehicle, wherein the system comprises the The magnetic coupling structure described above, wherein the transmitting end is arranged on the charging dock, and the receiving end is arranged on the autonomous underwater vehicle.

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